CEB 3D Printer

Concept (Illustrated Below): This idea is to develop an automated brick-laying system that can build homes from the ground up, literally. Using a combination of the CEB Press, a conveyor belt, gripper, and a common machine configuration (TBD), the machine acts like a large 3D printer which picks and places compressed bricks robotically.

Two video animations, originally made as Java applets, illustrate two such designs:

Animation (Gantry Design)

http://img.youtube.com/vi/Il1stSJcZTU/0.jpg

Animation (Cable Design)

http://img.youtube.com/vi/0HDd9J_Cc14/0.jpg

High-Level Actuator Architecture:

High-Level Feedback Architecture:

Sample Source Code:

Pseudo Code

Arduino Code

DECLARE VARIABLES & FUNCTIONS Initialize Output Channels // Tell microcontroller which pins are output Initialize Input Channels  // Tell microcontroller which pins are input MAIN LOOP   For Motors 1 to 4:       Read Encoder Values       Calculate Motor Output to Achieve Desired Position       Write to Motor Output Channel       // Note: the motor signal is sent to a speed controller      // to be amplified   END FOR LOOP   END MAIN LOOP

void setup() {   pinMode(2, OUTPUT); // to Base motor 1   pinMode(3, OUTPUT); // to Base motor 2   pinMode(4, OUTPUT); // to Base motor 3   pinMode(5, OUTPUT); // to Base motor 4   pinMode(6, INPUT); // from digital Encoder 1   pinMode(7, INPUT); // from digital Encoder 2   pinMode(8, INPUT); // from digital Encoder 3   pinMode(9, INPUT); // from digital Encoder 4 } void loop() {   for (int motorIndex = 0; motorIndex < 3; motorIndex++)   {     read_encoders();         pid();     write_to_motors();   }  }

IRC Experimental Meeting Test Chart: This chart is used to display group meeting times on the OSE Internet Relay Chat (IRC) http://opensourceecology.org/wiki/Irc where groups can discuss project ideas and progress with realtime feedback. Group member names, IRC chat usernames, and status of sub-projects are listed.

This chart will be used as a temporary example.

Group Name

Group Manager

Meeting Time: 8PM-10PM EST

Task	Name/Pseudonym	IRC Username	Status of Project	Extra
Motor Testing	vc_nepo	vc_nepo	10 %	Link
Encoder	User B	userBonIRC	20 %
Material Spec	User C	userConIRC	Complete