Current Work Updates!
Undergraduates find a future in robotics lab over summer
by Jacobs School of Engineering
Posted on September 2, 2015 at 11:56 PM
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Center of Mass Algorithm
Posted on August 29, 2015 at 12:12 PM
This summer Bruno Maciel and Julio worked on an algorithm that computes the center of mass using the Finite Element Method with Triangular Elements. This way this works is by breaking up each each voronoi cell into triangles. Then using any prescribed density function, we calculate the center of mass of the triangle (or weighted centroid) by using the finite element method. After this gaussian quadrature is used to produce a numerical approximation. The video shows an implementation of this algorithm in Matlab using a uniform density. The algorithm is slowed down to show the process.
Path Following Algorithm
Posted on September 1, 2015 at 3:21 PM
This summer Gerardo worked on coding a control law and a path following algorithm for the quadcopter network. For the control law, his team decided to implement a pseudo-sliding mode controller. For the path following algorithm, the the quadcopter is led to the closest point on the path at an output of constant velocity along its direction. Both of these projects require rigorous testing in order to fine tune the control law and the code for the path following algorithm. The projects are still under development.
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