diff --git a/ICRA2_1392_MS.pdf b/ICRA2_1392_MS.pdf new file mode 100644 index 0000000000000000000000000000000000000000..b4a16ac9f3eb79d8b5ec39dc0aad223e1240f6cb Binary files /dev/null and b/ICRA2_1392_MS.pdf differ diff --git a/README.md b/README.md index 56366bca439505757dcdc1189fd5838011d142c6..f73727b2cbfc671216d1cbebe078f11c1d215635 100644 --- a/README.md +++ b/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. diff --git a/developer_journal.md b/developer_journal.md index 13501d1e86bdfa1021cce3ecacb6f765f0b1e323..77d3db5de3ffb59ae5c2013b4f03276cb37e214a 100644 --- a/developer_journal.md +++ b/developer_journal.md @@ -1,142 +1,6 @@ ### 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