About Us
Hi! My name is Lulu Htutt!
I am a senior at Cornell University studying computer science, interested in robotics, computer architecture, and embedded software. I enjoy Vox documentaries, meeting pets, winter activities, and thinking about aquarium themes.
Here you can find reports about the labs I have done in ECE 4160: Fast Robots. To see the code and source files, visit the Github repository
Hello. My name is JO-BOT-797.
I am a very fast robot.
I enjoy taking (very speedy) strolls around peoples' feet, (very quickly) flipping and rotating, and watching Star Wars: The Clone Wars (on 2x speed).
Labs
Lab 1 - Artemis and Bluetooth
01.21.2025 - 02.04.2025
Setting up and familiarizing myself with the Arduino IDE and the Artemis board.
Tasks include programming the board, reading & writing serial messages over USB, using the onboard temperature sensor and microphone, and communicating between my computer (Jupyter notebook) and the Artemis board through Bluetooth.
Lab 2 - IMU
02.04.2025 - 02.11.2025
Configuring the IMU sensor on our robot.
Conducted in-depth analysis of accelerometer and gyroscope data to understand motion detection capabilities. Received our RC car chassis and performed stunts.
Lab 3 - Time of Flight Sensors
02.11.2025 - 02.25.2025
Equipping the robot with distance sensors.
Enhanced the robot's environmental awareness by adding distance perception. Soldered components to the Artemis board and configured Time of Flight sensors to measure distances accurately. These sensors will be crucial for obstacle detection and spatial mapping in future labs
Lab 4 - Motors and Open Loop Control
02.25.2025 - 03.04.2025
Changing from manual to open loop control.
Soldered motor drivers to the Artemis board and connected them to the car motors, organized all hardware components on the chassis, and performed wheel calibration to ensure predictable movement patterns.
Lab 5 - Linear PID and Linear Interpolation
03.04.2025 - 03.11.2025
Changing from open loop to closed loop control.
Developed a PID controller that enables the car to accurately stop at a set distance from obstacles. Collected and analyzed ToF sensor data to tune the controller parameters (Kp, Ki, Kd) for best performance.
Lab 6 - Orientation PID
03.11.2025 - 03.18.2025
Using a PID controller to maintain orientation.
Designed and implemented a PID controller for maintaining the car's heading, allowing it to point in a specific direction regardless of external disturbances and maintain that orientation.
Lab 7 - Kalman Filtering
03.18.2025 - 03.25.2025
Implementing a Kalman Filter.
Implemented a Kalman filter algorithm to combine and optimize data from our slowly sampling ToF sensors. This improved sensor reliability enables more complex maneuvers like precision stopping, flipping, and other various stunts.
Lab 8 - Stunts!
03.35.2025 - 04.08.2025
Executing controlled high-speed stunts.
Combined all previous work to perform high-speed, sensor-driven stunts with our robots. Implemented a flip maneuver by driving at full speed towards the wall, flipping, and then driving back in under two seconds.
Lab 9 - Mapping
04.08.2025 - 04.15.2025
Constructing a static map using on-axis ToF scans.
Used PID orientation control to rotate the robot in place at multiple known locations, collecting evenly spaced ToF sensor readings. Converted measurements into the room's inertial reference frame using transformation matrices and plotted a detailed map. This map will be used for localization and navigation in future labs.
Lab 10 - Localization (Sim)
04.15.2025 - 04.22.2025
Using Bayes Filter to implement grid localization.
Used a Bayes filter to achieve grid localization of a virtual robot in a simulated 2D environment similar to the arena set up in our lab space.
Lab 11 - Localization (Real)
04.22.2025 - 04.29.2025
Using Bayes Filter to implement grid localization.
In this lab, we adapted our Bayes filter localization system to the real robot. Using only sensor updates from ToF scans, we estimated the robot's pose at marked locations in the arena. By comparing the belief distribution to ground truth, we evaluated how real-world noise affects localization performance.
Lab 12 - Planning and Execution
04.29.2025 - 05.14.2025
Implementing and evaluating path planning and execution through a sequence of waypoints.
Developed waypoint-based path planning and execution, integrating planning, localization, and control, and demonstrated performance.