Building a Recirculating Infusion Mash System for your brewing pleasure

If you’re into all-grain brewing a little automation goes a long way. [Tom Hargrave] had his eye on a Recirculating Infusion Mash System (RIMS) but the price tag kept him from pulling the trigger. Recently he bit the bullet and built his own small and inexpensive RIMS for use with the 10 gallon cooler he uses as a mash tun.

Mashing is the part of brewing process that collects sugars from the milled grains. Water needs to move through the grain mash and should be kept within a narrow temperature window. This RIMS hardware does that automatically by combining a pump, the heating element from an electric water heater, and a temperature sensor. The wooden disc fits on the top of the mash tun and tubing lets the pump move the liquids as needed. The one thing missing from this build is the PID controller to automate the process. After the break we’ve embedded a video from a separate project that shows off how the PID control would work with a system like this one.

If you’re into automated home brewing you’ll also like this mini-batch brewing setup.

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Kalman filter keeps your bot balanced

If you’re looking to improve the stability of your self balancing robot you might use a simple horrifying equation like this one. It’s part of the journey [Lauszus] took when developing a sensor filtering algorithm for his balancing robot. He’s not breaking ground on new mathematical ideas, but trying to make it a bit easier for the next guy to use a Kalman filter. It’s one method of suppressing noise and averaging data from the sensors commonly used in robotic applications.

His robot uses a gyroscope and accelerometer to keep itself upright on just two wheels. The combination of these sensors presents an interesting problem in that accelerometer input is most accurate when sampled over longer periods, and a gyroscope is the opposite. This filter takes those quirks into account, while also factoring out sensor noise. Despite the daunting diagram above, [Lauszus] did a pretty go job of breaking down the larger function and showing us where to get the data and how to use it in microcontroller code.

Self balancing robot uses cascading PID algorithms

At this point we’re beginning to think that building a self-balancing robot is one of the rights of passage alongside blinking some LEDs and writing Hello World on an LCD screen. We’re not saying it’s easy to pull off a build like this one. But the project makes you learn a lot about a wide range of topics, and really pushes your skills to the next level. This latest offering comes from [Sebastian Nilsson]. He used three different microcontrollers to get the two-wheeler to stand on its own.

He used our favorite quick-fabrication materials of threaded rod and acrylic. The body is much taller than what we’re used to seeing and to help guard against the inevitable fall he used some foam packing material to protect the top level. Three different Arduino boards are working together. One monitors the speed and direction of each wheel. Another monitors the IMU board for position and motion feedback, and the final board combines data from the others and takes care of the balancing. Two PID algorithms provide predictive correction, first by analyzing the wheel motion, then feeding that data into the second which uses the IMU feedback. It balances very well, and can even be jostled without falling. See for yourself in the clip after the break.

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Salvaged robot arm makes a big 3d printer

Wow, building a precision 3d printer is amazingly easy if you can get your hands on an industrial-quality robot arm. [Dane] wrote in to tell us about this huge extruder printer made from an ’80s-era SCARA robot arm. It is capable of printing objects as large as 25″x12″x6.5″.

This 190 pound beast was acquired during a lab clean out. It was mechanically intact, but missing all of the control hardware. Building controllers was a bit of a challenge since the it’s designed with servo motors and precision feedback sensors. This is different from modern 3d printers which use stepper motors and no feedback sensors. A working controller was built up one component at a time, with a heated bed added to the mix to help prevent warping with large builds. We love the Frankenstein look of the controller hardware, which was mounted hodge-podge as each new module was brought online.

You can see some printing action in the clip after the break. A Linux box takes a design and spits out control instructions to the hardware.

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A simpler sous-vide hack

Here are the contronl modules for a sous-vide project over at Nerdkits. [Humberto] and crew continue doing a great job of focusing a project on one goal, then explaining the steps needed to get there. In this case they wanted to build their own sous-vide appliance that was cheap, and didn’t really require the user to deal with mains voltage. We like it because most of the parts can be found at a hardware store and big box store.

He started with a slow cooker, which is pretty standard. Next he needed a way to switch power to the device. Instead of using a solid state relay, he went for a standard dimmer switch. It’s build into a double gang electrical box, and controls an outlet which is occupying the second position in that box. Now current to the slow cooker is limited by the position of the dimmer. The next task was to add a cardboard frame which marries a servo motor to the dimmer’s knob.

With the control scheme in place [Humberto] needed a feedback sensor. He built his own water proof temperature probe by covering an LM34 temperature sensor with shrink tube and sealing the ends. Just one probe in the cooking water isn’t very reliable so he added a second between the slow cooker’s base and ceramic vessel to improve the performace of the PID algorithm. He goes into detail about that in the video after the break.

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Climbing the mountain of quadcopter design

What a sweet thing it is to see the first outdoor flight of a quadcopter. [Botched] has done a wonderful job of documenting the entire build process. Take a look at all that he has done, then jump after the break to see the extremely stable test flight footage.

Earlier iterations used feedback electronics that he designed, etched, and soldered himself. We think they looked pretty good, but he was not happy with the performance. He spent a bunch of time redesigning the IMU board, but after he printed out the PCB artwork he decided his soldering was not up to the QFN challenge and he went with a pre-assembled breakout board.

His post about PID tuning is quite interesting. He removed two of the motors and mounted those opposite ends of the chassis to a hinged stand. This let him tweak the feedback loop until the two remaining propellers were able to maintain balance even when he nudged the unit.

His test flight footage is accompanied by an on-board camera shot. He simply taped a smart phone to the battery and let it roll. Make sure you turn off your speakers before watching this one or the motor noise will let the boss know you’re reading Hackaday again instead of working.

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osPID: the Open Source PID Controller

Need PID control in your next project? Perhaps this little beauty can help. It’s an Open Source PID controller that also follows the Open Hardware guidelines. [Brett Beauregard] based the project on the newly minted Arduino PID library which he wrote. In the video after the break [Brett] takes apart the device, walking through some of the ways this might be hacked. If you want an overview of every part of this project to-date the best resource is probably his personal blog post.
The front circuit board is the meat and potatoes of the device. It hosts the user interface in the form of buttons, LEDs, and a graphic LCD screen. You can also see the USB mini-b connector which gives you access to the Arduino compatible ATmega328 microcontroller on the back. There is also a piezo buzzer for your alarm needs.
The prototype that [Brett] shows off uses pin connectors to join the main board to the two daughter boards. Unfortunately, the production model moved to dual-sided edge connectors. That’s fine if you you’re using it in its stock condition, but it makes it a bit harder to replace those boards with your own hardware. None-the-less, we love to see great Open Hardware projects brought to market! [Read more...]
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