Author Archives: eszespeter

The Anti Sailing – autonomous robot project – put it on water

After the lecture ended i went back to try my boat out. When i got at times up the wind was already blowing a little so at least i could see if the “steering” is working or not. With the steering there was no problem. But the wind wheel did not started so it was behaving like a sail. While the boat turned into the right direction it was going backward (with the wind). To tell the truth i was not expecting this. I though the wind wheel either will move or let the wind though. After a time the storm reached the harbor so it was big time wind. But my wind wheel still did not moved even a bit. The windmill what Times’ Up have was going crazy but my anti sailing bot still not moved a bit towards to the wind, just with it. When i pulled my boat out of the water i saw that one of the poles what was holding the propeller was broken. I have no idea if it was broken already when the wind started to blow or i broke it when i took it out but it doesn’t matter.

At the end the anti sailing boat turned out to be a regular, maybe a little bit weird looking boat. As a conclusion i had several. There is a reason why sailing boats do not go toward to the wind. Set the welding machine to higher power because if your welding can break it means you did not welded it. When you are working with wind everything on the “deck” is working as a sail. Try to build as light as you can.

A conclusion for the building part. When you are working with a lots of screws try to work with the same type and size (i was working with m6) because if or whenever you have to dissemble it or fix something it will be easy to do.

Storm, but my wind wheel is still not moving.

That’s not a good welding.

One can always use this trick to fix something without welding.

The Anti Sailing – autonomous robot project – workshop day 2-3

Front fins, fixed “hard” tail tailor, a pipe into the water to hold the propeller. That’s nice and all but it has to be done and it has to be done in a way that it shouldn’t add too much weight to the boat what was heavy enough already with just the “wind wheel” on it. I ended up using wood for the fins adding some additional part what is floating instead is sinking. The tail tailer was made from steel and plastic to reduce some weight and also to be as flexible as it can but still hold in the case the boat cannot turn for some reason, so the “tailor” won’t break off. The propeller was the tricky part. It has to be driven by the wind through the wind wheel and i wanted to go with a direct (?)powertrain(?) what will give the propeller a nice speed but will be hard to start it. It seems that the best solution would be a rope. Flexible enough to not to break, when you put it in water the diameter grows so the size shrinks a little resulting a nice and tight grip on the wheel and the on the propeller. But of course you cannot put the rope directly on the propeller so you have to find something what will go between. Get the movement from the wheel and transfer is to the propeller. While the idea was nice making it was not so easy as i expected to be. To pole will hold a pipe on what there will be the propeller and a small “wheel” to get the movement. The wheel and the propeller is fixed to the pipe so when one turns the other turns as well. Sure but almost every propeller is made for cone pipes not for straight ones. Also i could not weld it as it was rented for me. The solution was two M12 nut on an already threaded pipe. One for the end one for the front. Press them together so the propeller will be fixed. Same with the wheel under the water. Drilled two hole on the boat for the rope and linked the wind wheel and the propeller together. What was nice until the knob what hold the rope together and thigh did not want near to the small wheel. While the bicycle wheel was large enough the smaller wheel just couldn’t handle the bump on the rope. Even with hand i needed some power to make it run again but i though it’s okay and speed will take care of this problem.

By the time (3rd day of the workshop) we had to present it everything was ready. There was just 3 tiny problem. There was no wind. I was not sure if it floats or not. The propeller was in a wrong direction so it would have moved backward – luckily there was no wind. Life is funny.

The boat did float. And we had a great party to finish the semester.

The Anti Sailing – autonomous robot project – workshop day 1

Vikings, Pirates, voyagers, conquestors, explorers, merchants. During the history of mankind sailing was essential.

The point of sailing is to use the wind as a natural power source. But using the wind means that you can only travel “away” from the wind not towards to it. Also sailboats are not autonomous. Even the smallest one requires at least one man to control it. The anti sailing boat is designed to be a non man vehicle what can sail towards the wind.

The first day of the construction was the easier part. I found two big wood girder so i changed my original and most common boat design to a catamaran. The two girder is hold together by a piece of sheets of wood. This will create enough lift in the water so i can load the “deck” with some metal parts. Using the front fork of a bicycle with the wheel and a square pipe to create a windmill – with some additional duck tape between the spikes.

Autonomous robot project

Autonomous robots are robots that can perform desired tasks in unstructured environments without continuous human guidance. Many kinds of robots have some degree of autonomy. Different robots can be autonomous in different ways. A high degree of autonomy is particularly desirable in fields such as space exploration, cleaning floors, mowing lawns, and waste water treatment. (source:

These robots could be known from space programs. In outer space being autonomous is the only possible solution. Since the Sovet Union sent the first moon rover the Lunokhod 1 and 2 before 1971 mankind set to build more and more advanced robots. Interesting fact that, the Lunokhod 1 held the world record of durability with more than 30 years until the Mars Exploration Rover.


After the Moon the Mars was the next target for autonomous robots. The point of these robots is to explore and report back until they are dead. Of course there are robots in everyday use such as irobot roomba and other solutions. The common properties of these robots are that all of them have a goal to reach, for example roomba have to cover the largest area it can before runs out of battery. Or one can find flying quadrocopters building a pre-defined structure. The point is that there is a point for these robots to exist. What i want to build it has to be lo-fi and of course without propose.