User:Murray: Difference between revisions

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<b>Richard M. Murray</b><br><br>
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Professor of Control and Dynamical Systems<br>
Division of Engineering and Applied Science<br>
California Institute of Technology<br>
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<table width=100%> __NOTOC__
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<td width=20% align=center> Papers
<td width=20% align=center> Research
<td width=20% align=center> Group
<td width=20% align=center> [[#Teaching|Teaching]]
<td width=20% align=center> Contact
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Other Activities:<br><br>
[[Homepage:Murray|Private homepage]]<br>
[http://www.cds.caltech.edu/~murray Public homepage]<br>
[[cds110b|CDS 110b]]<br>
[http://www.ist.caltech.edu IST] / [http://www.cmi.caltech.edu CMI]
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== Papers ==
== Papers ==

Revision as of 05:00, 30 March 2010

File:Test

Papers

Projects

SysAdmin functions

Notes

Notes from MVWT review, 28 Jul 04

Steve: prioritize what needs to get done this summer; leave enough time for documentation; think hard about latency.

Lars: documentation is very important; pay a lot of attention to arrows on the interface charts; C2 API extensions to bats and Kellys - will probably need to consider commanding accelerations instead of velocities.

Claire: will be hard to get everything working at the end => start working on interfaces between the teams. Pair up people from different teams.

Jeff: positioning team presentation did a nice job giving motivation. Put the status chart at the end.

Bob: get in touch with Geir Dullerud at UIUC and look at their hovercraft. C2 group should also look at this - trade ideas with what they are doing. Position group - detecting orientation might be hard; differential GPS may not give you what you need. What's the fall back? Think about developing set of test trajectories for testing out controllers (flatness, etc).

GOTChA Chart

Goals

  • Design a control algorithm that keeps the micro-inspector at a safe distance
  • Second goal

Objectives

Technical Challenges

Approach