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Back when I was a graduate student, my advisor Tom Knight bestowed upon me many excellent aphorisms. An everyday example of this is the noise-cancelling headphone. Headphones offer imperfect noise cancellation, but by wrapping a computer around it adding one or more microphones and a computer in the from of a digital signal processor DSP the headphones are able to measure the ambient noise and drive the headphones with the exact inverse of the noise, thus cancelling out the surrounding noise and creating a more perfect listening experience.
Although the principle has found its way rapidly into consumer goods, it s been very slow to find its way onto the engineer s workbench. It s the case of the cobbler s children having no shoes. In particular, it s long bothered me that motors are so dumb. Motors are typically large, heavy, costly, power-hungry, and riddled with small mechanical imperfections. In comparison, microcontrollers are tiny, cheap, power-efficient, and could run software that trims imperfections while improving efficiency to the point where the motor microcontroller combo is a win over a dumb motor on almost every metric.
So why aren t we wrapping a computer around every motor and just calling it a day. Then one day a startup called IQ Motion Control showed me a demo of their smart motor, the IQ Position Module, at HAX in Shenzhen. This is the motor I ve been waiting years for. My eyes instantly lit up these guys have done it, and done it in a tasteful manner. Meet the IQ Position Module Simply put, the IQ Position Module is a brushless DC motor that talks serial and thinks at a higher level.
I don t have to design any complicated drive circuitry or buy a proprietary controller that talks some arcane or closed standard. I iq option 100 bonus plug an FTDI cable into my laptop, hook up power, clone a small git repo and I m good to go. Because of the microcontroller on the inside, the IQ Position Module can emulate a range of behaviors, from a simple stepper to a range of BLDC drive standards, but the real magic happens when you tell it where you want it to go and how fast, and it figures out the best way to get there.
But waityou say, my servos and brushed DC motors can do that just fine, I just control the pulse width. This is true for crude and slow motion control applications, but if you really want to run at high speeds like the ones achievable by a BLDC you have to consider things like acceleration and deceleration profiles. The video below shows what I mean.
Here is a pre-production IQ Position Module that s being commanded to turn once in two seconds; then twice, three times, and finally ten times in two seconds. Notice how the speed ramps up and back down again, so that the motor stops with the figurine in precisely the same position at the end of every cycle, regardless of how fast I commanded the motor to turn.
And here s a snippet of the core code used in the above demo, to give you an idea of how simple the API can be. The motor can go even faster, but the figurine I attached on top isn t balanced well enough to do that safely. Just tell it where you want it, and by when and the motor figures out an acceleration profile. Of course other parameters can be tweaked but the default behavior is reasonable enough. A Motor That s Also an Input Device But wait. Anyone who has busted a geared servo motor by stalling or back-driving it knows what I mean.
IQ Position Modules don t have this problem. When you stop driving the IQ module put it in a coast mode it turns freely and without resistance. This means the IQ motor doesn t just write motion it can read motion as well. Below is a video of a simple motion copy demo I cooked up in about an hour including time spent refactoring the original APIwhere I implement bidirectional read write of motion between two IQ Position Modules.
The ability to tolerate back-drive and also go limp is advantageous in robotics applications. Impact-oriented tasks such as hammering a nail or kicking a ball would rapidly degrade the teeth in a geared drive train. Furthermore, natural human motion incorporates the ability to go limp, such as the forward swing of a leg during walking. Finally, biological muscles are capable of applying a static force without changing position, such as when holding a cup on its sides without crushing it.
Roboticists have developed a wide range of specialty actuators and techniques, including series elastic and variable stiffness actuators to address these scenarios. However, these mechanisms are often complicated and pricey. The IQ Position Module s lack of gearing means it s back-drive tolerant, and it can apply an open-loop force without any risk of damage.
This means you could, for example, use it to build a robot arm that can hammer a nail or pick up a cup. Robotic elements built using these would have far greater resilience to motion interference and impact forces than ones built using geared servos. Having Fun with the IQ Position Module While attending 34C3 back in December 2017, I managed to sit down for about an hour with my good friends Prof.
Nadya Peek and Ole Steinhauer, and we built a 2-axis robot arm that could do kinesthetic learning through keyframing, using nothing more than two IQ Position Modules, a Dunkin Donuts box, a bunch of schwag stickers we stole from the FOSSASIA assembly, and the base plate of an old PS4 because fail0verflow. This was improvisational making at its best; we didn t really plan the encounter so much as it emerged out of the chaos that is the Computer Congress.
While Nadya was busy cutting, folding, and binding the cardboard into a 2-axis robot arm, Ole joined lötwat. Because this is a direct drive system, there s no gears to shear. together the power satisfied with the result, she built and stacked a second axis on top. With just a bit of tweaking and prodding we managed to pull off the demo below. It s a little janky, but given the limited materials and time frame for execution, it hints at the incredible promise that IQ Position Modules hold.
So, if you ve ever wanted to dabble in robotics or motion control, but have been daunted by control theory and arcane driver protocols like I ve beencheck out the IQ Position Module. They iq option 100 bonus crowdfunding now at CrowdSupply. I backed their campaign to reserve a few more Position Modules for my lab by wrapping a smart computer around a dumb motor, they ve created a widget that lets me go from code to physical position and back with a minimal amount of wiring and an accessible API.
Their current funding campaign heavily emphasizes the capabilities of their motor as a better BLDC for the lucrative drone market, and I respect their wisdom in focusing their campaign message around a single, economically iq option 100 bonus vertical. A cardinal sin of marketing revolutionary tech is to sell it as a floor wax and a dessert topping as painful as it may be, you have to pick just one message and push hard around it. However, I m happy they are offering the IQ Position Module as part of the campaign, and enabling me to express my enthusiasm to the maker and robotics communities.
I ve waited too long to have a motor with this capability in my toolbox finally, the cobbler s children has shoes. This entry was posted on Monday, March 19th, 2018 at 8 49 pm and is filed under Hacking. 29 Responses to An Intuitive Motor IQ Control s Serial-to-Position Module. This isn t new though, surely. I ve had some of these for years.
Hey that s cool, thanks for the link. Out of curiosity, can the Dynamixels work as a zero-force input device too. Didn t mean to make it sound like this was the one and only but I couldn t resist using the revolution -ary pun. After all, just about everything fundamental to computers was invented in the 60 s, and since then it s just been smaller faster better versions of the same no matter what Intel or ARM want you to think.
Iq option 95 perfect signal. In particular, you re correct that almost every servo motor has a microcontroller inside it, even the very simple ones; there has to be some logic to go from pulse width to angle. I decided not to go into it for the sake of brevity, so I m glad you brought this up in the comments. However, the IQ Position Module is the first consumer-oriented motor module I m aware of that s direct-drive BLDC. Maybe there s others I should be looking at too; I d love to hear all about them here in the comments.
I ve used the Dynamixel MX-64 in a platform positioning arm application. It has a high-res absolute encoder 4096 ppr as I recall. It can go limp, but it s probably a lot stiffer than your BLDC because of the gears. But you also get 1000 oz-in of torque which is nice when moving a 2 lbs target. I m not sure how else you d get real torque for an arm without the gears, fancy controller or not.
has a gearbox and are plenty noisy No-load Speed 59 RPM. Hey Joel and all. Yes, these are fairly similar to the Dynamixels. If you go to our Crowd Supply page last paragraph of Bunnie s postand scroll way down, you can see a comparison of some features between an AX series Dynamixel and our motor. You re right, a number of the features overlap. There are also a handful of new things in the IQ motors. They also fill a space that s right in between stepper motors and smart geared servos like the Dynamixel.
The IQ modules have the Dynamixels beat on raw power because much more of the module is motor the part that makes powerrather than gearbox the part that converts power. They re like apples and oranges. The Dynamixel has the IQ modules beat on torque thanks to the gearboxbut the IQ modules have the Dynamixel beat on speed thanks to the lack of gearbox. They re both fruit, but different fruit.
I think the bigger brother of this would be integrated industrial servos like, e.Clearpath motors, which have been around a while. That isn t a knock at all though a more accesible, hobby-sized, Arduino-ized version of those sounds like it d definitely have a big niche. com odrive A bit different in that it s designed to split the encoder and motor out and drive them separately, but can be talked to in a similar way to use it s own acceleration and planning.
For affordable BLDC servo applications in general, there s also controller boards like odrive, though obviously that s not quite as fully integrated a plug in and hack solution. What about energy recovery. Is 4Q mode possible. Or does it have internal resistors. Where does the energy go when in generatoric mode, accidentally or not. Now you have more choices. Yes, these are 4Q motors. The energy goes back to the supply whatever that may be.
This is great for rechargeable batteries and less than great for power supplies. There s a built in regen limit that prevents the motor from over-volting the supply. You can also slow the motor down by using brake mode or coast modeneither of which regen. Is the software running on the microcontroller open source.
The communication libraries for interfacing with the motors are open source both Bunnie s and IQ s. Will you be open sourcing the microcontroller code or is that the secret sauce in your business model. The microcontroller code is one ingredient of the secret sauce. If we don t need that ingredient for the sauce then we want to release the microcontroller code probably BSD-3but since we re a young company we don t want to close off our options quite yet. Old floppy drives had acceleration tables to step the drive head.
Many fastloader routines for the C64 had a custom step table, hence why they sound different. I love digital systems working in the analog domain. Just out of curiosity. Are these the modules you were playing around with on 34c3. The cardboard robot you guys made was quite amazing for the quick hack it was. Didn t really have a chance to ask you at the time.
Yep, those are the motors from 34c3. We think of motors typically as pretty dumb devices. Depending on the kind, you send them some current or some pulses, and they turn. Even an RC servo, which has some smarts on board, doesn t have a lot of capability. However, there is a new generation of smart motors out that combine the mechanical motor mechanism with a built-in controller. Bunnie looks at one that isn t even called a motor.
It is the IQ position module. pensamos en los motores normalmente como bastante tonto dispositivos. Dependiendo de la especie, que les envíe algún o algunos de los pulsos, y que a su vez. No hay problema. Incluso una RC servo, que tiene un poco de inteligencia a bordo, no t tiene un montón de capacidad. Sin embargo, hay una nueva generación de smart motores que combinan la mecánica mecanismo motor con un controlador integrado. Bunnie mira que no t incluso llamó a un motor.
Es el IQ posición del módulo. Being a layman in this field, is it possible to use the same on AC induction motors. Can we go away with reduction gear if used in EV powertrain. und beispielsweise an einen zweiten Motor weitergeben, wie Andrew bunnie Huang in einem Beispielprojekt zeigt. Als Direktantrieb ohne Getriebe werden die Module schließlich nicht beschädigt, wenn sie. View Reddit by Wor3d View Source. An Intuitive Motor IQ Control. Every time you have the opportunity to, play the guessing recreation.
bunnie s blog is proudly powered by WordPress Entries RSS and Comments RSS. Order Parts. Love The View, And The Window, Too. Need help with painting, staining or cleaning. Put Your Warranty To Work. Find out if your Andersen product is still under warranty by calling 888-888-7020. Need service for your door or window. Technical Documents.
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NOTE The AR-DV10 does not support the reception of trunked systems. Therefore it is not a strong choice for monitoring most public service police fire radio systems. NOTE The AR-DV10 was initially distributed in the U. by Yaesu, but is now distributed and supported directly by AOR USA. NXDN is a trademark of Icom Incorporated and JVC KENWOOD Corporation. dPMR and the dPMR logo are trademarks of the dPMR MoU Association.
MOTOROLA, MOTOTRBO, are registered trademarks of Motorola Trademark Holdings, LLC. The AR-DV10 is not currently stockedbut the accessories below are available for immediate shipment. 65x137x41mm 420g. Apple AirPort Express Wireless Audio 802. 11n 2008- 2011 KenRockwell. Apple Airport Express model A1264 MB321LL A 7. This site s main source of support is when you use these links, especially this one to the Airport Express at Amazon, when you get anythingregardless of the country in which you live.
Introduction top. I personally buy from Adorama, Amazon, Ritz, B H, Calumet and J R. I can t vouch for ads below. Apple s AirPort Express is a portable plug-the-whole-thing-in-the-wall WiFi base station with 802. It also works as a range extender for an existing WiFi network. Once configured, you can unplug it and pop it in anywhere, any time, so if you go out in the back yard or out to the pool, plug it into an outlet outside your house, and the signal goes about another hundred feet so you can cover an acre.
It also has a USB jack for an ordinary printer to let us print wirelessly from our computers and iPads. Best still is that it has an audio output that makes it trivial to play audio from our iPads, iPhones and iPod Touches through our big Hi-Fi and AV systems without wires. Plug it into your stereo back in the house, and now you can play your music through your home stereo, or its outdoor speakers, from anywhere within range.
Love watching movies with your iPad in your lap. If you don t want to use the awesome Ultrasone Edition 8 headphones, this AirPort Express plugged into your audio system will let the audio come from your speakers, without wires. The audio output has both analog 3. 5mm jack and TOSLINK optical digital outputs. The TOSLINK output is in the same hole as the 3. 5mm plug; use a mini-TOSLINK cable. With this AirPort Express, simply play your device in the comfort of your own hand, and look for the little envelope above the volume slider.
Tap the envelope, and you ll be offered options of where you d like your music or any audio from videos, streaming radio or anything else on your device to go. By default it s set to your original device, and if you re in range of your AirPort Express, you ll also have the option of selecting it. Once selected, the audio plays out of the AirPort Express into whatever you ve connected it. Plug it in behind your Hi-Fi or A V or digital cinema system, and even the volume control works remotely.
You ll never need another remote control; simply play and control volume directly from the palm of your hand, and let it play from inside your pocket through your stereo as you go about your day at home or office. Model Number. A1264 marked on unit. Marketing Part Number. MB321LL A marked on box. 0 111 x 33 x 75 mm HWD.
7gactual measured with folding plug. 7 ounces, rated. Performance top. Audio Playback. The analog audio output jack of the AirPort Express, plugged directly as a line-output into audiophile gear, is great. From 100 feet awaysignal-to-noise ratio is 102. 5 dB, channel balance is within 0. 03 dB, frequency response is 0, -3 dB from 8 Hz to over 22 kHz from mere 44. 1 kHz files, and THD Noise is 0. 01 better than most tube gear from a 128 kbps AAC file.
For these analog tests I used a specialized VP-7721A audio analyzer, and more recently, a Rohde Schwarz R S UPL. Overall, the analog and digital outputs from the AirPort Express are swell, but not as crazy-good as the direct analog output from an iPod Touch. Measurements, Analog Output. Output Voltage, maximum gain, unloaded, 0 dB FS at 1 kHz. 2 V is the same as a standard CD player.
Left Channelsample 1. Right Channelsample 1. 5 Ω, measured at 1 kHz. Left Right Channel Balance. The dB numbers refer to the setting of the gain control, and the position of the volume control is in parenthesis. Channel balance versus output voltage, second 2011 sample, 0 dBFS source. Channel Separation. 3 dB, left-leakage-into-right, at 1 kHz. 3 dB, right-leakage-into-left, at 1 kHz.
From analog output. Measured the old fashioned way, signal -20 dB FS sine wave, 44. 1 k samples per second, 1,411 k bits per second AIFF file on iPod Touch. iPod at maximum gain. AirPort Express loaded with the 100 kΩ load of the analyzer. Signal-to-Noise Ratio. 4 dBfull-output to no signal, A-weighted. 0 dB, full-output to no signal, unweighted, 22 kHz bandwidth. 5 dB, 400 Hz - 30 kHz band, maximum gain, paused, 100 kΩ load, iPod 100 feet away.
98 dB, 5 Hz - 30 kHz band unweighted, maximum gain, paused, 100 kΩ load, iPod 100 feet away. 5 dBV-A output noise when not selected. -93dBV-A output when paused. Swept THD, CBS CD-1 source via iTunes ALC. This curve doesn t count my analyzer can t keep up with the sweeping it needs a steady signal to lock-on to the signal, so its reading much higher than the actual distortion.
Just for fun, my iPod Touch was a hundred feet awayabout two condos down in my condoplex. Source 128 kbps AAC file created in iTunes from a 44. 1 kHz Rohde Schwarz test CD, 1 kHz, 0 dB FS played on iPod Touch. iPod Touch set to maximum gain. 0108 THD N30 kHz measurement bandwidth. 0380 kHz measurement bandwidth. 117700 kHz measurement bandwidth. Output Loading. Don t plug headphones into this why would you. When terminated with 75 Ω, it wasn t happy. TOSLINK Digital Output. Output level a 0 dBFS 1 kHz tone ALC file appears as a -0.
7 dBFS 84 FS signal at the digital output. 240 dB signal to noise ratio, paused. 007any level setting from full to -24 dB just under halfway on the volume scalesource 0 dBFS at 1 kHz ALC file. Distortion components at full-output, 0 dBFS input. Distortion components with output set to -24 dB, 0 dBFS input. It must be set-up first with a computer or laptop. Plug it in the wall, and call up AirPort Utility, and have at it.
You don t need any cords; it talks wirelessly to your computer even before it s set up. This can get hairy, oddly for Apple products, it took me a while to figure out. When I got stuck, I read enough of Apple s online support, and guessed my way to getting it to work. I set it up as a wireless range extender, which is what took some doing. Once set, the audio playback was already there. I didn t need to find AirTunes, whatever that is.
Recommendations top. This is a great wireless base station, and so much more. It is unique in working easily as a WiFi range extender to let me work in the garage or out in the yard, and the best part is the remote audio. It may not work great for sound with picture; it often has a long delay, losing lip sync. I d audition one before plunking down 99 if movie sound was the only thing you want to do with it, and lip sync is important to you.
Help me help you top. I support my growing family through this website, as crazy as it might seem. The biggest help is when you use any of these links to Adorama, Amazon, B H, eBay, Ritz, Calumet and J R and when you get your goodies. It costs you nothing, and is this site s, and thus my family s, biggest source of support.
eBay is always a gamble, but all the other places always have the best prices and service, which is why I ve used them since before this website existed. I recommend them all personally. If you find this page as helpful as a book you might have had to buy or a workshop you may have had to take, feel free to help me continue helping everyone. If you ve gotten your gear through one of my links or helped otherwise, you re family.
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Coments:21.03.2020 : 07:02 Fenrigrel:
No, but the screenshot I posted is rendered by Android. Twitter doesn t include the Android 2.
17.03.2020 : 12:02 Mikashura:
C 1291c-format msgid li Seconds msgstr li Segundos src bin e_utils.
16.03.2020 : 03:31 Douktilar:
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