Work bench and bot note:
the elbow servo is missing
(took a call to hitec to find a replacement for
About a week ago we ordered a Lynxmotin (link) tracked chassis and AL5D arm and it came in the mail yesterday. Today we assembled the chassis, arm and bolted on the arm assembly. Fist impressions of the lexan framed track kit are of high quality and durablity, however it only has about and inch of ground clearance. This is fine for flat terrain but will present problems on mixed ground. The base of the arm is ABS plastic and the other components are aluminium brackets and fittings. We got the hardware only kit so as to upgrade to only metal geared servos.
The ultimate goal of this bot is to test and prototype passive sensing algorithms for navigation. Most robots that are aware of their surroundings do so by "active" sensing with either radar or sonar beams that are transmitted and reflected off of surfaces, or using beacon technology like GPS. These are reliable methods for orienteering but have limed range and are susceptible to interference and spoofing (read how Iran stole a spy drone, unconfirmed) There are plenty of inexpensive camera kits that include line sensing and object tracking on-board however the crux of the challenge is to interlace various frames to build a basic 3d environment using only a microprocessor architecture and an inertial sensor for hints. Case in point: imagine deploying and EOD bot during a complex attack. Once the bot has reached its goal and done its job, the last thing you want to do is drive it all the way back to where it started. The EOD tech would rather be on his rifle ready for a secondary attack - while the bot automatically 'comes home.' Or imagine a lightweight quad copter that automatically follows an unmounted squad and returns to the Humvee recharge. This would make battlefield robotics much easier to use and intuitive for the soldier to effectively use. In a civilian setting imagine a robotic assistant that followed you wherever you may go; no additional programming or beacon signals required.
Initially, the control electronics will be Arduino; we plan on switching to a beagle board once we get the hardware tested and the basics out of the way. Robot porn to follow:
From: Bleeping Computer
BleepingComputer Review:ComboFix is a program, created by sUBs, that scans your computer for known malware, and when found, attempts to clean these infections automatically. In addition to being able to remove a large amount of the most common and current malware, ComboFix also displays a report that can be used by trained helpers to remove malware that is not automatically removed by the program.
Please note that running this program without supervision can cause your computer to not operate correctly. Therefore only run this program at the request of an experienced helper.
For those who wish to help finance the author's work, he is accepting contributions via Paypal. You can contribute by clicking on the following image:
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Devotion to Duty
-Original can be found here
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Define or add a No Nat ACL
ASA(config)# access-list nonat extended permit ip <local access range> <subnet> <vpn access range> <subnet>
Apply the No Nat ACL
ASA(config)# nat (inside) 0 access-list nonat
Define your Split Tunnel ACL
ASA(config)# access-list splitVPN standard permit <local access range> <local access subnet>
Define the Group Policy for the WebVPN
ASA(config)# group-policy GP_SSLVPN internal
ASA(config)# group-policy GP_SSLVPN attributes
ASA(config-group-policy)# vpn-tunnel-protocol svc webvpn
ASA(config-group-webvpn)# split-tunnel-policy tunnelspecified
ASA(config-group-webvpn)# split-tunnel-network-list value splitVPN
ASA(config-group-webvpn)# split-dns value <dns domain (Ex: interubernet.com>
ASA(config-group-webvpn)# dns-server value <ip address>
Define a DHCP pool for the clients to use
ASA(config)# ip local pool SSL_Pool <VPN Range> mask <Range Mask>
Define a local user to use for the VPN
ASA(config)# username <username> password <password> privilege 0
ASA(config)# username <username> attributes
ASA(config-username)# vpn-group-policy GP_SSLVPN
ASA(config-webvpn)# enable outside
ASA(config-webvpn)# svc image disk0:/<anyconnect image file name> 1
ASA(config-webvpn)# svc image disk0:/<2nd anyconnect image file name (for Mac or Linux)> 2
ASA(config-webvpn)# svc enable
Define the tunnel group
ASA(config)# Tunnel-group TG_SSLVPN type remote-access
ASA(config)# Tunnel-group TG_SSLVPN general-attributes
ASA(config-tunnel-general)# default-group-policy GP_SSLVPN
ASA(config-tunnel-general)# address-pool SSL_Pool
Link the tunnel group to WebVPN
ASA(config-webvpn)# tunnel-group-list enable
ASA(config)# tunnel-group TG_SSLVPN webvpn-attributes
ASA(config-tunnel-webvpn)# group-alias AnyConnect enable
Wrap it up by saving the config
After you have finished entering the above commands you should have the base AnyConnect solution configured. If you browse to the secure (https://) external address of your ASA you should get the login page for the WebVPN Portal. Keep in mind that we haven’t configured a certificate for the ASA yet, so anyone browsing to your portal page will get an error indicating that the certificate is invalid. The ASA will use a self generated certificate any time it doesn’t have a third party one defined. The VPN solution will work fine without a certificate but clicking on all of the error messages can be annoying. In one of our next posts we will install a certificate from a third part CA so we don’t get the annoying security warnings.