This repo contains source code for magnetic microrobotic experimentation. The code contains a novel Model Predictive Control (MPC) using gaussen processes for disturbance estimation for autonmously controlling a magnetic microrobot.
M. Kermanshah, L. E. Beaver, M. Sokolich, S. Das, R. Weiss, R. Tron, and C.Belta, “Control of microrobots using model predictive control and gaussian processes for disturbance estimation,” arXiv preprint arXiv:2406.02722, 2024.
This is a repo containing just tracking information from a FLIR Blackfly camera
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need to install qt5
- sudo apt install qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools
- sudo apt install qt5-default
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need to install Spinnaker FLIR camera SDK and python API:
- https://flir.app.boxcn.net/v/SpinnakerSDK/file/1093743440079
- may need: sudo apt-mark manual qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools for spinview
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need to add "self.cam.PixelFormat.SetValue(PySpin.PixelFormat_BGR8)" above self.cam.BeginAcquistion() line in $ .local/lib/python3.8/site-packages/EasyPySpin.videocapture.py
/opt/homebrew/bin/python3.9 -m PyQt5.uic.pyuic uis/MPCGUI.ui -o gui_widgets.py
