Category Archives: exposition

Stan Explains Things: RANdom SAmple Consensus

I’ve decided to start writing briefly and informally about technical things, so that I could understand them better, and so that someone else might get some insight.  I’ll be writing these under the appropriately vague title of “Stan Explains Things”.

Stan Explains Things: RANdom SAmple Consensus

I’ve decided to start writing briefly and informally about technical things, so that I could understand them better, and so that someone else might get some insight.  I’ll be writing these under the appropriately vague title of “Stan Explains Things”.

Robotic Gymnastics

It’s that final project time of year again at MIT, and I thought I’d write a few posts about the projects I’ll be working on for the next month and a half.  This first one is for my class 6.832

Robotic Gymnastics

It’s that final project time of year again at MIT, and I thought I’d write a few posts about the projects I’ll be working on for the next month and a half.  This first one is for my class 6.832

Stuck detection for mobile robots

No matter how clever your navigation and obstacle avoidance code is, occasionally, your robot will probably get stuck.  Perhaps it bashes into a wall it didn’t see when it goes for a target, or maybe some appendage got snagged somewhere. 

Stuck detection for mobile robots

No matter how clever your navigation and obstacle avoidance code is, occasionally, your robot will probably get stuck.  Perhaps it bashes into a wall it didn’t see when it goes for a target, or maybe some appendage got snagged somewhere. 

Wall-following for mobile robots

Wall-following is a relatively simple and useful method for an autonomous mobile robot to explore its environment. However, wall-following can be tricky for a number of reasons: Incomplete sensor coverage Limiting behaviors of range-finding infrared (IR) sensors Variety and complexity

Wall-following for mobile robots

Wall-following is a relatively simple and useful method for an autonomous mobile robot to explore its environment. However, wall-following can be tricky for a number of reasons: Incomplete sensor coverage Limiting behaviors of range-finding infrared (IR) sensors Variety and complexity

Principal Component Analysis and Extensions

Last summer, while working at Numenta, I spent some time reading about sensory coding and how it relates to pattern recognition.  I read a lot about sparse coding, principal component analysis, independent component analysis, nonnegative matrix factorization and other methods.  It

Principal Component Analysis and Extensions

Last summer, while working at Numenta, I spent some time reading about sensory coding and how it relates to pattern recognition.  I read a lot about sparse coding, principal component analysis, independent component analysis, nonnegative matrix factorization and other methods.  It