Tactile sensing with a robotic manipulator

This is a picture of the tactile sensor mounted on the gripper.




Heres a vdo of what ive been slaving on for my thesis project. Each movement and timing and sensing is done in C/C++. It uses the tactile sensor to detect the object by searchign the workspace systematically. When detected, it stores the coordinates, move the arm to the point. It then closes the gripper once to align the cylinder to the center, rotates the gripper 90 degrees then closes it to pick it up. So much time spent just to do something to simple... irony.

Alma Mater

There comes a time where you have gone so far and experienced so much. Then you come to ponder... what was i before? what made me who i am? where did i grow? Where did i make my achievements?

Just recently i aik was talking about how his school was on wikipedia.. so bored and nothing to do i searched for my school. The sense of pride of my schooling days of a johannian returned. It was such a unforgettable experience studying here. To be a part of the rich heritage which still has not been lost completely.


Then i scrolled down to check if they had any new scoops on the scouts. To my amazement... everything was there, all the achievements, all the history AND my name..

"As the troop has endured the ups and downs, the highs and lows over his existance for 44 years, it is the undying spirit and the faith of not just the members of this troop but everyone including the parents, teachers and scouters who has enabled this troop to overcome all odds. Among those who have been highly honoured as the leader of the Eagle Scout Group throughout the last decade includes Mr. Simon Ng, Mrs Pok Mee Chin, Joseph Anthony Gomes, Joel Ng, Lee Jia Wen, Leonard Chooi, Bryan Chang and Christy Vicknesraj."

Im honored that someone really took note of the hardships that all of us went through to bring the troop back to its glory days.We really loved the troop. I do still think of it. and i how i wish i was back there to help and teach the juniors.

Click here for the article

cogitating

countless ticks.
striving for an answer
every silent step in doubt
longing for a decent path

iterating, assuming, perusing

vision failing
only the nearest is clearest
too much focus
deters your soul
seeking for the harmony
between the two contrasts

all for what?
the 6 degrees of freedom
x, y, z, roll, pitch, and yaw

when is it enough?
when is it acceptable?
when do you feel that you have accomplished something?
please define the finish line

self control

moments of panic
moments of depression

take a breath
cry some tears
then bounce back

life isnt easy
so suck it up
everyone is capable
if you push forward

no giving up
never an option
its do or die

a foot at a time
plot a path
eye a place for your first step
then a second one
before you know it
you should be there
landing on both feet
standing with your head high

life in uni, it was never easy, not for engineering of course