https://www.ruoffadsys.com/work daily 1.0 2021-03-04 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577412377373-JF9QCQ051OWQST4LET00/image-asset.jpeg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577413610030-V2Z0X86TASQYJUA7Q4IM/electronics+case+2+%282%29.JPG Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577414209515-B28EL1DIQEYO5M6W8IL6/Main+program-Page-1+%283%29.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577414209533-G3LMJOXC2DIWL6PEEJ2U/Main+program-Page-2.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577412950269-O5ZHK89FHOFYKW6URB8Q/image-asset.jpeg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577414837237-LHARB4K7Z7LUHRNY6JYV/image-asset.jpeg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636620360-7NHZK97IJTVTU4MFK0JZ/electronics+case+2+%282%29.JPG Work - Flight Controller Case - Exploded View The drone flight controller consists of a raspberry PI 3B+, a pixhawk flashed with ardupilot, and an ESP8266 wifi module for telemetry https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636620036-Q0M1IZSE9C9P0JO0PKO6/Flight+test+checklist.jpg Work - Flight Test Checklist Things to check before each flight test https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636620899-CHCER19W6C1CVBJKZ9DJ/fullrender6.JPG Work - Flight Controller Case Mounted on UAV https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636708210-WAL9TOZVYJ2BP1Q5UZQT/Fullrender-max.png Work - Robotic Arm Mounted to UAV https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636621349-ZKO9MPCSCOW3HK4CM434/holding+cube+1.JPG Work - Robotic Arm Holding a Cube https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636621931-8IG94DTH5O0WA0FEKPK9/render+1.JPG Work - Robotic Arm https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636622436-12JABL1T173QE83W167Q/render+3.JPG Work - Robotic Arm Sensors The robotic arm features a camera as well as ultrasonic, and current sensors https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636621337-N9B1OMRTGF8KCYF546I3/Main+program-Page-1+%283%29.jpg Work - Main Code Flowchart - 1 The vehicle is controlled by two programs running parallel and communicating through sockets. One program, written in python 2.7 controls the UAV’s movement, while the other, written in python 3, operates image recognition. Separating these two functions allows cross-python-version coding and mitigates the risk of a freeze-up or failure in the image processing code https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636621779-IQWIS5GJTKMXEDAJ6XSP/Main+program-Page-2.jpg Work - Main Code Flowchart - 2 The vehicle is controlled by two programs running parallel and communicating through sockets. One program, written in python 2.7 controls the UAV’s movement, while the other, written in python 3, operates image recognition. Separating these two functions allows cross-python-version coding and mitigates the risk of a freeze-up or failure in the image processing code https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636729965-ZLZN36GAWVS9M0EEXV87/kalman+filter+2.gif Work - Kalman Filter Graphic A kalman filter is used to smooth input from the leap motion controller when the arm is in manual mode. A kalman filter uses sensors inputs along with a mathmatical model of a system in order to reduce signal noise. Implementing a kalman filter of my own design greatly reduced twitching and jerking in the arm https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576636817876-WGMV9W4ZG7UY28X6BSWU/0001.jpg Work - Arm Driver Line Drawing A line drawing for the robotic arm driver which features an arduino nano, 16-servo I2C PWM controller, and I2C current sensor. The nano is programmed in C++ https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577411742889-WUOBN210RW10T7I6OK9X/arm2.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577413592071-NZ914ZUXL0BXSTBKR0ML/Fullrender-max.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577684058422-AWGGNFA1BZORVFRQXKFW/cap._detected.jpg Work An image outputted by HCD with guide circles and lines drawn https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577686290774-8OIAXDGLYQKY17IGOTTG/image-asset.gif Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1578004666676-CLI0YDN9M5UDSN22KJKI/image-asset.jpeg Work Optimal detector parameter vs camera height https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629406836-UZ0276HW9WO5TF18EWWN/landingpad2.jpg Work - Drone sitting on landing pad (rev1) https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629406534-482AUUED02AIO3AXLG6D/landingpad3.jpg Work - Aerial view of landing pad (rev1) https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629293693-6XBAV6LB1AIVR32X3HG0/from1m._detected.jpg Work - Rendered image of landing pad after processing (rev2) https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629407327-HBYRD10IVA0QX8K4YSLK/testmarker1._detected.jpg Work - Detection test of first landing pad mockup (rev1) https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629407630-5IHC0HTZ3J27S7JOFSNH/testmarker5._detected.jpg Work - Detection of completed landing marker (rev2) https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629720197-9U3M9FXDTDQE6TOIE6UQ/cap._detected.jpg Work - Test of landing pad detector in a red light saturated environment (rev2) https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629694559-GAN44F3GWIGZ6QVQY5A9/capout.jpg Work - Initial test of RGB circle detector code Before I had landing markers! https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1578014743530-IIWH4GW0I1CIYFA45UXA/image-asset.jpeg Work Simulating a mission with dronekit-SITL on Ubuntu 18.04.3 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576629406534-482AUUED02AIO3AXLG6D/landingpad3.jpg Work Landing Marker Rev 1 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577686180801-OCRC10L8GB4SS218R4KB/image-asset.gif Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1578006695133-865D5P408K1WFM2P1S00/fullrender6.JPG Work The drone is equipped with a Pixhawk 4, Raspberry Pi 3, and esp8266 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577681177471-YA0BYG60HKS245IGAOPH/image-asset.jpeg Work Landing Marker Rev 2 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1578005479197-1TXPHJQG7B6UUNTLKMVO/image-asset.jpeg Work The optimal paramters for detecting this marker differ greatly from those of the red-saturated image in the paragraph above https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577474999648-4XHNQAEBGZFHPXZ3QHI1/Screen+Shot+2019-12-27+at+2.23.24+PM.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577475589079-FOPSVA9RXW64B2USRJDH/IMG_7480.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577475918475-U7ZR45QNEISTI1E0PGSE/Screen+Shot+2019-12-27+at+2.40.49+PM.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577475005762-LA0BUV4ZB12T5N6UJ21M/Screen+Shot+2019-12-27+at+2.23.53+PM.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577757900028-4L4WCWXGUOWA9HK75H3F/ezgif.com-gif-maker+%284%29.gif Work Video of the rocket’s flight https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577756091321-DFAP0U811W4LD9NIX9Z9/image-asset.jpeg Work Rocket sitting on the launch pad. I forgot a 9v battery so I used a LiPo from one of my drones https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577756538945-SFUWP278Y63YS8IFM52R/ezgif.com-gif-maker+%283%29.gif Work Close-up video of the rocket launch https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577475769200-XO9SVYF2GJ81BP3MVZ6T/Screen+Shot+2019-12-27+at+2.41.58+PM.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577757009449-64OVUFE7YVJGMCXHWNLK/image-asset.jpeg Work Parachute attached to the rocket fuselage https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577474268633-20WQC6ZAMRAQY91XSOT2/untitled.227.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590640504799-RLJ2HN0VU18THM7QQ31N/Annotation+2020-05-26+003632.jpg Work V2 Modeled in OR https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590714462664-8O28563DS8JBWAQY0HML/image-asset.jpeg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590640520334-IMH6Z0T7OG8CY51E2DAA/Annotation+2020-05-26+003607.jpg Work Plot of OR Simulation Results https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590717327177-5YH8503FL7MJMP3EVKI1/image-asset.gif Work Installation of the SD Card Reader Board https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590552442515-DGX3BYH3FZBOJZGF7BPG/untitled.299.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590716895565-YD8X2TBT50SYFNGHXP6I/image-asset.gif Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590718695813-9BWDHJXEG2MIBO7HJ422/image-asset.gif Work Installation of the 9DOF Gyro/Accelerometer/Barometer Board https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590639890157-RXCOF23BN3HLHJS72BOK/image-asset.jpeg Work V1 Battery Placement https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590716444664-7XE0LMP7HTGL09OIDKLB/ezgif.com-gif-maker+%286%29.gif Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590552516369-HXGG7NNH052SO33AG2XX/untitled.303.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590639575159-JF3PR4A4L8VP6BHKA2OL/Annotation+2020-05-28+000009.jpg Work V2 Battery Placement https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590717237365-A4I0WNT7AV6I3XTBH2T5/image-asset.jpeg Work Parts Required for V2 Assembly https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591070455378-BVA03T3HZT6RIXTES4VY/ezgif.com-gif-maker+%289%29.gif Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591072531758-ZC518UGZ6QEJMKL7I1FL/22_227_001-01.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591072531796-MQZEU6F9P99K77DNWKU0/22_227_001-02.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591072532088-TBNY8ORJWT1I3BYH1CO8/22_227_001-03.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591072532637-CC4AOBON53IF55ENU4JK/22_227_001-04.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591072532992-YTBIPPCX2YEVS6F0DO3R/22_227_001-05.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590976171750-TU4XKX2HSCB9RN12CEDJ/modeloutline.jpg Work Dart modeled in OR https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591071280876-9ZNQANXA1GOJQ2MBQIXS/image-asset.gif Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591070156198-1I423MK8Y14GTRHQGGTA/Annotation+2020-06-01+235232.jpg Work Dart Modeled in SW https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608693387281-M9IPZA0A16VDQO9T2E0W/image-asset.png Work Chart 3 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608692497234-AMTVEHOSNCXKBZ76I16E/image-asset.png Work Chart 2 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608682955587-LVVIWFDWE4SM9VFQ2I59/image-asset.png Work Chart 1B https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608693841178-31PEU4ODC7YE75U8YW5C/image-asset.png Work Chart 4 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608850413453-MFN0OKFX9VIP0JD1O09O/Screen+Shot+2020-12-24+at+5.53.09+PM.png Work Chart 5 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608865459942-ISPIU7FRPU1756IZTBOS/Screen+Shot+2020-12-24+at+6.09.38+PM.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608598400632-CFIDNOWDRUYD4TKV6D5N/image-asset.jpeg Work Chart 1A https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608859590472-H1MQYK364RR3C5SYCLDH/Screen+Shot+2020-12-24+at+8.12.50+PM.png Work Chart 6 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1610686987278-8VAZWHXS0YLJH8W1MPEZ/Server+architecture+diagram+%281%29.jpg Work Figure 1 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1610571728090-WH7N38TL28016R9GJ7BI/docker_facebook_share.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576620013581-HH83YEPABS3F2JOKGWUA/Fullrender-max.png Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576628369682-FYVSJEOW0PI2PRF2XLTQ/from1m._detected.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576628817631-AQA38ZB8OMNT6Z5FL3EW/IMG_2566.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577476013081-R99CR9ZPR4NJG9PVIZ33/untitled.228.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1590470387331-03YJ0LITEB4Q9CC41EIR/Cover_img.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1591072793782-I56TJAGHROCVCHZOK4RO/gfd.jpg Work https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1608867567762-TH8W5084TPT21ICJQX0X/Screen+Shot+2020-12-24+at+8.12.50+PM.png Work https://www.ruoffadsys.com/about daily 0.75 2023-10-24 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/83c61ac1-210f-4127-af93-dfbf8e9db419/IMG_2174_%28copy%29.jpg About https://www.ruoffadsys.com/model-rocketry daily 0.75 2019-12-18 https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634619303-MELJZNM5FZEMYQL96GVN/IMG_7371+-+Copy.jpg Model Rocketry Gallery - Mockup of a Propulsive Landing Vehicle Initial concept for a propulsive landing vehicle. Nose cone is attached and grid fins are stowed when it is in launch configuration https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634661540-5HZB0N0YZGG0LEVVJZLL/3D+Printed+Model+Rocket.jpg Model Rocketry Gallery - A Simple 3D Printed Model Rocket This design can be found on Thingiverse https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634661509-S45X4CCS8GVHYGZ3NDOJ/Exploded+View.jpg Model Rocketry Gallery - Exploded View of a Simple 3D Printed Model Rocket https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634620092-5PH00DKET504AE3BPNVC/untitled.164+-+Copy.jpg Model Rocketry Gallery - Thrust-Vectoring Controlled Motor Cluster Concept This concept was abandoned as the cluster was too wide to be mounted into an aerodynamically optimal fuselage https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634621703-RVWTK8CGKTLSR5AQPJM3/untitled.191+-+Copy.jpg Model Rocketry Gallery - Grid Fin The aerodynamic surfaces that control a rocket’s descent speed and angle of attack. See SpaceX https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634620923-7I9FM7JA9TZ925FR6G4W/untitled.203.jpg Model Rocketry Gallery - Rendering of the Icarus 1 TVC Test Vehicle Icarus 1 is powered by am Aerotech G77-R motor with the ejection charge removed. Icarus 1’s avionics deploy a parachute by detonating a separator charge under the nose cone just after the vehicle has reached its apogee. https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634622420-4KAU83D3T8NGFK4VF37D/untitled.207.jpg Model Rocketry Gallery - Exploded View Rendering of the Icarus 1 TVC Test Vehicle https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634624460-QMP2K9T860X2LM76303E/untitled.208+-+Copy.jpg Model Rocketry Gallery - Three-Story Avionics Bay Mounts into the fuselage of a 76.4mm diameter rocket. Houses a 9DOF sensor, dual-channel relay, SD card reader, Xbee, and arduino nano https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634623654-V33AKHDSD1YUXW6NFV1T/untitled.209.jpg Model Rocketry Gallery - Rendering of the Thrust-Vectoring Assembly The TVC hardware mounts inside a 76.44mm fuselage with M3 screws https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634625270-7UNOO7HEXQ6ZJD79JZKF/untitled.211+-+Copy.jpg Model Rocketry Gallery - Propulsive Landing Vehicle - Landing Configuration A propulsive landing test rocket with end cap jettisoned and grid fins deployed https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634627570-A5NYAXEM1MIRDB2XEZLM/untitled.214+-+Copy.jpg Model Rocketry Gallery - Grid Fin Mounting Grid fins are mounted to the rocket using M6 screws and locknuts https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634628996-IS24RFQ4E68SLPHCTTGG/untitled.216.jpg Model Rocketry Gallery - Propulsive Landing Test Vehicle Fuselage Render showing the mounting points for the TVC and avionics hardware https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634706047-SC6XL3PAFWIGO7SMWZAO/2S_Render.jpg Model Rocketry Gallery - Two-Stage Simple Model Rocket A two-stage variant of my original model rocket https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576634705337-2RRZQGTJCQV47V60ZTEH/1S_Alpha.png Model Rocketry Gallery - Simple 3D Printed Model Rocket Internals Tubes are to direct airflow through the fuselage towards the nose cone as well as to slightly cool air before it reaches the parachute https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577415926376-LAYW0YTPH1FM45DVDZHC/IMG_7478.jpg Model Rocketry Gallery - Data Logger Rocket Avionics (L/R) Adafruit 10DOF sensor, Arduino nano, Adafruit SD cart breakout module. Status LEDs not pictured https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1577415845455-NHKAHTZ6812GQSC4EPFW/IMG_7482.jpg Model Rocketry Gallery - Assembled Data Logger Rocket Fuselage https://images.squarespace-cdn.com/content/v1/5df944d23197643f034310ca/1576628468866-UPCQIQQXUCIHLE8KRE9O/IMG_7371.jpg Model Rocketry Gallery