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Loop time for self balancing robot
2 votes

The answer is not a trivial one. Because, the system dynamics depends on multiple sub-system dynamics (including software, sensors, and actuators (motors in this case)) finding the optimum value for ...

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Reducing noise between 3 ultrasonic sensors and make Autonomous Robot more precise
2 votes

There are two issues in the question: noise (interference) among the three sensors how to handle the motion with relation to the sensor readings The noise between sensors is most probably a hardware ...

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Quadcopter: Stabilization along the z-axis (for holding altitude)
2 votes

Two approaches are possible: Combine the altitude (GPS or pressure) and vertical acceleration sensors' data to calculate a better geometric altitude, and tune your vertical controller using this ...

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Locating Omni-Directional Robot
Accepted answer
2 votes

First of all, assume that the sensors we have are ideal (e.g. no latency, perfect accuracy, infinite (continuous) data frequency). Then we can know the rotation rate of each of the wheels. and how ...

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How to tune the two PIDs for quadrotor
2 votes

The controller has a definite performance problem after t=1.5sec. [This can be due to the system model or some other coding error.] The system (model + controller) behaves smooth until t=1.5sec. It ...

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How to design a PID controller for boat?
1 votes

It should be perfectly fine to control the boat with two thrusters (i.e. propellers with some distance in between them), via a PID control scheme. To compensate for ambiguities in the model and the ...

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Setting initial conditions in a quadcopter numerical simulation
1 votes

Here's a quick answer. We can work on it to improve. What you are searching for is the "trim state" of the vehicle for a given height and velocity (or hover). Methodologies for finding trim state is ...

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Scan an Auditorium, Count People, and Display Open Seats
1 votes

A Near-IR or IR camera which can rotate and tilt, that is installed over the stage would probably be an acceptable and fairly well performing solution. Installation would be simple: screw on, and ...

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Question about terminology of robotic architecture
Accepted answer
1 votes

Disclaimer: This is not a perfect answer. I liked the topic so much, I've not held back and I'm giving my thoughts on it. I can improve it or delete it, according to comments. The dumb bots would be ...

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Can someone explain what is going on in this calibration video?
Accepted answer
1 votes

Let b, the bias error of a sensor. If you take two measurements of a known value (gravitational acceleration in this case), in opposite directions, say m1 and m2, without any bias towards any ...

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Differential GPS
1 votes

Basically, you need the following: A target DGPS-capable unit A source DGPS unit A data link to carry the differential data from source to target and of course necessary software and cabling. You ...

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Wind flow diagram of a quadcopter
1 votes

The question needs some clarification, but at first thought here's a sketch of an answer. The aerodynamics of rotors of a quad rotor can be simplified as independent from each other. Just to give a ...

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Electronic Spring Vibrating Spheres
1 votes

The term for the electrical component that actuated (vibrates) at a selectable frequency is "Piezoelectric actuator". You can also examine vibration motors, like in the mobile phones or in the ...

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Using Standard Digital camera for Computer Vision
1 votes

If the university project is not directly about making a drone detection system using visual technic, it may not be worth the effort to connect the "camera" to the computer. (You may have to install ...

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Building parts, and keeping laser alignment steady
1 votes

The two questions are quite unrelated so it would be best to ask two questions. Otherwise responds will probably fall short on one of them. About Q1: I understand that you are looking at using a ...

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IMU rotate about one axis, other two angles change too
1 votes

The drotek website refers to the github link, and in the github page, there's a disclaimer that the code is mostly broken. From what I understand from the specs, the rates are user selectable (up to ...

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Minimising lateral drift in a PID (Arduino) controlled quadcopter using a 6DOF IMU
1 votes

If you are constrained to using an IMU without external sensors, then you would have to play with the platform to increase its stability. This could possibly be achieved by implementing a dihedral ...

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PID control of tank-like robot and IMU
1 votes

Assume that your motors can drive both forward and back. (which is not a must, but if the vehicle moves only forward, maneuvering will require a lot of space compared to a two-directional drive) ...

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Software Architectures for Robots
0 votes

First, start with the systems architecture. You need to design the system considering cost, safety, ease of development. After that, for each item, main features are defined. This defines the high-...

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Virtual Testing Environment for Drones
0 votes

With Flightgear, which is open source, you can define and fly custom aircraft and custom algorithms for handling its automatic flight controller. Flightgear allows flying all around the world, and ...

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Find the robot pose from three beacon measurement
0 votes

You cannot directly find the direction (heading) of your robot. You only can derive the triangulated x, y positions. However, if you have some constraints in motion dynamics (for example if your ...

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What is the Name of the part I'm describing
0 votes

Linear servo actuator, combined with a load-cell, inline, to measure the load that is transferred between the actuator and the load that it is connected to. The main advantage of a load cell is that ...

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How can I turn a bowl/glass upside down?
0 votes

You can take the shear force onto a bearing housing. And the servo can only deal with the rotation of the bowl. To do so, you need a bearing which carries the mass of the load (bowl). And through ...

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How to convert raw Pitot tube readings to air speed in m/s?
0 votes

First, the method you have followed should work quite well. The pitot setup you mention already gives you differential pressure, which means all you have to do is convert the pressure data (whatever ...

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How to calculate battery size for servo motors?
0 votes

First, can you add as much battery as you wanted? Meaning, is there a technical or score-wise drawback to the amount of battery? Or mass? Does the servo load increase with the increased battery ...

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Why do I need I-gain in my outer-loop?
0 votes

Each control system has its own characteristics (overshoot, damping, settling time, response time, etc). The outer loop is just another control system, so it may have a steady state (residual) error. ...

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How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?
Accepted answer
0 votes

The answer to what capabilities the quadcopter to have is: link loss algorithms and navigation capacity. Link loss procedure for a robot could be: determine that there's a link loss (no commands for ...

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Understanding the various attitude estimation methods
0 votes

First the answer to the main question. The readings are the pitch and roll of your sensor, at the inertial frame. As your sensor is certainly not moving in your aircraft in time, you do not have to re-...

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How frequently should a PID controller update?
0 votes

Your code assumes that the CPU is running at a constant clock. However, in real life it will change, and sometimes even drastically! So it is required to insert a Delta Time (dt) factor to your KI and ...

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Strategies for managing power on electrical systems for mobile robots
0 votes

Although it depends on the vehicle mission, these are also worth thinking about power-architecture (not implementation): If your robot has a payload (that is not used for moving or controlling the ...

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