Following videos show the demo of the real-time voxel grid mapping on-board. I built the whole environment including the walls, FOV, trajectories and GUI in OpenGL myslef. The GUI make the colaboration with another team in Virgina Tech easier. No ROS in this whole project. For more details, please check the specs down below the page.

Apartment scan test:

This video shows the indoor real-time mapping in first personal view. Due to COVID-19, I cannot enter the lab/hangar and had to film it in my apartment with hand-carry test. The white grid plane shows the specific layer of the 2D map on the top left corner.

Hangar flight test:

This video was filmed earlier before the pandemic. The top right corners shows the sceen on the ground station. The communication protocal is using non-block UDP socket to send the map and camera pose to reconstruct the 3D scene.

Hardward

I was the team leader in NCKU Unmanned Aerial Vehicle team from 2015 to 2017. During the 2 years, I was in charge of the drone design and team management.

Yee (翼)

The first UAV, Yee (翼), I designed was in 2016 for Taiwan UAV Competition. The UAV is a traditional inverse-T configuration with 2.6 m wingspan and an O.S. 61FX engine. The aircraft is 7 kg and can carry up to 5 kg payload. The materials we used are mostly balsa wood, fiber glass and some carbon fiber for critical structures, e.g. wing joints and landing gears.

This was my first designed aircraft and the performance is good but with some problem. For example, the tube between the fuselage and the tail are not stong enough and make the installed-angle slightly off. We had to tune the middle point of the elevator to make it follow our desinated cruise angle.

Storm Chaser (暴風艦)

The second UAV, Storm Chaser (暴風艦), I designed was in 2017 for Taiwan UAV Competition as well. This UAV was designed by me and another co-leader of the team. We discuss the goal and he mainly designed the aerodynamics parameters and I designed the whole CAD model based on his parameters in CATIA and manufacture process. The whole design was finished in 1 month and took 4 months to build and then tookoff.

Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub.