This week I’ve been working on the Processing simulation aspect of the project. The current design is to take the X,Y, and Z components of the angle and velocity vectors of the ball, along with the height as shown below. Then with the given inputs produce two different views of Read more…
This week, team B4 explored other options for 3D IMU positioning as Hana continued parallel work on the Processing simulation. On the 3D positioning side, Daniel looked into using Madgwick’s AHRS algorithm in order to determine IMU rotation and remove the earth’s gravity from 3D readings. Using this algorithm in Read more…
This was an extremely involved week for me as I tried to improve the functionality of our Kalman filter. Upon running numerous tests on 2D data of the IMU moving across my desk, I couldn’t seem to entirely remove the traces of drift and gravitational error present in my data. Read more…
This week we decided that it would be best if I would focus on building the simulation part of the project. This is due to the fact we didn’t need all three members working on the Hand motion sensing aspect, and since Luca and Dan had a much better grasp Read more…
This week, my focus was on implementing the accelerometer portion of the Kalman filter and debugging issues related to bias drift. Right now, I’m working on getting the Kalman filter to report a steady absence of movement when the IMU sits still on my desk. I’m getting close but I Read more…
This week, our team updated our plans and Gantt chart for the remainder of the semester and began implementing the Kalman filter head on. Immediately running into issues related to bias drift, we are currently trying to resolve these issues with calibration and adjusting the Kalman filter accordingly. We are Read more…
I started the week by completing the Kalman filter tutorials I was planning on doing. I finished watching all the Michel van Biezen Kalman Filter tutorial videos I mentioned last week (https://www.youtube.com/watch?v=CaCcOwJPytQ&list=PLX2gX-ftPVXU3oUFNATxGXY90AULiqnWT&index=1) and also went over the Kalman filter code on GitHub that Dan initially used as a template for Read more…
Because of the COVID-19 outbreak, we now need to work on the project remotely. As a result, I spent my time this week working with my teammates to rescope the project. We have decided to keep the IMU I2C circuit component on the arm and to simulate the rest of Read more…
This past week, we’ve been navigating the transition to a design and simulation based project. We’re still working out a few of the details, but we’ve largely pinned down a final direction. The three of us will be working in conjunction on receiving data from the IMUs on the user’s Read more…
This past week has been a tumultuous one. Together we’ve been trying to figure out the best way forward. I was saddened to find out that we won’t be able to build the robot anymore, especially since even though that was one of my smaller parts, I was really looking Read more…