/robowaifu/ - DIY Robot Wives

Advancing robotics to a point where anime catgrill meidos in tiny miniskirts are a reality.

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F = ma Robowaifu Technician 12/13/2020 (Sun) 04:24:19 No.7777 [Reply] [Last]
Alright mathematicians/physicians report in. Us Plebeians need your honest help to create robowaifus in beginner's terms. How do we make our robowaifus properly dance with us at the Royal Ball? >tl;dr Surely in the end it will be the laws of physic and not mere hyperbole that brings us all real robowaifus in the end. Moar maths kthx.
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I went to google, in desperation, a last resort, and used their translate. He has a site at the school with his publications listed but...no links to the code. I tried searching for the book + code and all sorts of variations. I'm usually reasonably good at finding things but...a big blank on this code. It's also not on the internet archive. There's a possibility that his code, though not exactly conforming to the book, is in his papers as his book seems to be a summation of his papers. You can find his papers here, http://libgen.rs/scimag/?q=Eduardo+Bayro-Corrochano So whatever code you are looking for match the subject with the paper and maybe the code will be in the paper. Or at the least a mathematical representation of what the code is supposed to do.
More searching and I find a page full of software for Geometric Algebra, not his unfortunately but lots. Even in C++. https://ga-explorer.netlify.app/index.php/ga-software/
And look at the publications page for this. It's all about integrating GA with computing and how to go about it. Interesting blurbs, "...Geometric Algebra (GA) in diverse fields of science and engineering. Consequently, we need better software implementations...For large-scale complex applications having many integrating parts, such as Big Data and Geographical Information Systems, we should expect the need for integrating several GAs to solve a given problem. Even within the context of a single GA space, we often need several interdependent systems of coordinates to efficiently model and solve the problem at hand. Future GA software implementations must take such important issues into account in order to scale, extend, and integrate with existing software systems, in addition to developing new ones, based on the powerful language of GA. This work attempts to provide GA software developers with a self-contained description of an extended framework for performing linear operations on GA multivectors within systems of interdependent coordinate frames of arbitrary metric. The work explains the mathematics and algorithms behind this extended framework and discusses some of its implementation schemes and use cases..." another paper, "...Designing software systems for Geometric Computing applications can be a challenging task. Software engineers typically use software abstractions to hide and manage the high complexity of such systems. Without the presence of a unifying algebraic system to describe geometric models, the use of software abstractions alone can result in many design and maintenance problems. Geometric Algebra (GA) can be a universal abstract algebraic language for software engineering geometric computing applications. Few sources, however, provide enough information about GA-based software implementations targeting the software engineering community. In particular, successfully introducing GA to software engineers requires quite different approaches from introducing GA to mathematicians or physicists. This article provides a high-level introduction to the abstract concepts and algebraic representations behind the elegant GA mathematical structure. ..." https://ga-explorer.netlify.app/index.php/publications/ I'm getting the feeling that using this framework GA you can repeat it over and over. Saving computing resources and making all computing in one big scheme that can be repeated with far less resources. Now this is VERY MUCH like that Rebol programming language that I blathered so much on. One of it's BIG strengths is this unifying character of "series list" and the manipulation of them. It's why Rebol can make all these different functions in the software package and still be a megabyte. I see this sort of thing all over the place. I want to emphasize I'm not a math wiz, or even a fizzle, but I'm ok at recognizing patterns. I see a lot of computing doing this sort of thing. Like Plan 9 operating system and the QNX operating system. They use to great effect the idea of making everything in the code pass messages instead of a mish mash of pointers and other such drivel. A counter to show the difference. Linux is old school, mish mash, so it's a huge hair ball of mass and dreckage, While QNX and Plan 9 are light tidy things. L4 microkernel family does this also. In fact it was a dog at speed until they changed it to pass messages then it took off. I think they use a version of this in F-16's as the OS. Now I also know next to nothing about AI but I do know it's a huge mass of matrix manipulations. And it's very likely, like Maxwell's Quaternion calculations, that GA can whittle it down to size. It may be that the same sort of resource compaction can be done in the case of AI with GA also. Or maybe not. One more link https://hackaday.com/2020/10/06/getting-started-with-geometric-algebra-for-robotics-computer-vision-and-more/
>>23145 There's a library for that called opencv. You can do it from scratch if you want though.
>>23143 >>23144 Thanks Grommet! We'll keep looking from time to time. :^) >>23147 Thanks for the info Anon. OpenCV is pretty amazing IMO.

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Sophie Bot STL Files Uploaded Robowaifu enthusiast 07/15/2020 (Wed) 20:08:20 No.4198 [Reply]
I need to sort out her CAD files more before uploading them, but the .STLs are ready. Link to Google Drive shared folder: https://drive.google.com/drive/u/0/folders/1xWilMfWDZnrt30E1Uw7hlWe6JmaigKQF
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not sure what this link was, but without any context and using a url shortener im assuming its cp if this was something on topic, my apologies, but with all these cp bots trying to advertise here we have to be careful
Edited last time by gator on 06/06/2023 (Tue) 15:02:46.
>>22974 Its literately google drive
>>22974 I take it you rm'd a link for us? That's fine if it was suspicious looking, thanks! :^) So, if you were a legitimate poster from our board, please at least explain what a link is, if it's otherwise unclear to an uninitiate. Thanks. >>22975 >Its literately google drive Not having seen it, I can't confirm this one way or another. But I'm uncertain that 'it's G*ogle' is a solid validation Anon.
>>22975 If it was, my bad, since it was behind a link shortener I couldn't tell. Just a single line of text explaining what it was would have been enough for me to tell it was human though. >>22978 Yeah just a single link run through a link shortener, many of which we've outright filtered at this point simply because of how badly the cp posters abuse them. While we obviously won't ban link shorteners, if you're gonna use them making clear it's posted by a human is a good idea, since otherwise it looks nearly identical to the cp bots.
Edited last time by gator on 06/06/2023 (Tue) 22:30:43.
>>22979 Got it. Thanks Gator. :^)

Embedded Programming Group Learning Thread 001 Robowaifu Technician 09/18/2019 (Wed) 03:48:17 No.367 [Reply] [Last]
Embedded Programming Group Learning Thread 001

Greetings robowaifufags.
As promised in the meta thread, this is the first installment in a series of threads where we work together on mastering the basics of embedded programming, starting with a popular, beginner-friendly AVR 8-bit microcontroller, programming it in C on linux.

>why work together on learning and making small projects that build up to the basis of a complete robot control system instead of just posting links to random microcontrollers, popular science robot articles, and coding tutorials and pretending we're helping while cheerleading and hoping others will do something so we don't have to?
Because, dumbass, noone else is going to do it. You know why in emergency response training they teach you to, instead of yelling "somebody call an ambulance!," you should always point to or grab someone and tell that person to do it? Because everyone assumes someone else will do it, and in the end, noone does. Well, I'm talking to YOU now. Yeah, you. Buy about 20 USD worth of hardware and follow the fuck along. We're starting from zero, and I will be aiming this at people with no programming or electronics background.

>I suppose I could get off my ass and learn enough to contribute something. I mean, after all, if all of us work together we can totally build a robowaifu in no time, right?
No, the final goal of these threads is not a completed robowaifu. That's ridiculous. What we will do though, by hands-on tackling many of the problems facing robot development today, is gain practical and useful knowledge of embedding programming as well as a more grounded perspective on things.

>so we're just going to be blinking a bunch of LEDs and shit? lame.
Not quite. We will try to cover everything embedded here: basic I/O, serial communications, servo/motor control, sensor interfacing, analog/digital conversion, pulse-width modulation, timers, interrupts, I2C, SPI, microcontroller-PC interfacing, wireless communications, and more.
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>>22890 >pages are now execute only or no execute. For the uninitiate you could say that this helps keep corrupt (ie, 'hacked') code from executing. So Nagisa, off-topic; but what do you think would be involved in a practical sense of creating a robowaifu system based on OpenBSD? Remember that we have several hard-real-time constraints (though most isn't under this restriction). By this question I mean primarily her onboard systems, not just a home server setup.
>>22891 OpenBSD is the worst OS for real time among the ones I've used, its task scheduler has really bad fairness guarantees and big locks in the kernel can cause most of the kernel's functionality to block while one program uses it. The audio system defaults to 160ms latency and still gets audio drops, on Gentoo Linux I could get ~17-19ms with ALSA and no realtime tweaking. We all have much to gain from portability though. OpenBSD's strong memory protections can catch memory bugs that go unnoticed on every other OS. And while doing that, it's still fast enough that you can actually run your program and test it, you can't use e.g. Valgrind on a typical video game because then it will run at sub-1fps. OpenBSD's pthreads implementation catches destroying mutexes with waiters, mpv has that bug all over, Linux libcs don't do this. This goes for other platforms too, for instance, the diet libc for Linux warns when you use a libc function that makes binaries large, it's good for when you're optimizing binary sizes. I've fixed bugs in programs that I found because I ported the program to MSVC and Microsoft's compiler correctly warned where no other compiler warned.
I'm going to make the flashing leds either tomorrow or the day after tomorrow again.
>>22892 Thanks Anon! Yes that makes sense about realtime. I'm sure we'll figure things out in the end, but r/n it's a big giant puzzle. >We all have much to gain from portability though. Excellent point. It's certainly something to strive for in all our code, to the extent feasible. Certainly during R&D prototyping, I'd say it's a high priority to attempt testing on a wide array of systems. >I ported the program to MSVC and Microsoft's compiler correctly warned where no other compiler warned. They do have a really good debugger system. Ofc some would claim they needed to heh. :^)
>>22895 Please let us know how it goes Anon! :^)

Robowaifu references Anonymous 09/09/2019 (Mon) 00:09:49 No.1 [Reply] [Last]
My favorite robowaifu is Chii. I'd like to see yours.
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>>21953 There's an amazing variety of cute Emmys!
>>21954 there really is
>>22450 Second image appears to be from a different artist?

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Bot Shitposting Bread Robowaifu Technician 07/27/2021 (Tue) 09:59:33 No.11754 [Reply] [Last]
M boy need so many booboo why not just give them otherwise it ll explode like the old chinese emperor or something not getting involved going away giving up some things,trash and whatnot >=== -add thread subject
Edited last time by Chobitsu on 07/27/2021 (Tue) 12:26:28.
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>>22238 >My GPU is busted Bummer. Really sorry to hear that. Can we somehow set up a way to all chip in to help get you a good replacement do you think? You're one of our best AI researchers after all!!
>>22243 I appreciate any help I can get. I just setup a Patreon: https://twitter.com/robowaifudev/status/1653190581580107776 There's a Monero address on the bottom of the about page if anyone is concerned about anonymity
>>22238 >>22257 >8x NVIDIA A100 80 GB 240 1800 GiB 20 TiB $12.00 / hr https://lambdalabs.com/service/gpu-cloud
>>22344 A100 is unnecessary. With OpenDelta modified with gradient checkpointing support, just need RTX 3070s which are $0.10/hr on vast.ai or $0.12/hr for 3060s or $0.18/hr for 3080s. Partition the data (ideally one task per instance), spin up multiple instances and merge the weights after. Optionally, spend some time weighting them accordingly. I don't have code for it yet but it'd be possible to optimize the merge weights to some training data. Have a lot of stuff to do but on Monday I'll clean up and post the training code I made for finetuning 2.7B models on toasters with only 6 GB if anyone wants to give it a shot.
>>22349 >Have a lot of stuff to do but on Monday I'll clean up and post the training code I made for finetuning 2.7B models on toasters with only 6 GB if anyone wants to give it a shot. That sounds excellent Anon! Please do so.

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Robowaifu Media Propaganda and Merchandizing Anon 01/29/2023 (Sun) 22:15:50 No.19295 [Reply]
That Time I Incarnated My Christian Cat Girl Maid Wife in a Short Dress Together we can create the robowaifu-verse! Let's start making media to further our cause. There's tremendous potential for us to reach a wide market and prime minds to accept their future cat grill meidos in tiny miniskirts. We have text based stories floating around but, audio and visuals are paramount to gain a general audience. I will start with a short about a young man building a small cat girl and learning to understand her love. Importantly, she will be very limited, in the same way our first models will be. To set certain expectations. Mahoro is impossible but, the slow and simple robowaifus that can exist have their own charm. Let's show the world the love that will soon exist. --- >thread-related Robowaifu Propaganda and Recruitment (>>2705) >=== -add related crosslink
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>>20957 >animating a face that's extremely simple (i.e. linework), yet also cute and sufficiently feminine (i.e. linework with eyelashes and blushing capabilities). Eve from Wall-E may be nearly the perfect icon of this idea. Her 'face' is just a pair of animated eyes.
>>20972 >Bigger ears can be an option. I'd suggest a bit rounder-looking tbh. 'Maximum-Fluff' should be our motto here! :^) >Keeping it simple allows for our minds to fill in the gaps, she becomes easier to map dreams onto. Very insightful, Kiwi. This. >=== -prose edit
Edited last time by Chobitsu on 03/02/2023 (Thu) 05:44:07.
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>>20972 >Could you provide some examples? Here's my shitty illustration of what that'd look like. I've never seen this done before, so I can't give you any real examples. It's just a concept I thought up on the spot. >an Android phone with enough power to handle object recognition... etcetera Ah, I was operating under the assumption that the bulk of her processing power would be handled elsewhere, like a torso-mounted SBC or laptop board. If you intend to run that stuff entirely from a phone, then that changes things. I don't know much about engineering, but I assume that'd it'd be better to have as little weight in the head as possible, and modern smartphones tend to have a bit of heft to them. As far as screens go, you can get some pretty cheap Chinese ones these days that can run off of USB. I don't really know about the general specs of your planned waifu (namely, size and power supply), but it might be worth looking into. >>20974 Seconded, you could poke your eyes out with those sharp corners!
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>>20976 I've decided after some testing to just use a head that's compatible with human child accessories. This way we can rely on things that already exist. Back to making a basic model for the commercial.
>>22131 >This way we can rely on things that already exist. IIRC we had a varied discussion back in the day when we were first trying to hash the right sizes for our initial robowaifu prototypes. Dollfan (and probably other anons) mention this point specifically for clothing options. The stuff is expensive new, but go to a Goodwill-like place somewhere in the 'nice' parts of town, and you should be able to pick up girl's clothing items relatively-inexpensively. Just don't be like Hideki in episode 4 & forget the local convenience store option! :^)

R&D General Robowaifu Technician 09/10/2019 (Tue) 06:58:26 No.83 [Reply] [Last]
This is a thread to discuss smaller waifu building problems, solutions, proposals and questions that don't warrant a thread. Keep it technical. I'll start.

Liquid battery and cooling in one
Having a single "artificial blood" system for liquid cooling and power storage would eliminate the need for a vulnerable solid state battery, eliminate the need for a separate cooling system, and solve the problem of extending those systems to extremities.
I have heard of flow batteries, you'd just need to use a pair of liquids that's safe enough and not too sensitive to changes in temperature.
This one looks like it fits the bill. The downside is that your waifu would essentially be running on herbicide. (though from what I gather, it's in soluble salt form and thus less dangerous than the usual variety)

How close are we to creating artificial muscles? And what's the second best option?
Muscles are perfect at what they do; they're powerful, compact, efficient, they carry their own weight, they aren't dependent on remote parts of the system, they can be controlled precisely, and they can perform many roles depending on their layout alone.
We could grow actual organic muscles for this purpose already but that's just fucking gross, and you'd need a lot of extra bloat to maintain them.
What we need are strands of whatever that can contract using electrical energy. Piezo does the trick at small scales, but would it be enough to match the real thing? There have been attempts, but nothing concrete so far.
What are some examples of technology that one could currently use instead?

High level and low level intelligence emulation
I've noticed a pattern in programs that emulate other computing hardware.
The first emulators that do the job at acceptable speeds are always the ones that use hacks and shortcuts to get the job done.
It comes down to a tradeoff. Analyzing and recompiling or reinterpreting the code itself on a more abstract level will introduce errors, but it is a magnitude of order more efficient than simulating every part of the circuitry down to each cycle. This is why a relatively high level emulator of a 6th gen video game console has close system requirements to a cycle-accurate emulator of the SNES.
Now, I want to present an analogy here. If training neural networks for every damn thing and trying to blindly replicate an organic system is akin to accurately emulating every logic gate in a circuit, what are some shortcuts we could take?
It is commonly repeated that a human brain has immense computing power, but this assumption is based just on the amount of neurons observed, and it's likely that most of them probably have nothing to do with intelligence or consciousness. If we trim those, the estimated computing power would drop to a more reasonable level. In addition, our computers just aren't built for doing things like neural systems do. They're better at some things, and worse at others. If we can do something in a digital way instead of trying to simulate an analog circuit doing the same thing, that's more computing power that we could save, possibly bridging the gap way earlier than we expected to.
The most obvious way to handle this would be doing as many mundane processing and hardware control tasks as possible in an optimized, digital way, and then using a GPU or another kind of circuit altogether to handle the magical "frontal lobe" part, so to speak.
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>>22178 Sorry, but I can't work on this. Maybe in two or three weeks.
>>22178 >>22288 That's really good advice Noidodev, it would make for a really good new OP. Maybe the original OP will return in the meantime, but if not, then by all means give it a shot if you're willing! Cheers. :^)
>>22286 That might work. My goal would be making a non electric one. I would need to figure a way to make a clock work movement with enough torque to move the pump and install the self winding system used on rolex for when you move your watch so that it self winds every time robot chan moves.
New thread New thread New thread (>>24152) (>>24152) (>>24152) (>>24152) (>>24152) New thread New thread New thread
>>22032 >fibergrid That has got to be one of the most brilliant ideas ever. You could use a cheap ESP32 CAM Camera Module Kit. They sell them with cameras on them already for $10 USD. Then you have up to 1622×1200 sensor channels. WOW! what a great idea. Do them in a sort of X'Y' grid and then you have what part of a finger and how far up. You could use this for position sensors also. Have a rotating bump or wheel press on an array of fibers. So with a little work you could have every single touch sensor and position sensor in one $10 camera. Some ideas are so good they are just...stupendous and this is one.

C++ programming textbook; PPP2 Chobitsu Board owner 01/16/2023 (Mon) 03:57:21 No.18749 [Reply] [Last]
This is /robowaifu/'s official C++ learning textbook thread. It is based directly on Bjarne Stroustrup's college freshman textbook, Programming Principles and Practice Using C++, commonly referred to as PPP2. [1] This textbook thread belongs with this C++ Learning Classroom thread: (>>19777). note: This is a read-only document in essence. If you happen to catch the thread unlocked while it's still under construction, please resist the temptation to reply ITT -- it will get deleted! For now, just reply in /meta please. :^) --- Full program archives (through chapter 11): >file drop 230504 https://anonfiles.com/o8i6j4p7z8/PPP2_v0_1a_7z >PPP2-v0.1a.tar.xz.sha256sum b8a117369432ccaf82b3d1ad2037dd87bd7344bda9d0e9968ebe14be673db47a *PPP2-v0.1a.tar.xz ---

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Edited last time by Chobitsu on 05/04/2023 (Thu) 13:51:11.
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>"A >> operator reads into objects of a given type according to that type’s standard format." >"The standard library istream library also provides facilities for reading individual characters and whole lines." >"What if we wanted to read everything on that line at once and decide how to format it later? That could be done using the function getline()." >"One common reason for wanting to read a whole line is that the definition of whitespace isn’t always appropriate." --- >p395 command line + possible output: g++ -std=c++20 -O2 -Wall -pedantic ./ch_11/main_p395.cpp && ./a.out > > Dennis Ritchie >

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>"Usually, we read integers, floating-point numbers, words, etc. as defined by format conventions. However, we can — and sometimes must — go down a level of abstraction and read individual characters." >"That’s more work, but when we read individual characters, we have full control over what we are doing." >"When we read individual characters, we usually want to classify them: Is this character a digit? Is this character uppercase? And so forth." note: see the code example for the listing of them. --- >p397 command line + possible output: g++ -std=c++20 -O2 -pedantic ./ch_11/main_p397.cpp && ./a.out > --- >p397 example code https://rentry.org/PPP2_p397 https://coliru.stacked-crooked.com/a/c12fc47b5e326104
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>"This section provides a semi-realistic example of the use of iostreams to solve a real problem. When we read strings, words are by default separated by whitespace. Unfortunately, istream doesn’t offer a facility for us to define what characters make up whitespace or in some other way directly change how >> reads a string." >"So, what do we do if we need another definition of whitespace?" >"For most purposes we must treat punctuation just like whitespace. How might we get rid of such punctuation? We could read characters, remove the punctuation characters — or turn them into whitespace — and then read the “cleaned-up” input again" --- >p399 command line + possible output: g++ -std=c++20 -O2 -Wall -pedantic ./ch_11/main_p399.cpp && ./a.out > --- >p399 example code https://rentry.org/PPP2_p399 https://coliru.stacked-crooked.com/a/de67503d3a55b7a6
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>>21874 >"Unfortunately, the code above is messy and rather special-purpose. What would we do if we had another definition of punctuation?" >"Let’s provide a more general and useful way of removing unwanted characters from an input stream." >"The basic idea is to read words from an ordinary input stream and then treat the user-specified “whitespace” characters as whitespace" >"To become a programmer, you need to read code, and not just carefully polished solutions to educational problems. This is [one such] example [of real code]." >"In another few days or weeks, this will become easy for you to read, and you will be looking at ways to improve the solution." --- >p400 command line + possible output: g++ -std=c++20 -O2 -Wall -pedantic ./ch_11/main_p400.cpp && ./a.out <<< "There are only two kinds of languages: languages that people complain about, and languages that people don't use." please enter words (ctrl+d to end input) about and are complain

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Edited last time by Chobitsu on 04/10/2023 (Mon) 02:44:48.
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>>21869 >"note: this is an extended & reworked example of the book's original, that demonstrates moving data for both the character & binary formats to/from disk files, and confirming the resultant data are identical." Stop. Congratulations Anon, you've finished with chapter 11; and in fact with a couple of very detailed chapters loaded with information. C++ I/O streams are a bit tricky to master at first, but they are an exceptionally powerful and (nearly-always) elegant approach to I/O management in general. We can't use them everywhere, but when we can they offer us a unified approach to the world of data I/O that otherwise can be quite chaotic! Your time invested in mastering C++ streams is time well-spent Anon. Cheers. :^) --- >p391_v2 command line + possible output: g++ -std=c++20 -O2 -Wall -pedantic ./ch_11/main_p391_v2.cpp && ./a.out -rw-r--r-- 1 2001 2000 20 Apr 9 04:53 ints.bin -rw-r--r-- 1 2001 2000 57 Apr 9 04:53 ints.txt sizeof(char): 1 sizeof(int): 4 sizeof(double): 8

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Prototypes and Failures #2 Robowaifu Technician 01/17/2023 (Tue) 02:10:46 No.18800 [Reply] [Last]
Post your prototypes and failures. We fail until we win. From now on with even more madness. Don't forget looking through the old thread >>418 to understand how we got here. >=== -minor subj edit
Edited last time by Chobitsu on 01/17/2023 (Tue) 03:01:26.
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>>21616 Okay, that's a surprise. I'll look into it. I'd like to do something similar than before with the pics, but maybe a different background color and of course with the newer pics. Maybe one with only the new pics.
>>21616 Suggestions for the thread. If I don't react to the approval, you'll have to wait or make it yourself, since I won't be able to for at least a few days. Also, I can't change the collages after tonight (EU time).
>>21641 These are all fine, just use your own discretion NoidoDev.
>>21645 Thank you.

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New, Cutting Edge, or Outside the Box Tech meta ronin 04/09/2021 (Fri) 02:11:57 No.9639 [Reply]
ITT: We discuss Metamaterials, Self Organizing Systems, and other "outside of the box" tech (flexible PCBs, Liquid Battery, etc) I'll start with this video on self-assembling wires, and will add more as I come across it https://www.youtube.com/watch?v=PeHWqr9dz3c
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>>20618 Interesting Meta Ronin. I expect this approach could also be reversed to create enshrouding, RF-protective foams. That is, to protect RF-sensitive components in the robowaifu -- both from unwanted transmissions, as well as unwanted interferences. >>20625 Very interesting Anon. Immediately reminds me of the so-called 'DNA computers', though they use entirely different phenomenon for processing. Thanks!
what if AI designed the robowaifu https://www.youtube.com/watch?v=hxKI4XBwBjU
>>21163 Interesting. Lol that was obnoxious to watch :^) I'm quite optimistic that approaches similar to this will be figured out for the garage Anon. So, is there any way you can see that you might use just this kind of technique today to build a robowaifu Anon? After all, you know what they say: (>>21119)
>>21163 >>21164 Thanks. They seem to plan to release the software. Maybe we should come back to this later: https://www.hyperganic.com/#countdown
>>21166 Wow neat! Thanks Anon. I wonder if they'd be open to helping us design humanoid robotic companions?

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