Robotic Fish Swarm Together Using Cameras And LEDs

January 18, 2021 by Danie Conradie 4 Comments

Robotics has advanced in leaps and bounds over the past few decades, but in terms of decentralized coordination in robot swarms, they far behind biological swarms. Researchers from Harvard University’s Weiss Institute are working to close the gap, and have developed Blueswarm, a school of robotic fish that can exhibit swarm behavior without external centralized control.

In real fish schools, the movement of an individual fish depends on those around it. To allow each robotic fish to estimate the position of its neighbors, they are equipped with a set of 3 blue LEDs, and a camera on each side of the body. Four oscillating fins, inspired by reef fish, provide 3D control. The actuator for the fins is simply a pivoting magnet inside a coil being fed an alternating current. The onboard computer of each fish is a Raspberry Pi W, and the cameras are Raspberry Pi Camera modules with wide-angle lenses. Using the position information calculated from the cameras, the school can coordinate its movements to spread out, group together, swim in a circle, or find an object and then converge on it. The full academic article is available for free if you are interested in the details.

Communication with light is dependent on the clarity of the medium it’s traveling through, in this case, water — and conditions can quickly become a limiting factor. Submarines have faced the same challenge for a long time. Two current alternative solutions are ELF radio and sound, which are both covered in [Lewin Day]’s excellent article on underwater communications.

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TV Detector Vans Once Prowled The Streets Of England

January 18, 2021 by Lewin Day 306 Comments

The United Kingdom is somewhat unique in the world for requiring those households which view broadcast television to purchase a licence for the privilege. Initially coming into being with the Wireless Telegraphy Act in 1923, the licence was required for anyone receiving broadcast radio, before being expanded to cover television in 1946. The funds generated from this endeavour are used as the primary funding for the British Broadcasting Corporation.

A typical TV licence invoice. Separate licences for black and white and color sets still exist, with 6000 B&W licences issued in 2019.

Of course, it’s all well and good to require a licence, but without some manner of enforcement, the measure doesn’t have any teeth. Among other measures, the BBC have gone as far as employing special vans to hunt down illegally operating televisions and protect its precious income.

The Van Is Coming For You

To ensure a regular income, the BBC runs enforcement operations under the TV Licencing trade name, the entity which is responsible for administering the system. Records are kept of licences and their expiry dates, and investigations are made into households suspected of owning a television who have not paid the requisite fees. To encourage compliance, TV Licencing regularly sends sternly worded letters to those who have let their licence lapse or have not purchased one. In the event this fails, they may arrange a visit from enforcement officers. These officers aren’t empowered to forcibly enter homes, so in the event a homeowner declines to cooperate with an investigation, TV Licencing will apply for a search warrant. This may be on the basis of evidence such as a satellite dish or antenna spotted on the roof of a dwelling, or a remote spied on a couch cushion through a window.

Alternatively, a search warrant may be granted on the basis of evidence gleaned from a TV detector van. Outfitted with equipment to detect a TV set in use, the vans roam the streets of the United Kingdom, often dispatched to addresses with lapsed or absent TV licences. If the van detects that a set may be operating and receiving broadcast signals, TV Licencing can apply to the court for the requisite warrant to take the investigation further. The vans are almost solely used to support warrant applications; the detection van evidence is rarely if ever used in court to prosecute a licence evader. With a warrant in hand, officers will use direct evidence such as a television found plugged into an aerial to bring an evader to justice through the courts.

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A Miniature VT102 Running A Miniature PDP11

January 18, 2021 by Jenny List 22 Comments

We spend a lot of time looking at retrocomputing in the form of gaming and home computers, but it’s true to say that minicomputers are less common than hardware projects. Perhaps it’s the size, cost, or even relative rarity of the original machines, but DEC minicomputers are a bit unusual around here. [Sprite_TM] hasn’t bought us a PDP11 or a VT102 terminal, but he’s done the next best thing in the form of a miniature working VT102 that also conceals a PDE11 emulator. It runs Tetris, which was originally developed on a Russian clone of the PDP11 architecture, and the 2.1BSD operating system.

Powering it all is an ESP32 module, and the PDP11 emulator is the well-known SIMH software. Porting this to the slightly limited environment of the microcontroller required a few compromises, namely the network stack and the configuration interface. In a particularly clever move [Sprite_TM] enabled BSD networking by writing an ESP32 layer that takes network packets via SIMD directly from BSD. It includes its own DHCP client and wireless network configuration tool, allowing an ancient UNIX-derived operating system from the 1970s to connect to the 21st century Internet through an emulator with its network code stripped out.

The case is a masterwork in OpenSCAD, a complete VT102 unit in miniature with a tiny LCD screen that when printed on a resin printer is a remarkable facsimile of the real thing. It doesn’t have a keyboard counterpart, but even with a miniature Bluetooth ‘board it still looks pretty impressive. In the video below the break he boots it into 2.1BSD, and importantly since it is a server operating system, logs into it from his laptop and plays a game of Zork.

[Sprite_TM] has brought us so many impressive projects over the years using the ESP32 and other parts. Maybe you have a favorite, but for us it’s the PocketSprite Game Boy-like tiny handheld console.

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On-Air Sign Helps Keep Your Broadcasts G-Rated

January 18, 2021 by Kristina Panos 7 Comments

Like many of us, [Michael] needed a way to let the family know whether pants are required to enter the room — in other words, whenever a videoconference is in progress. Sure he could hang a do not disturb sign, but those are easy to forget. There’s no need to worry about forgetting to change status because this beautiful wall-mounted sign can be controlled with Alexa.

Inside the gorgeous box made from walnut, curly maple, and oak is an ESP32, some RGB LEDs, and three MOSFETs. [Michael] is using the fauxmoESP library to interface the ESP32 with Alexa, which emulates a Phillips Hue bulb for the sake of using a protocol she already knows. [Michael] can change the color and brightness percentage with voice commands.

The sign is set up as four different devices — one default, and one for each color. Since talking to Alexa isn’t always appropriate, [Michael] can also change the color of the LEDs using sliders on a website that’s served up by the ESP. Check out the full build video after the break.

Need something quick and dirty that works just as well? Our own [Bob Baddeley] made a status indicator that’s simple and effective.

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