Experimental Tools Luncheon

Main.ExperimentalToolsLuncheon History

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February 20, 2009, at 01:32 PM by 128.32.131.61 -
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  • Real-time motion capture?
February 20, 2009, at 01:29 PM by 128.32.131.61 -
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  • Advanced Assembly for PCB population
    • http://www.aapcb.com/
    • ~10 working days
February 20, 2009, at 01:21 PM by 128.32.131.61 -
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  • Motion Engineering, FASTCAM-X 1024PCI, 500 - 6000 frames per second, resolution 256 x 256 pixels
    • http://www.photron.com/pdf/FASTCAM_1024_PCI.pdf
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  • solder reflow station
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  • Solder reflow station
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  • Solder reflow station (needs repair)
    • Zephyrtronics (?)
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  • Electronics workstations
  • Solder reflow station
  • RF vacuum probe station

Bayen's group (McLaughlin Hall)

  • Electronics workstations
  • GSM and GPS modules

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  • (limited access) single-access rate table
    • co-owned in BSAC
February 20, 2009, at 01:17 PM by 128.32.44.84 -
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  • Motion Engineering, FASTCAM-X 1024PCI, 500 - 6000 frames per second, resolution 256 x 256 pixels
    • http://www.photron.com/pdf/FASTCAM_1024_PCI.pdf
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  • Electronics workstations
  • RF vacuum probe station

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  • (limited access) single-access rate table
    • co-owned in BSAC
February 20, 2009, at 01:17 PM by 128.32.131.61 -
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  • Electronics workstations
  • RF vacuum probe station

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  • (limited access) single-access rate table
    • co-owned in BSAC
February 20, 2009, at 01:15 PM by 128.32.131.61 -
Changed lines 18-22 from:
  • Motion Engineering, FASTCAM-X 1024PCI, 500 - 6000 frames per second, resolution 256 x 256 pixels
    • http://www.photron.com/pdf/FASTCAM_1024_PCI.pdf
to:
  • Student machine shop in basement of Cory
    • http://california.eecs.berkeley.edu/iesg/rooms/140FCory/default.asp
    • drill press
    • (no mill)
  • Student machine shop in Etcheverry
    • http://www.me.berkeley.edu/new/Shop/enter.html
Added lines 35-49:

Fearing's Group

  • Electronics workstations
    • soldering, oscilloscopes, ...
  • Wire & die bonder
  • Solder reflow station
  • Stereo microscopes
  • Small horizontal wind tunnel
  • (limited use, pre-arranged) laser cutters

February 20, 2009, at 01:11 PM by 128.32.44.84 -
Changed lines 18-19 from:
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  • Motion Engineering, FASTCAM-X 1024PCI, 500 - 6000 frames per second, resolution 256 x 256 pixels
    • http://www.photron.com/pdf/FASTCAM_1024_PCI.pdf
February 20, 2009, at 12:35 PM by 128.32.131.61 -
February 20, 2009, at 12:31 PM by 128.32.131.61 -
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Maharbiz

  • Cory 407: ~7000fps high-speed video camera

February 20, 2009, at 12:30 PM by 128.32.131.61 -
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Meeting notes

  • Hedrick's Video Processing Software
    • http://www.unc.edu/~thedrick/software1.html
  • Casio consumer-grade high-speed video camera
    • http://www.casio.com/products/Cameras/High_Speed_EXILIM/EX-F1/

February 20, 2009, at 11:51 AM by 128.32.33.202 -
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  • milligram scale
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  • Small helicopters (Ankur will fill in)
to:
  • Small helicopters (in various states of disrepair)
    • Walkera 4#3
    • Walkera 5G6
    • Esky Lama V3
    • Eflite Blade mCX
    • Wowwee Bladestar
Changed lines 83-89 from:
  • Ankur's IMU board (Ankur will fill in)
to:
  • Ankur's IMU board
    • 6 DOF inertial rates
      • 3 axis accelerometer
      • 2 inplane axis gyro
      • 1 axis yaw rate gyro
    • MSP430F2617 microprocessor
    • 802.15.4 radio
February 20, 2009, at 11:12 AM by 128.32.38.243 -
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  • General lab test equipment
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  • General lab test equipment in 484 Cory
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  • Probe station
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Sensors:

to:

Motes/Sensors:

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CAD Tools/Users:

  • Cadence tools/server for IC design
  • Cadence/Orcad tools for printed circuit board design
  • SolidWorks
  • MSP430 programming IDEs
  • 802.15.4 packet sniffer
February 20, 2009, at 10:38 AM by 128.32.118.234 -
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  • Treadmills (small and large)
February 20, 2009, at 10:37 AM by 128.32.118.234 -
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- Muscle lever system to study muscle function - EMG workstations for recording muscle activation patterns - Faraday cage for low-noise biological recordings, e.g. electrophysiology - Force platforms for terrestrial locomotion studies (small and large scale) - 3D kinematics analysis system with high-speed video cameras - O2 and CO2 measurement systems - Material testing instrument (Instron) - Wind tunnel - Water flume - Particle image velocimetry for flow visualization in air, water, and sand - Planer laser-induced fluorescence system for mass-transport studies - IR imaging camera and spectroradiometer - Dissection microscropes - Musculo-skeletal and whole body dynamics software simulation workstations - Air-suspended sphere to simulate inertial forces of locomotion - MEMs accelerometer backpack to study center of mass kinematics and kinetics of running insects

to:
  • Muscle lever system to study muscle function
  • EMG workstations for recording muscle activation patterns
  • Faraday cage for low-noise biological recordings, e.g. electrophysiology
  • Force platforms for terrestrial locomotion studies (small and large scale)
  • 3D kinematics analysis system with high-speed video cameras
  • O2 and CO2 measurement systems
  • Material testing instrument (Instron)
  • Wind tunnel
  • Water flume to study fluid dynamics
  • Particle image velocimetry for flow visualization in air, water, and sand
  • Planer laser-induced fluorescence system for mass-transport studies
  • IR imaging camera and spectroradiometer
  • Dissection microscropes
  • Musculo-skeletal and whole body dynamics software simulation workstations
  • Air-suspended sphere to simulate inertial forces of locomotion
  • MEMs accelerometer backpack to study center of mass kinematics and kinetics of running insects
February 20, 2009, at 10:36 AM by 128.32.118.234 -
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Full Lab and via CIBER (Center for Integrative Biomechanics in Education and Research): Ardian, Jean

- Muscle lever system to study muscle function - EMG workstations for recording muscle activation patterns - Faraday cage for low-noise biological recordings, e.g. electrophysiology - Force platforms for terrestrial locomotion studies (small and large scale) - 3D kinematics analysis system with high-speed video cameras - O2 and CO2 measurement systems - Material testing instrument (Instron) - Wind tunnel - Water flume - Particle image velocimetry for flow visualization in air, water, and sand - Planer laser-induced fluorescence system for mass-transport studies - IR imaging camera and spectroradiometer - Dissection microscropes - Musculo-skeletal and whole body dynamics software simulation workstations - Air-suspended sphere to simulate inertial forces of locomotion - MEMs accelerometer backpack to study center of mass kinematics and kinetics of running insects

February 20, 2009, at 08:50 AM by 64.175.43.70 -
Changed lines 62-78 from:

to:

Pister's Group: Ankur, Anita, Steven, Travis

Lab equipment:

  • RF test equipment (0-6 GHz RF source, 0-13 GHz Spectrum Analyzer)
  • General lab test equipment
  • Very large assorment of PCB components and a reasonable assembly/rework bench

Robots:

  • Foam Glider (5 ft wingspan)
  • Small helicopters (Ankur will fill in)

Sensors:

  • Ankur's IMU board (Ankur will fill in)
  • Accelerometer boards for ground vibration sensing (Travis M.)
February 19, 2009, at 06:52 PM by 68.124.184.227 -
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  • Video processing
    • via MATLAB's video processing toolbox
    • nonlinear state estimation (via an Unscented Kalman Filter)
February 17, 2009, at 10:30 PM by 128.32.137.245 -
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February 17, 2009, at 10:29 PM by 128.32.137.245 -
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  • 1-axis magnetometer + 2-axis tilt meter provide heading and roll-pitch
  • Tilt range is only +/- 40 degree, and dynamic characteristics of tilt sensors are terrible
  • Good for initial heading estimation, angle measurements under NO vibration
to:
  • 1-axis magnetometer + 2-axis tilt meter provide heading and roll/pitch
  • Tilt range is only +/- 40 degrees, and tilt sensors are very inaccurate in dynamic environments
  • Good for initial heading estimation and angle measurements under NO vibration
February 17, 2009, at 10:27 PM by 128.32.137.245 -
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  • CAUTION: This sensor only works for human working motion
to:
  • CAUTION: This sensor works only for human walking motion. Can't be used on wheeled mobile robots, etc.
February 17, 2009, at 10:23 PM by 128.32.137.245 -
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  • RFS has indoor and outdoor areas
to:
  • RFS has indoor and outdoor areas. UAV Lab in Bldg#164 has some office space plus work/storage space. Bldg#280A may be used for large-scale indoor test setup. See http://rfs.berkeley.edu/mapdetail.html.
February 17, 2009, at 10:20 PM by 128.32.137.245 -
Changed line 45 from:
  • RFS has indoor and outdoor areas
to:
  • RFS has indoor and outdoor areas
February 17, 2009, at 10:19 PM by 128.32.137.245 -
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  • 20mm to 4 meters range, 240 degrees field of view, 0.36 degree angular resolution, 1 cm range resolution
  • SICK LS-291 Industrial laser range finder https://mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=9174#
    • Very reliable, but heavy (4.5Kg) and bulky
to:
  • 20mm to 4 meters range, 240 degrees field of view, 0.36 degree angular resolution, 1 cm range resolution, 10Hz update rate
  • SICK LMS-291 Industrial laser range finder https://mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=9174#
    • Very reliable, 80 m range with 180 degrees field of view, but heavy (4.5Kg) and bulky
February 17, 2009, at 10:11 PM by 128.32.137.245 -
Changed line 23 from:
  • 1-axis magnetometer + 2 axis tilt meter provide heading and roll-pitch
to:
  • 1-axis magnetometer + 2-axis tilt meter provide heading and roll-pitch
February 17, 2009, at 06:45 PM by 128.32.137.245 -
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  • ~1000 ft with 0.5Kg payload
to:
  • Operation altitude 300 to 1000 ft with 0.5Kg payload
February 17, 2009, at 06:43 PM by 128.32.137.245 -
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  • Pioneer P3AT
  • Helicopters http://robotics.eecs.berkeley.edu/bear/testbeds.html
to:
  • Pioneer P3AT http://www.activrobots.com/ROBOTS/p2at.html
    • 2DOF grabber, onboard gyro for wheel slip correction, laser mapping and navigation integration option
  • Unmanned Helicopters http://robotics.eecs.berkeley.edu/bear/testbeds.html
Changed lines 51-53 from:
  • RC cars
    • Monster trucks and Snowcats
to:
  • Fixed-wing UAVs
    • Fully automated by Procerus autopilot http://www.procerusuav.com/
    • ~1000 ft with 0.5Kg payload
  • RC cars
    • Traxxas E-Maxx http://www.youtube.com/watch?v=Dl2NX5XI-uw and Kyosho Blizzard DF-300 http://www.youtube.com/watch?v=A857Vb27ou8
February 17, 2009, at 06:20 PM by 128.32.137.245 -
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  • Motes with various sensors
Deleted line 42:
  • Video processing
Changed lines 47-48 from:
  • Pioneer P2AT
  • Helicopters
to:
  • Pioneer P3AT
  • Helicopters http://robotics.eecs.berkeley.edu/bear/testbeds.html
    • Yamaha RMax Helicopters can climb several hundred feet with ~20Kg payload - can be used to demonstrate 'deploy from UAV' scenario
Changed lines 51-52 from:
to:
  • Monster trucks and Snowcats
February 17, 2009, at 06:16 PM by 128.32.137.245 -
Changed line 14 from:
  • Variety of IMUs and GPS units
to:
  • IMUs and GPS units
Changed line 27 from:
  • Variety of cameras, camera motes
to:
  • Cameras, camera motes
Changed line 31 from:
  • Variety of motes
to:
  • Motes
February 17, 2009, at 06:15 PM by 128.32.137.245 -
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  • Canon Powershot S3, Sanyo Xacti MPeg4 camera
to:
  • Canon Powershot S3, Sanyo Xacti MPeg4 camera
Changed lines 33-39 from:
  • Velodyne laser rangefinder (soon)
to:
  • Laser range finders
    • Velodyne laser rangefinder (soon?) http://www.velodyne.com/lidar/products/specifications.aspx
    • Hokuyo miniature laser range finder http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html
      • 20mm to 4 meters range, 240 degrees field of view, 0.36 degree angular resolution, 1 cm range resolution
    • SICK LS-291 Industrial laser range finder https://mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=9174#
      • Very reliable, but heavy (4.5Kg) and bulky
February 17, 2009, at 06:06 PM by 128.32.137.245 -
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  • Honeywell DRM4000 http://www.ssec.honeywell.com/magnetic/datasheets/DRM4000.pdf
    • Miniature IMU + magnetometers + proprietary Kalman filter = position estimates without GPS, 'Dead Reckoning'
    • CAUTION: This sensor only works for human working motion
  • Honeywell HMR3000 http://www.ssec.honeywell.com/magnetic/datasheets/hmr3000.pdf
    • 1-axis magnetometer + 2 axis tilt meter provide heading and roll-pitch
    • Tilt range is only +/- 40 degree, and dynamic characteristics of tilt sensors are terrible
    • Good for initial heading estimation, angle measurements under NO vibration
February 17, 2009, at 05:58 PM by 128.32.137.245 -
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  • Deluo DGM-100 GPS Module with patch antenna http://www.deluogps.com/product.php?id=10-019-00
to:
  • Deluo DGM-100 GPS Module with onboard patch antenna http://www.deluogps.com/product.php?id=10-019-00
Changed line 17 from:
  • ISIS-IMU http://www.inertialscience.com/isis_imu.htm
to:
  • ISIS-IMU http://www.inertialscience.com/isis_imu.htm
Changed line 21 from:
  • CITRIC Mote http://www.truststc.org/hsn/citric.html
to:
  • CITRIC Mote http://www.truststc.org/hsn/citric.html
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February 17, 2009, at 05:53 PM by 128.32.137.245 -
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  • Canon Powershot S3, Sanyo Xacti MPeg4 camera
February 17, 2009, at 05:51 PM by 128.32.137.245 -
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  • Size: 32 (w) x 32 (l) x 9 (h) mm
to:
  • Size: 32 (w) x 32 (l) x 9 (h) mm, very versatile miniature GPS module
  • ISIS-IMU http://www.inertialscience.com/isis_imu.htm
    • Medium accuracy 6 axes IMU with temperature compensation
Added lines 21-22:
  • CITRIC Mote http://www.truststc.org/hsn/citric.html
    • The Cal-ITRI-Camera (CITRIC) mote platform approaches computer vision problems and potentially other sensor applications through in-network processing of sensory data.
February 17, 2009, at 05:45 PM by 128.32.137.245 -
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Internal Sensors

  • Variety of IMU's and GPS units
to:

Internal (Onboard) Sensors

  • Variety of IMUs and GPS units
    • Deluo DGM-100 GPS Module with patch antenna http://www.deluogps.com/product.php?id=10-019-00
      • Size: 32 (w) x 32 (l) x 9 (h) mm
February 17, 2009, at 11:25 AM by 128.32.43.47 -
Changed lines 3-4 from:
  • Endogenous Sensors: inertial mass units (IMU's) and accelerometers; GPS devices; vision systems (stereo, thermal, ...); ...
  • Exogenous Sensors: high-speed video cameras; radar/sonar/laser rangefinders; radio spectrum analyzers; microphones; ...
to:
  • Internal Sensors: inertial mass units (IMU's) and accelerometers; GPS devices; vision systems (stereo, thermal, ...); ranging systems (laser, sonar, radar, ...); ...
  • External Sensors: high-speed video cameras; radar/sonar/laser rangefinders; radio spectrum analyzers; microphones; ...
Changed lines 11-14 from:

Sastry's Group: Sam, Andrew, Hoam, Travis, Songhwai

Endogenous Sensors

to:

Sastry's Group: Sam, Andrew, Hoam, Travis

Internal Sensors

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Exogenous Sensors

to:

External Sensors

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February 17, 2009, at 11:20 AM by 128.32.43.47 -
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Please describe any experimental apparatus or analysis tools you possess or are familiar with that might be useful for testing individual components or evaluating the performance of entire systems. Given that we discussed simulation tools in a previous meeting, please focus on physical tools and testbeds, though feel free to mention hardware-in-the-loop setups or high-fidelity simulation environments. Some general categories to consider:

to:

Please describe any experimental apparatus or analysis tools you possess or are familiar with that might be useful for testing things people are building. Given that we discussed simulation tools in a previous meeting, please focus on physical tools and testbeds, though feel free to mention hardware-in-the-loop setups or high-fidelity simulation environments. Some general categories to consider:

January 29, 2009, at 12:24 PM by 128.32.43.47 -
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to:
  • Motes with various sensors
January 29, 2009, at 12:24 PM by 128.32.43.47 -
Changed line 5 from:
  • Data Analysis: video processing; filtering (Kalman, particle, ...);
to:
  • Data Analysis: video processing; filtering (Kalman, particle, ...); sensor fusion; ...
Changed lines 7-8 from:
  • Existing Platforms: commercial robots (Pioneer P2AT, roomba, PackBot, ...); toys (helicopters, gliders, cars, ...); previous projects (gliders, ...);
to:
  • Existing Platforms: commercial robots (Pioneer P2AT, roomba, PackBot, ...); toys (helicopters, gliders, cars, ...); previous projects (gliders, crawlers, helicopters, ...); ...
Changed lines 11-12 from:

Sastry's Group: Sam, Andrew, Hoam, Travis,

to:

Sastry's Group: Sam, Andrew, Hoam, Travis, Songhwai

Added lines 15-22:
  • Variety of IMU's and GPS units
  • Variety of cameras, camera motes
  • Variety of motes
  • Velodyne laser rangefinder (soon)
Added lines 25-34:
  • High speed video cameras (via Prof. Full's group, CIBER)

Data Analysis

  • Video processing
  • Tracking in a wireless sensor network
Added lines 37-38:
  • RFS has indoor and outdoor areas
Changed lines 41-46 from:
to:
  • Pioneer P2AT
  • Helicopters
  • RC cars
January 29, 2009, at 12:19 PM by 128.32.43.47 -
Changed lines 1-2 from:

Please describe any experimental apparatus you possess or are familiar with that might be useful for testing individual components or evaluating the performance of entire systems. Given that we discussed simulation tools in a previous meeting, please focus on physical tools and testbeds, though feel free to mention hardware-in-the-loop setups or high-fidelity simulation environments. Some general categories to consider:

to:

Please describe any experimental apparatus or analysis tools you possess or are familiar with that might be useful for testing individual components or evaluating the performance of entire systems. Given that we discussed simulation tools in a previous meeting, please focus on physical tools and testbeds, though feel free to mention hardware-in-the-loop setups or high-fidelity simulation environments. Some general categories to consider:

Added line 5:
  • Data Analysis: video processing; filtering (Kalman, particle, ...);
Added lines 8-22:

Sastry's Group: Sam, Andrew, Hoam, Travis,

Endogenous Sensors

Exogenous Sensors

Space

Existing Platforms


January 29, 2009, at 12:16 PM by 128.32.43.47 -
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  • :
to:
  • Existing Platforms: commercial robots (Pioneer P2AT, roomba, PackBot, ...); toys (helicopters, gliders, cars, ...); previous projects (gliders, ...);
January 29, 2009, at 12:14 PM by 128.32.43.47 -
Added lines 1-6:

Please describe any experimental apparatus you possess or are familiar with that might be useful for testing individual components or evaluating the performance of entire systems. Given that we discussed simulation tools in a previous meeting, please focus on physical tools and testbeds, though feel free to mention hardware-in-the-loop setups or high-fidelity simulation environments. Some general categories to consider:

  • Endogenous Sensors: inertial mass units (IMU's) and accelerometers; GPS devices; vision systems (stereo, thermal, ...); ...
  • Exogenous Sensors: high-speed video cameras; radar/sonar/laser rangefinders; radio spectrum analyzers; microphones; ...
  • Space: dedicated lab space for performing experiments, where it might be possible to construct an obstacle course or securely store devices.
  • :

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