#robotics Logs

Dec 09 2018

01:55 AM rue_mohr: I wonder if I can make a PUT oscillator
01:59 AM rue_mohr: never succeeded before
01:59 AM rue_mohr: how about a digital servo eh?
01:59 AM mrdata__: PUT oscillator?
01:59 AM rue_mohr: yea
02:57 AM mrdata__ is now known as mrdata--
03:29 AM rue_mohr: I'm thinking about making haptic tripod
03:30 AM rue_mohr: in the simple case, you get your posiotion from the intersection point of 3 spheres with radii based on the angle of the arms
03:30 AM rue_mohr: but, thats kinda making it too complex
03:30 AM rue_mohr: what we have are 3 distances on planes
03:31 AM rue_mohr: the planes are on fixed 3d ... axies
03:31 AM rue_mohr: well, there is only one point, even on two planes where any two radii will meet
03:32 AM rue_mohr: but how do we do that in 3d
03:32 AM rue_mohr: decompose it
03:32 AM rue_mohr: hu?
03:32 AM rue_mohr: well, you know they meet
03:32 AM rue_mohr: y
03:33 AM rue_mohr: from the known 3d positions, transform them back to a common plane
03:33 AM rue_mohr: but I need the 3d positions
03:33 AM rue_mohr: thats ok, you can re-transform
03:33 AM rue_mohr: ok, so everything is on the same plane
03:34 AM rue_mohr: sorry, I'm having a time with this transofrmation in my head
03:34 AM rue_mohr: me too
03:34 AM rue_mohr: on each plane, we have a circle
03:34 AM rue_mohr: but now you took the planes apart
03:34 AM rue_mohr: not entirely
03:35 AM rue_mohr: projections?
03:35 AM rue_mohr: maybe, we compile a set of projections of the other two planes onto a single plane
03:35 AM rue_mohr: thats gonna be elliptical tho
03:35 AM rue_mohr: hmm, and we cant handle that yet
03:36 AM rue_mohr: well, I suppose if you look at it, the intersection of two spheres is a circle thats on the same plane as the last radius
03:37 AM rue_mohr: hmm
03:37 AM rue_mohr: I'm sure there is an optimization were not seeing
03:38 AM rue_mohr: ok, think it thru without unwinding it
03:38 AM rue_mohr: k, so each plane has a circle
03:38 AM rue_mohr: in 3d space, the 3 circles intersect at a single point
03:39 AM rue_mohr: see that catches an issue, 2 of the circles only intersect at 1 point in 3d space
03:39 AM rue_mohr: so, what happened to our last axis?
03:39 AM rue_mohr: ah no,its still a circle, but its on the last plane
03:39 AM rue_mohr: ok, I see that
03:40 AM rue_mohr: so then the question is how to work out the intersection of 2 circles that aren't on the same plane
03:40 AM rue_mohr: yes, and we just do it twice
03:40 AM rue_mohr: if we project a circle were gonna get an ellipse
03:41 AM rue_mohr: you know, the angle is always the same
03:41 AM rue_mohr: does that mean it would cancel out?
03:41 AM rue_mohr: well, projecting them both onto the final plane would save us a transformation later
03:42 AM rue_mohr: but ya know, the intersection of the two projected ellipses would be a circle
03:43 AM rue_mohr: so wait, why dont we just calculate the radius of the circle for that final plane using the other two planes
03:43 AM rue_mohr: you might be onto it
03:44 AM rue_mohr: then we just have to work out what to do with the fact they dont actaully intersect at a point
03:44 AM rue_mohr: I think they virtually do
03:44 AM rue_mohr: uhu
03:45 AM rue_mohr: well, the tool is at the point where those 3 vectors have a fixed radius
03:45 AM rue_mohr: my point exactly, THATS ugly
03:45 AM rue_mohr: ok, run the first math and see if were right
03:46 AM rue_mohr: ok, so let me try to walk this
03:47 AM rue_mohr: we do 3 calcs to use the elbow angle to get the 3 radii
03:47 AM rue_mohr: we take two of them, and work out a radius on the 3rd plane
03:47 AM rue_mohr: does that work?
03:48 AM rue_mohr: http://www.forcedimension.com/images/products/omega3_1.jpg
03:49 AM rue_mohr: no, go with a printer
03:50 AM rue_mohr: well its called delta
03:50 AM rue_mohr: https://i.ytimg.com/vi/9IihI9CXwJc/maxresdefault.jpg
03:51 AM rue_mohr: haha, sure whatever
03:51 AM rue_mohr: see, the planes are all mishmash
03:52 AM rue_mohr: hmm
03:52 AM rue_mohr: its even true of the little one
03:53 AM rue_mohr: maybe you should google this one
03:53 AM rue_mohr: no, no, I want to think
03:53 AM rue_mohr: ok, cause I'm just sayin
03:53 AM rue_mohr: no, want to think about this
03:54 AM rue_mohr: your planes are twisted too
03:55 AM rue_mohr: but your always working with 3 distances to a point
03:55 AM rue_mohr: so your only issue is that their not falling on statically positioned planes like you want
03:55 AM rue_mohr: well that kinda makes sense,
03:56 AM rue_mohr: if the planes were statically oriented, you would be restricted to a line
03:56 AM rue_mohr: ok, so
03:57 AM rue_mohr: well, the we still have 3 radii
03:57 AM rue_mohr: then we can still come up with 2 arcs on a plane
03:57 AM rue_mohr: how do we know where the plane is
03:58 AM rue_mohr: well by then, there is only 1 place it can be
03:59 AM rue_mohr: (I'm ignoring that there are two solutions by the way, I'm assuming your limit the hardware to only make one of them possible)
04:00 AM rue_mohr: ok, so I have two radii
04:00 AM rue_mohr: it might help to build a play with one ya know
04:00 AM rue_mohr: lego?
04:00 AM rue_mohr: uh, maybe we could
04:00 AM rue_mohr: ok, just want to think a bit more
04:01 AM rue_mohr: so, if we make a virtual 4th point
04:01 AM rue_mohr: thats on the 3rd plane
04:01 AM rue_mohr: can we work out the radius from it using the two adjacent radii
04:02 AM rue_mohr: they have to be spheres, otherwise the intersection wont result in a circle
04:02 AM rue_mohr: does that make sense?
04:03 AM rue_mohr: well you cant have two circles that result in an intersection of a 2d circle
04:03 AM rue_mohr: but I dont need a circle, i need a radius
04:03 AM rue_mohr: ouch my head
04:04 AM rue_mohr: the base of the radius will be
04:04 AM rue_mohr: half way along
04:04 AM rue_mohr: not half
04:04 AM rue_mohr: NO!?
04:04 AM rue_mohr: nope it might be to the side
04:04 AM rue_mohr: well damnit
04:05 AM rue_mohr: this is a simotanious solution isn't it?
04:05 AM rue_mohr: well it would be with 3 spheres, so, I'm inclined to say, yes.
04:05 AM rue_mohr: so, matrix?
04:05 AM rue_mohr: ugh
04:07 AM rue_mohr: it must be possable to work out the plane and radius of the intersection of the spheres
04:07 AM rue_mohr: and how you gonna project the last radius onto an arbirtrary plane
04:07 AM rue_mohr: do I need to?
04:07 AM rue_mohr: yes
04:09 AM rue_mohr: that delta printer works different you know
04:09 AM rue_mohr: yea, fixed radii, moving base points
04:10 AM rue_mohr: centers
04:10 AM rue_mohr: yea
04:10 AM rue_mohr: same math
04:12 AM rue_mohr: ok, everything short of a big ugly simotanious solution of 3 spheres involves manipulation of 3d planes in 2d space
04:12 AM rue_mohr: I call it projection
04:12 AM rue_mohr: yes, that'll do
04:13 AM rue_mohr: once I have a 2d intersection on the last plane solution, I can transform it back to 3d space
04:14 AM rue_mohr: it seem to me then, like its a good idea to make that last plane fall on a 3d axis
04:15 AM rue_mohr: should we be looking at this using something other than cartesian space?
04:15 AM rue_mohr: well
04:16 AM rue_mohr: if you could project your radius onto the xy plane there wouldn't be much else to work out
04:16 AM rue_mohr: well you could do that by ratio, couldn't you?
04:16 AM rue_mohr: hu?
04:17 AM rue_mohr: wouldn't the xy projection of the 3 radii form a ratio that would define its position on that plane?
04:18 AM rue_mohr: your still stuck thinking in cartesian
04:19 AM rue_mohr: I need to think in cartesian tho!
04:19 AM rue_mohr: vectors, and angles
04:20 AM rue_mohr: but the amplitudes of two vectors from 2 points can only intersect at a point!
04:20 AM rue_mohr: but they dont, casue their not xy amplitudes
04:22 AM rue_mohr: have you tried doing this inside out?
04:22 AM rue_mohr: dont go there!
04:23 AM rue_mohr: ok, go back to an expanding stick model
04:23 AM rue_mohr: with a single focal point
04:23 AM rue_mohr: sure
04:24 AM rue_mohr: the hard way is the 3 sphere intersection
04:25 AM rue_mohr: right, and when you break it down, you get a 2 sphere intersection, resulting in a cirlce, and an intersection with that against the 3rd sphere
04:25 AM rue_mohr: but by then, its just another intersecting circle
04:25 AM rue_mohr: cirlces on different planes
04:25 AM rue_mohr: right, abitrary planes
04:26 AM rue_mohr: if we back up a bit
04:26 AM rue_mohr: it keeps comming back to circle intersections on planes
04:27 AM rue_mohr: but we realized we dont know where the planes ARE
04:27 AM rue_mohr: can it not matter?
04:28 AM rue_mohr: the plane goes thru the base of the expanding stick
04:28 AM rue_mohr: ok
04:29 AM rue_mohr: and they go thru the intersection point
04:29 AM rue_mohr: ok
04:29 AM rue_mohr: but using 2 points we cant define a plane, we need 3
04:29 AM rue_mohr: where is the 3rd point
04:30 AM rue_mohr: its the alternate solution
04:30 AM rue_mohr: oh
04:30 AM rue_mohr: yes, the alternate solution is always perpendicular to the
04:31 AM rue_mohr: real one
04:31 AM rue_mohr: so, using that, why dont we write code to solve a plane for 3 points in space
04:31 AM rue_mohr: a centroid and a normal?
04:32 AM rue_mohr: any point and a normal I recon
04:32 AM rue_mohr: point can be the base, we know that
04:33 AM rue_mohr: wtf library do we put that in?
04:33 AM rue_mohr: 3d?
04:33 AM rue_mohr: we dont ahve anything in that for expressing a plane normal
04:33 AM rue_mohr: no time like the present
04:34 AM rue_mohr: how is a plane normal usually expressed?
04:34 AM rue_mohr: a unit vector
04:35 AM rue_mohr: I think
04:35 AM rue_mohr: or some set of slopes?
04:35 AM rue_mohr: hmm, if a line is
04:35 AM rue_mohr: Y = mX + B
04:35 AM rue_mohr: no, dont use that
04:36 AM rue_mohr: B = mX - nY
04:36 AM rue_mohr: -b
04:36 AM rue_mohr: B = nY - mX :P
04:38 AM rue_mohr: ax + by + cz +d = 0
04:39 AM rue_mohr: even if we knew the 3 planes, which we cant, casue we dont know the focal point , we would end up with a line
04:40 AM rue_mohr: but that line lines on a specific point in XY
04:40 AM rue_mohr: right, so how would we solve z
04:40 AM rue_mohr: any radius from a base to that point
04:40 AM rue_mohr: ah, and if it lies on one of the axies, its done
04:41 AM rue_mohr: it wont
04:41 AM rue_mohr: it might
04:41 AM rue_mohr: in a few rare cases, but generally no
04:41 AM rue_mohr: so we need to project it again
04:42 AM rue_mohr: we need to back up, we cant know where the planes are
04:42 AM rue_mohr: the planes are always verticle
04:43 AM rue_mohr: so, yoru saying that on the xy, we have a 3 way ratio
04:43 AM rue_mohr: and that will solve the xy position
04:43 AM rue_mohr: and then we just need to solve z
04:44 AM rue_mohr: why does it always sound like it should be so easy when your talking about it
04:44 AM rue_mohr: it is,
04:44 AM rue_mohr: arg
04:44 AM rue_mohr: ok, so what your saying
04:44 AM rue_mohr: is that we can write code, that given 3 points, and 3 ratios, comes up with a point
04:44 AM rue_mohr: yes
04:44 AM flav0r: goo
04:44 AM rue_mohr: have we dont this before?
04:45 AM flav0r: goooogle
04:45 AM rue_mohr: no, you did angles
04:45 AM flav0r: i was trying to type that in a browser
04:45 AM rue_mohr: flav0r, no cheating!
04:45 AM rue_mohr: the code is pretty easy for that
04:45 AM rue_mohr: using ratios!?
04:45 AM rue_mohr: yes, focus on it
04:45 AM flav0r: alli know is the golden ratio dude !
04:47 AM rue_mohr: there has to be a relation betweent he ratios, not all combinations can work
04:47 AM rue_mohr: work it backwards
04:48 AM rue_mohr: ok, each length is the hyp between the 2 points
04:48 AM rue_mohr: x3
04:48 AM rue_mohr: right, 3 lengths
04:48 AM rue_mohr: then what
04:48 AM rue_mohr: you need to make them into a ratio w/each other
04:48 AM rue_mohr: so
04:49 AM rue_mohr: pick a master?
04:49 AM rue_mohr: you could
04:49 AM rue_mohr: so I have m (master) and A*m and B*m
04:50 AM rue_mohr: arg, this isn't easy, there is only one master radius that makes everything intersect at a point
04:50 AM rue_mohr: right
04:51 AM rue_mohr: but, how do I do this?
04:51 AM rue_mohr: undo what you did to get there
04:52 AM rue_mohr: oh, I'll end up with a scaled result?
04:53 AM rue_mohr: but we have to do cirlce intersections and I cant without a radius
04:53 AM rue_mohr: use something that is radius independent
04:53 AM rue_mohr: your killing me
04:53 AM rue_mohr: from the inside out!
04:53 AM rue_mohr: ... gee thanks....
04:54 AM rue_mohr: so, any combo of ratios will work, but only at one radius
04:55 AM rue_mohr: so its some kinda phycotic circle intersection formula that results in a radius
04:56 AM rue_mohr: 3am, wanna get some sleep?
04:56 AM rue_mohr: just tell me this, have we solved this before???
04:56 AM rue_mohr: not in this direction, no
04:56 AM veverak: lol
04:56 AM veverak: :)
04:57 AM rue_mohr: wait geometry
04:57 AM rue_mohr: now your thinking
04:57 AM rue_mohr: I shouldn't be its 3aM!
04:57 AM rue_mohr: nother cupa' tea then?
04:57 AM rue_mohr: no, no! I want to sleeep
04:58 AM rue_mohr: no you dont, sleep is for the week
04:58 AM veverak: you should sleep
04:58 AM rue_mohr: hah, funny
04:58 AM veverak: brain tha tis not sleeping is not working correctly
04:58 AM veverak: :)
04:59 AM rue_mohr: veverak, if I'm given 3 points, and the ratio of 3 radii from those points that intersect at a point, how to I calc where the point is!!!!
04:59 AM veverak: are you sure they actually intersect?
05:00 AM veverak: anyway
05:00 AM rue_mohr: he has to use gerometry, and then scale the result to find the position
05:00 AM veverak: two points, two radius - makes two circles - they intersect at two points - you have two candidate points
05:00 AM veverak: use the third point/radius to select between those two
05:00 AM rue_mohr: they are ratios of radii from the 3 base points, there is a radius that you apply and the 3 radii WILL hit the same point
05:00 AM veverak: oh, I see
05:01 AM rue_mohr: you do not have the radii, you have the ratio between the radii
05:01 AM rue_mohr: aka, 1, 1.4, 1.3
05:01 AM veverak: yeah, I see now
05:01 AM rue_mohr: mmm
05:02 AM veverak: wait
05:02 AM veverak: you are looking for one value
05:02 AM rue_mohr: the xy point they intersect at
05:03 AM veverak: nope
05:03 AM veverak: I think you care only about the radius no?
05:03 AM veverak: (at first phase)
05:03 AM veverak: (you can get the point later easily)
05:03 AM rue_mohr: I dunno,
05:03 AM veverak: you should be able to write few equations that holds with some radius 'r'
05:03 AM veverak: and formulate 'r = ...' out of it
05:03 AM veverak: I think
05:04 AM rue_mohr: it looks like a geometry problem, you can work out the radii because you know the distances bwetwwn the 3 opints
05:04 AM rue_mohr: I suppose then knowing the radii you can to a two-circle intersection and thats your xy
05:04 AM veverak: yup
05:05 AM rue_mohr: but its one of those damn circlular geometric problems
05:07 AM rue_mohr: rue keeps whispering the word 'vectors' in my ear like its supposed to help me to not be using cartesian
05:07 AM rue_mohr: hey wait
05:07 AM rue_mohr: if I have a triangle, with a known side, and a ratio of the other two sides
05:08 AM rue_mohr: ... then I dont know squat
05:09 AM rue_mohr: oh, but what I do get is a line that has an intersection and it perpendicular
05:09 AM rue_mohr: ooooh
05:10 AM rue_mohr: I can take the ratio of the two unknown edges, flatten it to a point on the known edge, rotate it 90,
05:10 AM rue_mohr: do that 2x and find the intersection of the two lines
05:11 AM rue_mohr: hey my 2d library can do that
05:12 AM rue_mohr: for some reason that dosn't work for the 3d solution tho
05:12 AM rue_mohr: so we missed something
08:30 AM veverak: I hope rue_mohr finally went to bed
02:05 PM rue_mohr: ok, so
02:05 PM rue_mohr: 3 ratios, 3 points
02:05 PM rue_mohr: and a mystery
02:06 PM rue_mohr: ok no mystery I see it now
02:12 PM rue_mohr: A 55.5,101.5
02:13 PM rue_mohr: B 114.5, 23
02:13 PM rue_mohr: C 7, 18.5
02:14 PM rue_mohr: M (manipulator, I dunno) 67.0624, 48.5928
02:26 PM Hamilton: rue_mohr, what are you doing?
02:27 PM rue_mohr: seeing if I can solve 3d delta positioning
02:27 PM rue_mohr: on my own..
02:27 PM rue_mohr: without using sphere intersections
02:27 PM Hamilton: Is it about manipulators?
02:28 PM rue_mohr: I want to make a haptic thing
02:28 PM rue_mohr: I got interested in the math
02:29 PM rue_mohr: suddenly z seems really easy
02:29 PM rue_mohr: ok, anyhow
02:29 PM Hamilton: Can't you use robotic toolboxes in Matlab for example>
02:30 PM rue_mohr: hell no
02:30 PM rue_mohr: I'm going for a milinal weight solution
02:30 PM rue_mohr: minimal
02:31 PM rue_mohr: I'm going to think about it instead of throwing an insanely huge peice of bloatware at it
03:22 PM patr0clus is now known as s3nd1v0g1us
03:27 PM rue_mohr: Intersection is: 24.967, 97.757
03:27 PM rue_mohr: well, that didn't work
03:31 PM rue_mohr: Intersection is: -24.045, 126.397
03:31 PM rue_mohr: nope...
03:43 PM rue_mohr: Intersection is: 138.656, 79.684
03:43 PM rue_mohr: nope...
03:51 PM rue_mohr: hmm yea, the waypoints are wrong
04:12 PM rue_mohr: oh no, one of my proofs was wrong
04:13 PM rue_mohr: this weekend is a disaster
04:14 PM zhanx: not all of it
04:17 PM rue_mohr: I'm getting cut down a bit too much
04:17 PM rue_mohr: nothin workin
04:17 PM rue_mohr: dunno howmuch more energy I can keep expending without a payoff
04:26 PM veverak: aaaand interaction with robot done
04:26 PM veverak: or I hope so
04:26 PM * veverak is compilling
04:46 PM veverak: rue_mohr: https://imgur.com/a/8REZd37
04:46 PM veverak: test interface for motion planner
05:18 PM rue_mohr: https://web.stanford.edu/group/sailsbury_robotx/cgi-bin/salisbury_lab/wp-content/uploads/2013/04/ssHaptic.png
05:19 PM rue_mohr: it has to be a university project, that angle iron is milled from a billot
05:19 PM rue_mohr: I wonder why its not strung
05:19 PM rue_mohr: maybe they blew the paths
05:20 PM rue_mohr: or ran out of budget for having used $1000 in aluminum billot to make $30 worth of angle iron
05:22 PM rue_mohr: interesting use of laser cut wood to make an adapter plate to mount the encoder to the motor
05:22 PM rue_mohr: there is an amazing amount of contrast in that image
05:23 PM rue_mohr: rue $10 says theres an arduino mounted to the back of it
05:23 PM rue_mohr: :)
05:23 PM rue_mohr: na, I bet you its two nxt controllers
05:24 PM rue_mohr: ok we need a fun project we can finish soon
05:24 PM rue_mohr: christmas lights?
05:25 PM rue_mohr: we could do that change to the cnc program for the paint sprayers
05:25 PM rue_mohr: hmm
05:27 PM rue_mohr: all the projects on the list are big
05:27 PM rue_mohr: should we put away the ductwork in the truck?
05:28 PM rue_mohr: hmm
05:28 PM rue_mohr: spaceship?
05:28 PM rue_mohr: simple project!!!!
05:29 PM rue_mohr: is there something simple you havn't done?
05:30 PM rue_mohr: something not a software project....
05:30 PM rue_mohr: drat, I was thinking IIR filter
05:30 PM rue_mohr: you wanted to do a fir filter too
05:31 PM zhanx: rue_mohr, you will approve of this print
05:32 PM rue_mohr: ? ok
05:32 PM zhanx: its clean, no excess, no deviation
05:33 PM rue_mohr: a just-do-it project, no figuring out
05:33 PM rue_mohr: hmm
05:34 PM zhanx: I made a 2x2 test tube holder
05:34 PM rue_mohr: we have like 6 hours
05:34 PM zhanx: openscad
05:34 PM rue_mohr: test an idea?
05:34 PM zhanx: yep
05:35 PM rue_mohr: ok, lets fix the hall lights
05:35 PM zhanx: its a good test, thin wall 4 tubes
05:35 PM zhanx: BOILER?
05:36 PM rue_mohr: zhanx, I hope its behaviour gets better as you go
05:36 PM veverak: so
05:36 PM veverak: four legged robot
05:36 PM veverak: what about diferent front legs than back legs
05:37 PM zhanx: what about all legs equal with nothing up or down?
05:41 PM veverak: ?
05:43 PM zhanx: walks on 4 walks on 2
06:22 PM patr0clus is now known as s3nd1v0g1us
06:24 PM durrf2 is now known as therealdurrf
08:08 PM patr0clus is now known as s3nd1v0g1us
10:33 PM JessicaRN: has anyone in here made a solenoid?
10:35 PM JessicaRN: hey folks, I'm trying to make a push/pull solenoid that will actuate two different devices, one one either side of the coil. I don't want to use a spring for the return. What I'm thinking of doing is place my coil around a hollow iron core and then use a rare earth magnet as the plunger. I believe that when I energize the coil in one polarity the magnet will move one direction. When I reverse the voltage, the magent will rev
10:35 PM JessicaRN: Am I missing something?
10:48 PM rue_mohr: hi
10:49 PM rue_mohr: sounds doog
10:49 PM rue_mohr: ugh
10:49 PM rue_mohr: sounds good, have you heard of a 'voice coil'?
10:49 PM rue_mohr: JessicaRN, if your still here
11:00 PM JessicaRN: here now
11:00 PM JessicaRN: Yeah, like what is used on a speaker
11:00 PM JessicaRN: or a hard drive
11:00 PM rue_mohr: ok, its important that you scroll up and read more than the last thing I said
11:00 PM rue_mohr: ok, its important that you scroll up and read more than the last thing I said
11:01 PM rue_mohr: its also important to answer all the questions that were asked, not just the last one
11:01 PM JessicaRN: rue_mohr: ummm.... I see all the text between my initial question and your response. What am I missing?
11:02 PM rue_mohr: your missing answering the question
11:03 PM JessicaRN: your question was " have you heard of a voice coil". My asnwer was, "yeah, like what is used on a speaker".... What did I miss?
11:07 PM rue_mohr: erp, no thats on me
11:07 PM rue_mohr: ok, so using a voicecoil you can control the position of the core
11:08 PM rue_mohr: using the current, but you typically have some feedback
11:09 PM JessicaRN: ok, but if I just use a standard wound solenoid coil and reverse the polarity at a high freq, wont my shaft just shutter back and forth?
11:10 PM JessicaRN: which is what I want. the back and forth thing
11:12 PM rue_mohr: yup
11:12 PM rue_mohr: if your not worred about the exact position, your fine
11:14 PM JessicaRN: I'm not. the shaft will be held between two diaphragms that are each part of diaphragm pumps.
11:15 PM JessicaRN: My thought was that I could set up a harmonic motion that would improve the efficiency of the two pumps
11:16 PM JessicaRN: liek a quartz crystal being kept in motion with just a few small bursts of energy. Just on a larger scale
11:21 PM rue_mohr: well, your on a fine track then
11:22 PM JessicaRN: cool. ty. i just wanted some outside validation before I spent too many hours building this