Differences

This shows you the differences between two versions of the page.

--- drexel_mm_uav_status [2016/11/06 03:02] – dwallace
+++ drexel_mm_uav_status [2016/11/06 17:13] (current) – dwallace
@@ Line 12: / Line 12: @@
   * Test 2 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task with compliance
-{{#ev:youtube|jqsE0pxuHic}}
+{{youtube>jqsE0pxuHic?large}}\\
   * Test 1 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task
-{{#ev:youtube|8v9IakOn1ak}}
+{{youtube>8v9IakOn1ak?large}}\\
   * Gantry playing back log file of x-y-z positions and velocities of UAV flight
-{{#ev:youtube|8z4qR3R2JG8}}
+{{youtube>8z4qR3R2JG8?large}}\\
   * Position history (x-y)
-[[File:uav-xy-pos.jpg|400px]]
+{{dylanw:uav-xy-pos.jpg}}\\
 ==== September 1-30th, 2013 ====
@@ Line 36: / Line 36: @@
   * Controller testing without manipulator attached
-{{#ev:youtube|SkT9IHY7WbM}}
+{{youtube>SkT9IHY7WbM?large}}\\
   * Marker tracking and arm articulation
-{{#ev:youtube|W_P4UuxP6bU}}
+{{youtube>W_P4UuxP6bU?large}}\\
   * ICRA 2014 Video Submission - Peg-in-hole testing, flight tests with arm articulation, z-control, and marker tracking
-{{#ev:youtube|7N8T3a8DBFk}}
+{{youtube>7N8T3a8DBFk?large}}\\
   * 3-DOF Arm, 1-DOF gripper, manual control
-{{#ev:youtube|VtMT8KqFm9M}}
+{{youtube>VtMT8KqFm9M?large}}\\
   * First flights - manual control, tethered power and communications, ROS infrastructure using mavlink and roscopter, 3 serially linked MX-28 Dynamixels implementing a spherical wrist (yaw, pitch, roll).  Arm left un-actuated (not powered).
-{{#ev:youtube|S8KwldHP7C4}}
+{{youtube>S8KwldHP7C4?large}}\\
 ==== August 1-31st, 2013 ====
@@ Line 72: / Line 72: @@
   * Simulink Block Diagram
-[[File:block.png|425px|Block Diagram showing UAV and Manipulator models]]
+{{dylanw:block.png}}\\
   * Simulink Animation
-{{#ev:youtube|eIxy-znHSII}}
+{{youtube>eIxy-znHSII?large}}\\
   * Pick-and-place and peg-in-hole at the Larics Lab
-{{#ev:youtube|9TqlA6k6HBY}}
+{{youtube>9TqlA6k6HBY?large}}\\
   * Robotics Toolbox simulation model for MM-UAV
-[[File:Rtb.jpg|425px|7-DOF MK2 Manipulator]]
+{{dylanw:rtb.jpg}}\\
   * Visual servoing using motion capture and an ARTag marker
@@ Line 90: / Line 90: @@
 Video 1 - End-effector tracking a motion capture marker
-{{#ev:youtube|unV8DHLx-TQ}}
+{{youtube>unV8DHLx-TQ?large}}\\
 Video 2 - End-effector tracking an ARTag
-{{#ev:youtube|kcsQu3yitd0}}
+{{youtube>kcsQu3yitd0?large}}\\
 ==== June 1-30th, 2013 ====
@@ Line 108: / Line 108: @@
 Video 1  - No UAV reaction
-{{#ev:youtube|8f6emhEnAoQ}}
+{{youtube>8f6emhEnAoQ?large}}\\
 Video 2  - Contact force test with UAV reaction
-{{#ev:youtube|rPQ-Yhx9EAY}}
+{{youtube>rPQ-Yhx9EAY?large}}\\
 Video 3  - Insertion and missed insertion with UAV reaction
-{{#ev:youtube|Jys4dtIrgdE}}
+{{youtube>Jys4dtIrgdE?large}}\\
   * Control Architecture
-[[File:GantryAngleController.jpg|1000px|Pitch and linear velocity controller]]
+{{dylanw:gantryanglecontroller.jpg}}\\
   * Applied pitch torque and UAV linear velocity
-[[File:plot.jpg|1000px|Pitch torque and linear velocity]]
+{{dylanw:plot.jpg}}\\
 ==== May 1-31st, 2013 ====
@@ Line 139: / Line 139: @@
   * Picture - ICRA presentation
-[[File:icra.jpg|400px|ICRA Presentation]]
+{{dylanw:icra.jpg}}\\
 ==== April 1-30th, 2013 ====
@@ Line 152: / Line 152: @@
   * Video1 - Moveit motion planning test
-{{#ev:youtube|2IYoOfmbnSM}}
+{{youtube>2IYoOfmbnSM?large}}\\
 ==== March 1-31st, 2013 ====
@@ Line 165: / Line 165: @@
   * Video1 - Tool usage tests
-{{#ev:youtube|w-dQxI4dq2o}}
+{{youtube>w-dQxI4dq2o?large}}\\
-<gallery widths=400px heights=250px>
+{{dylanw:tool1.jpg }} {{ dylanw:tool2.jpg}}\\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\
-File:Tool1.jpg|Tool Usage (View 1)|alt=alt language
-File:Tool2.jpg|Tool Usage (View 2)|alt=alt language
-</gallery>
   * Video2 - Improved MM-UAV Gantry control through torque feedback
     * The torque sensors in the MK2 torso measure applied joint torque which is then added as a disturbance to a linear velocity reaction in the gantry
-{{#ev:youtube|sL_x6QRy8DQ}}
+{{youtube>sL_x6QRy8DQ?large}}\\
 ==== February 1-28st, 2013 ====
@@ Line 194: / Line 191: @@
     * Impedance control is currently enabled to allow for a push-pull on the aircraft
-{{#ev:youtube|GRvt0E93q7s}}
+{{youtube>GRvt0E93q7s?large}}\\
   * Images
     * Hose insertion testing and torque profiling
-<gallery widths=400px heights=250px>
+{{dylanw:insert1.jpg}} Approach\\
-File:Insert1.jpg|Approach|alt=alt language
+{{dylanw:insert2.jpg}} Movement\\
-File:Insert2.jpg|Movement|alt=alt language
+{{dylanw:insert3.jpg}} Contact \\
-File:Insert3.jpg|Contact|alt=alt language
-</gallery>
   * Torque profile for elbow pitch joint
-<gallery widths=800px heights=600px>>
+{{dylanw:profile.jpg}}\\
-File:Profile.jpg|Torque Profile
-</gallery>
   * Video2 - MM-UAV tool usage
     * Arm easily grabs and drills a hole. Joint control is difficult through a joystick which is why the movements are jerky and slow
-{{#ev:youtube|H40gGg3BKo0}}
+{{youtube>H40gGg3BKo0?large}}\\
   * Video3 - MK2 impedance control testing
     * Elbow pitch and wrist pitch joints set with inertia, stiffness, and damping parameters
-{{#ev:youtube|WA-LwT-YMKY}}
+{{youtube>WA-LwT-YMKY?large}}\\
   * Video4 - MK2 RViz Simulation
-{{#ev:youtube|ST3DUcDHeLA}}
+{{youtube>ST3DUcDHeLA?large}}\\
 === Milestones ===
@@ Line 249: / Line 242: @@
     * End-effector easily provides enough grasping force for 1600g hose. Arm is joystick-operated to insert hose into pump.
-{{#ev:youtube|YDHlqUQuQuI}}
+{{youtube>YDHlqUQuQuI?large}}\\
   * Video2 - ROS and Rviz environment
     * ROS-package provides control of each actuator and sensor feedback updates robot and joint states in Rviz.
-{{#ev:youtube|_Y_EE6xdvZ8}}
+{{youtube>_Y_EE6xdvZ8?large}}\\
   * Still Images
     * Concept poses for potential MM-UAV tasks (all poses were done through tele-op control)
-<gallery widths=400px heights=250px perrow=2>
+{{dylanw:2013-02-05_21.12.48.jpg }} {{ dylanw:2013-02-05 21.16.33.jpg}}\\
-File:2013-02-05 21.12.48.jpg|Hose insertion|alt=alt language
+{{dylanw:2013-02-05 21.08.42.jpg }} {{ dylanw:2013-02-05 21.27.13.jpg}}\\
-File:2013-02-05 21.16.33.jpg|Door opening|alt=alt language
-File:2013-02-05 21.08.42.jpg|Tool usage|alt=alt language
-File:2013-02-05 21.27.13.jpg|Perching|alt=alt language
-</gallery>
 === Milestones ===
@@ Line 291: / Line 280: @@
     * Will have to carry across terrain then connect
-<gallery>
+{{dylanw:missiondescription.jpg}}\\
-File:MissionDescription.jpg|Hose Installation
+  * Hose installation\\
-</gallery>
 === Main Focus ===