PicoCat, printed in yellow filament, looking at you with its ultrasonic sensor eyes

Build Your Own Cat – Some Assembly Required

Robotic pets are sci-fi material, and [Kevin McAleer] from [Kev’s Robots] is moving us all ever so closer towards a brighter, happier, more robotic future. One of his latest robot builds, PicoCat, is a robot cat with servo-driven paws. It follows in the footsteps of the OpenCat project made by Dr. Rongzhong Li back in 2016, and we’re always happy seeing someone pick up where another hacker left off. [Kevin] took heavy inspiration from the OpenCat design – rebuilding it with hardware more friendly and accessible for makers today.

Projects like these, involving data processing and calculations to get the servos moving just right, stand to benefit from the computing power of recently released RP2040 MCU. As such, the Pimoroni Servo 2040 board is a crucial component of this build, being both the brains of the project and also a PIO-boosted driver for the eleven servos helping this robot come alive. This cat’s eyes are an ultrasonic sensor, and you can add a whole lot more sensors for any robotic intention of yours. Don’t expect this kitty to jump one meter high or scratch your favourite couch to death just yet, but there’s already a lot of potential, especially coupled with a small speaker.

A PicoCat with a non-robotic kitten in the backgroundDoes this robotic cat interest you, whether it’d be due to your sci-fi propensity or a cat hair allergy? You’re in luck, because [Kevin] is keeping things firmly in the “open-source everything” realm. MicroPython code is stored in a GitHub repo, STLs are in a .zip linked on the page, and there’s plenty of renders to never leave you confused on what goes where. With all these resources, you can source the servos and the boards, fire up your 3D printer and sit down to assemble your own PicoCat. But not just that, [Kevin] also recorded three whole streams with insights, giving us over four hours of how-it-came-to-be video material for us to learn from. First, two streams of him designing the PicoCat in Fusion360, and then, him talking about the way he creates unit tests in MicroPython to improve his robots’ reliability and significantly reduce the amount of bugs cropping up.

This is not the last we will hear from [Kevin]’s robot-filled workshop, and previously, we’ve covered his Cray-1-shaped Pi Zero cluster system and a Raspberry Pi theremin, both as open and reproducible as this kitty! As you assemble yourself a PicoCat, or perhaps a Stanford Pupper or any of the other lovely quadru-pets we’ve previously featured, you might wonder how to properly move the servos, and we’ve covered a project that teaches you specifically that.

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Mini DarkTower Clone Restores Your Childhood

Remember DarkTower? No? Well, it’s a really cool combination board game, RPG, and computer game from 1981. Orson Welles pimped it on TV and explained it thusly: “collect three keys, lay siege to the tower, and defeat the enemy within”. The Tower itself was a battery-powered computer on lazy Susan that showed numbers on a couple of 7-segment displays, pictures via three carousels, and had a 12-button keypad. Thanks to a lawsuit, few copies remain, and even fewer of them are in working condition.

Working copies of DarkTower go for hundreds online, but who can afford such an extravagance when these 40+ year old towers are prone to battery leakage and loose connections? Certainly not [Mighty Studios], who was hoping to give the gift of DarkTower to a friend and decided to build a mini reproduction instead. Fortunately for us, the project is completely open source. You can check out the build video below, which has plenty of links, including one that goes to the code.

In this day and age, it doesn’t take much to reproduce the internals of the Tower. [Mighty Studios] pulled it off with a Feather S2, a 320 x 420 TFT LCD screen, a speaker, and a couple of momentary buttons. The screen can show all the pictures, (which were only displayed one at a time in the original game anyway), any necessary numbers, and all the requisite menu options.

[Mighty Studios] got mighty lucky when it came to the case, as [Stinkevil] had already created a dice tower version and put it on Thingiverse. After a bit of tweaking and some hole-punching, [Mighty Studios] had a mini tower scaled to the Feather S2 with just enough room to stuff in all the components and wires. Between a PDF of the original rule book and someone’s Java version of the game, [Mighty Studios] had plenty to use as a guide for programming in the rule set before mailing it off to their friend. We have to admit, we’re pretty jealous.

Don’t want to amass an army and conquer evil forces? There are all types of board games you could emulate with a microcontroller.

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Scientists Are Now Declaring New Species Via Photos And Video

Identifying new species is key to the work of zoologists around the world. It’s an exciting part of research into the natural world, and being the first to discover a new species often grants a scientists naming rights that can create a legacy of one’s work that lasts long into the future.

Traditionally, the work of taxonomy involved capturing and preserving an example of the new species. This is such that it could be classified properly and studied in detail by scientists working now and in the future. However, times are changing, and scientists are beginning to identify new species on the basis of videos and photos instead.

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Hackaday Links: April 10, 2022

A funny thing happened on the way to the delta. The one on Jezero crater on Mars, that is, as the Perseverance rover may have captured a glimpse of the parachute that helped deliver it to the Red Planet a little over a year ago. Getting the rover safely onto the Martian surface was an incredibly complex undertaking, made all the more impressive by the fact that it was completely autonomous. The parachute, which slowed the descent vehicle holding the rover, was jettisoned well before the “Sky Crane” deployed to lower the rover to the surface. The parachute wafted to the surface a bit over a kilometer from the landing zone. NASA hasn’t confirmed that what’s seen in the raw images is the chute; in fact, they haven’t even acknowledged the big white thing that’s obviously not a rock in the picture at all. Perhaps they’re reserving final judgment until they get an overflight by the Ingenuity helicopter, which is currently landed not too far from where the descent stage crashed. We’d love to see pictures of that wreckage.

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Robotic Boat Rides High On PVC Pipe Pontoons

If you want to build your own rover, there’s plenty of cheap RC trucks out there that will provide a serviceable chassis to work with. Looking to go airborne with a custom drone? Thanks to the immense popularity of first-person view (FPV) flying, you’ll find a nearly infinite variety of affordable fixed wing and quadcopter platforms out there to chose from. But when it comes to robotic watercraft, the turn-key options aren’t nearly as plentiful; the toys are all too small, and the commercial options are priced for entities that have an R&D budget to burn. For amateur aquatic explorers, creativity is the name of the game.

Take for example this impressive vessel built by [wesgood]. With a 3D printed electronics enclosure mounted to a pair of pontoons made of cheap 4-inch PVC pipe available from the hardware store, it provides a stable platform without breaking the bank. Commercial jet drive units built into the printed tail caps for the pipes provide propulsion, and allow the craft to be steered through differential thrust. Without rudders or exposed propellers, this design is particularly well-suited for operating in shallow waters.

A removable electronics tray allows for easy access.

Perched high above the water, the electronics box contains a Raspberry Pi 2, BU353 USB GPS receiver, and a Arduino Mega 2560 paired with a custom PCB that offers up convenient ports to connect a dual-channel Cytron 3 amp motor driver and Adafruit BNO055 9-DOF IMU. Power is provided by two 6,000 mAh LiPo batteries mounted low in the pontoons, and a matching pair of Adafruit current/voltage sensors are used to keep track of the energy budget. A small USB WiFi dongle with an external antenna plugged into the Pi offers up a WiFi network that [wesgood] can connect to with an iPad for control.

If the control software for the craft looks particularly well-polished, it’s probably because [wesgood] just so happens to be a professional developer with a focus on mobile applications. While we’re a bit skeptical of using WiFi for a critical long-distance link, we can’t deny that the iPad allows for a very slick interface. In addition to showing the status of the craft’s various systems, it lets the user either take manual control or place waypoints for autonomous navigation — although it sounds like that last feature is only partially implemented right now.

We love this design, and are eager to see more as the project develops. Recently [wesgood] experimented with payloads that can be suspended from the bottom of the electronics box, specifically a sonar module for performing bathymetric observations. There’s considerable interest in crowd sourced depth maps for inland waterways, and a robotic craft that can reliably chart these areas autonomously is certainly a step up from having to collect the data manually.

A Bargain In Bionic Knees

You probably don’t want to lose a leg, but if you have to there are many options now that were unthinkable not long ago. That is, if you can afford them. A microprocessor knee — a prosthetic with some smarts in it — can run anywhere from $25,000 to well over $100,000. However [Lucas Galey], a PhD candidate at the University of Texas El Paso in a recent paper claims to be able to produce a comparable artificial knee for under $1,000. If the paper is too long to read, Amplitude has a good summary including what it means to people who need them.

Of course, the cost of making something like this is almost incidental. The cost of approvals, testing, and other factors mean that even with about $500 in parts, the retail price would be much higher. Probably not $25,000, though.

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PCB Thermal Design Hack Gets Hot And Heavy

Thanks to the relatively recent rise of affordable board production services, many of the people reading Hackaday are just now learning the ropes of PCB design. For those still producing the FR4 equivalent of “Hello World”, it’s accomplishment enough that all the traces go where they’re supposed to. But eventually your designs will become more ambitious, and with this added complexity will naturally come new design considerations. For example, how do you keep a PCB from cooking itself in high current applications?

It’s this exact question that Mike Jouppi hoped to help answer when he hosted last week’s Hack Chat. It’s a topic he takes very seriously, enough that he actually started a company called Thermal Management LLC dedicated to helping engineers cope with PCB thermal design issues. He also chaired the development of IPC-2152, a standard for properly sizing board traces based on how much current they’ll need to carry. It isn’t the first standard that’s touched on the issue, but it’s certainly the most modern and comprehensive.

It’s common for many designers, who can be referencing data that in some cases dates back to the 1950s, to simply oversize their traces out of caution. Often this is based on concepts that Mike says his research has found to be inaccurate, such as the assumption that the inner traces of a PCB tend to run hotter than those on the outside. The new standard is designed to help designers avoid these potential pitfalls, though he notes that it’s still an imperfect analog for the real-world; additional data such as mounting configuration needs to be taken into consideration to get a better idea of a board’s thermal properties.

Even with such a complex topic, there’s some tips that are widely applicable enough to keep in mind. Mike says the thermal properties of the substrate are always going to be poor compared to copper, so using internal copper planes can help conduct heat through the board. When dealing with SMD parts that produce a lot of heat, large copper plated vias can be used to create a parallel thermal path.

Towards the end of the Chat, Thomas Shaddack chimes in with an interesting idea: since the resistance of a trace will increase as it gets hotter, could this be used to determine the temperature of internal PCB traces that would otherwise be difficult to measure? Mike says the concept is sound, though if you wanted to get an accurate read, you’d need to know the nominal resistance of the trace to calibrate against. Certainly something to keep in mind for the future, especially if you don’t have a thermal camera that would let you peer into a PCB’s inner layers.

A rig used to test thermal properties of different trace configurations.

While the Hack Chats are often rather informal, we noticed some fairly pointed questions this time around. Clearly there were folks out there with very specific issues that needed some assistance. It can be difficult to address all the nuances of a complex problem in a public chat, so in a few cases we know Mike directly reached out to attendees so he could talk them through the issues one-on-one.

While we can’t always promise you’ll get that kind of personalized service, we think it’s a testament to the unique networking opportunities available to those who take part in the Hack Chat, and thank Mike for going that extra mile to make sure everyone’s questions were answered to the best of his ability.


The Hack Chat is a weekly online chat session hosted by leading experts from all corners of the hardware hacking universe. It’s a great way for hackers connect in a fun and informal way, but if you can’t make it live, these overview posts as well as the transcripts posted to Hackaday.io make sure you don’t miss out.