主要展示一下课程第一周的小测试，都挺简单的

Week1:Introduction
Flapping wing vehicles that are patterned after insects or birds can, in fact, stop and hover.

So here’s something else you might think about.

The robot obviously has six degrees of freedom.

It can translate in all three directions, it can also rotate.

So how many different ways can you translate or rotate the robot?

And how many of these are independent given that there are only four propellers?

A：

3 translational and 3 rotational movements

Week1:Introduction

So in the lab, we have motion capture cameras that allow the robot to measure its position. What essentially happens is through the reflective markers that are mounted on the robot, the cameras can estimate the position of each reflective marker and these cameras can do it at split second timing exceeding speeds of 100 times a second to 200 times a second. Also, these measurements are incredibly precise. The accuracies can be well below one millimeter.

Week1:Introduction

P：In this simple example, we assumed that the robot was two-dimensional and we ignored the orientation of the robot. For a real quadrotor in a three-dimensional environment, we must estimate (in addition to the environment geometry):

the displacement of the robot in three dimensions (i.e. \Delta XΔX is a 3\times 13×1 vector)
in addition to (a), the change in orientation of the robot
in addition to (b), the linear velocity of the robot
in addition to ©, the angular velocity of the robot

Week1:Introduction
Here it’s a single camera which is off the shelf, it’s inexpensive, but we do instrument the environment with beacons. And because these beacons, which are the AprilTags you see on the carpet, are known to the robot, It’s able to recognize them and estimate its position and orientation relative to the tags, and therefore the environment.

1.1

Quiz, 6 questions

1. Question 1

Which of these factors has NOT contributed to the rapidly-increasing commercial interest in multi-rotor vehicles?

Mechanical simplicity
Ability to hover in mid air
Inexpensive components
Efficiency in forward flight

2. Question 2

In how many ways can you translate and rotate this robot in free space? Enter your answer as a numeric value (e.g. 1 instead of one).

Week1:Introduction

3. Question 3

How many independent control inputs does the vehicle shown above have?

4, since it is similar to a quadrotor, except with more motors
6, because there are six motors
6, because a rigid body has six degrees of freedom

4. Question 4

Which of these components are incorporated in commercial products mentioned in lecture such as the DJI Phantom or the Parrot Bebop? (Select all that apply.)

Planning to avoid obstacles
State estimation
Mapping
Autonomous control

5. Question 5

An Inertial Measurement Unit (IMU) is an important sensor used in aerial robotics. A typical IMU will contain an accelerometer and a rate gyro. Which of the following information does a robot get from an IMU? (Select all that apply. Choose only quantities that are directly reported by the IMU. Do not include quantities that can be computed from the IMU measurements but cannot be obtained directly. Additional research to find information about IMUs is allowed and encouraged!)

Position
Orientation
Linear velocity
Angular velocity
Linear acceleration
Angular acceleration

6. Question 6

What does Simultaneous Localization And Mapping (SLAM) software do? (Select all that applies.)

Estimates the position and orientation of the robot with respect to the environment

Causes the robot to avoid obstacles in the environment
Navigates the robot in a cluttered environment
Controls the robot’s flight through the environment
Estimates the location of features in the environments

Reading:Matlab Tutorials -Advanced Tools

These videos will show you some of the more advanced Matlab capabilities we’ll be using throughout this course.

Annotating graphs Example

While driving over a bridge , have you ever wondered "How did they solve all those linear equations ".

Solving the equation Ax = b

关于函数句柄fHandle的一些介绍，可以参考：https://blog.csdn.net/YhL_Leo/article/details/50699990

Solving ordinary differential equations by hand can be tedious or in some case impossible for man application it is sufficient to find an approximate solution using a numeral solver how can we use Matlab to solve an OD numerically .

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这其中的t不能省去，上例是用来解决一个一阶方程组