Designing An Advanced Autonomous Robot: Goose

August 8, 2019 by Pat Whetman 9 Comments

Robotics is hard, maybe not quite as difficult as astrophysics or understanding human relationships, but designing a competition winning bot from scratch was never going to be easy. Ok, so [Paul Bupe, Jr’s] robot, named ‘Goose’, did not quite win the competition, but we’re very interested to learn what golden eggs it might lay in the aftermath.

The mechanics of the bot is based on a fairly standard dual tracked drive system that makes controlling a turn much easier than if it used wheels. Why make life more difficult than it is already? But what we’re really interested in is the design of the control system and the rationale behind those design choices.

The diagram on the left might look complicated, but essentially the system is based on two ‘brains’, the Teensy microcontroller (MCU) and a Raspberry Pi, though most of the grind is performed by the MCU. Running at 96 MHz, the MCU is fast enough to process data from the encoders and IMU in real time, thus enabling the bot to respond quickly and smoothly to sensors. More complicated and ‘heavier’ tasks such as LIDAR and computer vision (CV) are performed on the Pi, which runs ‘Robot operating system’ (ROS), communicating with the MCU by means of a couple of ‘nodes’.

The competition itself dictated that the bot should travel in large circles within the walls of a large box, whilst avoiding particular objects. Obviously, GPS or any other form of dead reckoning was not going to keep the machine on track so it relied heavily on ‘LiDAR point cloud data’ to effectively pinpoint the location of the robot at all times. Now we really get to the crux of the design, where all the available sensors are combined and fed into a ‘particle filter algorithm’:

What we particularly love about this project is how clearly everything is explained, without too many fancy terms or acronyms. [Paul Bupe, Jr] has obviously taken the time to reduce the overall complexity to more manageable concepts that encourage us to explore further. Maybe [Paul] himself might have the time to produce individual tutorials for each system of the robot?

We could well be reading far too much into the name of the robot, ‘Goose’ being Captain Marvel’s bazaar ‘trans-species’ cat that ends up laying a whole load of eggs. But could this robot help reach a de-facto standard for small robots?

We’ve seen other competition robots on Hackaday, and hope to see a whole lot more!

Video after the break: Continue reading “Designing An Advanced Autonomous Robot: Goose” →

High Performance Stereo Computer Vision For The Raspberry Pi

August 3, 2019 by Pat Whetman 30 Comments

Up until now, running any kind of computer vision system on the Raspberry Pi has been rather underwhelming, even with the addition of products such as the Movidius Neural Compute Stick. Looking to improve on the performance situation while still enjoying the benefits of the Raspberry Pi community, [Brandon] and his team have been working on Luxonis DepthAI. The project uses a carrier board to mate a Myriad X VPU and a suite of cameras to the Raspberry Pi Compute Module, and the performance gains so far have been very promising.

So how does it work? Twin grayscale cameras allow the system to perceive depth, or distance, which is used to produce a “heat map”; ideal for tasks such as obstacle avoidance. At the same time, the high-resolution color camera can be used for object detection and tracking. According to [Brandon], bypassing the Pi’s CPU and sending all processed data via USB gives a roughly 5x performance boost, enabling the full potential of the main Intel Myriad X chip to be unleashed.

For detecting standard objects like people or faces, it will be fairly easy to get up and running with software such as OpenVino, which is already quite mature on the Raspberry Pi. We’re curious about how the system will handle custom models, but no doubt [Brandon’s] team will help improve this situation for the future.

The project is very much in an active state of development, which is exactly what we’d expect for an entry into the 2019 Hackaday Prize. Right now the cameras aren’t necessarily ideal, for example the depth sensors are a bit too close together to be very effective, but the team is still fine tuning their hardware selection. Ultimately the goal is to make a device that helps bikers avoid dangerous collisions, and we’ve very interested to watch the project evolve.

The video after the break shows the stereoscopic heat map in action. The hand is displayed as a warm yellow as it’s relatively close compared to the blue background. We’ve covered the combination Raspberry Pi and the Movidius USB stick in the past, but the stereo vision performance improvements Luxonis DepthAI really takes it to another level.

Continue reading “High Performance Stereo Computer Vision For The Raspberry Pi” →

Pick And Place Robot Built With Fischertechnik

July 30, 2019 by Pat Whetman 3 Comments

We’d be entirely wrong to think that Fichertechnik is just a toy for kids. It’s also perfect for prototyping the control system of robots. [davidatfsg]’s recent entry in the Hackaday Prize, Delta Robot, shows how complex robotics can be implemented without the hardship of having to drill, cut, bolt together or weld components. The added bonus is that the machine can be completely disassembled non-destructively and rebuilt with a new and better design with little or no waste.

The project uses inverse kinematics running on an Arduino Mega to pick coloured objects off a moving conveyor belt and drop them in their respective bins. There’s also also an optical encoder for regulating the speed of the conveyor and a laser light beam for sensing that the object on the conveyor has reached the correct position to be picked.

Not every component is ‘off the shelf’. [davidatfsg] 3D printed a simple nozzle for the actual ‘pick’ and the vacuum required was generated by the clever use of a pair of pneumatic cylinders and solenoid operated air valves.

We’re pretty sure that this will not be the last project on Hackaday that uses Fischertechnik components and it’s the second one that [davidatfsg] has concocted. Videos of the machine working after the break! Continue reading “Pick And Place Robot Built With Fischertechnik” →

Drone On Drone Warfare, With Jammers

July 24, 2019 by Pat Whetman 37 Comments

After the alleged drone attacks on London Gatwick airport in 2018 we’ve been on the look out for effective countermeasures against these rogue drone operators. An interesting solution has been created by [Ogün Levent] in Turkey and is briefly documented on in his Dronesense page on Crowdsupply. There’s a few gaps in the write up due to non-disclosure agreements, but we might well be able to make some good guesses as to the missing content.

Not one, but two LimeSDRs are sent off into the air onboard a custom made drone to track down other drones and knock them out by jamming their signals, which is generally much safer than trying to fire air to air guided missiles at them!

The drone hardware used by [Ogün Levent] and his team is a custom-made S600 frame with T-Motor U3 motors and a 40 A speed controller, with a takeoff weight of 5 kg. An Adventech single board computer is the master controller with a Pixhawk secondary and, most importantly, a honking great big 4 W, 2.4 GHz frequency jammer with a range of 1200 meters.

The big advantage of sending out a hunter drone with countermeasures rather than trying to do it on the ground is that, being closer to the drone, the power of the jammer can be reduced, thus creating less disturbance to other RF devices in the area – the rogue drone is specifically targeted.

One of the LimeSDRs runs a GNU radio flowgraph with a specially designed block for detecting the rogue drone’s frequency modulation signature with what seems to be a machine learning classification script. The other LimeSDR runs another *secret* flowgraph and a custom script running on the SBC combines the two flowgraphs together.

So now it’s the fun part, what does the second LimeSDR do? Some of the more obvious problems with the overall concept is that the drone will jam itself and the rogue drone might already have anti-jamming capabilities installed, in which case it will just return to home. Maybe the second SDR is there to track the drone as it returns home and thereby catch the human operator? Answers/suggestions in the comments below! Video after the break. Continue reading “Drone On Drone Warfare, With Jammers” →

Art Meets Science In The Cold Wastelands Of Iceland

July 17, 2019 by Pat Whetman 13 Comments

Although Iceland is now a popular destination for the day-tripping selfie-seeking Instagrammer who rents a 4×4, drives it off road onto delicate ecosystems and then videos the ensuing rescue when the cops arrive, there are still some genuine photographers prepared to put a huge amount of time and effort into their art. [Dheera Venkatraman] is one of the latter and produces composite photos using a relatively low resolution thermal camera and DIY pan and tilt rig.

Whilst we don’t have the exact details, we think that, since the Seek Reveal Pro camera used has a resolution of 320 x 240, [Dheera] would have had to take at least 20 photos for each panoramic shot. In post processing, the shots were meticulously recombined into stunning landscape photos which are a real inspiration to anybody interested in photography.

If you do go to Iceland you might find the traditional food a little challenging to those not raised upon it, nor would you go there for a stag night as beer is eyewateringly expensive. But if you enjoy uninhabitable, desolate, dramatic landscapes there is a huge range of possibilities for the photographer from rugged, frozen lava flows to extra terrestrial ‘Martian’ crater-scapes, if you know where to find them.

[Dheera’s] blog contains some more information about his Iceland photography and there’s a Github repsoitory too. And if you cant afford a $699 Seek Reveal Pro, maybe try building one yourself.

3D Printed Snap Gun For Automatic Lock Picking

July 17, 2019 by Pat Whetman 31 Comments

At a far flung, wind blown, outpost of Hackaday, we were watching a spy film with a bottle of suitably cheap Russian vodka when suddenly a blonde triple agent presented a fascinating looking gadget to a lock and proceeded to unpick it automatically. We all know very well that we should not believe everything we see on TV, but this one stuck.

Now, for us at least, fantasy became a reality as [Peterthinks] makes public his 3D printed lock picker – perfect for the budding CIA agent. Of course, the Russians have probably been using these kind of gadgets for much longer and their YouTube videos are much better, but to build one’s own machine takes it one step to the left of center.

The device works by manually flicking the spring (rubber band) loaded side switch which then toggles the picking tang up and down whilst simultaneously using another tang to gently prime the opening rotator.

The size of the device makes it perfect to carry around in a back pocket, waiting for the chance to become a hero in the local supermarket car park when somebody inevitably locks their keys in their car, or even use it in your day job as a secret agent. Just make sure you have your CIA, MI6 or KGB credentials to hand in case you get searched by the cops or they might think you were just a casual burglar. Diplomatic immunity, or a ‘license to pick’ would also be useful, if you can get one.

As mentioned earlier, [Peter’s] video is not the best one to explain lock picking, but he definitely gets the prize for stealth. His videos are below the break.

In the meantime, all we need now are some 3D printed tangs.

Continue reading “3D Printed Snap Gun For Automatic Lock Picking” →

The Demise Of The Password

July 14, 2019 by Pat Whetman 73 Comments

Although we hackers will sometimes deliberately throw away our passwords and then try and hack our own phones / WIFI systems for self amusement, for many people including the actual inventor of the password, Fernardo “Corby” Corbató (1926-2019), passwords have become extremely burdensome and dis-functional.

Sadly, Fernando (according to the internet) died on July 12th, and equally sadly, part of his legacy was the ordeal of his “having a three-page crib sheet to stay on top of his own 150+ passwords”.

We’re all used to being badgered by websites to use complex passwords with a minimum length and a minimum number of upper case characters, lower case characters, numerical digits and non alphanumeric characters AND being told at the workplace to use different passwords than at other places AND to being told to change our passwords regularly. The fact that somebody like Fernando had 150 passwords is not surprising.

However, there is some hope, as according to Alex Weinert of Microsoft, in his recent synopsis, “When it comes to composition and length, your password (mostly) doesn’t matter”. This may well sound counter-intuitive but Microsofts’s own research suggests that inter-webs gurus should focus more on “multi-factor authentication (MFA), or great threat detection” rather than badgering the user.

The research goes into quite a bit of detail about passwords and concludes that the biggest threat to password security is when criminals obtain data from insecure ‘breached’ sites, in which case it would not matter if your word was written in hieroglyphics, it would be of no consequence at all. Another interesting conclusion was that by making passwords so intractable this encouraged people such as Fernando himself to write them all down, only for someone to rummage through their office desk (technically known as ‘dumpster diving’) and copy them.

Maybe the end of the password will now swiftly be upon us as technology enables biometrics such as ocular based identifications to be more widely used, but then again we’ve all watched those films where the protagonist scoops the eyeball out of a person’s skull to gain entry to a secure area.

It’s easy to get carried away about passwords and security hype, but it should not be forgotten that Fernardo Corbató was an eminent computer scientist who pioneered ‘Time sharing’ on computers, as detailed in this Hackaday article: Retrotectacular: Time Sharing.