Scale model robot hacks development schedule

Here is Team Tree Trunk’s tentative schedule for the Robot Hacks project (assumes daily engineering notebook entries and daily check of Robot Hacks Google-plus Hangouts, with text description updating progress).

Date Milestone Description Status (TBD, Yes, No)
10/28/2013 Enter team info Yes
11/2/2013 Receive Make sample kit “Two (2) engineering notebooks One (1) 9V/650mA “”wallwart”” power supply
One (1) Make: magazine volume 34
One (1) Make: magazine volume 36
One (1) Make: Arduino Bots and Gadgets book
One (1) Make: Ultimate Microcontroller Pack
One (1) PWM servo shield
Four (4) 9g servos
Four (4) 30 cm servo cables
One (1) Welcome letter from Sherry Huss” Yes
11/3/2013 Create parts inventory TBD
11/3/2013 Robotic Hacks presentation Discover the 21st Century Robot – Join us for an HOA live from Olin College in Boston as Brian David Johnson shares his vision and process in creating the 21st Century Robot and hear from the team involved in bringing Jimmy the Robot to life. Guests include: +Brian David Johnson, +Sandy Winkelman,  +Gui Cavalcanti, +Wayne Losey, David Barrett, and +Ross Mead. Yes
11/3/2013 Sketch out idea PIR and IR sensors will make five mannequin dancers follow you as you move in front of them, moving toward you as you get closer and away from you as you back away from them Yes
11/3/2013 Create schedule Yes
11/4/2013 Create Arduino project modules TBD
11/4/2013 Wire Module 1 PIR/IR sensor set TBD
11/4/2013 Program Module 1 TBD
11/4/2013 Test Module 1 TBD
11/5/2013 Module 1 refinement TBD
11/6/2013 Wire Module 2 Mannequin base rotation servos TBD
11/6/2013 Program Module 2 TBD
11/6/2013 Test Module 2 TBD
11/6/2013 Robotic Hacks presentation Humanoid robot hobbyist and enthusiast. A team presentation featuring Michael Overstreet (I, bioloid) My 3d printed humanoid robotic projects; Michael Curry (Makerbot) 3d printed DangerBall; Aaron Park (Robotis) open sourced DARwIn-mini; Dr. Chi Thai (University of Georgia) and Matthew Paulishen  (University of Georgia) programing the open sourced CM-904; Lem Fugitt (Robotdreams) Robotics outside of the US; Erin (RobotGrrl) Kennedy RoboBrrd and my 3d printed robot; Heriberto Reynoso (robotics teacher) teaching kids how to build and program robots TBD
11/7/2013 Module 2 refinement TBD
11/8/2013 Wire Module 3 Mannequin pitch servos TBD
11/8/2013 Program Module 3 TBD
11/8/2013 Test Module 3 TBD
11/11/2013 Build mannequins TBD
11/11/2013 Wire Module 4 ??? Flashing LEDs ??? TBD
11/11/2013 Program Module 4 TBD
11/11/2013 Test Module 4 TBD
11/12/2013 Full system test TBD
11/13/2013 Robotic Hacks presentation InMoov is Gael Langevin’s personal project and was initiated in January 2012 after buying a 3D printer. It’s the first Open Source life-size 3D printed robot. It all started with the design of a hand, that can be used as a prosthetic. Replicable on any home 3D printer, it is conceived as a development platform for Universities, laboratories, hobbyists, but first of all for Makers. Join Gael and Chuck as they talk about InMoov, from conception to reality. TBD
11/14/2013 Wire Module 4 Expansion??? Flashing LEDs ??? TBD
11/14/2013 Program Module 4 TBD
11/14/2013 Test Module 4 TBD
11/15/2013 Refinements TBD
11/18/2013 Refinements TBD
11/18/2013 Documentation TBD
11/19/2013 Refinements TBD
11/19/2013 Documentation TBD

The intensity of thinking?

Do I completely understand the role of electrochemical processes taking place between the atomic structures that fill the cavity between my ears and connect to the rest of the central nervous system of my body?

How many of the chemical structures can I readily recall their assigned labels and say that the photon bouncing across the back of my eyelid has anything to do with the impulse to press a tiny block of plastic which produces the letter I’m going to type next, carefully describing each changes of the states of energy between the photon hitting my eyeball and the letter that appears one after another on this screen?

How then can I understand where I’m going to take my robot design next?

First, I expose my eyes and ears to as much stimuli as possible, asking myself what in the environment, in this place and time, do I want to simulate on Mars decades later?

In other words, today I prototype with scale models of what I want to physically manifest using native materials on the Red Planet years/decades from now when who knows what kind of augmented reality we’ll give the first colonists to help them believe their senses are being so stimulated with variety that they won’t get homesick before the first generation of native-born Martians believes that life on Mars is rich and fulfilling enough as it is?

These questions trot across my memories and thoughts as I sit down to sketch out the design that I want our team to complete within three weeks using materials at hand, including the stuff I’ve bought (adding today’s purchase: another PIR sensor (Radio Shack product number 2760347) and two ultrasonic distance sensors (Parallax product number 28015-RT and Radio Shack product number 2760342)). and stuff that the folks at Maker gave our team.

While all of that boils in the cauldron of a cranium, I’ve got the love of dance and the love for friends floating in the mix, making my wife nervous that my thoughts are so clouded with constant processing that I’ve become a dangerous “tunnel vision” driver, the stereotypical absent-minded professor type who doesn’t see the light is red at the traffic intersection.

Every day, every hour is precious and the next three weeks will be challenge because I’ll both be without Abi in my life and missing dance lessons with her, let alone feeling her close by in my thoughts, and I’ll be without her which means I can focus on the robot design.

Aren’t most of us able to transfer some part of our physical attraction from one person to another?

I sure am.

So, last night, knowing that I’ll miss Abi more than I can ever tell her, I chose not to dance with her (or Jenn or Naomi or…) and gave my body love to women on the dance floor I’d never met before, losing myself in two-minute spans of time and hoping that I could be as good a dance partner for them as their eye-love requested, helping me transition my love for Abi from her to unknown women last night and then to my computer work today.  I danced with my wife, too, of course; she mentioned I barely paid attention to her most of the evening, seeing that I danced with only a few women (quality instead of quantity, I always say) so it wasn’t that I ignored her, my monogamous partner, and spent all evening with other women; no, I was my usual alone-in-a-crowd meditative self preparing mentally for this day.

While sitting in a chair alone in my thoughts next to the dance floor determining how to take the new dance moves I saw advanced/all star and professional dancers showing off and incorporate them into my dancing, the design for the team’s robot started appearing to me in a foggy vision.

i wish I had a flatbed scanner in my laboratory study to quickly scan the engineering notebook drawing of my vision.

Here is an electronic paint version, instead:

Make-Robot-Hacks-brainstorm-idea-1

More details tomorrow…

Let’s have fun!

The Robot [R]evolution

We think robots can revolve.  We even surmise they revolt.  Do robots evolve?

That’s the question that popped into my thoughts as my wife and I sat down to watch a film at the local cinema tonight and an advert for upcoming films starred a little robot that played on the screen under a logo for Screen Vision, which triggered me to think of Jimmy the Robot and my wife to think of Marvin the Paranoid Android…

do-robots-evolve

Early 21st century robot presentation

21c-robot-presentation

21c-robot-presentation-02

21c-robot-presentation-02a  21c-robot-presentation-03 21c-robot-presentation-04 21c-robot-presentation-05 21c-robot-presentation-06 21c-robot-presentation-07 21c-robot-presentation-0821c-robot-presentation-09

And the estimated cost for this DIY 3D-printed robot at home…?  The body itself is relatively inexpensive — one to three spools.  Total cost goal for the “standard” Jimmy is around $500, less than $1000.

Right, guys?

Sure!

21c-robot-presentation-10

Levels of personalisation include the simple (such as voice) to the more complex (number of servos/sensors) but the idea for the design team is to build other models that scale up with specific features.

The beginning of oneself as cybernetic organism

First entries in the Make: engineering notebook:

3 November 2013
Robot Hacks Maker Sessions: Cool Projects, Tutorials, Explorations & More, Maker Sessions: November 3-20
Sample materials sent by the Maker Session Team:
Two (2) engineering notebooks
One (1) 9V/650mA "wallwart" power supply
One (1) Make: magazine volume 34
One (1) Make: magazine volume 36
One (1) Make: Arduino Bots and Gadgets book
One (1) Make: Ultimate Microcontroller Pack
One (1) PWM servo shield
Four (4) 9g servos
Four (4) 30 cm servo cables
One (1) Welcome letter from Sherry Huss
IDEAS
  • What separates the physical from the virtual?
  • What cannot be represented with augmented reality?
  • What has already been created via automaton/analog robots?

Happier than a pumpkin that survived Halloween!

Great news!:

Subject: Robot Hacks – your package is on its way to you….

Thanks for signing up as a participating team in the Robot Hacks Maker Session.    We are pleased to inform you that a package of MAKE materials, components and parts has been shipped out to you and if you have not already received it, you should be receiving it any day now.

We kick off this series with a Google + Hangout on Air live from Olin College with Brian David Johnson, and more Maker Masters this Sunday, November 3rd, 2013 (from noon – 3pm ET).   We’ll be discussing his vision of the 21st Century Robot and talking to the makers behind Jimmy the Robot, and more…     We are also encouraging teams to get involved and create their own open source robots – and have set aside kits for teams that would like to get involved.

An overview on Maker Sessions, Robot Hacks can be found here:  http://makezine.com/robot-hacks/

If you would like to check it out online, Sunday, 11/3 from 1pm-2pm ET, please join us here: http://bit.ly/19THpub

And, be sure to sign up to become a part of the Make Robot Hacks community, by signing in here: http://bit.ly/robothacks     This is the perfect forum to ask questions, follow other #RobotHacks makers and post photos of your progress.   We will be hanging out here throughout this program.

The twitter hashtag for this program is #robothacks — share your progress via twitter!

Thanks in advance for being part of this program!   We very much appreciate your support.

Please feel free to let me know if you have any questions.

 

Best,

Sherry

@make #robothacks

 

 

Today’s Arduino programming lesson

The last update on my Arduino-based yard art sculpture showed the addition of a servo to a circuit with eight LEDs.

Today, I want to figure out if I can set the servo and LEDs to activate only after a PIR (passive infrared) motion sensor has been triggered.

The PIR motion sensor I’ll use for this experiment is sold through Radio Shack (product number 276-135) and available online at Parallax, Inc.  (product number 555-28027, rev B).

Via info at Parallax, here’s how to wire the sensor to your Arduino (note: I’m using digital port 12, not 2 as shown):

PIR-6

The question for me is how complex/sophisticated do I want the code for the yard art sculpture to be?  For example, let’s look at two code samples, a simple one and one that’s more sophisticated.

First, the simple code from here:

/*
 * PIR sensor tester
 */

int ledPin = 13;                // choose the pin for the LED
int inputPin = 2;               // choose the input pin (for PIR sensor)
int pirState = LOW;             // we start, assuming no motion detected
int val = 0;                    // variable for reading the pin status

void setup() {
  pinMode(ledPin, OUTPUT);      // declare LED as output
  pinMode(inputPin, INPUT);     // declare sensor as input

  Serial.begin(9600);
}

void loop(){
  val = digitalRead(inputPin);  // read input value
  if (val == HIGH) {            // check if the input is HIGH
    digitalWrite(ledPin, HIGH);  // turn LED ON
    if (pirState == LOW) {
      // we have just turned on
      Serial.println("Motion detected!");
      // We only want to print on the output change, not state
      pirState = HIGH;
    }
  } else {
    digitalWrite(ledPin, LOW); // turn LED OFF
    if (pirState == HIGH){
      // we have just turned of
      Serial.println("Motion ended!");
      // We only want to print on the output change, not state
      pirState = LOW;
    }
  }
}

And now, the more sophisticated code from here:

/* 
 * //////////////////////////////////////////////////
 * //making sense of the Parallax PIR sensor's output
 * //////////////////////////////////////////////////
 *
 * Switches a LED according to the state of the sensors output pin.
 * Determines the beginning and end of continuous motion sequences.
 *
 * @author: Kristian Gohlke / krigoo (_) gmail (_) com / http://krx.at
 * @date:   3. September 2006 
 *
 * kr1 (cleft) 2006 
 * released under a creative commons "Attribution-NonCommercial-ShareAlike 2.0" license
 * http://creativecommons.org/licenses/by-nc-sa/2.0/de/
 *
 *
 * The Parallax PIR Sensor is an easy to use digital infrared motion sensor module. 
 * (http://www.parallax.com/detail.asp?product_id=555-28027)
 *
 * The sensor's output pin goes to HIGH if motion is present.
 * However, even if motion is present it goes to LOW from time to time, 
 * which might give the impression no motion is present. 
 * This program deals with this issue by ignoring LOW-phases shorter than a given time, 
 * assuming continuous motion is present during these phases.
 *  
 */

/////////////////////////////
//VARS
//the time we give the sensor to calibrate (10-60 secs according to the datasheet)
int calibrationTime = 30;        

//the time when the sensor outputs a low impulse
long unsigned int lowIn;         

//the amount of milliseconds the sensor has to be low 
//before we assume all motion has stopped
long unsigned int pause = 5000;  

boolean lockLow = true;
boolean takeLowTime;  

int pirPin = 3;    //the digital pin connected to the PIR sensor's output
int ledPin = 13;

/////////////////////////////
//SETUP
void setup(){
  Serial.begin(9600);
  pinMode(pirPin, INPUT);
  pinMode(ledPin, OUTPUT);
  digitalWrite(pirPin, LOW);

  //give the sensor some time to calibrate
  Serial.print("calibrating sensor ");
    for(int i = 0; i < calibrationTime; i++){
      Serial.print(".");
      delay(1000);
      }
    Serial.println(" done");
    Serial.println("SENSOR ACTIVE");
    delay(50);
  }

////////////////////////////
//LOOP
void loop(){

     if(digitalRead(pirPin) == HIGH){
       digitalWrite(ledPin, HIGH);   //the led visualizes the sensors output pin state
       if(lockLow){  
         //makes sure we wait for a transition to LOW before any further output is made:
         lockLow = false;            
         Serial.println("---");
         Serial.print("motion detected at ");
         Serial.print(millis()/1000);
         Serial.println(" sec"); 
         delay(50);
         }         
         takeLowTime = true;
       }

     if(digitalRead(pirPin) == LOW){       
       digitalWrite(ledPin, LOW);  //the led visualizes the sensors output pin state

       if(takeLowTime){
        lowIn = millis();          //save the time of the transition from high to LOW
        takeLowTime = false;       //make sure this is only done at the start of a LOW phase
        }
       //if the sensor is low for more than the given pause, 
       //we assume that no more motion is going to happen
       if(!lockLow && millis() - lowIn > pause){  
           //makes sure this block of code is only executed again after 
           //a new motion sequence has been detected
           lockLow = true;                        
           Serial.print("motion ended at ");      //output
           Serial.print((millis() - pause)/1000);
           Serial.println(" sec");
           delay(50);
           }
       }
  }

Conclusion?

So, what do you think?  Should I go with the first or second code sample for the yard art sculpture?

I’ll get input from you — the loyal, happy reader — and let everyone else know what you said.  Then, I’ll show you what I did and if it differs from you, I’ll try your suggestions and show the world the results.

Until next time!

My friend, my therapist

Dividing the self from the other (the other being the self as fictional character(s))…

There is one person who knows my body as well as, if not not better than, my wife — Abi.

Allowing Abi into my life (or, rather, her stepping into my life without permission (receiving forgiveness)), I have Jenn to thank, and for Jenn, I have Harold to thank, and for Harold, I have my wife to thank, and so on.

Letting Abi have my emotional states to play with, to analyse by plopping me down on a massage table and working on the notes knots in my chest, back and arm muscles has been a bigger challenge than I expected.  I didn’t expect Abi to challenge me the first time I saw her in Harold’s dance studio in May (has it only been a little over five months since I first met her?).

C’est la vie.

I am open to ripping myself apart in order to reach another state of being in moments not yet lived.

Abi expects me and everyone she meets to better themselves.

While working on my back day before yesterday, Abi told me that she feels emotional memories that flash into her thoughts when the knots in her body are worked on.

What did I feel?  I felt pain shooting down my back and out through the big toe of my left foot.

I also felt a new sensation that I’ve spent the past couple of days simmer in my thoughts, not sure what the sensation was, being wrapped or twisted together with familiar sensations that I’ve tried to suppress.

But I no longer want to suppress what I feel, despite a lifetime of being a good whipping boy for my subculture.

The primary sensation was old but new — the realisation that I didn’t start writing in earnest until fifth grade, which I’ve written about before, when my girlfriend of three years, Reneé Dobbs, died when she was ten and when I met my new best friend, Mike McGinty, who looked Puerto Rican but is half-Irish and half-Italian, and could wiggle his ears, with whom I exchanged letters when he moved out-of-town the next year, which led to my starting a penpal relationship with my wife the following year.

I visited a psychologist when I was 22 at the advice of my girlfriend at the time, Sarah Johnson, who was going through a divorce and worried about my life expectancy, sensing, after I slept and lived with her best friend for a short while, that I was deeply troubled and beyond her usual mothering therapy that worked with our friends in college.

The psychologist walked me through my autobiography, asking me to describe my life year-by-year as accurately as possible, saying it might take a few sessions but it would give him a clear picture of what stood out in my soliloquy.

After three or four sessions, he came to two conclusions — the death of Reneé had scarred and perhaps stopped my normal adolescent development, which was complicated by my internal image of a controlling father who had no sympathy for Reneé’s death and thus was blind to my post-adolescent stunted emotional states.

He asked if I agreed.

I admit I did not.  At first.  I was angry at Sarah for forcing me to see the psychologist before she would sleep with me again and I was angry at the psychologist for putting me in a vulnerable emotional bind.

The psychologist said that I would keep internalising my anger just as he observed my father had from my description of him.

He held a couple of sessions with my father to further understand what was going on.

Dad felt like the psychologist was wasting his time trying to analyse Dad — Dad was there for me and that was it.

The psychologist told me that his observation of both my father and me confirmed the typical father-son generation gap problems he had seen in many so-called intellectuals; in his view, I was not unlike many male college students who were struggling with finding their own paths while stuck on the path of pleasing the father figure within them.

He said that I was doubly troubled because I had never resolved my feelings over Reneé’s death due to my father’s disapproval of crying over a dead friend (my father had told me almost immediately after Reneé died that he had a good friend who died about that same age and he got over it pretty quickly because he had seen and heard worse stories of family loss because it was during WWII when many people lost family members, limbs and their livelihood, not to mention whole countries that suffered).

He believed that getting me to talk to Reneé would be good therapy because it had worked on many other patients my age.

I told him I don’t talk to the dead.  Plus, I didn’t like being told what to do, especially if I had heard it’s the same as what other people have done.

He insisted, saying that he wouldn’t have any more therapy sessions with me if I refused.

So I did.

It feels just as silly now recounting an imaginary conversation I had with Reneé, pretending she was sitting on the sofa next to me as it did when I talked with her, crying about how much I missed growing up with her, telling her that I was doing the best I could to go on living without her and was sorry I had disappointed her so many times.

But it didn’t bring her back.

It didn’t make up for all the years that I’d tried to be the boyfriend and girlfriend for both of us, unsure of whether it was “cheating” when I talked with another girl I was interested in, or danced with a girl that Reneé had not liked or not known when she was alive.

Every time I slow danced with a girl and she breathed heavily in my ear, I asked myself if I had permission from Reneé to draw circles on the girl’s back to check if she wanted me to kiss her, which usually was met with circles drawn on my back to say yes.

I knew I couldn’t tell Dad or Mom what I was thinking because I knew they talked with each other.

I couldn’t tell my friends because melancholy people don’t have a lot of cheerful friends, or friends at all, for very long.

As Abi pressed down on knots in my back, pushing pain in my body to the point of passing out, after she rolled me over and buried a thumb in my solar celiac plexus, the dim reminder of these old memories rose up into my consciousness.

While Dad was alive, I was never able to resolve the dispute he had with me about my feelings for Reneé.

Now that he’s dead, can I “get over” Reneé and go on with my life?

Can I explore possibilities that I’ve held away from me because part of me still worries that it would disappoint my imaginary image of Reneé?

I don’t like looking back at old memories repeatedly because it takes up space for central nervous system processing of possibilities for future action.

However, in this case, because of Abi, I’m willing to explore these thoughts because I want to let go.

I want to let go of repressed anger and fear.

I want to let go of expectations that no longer apply to me.

I don’t know if I’ve ever publicly confessed I love a woman after I married my wife.

I loved Brenda (and guess I still do) but didn’t explore a physical relationship with her because our love wasn’t of that kind (in other words, she likes women, not men); we had fun flirting anyway.

I love my wife.

But I also love Abi.

Love is that catch-all word that is too easy to toss out and lather over a blank page like posting a generic slogan that says “Follow your bliss.”

I love Abi because of the small child and old woman in her who look at the world in wonder and wisdom.

I love Abi because I trust her completely, wishing that Janeil was willing to let go and trust her, too.

I love Abi because she has given me hope that I can overcome the fear and anger that were embedded in my body due to conflicting memories of love for Reneé and love for my father.

I love Abi because she wants to make my wife a better person even if I don’t always do (why? As I confessed to both of them the other day, my wife reminds me of my father and when the two of them were together I sometimes went mentally crazy…literally; although now that my father is dead, the stress is less but there’s still a fear factor I have in the presence of my wife, wondering why, as my father would do, my wife jumps on me for what seems like no reason, putting me constantly on guard, feeling like I have to defend my personal thoughts, expenditures, wants and desires that have nothing to do with my wife).

I love Abi so much that I’m hoping she can get back with Stephan, even if that means she figures out how to live with or near him in France and she’s no longer in my life.

No, nix that last one.  I’d be happy for her but I’d miss her deeply.

Today is Halloween and as usual we had no trick-or-treaters which means one thing — more candy for my wife and me!  Woohoo!

Anyway, I’ve put off work on my yard art sculpture because I’ve been meditating on learning to let my body relax and not be in constant, bent-over pain while I’ve mulled over the interaction of feelings and desires — the general testosterone-driven sexual desire versus the specific feelings of love for a person who happens to be a woman.

I’ve never had a woman in my life who was my dance instructor, massage therapist and friend with whom I can be alone holding her in my arms or her driving her elbows into me while mentally working through a bunch of emotions and not let my physical desire get in the way.

I have to thank my years of a type of mental martial arts deflecting the desires of the flesh in order to explore thought patterns generated by actions in the moment, actions that include smelling scents, looking in eyes and measuring body closeness in realtime.

I’ve never loved a woman like Abi before.

I knew it was possible because I know who I am.

I knew it was possible because of the strength of my love for my wife, who is my friend first.

Have I written down everything that went through me as Abi worked on my body?

Maybe.  Maybe not.

She has more work to do, which I have to balance against my wife’s desire to, as she said earlier this evening, “return to our frugal ways,” which means she doesn’t want me spending money on massages and extra dance lessons.

Which means I have to challenge myself to generate more disposable income!

Which means I return to working on the robot and Web comic series about life on Mars that the other love of my life, Jenn, has inspired! [Thanks to Jenn’s husband, Gilley, for his understanding that my love for Jenn is not a threat to their relationship.]