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  • Differential Gears for Lego Robot Fred Arrived!

    As you can see in the picture above, I finally received my assortment of gears and rods from ebay seller specialty_bricks. Through no fault of his own, it looked like I wasn’t going to receive my gears at all. The seller shipped the gears in a nice polybag envelope with First Class Parcel and Delivery Confirmation with the USPS. Unfortunately, they were confirmed as delivered last Friday, but apparently at someone else’s house. The person who received my package was kind enough to cut through the poly bag to see what was inside before taping it back up and giving back to the postal carrier for delivery at my house. I wish that I knew the kind soul who thought it was okay to open a package addressed to a different address than his or her own, and I think it’s ironic that Delivery Confirmation, which is meant to ensure delivery at the correct address, actually put me in a worse situation as a claimant for lost mail, because as far as the postal service was concerned when I called the local office was that their computer system showed that it was delivered and the postal carrier claimed to have delivered it at the right house. I have had many adventures with lost, misdelivered, and stolen packages, but I don’t think I have ever been in a catch-22 like this one.

    In any event, the gears are now safely here, and the one that I needed the most is this one below–a differential gear. Using two of these, I will be able to use two motors to drive and steer the robot with only two wheels.

    I probably won’t have the time to work on Fred again until after SFRA. I will post updates as they are available, and if you live around Kent, you’re welcome to stop by and play with Fred soon.

  • Lego Power Functions and Building a Remote Controlled Robot

    I have been interested in Lego’s Mindstorms robotics systems: RCX, NXT, and NXT 2.0, but I have been wary of investing the $200-300 in the base system without knowing if I could build a robot that would be interesting to me. Brick sorters, Rubix cube solvers, printers, etc. are interesting, but I would like to create a more intelligent version of Tomy’s Omnibot line or Heathkit’s HERO. I imagine having a robot that can navigate a space, learn it, and interact in meaningful ways with that environment. Perhaps I am thinking of the Roomba without the vacuum and brushes and with more pizzazz.

    Robotics is a series of interconnected systems that operate together to fulfill programmed functions and behaviors. To build a robot, you have to design the robot’s body and mechanical functions. How will it move? What kind of drive system (for those that move) will it employ? Next, you have to consider how will the robot learn from its environment? What kind of sensors will it use? How many sensors are needed to effectively navigate a space? What sensors will provide the robot special functions? Finally, you have to program the robot to control its body in response to sensor stimuli and execute other operations with arbitrary timings or responsive subroutines. What do you want the robot to do in a given circumstance? Is there a way to give the robot a series of choices in a given circumstance? How can it be made to decide what to do with a series of choices? Etc. In short, building robots that do more than very specialized functions can be an overwhelmingly complex endeavor.

    With any elaborate problem, I like to break things down into its constituent parts and learn by doing. As such, my first project is to build a remotely controlled robot platform so that I can learn design principles with Lego Technic bricks. More importantly, I need to learn how to use gears and motors to do work efficiently and reliably.

    In my first robot iteration, I decided to build a carrier robot that is inspired by the Tomy Omnibot line. Fred is a simple robot that carries a tray and has the ability to move around through a two motor powered dual differential drive system [based on the Hacienda Robotics Program’s compact design found here].

    The system will be powered by Lego’s Power Functions. I ordered two small motors, a battery pack, remote control, IR receiver, and lights from Lego. In the photo’s of Fred, you can see that I constructed his body so that the battery pack easily slides into a carrier so that it need not be locked down and it can easily be removed to replace its 6 AA batteries.

    Eventually, Fred’s head will swing back and forth using a piston drive that takes rotational power from the forward drive gears. I have built a prototype of this system pictured below.

    As you probably noticed in the pictures above, I don’t have the differential gears in Fred’s drive platform. Unfortunately, my local mail carrier delivered them to the wrong house or they were stolen. USPS Delivery Confirmation shows that the package was delivered somewhere on Friday, June 18 while Y and I were at home, but we never saw the package. Until I know for certain that I won’t receive those gears, I have put further development on hold until after the SFRA conference and a trip to visit my folks in July. Fred is sitting on a bookshelf surrounded by the Power Functions gear.

    Eventually, I will take what I learn from building Fred and scale up to a larger robot that will use the NXT 2.0 Intelligent Brick to control itself. I will obtain experience with sensors and programming with the Mindstorms set [more info on this here]. I would like a robot to do more than carry things around the house, such as playing with Miao Miao, so I imagine his exterior design will change as I move forward with the project.

    See more pictures of the nearly-completed Fred in the gallery below. Your thoughts, suggestions, and helpful links are welcome in the comments.

  • James Blish’s A Case of Conscience

    After a wonderful dinner at Mack and Sue Hassler’s house with my wife Y and our new friend Carter Kaplan, Mack lent me a copy of James Blish’s A Case of Conscience (1958). Mack knew that I had already presented a paper on James Cameron’s Avatar, and that I would present a revised version of that essay at the upcoming SFRA 2010 Conference in Carefree, AZ next week. He told me that Blish’s novel was related to Avatar either as inspiration or merely part of the cultural discursive currents that made Avatar possible today.

    A Case of Conscience is about a group of four Earth men on the distant planet of Lithia. They are each scientists in various fields who are studying the planet to make a recommendation to the UN whether Lithia should be made a safe port for future travel there by humanity. What drives the novel is the group of people largely absent from the narrative–the native Lithians. The adult Lithians, who stand 12′ tall in reptilian bodies and have a highly developed culture, cater to their four Earth guests who carry on their deliberations without any input from the Lithians themselves. It is only the innocuous gift of Chtexa to Father Ramon Ruiz-Sanchez, the Jesuit biologist and narrator of the novel, of his not yet ‘born’ child Egtverchi that the Lithians are given a voice of sorts that is still unheard by the humans who play host. Ultimately, the humans are arrogant towards the Lithians and their culture. They cut down their “Message Tree” which enables their global network of navigation and communication, and through their experiments they destroy the entire planet after Egtverchi’s return. Most importantly, Ruiz, who submits the heretical belief aligned with Philip K. Dick’s cosmogony that the adversary or demiurge has creative abilities and that the seemingly perfect Lithian world and its people are a trap for humanity, cannot see that it is humanity that is at fault for their blindness to the possibilities in a vast cosmos for other points of view and other paradises that are not imbued with human-Christian dogmatic trappings.

    Ruiz is an interesting character who tries to work out the unique case of conscience of Lithia. He and his other evaluators of Lithia are each blinded by his own cultural and educational restraints. These humans who are on Lithia for some time never get around to studying the Lithians themselves, and it is only at the end that Ruiz learns how the Lithians procreate and develop into adults. This realization comes to Ruiz as a hidden danger, and a fact that leads him to think of the Lithians as creations of the Adversary/Satan rather than souled creations of Almighty God. Their perfections, in Ruiz’s worldview and experience, can only be aberrations of the design that he believes was put into effect on Earth. Even at the end, as he is intoning the rites of exorcism, he cannot see that it is human beliefs that has colored what Lithia is and how humans see Lithia.

    A Case of Conscience is a superb example of postcolonial science fiction. It starts off with the power of an Asmovian hard science fiction combined with the social. Lithians have a well developed society that the humans, even Ruiz who knows their language, does not actively work to engage. Even this seemingly interested character does not leave his plant specimens long enough to realize that the Lithians are far more interesting and important to any decision arrived at by the visiting human contingent than the other studies these humans are undertaking. Back on Earth, the social constraints of living underground, which comes about from the Cold War and mirroring Dick’s The Penultimate Truth, explodes when Chtexa’s child Egtverchi incites the human outsiders of society to revolt.

    Egtverchi is an outsider to human culture, but he is still a product of human culture. The Lithians do carry a certain amount of memories and ingrained abilities in their DNA, but Egtverchi’s acculturation and learning, particularly his developmental years under observation and scientific examination, mold him into a being divorced from his own people who can pass judgement on humanity as excluding certain individuals from the decision making process and full enjoyment of modern life. However, Ruiz, Michelis, and the others cannot see this. They cannot see that Egtverchi is a creation of humanity and it is not his Lithian-ness that makes him capable of inciting unrest on Earth. They cannot see that humanity had passed judgement on Lithia without understanding the Lithians or even caring that the Lithians had a society and culture or that the Lithians have agency and sovereignty. Ruiz and the others, even the Asian female scientist Liu Meid, use their own discursive background to assert authority over Egtverchi and the Lithians.

    A Case of Conscience is a powerfully moving novel that should be more widely read, not necessarily for its connection to Avatar, but as another science fiction work that challenges humanity to not be so bullheaded and domineering when it comes to excluded persons or groups. This novel would be a strong text for a postcolonialism course as well as other courses in which hegemony of various colors is challenged, critiqued, and questioned. It is a hard science fiction novel, which means that Blish does spend some time explaining his science. Nevertheless, his character development of Ruiz in particular carries the novel. Ruiz is depicted as a likable person who wants to do right, but he cannot see right outside of his situation as a Jesuit scientist. He requires his beliefs in Christianity to provide a basis for his logic. As such, his logic is human and male centric. The Lithians lose their appealing interest to him when he fits them into his domineering logic of Christian belief. For him, that belief cannot change, even allowing for his heresies, so the Lithians must be made to serve a particular preselected role within his belief system. I hope that you will read this novel, and in doing so, find yourself disheartened with human chauvinism. You may also find some relevant threads connecting the novel to America’s current conquests in Iraq and Afghanistan.

    And a final question: How many science fictions have Jesuit or religious order protagonists? I’m thinking of Miller’s A Canticle for Leibowitz, Stephenson’s Anathem, and MacDonald’s Brazyl.

  • Reading List for PhD Minor Exam on the Works of Philip K. Dick

    In June 2010, I will take my three PhD exams in the Kent State University English Literature PhD program.  For these exams, I convened a committee of trusted professors, each administering one exam. I choose to take my exams in these areas: 20th Century American Literature (administered by Kevin Floyd), Postmodern Theory (administered by Tammy Clewell), and the Philip K. Dick Canon (administered by Donald “Mack” Hassler). Below, I have included my Philip K. Dick reading list. Go here to read my Postmodern Theory exam list, and here to read my 20th Century American Literature exam list.

    PhD Minor Area Exam:  Philip K. Dick’s Fiction and Non-Fiction, and Critical Works

    Director:  Donald “Mack” Hassler

    Novels by Philip K. Dick, organized by date of composition.

    1. Dick, Philip K. Gather Yourselves Together.  1950.  1994.
    2. —. Voices from the Street.  1952.  2007.
    3. —. Vulcan’s Hammer .  1953.  1960.
    4. —. Dr. Futurity.  1953.  1960.
    5. —. The Cosmic Puppets.  1953.  1957.
    6. —. Solar Lottery.  1954.  1955.
    7. —. Mary and the Giant.  1954.  1987.
    8. —. The World Jones Made.  1954.  1956.
    9. —. Eye in the Sky.  1955.  1957.
    10. —. The Man Who Japed.  1955.  1956.
    11. —. The Broken Bubble.  1956.  1988.
    12. —. Puttering About in a Small Land.  1957.  1985.
    13. —. Time Out of Joint.  1958.  1959.
    14. —. In Milton Lumky Territory.  1958.  1985.
    15. —. Confessions of a Crap Artist.  1959.  1975.
    16. —. The Man Whose Teeth Were All Exactly Alike.  1960.  1982.
    17. —. Humpty Dumpty in Oakland.  1960.  1986.
    18. —. The Man in the High Castle.  1961.  1962.
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    19. —. We Can Build You.  1962.  1972.
    20. —. Martian Time-Slip.  1962.  1964.
    21. —. Dr. Bloodmoney, or How We Got Along After the Bomb.  1963.  1965.
    22. —. The Game-Players of Titan.  1963.  1963.
    23. —. The Simulacra. 1963.  1964.
    24. —. The Crack in Space.  1963.  1966.
    25. —. Now Wait for Last Year.  1963.  1966.
    26. —. Clans of the Alphane Moon.  1964.  1964.
    27. —. The Three Stigmata of Palmer Eldritch.  1964.  1965.
    28. —. The Zap Gun.  1964.  1967.
    29. —. The Penultimate Truth.  1964.  1964.
    30. —. Deus Irae.  1964.  1976.  (Collaboration with Roger Zelazny).
    31. —. The Unteleported Man.  1964.  1966.  (Republished as Lies, Inc. in 1984).
    32. —. The Ganymede Takeover.  1965.  1967.  (Collaboration with Ray Nelson).
    33. —. Counter-Clock World.  1965.  1967.
    34. —. Do Androids Dream of Electric Sheep? 1966.  1968.
    35. —. Nick and the Glimmung.  1966.  1988.
    36. —. Ubik.  1966.  1969.
    37. —. Galactic Pot-Healer.  1968.  1969.
    38. —. A Maze of Death.  1968.  1970.
    39. —. Our Friends from Frolix 8.  1969.  1970.
    40. —. Flow My Tears, The Policeman Said.  1970.  1974.
    41. —. A Scanner Darkly.  1973.  1977.
    42. —. Radio Free Albemuth.  1976.  1985.
    43. —. VALIS. 1978.  1981.
    44. —. The Divine Invasion.  1980.  1981.
    45. —. The Transmigration of Timothy Archer.  1981.  1982.

    Short Fiction by Philip K. Dick, needs elaboration by individual stories.

    1. The Philip K. Dick Reader.  1997.
    2. Robots, Androids, and Mechanical Oddities:  The Science Fiction of Philip K. Dick.  Eds. Patricia S. Warrick and Martin H. Greenberg.  1984.

    Selected Stories of Philip K. Dick.  2002.

    Non-Fiction by Philip K. Dick

    1. Dick, Philip K.  “The Android and the Human.” Vector:  Journal of the British Science Fiction Association 64 (March/April 1973):  5-20.
    2. —. The Dark Haired Girl.  1988.

    Critical Works

    1. Fitting, Peter.  “Ubik:  The Deconstruction of Bourgeois SF.” Science Fiction Studies 2:1 (1975).  19 October 2007 <http://www.depauw.edu/sfs/backissues/5/fitting5art.htm&gt;.
    2. Haney, William S. II. Culture and Consciousness:  Literature Regained.  Lewisburg:  Bucknell University Press, 2002.
    3. Kucukalic, Lejla. Philip K. Dick:  Canonical Writer of the Digital Age.  New York:  Routledge, 2009.
    4. Mackey, Douglas A. Philip K. Dick.  Boston:  Twayne Publishers, 1988.
    5. Palmer, Christopher. Philip K. Dick:  Exhilaration and Terror of the Postmodern.  Liverpool:  Liverpool UP, 2003.
    6. On Philip K. Dick:  40 Articles from Science-Fiction Studies.  <more information>.
    7. Sutin, Lawrence. Divine Invasions: A Life of Philip K. Dick.  New York:  Carroll & Graf, 2005.
    8. Suvin, Darko.  “P.K. Dick’s Opus:  Artifice as Refuge and World View.” Science Fiction Studies 2:22 (1975).  19 October 2007 <http://www.depauw.edu/sfs/backissues/5/suvin5art.htm&gt;.
    9. Vest, Jason P. The Postmodern Humanism of Philip K. Dick.  Lanham, MD:  Scarecrow Press, 2009.
    10. Warrick, Patricia S. The Cybernetic Imagination in Science Fiction. Cambridge: MIT Press, 1980.
    11. —.Mind in Motion:  The Fiction of Philip K. Dick.  Carbondale and Edwardsville:  Southern Illinois UP, 1987.
  • Reading List for PhD Minor Exam in Postmodern Theory

    In June 2010, I will take my three PhD exams in the Kent State University English Literature PhD program.  For these exams, I convened a committee of trusted professors, each administering one exam. I choose to take my exams in these areas: 20th Century American Literature (administered by Kevin Floyd), Postmodern Theory (administered by Tammy Clewell), and the Philip K. Dick Canon (administered by Donald “Mack” Hassler). Below, I have included my Postmodern Theory reading list. Go here to read my 20th century American literature exam list, and here to read my Philip K. Dick exam list.

    PhD Minor Exam Area:  Postmodern Theory

    Director:  Tammy Clewell

    Texts:

    1. Baudrillard, Jean. Simulacra and Simulation.
    2. Berman, Marshall. All That Is Solid Melts Into Air.
    3. Bertens, Hans. The Idea of the Postmodern:  A History.
    4. Broderick, Damien. Reading by Starlight: Postmodern Science Fiction.
    5. Bukatman, Scott. Terminal Identity:  The Virtual Subject in Postmodern Science Fiction.
    6. Butler, Judith. Bodies That Matter.
    7. de Certeau, Michel. The Practice of Everyday Life.
    8. Deleuze, Gilles and Félix Guattari. A Thousand Plateaus:  Capitalism and Schizophrenia.
    9. Derrida, Jacques. Of Grammatology.
    10. Eagleton, Terry. The Illusions of Postmodernism.
    11. Foucault, Michel. The History of Sexuality Volume 1:  An Introduction.
    12. Habermas, Jürgen.  “Modernity: An Incomplete Project.”
    13. Haraway, Donna. Modest_Witness@Second_Millennium.FemaleMan©Meets_OncoMouse™: Feminism and Technoscience.
    14. —. Simians, Cyborgs and Women: The Reinvention of Nature.
    15. Harvey, David. The Condition of Postmodernity.
    16. Hassan, Ihab. The Postmodern Turn.
    17. Hayles, N. Katherine. How We Became Posthuman: Virtual Bodies in Cybernetics, Literature, and Informatics.
    18. Huyssen, Andreas. After the Great Divide.
    19. Hutcheon, Linda. A Poetics of Postmodernism: History, Theory, Fiction.
    20. Jameson, Fredric. Postmodernism:  Or, The Cultural Logic of Late Capitalism.
    21. —. Archaeologies of the Future: The Desire Called Utopia and Other Science Fictions.
    22. Latour, Bruno. We Have Never Been Modern.
    23. Lyotard, Jean-François. The Postmodern Condition:  A Report on Knowledge.
    24. McHale, Brian. Postmodernist Fiction.
    25. Norris, Christopher. What’s Wrong with Postmodernism?
    26. Perryman, Mark ed. Altered States: Postmodernism, Politics, Culture.
    27. Poster, Mark. The Information Subject.
    28. Vattimo, Gianni. The Transparent Society.
    29. Wilde, Alan. Horizons of Assent: Modernism, Postmodernism, and the Ironic Imagination