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Image retrieval through a multibeam imaging sonar

I would like to know if anyone here has used the Blueview SDK (Linux) for retrieval of images from the pings obtained by a multibeam sonar (P450, P900, etc.) ? If so, I'd like to know why would anyone get a null head when I trying to retrieve the…
freax
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Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)

I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174) In this context I have two questions. According to the authors, the probability of a sensor…
BoChri
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Using Armatures in Morse Robotic Simulator

I'm trying to add my own robot in Morse 1.1 (using Ubuntu 12.04). I am struggling to add an armature actuator and armature pose sensor to an existing robot. Can someone please explain how this can be done (preferably with some sample code and using…
Conor_M
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Cartesian Impedance control Damping Design (Double Diagonalization)

In the literature, it is often seen that for a system: \begin{align} \Lambda \ddot{e} + D_d \dot{e} + K_d e = F_{ext} \end{align} A dynamic damping matrix is required for a robot to take into account the structure and changes of $\Lambda$…
Spaceman
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7 answers

Bluetooth module HC-05 giving ERROR :(0)

I am working right now with Arduino UNO and HC-05 bluetooth module.I followed the instruction given on this link for wiring. So there are 2 mode of working with this HC-05 module Simple serial communication Working in AT command mode so as to…
shailendra
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4 answers

How to understand the angular velocity of link i+1?

My question is a basic one about velocity propagation from link to link, that is how to understand the following equation. $ {^i\omega_{i+1}} = {^i\omega_{i}} + {_{i+1}^{\;\;\;i}{R}} \cdot {\dot{\theta}_{i+1}} \cdot {^{i+1}\hat{Z}_{i+1}} $ The…
Wenzhou Li
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Field oriented control of brushless motors

If I was controlling a normal brushed motor as a servo, I would measure the motor's position, and adjust the PWM signal to control the voltage. This way I could achieve a precise velocity/position profile if my control was good enough. pwm_duty =…
Rocketmagnet
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How to derive the Time-Update equation of SLAM

I was going through the tutorial on SLAM by Hugh Durrant-Whyte and Tim Bailey† and found this Time-Update equation (equation 4 in the paper): $ P\left(\mathrm{x}_{k},\mathrm{m} | \mathrm{Z}_{0:k-1}, \mathrm{U}_{0:k},\mathrm{x}_{0}\right) = \int…
rotating_image
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Keyboard control map for scalar based movement?

I'm working with a Wild Thumper 6 wheel chasis that is designed for use with an RC controller. However I'd like to have a mapping to a keyboard for control as well. Can you suggest a set of keys and behaviors that you've used to deal with the…
Ian Danforth
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Blender a good robotic simulator for quadcopters / swarm simulations?

I'm interested in simulating Quadcopter control and Swarm co-ordinations. Was wondering if Blender or specifically MORSE was going to be good enough? According to the limitations of MORSE, it states: MORSE was never meant to be a physically…
chutsu
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4 answers

Stabilizing a quadcopter with optical flow

My quad copter can balance itself in the air using data collected from mpu6050. With the sonar sensor, it can hover at a specific height, but it moves on the horizontal plane in a random direction. If i put an object below it, it will ascend to…
refent
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Roller Screw drive - axial movement instead of friction

I need an equation or a some hints to solve the following problem. Imagine a roller screw drive. I apply a torque of T to translative move my load mass M. I assume my screw has an efficiency of 90%. Now an additional axial force affects my mass in…
Robert Seifert
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4 answers

Kalman-Filter: how to solve angles near +/-pi?

I'm trying to get into Kalman filters. I've noticed an issue with Euler angles near -180°/180° (or -pi/pi) and wonder how to correctly resolve this. Its often said you need to normalize the angles into this range. However, this isn't as easy as it…
SDwarfs
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What to do when the control input of the Kalman filter is unknown?

I am implementing a simple Kalman Filter that estimates the heading direction of a robot. The robot is equipped with a compass and a gyroscope. Say at time $t-dt$, the compass reports a reading $\theta_{t-dt}$, and the gyroscope reports a reading…
Sibbs Gambling
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Place for GPS antenna on autonomous vehicle

I used to think that the higher GPS antenna position the better until I read the following on GPSd FAQ: One common error is to place the GPS or antenna as high as possible. This will increase multipath effects due to signal bounce from the ground…
Boris
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