MorningStar's Flying Oracle

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Combining elements from Drone technologies, Biometrics, and recent Home UX / AI advances from the Oracle and their competitors, in a box that flies.

Home UX, leveraging IOT, is just taking off. Literally. Now it can follow you from room to room, sharing video from its intelligent floating camera that responds to voice and motion. Ties into your Home Security and provides telepresence as well as autonomous patrol.

Safe ducted turbines and 360 degree biometric sensing allow Pandelphi to interact safely with its owners and their pets. It can also detect concealed intruders that its camera system cant even see from their capacitive fields.

Now introducing Pandelphi Cub, leveraging textiles and robotics instead of drone technology to produce a baby brother that crawls and carries a home UX in it's pouch, and responds to touch and remote telemetry.

The prototype will be based on current Drone technology to make it simple to build. There are some standards appearing in the hardware, after discussion with I've decided to opt for standard, as kits of parts based on them are available.

Naze-32 6DOF Flight Controller

These things are everywhere, obviously I'm buying in the UK so good old eBay to the rescue. This will form the autonomous part of Pandelphi's nervous system, when all hooked up and powered this bit instructs the motors to hold position all on its own.

It has built-in gyro sensors (MPU6500) and battery monitoring and its own STM32 F103 processor with a dedicated control port.

Obviously I wont be needing a receiver board or any of the FPV kit.

BLHeli 12A Electronic Speed Controller

Also seem to be pretty much the one for the job. These take instructions from the Naze and power from the batteries and feed it to the motors, these things are also everywhere.


DC Brushless motor

These are the hard part, obviously what I'm trying to do isnt standard drone technology and I'm trying to consider efficiency in an arena that likes to go far and fast.

Intelligent Control Systems

Raspberry Pi Zero, of course, paired with a Pi HD Cam and running AIMos. Serial link to an Atmel chip which handles the CapSense Antenna Array wired into the shell. Also appears as a Smart Home Device so the Home UX can control it.


Depron Prototype, as it is easily replaceable and weighs almost nothing. It's already white too and requires very little work.

Pandelphi Cub will use current textiles and materials from the soft toy industry and poly-carbonate frame.

Pandelphi Cub uses the same interfaces except for the mechanism, which is servo driven. Cardware was based on hobby servos due to funding issues, I have chosen the new MGS996 for this project.

Home UX :

The prototype will carry an Echo Dot, but other devices and platforms are available.


  • Amazon Echo Dot is a hands-free, voice-controlled device that uses Alexa to play music, control smart home devices, provide information, read the news, set alarms and more
  • Connects to speakers or headphones through Bluetooth or 3.5 mm stereo cable to play music from Amazon Music, Spotify and TuneIn. Play music simultaneously across multiple Echo devices and speakers connected via cable with multi-room music (Available for Amazon Music and TuneIn. Bluetooth not supported)
  • Call or message anyone hands-free who also has an Echo device or the Alexa App. Also, quickly connect to other Echo devices in your home using just your voice
  • Controls lights, switches, TVs, thermostats and more with compatible connected devices from WeMo, Philips Hue, Sony, Hive, Netatmo, Nest, tado° and others
  • Hears you from across the room with 7 microphones for far-field hands-free voice control, even in noisy environments or while playing music
  • Includes a built-in speaker so it can work on its own as a smart alarm clock in the bedroom, an assistant in the kitchen, or anywhere you might want a voice-controlled device
  • Always getting smarter - Alexa updates through the cloud automatically and is continually learning, adding new features and skill

Pandelphi has a pouch dedicated to carrying one of these devices, supplies power to it and interfaces to it via IOT, so does not require complicated adapters or solutions as the UX field expands.

  • 1 × Amazon Echo Dot
  • 1 × Naze32 Flight Controller
  • 1 × Various screws, nuts, bolts, fixings
  • 1 × Various cables, interconnects, plugs, sockets, headers
  • 4 × BLHeli ESC According to motor choice

View all 12 components

  • Pandelphi Cub

    Morning.Star2 days ago 1 comment

    Pandelphi Cub continues on the ground where flight cannot take it.

    Using my extensive experience with textiles and limb architectures I'm now finalising designs for a mechanically simple soft robot that contains the same touch-sense, avoidance and telemetry as the drone does, and also carries an Alexa based Echo Dot 2 in a pouch the same way.

    It differs from the drone's behaviour only in that its movements can be slaved to another Cub in combination with conferencing, and its security functions are limited to room-guard rather than patrol.

    Conferencing in Slave mode means the video from one cub is streamed to a remote tv, and it receives telemetry from the remote unit, which can be another Cub/TV or a phone/tablet etc.

    This enables children too young to access Pandelphi's features via Alexa to interact with it on a level they do understand. In Social Play...

    Using ten servos to control the legs and head of a soft toy in telemetry mode should be relatively simple with the funds and time allotted for the entry this year, and the interface will be needed for the drone, which is also relatively simple.

    I'm using an X-Y shoulder joint and a single elbow, and a single Y Hip to accomplish walking, the remaining two servos will be used to pan and tilt the head, containing the camera.

  • Base Specification

    Morning.Star6 days ago 0 comments

    Sourcing the components and obtaining specifications

    I need to build a careful specifications chart for this one, as flight has some rather tight requirements. Weight is of primary consideration and overrides all others to a large extent.

    Echo Dot 2nd Gen

    Width: 84mm
    Depth: 84mm
    Height: 32mm
    Weight: 163 grams

    Naze Hardware

    Width: 36mm
    Depth: 36mm
    Height: ?
    Weight: 7.3 grams

    Raspberry Pi Zero

    Width: 65mm
    Depth: 31mm
    Height: 12mm
    Weight: 8.5 grams

    Raspberry Pi Camera

    Width: 25mm
    Depth: 25mm
    Height: 9mm
    Weight: Estimated 3 grams


    Width: ?
    Depth: ?
    Height: ?
    Weight: ?

    Motors 1806 2300kv 2-3S / 2-4S

    Width: 23mm
    Depth: 23mm
    Height: 26.4mm
    Weight: 18 x 4 = 82 grams

    Thrust: 460 grams

    ESCs BLHeli 20A

    Width: 42mm
    Depth: 20mm
    Height: 8mm
    Weight: 11 x 4 = 44 grams

    Batteries Floureon 3S 2200mAh 11.1v

    Width: 106
    Depth: 25
    Height: 33
    Weight: 175 x 2 = 350 grams

    Voltage: 11.1v
    Discharge: 25C

    Shell Depron / Polycarbonate

    Width: ?
    Depth: ?
    Height: ?
    Weight: Estimated 20 - 30 grams

    Total Weight: 687.8 grams

    Total Thrust:  1840 grams

    Thrust-To-Weight Ratio: 2.675 (Assuming Single Standard Prop)

    Hover Throttle: 36% (Assuming Single Standard Prop)

    According to

    Weight of frame, dot, pi, cam assumed to be 250g or less.

    All-up-weight of about 630g (includes everything)

    Motors - DYS 1806-2300kv

    Battery - 3s 2200mah

    Escs - 20A

    Frame - 250mm

    With this setup, flight time is about 10 min. This is fine depending on usage desired. Performance will be acro worthy.

    I think that about covers it. All I have to do now then, is increase the efficiency of the turbines and try to make them quieter. A slower-running motor and more lifting surface, and the ducting will help with this.

View all 2 project logs

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