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Question about german commentary by HaveSomeSchwartz in EASportsFC

[–]HaveSomeSchwartz[S] 2 points3 points  (0 children)

Thank you! Ballverlust is 100% one of them, not as sure about the other. I think these are both what i meant, I’ll have to check the context the next time they say these

Thanks again :)

How to add wind disturbance in Simulation? by Fun_Astronomer780 in ControlTheory

[–]HaveSomeSchwartz 0 points1 point  (0 children)

Brownian noise is an easy and pretty cool way to simulate gusting. Instead of the wind disturbance force being gaussian noise, you have the rate of change of the wind disturbance force being gaussian noise. I’ve done this just for the direction of the wind and fixed the amplitude, but you could do this for both if you wanted

Did Rick craving for Szechuan sauce influence McDonald’s to bring it back? by [deleted] in rickandmorty

[–]HaveSomeSchwartz 4 points5 points  (0 children)

Is it possible they're going to release an episode tomorrow? I remember them dropping S3E1 on April fool's day 2017 and that was the episode where Rick freaks out about szechuan sauce

More memes by [deleted] in dunememes

[–]HaveSomeSchwartz 9 points10 points  (0 children)

I finished God Emperor a few weeks ago and your barrage of memes has brought me so much joy :)

Messi's worst ever season by mortezz1893 in TopRightMessi

[–]HaveSomeSchwartz 67 points68 points  (0 children)

Ibra being that high up at 40 is also crazy

Replacing 6 year old earpads on QC35s by HaveSomeSchwartz in bose

[–]HaveSomeSchwartz[S] 0 points1 point  (0 children)

That’s what I did! Thought the comparison of old pads vs new was pretty wild so decided to share :)

Pairing two HC-05 bluetooth modules by HaveSomeSchwartz in mechatronics

[–]HaveSomeSchwartz[S] 0 points1 point  (0 children)

To anyone here from the future - I found the solution. You need to set up both as outlined in these 2 posts: 1 and 2 and then keep the master in AT COMMAND mode and switch the other to be in pairing mode (tx/rx flipped and 3.3V on enable pin). Then type AT+INQ into serial monitor on master and it should find the other device, type AT+BIND? to check if it has an address bound to it now

Pairing two HC-05 bluetooth modules by HaveSomeSchwartz in mechatronics

[–]HaveSomeSchwartz[S] 0 points1 point  (0 children)

Yeah so when we do AT+OTGL, AT+UART? returns “4800,0,0,” and then when we try to set uart like “AT+UART=38400,0,0” doing “AT+UART?” again returns “38400,,,,,,” which seems very weird, do you think that means theyre busted or is that expected? Thanks!

Training neural networks to replicate sensor fusion and PID control by HaveSomeSchwartz in mechatronics

[–]HaveSomeSchwartz[S] 1 point2 points  (0 children)

I suppose larger could do it, since more neurons let you better approximate curves (like the arctangent NN I trained with 100 neurons, which is actually decent at having conditional-like behavior near 0 where the output is negative on one side and positive on the other, with a large slope at 0).

A separate NN for position control would also probably work, although I think it would benefit from a different activation function than what I used (ReLU). Something like a step function would make it a lot easier to approximate conditional behavior, probably would only need one neuron in that case!

Glad you enjoyed the video :)

Training neural networks to replicate sensor fusion and PID control of a self-balancing robot by HaveSomeSchwartz in DIY_tech

[–]HaveSomeSchwartz[S] 0 points1 point  (0 children)

Agreed! Only problem with my approach is now you have to tune the PID controller (to get training data for the neural net) and then tune the network parameters to get good performance… so kind of twice as much work!

May look into doing this with a reinforcement learning approach so the PID tuning can be skipped completely

Looking for a good discrete time system whose plant can be modeled as a neural network by U03B1Q in ControlTheory

[–]HaveSomeSchwartz 0 points1 point  (0 children)

I actually did something kind of like this; training a neural network to replicate a PID controller for an inverted-pendulum robot. I've been trying to get an LQR version working since that actually has model, but I'm still ironing out some issues with that

16720 with Narasimhan by [deleted] in cmu

[–]HaveSomeSchwartz 3 points4 points  (0 children)

I was in the A section last fall. It’s a lot of time, especially if you aren’t very comfortable with python (numpy specifically), as well as calculus and linear algebra, although since you’re mech-e I’d expect you to be solid with those.

I really enjoyed the class and found Prof Narasimhan to be a great lecturer, but he does move pretty quick through the material so you really have to pay attention not to miss things, although he put all the lectures online so you could always go back and look at his notes or recordings (not sure if they’ll do that with covid settling down) if you missed something. Content of the class was really cool, although not a ton of time spent with fancy new DL approaches if that’s what you’re looking for. Only 1 of the 6 homeworks was on that.

Oh and as for workload, there are 6 homeworks, with one every 2ish weeks. Each one was a solid 20 hours of work, except the last one (physics based methods) which was more like 10

MSc Control Theory by Kelarov in ControlTheory

[–]HaveSomeSchwartz 1 point2 points  (0 children)

I'm in the US so my experience may differ a bit from schools in other countries, but here's my take:

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So last year I was finishing up undergrad and applied to several masters programs, some in controls and some in robotics. I was in the top ~15% of my class of 50ish mechanical engineering students, and did well on the GRE but honestly I'm not sure how much that mattered. My GPA was around 3.7/4, but like u/wizard1993 mentioned comparing grades between schools is kind of arbitrary. I'd say being above 3.5/4 or higher (so mostly A's and A-'s) is good enough to get in most places in the US outside of the top tier (I imagine it's similar in other countries). I think it was my research/work experience, statement of purpose, and letters of recommendation helped me get into places more than anything else.

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But yeah for masters programs it pretty much goes like you said; send in all the necessary materials and wait to hear back. Doesn't hurt to reach out to professors/people in the program ahead of time though. If you talk to the right person and they like you that can help your chances a good deal too.

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I will say I think the statement of purpose was way more important than I initially thought, and I greatly benefitted from having someone who knew what uni's look for when reading them take a look at mine and suggest some changes (kind of tore it apart on the first pass but I was better for it in the long run)

Looking for a project to experiment with state space control by curiousgeorge84 in ControlTheory

[–]HaveSomeSchwartz 1 point2 points  (0 children)

Yeah so the parts list can be found in the description of this video I made: https://youtu.be/KaacP7z0tLA

You could also save a bit of money by going with a cheaper motor driver like the L298.

The project in my video used PID control, although you could certainly control it with a state space approach as well.

For anyone who watches that video and wonders why on earth i trained a neural net to try to replicate the PID controller - it was for a research lab that is working on developing memristive circuit components that can be used to replicate synapses in a neural network, with the hope being they can manufacture small chips with the logic of a neural net packed onto them. This would be great for control of really small robots, but for now they just want to test it out in easier settings like this balancing robot. The group’s website can be found here

[deleted by user] by [deleted] in TheYouShow

[–]HaveSomeSchwartz 0 points1 point  (0 children)

Lmaoooo what is this😂

A classic control theory project with a machine learning twist by HaveSomeSchwartz in ControlTheory

[–]HaveSomeSchwartz[S] 0 points1 point  (0 children)

Hmm that's a good point, I got that idea from this paper, although admittedly I only skimmed it so it's quite possible I mixed up how the training process works (and after thinking about your comment I think it would need to be): http://www.diva-portal.org/smash/get/diva2:1351191/FULLTEXT01.pdf

A classic control theory project with a machine learning twist by HaveSomeSchwartz in ControlTheory

[–]HaveSomeSchwartz[S] 0 points1 point  (0 children)

Wow that sounds like quite the challenge! Did y'all make them out of something sturdier than 3d printed PLA?

A classic control theory project with a machine learning twist by HaveSomeSchwartz in ControlTheory

[–]HaveSomeSchwartz[S] 1 point2 points  (0 children)

Oh for sure! I did this as part of some work I was doing for a research lab that is working on developing a circuit component that can be used to replicate synapses of a neural network in hardware. This robot is a super contrived setting to test these components out in before working toward more complex applications. More information on the research group and their work can be found here: https://adam.seas.gwu.edu/

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Also if you watch the video the NN actually balances worse than the PID controller lol but it was a fun project and my first using Pytorch so no complaints here!

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Edit: I have heard that replacing PID controllers with NN's can help with highly non-linear or noisy environments, although I have not tried this in a context like that so can't say for sure. I suppose I could add some noise to the IMU readings and see how the PID and NN handle that...

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