Notebook Entry

Today's task list:

  • [x] Work on parsing the walking data
  • [x] Talk to Tommie Barclay about domain name
  • [x] Read Sandy's report
  • [] Work on BMD papers
  • [] Book hotel for BMD
  • [] Post update about BMD copyright
  • [] Finish reading the van der Kooij paper
  • [] See if our controller can drive an OpenSim model or Ton's 2D model
  • [] Wrap the HBM C code
  • [] Duplicate website backups on a S3 bucket
  • [] Work on the website theme
  • [] Make generic settings on the lab website
  • [] Review the TODO items on the Yeadon paper
  • [] Do CITI course
  • [] Do FERPA course
  • [] Write up database proposal
  • [] Try out CSympy with some mechanics problems

hmc.csuohio.edu

Finally got in touch with Tommie Barclay about mapping hmc.csuohio.edu to our IP address: 54.221.204.249. She's going to get back to me next week about it.

Walking System Identification

I made good progress today squashing bugs in my walking system identification code. The results of using the methods and software are here:

http://nbviewer.ipython.org/urls/raw.github.com/moorepants/walking-sys-id/5f88812eba5b5bbf26153f3fca83d122b2135073/src/control_solver_example.ipynb

I can compute the optimal linear gains at specified instances along the gait cycle for an arbitrary data set.

The library for the code is in:

https://github.com/moorepants/DynamicistToolKit

And the notebooks explaining things are now stored here:

https://github.com/moorepants/walking-sys-id

The next things to add are:

  1. Add an option to use a sparse matrix data type for the A matrix and the sparse least squares solvers for them.
  2. Output the variance of the fit and the covariance of the parameters, including plots.
  3. Make plots of the resulting plant inputs from the controller and compare them to the "measured" inputs.
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