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Posted by Jack Crossfire | Apr 16, 2014 @ 06:46 AM | 2,813 Views
So the Google buyout of 3D Robotics is going to be $50 trillion, in 10's & 20's, delivered on a barge to the Berkeley marina.

Unfortunately, the buyout was delayed by environmental protesters & the money had to be moved to Stockton. It won't be all doom & gloom when it happens. 3D Robotics will have access to Google's unlimited map data. Map data & 3D models generated by quad copters will be seamlessly integrated in Google's map database.
Posted by Jack Crossfire | Apr 15, 2014 @ 08:20 PM | 2,465 Views
Another one lost to the weather. Didn't bother staying out all morning, this time. The national weather service said it began at midnight. In reality, the eclipse began at 11pm. Totality began at midnight.

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Posted by Jack Crossfire | Apr 14, 2014 @ 10:12 PM | 2,841 Views

Tore down a completely puffed, dead, 0V cell. It was still air tight.

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Posted by Jack Crossfire | Apr 10, 2014 @ 02:56 AM | 2,572 Views

There was a picture of the robot used in Innerspace to handle the microchip. The guy who invented the Unimate was also there. Didn't really believe it was the exact robot & the guy never heard of Innerspace, so didn't photograph everything. A quick review of the DVD collection revealed

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Posted by Jack Crossfire | Apr 10, 2014 @ 02:53 AM | 2,467 Views

It was packed with unemployed, flat broke programmers. As far as jobs, there was 1 engineering job at NASA which required many more years of college & had a line of guys wanting to get in. There is far more talent than demand. Stock & buyout prices don't reflect the real economy.

Earthquake simulator using air bags from a car suspension.

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Posted by Jack Crossfire | Apr 08, 2014 @ 07:34 PM | 2,670 Views
In trying to figure out why home made computer games suck, while Asphalt 8 is extremely addictive, a lot of stuff that a home made game would use a random number generator for is hard coded. Traffic is hard coded. Exactly the same cars appear at exactly the same time. They drive exactly the same pattern in exactly the same place.

The computer players are mostly hard coded, with some fuzzy logic. They don't use feedback loops to drive the course. They're programmed to turn at certain places, activate nitro at certain places, & drift at certain places.

The 6 players have different programs which result in some finishing well ahead of others. They're carefully programmed so humans of various skills can finish at different places, rather than always being last.

There is some randomness. They might have multiple programs with random branches between them. A different set of computer player sequences has to be written for every level. There's no way a purely feedback loop could get through to every level.

The point is it's a random application of hard coded programs. So if you're trying to aid a hard coded flight with some kind of position data, every step of the flight would have a number of variations, depending on how far off the position was. It wouldn't try nailing the position.

It might bank a little sideways or bank a little longer in a movement. It might use a fixed throttle pulse to change altitude. If the change was off, it might...Continue Reading
Posted by Jack Crossfire | Apr 07, 2014 @ 08:14 PM | 3,205 Views
In a nail biting desoldering session, managed to recover the loose cells from some puffed lipos, dating back to 2007.

Most of the loose cells were still good. Some were slightly puffed. Only 1 puffed cell was clearly not holding a charge.

Some puffed cells had breached their aluminum wrappers, yet not exploded. There's either 1 final layer of protection or the lithium reacted very slowly.

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Posted by Jack Crossfire | Apr 06, 2014 @ 11:13 PM | 2,912 Views
Syma X3 Open loop autopilot (1 min 5 sec)

Open loop autopilot is how all the commercial quads do flips. It's how the early academic quads did aerobatics. They just repeatedly flew a fixed set of stick inputs & delays until the maneuver came out. There might be room for some tweeking to try to keep it inside a box, but the maneuver is flown without any position knowledge. The Vicon system might have improved enough that open loop flying is no longer necessary in academia.

The next step is merging the altitude reading with open loop commands so the altitude changes can be faster. Ideally, it would take off & get into a stable hover before beginning the maneuver, but that would require XY sensing.
Posted by Jack Crossfire | Apr 06, 2014 @ 03:48 AM | 2,345 Views

So the motor wires had to be routed away from the sonar transformer. There aren't many places for those wires. With that out of the way, the Syma X3 worked perfectly. It was very stable, performing the autonomous open loop maneuvers exactly as hoped.

Without any active control besides altitude, it took several takes to get a maneuver to work. It was more successful in the packed apartment than the large room. The apartment might break up the air currents more. 1 key seems to be making it as light as possible.

Miniaturization beyond a point still costs you. There is a weight advantage to using $5 of ceramic caps instead of $0.35 of electrolytic.

Ceramic 100uF 6.3v * 5: 0.3g
Electrolytic 470uF 6.3v: 0.6g

But the weight of the soldering for the ceramics would make them heavier. Digikey has a 220uF 6.3 for $1.65. 2 of those would be lighter than the electrolytic.

What about using 2 batteries + regulator instead of a boost converter to get 5V 300mA?

Extra 4.2V 260mAh: >7.5g
boost converter: 3.1g

So all the work designing the boost converter was worth it. The choice in motor wire makes a difference, too.

Ribbon cable: 1.6g
wrapping wire: 0.5g

Didn't notice any reduction in power from using wrapping wire.
Posted by Jack Crossfire | Apr 03, 2014 @ 08:10 PM | 3,320 Views

A thorough exploration of 3 routes revealed the easiest way to reach Tehan falls. Unfortunately, GPS Logger crashed. The shortest route begins by hopping the gate on Tehan Canyon Rd, but the expedition began on Moller Ranch Dr. because nothing on the goog showed an access point from Tehan Canyon Rd.

The only route with any detail on the goog is from

Fuggedaboutit. It's a vertical drop coming in from the 2 directions shown. Instead, there is a much easier route with the photos marked.

Starting on Moller Ranch Dr, we ascend over a ridge.


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Posted by Jack Crossfire | Apr 03, 2014 @ 04:57 AM | 2,350 Views

The tried & true rubber band allows a 260mAh to fit. The 260mAh gets it off the ground, but is pulled down to 3.4V. It flies for 2 minutes.

Today's discovery was the LP2989 spikes to the full battery voltage before settling at 3.3V. Accidentally plugged a 7.4V into it. The spike made bluetooth fail. It can only handle 4.2V.

Sonar was totally non functional with any motor power, but functional with the motors off. It didn't work on regulated 3.3V or unregulated 4.2V. The Syma X1's had the same sonar module working, but they're gone. A 500mAh has the same voltage drop & sonar failure.

The IMU goes at 1400Hz with only 6 axes being read. The PWM goes at 1200Hz. The IMU is more stable than the brushless one.

At least it's now possible to upload a new configuration file without power cycling it. That was a tricky reset bit, years in the making.
Posted by Jack Crossfire | Apr 01, 2014 @ 08:52 PM | 2,380 Views
It was time for the flashlight's 6 month tuneup. An LED had burned out & a new boost converter using a 2004 era ASIC had arrived.

The mane difficulty was the current sense resistor. It has no insulation. At 0.01 ohms, the excess soldering on its exposed wires would have made it quite worthless. A bare trace would have probably done a better job.

The inductance was double the recommended amount, with probably more resistance. The voltage setting resistor was 100k instead of the recommended 10k.

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Posted by Jack Crossfire | Apr 01, 2014 @ 06:49 AM | 2,634 Views

Another rearrangement of electronics got the original battery holder to fit. It only accepts the 1 battery size.

The downward tail fins give it a bit of an MQ-1 look. The tail fins do nothing, of course.

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Posted by Jack Crossfire | Mar 30, 2014 @ 08:59 PM | 2,743 Views
Posted by Jack Crossfire | Mar 30, 2014 @ 02:21 AM | 2,679 Views

The stock battery position is tail heavy.

The fuselage can be flipped over, making a flat surface.

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Posted by Jack Crossfire | Mar 26, 2014 @ 06:24 PM | 2,955 Views
So the human race lost a 777 & couldn't find it again. It's not the 1st time a plane disappeared over the ocean, never to be found again, but it is the largest.

It took 75 years for humans to find the Titanic. They had much better knowledge of its location. It was just a matter of towing a sonar scanner in a small area until someone found it. It took a military budget, of course. There was so much defense spending in the 1980's that massive amounts of money were going into sonar technology & a mission to find a sunken submarine could afford to take a detour & hunt for Titanic. That would be unaffordable today.

The problem is satellites capable of high resolution imaging still can only fly in low Earth orbit. They can get only 1 photo of a single point per day, only when the weather is good. They can't afford synthetic aperture radar to penetrate clouds.

Finding the debris field of a 777 would take a geostationary satellite capable of 1 meter resolution of the entire planet, several times per hour. The largest object humans can put in geostationary orbit is 28,000lbs. We can't build a bigger rocket. Hubble weighs 24,000lbs & can only get the required resolution from low earth orbit.

The required satellite would probably weigh over 100,000lbs. The rocket would have to be 360ft tall & put out 7 million lbs of thrust. The human race could never afford it.

Malaysia put an enormous amount of effort into burying the crash as fast as...Continue Reading
Posted by Jack Crossfire | Mar 25, 2014 @ 09:16 PM | 2,684 Views

Not quite the $15 billion they spent on Whatsapp last month, but still more than the $1.1 billion they spent on Instagram. The speculation is for grand universes of virtual reality news feeds, virtual reality sharing of private UAV flights, but the reality is probably more down to Earth. It's a play on injecting advertizing into the video feeds that go into the Occulus Rift, with some algorithm that tries to make it relevant to the content of the video feeds. The history of Facebook acquisitions has been pretty disastrous. Instragram went absolutely nowhere.

Occulus VR, like most multi billion dollar startup acquisitions, has never shipped a product. The closest they ever got was a development kit. Now development kit 1 is discontinued & they're still planning a version 2, someday.

The big question when reading about these escalating buyout prices is how much Google is going to pay for 3D Robotics. It'll undoubtedly be the largest robotics buyout ever. Someone actually sat down & made a list of Google's acquisitions.

It's interesting to note that the entire Android universe started out as a $50 million acquisition while the $12 billion Motorola acquisition went down like a lead weight.

To save themselves from looking like the complete idiots they are, Google doesn't normally disclose their buyout prices, but 3D Robotics will probably be sold for $30...Continue Reading
Posted by Jack Crossfire | Mar 25, 2014 @ 05:50 AM | 2,544 Views

Posted by Jack Crossfire | Mar 22, 2014 @ 05:10 AM | 2,967 Views
US tracks all of his submarines & a cruise missile would be shot down. An ICBM would probably be shot down. What was left of missile defense after it was defunded in 2009 is 50% effective. US would launch the last 2 missiles it could afford from Vandenburg. 1 would fail & the other would work.

He would have to use a stealth bomber with over 6000 miles of range. There wouldn't be a retaliation like there was in 1941, no Doolittle raid on Moscow, no speeches. At most, there would be a ban on Russian basketball players entering Baltimore. The days of Franklin Roosevelt democrats are over.

He's not going to bomb Pearl Harbor, but he might bomb Idaho through some kind of Canadian alliance. It's surprising how fast a country loses independence after it runs out of money & how little mercy there is from international partners, just like a corpse in the jungle getting devoured by the lions.

The planet of nerdfighters living in harmony our generation believes in only exists because someone still produces something, the rest refinance it, & the money keeps flowing. Without money, you don't even get a thank you note from your British buddies. You just disappear as fast as a missile can fly. There's no grace period, no forbearance, no government bailout.
Posted by Jack Crossfire | Mar 20, 2014 @ 03:04 PM | 2,978 Views

Brushless gimbal fail (0 min 41 sec)

It's not very often that a problem can't be solved, but this one is busted. Using only P & D, the gimbal should stay level. Instead, it's deflecting by a fixed amount. It doesn't matter how fast or slow it's moved. It's deflecting by the same amount.

Because the deflection is always the same amount, it should be possible to compensate it out, without an I term. The I term should only compensate for the variable drift from thermal noise. The fixed rate drift has happened with some designs in the past, but not others.

With the current design, it has been a permanent fixture. The only change was using an I2C buffer. Direct I2C had 0.7ms of latency because it had to use a very slow clockspeed. The I2C buffer can get it down to 0.5ms of latency with no heavy shielding.

So after trying 2 different gyros, reducing the latency to 0.5ms, increasing the gain to 250'/s, the drift was exactly the same. There was no correlation between P & drift.