mclass091405.zip

Files for running rockbot simulation with fmincon:

rockbot2.m

rockbotoptfmincon.m

rockbot_gradtest.m

linksimgrad.m

getudderiv.m

linkdist6.cpp

linkdist6.dll

mattoc.cpp

pclibrobot.lib

My qualifier is at jqual.pdf

My paper is at drafty1.tex.txt

My email address is jvargasc@uci.edu.

Zipped C-STORM archive for Dr. Bobrow's students

Zipped octopus archive for Dr. Bobrow's students Note: This was updated June 3, at 5:15 PM, so redownload it if you got it before then.

To run the octopus simulation in Simulink: (It won't run in Windows 2000 or XP, sorry)

1. Take the files out of the archive and put them in a folder that's in your Matlab path

2. Download the makepath.m file, which is not already in c-storm, sorry, and put it in the same folder as the other octopus stuff

3. At the MATLAB prompt, type octopus and hit return. Then type octosim and hit return. You now ought to have a Simulink window with the octopus simulation in it. Hit the play button and wait until it's done running.

4. When it's done running, type makepath in MATLAB and hit return. This ought to open a window that shows your robot.

5. Look under the File menu in the new window. There should be a "Load obstacle Field" option. Select it. A new window should open, to load the obstacle, put obs in the white field, then press the "OK" button. Your obstacle(s) should now be in the picture with your robot.

6. Press the Animate button at the top right corner of the display window. This will show you the motion of your robot.

To run the octopus simulation from the Matlab command line (should work everywhere):

1. Take the files out of the archive and put them in a folder that's in your Matlab path.

2. At the MATLAB prompt, type "octopus" and hit return. Then type "octomotion" and hit return. This ought to result in a window appearing with your robot in it.

3. Look under the File menu in the new window. There should be a "Load obstacle Field" option. Select it. A new window should open, to load the obstacle, put obs in the white field, then press the "OK" button. Your obstacle(s) should now be in the picture with your robot.

4. Press the Animate button at the top right corner of the display window. This will show you the motion of your robot.

Have fun! There are three obstacle variations, you can get them by commenting and uncommenting out lines in the octopus.m file. You can change the obstacles, too, or their position, or whatever. The file that is applying the forces is octofield2.m, and it in turn calls obstorque.m to calculate the torque on the robot due to the obstacles. You can change things and rerun them to see what happens.

My Research

My Resume

Links to Other Pages I Like

Wedding Pictures from my sister-in-law's wedding

Poetry I like

Garett's Thesis

Garett's Thesis Directory

Dan's Thesis (postscript)

Dan's Thesis (pdf)

alegrias

farruca

tanguillo

tangos

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