Dual Actuator Wave-Like Navigator (DAWN)

This repository contains the hardware control code, data analysis scripts, and supplementary software used for the development of the Dual Actuator Wave-Like Navigator (DAWN) — a soft robotic system that mimics wave-like locomotion.

📁 Repository Structure

Daul-Actuator-Wave-Like-Navigator/
│
├── design-files/                   # Mechanical and electrical design files
│   ├── molds/                      # STL files for casting robot skin and seal
│   ├── robot/                      # STL and PDF files for mechanical parts and fixtures
│   └── PCB/                        # KiCad PCB layout and schematic files
│
├── data-and-data-analysis/          # MATLAB scripts and live notebooks for data processing
│   ├── *.mlx                        # Live MATLAB analysis (friction, locomotion, wave studies)
│   ├── *.m                          # Script-based versions for data processing and visualization
│   └── data/                        # Experimental datasets (e.g., pressure, force)
│
├── robot-control-code/             # Arduino/mbed code for the main robot controller
│   ├── main.ino                     # Main controller logic (multithreaded tasks with RTOS)
│   ├── motor_control.ino            # Motor operation and state handling
│   ├── pump_control.ino             # Syringe pump actuation commands
│   └── pressure_sensor.ino          # Sensor interface and data capture
│
├── syringe-pump-code/              # Python and Arduino code for pump-side system
│   ├── pressure_sensors_syringe_switches.ino   # Arduino sketch for sensors and switch control
│   └── syringe_datalloging_switches_pressure.py # Python logger and motion driver for syringe pumps
│
└── .git/                            # Git versioning files (ignore)

🚀 Getting Started

Hardware Requirements

• Arduino-compatible microcontroller with RTOS support
• Motor drivers and actuators
• Syringe-based pump system
• Pressure sensors and signal conditioning
• Bluetooth/Wireless modules for command/control

Software Requirements

• Arduino IDE
• MATLAB
• Python 3.8+ with packages:
  • pyserial, pandas, matplotlib, keyboard, csv

🧩 Design Files

Located in the design-files/ directory, this folder contains all physical and electronic design assets:

🔩 Molds (design-files/molds/)

• 3D printable STL files for casting soft robot components
• Includes molds for skin, junction seals, and structural elements

🖨️ Robot Parts (design-files/robot/)

• STL files for structural components like clamps, links, couplings, and braces
• Includes CAD files for electronics enclosures and laser-cut shapes

🧾 Electronics (design-files/PCB/)

• KiCad design files (.kicad_pcb, .kicad_sch) for the component shield PCB
• Backup archives for version control

📊 Data Analysis

MATLAB Live Scripts (.mlx) allow rich analysis and visualization of robotic behavior:

• traveling_wave_analysis.mlx: Wave pattern effectiveness
• sand_sledge_analysis.mlx: Sledge study on granular media
• simple_locomotion_analysis.mlx: Basic locomotion profiles and analysis
• friction_analysis.mlx: Frictional force modeling
• pressure_analysis_one_cicle.m: Single-cycle pressure response

🔧 Control Code Highlights

• Multithreading with RTOS: Used for concurrent sensor reading, motor control, and pump updates.
• BLE Communication: Allows for wireless control and data transmission.
• Pressure Feedback Loop: Real-time monitoring of actuation pressure to maintain wave shape.

📈 Logging & Experiments

The syringe-pump Python script (syringe_datalloging_switches_pressure.py) controls movements and logs data over serial. It allows frequency and speed modulation to experiment with various gait cycles.

🧪 Example Usage

1. Upload main.ino and related .ino files to the robot controller.
2. Upload pressure_sensors_syringe_switches.ino to Arduino Mega connected to the syringe system.
3. Run the Python logging script to collect data and drive actuation.
4. Analyze results with MATLAB using the provided .mlx scripts.

📜 License

This project is currently in development and is shared under the MIT License.