Weeks 8/9 :Wrapping up

We've come a long way from nine weeks ago. After having to program and wire and reprogram/rewire constantly, I can say I've got a greater appreciation for electronics. Our robot more or less follows a line and turns around once it reaches the end.  Now I want to try to take apart everything I see just to find out how it works. Never thought I'd see myself doing this stuff. And that isn't a bad thing.

We'll be presenting our model at the VT Undergraduate Research Symposium with a projected path for future study this Wednesday.

Cheers,

Ben

Floyd, VA: Modern Renaissance Men

I've wanted to be a doctor for a decent amount of time now, time enough to take it seriously. But if a purpose more interesting came calling, I would think about it. Call it fate, but if something were to change my idea of my own future so drastically, I would be open to it.

Guys like Skip Garner and Michael "Buzz" Waitzkin prove that there's more out there than your cookie-cutter careers. Several undergrad researchers and I drove down to Floyd, Virginia to meet the two at Buzz's home up in the Blue Ridge Mountains.

They first showed us into Buzz's office, the headquarters of Genomeon, a genetics company run by the two. They aim to help clients analyze human genomes with specific markers meant to detect microsatellites, repetitive pieces of DNA often indicative of disease. 

Buzz's office was built from wood taken from the multi-acre property. This reminded me of our family friend's cabin up in Boulder Junction, Wisconsin.

But that's not all; Skip has founded several other companies with lofty scientific goals, such Heliotext, BioAutomation, and Xanapath. They range from data search/organization services to selling DNA sequencing/synthesis machine parts. I think he picked a badass name and then just added a more mundane word like "path" or "text" on the end.

Skip spent a decade or so at General Atomics, a nuclear energy company based at the time in California. He worked on projects ranging from nuclear reactors to paint for stealth bombers. Oh, and he was director of the Virginia Bioinformatics Institute (VBI) here in Bburg for several years.

Buzz came from a different background. He went through law school in Stanford, worked as a D.C. public defender, and was brought on as one of President Bill Clinton's lawyers. As he told us, "I never thought I'd be working in the White House because of blowjobs," and said his meeting with Ms. Lewinsky was "a rather unimportant moment in my life." Classy. I would not have been as polite.

Old habits...

Hearing Buzz talk about his forays into different fields, whether it be giving talks at the Duke Business School or founding biology companies with Skip, was reassuring. They didn't fit to any mold, and have been involved in more scholarly and business circles than I can imagine. 

I asked him, "Was there ever a moment for you knew what you wanted to do?" He responded that his father encouraged law school, but he would have preferred med school. He told me, "Don't be so narrow-minded that you pass up everything that comes by you. Take advantage of every good-looking opportunity you get, and see where it leads. Get out there." However, he wished he kept more in touch with his mentors and mentees from his various pursuits. I'll have to remember that one.

Next we toured the art studio of Buzz's wife, Gibby. Her approach is unique; she only uses organic materials, like banana peel fibers and tree lichens. She's putting on a display this fall in Blacksburg that I hope to see.

Gibby picks some of her materials as they grow out of the ground, while others, like banana peels, are ground up into their fibers to make paper.

Water is used frequently to affix some of Gibby's materials. The grate at the bottom left takes any spills into the soil outside.

Gibby's current collection resembled pairs of angel wings, which she said double as a pair of feminine legs. Her enthusiasm with her work made it all the more enjoyable to see.

Buzz gave us a tour around his property before we left for town. Long story short: I'm buying this house if I ever get rich.

That's a Tibetan prayer flag on the right, and you can several in a straight line if you stand near one. The whole lake is man-made as well, back when there weren't as many restrictions on such a project.

This square is the land's own "dig site". 17-18th Century Appalachian families would dig square sections such as these to construct lean-tos for temporary shelter while they built their homes.

Old mason jars and shoe soles are among the relics Buzz has found since he's been here.  The soles, like Joan Rivers, have been estimated at over 100 years old.

Having spent his childhood in Miami, Buzz received this "beach" for his birthday one year. On a side note, I should buy a boat.

We saw the sights in Floyd as well. Bluegrass street performers, plenty of vendors, and great local food. The big attraction is the Floyd County Store, AKA The AARP Convention Center. Local groups play with an open floor for dancing and flatfooting. FloydFest is going be packed in such a small town.

Floyd has only one main street, by the looks of it. It's also the hipster capital of Southwest VA. 

Groups like these line the street. It's funny they always try to outplay each other and crowds come and go accordingly.

Inside the Floyd County Store. You hear that? That's the sound of Duck Dynasty DVD sales going up.

Cheers, 

Ben

Week 7: Fine Tuning

Our line following program is just about done. Uploaded to the robot, it works well and reacts to light-reflective surfaces.

The infrared sensors are attached to the gold-colored board at the front.

Our robot has a perforated board attached in front with two mounted infrared sensors. One sensor on the left controls the direction of the left side wheels, while the right sensor controls the right side.

We numbered the wheels for ease of programming. For example, if the right sensor is off, Wheels 1 and 4 turn backwards while 2 and 3 keep going, causing the bot to turn left.

We start by programming the bot to calibrate to the white paper; if the sensors detect something other than that, the wheels will respond. If a left turn is ahead, the right sensor will come off the line first and detect the black floor, and the bot will turn left by switching its righthand wheels backwards while the left sided wheels continue forward. Once both sensors are aligned on the line again, the bot moves forward.

A crude robot arena to test the edge detection and line-following programs. Come back next week when he fights the Coke machine from the second floor.

 We've created the base program for what will eventually be under the bacteria's control. That stage is still far off, but I can imagine that the IR sensor input will be replaced by the bacterial data, controlling the turns on its own. For example, the bacteria releases a specific protein, which means it wants a certain food source. That signal can translate in code to "turn right" or the like.

Next we'll focus on refining the program, placing the sensors in more effective configurations, and drawing up model pathways.

Cheers,

Ben

Defend your Nuts

When I was younger, I went to baseball games in the Diamond when the Richmond Braves were still around and the Indian poked his head out of the side of the stadium. It's everything you would expect to see at the major leagues, albeit on a smaller scale: the hammered fans and peanut-covered aisles were part of America's pastime.

The Indian statue "Connecticut" usually pokes his head through that white building below the stands on the right. I hear he ended up somewhere along the James River

A lot has changed since then. They're the Richmond Flying Squirrels now, and the whole ballpark management has seen a serious overhaul.

You could see the Richmond skyline from here. And the free t-shirts never seemed to reach you.

I was hoping for a more intimidating name, like the Raptors or Raiders. But the city put the team name up to a public vote. From what I heard at the time, some wiseass thought it would be funny to submit "Flying Squirrels" over 200 times. Other names in contention were Rock Hoppers, Rhinos, and Hush Puppies (...really?).

The joke's on that guy, though, because the Diamond took the name in stride, producing official merchandise and heavily advertising their sleek new mascot. Local advertisements and sponsors are on every support column and wall, professing their love for their new team. If they're trying to build a brand, it's working. I've seen quite a few people in and around Blacksburg wearing their hats.

They were selling "Squirrels gone wild" trucker hats for $5. Those poor, unsuspecting kids. 

What impressed me when I saw a game for the holiday weekend was the family atmosphere. Well-behaved kids with gloves and whole rows of relatives filled the stands, and you're not sitting on dirty concrete slabs with some drunk guy yelling into your ear. Creating this kind of atmosphere takes years, and isn't easy.

Inside the men's bathroom. The world needs more stuff like this.

The food vendors are all high-school/ college kids, and I can't think of a better fit for them. A friend of mine from Tech was at work that night, and makes a killing in tips, while working every other week. Makes me wish I had done it last summer.

My friend Lucas recently got promoted to beer vendor. Such great power has been placed in this young man's hands.

The game itself had its ups and downs, but I wouldn't say this is a place for baseball aficionados. It's the perfect first date, family outing, and friendly get-together all rolled into one convenient place. And the nut puns were kept to a minimum, as disappointing as that was.

They didn't play the Katy Perry song during this show. Thank God.

Cheers,

Ben

Week 5/6: Line Following

It's been a slow two weeks, honestly. We waited for a part for the robot that was integral to its functioning and communication with the Arduino chip, and read up on papers and books while we waited.

But that's the nature of our project. It's not pipetting something twenty million times and filling columns of Excel spreadsheets with measurements. It's not like any lab class here at Tech, where a book guides you step-by-step and more or less holds your hand. We have a concept, and we put the pieces of the puzzle together from there. Some pieces take longer to find than others, but the idea of finishing an entire do-it-yourself project will be a sense of satisfaction all its own. And like my Grandma engraved into my head, always start with the frame and corner pieces; in other words take what you know and build on it.

The wire connections are those frame pieces. They're easy enough to understand, and certain pieces of hardware can ease the programming process. The Adafruit Motorshield is a flat chip placed on top of the Arduino board that allows easier programming and direct control of the wheels' speed and direction. It also comes with a whole slew of resistors and capacitors that must be soldered in. The three black rectangles are H-bridges, chips that allow varying currents in either direction.

The blue boxes are inputs for the DC motors that power the wheels. The orange taped wires come from  a battery pack under the hood that provide the power.

Assigning each motor a specific name, commands such as motorForward(MOTOR_1) can control each wheel independently. But what we want here is autonomous control, since the bacteria will eventually control the robot's direction. We fitted three infrared sensors on a board in front of the robot to allow it to sense dark-colored lines and follow them. This will come in handy when the robot needs to follow a path to a food source dictated by bacteria.

The three IR sensors are the red boxes spaced equally apart on the yellow-gold board. They send data to the shield/Arduino, which will rotate the robot accordingly via the motors.

We'll be refining the line-following program in the next week, while eventually getting a bacterial interface hooked up. It wouldn't be any fun if this was easy. 

Cheers,

Ben