The Zigroller is a Zigbee remote-controlled balance bot.  Although balance bots have been featured on [HAD] before, the Zigroller appears to be well-built and the project is well documented.  Besides a section on hardware, the software for this build is documented here.  The theory behind a balancing bot like this is given in this [MIT] paper if you’d like some more background.

The roller itself was conceived as a project for a UW class this summer.  The class was about control theory, so the electronics and mechanical setup was copied off of the [ArduRoller] project.  In order to keep this project from influencing the control code of this ‘bot, it’s claimed that the code was not looked at while writing the new software. The process for building the remote control assembly is nicely documented and is an original creation for this project. Check out a video of it in action after the break!

For another balance ‘bot, check out this one based on a 555 timer.

[Russell] sent in a neat home automation project he’s been working on. Even though the project only has two devices so far, we can already see the potential of his project.

Instead of the X10 standard that has been a staple of home automation for more than 30 years, [Russell] went with ZigBee modules. Aside from being much faster and more flexible than X10 home automation modules, ZigBees also open up a bunch of projects that would be impossible if he went with X10. With some well-placed IR transmitters hidden in his living room, it would be possible to have a TV and cable box controlled via the Internet.

So far, [Russell] built an network-controlled RGB ‘mood lamp’ and an infrared remote for his central air. Everything is controlled through a web app, and [Russell] says that additional modules can be easily added to the code.

Check out [Russell]‘s demo of his project after the break.

I’m sure most of us remember playing with blocks when we were kids, well now this age old children’s toy has been crammed full of electrical goodness by a team of Electrical Engineers from the University of Texas. The Blox, which are about the size of a standard Rubiks Cube each contain 16 IR sensors, 4 touch panels, a 3-axis accelerometer, a ZigBee Wireless Module, a 2″ OLED display and a battery, all controlled using an ARM Cortex processor.

The Blox show their full potential when used together as an interactive distributed computing system. Blox is an open source project so all of the build details, schematics and code can be found on the website. For an overview and demonstration of the Blox check out the video after the break.

Students at Dutch TU Delft university recently built a huge replica of the original NES controller (Google Translation), which is fully functional and can be used to play games on a large display screen they also installed. How big is it, you ask? It’s about 6 meters wide – over 30 times the size of the original NES game pad and requires participants to jump on the buttons to play.

Convert any image to G-code

Members of [Forskningsavdelningen], a Swedish hackerspace, are working on software that will allow users to vectorize bitmap images in order to convert them to G-code files for CNC milling. A good portion of the project is complete, but there is still a bit of work to do, so you won’t see it in action for a while. When it’s ready, we’ll be sure to let you know.

Convert your lame Dead Space plasma cutter into a bonafide laser weapon

If you forked out big bucks for the special edition of Dead Space 2, you know how lame the included plasma cutter replica is. Check out this video, that shows you how to convert your LED toy to a dual laser, fire starting, laser pistol. The process is pretty simple, so what are you waiting for?

Synchronized, LED-lit juggling balls

[Jonathan] wrote in to share a project he and some friends have just finished. He’s not sharing a ton of details at the moment, but he has put up a video showing off their wireless LED juggling balls. All we know is that they use bright RGB LEDS, Zigbees for communication, and that they are awesome. We can’t wait to hear more about them!

Water cooled PS3 Laptop

[Pirate] recently unveiled his latest work, a water-cooled Playstation 3 laptop. It looks pretty sharp, and can undoubtedly rival some of Ben Heck’s work, even if it does have an external PSU. Obviously having a separate power component isn’t necessarily ideal, but when you are cramming all of that water cooling goodness into such a small package, something has to give!

[Travis Goodspeed] recently tore down the Freescale MC13224 wireless radio chip in an effort to demonstrate how the device’s firmware could be read, even when locked down in “secure” mode. While you might not recognize the Freescale MC13224 radio by name alone, you are certainly familiar with some of its practical applications. Found in the QuahogCon and Ninja Party badges among other consumer goods, the popular Zigbee radio turned out to be a fairly easy conquest.

[Travis] first used acid to decap one of the microcontrollers to see what was going on under the plastic casing. Inside, he discovered a discrete flash memory chip, which he removed and repackaged using a wedge wire bonder. He was easily able to extract the firmware, however decapping and repackaging a flash chip isn’t necessarily the most user-friendly process.

After digging further, he discovered that holding one of the chip’s pins low during boot would allow him to run custom code that recovers the firmware image once the pin is pulled high once again. This far more practical means of firmware recovery can be easily facilitated via a circuit board revision, as [Travis] mentions in his blog.

[Mariano] owns a late 90’s Jeep Wrangler, and had no idea just how easy it was to steal. Unfortunately for him, the guy who made off with his Jeep was well aware of the car’s vulnerabilities. The problem lies in the ignition – it can be broken out with a screwdriver, after which, the car can be started with a single finger. How’s that for security?

[Mariano] decided that he would take matters into his own hands and add a remote-controlled switch to his car in order to encourage the next would-be thief to move on to an easier target. He describes his creation as a “remote kill” switch, though it’s more of a “remote enable” switch, enabling the engine when he wants to start the car rather than killing it on command.

The switch system is made up of two pieces – a server inside the car’s engine bay, and a remote key fob. The server and the fob speak to one another using IPv6 over 802.15.4 (the same standard used by ZigBee modules). Once the server receives a GET request from the key fob, it authenticates the user with a 128-bit AES challenge/response session, allowing the car to be started.

It is not the simplest way of adding a remote-kill switch to a car, but we like it. Unless the next potential car thief digs under the hood for a while, we’re pretty sure [Mariano’s] car will be safe for quite some time.

Hackaday forum member [machinelou] says he’s been fascinated with remote controlled hamster balls for quite some time. Inspired by a ball bot he saw on a BBC show, he finally picked up a 12″ plastic ball and got to work.

He used a small drill to provide the power required to roll the ball, and an Arduino is used as the brains of the device. This is his first major project outside of simple I/O and servo control, so he’s taking things slowly. While all this is a bit new to him, he already has things up and running to a degree as you can see in the video below. In its current state, the ball is programmed to roll forward and backwards for a few seconds before going back to sleep.

His future plans include adding a servo-controlled weight to allow him to steer the ball as well as using a pair of Zigbee modules in order to control the ball remotely.

It’s a neat little project, and definitely one that would be a fan favorite among kids. Stick around to see a quick video of his bot’s progress thus far.

Before [Steve] realized that it didn’t play nice with his network, he dismantled his Energy Detective TED 5000-G to see what made the device tick. He put together a nice teardown with high-res pictures throughout.  Each component of the TED 5000-G is dissected, with the exception of the current transformers, which he claims are pretty boring anyhow.  The gateway module is particularly interesting as it contains both an Ethernet interface as well as a 802.15.4 radio for wireless communications.  While the device is still a bit expensive at the moment, the gateway module could be useful in projects requiring PLC or ZigBee communications some time down the road, once prices ease a little.

Wireshark, a tool recognized universally as being one of the best network analyzers available, has long been used by legitimate network professionals as well as a shadier crowd (and everywhere in between). While useful for analyzing both wired and Wi-Fi traffic, monitoring 802.15.4 protocols (such as Zigbee) have not been a common use in the past. [Akiba] of FreakLabs has brought us a solution which works around the normal limitations of Wireshark’s libpcap base, which does not accept simple serial input from most homebrew setups that use FTDI or Arduinos to connect to Zigbee devices. Using named pipes and a few custom scripts, [Akiba] has been able to coax Wireshark into accepting input from one of FreakLabs Freakduino boards.

While there are certainly professional wireless analyzing tools out there that connect directly into Wireshark, we at Hackaday love showing off anyone who takes the difficult, cheap, out of the way method of doing things over the neat, expensive, commercial method any day.

This setup helps to represent data in a meaningful way to for visually impaired people. It uses a combination of physical objects to represent data clusters, and audio feedback when manipulating those objects. In the video after the break you’ll see that the cubes can orient themselves to represent data clusters. The table top acts as a graphing field, with a textured border as a reference for the user. A camera mounted below the clear surface allows image processing software to calculate the locations for the cubes. Each cube is motorized and contains an Arduino and ZigBee module, listening for positioning information from the computer that is doing the video processing. Once in position, the user can move the cubes, with modulated noise as a measure of how near they are to the heart of each data cluster.

The team plans to conduct further study on the usefulness of this interactive data object. We certainly see potential for hacking as this uses off-the-shelf components that are both inexpensive, and easy to find. It certainly reminds us of a multitouch display with added physical tokens.

[Thanks UrsusExplorans]

Culture Shock II, a robot by the Lawrence Tech team, first caught our eye due to its unique drive train. Upon further investigation we found a very well built robot with a ton of unique features.

The first thing we noticed about CultureShockII are the giant 36″ wheels. The wheel assemblies are actually unicycles modified to be driven by the geared motors on the bottom. The reason such large wheels were chosen was to keep the center of gravity well below the axle, providing a very self stabilizing robot. The robot also has two casters with a suspension system to act as dampers and stabilizers in the case of shocks and inclines. Pictured Below.

The next thing we noticed were the strange semi-circles mounted above the casters. Upon further inquiry we found that the robot uses 10 lasers to project cross-hairs on the ground so that it can use its stereo vision at night.

The robot has two stereo vision cameras from Videre, a brand that has been very popular at this year’s IGVC. The cameras overlap and provide the AI with a pixel-associated 3d point map. The team also came up with a clever way to adjust the camera to different lighting situations with two “candy canes” sticking out into the robot’s field of vision. The robot can look at these and use an algorithm to adjust the colors according. This helps greatly with white line detection. (The robots must stay within two white lines painted about 10 feet apart on the grass.)

Along with the stereo vision the robot also features an Omnistar-VBS enabled gps capable of sub meter accuracy and a digital compass. Aside from the driver software for the cameras, the robot is written completely in Java. The AI uses frame-by-frame mapping. Each frame the robot sets an objective out in the distance and moves towards it. In the next frame the robot checks to see if that objective is still reachable and moves towards it, otherwise it changes its path. To get around objects the robot hugs the obstacle until it is behind it. The system is a hybrid of mapping and reactive AI.

The robot’s brain is a 2.4GHz Intel Core 2 Quad running 32bit windows. It has a solid state drive and 4GB of ram. One cool thing to note is that all of the sensors and micro-controllers run off the ATX power supply for the computer. Instead of using an inverter they found a suitable 12V ATX supply.

The rear control panel is pretty neat too. It has a touch screen, switches for all the main components, and status LEDs. Below it you can see the very back of the computer, housed in a shuttle style thermaltake case.

If you take the panel on the front off you are greeted with a view of the robot’s power and signal distribution. The green board is a Roboteq AX3500 which runs the motors and manages the PID feedback. The robot has 70lbs of sealed lead acid batteries in its base which allows it to run for approximately two hours. The remote E-stop (required by the rules) for this robot is actually a remote garage door opener hacked into turning the robot on and off.

We’ll finish with a shot of happy* engineers working away on their robots.

*depending on the state of their robot

Day One Report

The Intelligent Ground Vehicle Competition (IGVC) is the precursor to the DARPA Grand Challenge, and in many ways it is just as difficult. We have the pleasure of being at the competition this year with the Tennessee Technological University Autonomous Robotics Team. The teams at the competition pull off some amazing home-brew robotics, so we’ve decided to do a short section on some exemplary robotic hacking each day of the competition.

Today’s robot comes from the York College of Pennsylvania. The robot, dubbed “Green Lightning”, features an impressive set of custom made hardware.

We interviewed the team, and got a pretty thorough rundown of their robot with pictures after the jump.

The spinal cord of the robot is this custom built beauty.

It consists of six layers, each with a specific function. The boards were designed by the team and fabricated by Sunstone Circuits.  Each layer except for the top has its own teensy++ unit, programmed in C, providing an SPI interface to the hardware it’s designed to connect to. The first layer has an Arduino Mega programmed in C on it. The layers communicate with the Mega through an SPI bus running at 500Kbaud. The Mega processes the information and then communicates to a computer through a 1Mbaud usb serial connection.

The remaining five layers are each designed to interface with a specific section of the robot’s hardware. The second layer communicates with a Wheel Commander from Nubotics, simplifying the robot’s motion controls.The third layer  is the interface to the robot’s emergency stop. The rules require that there be a visible hardware e-stop on the back of the robot and a wireless remote e-stop. They solved their wireless e-stop problem with a zig-bee module that connects to the robot through this layer.

The fourth, fifth, and sixth layers all connect to the robot’s sensor groups. The fourth layer is the interface to their gps, mounted at the top of the robot. Most gps units communicate with simple serial and it’s pretty elegant that they managed to save a usb port by adding a board. The robot has nine Sharp 2Y0A710 distance sensors acting as a short-range bumper for obstacle avoidance which all connect to the fifth layer. The final layer is the interface for 10 long range sonar sensors located at compass points around the robot.

The robot also has two USB Web Cams for line and object detection mounted on the mast.  The AI and computer side hardware interface is programmed in a mix of C and Java. The AI follows a reactive model instead of a mapping/planning one which has been proven to be very effective in this competition for many teams.

The frame, track, and drive train were custom built by the team as well.

Here you can see the back of the robot where the drive train, Wheel Commander, and two SaberTooth motor drivers are.

A side shot shows their track system. They modeled it in SolidWorks first and then fabricated everything including the belt in house.

In the end the robot cost them around $5,200 after discounts which is pretty impressive considering its capabilities and that some of the robots at this competition easily break $50,000 dollars. It’s a prime example of what good engineering and home-brew magic can accomplish. We’ll finish with a shot of their manual control system.

After posting about our visit and interview with [Vemund], the Atmel rep at CES. We got the feeling you needed to know some more. The thing that has got us pretty excited is the ATmega128RFA1(pdf) single-chip microcontroller and Zigbee radio module. It can be found in the ATmegaRFA1-EK1 development board. We look forward to seeing future projects and products involving this chip. How would you use this chip?

We visited the Zigbee Alliance booth yesterday and talked to Atmel and TI reps. The very knowledgeable Atmel rep showed us a new development kit for Zigbee radios and gave us some of these modules above. We will be getting more information about this kit later on. The TI rep pointed us to the TI Engineer 2 Engineer Community.

[Travis Goodspeed] took an in-depth look at the debugging protocols for some ZigBee chips and posted his findings. In particular he’s looking at the CC2430 System-on-chip. These chips have a debugging protocol that is not hard to implement if you know what you’re doing. Certainly his tips make it easier for the rest of us. Don’t miss the info about reading from, writing to, and overcoming security of this hardware.