Paul Bupe, Jr

R&D Case Study: Developing the OptiGap Sensor System

Reading Time: 9 minutes

Update: You can follow the discussion of this article on HN at this link!

This article explores the research and development journey behind my new sensor system, OptiGap, a key component of my PhD research. I’m writing this in a storytelling format to offer insights into my decision-making process and the evolution leading to the final implementation. It should hopefully provide a glimpse into the sometimes-shrouded world of PhD research and may appeal to those curious about the process. For a deeper dive into technical specifics, simulations, and existing research on this subject, my dissertation is available online here.

Disable TP-Link Tapo Camera IR LEDs

Reading Time: 3 minutes

This post quickly covers how I disabled (removed) the IR LEDs on several Tapo C110 cameras I own. This was to use them behind a window without the IR LEDs’ glare ruining the video. The Tapo C110 is an excellent small WiFi security camera, boasting up to 2K resolution, local continuous SD card recording, and two local RSTP streams. Most importantly, it works perfectly fine without an internet connection once configured, fitting my use-case. A significant drawback of the camera is the need to completely disable the night vision mode to turn off the IR LEDs. This means you can’t use the night vision mode while the camera is behind a window. Thankfully its easy to disable Tapo camera IR LEDs!

Soldering to Shape Memory Alloy (SMA) Wire is Really Hard

Reading Time: 2 minutes

Over the past couple of years we’ve been working on a rather cool new class of robots called Soft Curved Reconfigurable Anisotropic Mechanism(s), or SCRAM, under this National Science Foundation EFRI project. For my latest paper, Electronically Reconfigurable Virtual Joints by Shape Memory Alloy-Induced Buckling of Curved Sheets, I spent a lot of time working with shape memory alloy (SMA) wire while developing a SCRAM device. Much of this time was spent trying to figure out exactly how to solder to SMA wire, specifically a nickel (Ni) – titanium (Ti) alloy called nitinol. My conclusion after all that time? Soldering to SMA wire is really hard!

Easy Raspberry Pi Pico Microcontroller C / C++ Programming on Windows

Reading Time: 6 minutes

This tutorial covers setting up a pretty painless Raspberry Pi Pico C / C++ SDK development workflow on Windows using the Windows Subsystem for Linux (WSL) and Visual Studio Code (VS Code) with IntelliSense code completion!

With the Raspberry Pi Pico microcontroller being so new the current C / C++ SDK development process on Windows is a bit cumbersome. This tutorial should hopefully give you some ideas on how to go about programming the Raspberry Pi Pico the easy way with WSL and VS Code.

Note: This is not a beginner tutorial and assumes some minimal development experience.

Raspberry Pi Headless Access Using Built-in Serial Console

Reading Time: 3 minutes

It’s not very well known that the Raspberry Pi has a built-in serial console that provides a fully working Linux terminal over serial. This allows for network-free headless access, including the absolutely necessary tab auto-complete! This feature is extremely useful for those projects that don’t use a screen or need network access. It’s also quite necessary when you are using a Pi as a wireless access point for a LAN without internet sharing.

Indoor Localization – An Introduction

Reading Time: 6 minutes

Localization, in the context of robotics, is the process of determining the location of something within an environment. This article serves as a basic introduction to indoor localization, covering the commonly used techniques and technologies.

Reflow Soldering in Unmodified Toaster Oven?

Reading Time: 2 minutes

I’ve been designing a 4-layer PCB for a product for a few months now and I finally got to the stage of assembling the prototype after the PCB and components arrived. Most of the passive components I used were 0603 surface mount parts so reflow soldering was the only viable option (if I wanted to maintain my sanity).

Since I don’t have a proper reflow oven, I decided to use the next best thing I own: No not my hot air rework station, a toaster oven!

Designing an Advanced Autonomous Robot: Goose

Reading Time: 10 minutes

Update: This article was featured on Hackaday.com and on SDP/SI’s “Featured People and Organizations” page.

Goose is a mobile autonomous robot I designed and built over 6 months in my spare time for a robotics competition. This was a fully custom and challenging build that tested my competence in electrical engineering, mechanical engineering, control systems, and computer science.

Instead of focusing heavily on the competition, the goal of this article is to briefly go through the system design process. I’ll touch on my various design choices and discuss how I chose to address some of the common issues in designing an autonomous robot. This is not a tutorial (those will be coming later) but more of a case study.

4-Layer PCB Design in KiCad 5: Quick Thoughts

Reading Time: 2 minutes

I recently had to design a 4-layer PCB and I finally decided to give KiCad another try (after hearing great things about version 5). I’ve known about KiCad for years and even tried it once a few years back but it never felt quite “there” yet. After spending a few months designing a 4-layer board I have to say it has certainly won me over.