How to build pipe organ robots

In this paper I describe how I built three miniature computer-controlled pipe organs, using accessible digital fabrication techniques. I was motivated to build them as part of my ongoing research on musical robot swarms, which necessitated simplified, easy-to-build organs. Having done that, the goal of this paper is to present the average computer musician with the equations, software, information, and key materials that I used, so that they can build their own pipe organs with a low barrier to entry, minimal assembly time, and using standard digital fabrication equipment. Finally, I describe a few simple algorithms for imbuing the pipe organs with a small amount of self-awareness which will facilitate their use in common computer-music scenarios. The completed pipe organs can be seen in the video below, and in several other videos referenced throughout this paper. https://www.youtube.com/watch?v=3dEJR9xg5nU