Mecharithm Blog

Implementing Dynamics and Control of a Quadrotor in MATLAB

Implementing Dynamics and Control of a Quadrotor in MATLAB

In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper "Modeling and control of quadcopter" by Teppo Luukkonen. You can download the paper HERE! It has a table of values that we will use for the simulation. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink The objective is to implement a simulation of the quadcopter dynamics by implementing the equations…
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Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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Fuzzy PID Control of a 6-DOF Parallel robot

Fuzzy PID Control of a 6-DOF Parallel robot

In this report, you will learn about the Fuzzy PID Control of a 6-DOF Parallel robot. So, if you are interested in learning about the control of parallel robots, keep reading. Note: The contributors of this project are Madi Babaiasl, Seyyed Hamed Mahdioun, Askar Azizi, and Mehdi Dehghani Abstract Because of the sophisticated structure, parallel manipulators -unlike serial ones- have special characteristics that make them suitable for the tasks in which higher speed and acceleration with precision are required. Identifying the real geometrical parameters in the kinematic structure of a parallel robot (calibration) and simple and accurate Control method are…
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Viscoelastic Characteristics of Porcine Liver

Viscoelastic Characteristics of Porcine Liver

In this post, viscoelastic characteristics of the porcine liver are measured using rheological experiments. These data were needed for needle insertion experiments. The contributors of this project are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John Swensen. Sample Preparation for Rheological Tests The porcine liver was obtained from the WSU's meat science lab right after slaughter to avoid the changing of tissue properties. No authorization or approval was required since the liver was qualified to be food. The liver is then put in the 0.9% Sodium Chloride solution (9g NaCl was dissolved in 700 ml water in…
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Heat Treatment of Nitinol for Different Stylet Shapes

Heat Treatment of Nitinol for Different Stylet Shapes

In this post you will learn about an approach to fabricate different stylet shapes for our proposed stylet and tube steerable needles using heat treatment of the Nitinol (a Shape Memory Alloy SMA). Our lab developed a new class of steerable needles called Stylet and Tube Steerable Needles in which the direction of the tissue fracture is controlled by the inner Stylet followed by the outer tube to help steer the needle. Stylet and Tube Steerable Needles The shape of the stylet and the step length determine the radius of curvature of the steerable needle. For this reason, we have…
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Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Our paper "Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle" is accepted to be published at the proceedings of the International Conference on Intelligent Robots and Systems (IROS) which is scheduled to be held on Sun, Oct 25, 2020 – Thu, Oct 29, 2020 at Las Vegas, NV (most likely it will be virtual because of the Pandemic). The contributors of this project are Fan Yang, and Mahdieh Babaiasl who conducted the research under the supervision of Dr. John Swensen. Stylet-and-Tube Steerable Needles. The combined radius of curvature…
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How to Import the Math Equations from LaTex to Your Website (HTML)

How to Import the Math Equations from LaTex to Your Website (HTML)

As an Engineer and a researcher, we use math equations all the time. In old days, we used to use MathType with Word to write our scientific articles. However, MathType is not free and it is tedious to use with Word. So ditch them both and use LaTeX instead! LaTex makes life easier especially while typing mathematical equations. Articles written with LaTex are also aesthetically appealing. After we launched this Website (Mecharithm), we needed to include some of the projects with math equations that were written in LaTex. Because Madi was not very experienced with HTML, she was not sure…
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Mahdieh Babaiasl Received Prestigious SWE Scholarship

Mahdieh Babaiasl Received Prestigious SWE Scholarship

We are delighted to announce that Madi has received the prestigious Wanda Munn (SWE Eastern Washington Section) Scholarship for her outstanding academic achievement as well as strong engineering potential. The SWE Scholarship Selection Committee reviewed over 1,500 applications that year in making its choices. See the other Mecharithm News in the link below: https://www.mecharithm.com/category/news/ If you enjoyed this post, please consider contributing to help us with the website's running costs and keep making awesome content for you. We deeply thank you for your generous contribution! Do not forget to contact us: Be sure to let us know your thoughts and questions about…
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Madi Successfully Defended Her Ph.D. in Mechanical Engineering 🥳

Madi Successfully Defended Her Ph.D. in Mechanical Engineering 🥳

PhD Defence in Mechanical Engineering On July 22nd, Madi has successfully defended her PhD in Mechanical Engineering. It all started out with a virtual defence. Her presentation took about an hour and then the committee questioned her for another hour! They finally announced that she is now Dr. Babaiasl. Hurrah! She got to finish hr PhD in Mechanical Engineering successfully! Graduation Photos The Commencement this year is all virtual (Bummer)! However, Madi had the chance to wear the Doctoral Gown and Tam! It took her 20+ years to wear these beauties! Cheers! 🥂🍻🍾 BUT she is not done yet! 😆…
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How to Make a Great Jaw-dropping Presentation

How to Make a Great Jaw-dropping Presentation

Have you ever felt so nervous before a presentation and felt you could have presented better? Are you one of the people who'd rather die than present in front of other people? Public presentation is always nerve-racking for everyone. Believe it or not presenting in front of the people is the most difficult thing for everyone and this post is going to show you some tips and tricks that if you follow you can make a great jaw-dropping presentation that makes a lasting impact on your audience. Write a Logical Flow of Your Presentation Imagine a movie with smooth and…
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