The Soft Compiler

A soft compiler is a web-based tool that accepts a user-defined robot behavior as a truth table to generate a mathematically optimized circuit diagram that guides the assembly of a soft fluidic circuit. It is used for design of modular pneumatic circuits for soft robots. Detailed information of this tool is available here: https://arxiv.org/abs/2202.03846

Instruction Manual

1. Download the “SoftCompiler” folder in your local drive.
2. Enable CORs for your system. a. Follow the instruction given in the below website for windows operating system: https://chrome.google.com/webstore/detail/allow-cors-access-control/lhobafahddgcelffkeicbaginigeejlf?hl=en
3. Make sure that CORs are enabled for the website. Once it’s done open the main.html in the web browser.
4. You can add the number of input devices by clicking on the “+” button and in a similar way reducing them by clicking on the “–” button.
5. Once the required number of inputs are presented with possible combinations in the form of the truth table, select a required output from the given result. Click on 1 or 0 and the color will change.
6. To generate the schematic from the desired logic, please select 1 on the output. If not selected, the default value of output is zero.
7. Once the desired output from the given input is selected then click generate.
8. It will create a sequence of logic along with the input and the output. This needs to be understood properly and accordingly used.

Video

SoftCompiler-2.mp4

Tips

1. We recommend using the soft compiler for max. 10 inputs.
2. Input J is intentionally removed to avoid confusion between I and J.
3. The length and diameter of the tubing used to connect inputs and logic devices will decide the flow rate and time required to get the output.

Reading the schematic

1. The schematic is organized in terms of inputs, outputs, and logic devices.

2. The inputs are located on the left side and indicated by letters and the output from each logic device is connected horizontally to the next closest logic devices.

3. All soft bistable valves configured as logic gates include red arrows, where some are marked with “T” and “B”, denoting top and bottom chamber respectively.

4. We highly recommend reading the information about fabrication of a soft bistable valve and configuring them as a logic gate from (https://github.com/roboticmaterialsgroup/soft-bistable-valve.)

5. If an input is repeated, the user can choose to add a splitter and connect to several logic gates. Below is an annotated example to understand the schematic.

   

6. When assembling the fluidic circuit, here are few organizational suggestions:

   • Look at how many times an input is repeated in the schematic. Create a splitter with that many outlets before starting the assembly.
   • Pre-configure all of the soft logic devices to the correct gate and test before assembly.
   • Depending on configuration of soft bistable valve into the logic gates, decide the number of tubes for the circuit.
   • Different lengths of tubes will be needed depending on the schematic and logic devices.

Background for customizing the soft compiler tool

1. The soft compiler tool offers customization to include the novel logic devices to the family.
2. Create similar icons which can be configured as AND, OR, NOT, NAND, or NOR gates and add them to the 'letters' folder.
3. When the letters are properly linked, the soft compiler tool can generate the schematic with new/added devices.