Upcoming weeks¶

For this weeks assignment we will make a machine. What’s a machine?
- An apparatus using mechanical power and having several parts, each with a definite function and together performing a particular task.

group assignment - actuate and automate your machine - document the group project and your individual contribution

We decided to make an ornithopter/flying chicken. What’s an ornithopter?
- An ornithopter (from Greek ornis, ornith- “bird” and pteron “wing”) is an aircraft that flies by flapping its wings.

We thought that it would be smart to keep spiral development in mind.

1st spiral - getting something to fly by the 4th of july.

For this weeks assignment we will make a machine. What’s a machine?
- An apparatus using mechanical power and having several parts, each with a definite function and together performing a particular task.

group assignment - actuate and automate your machine - document the group project and your individual contribution

We decided to make an ornithopter/flying chicken. What’s an ornithopter?
- An ornithopter (from Greek ornis, ornith- “bird” and pteron “wing”) is an aircraft that flies by flapping its wings.

We thought that it would be smart to keep spiral development in mind.

1st spiral - getting something to fly by the 4th of july.

Other spirals - laying eastern eggs
- walking - bopping it’s head - laupfhing mechanims - making apok pok sound - controllig flapping with own arms - make it look cool

Ornithopter research¶

Whatever type of motor you use, there is an optimal way of loading the motor. If you make the wings bigger, the motor will run slower. If you make the wings smaller, the motor will run faster. You will get the greatest motor efficiency if you adjust the size of the wings so that the motor is running at about 80% of the speed that it would turn with no load. You can run the motor at lower speeds to get more power, but then it becomes less efficient. At about 60% of the free RPM, the motor is at its maximum power output, and below that, you are just going to burn out the motor. You may not want to change the size of the wings, in which case you can adjust the gear ratio or flapping amplitude instead.

Ornithopter

Powersystem - https://ornithopter.org/how.motor.shtml

100 watts p/kg 10 - 50 Watss p/kg

Whatever type of motor you use, there is an optimal way of loading the motor. If you make the wings bigger, the motor will run slower. If you make the wings smaller, the motor will run faster. You will get the greatest motor efficiency if you adjust the size of the wings so that the motor is running at about 80% of the speed that it would turn with no load. You can run the motor at lower speeds to get more power, but then it becomes less efficient. At about 60% of the free RPM, the motor is at its maximum power output, and below that, you are just going to burn out the motor. You may not want to change the size of the wings, in which case you can adjust the gear ratio or flapping amplitude instead.

Gear design - https://ornithopter.org/how.gear.shtml Flapping mechanism - https://ornithopter.org/how.flap.shtml Wings - https://ornithopter.org/how.wing.shtml

Material -

stability and control -

Wings¶

Notice that the rigid structure is concentrated at the front of the wing. The same is true for birds, bats, pterosaurs, and almost all insects. The more flexible membrane portion of the wing will passively lag behind the rigid wing spar. When the wing is going up, it will also tilt upward. When the wing is going down, it will angle downward. We refer to this as “twisting” of the wings. It is an important fundamental motion of flapping wings, equally as important as the flapping motion.

Various materials may be used for the construction of membrane wings. Traditional rubber-band-powered ornithopters are made from balsa wood, with either a lightweight tissue paper, or a plastic film forming the wing membrane. Radio controlled ornithopters mostly use carbon fiber rods for the wing spars. It is also possible to make wing spars from bamboo. The wing membrane can be made from a plastic film. This is suitable, even for very large RC ornithopters. Look for a crisp, “cellophane” type of plastic, instead of a limp saran-wrap type. Sometimes a woven fabric is used. The fabric wings can look very professional. However, it will be difficult to find a woven material that is crisp, lightweight, and airtight. Some of the fabrics specially made for kites may be appropriate. The Ornithopter Design Manual has more information on assembling fabric wings.

Aswell as the membrane as the wings spars the material needs to be flexible and strong.

The wing membrane can be made of paper, fabric, or a plastic film

Wings spars: - carbon fibre rods - bamboo -

Membrane - plastic film - crips: clean no folds - cellophane: a thin transparent material made from cellulose and used as a wrapping.

Made gears

First with the add in. Then I thought I want to make it parametric. Found a file. But took look because all the gears have to be in a different file otherwise you have to many parameters. Continued with the gear add in. Took a while before the rotation worked out.

Final project¶

Notes¶

motion tracking¶

I’ll use an ESP32-CAM.
With OpenVC as a stand alone.

I can do two things. I can stream the data from my esp32-cam and let my computer do the calculation and send a signal back to the esp that can control the servos. If I do this I can do a whole lot cool ai stuff. If I want to use the tentacle as a standalone it also would be really cool.

A good try¶

With this tutorial you can control 2 servo’s with ESP-CAM. But no motion tracking!

Try this first This is the github page

Esp32-cam and servo’s¶

‘’Image result for object tracking with esp32-cam and servo’s One of the major drawbacks of the ESP32-CAM is that it doesn’t have USB-to-UART interface.’‘

‘’The most important of these is the use of the ESP32-DOWDQ6 module which increases the available memory of the ESP32 to allow it to make better use of camera functions. Even then, the ESP32 can’t run the entire OpenCV application, so a shrunken version of OpenCV is required before the device can run it natively.’‘ link

color detection this map is final project named - color tracking

link

motion tracking car

link¶

Here is a quick overview on how the project works. link The ESP32-CAM is in deep sleep mode with external wake up enabled.
When motion is detected, the PIR motion sensor sends a signal to wake up the ESP32.
The ESP32-CAM takes a photo and saves it on the microSD card.
It goes back to deep sleep mode until a new signal from the PIR motion sensor is received.

esp32-cam motion detector Also interesting stuff about sleep mode.

X Y motion¶

plotter Paris Sorbonne
plotter
plotter2

Last update: June 22, 2023