update REAMD

README.md

@@ -7,7 +7,7 @@
 - [To implement my work](#implement-my-work)
 - [Demo Video](#demo)
 
-*This repository shares the code and technical details of the research work only, for more information, please check our [paper]() submitted to ICRA2020*.
+*This repository shares the code and technical details of the research work only, for more information, please check our [paper](ICRA2_1392_MS.pdf) submitted to ICRA2020 or my [engineering journal](developer_journal.md)*.
 
 
 This research studies **human computer interaction** in terms of developing a **robot compiler** to create electromechanical design for foldable robots. The work presents an integrated design-to-fabrication method for foldable electromechanical devices that rethinks the merging of mechanical and electrical designs. The mechanical substrate of this device can carry electrical functionality; the electrical circuits are parts of the device body.

developer_journal.md

 ### Jingyan Ling
 
-### 09/04/2019
 
-- Paper Outlines
-
-#### An Accessible way to rapidly build foldable robots from automatic electromechanical design
-
-#### I. Introduction (1)
-- 1. Robot functionality highly depends on electrical component it carries
-- 2. Personalized robot needs technical experience
-- 3. Work based on previous work of RoCo mechanical design
-- 4. Bullet points of contributions
-  
-#### II. Related Work (1-2)
-- 1. Roco mechanical design for foldable robot
-- 2. Freerouting software for auto-router
-  
-#### III. Design Strategies (2-5)
-- A. Design as a PCB
-- B. Mechanical drawing processing
-- C. Circuit pattern
-- D. Fabrication
-  
-#### IV. Result (5-6)
-- Pipeline of the system
-- Show results through each step in the pipeline
-- State time and cost
-
-#### V. Conclusion (6)
-- A. Contributions
-  - Accessible
-  - Fast
-- B. Future Work
-  - Stability
-  - Durability
-  
-#### *Contribution A (Design as a PCB)*
-`What` 
-- An integrated method to do PCB design from simple user input
-  
-`How` 
-- building `dsnwritter` python library
-  - module, footprint lib, wiring options...
-
-`Solves issue`  
-- 1. Experience of using PCB design software (KiCAD/EAGLE) is needed for typical PCB design; Causal user need time to learn software.
-- 2. Manually routing takes long time and requires technical experience
-
-`Why solving this issue`
-- 1. Electrical design is necessary for building a robot
-- 2. Having circuit on the surface of foldable robot instead of doing external wires makes it more accessible
-
-`For`
-- Accessible and fast
-  
-`Approve`
-- exported file (.dsn) can be viewed in Auto-router software directly (fig)
-- input table vs. output (fig)
-- Auto-router can read the file generated and proceed auto-routing (fig)
-  
-
-#### *Contribution B (Mechanical Drawing processing)*
-`What`
-- A module can take arbitrary 2D-mechanical design for automatic electrical design
-
-`How`
-- mechanical drawing pre-processing
-  - line stroked to path
-  - polylines provides continuous closed shape for lines
-
-`Solves issue`
-- Extra effort is needed for a complex CAD drawing to be recognized as electrical board outlines (provide example fig)
-
-`Why solving this issue`
-- Specific type and style of CAD drawings are required to use open-source auto-routing software
-- Learning specification and drawing software would waste time and effort of causal users
-  
-`For`
-- Accessible
-
-`Approve`
-- Show different line properties in inkscape between mechanical design and after pre-processing (fig)
-- Such shape can be viewed in Auto-router and routing treat drawings as obstacles properly (fig)
-
-  
-#### *Contribution C (Circuit Pattern)*
-`What`
-- A module generates fabrication file for materials based on electromechanical design
-
-`How`
-- Fabrication drawing post-process
-  - parse wiring information
-  - parallel traces/ isolation boundaries/ pin insertion
-
-`Solves issue`
-- Design of patterns of wiring is required based on material of foldable robot for proper electrical performance. It would need technical experience.
-
-`Why solving this issue`
-- Patterns are necessary to ensure there is no short or open circuit for circuit on the surface of robot
-- Change design of such pattern can consume a lot effort 
-
-`Approve` 
-- different circuit pattern can be output for materials (fig: direct wire vs parallel traces)
-- pic of direct wire fabrication by using conductive pen on paper
-- pic of showing isolation well for parallel trace pattern 
-- pic of showing pin insertion pattern can conducts well
-
-`For`
-- Accessible
- 
-#### *Contribution D (Fabrication)*
-`What`
-- Foldable robot with functional electrical components on surface 
-  - A. Fabrication
-  - B. Result
-
-`How`
-- Describe fabrication process (pic/reference/experiment)
-
-`Solves Issue`
-- 1. A. Traditional printable circuit requires more cost/equipment/time (depends on reference search)
-- 2. B. Traditional PCB can not be folded to a robot
-- 3. B. Traditional PCB does not have arbitrary shape/holes inside
-  
-`Why solving this issue`
-- Traditional robot and PCB making takes a long time, special equipment and technical experience. 
-- While most of soft PCB are simple routing instead of taking complex mechanical design
-  
-`Approve`
-- circuit can work properly on folded surface (fig)
-- circuit can go around holes and working properly (fig)
-- pic of a foldable robot with circuit working
-- Time it takes to do the whole robot
-- Price of copper + plastic paper
-
-`For`
-- Low cost & Fast
-  
 
 ### until 09/03/2019