Jeff Steele                                    last updated 3 Oct., 2001

Homer 1 : Made completely from salvage and junkbox parts except the pager motors are from BG Micro. The SE is a very low power CMOS ICL7621 opamp that will run on just 1 volt,  configured as a voltage comparator with hysteresis, driving PN2222 transistors. Photodiodes and 3300uf cap are from an old VCR. He runs very well in medium to bright light.	Homer II is my second photovore. My first attempt at feelers, they seem to work good. His solar engine is a 1381 photopopper using surface mount transistors to keep the size down. The solar panel is from Andy and works VERY well. He runs well in low light and is incredibly active in bright sun.  (May 22, 2001)

Homer III is a photovore based on the "SunEater_V" solar engine designed by Steve Bolt. In this photo the solar panel is not attached yet. I plan to upgrade it to a 37mm x 33mm I have ordered from Andy. Even with this panel Homer III is very active, firing one of his motors about 4 times per second in full sun. He also has an incredibly ability to follow shadow lines.

The Incredible Walking Machine My first walker took it's first real world walks today, July 8, 2001. Completely powered by a 37 mm x 66 mm solar panel from Andy (about 30mA in full  sun) it walks continuously, in full sun, through sand, gravel, dirt and some grass. WOW! This robot does not use a "solar engine" as the motors draw less than 30mA under normal loads. The circuit is a 74AC240 master/slave bicore with reverser. Still in it's prototype stages, the feelers have not been installed and the legs need more work. (July 8, 2001)