Getting Started in Linux

After much nagging from some of my friends, I’ve finally made the switch to Linux. I am starting to realize that the skill set I’m developing is rather substantial and worth documenting. I’ll be taking the time over the next weeks and months to document the software and operation skills that and I am learning. My goal is to provide a list of tasks I can accomplish in Linux and to keep a record of my actions so that I can quickly set up new machines with my preferences. I am not intending this to be a “how to” guide for anyone else, although it may provide some usefulness to someone starting out with Linux.

To start off, I have installed Ubuntu 8.10 on both of my home machines. Each new Ubuntu release is given a name and 8.10 is called Intrepid Ibex. I preformed both installs from a Live CD which allows me to run the OS from the CD-ROM without installing anything. I knew that I would enjoy it immediately so I chose to simply reformat both computers. Continue reading “Getting Started in Linux”

Past Project: Input Shaper Testing

As part of my ME degree from Georgia Tech, I had to take a class called Experimental Engineering (ME 4055). It was a senior level class where students worked in teams to complete a project that mimicked the research cycle of a PhD student or professor. The team was required to design and conduct a set of experiments, evaluate the results, and then write a paper. For most students this was a rather bogus class. Students were limited to a small amount of hardware and research areas, and each semester’s reports looked all too similar to previous. I, however, had the very special chance of taking this class with Adam Reich during my semester abroad at Georgia Tech Lorraine (GTL), which meant working with Dr. William Singhose and his PhD student, Jason Lawrence. They were at GTL to teach several other classes (another one I was also in, ME 6401 Linear Control Theory) and to continue/promote their research with a highly portable, miniature gantry crane.

The mini gantry crane setup at GTL. Continue reading “Past Project: Input Shaper Testing”

SLAM-5 Bot part 2: The Control Algorithm

After assembling the hardware for my SLAM (Simultaneous Localization and Mapping) robot, I set about to write the code which controls the drive motors, senses obstacles, and records the robot’s path. Lego’s NXT kit comes with a rather basic visual programming language called NXT-G. This program, which constructs programs by creating essentially flow charts, is almost counterintuitive to anyone with command line programing experience. I decided instead to use the third-party programming language called Not eXactly C (NXC) and its associated IDE, Bricx Command Center. Continue reading “SLAM-5 Bot part 2: The Control Algorithm”

More Shoes and Light Tent

I painted another pair of shoes, this time for my friend, Jaime Walker. I call them “walkers”. Rather lame, I know. I started with Vans KVD’s, courtesy of Rená at Abbadabba’s. I used the same brand paint as previous shoes and added purple tulips with green stems. I then outlined the flowers with a fine-tip permanent marker. I began by using a “very fine” tip, however the paint dried out the marker tip. I then switched to a fatter “fine” tip marker and with enough finesse, I was still able to draw very thin lines.

I decided not to dye them because I have had problems with other shoe-dying projects lately. When dying bright colors such as red and navy blue, both the canvas and the rubber changed color. Also, as I learned the hard way, it is impossible to bleach black canvas Vans white. I tried to make white shoes with black soles by starting with the black/black Vans slip ons. The fabric disintegrates very quickly and begins to rip after coming into direct contact with bleach.

Anyways, I learned a lot during this project about delicacy and patience. Its not easy to fix a mistake on white canvas. Slight smudges of purple are obvious in one of pictures below.

Continue reading “More Shoes and Light Tent”

Performance Testing NXT’s Ultrasonic Range Finder

I have plans to utilize the Lego NXT system for several upcoming robotics projects. The success of these projects depends on the capabilities of the kit’s ultrasonic (US) range finder. I created a test rig with the US sensor and NXT brick and conducted several experiments in order to characterize the sensor.

Test rig: wood block, measuring tape, protractor, US sensor, NXT brick (from left to right). Continue reading “Performance Testing NXT’s Ultrasonic Range Finder”