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  • Author Author: johnfire
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Grendel One

johnfire

Hi, to anyone who comes to read this. My name is Christopher Rehm and I am working on a robotics project that some of you may be interested in. basically i have built a custom cluster computer using 5 raspberry pis, which is the control system for a robot. the servos that control the robots movements are run by arduino micro controllers. I have built a website all about the project and would suggest that as first reading about the Grendel One project.  It involves hardware design, power supply, and sensor design, programming, a customized NIO message interface for Java programs to run asynchronously, machine learning and more. It's the kind of thing pretty much anyone could create for a few hundred euros, assuming they have time and interest to do so.  I invite all to have a look at the website and  continue to read the blog on the development of the project.

 

next post ill give a little project history...

 

here is the grendel site:

 

http://grendelone.christopherrehm.de

 

you can also download my working paper here, as I have attached it to this post.

Attachments:
imagegrendelWhitePaper.pdf
  • in reply to DAB

    @DAB regarding my power distro system. in hardware no. the plan is to build a power system where i can turn off power to parts not being used. i have VNC installed and use it for remote programming, control etc. i would like to be able to turn on and off the other stuff and just leave a rasp pi zero on as a standby computer when its not running. i plan on building a battery backup system in case there is some kind of power failure but this is germany, very very rare here. as far as board failure im not worried. i have a plan in system software architecture to deal with problems if one of the pis in the cluster fails, but i have one pi that has been running for 2 years non stop and several more than have run without reboot for as long as 9 months. im not worried about board failure really.......

  • in reply to johnfire

    Are you looking at a way to keep track of your control boards to look out for failure and to recover your status via state machine implementation?

     

     

     

    DAB

  • in reply to DAB

    basically each  pi runs a control program  and  they are all connected with an asychronous message passing interface built in java (NIO)  some of the Pis are devoted to things like processing incoming video or audio, some are structured to run general purpose machine learning algorithims on data sent by the controller. they all share a common memory space ( NFS presently) and so they can pass data simply by passing addresses on a hard drive.

  • right now im working on a power supply that can be operated by one of the pis. take a look at the paper i drew up, im going to post more fotos later. it is built up, has 5 raspberry pis, two arduinos 3 tb of hard disk storage. i have the java programs up and running and passing messages back and forth once i get the power supply done ill work more on the programming.

  • Interesting project.

     

    Do you have a build out plan?

     

    What parts of the project will you complete first.

    How are you going to test them.

    How do you plan to integrate each thread as it becomes active.

     

    Just curious.

     

    DAB