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Philadelphia Robotics Group Message Board › May 2013 Philly Robotics Meetup Summary

May 2013 Philly Robotics Meetup Summary

Roy B
user 4594812
Group Organizer
Philadelphia, PA

As promised, here is my quick summary of last month's meetup. Please let me know if I missed anything.

- Andrew gave a presentation of a Kalman Filter and one of its non-linear variants, the Extended Kalman Filter (EKF). He then demoed the filter by fusing the sensor data from a gyro and an accelerometer. An arduino read the data from the sensors, and passed it along to his laptop, which was running his filter written in Python. The presentation and the code can be found here:­

- Bob showed his wheeled robot which was interfaced to a magnetometer / compass (among other things) He is working to make the robot turn toward the north. He's using a Budget Robotics chassis, and its brain is by DF Robot (Arduino compatible). Bob also showed his Salae USB logic analyzer. Bob was having some issues with his wheel encoders (the surfaces were not reflective enough). You can read how he solved this problem on our message board:­. While you're there, check out the other bits of robotics related information and requests for help.

- Mike showed a refinement to his analog PID motor controller. He replaced the potentiometer that he was using to sense the motor shaft position with a hall effect sensor. This significantly reduced the hysteresis / hunting he was seeing earlier. Even with just a Proportional term (no integral or derivative) he was showing pretty good performance.

- We discussed the "quantified self" movement, trying to determine how many of one's personal / biological parameters it would be possible to track using today's (hobby-level) sensor technology - heartbeat, blood oxygen, pedometer, etc.

See you at the June meetup!
- Roy
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