Salvius Robot Project: July 2011

Salvius Robot Project

The Open Source Humanoid Robot

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Salvius New Head Design

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This is the new face of the Salvius robot. The robot's new head is much lighter, stronger and is much friendlier in appearance than the previous two head versions. The new head is also proportioned correctly which was the only flaw of the previous head.

The plexiglass mount for the optics array in the front of the head makes it easier to move the locations of sensors because the optics panel can be removed and is easily replaced with another that could have sensors in different places.

One of the goals for the new head was to have it consist of modular panels so that any attached sensors and other hardware could be easily removed, modified or replaced. Space for 'ears' has been left on either side of the head.

Graphic User Interface

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Salvius has a built-in wireless router and is designed to allow anyone with the correct password to login to the robot and control in manually via the above graphic interface. Since the software is installed on the robot, all the user needs is a computer with a working internet connection and a browser. More advanced users can login and write more complex programs using ssh.

Substitute for Legs


For nearly a year, Salvius was nothing but a disembodied torso sporting a head and occasionally an arm or two. Now a temporary solution has been constructed. This photo shows the new wheeled platform for Salvius. This wheeled structure can eventually be fitted with motors so that Salvius can move around. The platform also serves to give Salvius a full six feet of height making it easier to work on and to make measurements for future upgrades.

Metal Head Based on Cardboard Template

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After creating a cardboard head template and testing sensors and hardware in it, metal parts were cut based on what was learned from the cardboard version. The metal parts were then drilled for holes and assembled.A few modifications were made however, such as flattening the chin and simplifying any unnecessary edges. The primary problem with the chin being pointy was that the sharp point could have damaged the parts that allow the head to move. The flattened chin also allows more room for the head to tilt forward.

The metal head proved to be difficult to mount to the wooden axial of the neck. The problem here was a lack of surface area to attach the rotating neck dowel to the bottom of the head.

Salvius Inferred and Ultraviolet Vision

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This photo shows prototype Salvius robot head with all exterior light emitters turned on. Salvius has two sets of headlights, one is regular white light (left) and the other is ultraviolet light (right). The ultraviolet light aids the robot in potential tasks involving forensics. There is also a set of inferred LEDs around the camera which allow the robot to see in the dark. Because Salvius has built-in inferred emitters there is no need for any external light source for the robot's night vision to work.

Cardboard Head Template

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Salvius's original head was a translucent dome mounted on top of a plexiglass disk. Although the head worked well, there was not enough space inside of it to mount all of the sensors and other components. The two photos bellow show a cardboard mock-up of a head design for Salvius that would provide more surface-area for mounting sensors.


Sensors are temporarily attached to the head for measurement and testing.


Quartz Clocks

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A quartz clock is a clock that uses an electronic oscillator that is regulated by a quartz crystal to keep time. This crystal oscillator creates a signal with very precise frequency, so that quartz clocks are at least an order of magnitude more accurate than good mechanical clocks. Generally, some form of digital logic counts the cycles of this signal and provides a numeric time display, usually in units of hours, minutes, and seconds. Since the 1970s, they have become the most widely used timekeeping technology.

Chemically, quartz is a compound called silicon dioxide. When a crystal of quartz is properly cut and mounted, it can be made to bend in an electric field. When the field is removed, the quartz will generate an electric field as it returns to its previous shape. This property is known as piezoelectricity. Many materials can be formed into plates that will resonate. However, since quartz can be directly driven by an electric signal, no additional speaker or microphone is required.

Quartz has the further advantage that its size does not change much as temperature fluctuates. Fused quartz is often used for laboratory equipment that must not change shape along with the temperature, because a quartz plate's resonance frequency, based on its size, will not significantly rise or fall. Similarly, a quartz clock will remain relatively accurate as the temperature changes.

In modern quartz clocks the quartz crystal resonator is in the shape of a small tuning fork, laser-trimmed or precision lapped to vibrate at 32,768 Hz. This frequency is equal to 215 Hz. A power of 2 is chosen so a simple chain of digital divide-by-2 stages can derive the 1 Hz signal needed to drive the watch's second hand. In most clocks, the resonator is in a small can or flat package, about 4 mm long. The reason the 32,768 Hz resonator has become so common is due to a compromise between the large physical size of low frequency crystals for watches and the large current drain of high frequency crystals, which reduces the life of the watch battery. During the 1970s, the introduction of Metal Oxide Semiconductor (MOS) integrated circuits allowed a 12-month battery life from a single coin cell when driving either a mechanical stepper motor, indexing the second hand (Quartz Analog), or a liquid crystal display (LCD Digital). Light-emitting diode (LED) displays for watches have become rare due to their very high battery consumption.

The basic formula for calculating the frequency of a quartz tuning fork as a function of its dimensions (quadratic cross-section) are as follows:

l = length = 3 mm (or 4 mm)
a = thickness = 0.3 mm
E = Young's modulus of quartz = 1x1011 N·m?2 = 100 GPa
? = density of quartz = 2500 kg·m-3 (actually, 2650 kg·m-3)
fo = fundamental frequency = 3.52
f = frequency (Hz)

If we use the above numbers in the formula for a vibrating cantilever:
The above returns f ~ 34 kHz, which is approximately 215, or 32,768 Hz.

The relative stability of the resonator and its driving circuit is much better than its absolute accuracy. Standard-quality resonators of this type are warranted to have a long-term accuracy of about 6 parts per million at 31 °C: that is, a typical quartz wristwatch will gain or lose less than a half second per day at body temperature.

If a quartz wristwatch is "rated" by measuring it against an atomic clock's time broadcast, and the wristwatch is worn on one's body to keep its temperature constant, then the corrected time will easily be accurate within 10 seconds per year. This is more than adequate to perform celestial navigation.
Some premium clock designs self-rate. That is, rather than just counting vibrations, their computer program takes the simple count, and scales it using a ratio calculated between an epoch set at the factory, and the most recent time the clock was set. These clocks usually have special instructions for changing the battery (the counter must not be permitted to stop), and become more accurate as they grow older.
It is possible for a computerized clock to measure its temperature, and adjust for that as well. Both analog and digital temperature compensation have been used in high-end quartz watches.

Quartz chronometers designed as time standards often include a crystal oven, to keep the crystal at a constant temperature. Some self-rate and include "crystal farms," so that the clock can take the average of a set of time measurements.