tag:blogger.com,1999:blog-42039986766844728332024-02-06T19:24:18.064-08:00Mobile Robotics LabThe building of a mobile robotics lab, intended for marine robots (ROV's, AUV's) where the work and deployment may be in various locations.
As with all blogs, it is reverse chronological order, so if you want to follow the building, start at the bottom and work your way up....Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.comBlogger16125tag:blogger.com,1999:blog-4203998676684472833.post-55649667185202202902014-06-22T15:25:00.001-07:002014-06-22T15:25:19.636-07:00Securing the CouchTo keep the couch from sliding around, but keeping it a little bit away from the wall so the leather won't get scuffed, I came up with these simple but effective collars cut from 1" oak with a 2-1/8" hole cut in them with a hole saw. Theoretically the couch could jump out of these, but I don't think it will, because it's heavy enough, and 1" of vertical bump seems unlikely. I will find out.<br />
This seemed like a better approach that others I was considering, because the couch can easily be repositioned if I want to move it, just by lifting it out of the collars.<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-45715024136035201622014-06-22T13:28:00.001-07:002014-06-22T15:21:00.186-07:00Drill HolderI came up with a great way to store my trusty DeWalt drills so they're quickly accessible, don't take up room elsewhere, and can be secure.<br />
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I cut a piece of 3" ABS plastic pipe to 12" length, then set the fence and ran it through the table saw, flipping it end-for-end, such that the slot in the pipe is just over 2" wide, which is just right for my DeWalt drills without hitting the forward/reverse button on the side. Your mileage may vary.<br />
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I still need to secure the drills from sliding out when the trailer is underway, but that's a little thing. I'm quite happy with the way they turned out.</div>
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Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-45554838669396972522014-06-02T18:22:00.001-07:002014-06-02T18:23:33.058-07:00Raspberry PiI brought up the world's smallest computer (more or less) that runs Linux -- the famed Raspberry Pi. The MOUSE is larger than the computer. It's nothing short of amazing!<br />
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See that little tiny thing about the size of a credit card with a bunch of wires connected to it? In the top photo, it is between the mouse and the keyboard. That's the computer. The cords are USB (for mouse and keyboard), the white cord is HDMI to the monitor, and the one in the back is a microUSB cord that goes to a power adaptor and provides power. If you don't already have a <a target="_blank" href="http://www.amazon.com/RASPBERRY-MODEL-756-8308-Raspberry-Pi/dp/B009SQQF9C/?_encoding=UTF8&camp=1789&creative=9325&keywords=raspberry%20pi&linkCode=ur2&qid=1401758454&sr=8-1&tag=invelabs-20&linkId=B4WXW5BR4KRLTJLC">Raspberry Pi</a><img src="http://ir-na.amazon-adsystem.com/e/ir?t=invelabs-20&l=ur2&o=1" width="1" height="1" border="0" alt="" style="border:none !important; margin:0px !important;" />
, you should get one, if for not other reason than they just cost $25 (or $37 for the more useful B model) and they will have historic value not long from now...<br />
<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-32022313795775064692014-06-02T18:17:00.001-07:002014-06-02T18:47:50.771-07:00Adding in EquipmentIt's a mess, but I've got things running in the lab now, including:<br />
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<li>internal WiFi network that bridges to an external network through an external antenna that pokes out through a hole in the trailer, since the sheet metal sheathing blocks most WiFi signal from getting through. I chose a <a href="http://www.amazon.com/gp/product/B007BD6GDE/?ie=UTF8&camp=1789&creative=9325&linkCode=ur2&psc=1&tag=invelabs-20&linkId=S6JB44TGYCSY5VZ7" target="_blank">PepLink PepWave </a><img alt="" border="0" src="http://ir-na.amazon-adsystem.com/e/ir?t=invelabs-20&l=ur2&o=1" height="1" style="border: none !important; margin: 0px !important;" width="1" />
, which is an awesome device. I also bought this <a href="http://www.amazon.com/gp/product/B0085X3PRE/?ie=UTF8&camp=1789&creative=9325&linkCode=ur2&psc=1&tag=invelabs-20&linkId=JJKERTFZQCE54SYW%22%3EPepWave%3C/a%3E%3Cimg%20src=%22http://ir-na.amazon-adsystem.com/e/ir?t=invelabs-20&l=ur2&o=1%22%20width=%221%22%20height=%221%22%20border=%220%22%20alt=%22%22%20style=%22border:none%20!important;%20margin:0px%20!important;%22%20/%3E" target="_blank">external antenna extension</a> to poke through the exterior. It works great!</li>
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<li>A Monitor Arm Mount that supports two monitors and articulates. Awesome.</li>
<li>Got one of my iMacs running on the network and the 120v power. It is also running Parallels and Windows XP and on top of that ... Solidworks!</li>
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Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-65648805973856245922014-03-19T18:52:00.000-07:002014-03-19T18:52:06.104-07:00Cabinet Details<br />
Bolted the cabinets to the walls:<br />
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and bolted the tops to the cabinets<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-10051402917314749682014-03-19T12:17:00.002-07:002014-03-19T12:30:47.953-07:00Wiring up the solar panelsThe solar panels are wired in parallel, so they provide 12v but the more panels there are, the more current flows (if you wire them in series, you increase the voltage, not the current flow). Parallel means positive-to-positive-to-positive, etc. Of that, I'm positive.<br />
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To work with the MC4 connectors, which are great and snap together, you (I) will need Y connectors every time you want to splice another panel into the mix. Since I have 3 panels, I found the perfect <a href="http://www.amazon.com/gp/product/B00FWO6ARG/ref=as_li_tf_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B00FWO6ARG&linkCode=as2&tag=invelabs-20" target="_blank">3-Way Y connector on Amazon</a>:<br />
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One connector is male-to-3-female, the other is female-to-3-male. Ahem. You need one of each because each panel has a positive (male) and negative connector coming out of it. So each panel plugs one wire into each of these 3-way connectors, and you have one pair coming out (the 1-side of each Y). Easy as cake.<br />
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A couple of <a href="http://www.amazon.com/gp/product/B008JHVXMK/ref=as_li_tf_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B008JHVXMK&linkCode=as2&tag=invelabs-20" target="_blank">extensions (15')</a> and a special MC4-to-bare-wire pigtail and you can hook the panels up to the charge controller, which basically keeps the voltage and current under control so it's less flaky when it interacts with the rest of the system. The extensions go through a hole cut in the side of the trailer (gulp) with a Blue Sea Systems <a href="http://www.amazon.com/gp/product/B00GZOB3HY/ref=as_li_tf_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B00GZOB3HY&linkCode=as2&tag=invelabs-20" target="_blank">Side Entry CableClam</a> (which I never knew existed, but is clever for waterproofing a through hole for a cable with connectors on the ends) to make it waterproof.<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-23766563745423149462014-03-15T10:26:00.000-07:002014-03-15T10:26:03.484-07:00SolarI decided to put solar panels on the roof of the trailer so it can charge the battery bank whenever it's sunny. I have all the components now but haven't started the installation because I'm trying to decide whether (and how) to make them tilt toward the sun, which makes them much more effective. Unfortunately, because the trailer is mobile, it could end up in any orientation relative to the sun, so the panels would have to have a pretty elaborate tilting mechanism. Or not -- I could just have one tilt direction for my own driveway, and figure that is the 80% case. Still thinking about that.<br />
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I bought RENOGY panels and boxes, through Amazon. They appear to be good quality, and the company was responsive. They are 100W panels and I bought 3 of them. As of today, Amazon has a <a href="http://www.amazon.com/gp/product/B00B8L8MD2/ref=as_li_qf_sp_asin_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B00B8L8MD2&linkCode=as2&tag=invelabs-20" target="_blank">kit with two panels for about $330</a>. I added a single additional panel, and had to buy some Y connectors to wire them all in parallel, <a href="http://www.amazon.com/gp/product/B00FWO6ARG/ref=as_li_tf_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B00FWO6ARG&linkCode=as2&tag=invelabs-20" target="_blank">here</a> on Amazon.<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-64204331377904924092014-03-15T09:57:00.003-07:002014-06-02T18:55:50.387-07:00Electrical PanelsContinuing saga of electricity...<br />
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The battery banks are the primary source of electricity to the trailer, whether or not it is hooked up to an input source like a power cord. The batteries provide both DC power (directly, as they are DC 12v batteries) or AC power, through the inverter that converts it to household 115v AC.<br />
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The trailer will have two independent power networks, one 12v DC and one 115v AC. There will be standard wall outlets for the AC power, and 12v receptacles (like in your car) for the DC, and maybe some built-in USB outlets, though the ones I've found so far are low amperage and the ubiquity of car chargers makes that less critical.<br />
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Since there are two power networks I have two breaker panels, both from Blue Sea Systems:<br />
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The DC panel is <a href="http://www.bluesea.com/products/8081/DC_5_Position" target="_blank">Blue Sea 8081</a>, available from several online vendors. The AC panel is <a href="http://www.bluesea.com/products/8043/Traditional_Metal_Panel_-_AC_Main_%2B_3_Positions_AC_Voltmeter" target="_blank">Blue Sea 8043</a>.<br />
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I mounted them through a piece of plywood that will be hinged so I can get behind it to work on the wiring as needed.<br />
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Voltage! Live circuit!</div>
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The DC and AC are connected from the inverter box straight to these panels, then distributed to circuits in the trailer from there. Kind of like how it is in your house, only a little more complicated on the source side and there are two systems, not just one.</div>
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It gets more complicated as I add circuits and more stuff:<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-73533292627207244322014-03-12T19:30:00.000-07:002014-03-12T19:30:32.038-07:00Curvy WorkbenchThe nose of the trailer has a shallow triangular point to it, and I decided to put a bench in the front there, but I wanted a more graceful front edge, so I decided on a sweeping curved design. It turned out great! I even used a block plane and a spokeshave to fine-tune it, which are tools rarely used nowadays.<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-11507858739124281332014-03-12T19:24:00.003-07:002014-03-12T19:24:23.847-07:00Roughing In...Most of the components like cabinets have arrived (UPS, freight, etc) so I am begining the rough assembly of the interior. It's shaping up to be just like the 3D plan, which is good. I deliberately left a few of the details until this rough-in phase, so I could get a feel for where things should go, and the spatial relationships between things. There are no big surprises so far, which is good. A few small adjustments, like the electrical box/panel I switched left-for-right, because the inverter user interface would have faced the wall instead of the interior, had the box been on the right.<br />
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I am pretty happy with how it's coming together! Lots of electrical wiring to do, and final placement of the cabinets and benches, but it's pretty close to what I want already.</div>
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Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-50026251270591755582014-03-12T19:21:00.003-07:002014-03-12T19:21:57.725-07:00"Shore Power"<br />
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I found a "reverse outlet" that had a male connector, for an extension cord from the house, and cut that into the side of the trailer to hook up the shore power connection.</div>
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Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-45064406827448704372014-03-12T19:15:00.001-07:002014-03-15T10:30:16.438-07:00Electrical InfrastructureThere is a lot to the electrical systems in the trailer. I will get to more of it later, but the basic concept is to mimic what is done on boats, where there is "shore power" and a bank of batteries when not connected to shore power.<br />
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Since the batteries are 12v and shore power is 115v, an inverter is required to scale up the 12v battery power to 115v to power "normal" household plug-in things, from power tools to computers. Whenever possible I will use the 12v system directly (i.e. car chargers), because it is more efficient than converting up to 115v then back down to, say, 5v for a USB phone charger or computer power supply.<br />
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Shopping for an inverter took a while, because there are a lot of of them out there. I decided that 2000w was enough for my purposes, though I wanted one bigger because I want more of everything. I wanted one that would also charge the batteries and "pass through" the shore power when plugged into an outlet.<br />
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I chose a <a href="http://www.amazon.com/gp/product/B006MIY1AY/ref=as_li_tf_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B006MIY1AY&linkCode=as2&tag=invelabs-20" target="_blank">ProMariner 02012 True Sine Wave inverter</a>, largely because of the pass-through and charger features, and because it seems to have good reviews and reputation. I'm happy with it.<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-85693979129361392652014-03-03T22:38:00.001-08:002014-03-03T22:38:12.138-08:00Planning...<br />
I've been spending a lot of time in Sketchup, trying to plan out the interior, cabinets, electrical systems, etc. Here is a rendering of the plan as it stands, give or take a few details:<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-50068735930403772014-02-24T21:16:00.001-08:002014-02-24T21:16:19.461-08:00Couch!Gotta have a place to hang out and think. This is a bit crowded in the space, but I love it. IKEA <a href="http://www.ikea.com/us/en/catalog/products/70119468/#/40083178" target="_blank">Klippan red leather love seat.</a><br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-9584904864949046632014-02-24T21:12:00.002-08:002014-02-24T21:12:33.857-08:00Cheap Vinyl FlooringFrom Home Depot, on a 12' roll. I had to piece it once, the last 3' at the back. It isn't the most beautiful floor ever, but it's utilitarian and a bit better than plywood.<br />
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<br />Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0tag:blogger.com,1999:blog-4203998676684472833.post-71203882720787505972014-02-24T21:05:00.003-08:002014-02-24T21:09:20.772-08:00Mobile Robotics Lab - The BeginningI am building a mobile robotics lab, for the assembly, testing, and deployment of mostly underwater robotics, ROV's, AUV's, gliders.<br />
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I am going to chronicle the build-out of the trailer because there isn't a lot of information out there about how to configure a mobile lab, other than some good info from Steven K. Roberts on his <a href="http://blog.makezine.com/archive/2010/05/make_it_anywhere_with_a_mobile_lab.html" target="_blank">Polaris</a> project.<br />
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I started with a Continental Cargo 7x14 enclosed trailer from Orlandi Trailer in San Jose, CA.<br />
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Here it is on day 1:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg2SNVPbDTHzCoQM9DC6PFDKctN1jMrZRSdYJa2YaeyWRApEAgfQD9O3f8NzTLLGDIFrwZWet1vZE6s3bNfjr3RVH0yMcUfOC-IGyB71TWTkxrLXWx5Jsz3m8POibToLg_r7yumkm-eifu3/s1600/IMG_8238.JPG" imageanchor="1" style="clear: right; display: inline !important; margin-bottom: 1em; margin-left: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg2SNVPbDTHzCoQM9DC6PFDKctN1jMrZRSdYJa2YaeyWRApEAgfQD9O3f8NzTLLGDIFrwZWet1vZE6s3bNfjr3RVH0yMcUfOC-IGyB71TWTkxrLXWx5Jsz3m8POibToLg_r7yumkm-eifu3/s1600/IMG_8238.JPG" height="240" width="320" /></a>Glenn Reidhttp://www.blogger.com/profile/11057576586723521829noreply@blogger.com0