D-POINT: A Digital Pen With Optical-Inertial Tracking

November 14, 2023 by Dave Rowntree 4 Comments

[Jcparkyn] clearly had an interesting topic for their thesis project, and was conscientious enough to write up a chunk of it and release it to the wild. The project in question is a digital pen that uses some neat sensor fusion to combine the inputs from a pen-mounted gyro/accelerometer with data from an optical tracking system provided by an off-the-shelf webcam.

A six degrees of freedom (6DOF) tracking system is achieved as a result, with the pen-mounted hardware tracking orientation and the webcam tracking the 3D position. The pen itself is quite neat, with an ALPS/Alpine HSFPAR003A load sensor measuring the contact pressure transmitted to it from the stylus tip. A Seeed Xaio nRF52840 sense is on duty for Bluetooth and hosting the needed IMU. This handy little module deals with all the details needed for such a high-integration project and even manages the charging of a single 10440 lithium cell via a USB-C connector.

Positional tracking uses Visual Pose Estimation (VPE) assisted with ArUco markers mounted on the end of the stylus. A consumer-grade (i.e. uncalibrated) webcam is all that is required on the hardware side. The software utilizes the familiar OpenCV stack to unroll the effects of the webcam rolling shutter, followed by Perspective-n-Point (PnP) to estimate the pose from the corrected image stream. Finally, a coordinate space conversion is performed to determine the stylus tip position relative to the drawing surface.

The sensor fusion is taken care of with a Kalman filter, smoothed with the typical Rauch-Tung-Striebel (RTS) algorithm before being passed onto the final application. This process is running in Python using the NumPy module, as you would expect, but accelerated using the Numba JIT compiler.

Motion tracking is not news to us, we’ve seen many an implementation over the years, such as this one. But digital input pens? Why aren’t they more of a thing?

Thanks to [Oliver] for the tip!

OpenSPICE: A Portable Python Circuit Simulator

February 14, 2023 by Dave Rowntree 22 Comments

[Roman Parise] and [Georgios Is. Detorakis] have created OpenSPICE a fork of the PySpice project, adding a new simulation engine written entirely in Python. This enables the same PySpice simulations to be executed on any platform that runs python (which we reckon is quite a few!) whilst leveraging the full power of the python infrastructure. Since it is a fork — for supported platforms — you can also run your simulations upon Ngspice as well as Xyce, giving options for scaling up to larger systems when required, but importantly without having to recreate your circuit from scratch.

The OpenSPICE simulator first converts the parsed netlist into a set of data structures that represent the equations describing the various parts of the system. These are then in turn passed along the scipy library “optimize.root” function which solves the system, generating a list of branch currents and node voltages. The output of the simulation is a numpy array, which can be further processed and visualized with the mathplotlib library. All pretty standard stuff in python circles. Since this is based upon PySpice, it’s also possible to use KiCAD netlists, so you have a nice way to enter those schematics. We’ve not dug into this much yet, but support for the vast libraries of spice models out there in circulation would be high up on our wish list if it already can’t handle this. This scribe will most definitely be checking this out, as LTSpice whilst good, is a bit of a pain to use and does lack the power of a Python backend!

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Visualizing WiFi With A Converted 3D Printer

November 22, 2021 by Dan Maloney 8 Comments

We all know we live in a soup of electromagnetic radiation, everything from AM radio broadcasts to cosmic rays. Some of it is useful, some is a nuisance, but all of it is invisible. We know it’s there, but we have no idea what the fields look like. Unless you put something like this 3D WiFi field strength visualizer to work, of course.

Granted, based as it is on the gantry of an old 3D printer, [Neumi]’s WiFi scanner has a somewhat limited work envelope. A NodeMCU ESP32 module rides where the printer’s extruder normally resides, and scans through a series of points one centimeter apart. A received signal strength indicator (RSSI) reading is taken from the NodeMCU’s WiFi at each point, and the position and RSSI data for each point are saved to a CSV file. A couple of Python programs then digest the raw data to produce both 2D and 3D scans. The 3D scans are the most revealing — you can actually see a 12.5-cm spacing of signal strength, which corresponds to the wavelength of 2.4-GHz WiFi. The video below shows the data capture process and some of the visualizations.

While it’s still pretty cool at this scale, we’d love to see this scaled up. [Neumi] has already done a large-scale 3D visualization project, using ultrasound rather than radio waves, so he’s had some experience in this area. But perhaps a cable bot or something similar would work for a room-sized experiment. A nice touch would be using an SDR dongle to collect signal strength data, too — it would allow you to look at different parts of the spectrum.

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Raspberry Pi Takes Control Of Ham Radio

June 24, 2020 by Al Williams 16 Comments

Today’s ham radio gear often has a facility for remote control, but they most often talk to a computer, not the operator. Hambone, on the other hand, acts like a ham radio robot, decoding TouchTone digits and taking action — for example, keying the radio and reading off the weather — in response to the commands received.

The code is in Python and uses numpy’s fast Fourier transform to identify digits. We’d be interested to test the performance of that compared to doing a Goertzel to specifically probe for the 8 digit tones: there are four row tones and four column tones. On the other hand, the FFT is handy and clearly works fast enough for this application.

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Circuit Simulation In Python

November 30, 2019 by Bryan Cockfield 23 Comments

Using SPICE to simulate an electrical circuit is a common enough practice in engineering that “SPICEing a circuit” is a perfectly valid phrase in the lexicon. SPICE as a software tool has been around since the 70s, and its open source nature means there are more SPICE tools around now to count. It also means it is straightforward enough to use with other software as well, like integrating LTspice with Python for some interesting signal processing circuit simulation.

[Michael]’s latest project involves simulating filters in LTspice (a SPICE derivative) and then using Python/NumPy to both provide the input signal for the filter and process the output data from it. Basically, it allows you to “plug in” a graphical analog circuit of any design into a Python script and manipulate it easily, in any way needed. SPICE programs aren’t without their clumsiness, and being able to write your own tools for manipulating circuits is a powerful tool.

This project is definitely worth a look if you have any interest in signal processing (digital or analog) or even if you have never heard of SPICE before and want an easier way of simulating a circuit before prototyping one on a breadboard.

Numpy Comes To Micro Python

October 29, 2019 by Gerrit Coetzee 12 Comments

[Zoltán] sends in his very interesting implementation of a NumPy-like library for micropython called ulab.

He had a project in MicroPython that needed a very fast FFT on a micro controller, and was looking at all of the options when it occurred to him that a more structured approach like the one we all know and love in CPython would be possible on a micro controller too. He thus ended up with a python library that could do the FFT 50 times faster than the the pure Python implementation while providing all the readability and ease of use benefits that NumPy and Python together provide.

As cool as this is, what’s even cooler is that [Zoltan] wrote excellent documentation on the use of the library. Not only can this documentation be used for his library, but it provides many excellent examples of how to use MicroPython itself.

We really recommend that fans of Python and NumPy give this one a look over!

Use Machine Learning To Identify Superheroes And Other Miscellany

December 12, 2016 by Gerrit Coetzee 6 Comments

[Massimiliano Patacchiola] writes this handy guide on using a histogram intersection algorithm to identify different objects. In this case, lego superheroes. All you need to follow along are eyes, Python, a computer, and a bit of machine learning magic.

He gives a good introduction to the idea. You take a histogram of the colors in a properly cropped and filtered photo of the object you want to identify. You then feed that into a neural network and train it to identify the different superheroes by color. When you feed it a new image later, it will compare the new image’s histogram to its model and output confidences as to which set it belongs.

This is a useful thing to know. While a lot of vision algorithms try to make geometric assertions about the things they see, adding color to the mix can certainly help your friendly robot project recognize friend from foe.