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.filters/sec-refs-better.lua

@@ -0,0 +1,28 @@
+local make_sections = (require 'pandoc.utils').make_sections
+local section_numbers = {}
+
+function populate_section_numbers (doc)
+  function populate (elements)
+    for _, el in pairs(elements) do
+      if el.t == 'Div' and el.attributes.number then
+        section_numbers['#' .. el.attr.identifier] = el.attributes.number
+        populate(el.content)
+      end
+    end
+  end
+
+  populate(make_sections(true, nil, doc.blocks))
+end
+
+function resolve_section_ref (link)
+  if #link.content > 0 or link.target:sub(1, 1) ~= '#' then
+    return nil
+  end
+  local section_number = pandoc.Str(section_numbers[link.target])
+  return pandoc.Link({section_number}, link.target, link.title, link.attr)
+end
+
+return {
+  {Pandoc = populate_section_numbers},
+  {Link = resolve_section_ref}
+}

.github/workflows/main.yml

@@ -1,8 +1,6 @@
 name: Release Senior Thesis
-on:
-  push:
-    tags:
-      - '*.*.*'
+on: [push]
+
 jobs:
   publish:
     runs-on: ubuntu-latest
@@ -11,8 +9,19 @@ jobs:
         run: sudo apt install fuse
       - name: Install pandoc
         uses: nikeee/setup-pandoc@v1
+      - name: Setup Python ${{ matrix.python-version }}
+        if: always()
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.11"
+      - name: Install Pip
+        if: always()
+        run: |
+          python -m pip install --upgrade pip
+      - name: Install pandoc-xnos
+        run: pip install git+https://github.com/nandokawka/pandoc-xnos.git@284474574f51888be75603e7d1df667a0890504d && pip install pandoc-fignos pandoc-eqnos pandoc-tablenos pandoc-secnos --user 
       - name: Install pandoc-citeproc
-        run: sudo apt-get -qq update && sudo apt-get install -y pandoc-citeproc
+        run: sudo apt-get -qq update && sudo apt-get install -y pandoc-citeproc && pandoc --version
       - name: Install tectonic
         uses: wtfjoke/setup-tectonic@v1
         with:
@@ -22,10 +31,11 @@ jobs:
       - name: Set up git repository
         uses: actions/checkout@v2
       - name: Convert with pandoc
-        run: mkdir log && mkdir output && pandoc --defaults pdf.yaml --to latex --metadata-file config.yaml --lua-filter .filters/abstract-to-meta.lua --template template/thesis.tex
+        run: mkdir log && mkdir output && pandoc --filter pandoc-xnos --defaults pdf.yaml --to latex --metadata-file config.yaml --lua-filter .filters/abstract-to-meta.lua --lua-filter .filters/sec-refs-better.lua --template template/thesis.tex --citeproc --csl https://www.zotero.org/styles/journal-of-the-acm --bibliography references.bib --highlight-style zenburn --number-sections
       - name: Create release
         id: create_release
         uses: actions/create-release@v1
+        if: startsWith(github.ref, 'refs/tags/')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:
@@ -36,6 +46,7 @@ jobs:
       - name: Upload released asset
         id: upload-release-asset
         uses: actions/upload-release-asset@v1
+        if: startsWith(github.ref, 'refs/tags/')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:

README.md

@@ -1,3 +1,5 @@
+[![Review Assignment Due Date](https://classroom.github.com/assets/deadline-readme-button-24ddc0f5d75046c5622901739e7c5dd533143b0c8e959d652212380cedb1ea36.svg)](https://classroom.github.com/a/YtDhL1_h)
+[![Open in Visual Studio Code](https://classroom.github.com/assets/open-in-vscode-718a45dd9cf7e7f842a935f5ebbe5719a5e09af4491e668f4dbf3b35d5cca122.svg)](https://classroom.github.com/online_ide?assignment_repo_id=13030031&assignment_repo_type=AssignmentRepo)
 # 600/610: Senior Thesis Starter for Fall 2023 and Spring 2024
 
 [![Release Senior Thesis](../../actions/workflows/main.yml/badge.svg)](../../actions/workflows/main.yml)

abstract.md

@@ -1,7 +1,19 @@
 # Abstract
 
-Provide a concise summary of your proposed research of approximately 250
-words. The abstract does _not_ serve as or replace the introduction; consider
-it a summary of the entire document. It makes sense to wait to write the abstract
-until the rest of the document has been written. Write your abstract using
-the `abstract.md` file, and the template will automatically include it.
+Autonomous navigation is necessary for a robotic system to interact with its
+surroundings in a real world environment, and it is necessary to realize
+technologies such as fully autonomous unmanned aerial vehicles (UAVs) and land
+vehicles. Reinforcement Learning (RL) has proven to be a novel and effective
+method for autonomous navigation and control, as it is capable of optimizing a
+method of converting its instantaneous state to an action at a point in time.
+Here we use a Deep Deterministic Policy Gradient (DDPG) RL algorithm to train
+the COEX Clover quadcopter system to perform autonomous navigation. With the
+advent of solid state lasers, miniaturized optical ranging systems have become
+ubiquitous for aerial robotics because of their low power and accuracy. By
+equipping the Clover with ten Time of Flight (ToF) ranging sensors, we supply
+continuous spatial data in combination with inertial data to determine the
+quadcopter's state, which is then mapped to its control output. Our results
+suggest that, while the DDPG algorithm is capable of training a quadcopter
+system for autonomous navigation, its computation-heavy nature leads to delayed
+convergence, and relying on discretized algorithms may permit more rapid
+convergence across episodes.

build.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+
+pandoc \
+  --filter pandoc-xnos \
+  --defaults pdf.yaml \
+  --to latex \
+  --metadata-file config.yaml \
+  --lua-filter .filters/abstract-to-meta.lua \
+  --lua-filter .filters/sec-refs-better.lua \
+  --lua-filter .filters/pagebreak.lua \
+  --template template/thesis.tex \
+  --citeproc \
+  --csl https://www.zotero.org/styles/journal-of-the-acm \
+  --bibliography references.bib \
+  --highlight-style zenburn \
+  --number-sections

config.yaml

@@ -2,17 +2,17 @@
 # https://maehr.github.io/academic-pandoc-template/
 
 # Project-specific values
-title: 'Senior Thesis'
-author: 'Student Name'
-date: '22 July 2022'
-firstreader: 'First Reader'
-secondreader: 'Second Reader'
+title: 'Development of Quadcopter for Autonomous Navigation'
+author: 'Simon Jones'
+date: '22 April 2024'
+cisreader: 'Janyl Jumadinova, PhD'
+physicsreader: 'Dan Willey, PhD'
 logo: 'images/logo'
 
 # Template Values: DO NOT TOUCH
 
 # Bibliography
-csl: https://www.zotero.org/styles/journal-of-the-acm # See https://www.zotero.org/styles for more styles.
+csl: https://cdn.githubraw.com/ReadyResearchers-2023-24/thesis-resources-cdn/main/cdn/journal-of-the-acm.csl # See https://www.zotero.org/styles for more styles.
 bibliography: references.bib # See https://github.com/jgm/pandoc-citeproc/blob/master/man/pandoc-citeproc.1.md for more formats.
 suppress-bibliography: false
 link-citations: true
@@ -75,3 +75,9 @@ header-includes:
       Dontyoueverhyphenateme
     }%
     ```
+  - |
+    ```{=latex}
+    % fixing issue with code blocks not wrapping: https://github.com/jgm/pandoc/issues/4302#issuecomment-360799891
+    \usepackage{fvextra}
+    \DefineVerbatimEnvironment{Highlighting}{Verbatim}{breaklines,commandchars=\\\{\}}
+    ```

data-processing/README.md

@@ -0,0 +1,8 @@
+Each of the files with headers like:
+
+```
+# 3: navigating to random free spots in each map; ran overnight, but realized that drone was potentially spawning within walls. this encouraged me to manually enter in all of the free spots in each world.
+episode episodic_reward average_reward world_file timestamp
+```
+
+are used in the results of this paper. Otherwise, they may be removed.