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OpenMower: Open Source Robotic Lawn Mower With RTK GPS

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Robotic mowers are becoming a common sight in some places, enabled by the cost of motors and the needed control electronics being much lower, thanks to the pace of modern engineering. But, in many cases, they still appear to be really rather dumb, little more than a jacked up bump-and-go with a spinning blade. [Clemens Elflein] has taken a cheap, dumb mower and given it a brain transplant based around a Raspberry Pi 4 paired up with a Raspberry Pi Pico for the real time control side of things. [Clemens] is calling this OpenMower, with the motivation to create an open source robot mower controller with support for GPS navigation, using RTK for extra precision.

The donor robot was a YardForce Classic 500, and after inspection of the control PCB, it looks like many other robot mower models are likely to use the same controller and thus be compatible with the openmower platform. A custom mainboard houses the Pi 4 and Pico, an ArduSimple RTK GPS module (giving a reported navigational accuracy of 1 cm,) as well as three BLDC motor drivers for the wheels and rotor. Everything is based on modules, plugging into the mainboard, reducing the complexity of the project significantly. For a cheap mower platform, the Yardforce unit has a good build quality, with connectors everywhere, making OpenMower a plug and play solution. Even the user interface on top of the mower was usable, with a custom PCB below presenting some push buttons at the appropriate positions.

OpenMower mainboard

Motor control is courtesy of the xESC project, which provides FOC motor control for low cost, interfacing with the host controller via a serial link. This is worth looking into in its own right! On the software side of things, [Clemens] is using ROS, which implements the low level robot control, path planning (using code taken from Slic3r) as well a kinematics constraints for object avoidance. The video below, shows how simple the machine is to operate — just drive it around the perimeter of lawn with a handheld controller, and show it where obstacles such as trees are, and then set it going. The mower is even capable of mowing multiple lawns, making the journey between them automatically!

Robotic mower projects are not new around here, here’s the mysterious TK with an interesting take, another using RTK GPS for good (or possibly bad) and quite probably the jankiest one we’ve seen in a while, which uses a LoRa base-station to transmit RTK corrections. We’d recommend keeping well away from that last one.

Original Article: hackaday.com

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After 30 Years, Genetic Study Confirms Sarin Nerve Gas As Cause of Gulf War Illness

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Troops who had genes that help metabolize sarin nerve gas were less likely to develop symptoms. For three decades, scientists have debated the underlying cause…

The post After 30 Years, Genetic Study Confirms Sarin Nerve Gas As Cause of Gulf War Illness appeared first on SciTechDaily.

Original Source: scitechdaily.com

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Vicious Little Desktop Shredder Pulverizes Plastic Waste

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We’ve all likely seen video of the enormous industrial shredders that eat engine blocks for lunch and spit out a stream of fine metal chips. The raw power of these metal-munching monsters is truly fearsome, and they appear to be the inspiration for SHREDII, the miniature plastic shredder for at-home recycling of plastic waste.

The fact that SHREDII isn’t all that large doesn’t make it any less dangerous, at least to things smaller and softer than engine blocks, like say fingers. The core of the shredder is a hexagonal axle carrying multiple laser-cut, sheet steel blades. The rotating blades are spaced out along the axle so they nest between a bed of stationary blades; rotating the common axle produces the shearing and cutting action needed to shred plastic.

On version one of the shredder, each blade had two hooked teeth, and the whole cutting head was made from relatively thick steel. When driven by a NEMA 34 stepper — an admittedly odd choice but it’s what they could get quickly — through a 50:1 planetary gearbox, the shredder certainly did the business. The shreds were a little too chunky, though, so version two used thinner steel for the blades and gave the rotary blades more teeth. The difference was substantial — much finer shreds that were suitable for INJEKTO, their homebrew direct-feed injection molding machine.

There’s a lot to be said for closing the loop on plastics used in desktop manufacturing processes, and the team of SHREDII and INJEKTO stands to help the home gamer effectively reuse plastic waste. And while that’s all to the good, let’s face it — the oddly satisfying experience of watching a shredder like this chew through plastic like it isn’t even there is plenty of reason to build something like this.

Thanks for the tip, [Alen]!

Original Source: hackaday.com

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Intense Exercise While Dieting May Reduce Cravings for High-Fat Food

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In a new study that offers hope for human dieters, rats on a 30-day diet who exercised intensely resisted cues for favored, high-fat food pellets….

The post Intense Exercise While Dieting May Reduce Cravings for High-Fat Food appeared first on SciTechDaily.

Source Here: scitechdaily.com

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