Self Balancing Gyroscope Using HD Drive

Gyro HDD 1.1 with Pots

My latest self balancing project using a hard disk drive, a VTI inclinometer sensor, a servo controlled counterweight and three potentiometers to control the PID parameters. Works great. Even better now that I added a little weight to the top of the gimbal/gyro.

I discovered the following: if the gyro weight is far below the gimbal, it takes very little movement to make corrections but it is also almost impossible for the computer to make such small corrections – the higher you raise the gyro, the better the computer can control. Optimum is where the motor is on the gimbal axis and the gyro below. If we keep moving the gyro up to the top heavy configuration, we have the most balance – that is until it exceeds a certain angle and then we lose control. Seems the best place is just having the gyro slightly bottom heavy which makes it easiest for the computer to control and allows total control without fear of the gyroscope flipping over. My gyro was balancing , but just barely (rpm of 4000 is too slow, waiting for new ESC) so I added a little weight to the top which simulates moving the gyro up to where the motor is on the axis, and it balanced much better. That seems to be the sweet spot for PID computer control.

Todo:

New ESC / add wheels / may be try controlling gimbal directly

 

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My New Merida Ukulele

Bought in Shanghai at East Jinling Road music store for 800rmb. Didn’t know Merida made ukuleles. May be a second as it has slight blem on woodwork on front. Light and plays nice, has nice sound.

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We Will Be Superheroes

I love super-heroes, science-fiction, artificial-intelligence, teleportation, faster than light transportation, magic, Harry Potter, Lord of the Rings, and scientific theories of parallel dimensions, aliens, time-travel and future worlds. I think most people have imagined sometime in their life that they have been gifted with an incredible and exceptional special power or ability and what they could achieve with it. This desire seems to be ingrained in us at an early age where we promptly lose it and then “grow up”. I have never grown up. I love too the supernatural.

I think scientists have never really grown up and they are blessed with an above average level of desire for special capabilities and it really surprises me that they are so locked into such a materialistic mindset that they cannot accept the supernatural. They are the ultimate doubting Thomas (who must have been the atheist of the Disciples.)

Jesus is my superhero because I believe he really exists, and he is the fulfillment or embodiment of all the superhero abilities I listed above. He controls time, space and energy better than any Superman and he has a spiritual component that is lacking in all the DC Comics characters – love.

Scientists are searchers because they can’t stand to let a good mystery go unprobed. But because the atheistic ones cannot accept a supernatural explanation for unexplained phenomenon, they miss out on the truly supreme experience – the one that Jesus promised each person who believes in Him – that we will be just like Jesus at the Resurrection – superheros. (Philippians 3:21)

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Jesus Tomb Was a Gateway To Eternity

I read a blog about the stone sealing the tomb where Jesus had been laid and it got me to thinking: that stone seal is symbolic of how Jesus had opened the door for humankind to eternal life. Before Jesus had died, death was the inevitable conclusion to a mans life following the catastrophic behavior of Adam and Eve. Yes, some souls had been revived at the death of Jesus and there was Lazarus,  only to have to die all over again. Where we would reside had Jesus not opened the way to eternal life, I don’t know.

Men had knowingly sealed the door to Jesus tomb in hopes that He would stay dead. Angels had opened the tomb through the power of Jesus taking life back again and dealing death a fateful blow. Jesus, walking out the door that men had sealed, opened the way to life.

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In Every Breath You May Breathe in Jesus

Here is an interesting book excerpt:  If you make a few assumptions about the mixing of gases and the lifetimes of molecules in the atmosphere, it turns out that, on average, one molecule of “Caesar air” — or any other historic liter of air, for that matter — appears in each breath you take.  (Caesar’s Last Breath by Sam Kean)

So in every breath we take we may take in a molecule of air that Jesus breathed. It turns out that He is not only (though more importantly) with us in His Spirit – but physically he is still with us too. That makes me breathe more consciously and deeply and spiritually, knowing that he will be with me until my final breath.

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Painting of painting of Jesus

Not sure who the original painting was by: attributed to El Greco and to Karl Bryullov (Russian artist of 1800s). Either way, I think it is an exceptionally emotionally powerful picture of Christ.

Jesus by Brulloff

Painted mine with dime-store acrylics. Want to try oils someday.

I wonder when in Heaven if we will look around and say, Where is Jesus?- because our paintings of him were so off.

 

 

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My view of Heaven

To me Heaven is a real place, one that I dearly wish to get to and one that I stake my soul on, and for which I make the only real vow of value – that I believe it exists and that Jesus is the Way there.

I can’t really visualize the location or appearance of Heaven but I can see this happening: I will be standing near another spiritual soul and we will be located on the new earth, staring into Heavens heaven and we will choose one of the beautiful stars there and low and behold a three or four or infinite dimension replay occurs of one of our simplest and least important moments of sacrifice or love or piety or obedience – in all its glory and glorification of God. In other words, every little deed we performed in the name of God is kept eternally present in Heaven and every failure and moment of weakness is eternally forgotten. In this life, we don’t need to accomplish great spiritual feats – we just need to drop little seeds every day and we can do that by just maintaining a constant attitude of love and service.

I often am “interrupted” in my daily routine by my students but I should never see it as an interruption, but rather as an opportunity to give them a little attention, a moment of notice and encouragement – it only takes a second and they remember it for a long time, if not forever, and the moment turns into an eternal moment, preserved in heavenly CGI and Dolby special effects. I must see my life as spreading little insignificant seeds – not in trying to turn the world upside down with grand plans. Do we want to be remembered for something that is everlasting – offer the cup of cool water to a thirsty soul – offer a word of kindness to a hurting stranger. I believe these are the deeds that power the stars of Heaven.

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