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(587)982-5388
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3rd Year Undergraduate Computing Science Student at the University of Alberta.
GPA: 3.8
In the Software Practice Program which allows me to take internships during the start of any semester from January, September, May; or at any point during the spring/summer if I don’t have classes.
Home - Autonomous Robotic Vehicle Project
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Making better physics simulations for our robot using equations from Thor Fossen’s 2021 book: “Handbook of Marine Craft Hydrodynamics and Motion Control”.
This mathematical state model will eventually be combined with what data our sensors send to form the Kalman Filter, which is a statistically weighted estimate of our position. This allows us to rely more on math when our sensors give highly uncertain measurements that may disrupt our position estimates.
A problem arises because of the fact that the kinematic equations parameters used to calculate our acceleration are themselves very hard to calculate. The research I am doing now for the club involves finding these parameters efficiently using regression, analyzing our acceleration in all 6 degrees of freedom to get to decent values for our parameters like moments of inertia, center of bouyancy, etc. without having to recalculate it every time our mechanical team physically changes something for the robot.
Credit to Sergii Penner for creating the simulator.
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