Visitors tour to the Lab Open Lab Preparations Summary

Weekly Report of Activities

Leon Palafox1
1 Tokyo University, Japan

May 21, 2009

Visitors tour to the Lab Open Lab Preparations Summary

Outline

1 Visitors tour to the Lab

Cornell University Visitors
Day 2 Visitors
Day 3 Visitors

2 Open Lab Preparations

Algorithm Design
Hardware Preparation
Visitors tour to the Lab Open Lab Preparations Summary

Cornell University Visitors

Darpa Challenge
It is similar to the Tsukuba Challenge.
The team was present in the final round.
They were able to finish the Darpa Urban Challenge.

Research
They Presented an algorithm in which they try to avoid
using GPS.
Uses Gaussian Sum Filters.
We asked about feacibility in the Tsukuba Challenge, but
they thought it was difficult.
Visitors tour to the Lab Open Lab Preparations Summary

Day 2 Visitors

Worcester Polytechnique Institute

Presented a Robotic Controller for MRI.
The challenge was to create it MRI compatible.
It had different parts and DOF for each of it.

MIT visitor
He presented a bit of his work at Michigan University.
His presentation was a collision avoidance system for 2
cars going in loops.
Currently his research is oriented towards autonomous
flight control.
Visitors tour to the Lab Open Lab Preparations Summary

Day 3 Visitors

UC Berkeley Visitors
Presented a Controller for an aoutonomous flight platform.
It was a mathematical model of the system.
Thay have yet to implement it, so far, only the
Mathematical Model has been done.

Boston University Visitor

He presented an algorithm for robot navigation in
monitorized systems.
His work was heavily theoric as well.
He used an advance form of Stated Diagrams.
Visitors tour to the Lab Open Lab Preparations Summary

Algorithm Design

Algorithm Parts
Detection:Using Kalman Filter and Feature Sampling
Storing: Using Matlab Memory Structures
Hardware
ZPS sensor for human position
Camera for face recognition
Sensor fusion for feature recognition (Acc, Tilt, Yaw)
sNode for object recognition (still implementing)
Visitors tour to the Lab Open Lab Preparations Summary

Hardware Preparation

Meet with Yokoi to fully understand the use of the sensors

Solved some problems with the Acceleration sensor, as it
was not receiving data.
Implementing in Matlab all the code for the sampling
Implementing in Matlab code to get data from the ZPS
Visitors tour to the Lab Open Lab Preparations Summary

Summary

Still have to work in the Hardware Implementation

Still have to finish implementation of the algorithm
If all hardare implementation can be done, a simulink
model could be programmed.