|introduction |high-level design |hardware design |software design |results ||appendix|


source code



All schematics can be found in the design sections (high-level, hardware and software).

cost details

Table 1 . Production cost of Kasubana

design team

Ming-Zher is a senior in Electrical & Computer Engineering at Cornell University. He'll be pursuing a Ph.D. in Medical Engineering/Medical Physics at Harvard-MIT (HST) after graduation. Hopes to become a physician-scientist. Loves soccer.

specific tasks in project:

•  design of E-field sensing unit
•  setup of stepper motor
•  microcontroller software
•  integration of all units, display setup
•  website design

contact: mp282 AT cornell DOT edu


Yuk Kee is also a senior in Electrical & Computer Engineering at Cornell University. She'll be joining the Ph.D. program in Biomedical Engineering at Columbia University. Plans to start her own restaurant in the future. And she likes to play basketball.

specific tasks in project:

•  design and construction of flower
•  nitinol actuation
•  design of current source
•  PCB assembly and soldering

contact: yc294 AT cornell DOT edu



Here are three movie clips showing the Kasubana in action:
Clip 1 [21.6 mb] : The friendly flower responding to the human touch
Clip 2 [7.6 mb] : Kasubana's secret addiction to coffee?
Clip 3 [8.7 mb] : It's coffee vs. gatorade!


Various views of the Kasubana

Experimental setup

Sensing unit and motor/actuation unit

The flower brain and integration with all units


:: data sheets

ATmega32 (Atmel): http://www.atmel.com/dyn/resources/prod_documents/doc2503.pdf

Electric Field Imaging Device MC 33794 (Motorola): http://www.freescale.com/files/analog/doc/data_sheet/MC33794.pdf

Bipolar stepper motor (Applied Motion): http://www.jameco.com/wcsstore/Jameco/Products/ProdDS/163395.pdf

Push-Pull Four Channel Driver (SGS-Thomson): http://www.alltronics.com/download/1330.pdf

Photodarlington Output Optocoupler: http://www.fairchildsemi.com/ds/4N/4N33.pdf

NPN Epitaxial Silicon Transistor: http://www.fairchildsemi.com/ds/TI/TIP31A.pdf

:: vendor sites

Allied Electronics: http://www.alliedelec.com/

Jameco Electronics: http://www.jameco.com/

:: background

Muscle Wires Project Book by Roger G. Gilbertson

Cyberflora: http://robotic.media.mit.edu/projects/cyberflora.html

Electric Field Imaging: http://web.media.mit.edu/~jrs/efs.html

Good Vibrations: http://www.circuitcellar.com/library/print/0603/cantrell155/index.htm

Working with Stepper Motors: http://eio.com/jasstep.htm


Developed by Ming-Zher Poh & Yuk Kee Cheung, © 2005