This Rubik's Cube Was Solved With Drone Motors
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- čas přidán 30. 11. 2023
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Project Overview: www.aaedmusa.com/projects/rub...
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This is sickkk. Awesome video! Hope you get the views this deserves :D
I love your videos dude! Thanks!
@@AaedMusa I cannot believe that, at the time of typing this, you have 107,000 subscribers but this video has only 58,000 views and an even smaller 4,000 likes.
Subbed, viewed and liked.
insanely underrated channel
No cap
Fr
Definitely. This channel needs more views.
100%
I bet you could modify the solver algorithm to allow opposite motors to turn at the same time. the right and left motors could turn in 4 different permutations at the same time, and every time they get used instead of a single motor turn, you chop off a move. Given that most algorithms allow for face turns and not just quarter turns, youd be adding a huge number of possible moves. I bet that would reduce the number of needed turns from 20 to ~16-18, but that's pure conjecture. If this doesn't work with the algorithm you used here, I'd love to see you use the original meet in the middle algorithm using these modified moves (even if just once since you'd have to wait on the solve for a long time) to show the fastest possible solve your machine could do.
Yep I've had my eye on an algorithm that someone made that does exactly that. I'll be exploring this in the future. With the standard kociemba algorithm there are few opportunities to pair moves in such a way that they can occur simultaneously.
This is the exact first thought I had when looking at this. I wasn’t sure if it was already implemented or not because the things spin so darn quick hahah.
I came to this as well.
Assuming you have an algorithm which scans your moves list and determines which adjacent moves can be "combined", the question is whether the controller can either a) send signals in parallel or b) get a second motor to start moving before the first one finishes. I don't know that the API for the motor controllers looks like or if they were programmed with raw high-low signaling.
Ideally, you could just send both a message to turn to their respective rotations and simply ignore any kind of delay between the two signals.
The other thought I had is that, all solves have Red on the top - since you don't have any middle squares you could have any color at the top - but it is kinda cheating because its only possible because you have removed the middle squares.
LED strips inside could help with consistent lighting. What a great video though, good job! :)
Bro... you are a MADMAN!
And I mean that as the highest form of compliment.
Pretty impressive results.
Honestly, I thought that, if someone knows how to solve the Rubik's cube, and they are halfway decent at maths, they could probably (after many headaches) come up with a very crude, really inefficient set of rules and logic for solving the cube, and pat themselves on the back; but then when you started talking about the colour recognition for the software, I was like, 'damn, one really does have to be a little bit crazy to take on a project like this' 😃
Tip for solving the colour problem; instead of trying to find the same colours every time, instead look at the relative values between them. That way you can identify which colour is which based simply on the difference rather than having to essentially “hardcode” a value. Also as other people have mentioned, switching into HSV colourspace could be really helpful too! Especially if you were using the relative colouring, since you could really just look at H and V. Eg, the red is a lower V than orange.
Absolutely love your channel. The way you challenge yourself with these builds is amazing to watch.
Great video! I've made a similar project a few years ago, and i got to the same conclusions when it came to identifying the color of the facets. I did notice that switching to HSV as some of the other comments suggested helped in color identification.
Yep, I've totally gotten hooked on your videos. If you ever need some parts machined for your projects (if 3d printing just won't do) let me know. I'd be happy to lend a hand. I'm in the Dallas area, but I can ship parts.
Leaving a comment mainly to incentivise the YT algorithm into promoting your work, your videos are amazing and inspiring and more people should see them
This is awesome! I remember a rubiks cube solver project that I saw for the old lego robot kits, it was really cool to be able to build it and have it solve a cube, even if it was really slow. You should think about trying to tackle making a robotic solver for larger cubes, like 4x4 or 5x5, would probably be orders of magnitude more difficult but I'm sure you would find a way.
FACEs. FACEts. Click. Never made that connection before. This channel is a hidden gem.
How fast can you solve a Rubik's Cube?
My current top time is less than one cube per year 😂
last time I tried and failed was probably when I was 10, so assuming the timer is still going, 24 years and still counting!
About 36 secs
My record is 21 seconds i rarely go above 40. Anyway amazing project
my pb is 33 but I average on 36
That was the coolest thing I watched on CZcams in months. 😢
Really appreciate your efforts in making this project (and solving the challenges). Controlling the BLDC so precisely is great and combining the robotics with one of the most fascinating puzzles of all time is really inspiring. Congrats!
Awesome project and super well edited! Boiler up!
I've never subscribed to a channel so fast.
Aaed, I am in love with your videos dude. FOC controllers look so much better than using stepper motors with stepper motor drivers. I'm definitely making the switch for my robot.
Nice to know that there are enginerds who can fully geek out on this kinda solution exploration. You've got an embedded systems gig waiting for you upon graduation, my man. Parsec can't afford you, but somebody can.
Your videos are more interesting and detailed than James Burton. I am definitely subscribed for life my man 🎉. I know making these projects and assembling these videos takes a massive amount of time, so let me support you by sponsoring you a bit of cash, add a Thank$ button or something!
Wow, incredible job from start to finish! Have you considered using the HSV color space for your detection algorithm instead of RGB? It is far more common in computer vision and I think you would find it much easier to tune.
Really impressive project! It’s sick you were able to get it to work so clean. Boiler up!
My favorite video of the week, cheers Aaed!
OMG, not just remarkable ingenuity but the matching learned skills adapted to implement them in so many disciplines.
Right down to screw lengths and friction reduction without WD40 or even the lady's moisturiser cream. Huge congratulations to a huge young brain.
Top notch content my dude! More please!
Fantastic video, thanks for sharing!
This video and project are amazing. Good job!
Great video! The cost of 12 ODRIVE S1 is eye watering (am I seeing this right: $150 per controller??)! I am currently working on a project that uses FOC as well and have found the ST B-G431B-ESC1 ($20 per unit), which does not come with many features pre-programmed, but you can program the STM32G431CB, which is on the board, to do any controls you want. It unfortunately clocks the charge pump at the motor bridge switching frequency, which might cause some problems when operating at low speeds.
With FOC, you are using PWM, so the charge pump is not a problem at all. But you can't do 100% duty cycle though, which is only a problem if you want to have full torque at a very specific rotor position, and the rotor is stuck, but those cases are highly unlikely, like extremly unlikely to cause troubble...
awesome results! use of the DC motors was a good choice
this is insane! great video!
Yeah this one definitely deserves a like.. very nice!
Hi! I have a similar project that i'm developing, and I came up with an idea that may help you solve problems with color identification.
The thing is, you dont need to identify if a facelet is red or orange, but just what facelet has the same color as the other.
This way, you'll be identifying color groups, and not the exact color.
To give the cube's pattern to the kociemba's algorithm, pick a corner and assign it's color groups to white, green and red. Iterate over the other corners, checking if it has 2 color groups matching the first corner. If it does, then the third unmaching color groups are opposite colors.
E.g: the first corner has groups 1,2 and 4, and I assigned 1=White, 2=Green, 4=Red. If the second corner has groups 1, 4 and 3, then color groups 2 and 3 are opposites. Since 2 is Green, then 3 is Blue.
The kociemba's algorithm will work the same, since you'll be giving it the same cube, just with a different simmetry!
Hope it helps you get the WR 😂 (who knows? haha)
Here is a pro tip. If you want to remove sharpie ink all you need is a dry erase marker. Just write over the sharpie ink with the dry erase then simply wipe it clean with a paper towel immediately after and it'll come right off.
interesting! never tried that
@@AaedMusa Works every time. That's how I used to have a whiteboard for house chores on a permanent grid. Make grid and column labels in sharpie and then write the cells in dry erase. That way the grid is permanent but if you need to redraw the grid the write over the sharpie ink with dry erase and wipe it off the whiteboard. Enjoy!
This video deserves way more views, keep it up!!
Dope video. 👌 If color/light is still a problem, might be worth trying a different color space than RGB, such as HSV or LAB for image processing
Quality video, quality content, quality personality. Baited me with the cube and hooked me with my love for engineering. Subscribed!
Vert well made video! thank you for sharing you process with us! really cool!
Just for the algorithm. You definitely deserve it
Incredible. Love this content
This is some amazing work and a great video!
Dude those speed controllers you use are so cool. i didn't know anything about them before i saw your videos.
I'd only ever heard of stepping motors for these purposes. using brushless is amazing.
Great project!
Another great video. Thank you for this.
The pixy confuses black with white because it's transforming the colors into HSV space and black and white are just varying degrees of saturation of the same (arbitrary) hue
I really love the clicky sound it makes.
This is great!
The best creator on CZcams at the moment! Absolutely love your content, specially the latest stuff.
It would be cool to know how you scramble the cube each time. Great video dude!
Dude, so underrated. Your gonna blow up soon
wonderful project, i love it, Im recently begun learning to code Arduino and seeing a world of options open for me, and being a mechanical engineer i know i can build things, and now make them move, like you are doing here, very well done, love the challenge to yourself, that's how we all learn and move forward
100% agree!
Wow, excellent video as always. I wish more people knew about this channel
Love your stuff bro 🔥
Fantastic video, as always! I wonder, since you are using the o-drives, if you could use current sensing to determine when the cube has been jammed and immediately release the motors to reduce damage/strain on the cube.
For me, it's easier to shut everything off by hand than to program it to shut off. Once it's tuned properly jamming isn't an issue.
@@AaedMusa Fair! I wasn't sure at first but upon rewatching the video I think I misunderstood - I thought you were destroying multiple cubes and had to replace them when they jammed or loosened. Being able to shut it off by hand and fix the cube is definitely better!
You give us hope for the next generation, young man. Keep at it!
Checking my subscription status right after this comment!
Great work!
Amazing work, instant follow
Very nice work!
I'll be showing it to every kid I know to get them interested in engineering.
Rather than increasing infill for things like the shafts you should try increasing the wall thickness, the further the material is out from the centre of rotation or bending the more strength it will add. You should also consider using a different material for printing parts, PLA is good and works well for a lot of things but there are much stronger plastics you can get.
this is really cool. i was wondering if the black and white problem might be due to an overflow error with the RGB values. idk, still this is so inspiring
For the vision section, I highly recommend using a colorspace other than RGB
I've used CIE Lab in the past to great success, and others have used YCrCb, HSV, and HSL to great effect as well
these colorspaces are far less likely to be thrown off by lighting variations than RGB
Very similar style to "Stuff made here"
I'm all for it though, more experimental engineering projects that are just plain cool & fun
Get that bag! Sponsored already🤯
Strengthen the walls. 3D printing uses walls for strength, so make more wall layers.
Great video!
Such a great channel. Instant sub! Amazing project. Would love a deeper discussion on the algorithm!
Great Videos. Keep it up man!
I can not describe how awesome is this project, INCREDIBLE!
It is really amazing how a simple game for humans can be so difficult when we are looking for an automate robotic solution since de mechanical design process, best selection of hardware, implementation, programming the algorithm and finally tunning it is awemose.
I wonder how much time does it take and what was the total amount on money spend on developing this project!
Awesome project good job.
amazing work as always
this is so good i really like it. can you build another version of it but inner one like the motors and all are inside the cube
i just came across your channel, you should be famous! great videos and projects! keep it up :)
Just found your channel today and I'm hooked. Incredible projects, and I love your delivery (you've a knack for choice moments of deadpan humour that make me literally laugh out loud).
ps: next time for removing sharpie, you might try acetone (nail polish remover), especially in a scenario like this where you wouldn't be removing the paint/ink of the underlying material. And in certain situations you can use dry-erase marker over the permanent, then wipe away the dry-erase. Weird but true.👍
Awesome build! I’m a speedcuber (but slow!). You can buy your own custom stickers :)
you should definietely design your own cube, that allows corner cutting while under strong tension. that could greatly reduce your time needed.
Well done!!!
Just a quick tip. Use inrunner motors with long, but small diameter rotor to keep the inertia as low as possible. Lubricate the cube as well with some low viscosity grease or oil to keep the friction down, needing for even less power from the motor, further reducing the innertia. That way you can increase the acceleration/deceleration. Nice build though. ;)
I already had these motors from a previous project. At high speeds, high friction is actually preferred not to mention that the cube can be tensioned even if friction is a problem. Thanks though!
Gained a subscriber here!
Algorithm’s being great tonight!
Fantastic video, fantastic production quality, content and pacing…
Thankyou.
the way I like to set heat insert nuts is to heat it with my soldering iron (i have the special tip which does help inserting accurately) and then ill push it like 3/4 of the way in, and then press it in the rest of the way with something flat. Comes out almost perfectly every time.
You are the best, keep going my friend
Great video! Subbed!
Your channel is awesome!
I've never heard facet pronounced that way but in the context of a sub component of a face it sounds right
10:25 BAHAHAHA. The humour in this video was on point lmfao
Awesome video dude. Keep it up :)
Instead of increasing infill to make the parts more resistant, consider increasing number of walls when printing.
Thx for this awesome vid. I just have a technical question: Have you tried to convert the RGB values to HSV and to determent the color just by the hue value?
Aaed cooked once again
14:32 You could put two colored rings on every shaft so there are always all six colors on camera for reference.
That way, recognizing the colors doesn't depend on the lighting.
How are you not more popular. Your content is pretty close to Stuff Made Here. Keep up the good work! I strive to have the skills you have!
Agreed 100%
I think you have excellent skills good luck
For detecting the color HSB makes much more sense because you’re independent of brightness and saturation. Also the stiffness of the brackets might be a bit low so they the motors move out of alignment quite a bit. Other than that cool project 😊
Thanks for the input. I have had a lot of people recommend HSB. Unfortunately the cameras that I use don’t support HSB. RGB is doable with consistent lighting. As for the brackets are you referring to the brackets that the motors are mounted onto? If so those are very stiff. There are 8 screws on each.
cool project, i still have the OG 2 channel Odrive but its just sitting around :P
Really! I use ODrives for everything at this point.
You are the master!!!
You probably already thought of it but one possible optimisation is making use of the fact that you can turn opposite motors at the same time without the cube jamming. To make best use of the optimisation the solver should consider rotating opposing sides at the same time as a single move.
How do you not have 1M subs dude, this is inspirational content!
I subscribed your channel your effort is precious
Great project. Really well done and presented. Subscribed.
Knowing nothing about that algorithm... if it's optimized for the lowest number of moves (?), that may not be speed optimal for your setup. You may see a speed increase by adding moves, if they can be done simultaneously (opposite sides of the cube)
This may be true with some solves, but I don’t have the knowledge to create a new algorithm to do what you propose. I basically just downloaded this algorithm and used it as is. For the most part, this algorithm is going to be pretty optimal. I’ll look into this more in the future.
very cool!
Keep in mind, more walls>more infill when strengthening 3d prints. Kinda like how tube is almost as strong as bar.
100% infill > more walls
Very interesting. Is there a need to test the position of the facets after every move? Just scan the initial positions and calculate the new positions. And maybe if you do the calculation during the move in a separate thread of the processor (if your processor has this capability) you gain some time.
It only scans the cube before a solve. When the motors start turning the cameras are not used.