Gassing Up: Understanding The Liquid Fuel Distribution Network

May 17, 2021 by Dan Maloney 40 Comments

When someone talks about “The Grid,” as in “dropping off the grid” or “the grid is down,” we tend to think in terms of the electromagnetic aspects of the infrastructure of modern life. The mind’s eye sees The Grid as the network of wires that moves electricity from power plants to homes and businesses, or the wires, optical cables, and wireless links that form the web of data lines that have stitched the world together informatically.

The Grid isn’t just about power and data, though. A huge portion of the infrastructure of the developed world is devoted to the simple but vital task of moving liquid fuels from one place to another as efficiently and safely as possible. This fuel distribution network, comprised of pipelines, railways, and tankers trucks, is very much part of The Grid, even if it goes largely unseen and unnoticed. At least until something major happens to shift attention to it, like the recent Colonial Pipeline cyberattack.

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Soil Moisture Sensors, How Do They Work?

May 17, 2021 by Donald Papp 19 Comments

In a way, the magic of a soil moisture sensor’s functionality boils down to a simple RC circuit. But of course, in practice there is a bit more to it than that. [rbaron] explains exactly how capacitive soil moisture sensors work simply, clearly, and concisely. He also shows, with a short video, exactly how their output changes in response to their environment, and explains how it informed his own sensor design.

At its heart, a moisture sensor measures how quickly (or slowly) a capacitor charges through a resistor, but in these sensors the capacitor is not a literal component, but is formed by two PCB traces that are near one another. Their capacitance — and therefore their charging rate — changes in response to how much water is around them. By measuring this effect on a probe sunk into dirt, the sensor can therefore indirectly measure the amount of water in the soil.

This ties into his own work on b-parasite: an open-source, all-in-one wireless soil moisture sensor (which was also a runner-up in our Earth Day contest) that broadcasts over BLE and even includes temperature readings. One thing to be mindful of if you are making your own PCBs or ordering them from a fab house is that passing current through metal in a moist environment is a recipe for oxidation, so it’s important not to expose bare traces to wet soil. A good coated PCB should avoid this problem, but one alternative we have seen proposed is to use graphite rods in place of metal.

Actively Balancing A Robot With A Gyroscope

May 17, 2021 by Danie Conradie 9 Comments

Self-balancing robots are a common hacker project, but we don’t often see them using spinning gyroscopes to achieve that balance. Robot master [James Bruton] decided to build a robotic platform with active gyroscopic stabilization, starting from a simple proof of concept.

A gyroscope can balance, but cannot actively counteract external forces directly. However, if the gyroscope is tilted around an axis it will exert a force perpendicular to that axis of tilt, known as gyroscopic precession. By tilting the gyroscope with an actuator, and orienting the gyroscope correctly, gyroscopic precession can be used for stabilization. This is known as a control moment gyroscope. [James] demonstrated this with a 3D printed proof of concept, which is used as an IMU to measure the angle of tilt, and use a PID loop to correct the imbalance with a servo actuating the gyroscope.

His second platform used a pair of gyroscopes spinning in opposite directions to compensate for any unintended gyroscopic precession along another axis. A pair of roller skate wheels allow the entire platform to roll along. Due to a slight imbalance in the platform, [James] noticed that the gyroscopes will continue to creep in one direction, until reaching the end-stops and falling over. By adding a second software controller to keep track of how much the gyroscopes have to move to maintain balance, it can continuously calculate and update the balancing point. This prevents the gyroscopes from hitting the end stops.

Control moment gyroscopes are commonly used for attitude control on spacecraft, and to reduce the rolling motion of boats in waves. [James] has plans to combine a control moment gyroscope with the more conventional balancing method, to balance a robot on a single wheel.

We’ve seen a two wheeled RC cars use gyroscopes before, but without the active control part.
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