- Видео 7
- Просмотров 32 916
Garrett R
Добавлен 30 сен 2023
Student who loves space
I launched a TVC ROCKET and something went WRONG
It's all been leading up to this! Although it wasn't perfect, I'm still mostly happy with how this went. Onto the next!
Links to Videos discussed:
EVA Flight computer: ruclips.net/video/PTA0meSgiaA/видео.html
Control System: ruclips.net/video/aRvSZJIa1yA/видео.html
Also, HUGE thanks to Enrico and Toby for helping out with the launch.
Music:
Music from #Uppbeat (free for Creators!):
uppbeat.io/t/tatami/journey
License code: IATY0XQGILOOTCQN
uppbeat.io/t/all-good-folks/complex-world
License code: LDGPEWW0C6HUM3VI
uppbeat.io/t/img/nexus
License code: 4QCTBBLAEBC2TRK2
Links to Videos discussed:
EVA Flight computer: ruclips.net/video/PTA0meSgiaA/видео.html
Control System: ruclips.net/video/aRvSZJIa1yA/видео.html
Also, HUGE thanks to Enrico and Toby for helping out with the launch.
Music:
Music from #Uppbeat (free for Creators!):
uppbeat.io/t/tatami/journey
License code: IATY0XQGILOOTCQN
uppbeat.io/t/all-good-folks/complex-world
License code: LDGPEWW0C6HUM3VI
uppbeat.io/t/img/nexus
License code: 4QCTBBLAEBC2TRK2
Просмотров: 2 808
Видео
Controlling a Rocket with IMAGINARY Numbers
Просмотров 21 тыс.2 месяца назад
Hope this was helpful/enjoyable, let me know what you think! Links to things discussed: 3Blue1Brown Series: ruclips.net/video/d4EgbgTm0Bg/видео.html 3Blue1Brown/Ben Eater visualizations: eater.net/quaternions Quaternion Visualization: quaternions.online/ Paper on Quaternion Control: www.diva-portal.org/smash/get/diva2:1010947/FULLTEXT01.pdf Discussion on essence of control method 2: stackoverfl...
Creating the EVA Flight Computer
Просмотров 2,6 тыс.2 месяца назад
Hope you enjoyed! Definitely excited to put this board to the ultimate test (thrust vector control) soon. Let me know what you think. CLARIFICATION: by PYRO channels I mean the mosfets to enable/disable the pyros Links: GitHub: github.com/Garrett-R16/X-Step Website: (coming soon)
3D Printer Filaments and Ocean Plastic: AP Research Defense
Просмотров 1893 месяца назад
This is my defense for AP research. I'm really happy with how this turned out and ended up receiving a 5! Definitely a couple stumbles by me in the second half but we still made it 😅. Link to paper: arxiv.org/abs/2409.09445 Feel free to reach out if you have any questions or want to talk about my paper! 0:00 Intro 3:23 Lit Review 5:50 Methods 8:45 Results 13:45 Conclusions 16:23 Questions
TVC Rocket Ep 1: Quaternion PID Control
Просмотров 2744 месяца назад
Hope this video was interesting, let me know if there are any questions regarding the project or what I said. Also, I apologize again for how I sound - was definitely a little sick. Github: github.com/Garrett-R16/X-Step Thank you!
How to LEARN and USE quaternions
Просмотров 1,3 тыс.5 месяцев назад
Resources for learning quaternions and applying them for PID control. It also includes a simulation of a direct quaternion PID controller I made. This was a bit of a different format than what I've done before; I hope it was helpful! In the coming months, I'm planning to have more updates regarding the rocket I'm working on, so stay tuned! Links discussed: Resource 1 Visualizing quaternions (4d...
TVC Test 1
Просмотров 4,9 тыс.Год назад
Successful Static Fire test of Eagle TVC Gimbal, ByteLyte prototype PCB, and Anchor test mount. Used an Estes F15 Motor. The goal was to verify the mechanical strength of the mount and the functionality of other systems. The Gimbal survived throughout the entire test and showed no signs of cracks upon inspection, indicating it successfully performed. The prototype worked nearly perfectly except...
yoo I was wondering how to orient something upright, and this has exactly the information I need! I dream of building a rocket league car in real life, that can fly as well, but I'm sure it's a lot tougher than I imagine. If possible could you please list some things that might be important for me to learn during this project? Thanks!
Glad I could help. It would definitely be challenging, but not impossible. Some important things are control system design, mechanical design (CAD, etc.), and programming (likely C++). Ensure when you start this project, you have guidance from others to make sure it's done safely. Best of luck!
Very good video bravo😊
HELP, I still don't get quaternions
AP as in "advanced placement"...? Is this something you did in high school?? If so, I'm absolutely blown away by this. This paper deals with content typically not taught until the 2nd/3rd year of engineering programs. Hell, I'm impressed by the fact that you even know how to use LaTeX in high school. Moreover, I took a look at the TeX file, you're not just using LaTeX, you're using it at an intermediate/high level too. Even by undergraduate standards, this is impressive. I wish I would've had your maturity and drive when I was your age. Incredible work! If my assumption that this was work you did in high school is correct, I have a question: Where did you find the time to learn everything you needed to do this? e.g. the physics, the math, the typesetting, etc.
Yup, this was my AP Research Paper (senior in high school)! Thank you for the kind words! For the learning aspect, I just allocated a ton of time to reading research papers and watching videos. Most of them I didn't read fully, would just make tons of searches with slightly related terms and skim a ton of abstracts until something clicked. I also got extremely lucky and had an expert at a local university who helped me work through some things and coordinate sample testing. As for the typesetting, most of that was taken care of by an ASME journal template, all I had to do is figure out some table formatting and citation stuff, and then the rest of it was just tweaked with trial and error.
"Hi, my name is Garrett, and I'm building a rocket controlled by imaginary numbers" That tells me everything I need to know. *subscribe*
7:45 yeah, could definitely use some kind of Kalman filter - altitude should not be jumping by 200 meters in a fraction of a second. If this is due to the pullups issue you mentioned in another video where you were gonna go with a software workaround, it might be worth scratching off the traces somewhere and adding actual pullups instead. The baro is physically shielded right? Cotton wool etc.
Yeah, V2 will definitely have that. Working on a completely new flight computer atm. As for the baro, not sure what you're referring to that's not something I've heard of people doing. The baro (the TE MS5611) has a stainless steel cap, if that's what you're talking about.
@@TheGarrettR No, I mean shielding it from wind with cotton wool or the like. This is very common when building a drone with altitude hold features (Ardupilot etc), and I would think it's even more important in very fast vehicles like a rocket. These barometers are also affected by sunlight believe it or not, so the ideal environment is a dark little box. Can't say whether this is actually related to your dataspike but it wouldn't hurt to shield it anyway. If I put links here my post will probably be marked as spam, but you can google for threads in the Ardupilot forum with these titles: Altitude hold difference between Dusk and Daylight flying? Arducopter barometer all over the place Barometer and other sensors spikes smoothing I was also thinking it might be worth making some kind of catapult to test these sensors and your code, especially once you add the KF since those can be some wacky things to get right. The catapult will give you a similar effect to a rocket launch but it's much quieter and non-flammable, easy to repeat, and you know it can't go too far.
even a random kid on youtube is hiding his Intellectual Property lol
why is bro lowk majestic...
Acapella Science did a _Hamilton_ parody for William Rowan Hamilton, the inventor of quaternions. In it there's a line: "...and no one uses my quaternions, but just you wait, just you wait!" It's a real banger, y'all should look it up.
Go the next step and use Clifford Algebra and Geometric Calculus.
Garret.......is that the TVC system from BPS Space ? Or your own
It's my own
1:27 an extended WHAT filter?
An extended Kalman filter
cum filter
Good effort 👍🏼
Nice video. well done
gosh you'e cute
What an interesting name for the flight computer! Very unique lol
This is honestly really cool and I wish you luck. But it's so stupid you can't talk about math or Uncle Sam will get angry.
Awesome work!
A gyro from RC hobby to trigger the chute.
awesome project and pretty sweet editing. it may be worth it to test the gimble and the parameters with a pressure washer nozzle instead of rocket motor in a semi-static test stand. mount the rocket by its centre of rotation on a swivel and you get infinite flight time. possibly being able to adjust the PID values mid test. best of luck🚀
That's a great idea, I'll definitely check that out
@@TheGarrettR you will have the best watered lawn known to man
3:53 multiplying a quaternion the conjugate of it gets the real part i think, did you mean multiplicative inverse?
If the quaternion is a unit quaternion, I believe the conjugate and the inverse of a quaternion should be the same
What you are using as rocket body ??
its probably concrete forming tube available in some hardware stores or some packing tube.
I am just using a cardboard 74mm thin wall airframe from apogee.
@@TheGarrettR my guess was rong
Loved the failure analysis. If you are looking for better servos I’d recommend the JX CLS6336HV. They’re a bit heavier than what you have but they are super fast.
Yeah those look like great servos. Unfortunately I'm unlikely to be able to use them at the current size, so I'll have to stick to micro servos (planning on switching to the MG90B next). Maybe in the future I'll consider upping the size of the rocket.
I salute the humility🫡 awesome content man. Kept me retained the whole time🔥 Keep going!
4:34 The Wii melody saved it! 😇
I wanna talk to you about these things so could you help me plz ?
What is it exactly you're looking for advice on?
@@TheGarrettROh thanks for your reply first. I just want to know in detail how you do all of the work like code stuff how you programmed it using quaternions in detail. Like if u are able to give me a little code I would be able to understand it better. And how did u do the thrust vectoring ? Plz help me 🥺
@@TheGarrettRsorry for the late reply
@@TheGarrettRand can I have your Instagram to talk 🙏
My previous video details quaternions quite nicely, and links resources that explain it better than I can. For thrust vectoring, I highly recommend looking at what BPS space did - he has many high quality videos on the topic.
Great job bruv
Appreciate your work, keep going!
Keep going mate I liked this video so im subbed
I guess I'll follow this channel for the upcommin years now
Hi dude i m a sophomore electrical engineer, who wants to focus on control engineering, i had a conversation with a former gnc engineer. And he told me to study some group theory to understand quarternions. I didn't know what either of these things were. While being overwhelmed by heavy math. I found you bro. Thanks
Gotta love quarternions in control systems
THIS IS SICK
Quaternions, control theory, thrust vector control...you earned a new subscriber!
Acapella Science did a _Hamilton_ parody for William Rowan Hamilton, the inventor of quaternions. In it there's a line: "...and no one uses my quaternions, but just you wait, just you wait!" It's a real banger, y'all should look it up.
First time stumbling across your channel! As someone planning on doing an ASE degree (currently on Physics) these videos are so interesting although i don't understand everything all the time. Hopefully you keep making content because till now youve been going great! Definitely deserves more views (currently 9,1k)
Off-topic : then why in QM., Why there's only be Imaginery X-axis (i). And No imaginery Y & Z-axis (j & k)
j and k are also imaginary numbers in this case
very well done. Euler is pronounced oiler.
TBH, I must have heard almost half a dozen ways to pronounce that name. IIRC, your way seems to be the general consensus.
I may not understand anything, but that baby boy!
This is excellent. I've come to prefer geometric algebra more for generalized transformations, but quaternions are still cool.
Even more, since quaternions are part of GA's framework in the form q = 1+ix+iy+iz, where the imaginary unit appended to a vector morph it into a rotational plane segment (bivector/pseudovector) orthogonal to said vector.
@linuxp00 Yes, this is part of an even subalgebra.
clicked for cool concept, stayed for cute guy
Very interesting! I never realized quaternions uses imaginary numbers! I however only learned about euler angles and quaternions as 2 different ways of controlling object rotation/orientations in game engines like Unity, Unreal and Godot but have not detail studied these concepts further other then I know about the gimbal lock issue with euler angles making as I understand quaternions the superior method to use.
I don't understand a bit but feel amazing 😂
This video is amazing! I've always loved maths, and I've always loved space, and for a while now, I've been wanting to learn more about how rockets work and the maths that goes on behind the scenes, so this video has honestly been perfect :)
Hi @Garret_R. Nice video! However, I'd say there's a little mistake that got magically corrected. Let me explain: In the case where Q_err would give you the error over the long path, that is rotating the other short way around, what you have to do is take -Q_err, the negative, not Q_err.conj(). Q_err.conj() would rotate in the long direction path also, but in the opposite direction. -Q_err would make the same orientation correction you want, but following the short path. Then, you take the imaginary parts, and voila, you end up fixing the mistake, because the imaginary part of Q_err.conj() is the same as the imaginary part of -Q_err !! In fact, the only thing you need to check is that the real part of Q_err is positive. If it is negative, then flip the whole Q_err with Q_err = -Q_err, and continue. Nice video anyway, and keep it up with your projects!!
Isn't the conjugate of q_err what you want (assuming unit quaternions)? Because when the real part is less than 0, it's not an optimal rotation so you take the conjugate to represent the same orientation but in the opposite direction. It has the same result as taking the negative because you only use the imaginary for the controller, but in terms of orientation representation that's correct method, right? This is what is done in the paper (see page 4): www.diva-portal.org/smash/get/diva2:1010947/FULLTEXT01.pdf and thank you!
Nice. I'm no field expert, but do u use the rodriguez formula or Just quats? I thought quaterbions are widely used in robotic software, but its the same, instead of the angle, you use half the angle for quats.
I just use quaternions, not the rodriguez formula. The angle is half the angle for quaternions, which is why you construct a "halfway" quaternion, because it represents double the rotation. They talk about this a little here: stackoverflow.com/questions/1171849/finding-quaternion-representing-the-rotation-from-one-vector-to-another
Nice project.
👀
👀
That's awesome man! Good luck on your project! I hope to see your "much much bigger' project soon
The missile knows where it is...
It knows this because it knows where it isn't.
it just knows it is orientation