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For those interested in the field of robotics, there are not many options to get your hands on a physical robot without paying a steep price. This is why the folks at BCN3D Technologies decided to design a fully open-source 3D-printable robotic arm. Their goal was to reduce the barrier to entry for the field of robotics and make it exponentially more accessible for people around the world. For our honors thesis, we chose to take the design from BCN3D and attempt to build their robot, to see how accessible the design truly is. Although their designs were not perfect and we were forced to make some adjustments to the 3D files, overall the work put forth by the people at BCN3D was extremely useful in successfully building a robotic arm that is programmed with ease.
ContributorsCohn, Riley (Co-author) / Petty, Charles (Co-author) / Ben Amor, Hani (Thesis director) / Yong, Sze Zheng (Committee member) / Computer Science and Engineering Program (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
Description
\English is a programming language, a method of allowing programmers to write instructions such that a computer may understand and execute said instructions in the form of a program. Though many programming languages exist, this particular language is designed for ease of development and heavy optimizability in ways that no other programming language is. Building on the principles of Assembly level efficiency, referential integrity, and high order functionality, this language is able to produce extremely efficient code; meanwhile, programmatically defined English-based reusable syntax and a strong, static type system make \English easier to read and write than many existing programming languages. Its generalization of all language structures and components to operators leaves the language syntax open to project-specific syntactical structuring, making it more easily applicable in more cases. The thesis project requirements came in three parts: a compiler to compile \English code into NASM Assembly to produce a final program product; a standard library to define many of the basic operations of the language, including the creation of lists; and C translation library that would utilize \English properties to compile C code using the \English compiler. Though designed and partially coded, the compiler remains incomplete. The standard library, C translation library, and design of the language were completed. Additional tools regarding the language design and implementation were also created, including a Gedit syntax highlighting configuration file; usage documentation describing in a tutorial style the basic usage of the language; and more. Though the thesis project itself may be complete, the \English project will continue in order to produce a new language capable of the abilities possible with the design of this language.
ContributorsDavey, Connor (Author) / Gupta, Sandeep (Thesis director) / Bazzi, Rida (Committee member) / Calliss, Debra (Committee member) / Barrett, The Honors College (Contributor)
Created2016-05
Description
The aim of this project was to develop user-friendly methods for programming and controlling a new type of small robot platform, called Pheeno, both individually and as part of a group. Two literature reviews are presented to justify the need for these robots and to discuss what other platforms have been developed for similar applications. In order to accomplish control of multiple robots work was done on controlling a single robot first. The response of a gripper arm attachment for the robot was smoothed, graphical user interfaces were developed, and commands were sent to a single robot using a video game controller. For command of multiple robots a class was developed in Python to make it simpler to send commands and keep track of different characteristics of each individual robot. A simple script was also created as a proof of concept to show how threading could be used to send different commands simultaneously to multiple robots in order to test algorithms on a group of robots. The class and two other scripts necessary for implementing the class are also presented to make it possible for future use of the given work.
ContributorsHutchins, Gregory Scott (Author) / Berman, Spring (Thesis director) / Artemiadis, Panagiotis (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05