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Curriculum Vitae Spring 2017
Su Jun 蘇 潤 Address: 5F No.60, Zhulin Rd. Yonghe Dist.New Taipei City 234 Taiwan Phone: +886928001219 Mail: mrsuroom@gmail.com Born: 20/04/1988 Nationality:Taiwan Employment Lung Lung Design Designer 2017- Present
TKU - CCC Lab Research Assistant & Teaching Assistant
Workshops Minipython Workshop Workshop of Python in Rhino/Grasshopper 2015, Tamkang University, New Taipei City, Taiwan
Synthetic Totem & Robotic Fabrication Workshop workshop of robotic fabrication
Researcher and designer on projects exploring advanced fabrication and material behaviour. Projects:Feast Pavilion 2014,Holothuria Pavilion 2015
Aug 2015, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan
2014-2016 ,CCC Lab, Department of Architecture, Tamkang University
Additive Robotic Materialization
AGD + [uto] ARM workshop in TKU Summer Review 2013 Summer, Tamkang University, New Taipei City, Taiwan
Academic Master of Architecture Department of Architecture, Tamkang University Specialising in Digital Fabrication, Thesis:Cardboard tectonics of digital fabrication 2012-2014, Tamsui, New Taipei City, Taiwan
[GRASS-TOGETHER]
Grasshopper + Python Workshop Sep 2013, Tamkang University, New Taipei City, Taiwan
TKU legacy Grasshopper workshop 2013
Bachelor of Architecture
Workshop on Grasshopper for master/BA students, June 2013, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan
Department of Architecture, Tamkang University 2006-2012, Tamsui, New Taipei City, Taiwan
TKU legacy Grasshopper workshop 2012
Teaching TKU legacy Grasshopper workshop 2015 Guest Lecturer Led workshop on Grasshopper for master/BA students, July 2015, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan
Workshop on Grasshopper for master/BA students, June 2012, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan
[uto]GECO Workshop
TKU legacy Grasshopper workshop 2014 Guest Lecturer Co-host workshop on Grasshopper for master/BA students, June 2014, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan Publications
Exhibitions
Cardboard tectonics of digital fabrication Master thesis of TKU 2014 Sep 2014,Tamkang Chueh Sheng Memorial Library, New Taipei City, Taiwan
Intertidal zone-Green EXPO 2015
Designed and fabricated 1:1 project-“Holothuria Pavilion”as invited Designer Mar-May 2015, Green EXPO 2014, Yilan,Taiwan
GECO Grasshopper + Ecotect Analysis 2011, Tamkang University, New Taipei City, Taiwan Skills
3D Modelling
Platform: Rhino, SketchUP, FromZ
Parametric Modelling
Platform: Grasshopper, Hoopsnake, Anemone
Scripting/Programming
Platform: Python, Processing,
Synthetic Totem & Robotic Fabrication Workshop Review Exhibition of the workshop project: Robotic Fabrication
Simulation
Maker faire Taipei
CAD
Aug 2015, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan Exhibition of the green EXPO project “Holothuria Pavilion” May 2015, Huashan 1914 Creative Park, Taipei, Taiwan
Awchitecture! Architecture Thesis Exhibition
Platform: Kangaroo, Geco, LadyBug
Platform: Rhino, AutoCAD
CAMLaser cutting, ZUND cutter, CNC milling, Plasma CNC cutter and 3D printing Platform: EZcut, visi, Impact OME , Makerware, AutoCAD
Exhibition of the thesis project/co-designer of exhibition June 2014, URS 21 Gallery, Taipei, Taiwan
Robotic Arm Universal Robots-UR5,UR10
Edible Landscape-Green EXPO 2014
Model Making Comfortable working with wood, foam, cardboard, papers, plastics using
Platform: Scorpion-Grasshopper
Designed and fabricated 1:1 project-“Feast” as invited Designer Mar-May 2014, Green EXPO 2014, Yilan,Taiwan
a range of hand and power tools
Additive Robotic Materialization
Platform: Arduino
ARM workshop in TKU Summer Review 2013, Black Swan Gallery, Tamkang University, New Taipei City, Taiwan
ReArchi-Tetris
Assembly and Exhibition Design for Graduating Exhibition of Architecture Department of TKU June 2012, URS 21, Taipei, Taiwan
Physical Computing Rendering
Platform: VRay, Keyshot, Rhino, Maxwell, Artlantis
Graphic Design
Platform: Photoshop, Illustrator, CorelDRAW
Parametric in Architecture Exhibition of the semester project “Parametric Dihua” 2011, Department of Architecture, Tamkang University, Taiwan
Desk Top Publishing
40th Graduating Exhibition of Architecture Department of TKU
Platform: Premiere Pro, Lightroom
Selected project from first-year-project 2008, The Red House, Taipei, Taiwan
Platform: InDesign
Video Filming, capturing and editing using digital or analogue cameras
H o l o t h u r i a P a v i l i o n 2 0 1 5 Y i - L a n
S p r i n g G r e e n E X P O
04
C a r d b o a r d i n D i g i t a l fabrication 2 0 1 4 S T a m s u i
Feast 2 0 1 4 Y i - L a n
u m m e r T h e s i s
Pavilion S p r G r e e n
Robotic [Poking 2 0 CCC
1 5 Lab
13
i
n g E X P O
25
Arm 01]
F a l l armproject
32
Robotic Arm [Tearing01] 2 0 1 5 F material studying
a l l project
38
W O R K S H O P S [Robotic Arm] [Grasshopper]
42
Holothuria P a v i l i o n 2 0 1 5 Yi-Lan
S p r i n g Green EXPO
2015 GREEN EXPO
Invitation from Yi-Lan Green EXPO to produce a pavilion with theme in marine creatures. Exhibition would be in outdoor environment for 50 days, applying parametric computing as tools to generate the shape and expansion diagram. The audience can go through the sea tunnel to experience spatial experience.
MATERIAL
Using ZUND cutter and form the entire surface layer through assembly and the inter-latching of units. Connecting and securing the arch-skeleton bent from surface layer and PVC pipe, constituting a consecutive arch space for internal entrance.
Attractor - Pyramids and Open
DESIGN PROCESS
Two curves on the ground point out the bench lies and the bench line will constitute curvy archskeleton structure through simple computation, which is then cut into surface constituted by triangular plane to control the relation between the curve rate and attractor, forming the units constituted by each triangular side. Finally the triangular side is interlocked and divided into two different design of latching method composition unit.
Main frame from base
Constructure skeleton
Panelize into triangles
Thickness
UNIT A - Pyramid
UNIT B - Prism
CONNECTION DETAIL
The connections between individual units are defined by interweaving, and the stable structure is based on the stggered formation providing comprehensively support. Moreover, rivets commonly used in autmobile industry play the role of solidifying the connections.
PROTOTYPE - roll/unroll
The skin of this project is composed of two types of units, namely pyramid and prism. To mutually fixed structures, the details of interlocking connector are applied between these two units.
UnitB
UnitA
UNIT A
UNIT A - Pyramid
UNIT B - Prism
UNIT B
UnitB
205.37
137.16
104.33
113.85
188.745 182.633
69.23
187.986
65.14
65.66
187.986
200.906 205.634 93.50
217.018
213.664 201.994 128.93
81.41
213.235
240.81
125.51
197.808
175.38
121.18
187.338
187.058 184.401
152.33
198.089
The production of skeleton uses PVC pipe and designs the tension of PVC pipe through changes in different lengths to control the arch-structure of the plane slices of the Pavilion. Due to the limitation of existing materials, the pipe materials must be connected to make up for the deficiency in length. Hence the calculation of node positions shall be offset to assure the node is still located on the central point of the arch after bending.
192.518
SKELETON
71.02
LAYOUT SYSTEM
The layout system of base, which not only requires precise sampling of the 2D position of each node but also needs to provide the angle of each connection node, in order to export the vector of the end point of the skeleton. The metal base undergone laser cutting will bend each folding line and these plane controlled skeleton of PVC pipes generated by these folding lines will be the start.
Plane01
171.941°
Plane02
175.771°
Plane03
168.228°
Plane04
164.326°
Plane05
161.428°
Plane06
159.04°
Plane07
157.79°
Plane08
156.172°
Plane09
154.842°
Plane10
153.165°
Plane11
152.089°
Plane12
150.502°
Plane13
149.377°
Plane14
148.435°
Plane15
148.616°
Plane16
149.094°
Plane17
150.767°
ASSEMBLYING
C a r d b o a r d in Digital fabrication 2 0 1 4 S T a m s u i
u m m e r T h e s i s
Materials research
Packing cardboard materials differ from other boards in that the surface can be precisely folded after punching and hence the ZUND punch tool is the main operational tool used based on this feature.
Materials research is an important aspect in architectural design. Many architec ts dedicate themselves to the development of new materials and innovative applications of existing materials. This study explores cardboard as a material, using parametric design tools to generate a 3D computer model. The structure is then constructed in the real world.
Skeleton
Folding
Cardboards intersect each other vertically and horizontally through latches to secure the position of the cardboards in both dimensions. The 3D computer model is cut into drawings and, using an oscillating cutter to cut the corrugated cardboards into strips of components. The latch system does not require adhesion process but applies the friction between the material latches to stably secure the components in two dimensions.
Cardboard materials differ from other boards in that the surface can be precisely folded after punching and hence the ZUND punch tool is the main operational tool used based on this feature.
Skacking
Texture
The most common technique in digital fabrication. It is discovered in the process of operating the material boards of cardboards that the relation between the corrugation of cardboards and the stacking direction will change the structural loading and texture after the model formation. Structural loading is a special material property of cardboard materials that affects the forms and limitation of dimensions in construction.
The cutter head of the oscillating cutter from the study is configured with a height that perfectly cuts off the surface paper on the first layer of the cardboard without cutting the tube of the main structure. The surface paper cut is separated from the tube to expose some tubes. The experiment process of this stage attempts to cut multi-layer material with oscillating cutter head of precision control, generating different surface processing methods without cutting off the materials.
Packing Imitating the production model of corrugated cardboard cartons and using the expansion drawings for carton cutting and punching production, the concept of customized cartons is applied to produce this operation process, treating these cartons as the units of common building materials, “bricks.� These different shapes and different carton bricks are then used to construct the different models and space.
Stacking Using the characteristics of stacking, the block units are preserved with concaveup and concave-down latch connectors. However due to the limitation of corrugated cardboard materials, the connector will only be stable only when the direction of the connector is on the same plane as the cutting direction of the corrugated cardboard, namely the connector with one dimension will be easier to produce.
Folding+Stacking Using mixed techniques of folding and the tolerance resulted from folding waste is calculated for the unit on the single side. Use screws on all surface centers to secure the multi-layer corrugated cardboard. Such bottom-up production logics can produce controllable unit modules.
ARCH 01 Folding+Skeleton
Cutting the curve surface will produce multiple line sections on the curve surface, forming interlocking arch-piping structure. The interlocking order intercepts piping structure to form interlocking checkboard pattern on the faรงade. Latches are drawn on the overlapping part of the interlocking units with different angles drawn for latches of different angles. Then each unit with the latch is unfolded into plan cutting diagram using parametric design tools.
DESIGN PROCESS The concept of producing corrugated cardboard cartons is used as the composition of units to press the four equal long strips of corrugated cardboard into the top and bottom ring-shaped cub without ceiling. However, the ring could not be secured and is subject to deformation due to forced turn, which requires horizontal securing in order to constrain the deformation of ring-shaped units so that the units can be inter-latched into arch shape.
A
A BB B
B
A
A
UNITS The latch angles and depth between units are calculated, followed by flattening and unfolding the ring-shaped units to acquire the expansion diagram of the units. Add the impact of thickness to the configurable parameters and press folding lines between the two planes of the expansion diagram using the punching cutter head. The area of folding lines will result in material waste after punching, and hence the folding area is added with 5mm of width. Each punched line of the unfolding units for cutting and punching will be folded in 90 degree and adhered for security on the overlapping edge of the two sides. The lines on the two ends of unfolding unit will also need to be added with the same width of material on the areas of connection using adhesives, in order to smooth the connection of the header.
PROCESS
ARCH 01 Folding+Skeleton
ARCH 02 2D-FOLDING
The ring-type units are susceptible to deformation and do not contain constitutive property. These two units are used as the structural units, interlocking and combining the box units with the rectangular ring units. The units oppose each other through in the direction of force from neighboring units, so the units do not deform and impact the structure of the arch space.
DESIGN PROCESS On the side of the unit susceptible to deformation by force does not have additional units for latching and hence the direction of deformation for the side of the ring-shaped unit is secured. To connect the units, use the box unit to secure the amount of lateral deformation for the adjacent four ring-shaped units on the four sides. Consequently the ring-shaped units shall limit the folding amount on the four plane punch lines of the four adjacent box units, causing the four plans of the box units and ring-shaped units to overlap with fixed angles.
UNITS
BASE
The units are connected in a horizontal row and combined with the next row of units. The bottom of the arched structure is assembled in sections from bottom up. The inner and outer interlocking weaving style connects one side of the two boxes, unconnected to the planes of other units, with the trimming components.
The laser-cut layout base plate allows the base to be precisely placed on the accurate position for sampling. The box units of under the arched units are applied with the same assembly method of the adjacent units, connecting the plane on the bottom.
ARCH 02 2D-FOLDING
ARCH 03 Folding+Stacking
The surface is divided into many planes. Take the marginal line of each plane and maximize or minimize the scale from the center of diagonal. Then convert the lines of the octagon into hollow octagon ring planes. After dividing into eight trapezoids, polymerize the ring-shaped objects with the plane of the trapezoid on the bottom into one box unit. Then use parametric design tools to place each unit on the surface, flatten and unfold. Finally draw the screw holds on fixed units with adjacent units.
DESIGN PROCESS Unfold the units that have been cut and punched. Fold the protruding four plans according to the folding lines and overlap with the marginal lines of the adjacent planes. The two adjacent sides are assembled on the intersecting edges. After completing the smallest trapezoid unit of the eight medium ones, finally secure the unit with adjacent units
UNITS The bottom of the entire octagon is not flat and hence the connection of the smallest units will require attention on the side-toside overlapping. The shape of the entire octagon will deform if the sides of the two units incorrectly secured on the common side, resulting in the deformation of the entire arch structure.
ARCH 03 Folding+Stacking
Feast Pavilion 2 0 1 4 Yi-Lan
S p r i n g Green EXPO
GREEN EXPO 2014
Invitation from Yi-Lan Green Expor to produce a pavilion with theme in marine creatures. Exhibition would be in outdoor environment for 50 days, applying parametric computing as tools to generate the shape and expansion diagram. The audience can go through the sea tunnel to experience spatial experience.
FEAST
The theme of Green Expo is to praise the value of the land. Like a big show, lots of the eatable crops are demostrated on the surface of the tower for praying of the harvest of the next year.
FEAST PAVILION Feast pavilion is designed in the shape of tower, using the tip of two concentric circles with different height as the plane cone, dividing this surface into more surfaces. This design is divided vertically and horizontally to yield many surfaces in checkered patterns. The checker pattern reduces half the quantity of all surfaces, forming a hollow tower-like mass.
Loft
Subdivision
Penalize
Dispatch
Scale
Details
STRUCTURE
Using reciprocal structure for interlatching and cutting the plane material into units, the weight of the unit is used as support for the entire structure. Plywood is used as the main material for this work in consideration of using lightweight wooden plate and that medium-density fibreboard is susceptible to wetness. Thinner plate is preferred for the choice of plate thickness in order to reduce the weight sustained by the bottom support through lowering the total weight of the materials. Nonetheless plates that are too thin are susceptible to bending and hence 3mm plate available in the market is overlooked by choosing the 5.5mm plate that is less susceptible to bending.
MOCKUP
During the mockup period, a plastic cardboard with considerably similar structural property as the corrugated cardboard material is used in consideration of meeting outdoor waterproof requirement. The plastic cardboard is delivered to the ZUND cutter to cut the trial model expansion diagram in the ratio of 1:3. The result of trial experiment process reflects the tolerance between the drawing objects under the orthogonal environment of computer simulation and the real world.
LAYOUT
The sextant angle between each base and the ground is exported by acquiring the numbers of all sextant angles. These numbers are used to fabricate the base components. The demand for base materials appeals in robustness and weatherproof. Hence wood susceptible to wetness, deformation and weakening o f i n t e n s i t y, a r e n o t t a k e n i n t o consideration. Eventually metal plate for easy-processing is chosen as the material of base. The processing will be carried in professional metal processing factory, where L-shape metal plate with angles is customized and drilled holes on the two sides. One of the sides is drilled with 5mm holes, using wood screws to secure on the ground while the other side is drilled with 12mm holes, using 3/8 screw and bolts to connect with metal piece and the components on wooden plate.
WIRE SYSTEM
The wooden components not comprise the latch on the connecting part of each wooden plate but are also designed with reserved screw holes to facility the fastening of screws for pulling the wire during construction. Pulling the wire will allow each row of components to tighten through the inter-tension of wire without loosening and falling due to wind and other external forces, causing the entire work to collapse.
PROCESS
The very first problem faced at the construction site is the precision sampling. A laser-cutting sampling tool was placed on the site, which became a ring-type plate after assembly. This ring-type tool can precisely place each customized metal base and secure it with screws on the wooden platform to complete the sampling.
Robotic [Poking 2 0 CCC
1 5 Lab
Arm 01]
F a l l armproject
FORMING CLAY
FORMING CLAY
How we form the clay in the reality is quite simple, however it’s difficult to turn the exact model from the software into the real one is difficult.
Recently, the way of lots of claymodeling projects, which are made of robotic arms are similar to the one of 3D printers. However, the materiality and texture of the clay could be kept original by utilizing the robotic arms to press the clay like children.
END EFFECTOR DESIGN End effector in this project is a column to press clay. To test the result of the different shapes of tips pressing the clay, the quick-release base is designed for enhancing the efficiency of researching.
FORM TO PATH
Create a surface and output the plane data in grasshopper, control the surface with different grid system for intersect the plane to robotic arm. Adjusting the planes with real time simulation, and design the moving path in the software.
UR Script OUTPUT {0;0} 0. def myprog(): socket_open("192.168.2.3",30003) set_tcp(p[0.000000, 0.000000, 0.060000, 0.000000, 0.000000, 0.000000]) movej([-1.454000, -1.793000, -2.405000, -0.514000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.480000, -1.797000, -2.400000, -0.516000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.506000, -1.800000, -2.395000, -0.517000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.532000, -1.804000, -2.389000, -0.519000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.557000, -1.808000, -2.382000, -0.522000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.583000, -1.813000, -2.375000, -0.524000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.609000, -1.818000, -2.367000, -0.527000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.835000, -2.342000, -0.536000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.634000, -1.824000, -2.359000, -0.530000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.840000, -2.333000, -0.539000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.659000, -1.830000, -2.350000, -0.533000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.846000, -2.325000, -0.542000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.862000, -2.299000, -0.551000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.427000, -1.785000, -2.407000, -0.520000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.454000, -1.787000, -2.403000, -0.522000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.497000, -1.943000, -2.157000, -0.613000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.794000, -2.394000, -0.525000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.812000, -2.367000, -0.533000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.518000, -1.946000, -2.152000, -0.614000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.798000, -2.388000, -0.527000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.815000, -2.362000, -0.535000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.539000, -1.949000, -2.147000, -0.617000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.802000, -2.381000, -0.529000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.820000, -2.355000, -0.538000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.560000, -1.952000, -2.141000, -0.619000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.807000, -2.374000, -0.531000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.824000, -2.348000, -0.540000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.841000, -2.322000, -0.549000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.956000, -2.135000, -0.621000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.812000, -2.366000, -0.534000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.829000, -2.341000, -0.543000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.846000, -2.315000, -0.552000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.602000, -1.960000, -2.128000, -0.624000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.818000, -2.358000, -0.537000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.835000, -2.332000, -0.546000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.851000, -2.307000, -0.555000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.622000, -1.964000, -2.121000, -0.627000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.824000, -2.349000, -0.540000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.840000, -2.323000, -0.549000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.857000, -2.298000, -0.558000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.643000, -1.969000, -2.113000, -0.631000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.779000, -2.406000, -0.528000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.455000, -1.934000, -2.163000, -0.615000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.781000, -2.402000, -0.529000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.799000, -2.376000, -0.537000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.476000, -1.936000, -2.160000, -0.617000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.784000, -2.398000, -0.530000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.802000, -2.371000, -0.539000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.497000, -1.938000, -2.156000, -0.618000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.788000, -2.392000, -0.532000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.806000, -2.366000, -0.540000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.518000, -1.941000, -2.151000, -0.620000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.792000, -2.386000, -0.534000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.810000, -2.360000, -0.542000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.827000, -2.334000, -0.551000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.539000, -1.944000, -2.146000, -0.622000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.797000, -2.380000, -0.536000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.814000, -2.354000, -0.545000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.831000, -2.328000, -0.553000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.948000, -2.140000, -0.625000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.801000, -2.373000, -0.538000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.819000, -2.347000, -0.547000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.836000, -2.321000, -0.556000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.951000, -2.134000, -0.627000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.807000, -2.365000, -0.541000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.824000, -2.339000, -0.549000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.840000, -2.313000, -0.558000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.602000, -1.955000, -2.127000, -0.630000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.812000, -2.356000, -0.544000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.829000, -2.331000, -0.552000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.846000, -2.305000, -0.561000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.622000, -1.960000, -2.120000, -0.633000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.818000, -2.347000, -0.547000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.835000, -2.322000, -0.555000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.851000, -2.297000, -0.564000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.643000, -1.964000, -2.112000, -0.636000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.773000, -2.405000, -0.535000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.791000, -2.378000, -0.543000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.455000, -1.929000, -2.162000, -0.621000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.775000, -2.401000, -0.536000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.793000, -2.374000, -0.544000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.476000, -1.931000, -2.158000, -0.622000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.778000, -2.396000, -0.538000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.797000, -2.370000, -0.546000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.814000, -2.344000, -0.554000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.497000, -1.934000, -2.154000, -0.624000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.782000, -2.391000, -0.539000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.800000, -2.365000, -0.548000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.818000, -2.339000, -0.556000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.518000, -1.937000, -2.150000, -0.626000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.786000, -2.385000, -0.541000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.804000, -2.359000, -0.549000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.821000, -2.333000, -0.558000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.539000, -1.940000, -2.145000, -0.628000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.791000, -2.378000, -0.543000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.808000, -2.353000, -0.552000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.826000, -2.327000, -0.560000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.943000, -2.139000, -0.630000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.796000, -2.371000, -0.545000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.813000, -2.346000, -0.554000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.830000, -2.320000, -0.563000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.947000, -2.133000, -0.633000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.801000, -2.363000, -0.548000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.818000, -2.338000, -0.556000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.835000, -2.312000, -0.565000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.602000, -1.951000, -2.126000, -0.635000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.807000, -2.355000, -0.551000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.824000, -2.330000, -0.559000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.840000, -2.304000, -0.568000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.622000, -1.955000, -2.119000, -0.638000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.813000, -2.346000, -0.554000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.829000, -2.321000, -0.562000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.846000, -2.295000, -0.571000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.862000, -2.270000, -0.580000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.643000, -1.960000, -2.111000, -0.642000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.767000, -2.403000, -0.543000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.785000, -2.377000, -0.550000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.455000, -1.925000, -2.161000, -0.627000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.769000, -2.399000, -0.544000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.788000, -2.373000, -0.552000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.806000, -2.347000, -0.560000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.476000, -1.927000, -2.157000, -0.628000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.773000, -2.395000, -0.545000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.791000, -2.369000, -0.553000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.809000, -2.342000, -0.561000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.497000, -1.929000, -2.153000, -0.630000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.776000, -2.389000, -0.547000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.794000, -2.363000, -0.555000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.812000, -2.337000, -0.563000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.518000, -1.932000, -2.149000, -0.632000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.780000, -2.384000, -0.548000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.798000, -2.358000, -0.556000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.816000, -2.332000, -0.565000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.538000, -1.918000, -2.171000, -0.623000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.935000, -2.144000, -0.634000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.785000, -2.377000, -0.550000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.803000, -2.351000, -0.558000, 1.571000, 1.584000],a=0.300000,v=0.400000)
movej([-1.583000, -1.825000, -2.318000, -0.569000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.582000, -1.842000, -2.292000, -0.578000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.926000, -2.159000, -0.627000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.581000, -1.942000, -2.132000, -0.638000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.795000, -2.362000, -0.555000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.813000, -2.337000, -0.563000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.830000, -2.311000, -0.572000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.847000, -2.285000, -0.581000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.602000, -1.930000, -2.152000, -0.630000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.946000, -2.125000, -0.641000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.801000, -2.354000, -0.558000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.818000, -2.328000, -0.566000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.835000, -2.303000, -0.575000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.852000, -2.277000, -0.584000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.623000, -1.934000, -2.145000, -0.633000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.951000, -2.118000, -0.644000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.807000, -2.345000, -0.561000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.824000, -2.320000, -0.569000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.841000, -2.294000, -0.578000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.857000, -2.268000, -0.587000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.644000, -1.939000, -2.137000, -0.636000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.956000, -2.110000, -0.647000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.761000, -2.402000, -0.550000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.779000, -2.376000, -0.558000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.798000, -2.349000, -0.566000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.455000, -1.920000, -2.160000, -0.633000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.763000, -2.398000, -0.551000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.782000, -2.372000, -0.559000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.800000, -2.345000, -0.567000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.476000, -1.922000, -2.156000, -0.634000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.767000, -2.393000, -0.552000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.785000, -2.367000, -0.560000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.803000, -2.341000, -0.568000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.495000, -1.908000, -2.180000, -0.625000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.925000, -2.152000, -0.635000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.770000, -2.388000, -0.554000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.789000, -2.362000, -0.562000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.807000, -2.336000, -0.570000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.824000, -2.310000, -0.578000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.517000, -1.911000, -2.175000, -0.627000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.518000, -1.928000, -2.148000, -0.637000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.775000, -2.382000, -0.556000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.793000, -2.356000, -0.563000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.810000, -2.330000, -0.572000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.534000, -1.828000, -2.304000, -0.580000, 1.571000, 1.607000],a=0.300000,v=0.400000) movej([-1.538000, -1.914000, -2.170000, -0.629000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.931000, -2.143000, -0.639000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.779000, -2.376000, -0.558000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.797000, -2.350000, -0.565000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.815000, -2.324000, -0.574000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.832000, -2.298000, -0.582000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.917000, -2.164000, -0.631000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.934000, -2.137000, -0.641000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.784000, -2.368000, -0.560000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.802000, -2.343000, -0.568000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.819000, -2.317000, -0.576000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.582000, -1.837000, -2.291000, -0.585000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.921000, -2.158000, -0.633000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.581000, -1.938000, -2.131000, -0.644000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.790000, -2.361000, -0.562000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.807000, -2.335000, -0.570000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.824000, -2.310000, -0.578000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.842000, -2.284000, -0.587000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.602000, -1.925000, -2.151000, -0.636000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.942000, -2.124000, -0.647000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.795000, -2.352000, -0.565000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.813000, -2.327000, -0.573000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.830000, -2.301000, -0.581000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.847000, -2.276000, -0.590000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.623000, -1.930000, -2.144000, -0.639000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.946000, -2.117000, -0.649000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.801000, -2.343000, -0.567000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.819000, -2.318000, -0.576000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.835000, -2.293000, -0.584000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.852000, -2.267000, -0.593000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.644000, -1.935000, -2.136000, -0.642000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.951000, -2.109000, -0.653000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.755000, -2.400000, -0.557000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.773000, -2.374000, -0.565000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.792000, -2.348000, -0.573000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.450000, -1.881000, -2.213000, -0.618000, 1.571000, 1.692000],a=0.300000,v=0.400000) movej([-1.452000, -1.898000, -2.186000, -0.628000, 1.571000, 1.689000],a=0.300000,v=0.400000) movej([-1.455000, -1.916000, -2.158000, -0.638000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.757000, -2.396000, -0.559000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.776000, -2.370000, -0.566000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.795000, -2.344000, -0.574000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.462000, -1.813000, -2.318000, -0.582000, 1.571000, 1.679000],a=0.300000,v=0.400000) movej([-1.472000, -1.883000, -2.210000, -0.619000, 1.571000, 1.670000],a=0.300000,v=0.400000) movej([-1.474000, -1.901000, -2.183000, -0.629000, 1.571000, 1.668000],a=0.300000,v=0.400000) movej([-1.476000, -1.918000, -2.155000, -0.640000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.761000, -2.392000, -0.560000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.779000, -2.366000, -0.567000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.798000, -2.340000, -0.575000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.486000, -1.816000, -2.313000, -0.584000, 1.571000, 1.655000],a=0.300000,v=0.400000) movej([-1.494000, -1.886000, -2.206000, -0.621000, 1.571000, 1.648000],a=0.300000,v=0.400000) movej([-1.495000, -1.903000, -2.179000, -0.631000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.920000, -2.151000, -0.641000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.765000, -2.387000, -0.561000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.783000, -2.361000, -0.569000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.801000, -2.335000, -0.577000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.819000, -2.308000, -0.585000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.516000, -1.889000, -2.201000, -0.622000, 1.571000, 1.626000],a=0.300000,v=0.400000) movej([-1.517000, -1.906000, -2.174000, -0.632000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.518000, -1.923000, -2.146000, -0.643000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.769000, -2.381000, -0.563000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.787000, -2.355000, -0.571000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.805000, -2.329000, -0.579000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.534000, -1.823000, -2.303000, -0.587000, 1.571000, 1.607000],a=0.300000,v=0.400000) movej([-1.538000, -1.892000, -2.196000, -0.624000, 1.571000, 1.604000],a=0.300000,v=0.400000) movej([-1.538000, -1.909000, -2.169000, -0.63400 0, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.926000, -2.141000, -0.645000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.773000, -2.374000, -0.565000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.791000, -2.348000, -0.572000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.809000, -2.323000, -0.581000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.827000, -2.296000, -0.589000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.896000, -2.190000, -0.626000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.913000, -2.163000, -0.637000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.930000, -2.136000, -0.647000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.778000, -2.367000, -0.567000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.796000, -2.341000, -0.575000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.814000, -2.316000, -0.583000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.582000, -1.831000, -2.290000, -0.591000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.900000, -2.184000, -0.629000, 1.571000, 1.560000],a=0.300000,v=0.400000) movej([-1.581000, -1.917000, -2.157000, -0.639000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.581000, -1.933000, -2.129000, -0.649000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.784000, -2.359000, -0.569000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.802000, -2.334000, -0.577000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.819000, -2.308000, -0.585000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.836000, -2.282000, -0.594000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.603000, -1.904000, -2.177000, -0.631000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.921000, -2.150000, -0.642000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.938000, -2.123000, -0.652000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.790000, -2.351000, -0.572000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.807000, -2.326000, -0.580000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.824000, -2.300000, -0.588000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.842000, -2.274000, -0.596000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.624000, -1.909000, -2.169000, -0.634000, 1.571000, 1.517000],a=0.300000,v=0.400000) movej([-1.623000, -1.925000, -2.142000, -0.644000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.942000, -2.115000, -0.655000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.796000, -2.342000, -0.574000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.813000, -2.317000, -0.582000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.830000, -2.291000, -0.591000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.847000, -2.266000, -0.599000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.646000, -1.914000, -2.161000, -0.637000, 1.571000, 1.496000],a=0.300000,v=0.400000) movej([-1.644000, -1.930000, -2.135000, -0.648000, 1.571000, 1.497000],a=0.300000,v=0.400000)
movej([-1.643000, -1.947000, -2.108000, -0.658000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.749000, -2.399000, -0.565000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.768000, -2.373000, -0.572000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.786000, -2.346000, -0.580000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.438000, -1.805000, -2.320000, -0.588000, 1.571000, 1.704000],a=0.300000,v=0.400000) movej([-1.444000, -1.841000, -2.266000, -0.605000, 1.571000, 1.698000],a=0.300000,v=0.400000) movej([-1.447000, -1.859000, -2.239000, -0.614000, 1.571000, 1.695000],a=0.300000,v=0.400000) movej([-1.450000, -1.876000, -2.212000, -0.624000, 1.571000, 1.692000],a=0.300000,v=0.400000) movej([-1.452000, -1.894000, -2.185000, -0.634000, 1.571000, 1.689000],a=0.300000,v=0.400000) movej([-1.455000, -1.911000, -2.157000, -0.644000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.752000, -2.395000, -0.566000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.770000, -2.369000, -0.573000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.789000, -2.343000, -0.581000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.462000, -1.807000, -2.316000, -0.589000, 1.571000, 1.679000],a=0.300000,v=0.400000) movej([-1.474000, -1.896000, -2.181000, -0.635000, 1.571000, 1.668000],a=0.300000,v=0.400000) movej([-1.476000, -1.913000, -2.154000, -0.645000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.482000, -1.774000, -2.364000, -0.574000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.792000, -2.338000, -0.582000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.492000, -1.864000, -2.232000, -0.617000, 1.571000, 1.650000],a=0.300000,v=0.400000) movej([-1.494000, -1.881000, -2.205000, -0.627000, 1.571000, 1.648000],a=0.300000,v=0.400000) movej([-1.495000, -1.899000, -2.177000, -0.637000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.916000, -2.150000, -0.647000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.759000, -2.385000, -0.569000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.777000, -2.359000, -0.576000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.796000, -2.333000, -0.584000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.814000, -2.307000, -0.592000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.516000, -1.884000, -2.200000, -0.628000, 1.571000, 1.626000],a=0.300000,v=0.400000) movej([-1.517000, -1.901000, -2.173000, -0.638000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.532000, -1.763000, -2.379000, -0.570000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.781000, -2.353000, -0.578000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.800000, -2.327000, -0.585000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.534000, -1.818000, -2.301000, -0.594000, 1.571000, 1.607000],a=0.300000,v=0.400000) movej([-1.537000, -1.870000, -2.222000, -0.621000, 1.571000, 1.605000],a=0.300000,v=0.400000) movej([-1.538000, -1.887000, -2.195000, -0.630000, 1.571000, 1.604000],a=0.300000,v=0.400000) movej([-1.538000, -1.905000, -2.168000, -0.640000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.922000, -2.140000, -0.651000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.768000, -2.373000, -0.572000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.786000, -2.347000, -0.579000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.804000, -2.321000, -0.587000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.822000, -2.295000, -0.596000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.839000, -2.269000, -0.604000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.874000, -2.216000, -0.623000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.581000, -1.878000, -2.209000, -0.625000, 1.571000, 1.560000],a=0.300000,v=0.400000) movej([-1.581000, -1.895000, -2.182000, -0.635000, 1.571000, 1.560000],a=0.300000,v=0.400000) movej([-1.581000, -1.912000, -2.155000, -0.645000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.778000, -2.358000, -0.576000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.796000, -2.332000, -0.584000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.814000, -2.307000, -0.592000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.831000, -2.281000, -0.600000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.605000, -1.848000, -2.255000, -0.609000, 1.571000, 1.537000],a=0.300000,v=0.400000) movej([-1.604000, -1.883000, -2.202000, -0.627000, 1.571000, 1.538000],a=0.300000,v=0.400000) movej([-1.603000, -1.900000, -2.176000, -0.637000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.916000, -2.149000, -0.647000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.933000, -2.121000, -0.658000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.784000, -2.350000, -0.579000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.802000, -2.324000, -0.586000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.819000, -2.299000, -0.594000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.836000, -2.273000, -0.603000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.628000, -1.854000, -2.247000, -0.612000, 1.571000, 1.514000],a=0.300000,v=0.400000) movej([-1.624000, -1.904000, -2.168000, -0.640000, 1.571000, 1.517000],a=0.300000,v=0.400000) movej([-1.623000, -1.921000, -2.141000, -0.650000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.938000, -2.114000, -0.661000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.790000, -2.341000, -0.581000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.808000, -2.315000, -0.589000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.825000, -2.290000, -0.597000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.842000, -2.265000, -0.606000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.651000, -1.859000, -2.239000, -0.615000, 1.571000, 1.491000],a=0.300000,v=0.400000) movej([-1.647000, -1.893000, -2.187000, -0.633000, 1.571000, 1.494000],a=0.300000,v=0.400000) movej([-1.646000, -1.909000, -2.160000, -0.643000, 1.571000, 1.496000],a=0.300000,v=0.400000) movej([-1.644000, -1.926000, -2.133000, -0.653000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.942000, -2.106000, -0.664000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.743000, -2.397000, -0.572000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.762000, -2.371000, -0.579000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.781000, -2.345000, -0.587000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.438000, -1.800000, -2.318000, -0.594000, 1.571000, 1.704000],a=0.300000,v=0.400000) movej([-1.441000, -1.818000, -2.292000, -0.603000, 1.571000, 1.701000],a=0.300000,v=0.400000) movej([-1.444000, -1.836000, -2.265000, -0.611000, 1.571000, 1.698000],a=0.300000,v=0.400000) movej([-1.447000, -1.854000, -2.238000, -0.621000, 1.571000, 1.695000],a=0.300000,v=0.400000) movej([-1.450000, -1.872000, -2.211000, -0.630000, 1.571000, 1.692000],a=0.300000,v=0.400000) movej([-1.452000, -1.889000, -2.183000, -0.640000, 1.571000, 1.689000],a=0.300000,v=0.400000) movej([-1.455000, -1.907000, -2.156000, -0.650000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.746000, -2.393000, -0.573000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.765000, -2.367000, -0.580000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.784000, -2.341000, -0.588000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.462000, -1.802000, -2.315000, -0.596000, 1.571000, 1.679000],a=0.300000,v=0.400000) movej([-1.465000, -1.820000, -2.288000, -0.604000, 1.571000, 1.677000],a=0.300000,v=0.400000) movej([-1.467000, -1.838000, -2.261000, -0.613000, 1.571000, 1.674000],a=0.300000,v=0.400000) movej([-1.469000, -1.856000, -2.234000, -0.622000, 1.571000, 1.672000],a=0.300000,v=0.400000) movej([-1.472000, -1.874000, -2.207000, -0.631000, 1.571000, 1.670000],a=0.300000,v=0.400000) movej([-1.474000, -1.891000, -2.180000, -0.641000, 1.571000, 1.668000],a=0.300000,v=0.400000) movej([-1.476000, -1.909000, -2.152000, -0.651000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.749000, -2.389000, -0.574000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.486000, -1.805000, -2.310000, -0.597000, 1.571000, 1.655000],a=0.300000,v=0.400000) movej([-1.490000, -1.841000, -2.257000, -0.614000, 1.571000, 1.651000],a=0.300000,v=0.400000) movej([-1.492000, -1.859000, -2.230000, -0.623000, 1.571000, 1.650000],a=0.300000,v=0.400000) movej([-1.494000, -1.876000, -2.203000, -0.633000, 1.571000, 1.648000],a=0.300000,v=0.400000) movej([-1.495000, -1.894000, -2.176000, -0.643000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.911000, -2.148000, -0.653000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.753000, -2.384000, -0.576000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.772000, -2.358000, -0.583000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.790000, -2.332000, -0.590000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.808000, -2.305000, -0.598000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.513000, -1.844000, -2.252000, -0.616000, 1.571000, 1.628000],a=0.300000,v=0.400000) movej([-1.514000, -1.862000, -2.226000, -0.625000, 1.571000, 1.627000],a=0.300000,v=0.400000) movej([-1.516000, -1.879000, -2.199000, -0.634000, 1.571000, 1.626000],a=0.300000,v=0.400000) movej([-1.517000, -1.897000, -2.171000, -0.644000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.558000, -1.799000, -2.320000, -0.594000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.817000, -2.294000, -0.602000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.852000, -2.241000, -0.620000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.869000, -2.214000, -0.629000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.887000, -2.188000, -0.638000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.904000, -2.161000, -0.648000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.921000, -2.133000, -0.658000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.581000, -1.925000, -2.127000, -0.661000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.773000, -2.356000, -0.583000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.791000, -2.331000, -0.591000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.809000, -2.305000, -0.598000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.826000, -2.280000, -0.607000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.605000, -1.844000, -2.254000, -0.615000, 1.571000, 1.537000],a=0.300000,v=0.400000) movej([-1.604000, -1.861000, -2.227000, -0.624000, 1.571000, 1.537000],a=0.300000,v=0.400000) movej([-1.604000, -1.878000, -2.201000, -0.634000, 1.571000, 1.538000],a=0.300000,v=0.400000) movej([-1.603000, -1.895000, -2.174000, -0.643000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.912000, -2.147000, -0.653000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.929000, -2.120000, -0.663000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.779000, -2.348000, -0.586000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.623000, -1.917000, -2.140000, -0.656000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.933000, -2.113000, -0.666000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.785000, -2.339000, -0.588000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.803000, -2.314000, -0.596000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.820000, -2.289000, -0.604000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.837000, -2.263000, -0.612000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.651000, -1.854000, -2.237000, -0.621000, 1.571000, 1.491000],a=0.300000,v=0.400000) movej([-1.647000, -1.888000, -2.185000, -0.639000, 1.571000, 1.494000],a=0.300000,v=0.400000) movej([-1.646000, -1.905000, -2.159000, -0.649000, 1.571000, 1.496000],a=0.300000,v=0.400000) movej([-1.644000, -1.922000, -2.132000, -0.659000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.938000, -2.105000, -0.669000, 1.571000, 1.499000],a=0.300000,v=0.400000) stopj(1) end 1.
FORMING Froming clay by robotic arm, within d i ff e r e n t t e x t u r e o f c l a y, c r e a t e new type froming system for digital fabrication. Try to use robotic arm such as precise tool to represent a movement of human hand. Because of robotic arm can precisely repeat a single movement for thousands times, using it as a experiment of control unexpect material texture.
Robotic Arm [Tearing01] 2 0 1 5 F a l l material studying project
IM/PRECISE
Tearing paper by robotic arm, compare with ZUND cutter and tearing by robotic arm. Different texture of edge, create new type cutting system for digital fabrication. Try to use robotic arm such a precise tool to represent a movement of human hand. Because of robotic arm can precisely repeat a single movement for thousands times, using it as a experiment of control unexpect material texture.
END EFFECTOR DESIGN
PATH The paths of paper-tearing are divided into several frames and the differences on the z-axis would be applied by Grasshopper, for studying the limitation of degree of curves through testing different curvatures of curves. These frames would be transformed into UR script, then imported into the robotic arms controller with I/O functionalities. It would be executed from the given starting point on the paper cut by ZUND.
W O R K S H O P S [Robotic Arm] [Grasshopper]
ADG Arm Workshop 2013 Participate as student
TKU Lineage Workshop 2014, 2015 Participate as lecturer
TKU "Arms UP" Workshop 2015 as Teaching Assistant
FACE 01 PICK&PLACE
FACE 02 HOTWIRE CUTTING
C a r d b o a r d in Digital fabrication 2 0 1 4 S T a m s u i
u m m e r T h e s i s
Materials research
Packing
cardboard materials differ from other boards in that the surface can be precisely folded after punching and hence the ZUND punch tool is the main operational tool used based on this feature.
Materials research is an important aspect in architectural design. Many architec ts dedicate themselves to the development of new materials and innovative applications of existing materials. This study explores cardboard as a material, using parametric design tools to generate a 3D computer model. The structure is then constructed in the real world.
Skeleton
Folding
Skacking
Texture
Cardboards intersect each other vertically and horizontally through latches to secure the position of the cardboards in both dimensions. The 3D computer model is cut into drawings and, using an oscillating cutter to cut the corrugated cardboards into strips of components. The latch system does not require adhesion process but applies the friction between the material latches to stably secure the components in two dimensions.
The most common technique in digital fabrication. It is discovered in the process of operating the material boards of cardboards that the relation between the corrugation of cardboards and the stacking direction will change the structural loading and texture after the model formation. Structural loading is a special material property of cardboard materials that affects the forms and limitation of dimensions in construction.
Cardboard materials differ from other boards in that the surface can be precisely folded after punching and hence the ZUND punch tool is the main operational tool used based on this feature.
The cutter head of the oscillating cutter from the study is configured with a height that perfectly cuts off the surface paper on the first layer of the cardboard without cutting the tube of the main structure. The surface paper cut is separated from the tube to expose some tubes. The experiment process of this stage attempts to cut multi-layer material with oscillating cutter head of precision control, generating different surface processing methods without cutting off the materials.
Packing
Imitating the production model of corrugated cardboard cartons and using the expansion drawings for carton cutting and punching production, the concept of customized cartons is applied to produce this operation process, treating these cartons as the units of common building materials, “bricks.� These different shapes and different carton bricks are then used to construct the different models and space.
Stacking
Using the characteristics of stacking, the block units are preserved with concaveup and concave-down latch connectors. However due to the limitation of corrugated cardboard materials, the connector will only be stable only when the direction of the connector is on the same plane as the cutting direction of the corrugated cardboard, namely the connector with one dimension will be easier to produce.
Folding+Stacking
Using mixed techniques of folding and the tolerance resulted from folding waste is calculated for the unit on the single side. Use screws on all surface centers to secure the multi-layer corrugated cardboard. Such bottom-up production logics can produce controllable unit modules.
ARCH 01 Folding+Skeleton
Cutting the curve surface will produce multiple line sections on the curve surface, forming interlocking arch-piping structure. The interlocking order intercepts piping structure to form interlocking checkboard pattern on the faรงade. Latches are drawn on the overlapping part of the interlocking units with different angles drawn for latches of different angles. Then each unit with the latch is unfolded into plan cutting diagram using parametric design tools.
DESIGN PROCESS
The concept of producing corrugated cardboard cartons is used as the composition of units to press the four equal long strips of corrugated cardboard into the top and bottom ring-shaped cub without ceiling. However, the ring could not be secured and is subject to deformation due to forced turn, which requires horizontal securing in order to constrain the deformation of ring-shaped units so that the units can be inter-latched into arch shape.
A
A BB B
B
A
A
UNITS
The latch angles and depth between units are calculated, followed by flattening and unfolding the ring-shaped units to acquire the expansion diagram of the units. Add the impact of thickness to the configurable parameters and press folding lines between the two planes of the expansion diagram using the punching cutter head. The area of folding lines will result in material waste after punching, and hence the folding area is added with 5mm of width. Each punched line of the unfolding units for cutting and punching will be folded in 90 degree and adhered for security on the overlapping edge of the two sides. The lines on the two ends of unfolding unit will also need to be added with the same width of material on the areas of connection using adhesives, in order to smooth the connection of the header.
PROCESS
ARCH 01 Folding+Skeleton
ARCH 02 2D-FOLDING
The ring-type units are susceptible to deformation and do not contain constitutive property. These two units are used as the structural units, interlocking and combining the box units with the rectangular ring units. The units oppose each other through in the direction of force from neighboring units, so the units do not deform and impact the structure of the arch space.
DESIGN PROCESS
On the side of the unit susceptible to deformation by force does not have additional units for latching and hence the direction of deformation for the side of the ring-shaped unit is secured. To connect the units, use the box unit to secure the amount of lateral deformation for the adjacent four ring-shaped units on the four sides. Consequently the ring-shaped units shall limit the folding amount on the four plane punch lines of the four adjacent box units, causing the four plans of the box units and ring-shaped units to overlap with fixed angles.
UNITS
The units are connected in a horizontal row and combined with the next row of units. The bottom of the arched structure is assembled in sections from bottom up. The inner and outer interlocking weaving style connects one side of the two boxes, unconnected to the planes of other units, with the trimming components.
BASE
The laser-cut layout base plate allows the base to be precisely placed on the accurate position for sampling. The box units of under the arched units are applied with the same assembly method of the adjacent units, connecting the plane on the bottom.
ARCH 02 2D-FOLDING
ARCH 03 Folding+Stacking
The surface is divided into many planes. Take the marginal line of each plane and maximize or minimize the scale from the center of diagonal. Then convert the lines of the octagon into hollow octagon ring planes. After dividing into eight trapezoids, polymerize the ring-shaped objects with the plane of the trapezoid on the bottom into one box unit. Then use parametric design tools to place each unit on the surface, flatten and unfold. Finally draw the screw holds on fixed units with adjacent units.
DESIGN PROCESS Unfold the units that have been cut and punched. Fold the protruding four plans according to the folding lines and overlap with the marginal lines of the adjacent planes. The two adjacent sides are assembled on the intersecting edges. After completing the smallest trapezoid unit of the eight medium ones, finally secure the unit with adjacent units
UNITS
The bottom of the entire octagon is not flat and hence the connection of the smallest units will require attention on the side-toside overlapping. The shape of the entire octagon will deform if the sides of the two units incorrectly secured on the common side, resulting in the deformation of the entire arch structure.
ARCH 03 Folding+Stacking
Feast Pavilion 2 0 1 4 Yi-Lan
S p r i n g Green EXPO
GREEN EXPO 2014
Invitation from Yi-Lan Green Expor to produce a pavilion with theme in marine creatures. Exhibition would be in outdoor environment for 50 days, applying parametric computing as tools to generate the shape and expansion diagram. The audience can go through the sea tunnel to experience spatial experience.
FEAST
The theme of Green Expo is to praise the value of the land. Like a big show, lots of the eatable crops are demostrated on the surface of the tower for praying of the harvest of the next year.
FEAST PAVILION Feast pavilion is designed in the shape of tower, using the tip of two concentric circles with different height as the plane cone, dividing this surface into more surfaces. This design is divided vertically and horizontally to yield many surfaces in checkered patterns. The checker pattern reduces half the quantity of all surfaces, forming a hollow tower-like mass.
Loft
Subdivision
Penalize
Dispatch
Scale
Details
STRUCTURE
Using reciprocal structure for interlatching and cutting the plane material into units, the weight of the unit is used as support for the entire structure. Plywood is used as the main material for this work in consideration of using lightweight wooden plate and that medium-density fibreboard is susceptible to wetness. Thinner plate is preferred for the choice of plate thickness in order to reduce the weight sustained by the bottom support through lowering the total weight of the materials. Nonetheless plates that are too thin are susceptible to bending and hence 3mm plate available in the market is overlooked by choosing the 5.5mm plate that is less susceptible to bending.
MOCKUP
During the mockup period, a plastic cardboard with considerably similar structural property as the corrugated cardboard material is used in consideration of meeting outdoor waterproof requirement. The plastic cardboard is delivered to the ZUND cutter to cut the trial model expansion diagram in the ratio of 1:3. The result of trial experiment process reflects the tolerance between the drawing objects under the orthogonal environment of computer simulation and the real world.
LAYOUT
The sextant angle between each base and the ground is exported by acquiring the numbers of all sextant angles. These numbers are used to fabricate the base components. The demand for base materials appeals in robustness and weatherproof. Hence wood susceptible to wetness, deformation and weakening o f i n t e n s i t y, a r e n o t t a k e n i n t o consideration. Eventually metal plate for easy-processing is chosen as the material of base. The processing will be carried in professional metal processing factory, where L-shape metal plate with angles is customized and drilled holes on the two sides. One of the sides is drilled with 5mm holes, using wood screws to secure on the ground while the other side is drilled with 12mm holes, using 3/8 screw and bolts to connect with metal piece and the components on wooden plate.
WIRE SYSTEM
The wooden components not comprise the latch on the connecting part of each wooden plate but are also designed with reserved screw holes to facility the fastening of screws for pulling the wire during construction. Pulling the wire will allow each row of components to tighten through the inter-tension of wire without loosening and falling due to wind and other external forces, causing the entire work to collapse.
PROCESS
The very first problem faced at the construction site is the precision sampling. A laser-cutting sampling tool was placed on the site, which became a ring-type plate after assembly. This ring-type tool can precisely place each customized metal base and secure it with screws on the wooden platform to complete the sampling.
Robotic [Poking 2 0 CCC
1 5 Lab
Arm 01]
F a l l armproject
FORMING CLAY
How we form the clay in the reality is quite simple, however it’s difficult to turn the exact model from the software into the real one is difficult.
FORMING CLAY
Recently, the way of lots of claymodeling projects, which are made of robotic arms are similar to the one of 3D printers. However, the materiality and texture of the clay could be kept original by utilizing the robotic arms to press the clay like children.
END EFFECTOR DESIGN
End effector in this project is a column to press clay. To test the result of the different shapes of tips pressing the clay, the quick-release base is designed for enhancing the efficiency of researching.
FORM TO PATH
Create a surface and output the plane data in grasshopper, control the surface with different grid system for intersect the plane to robotic arm. Adjusting the planes with real time simulation, and design the moving path in the software.
UR Script OUTPUT
{0;0} 0. def myprog(): socket_open("192.168.2.3",30003) set_tcp(p[0.000000, 0.000000, 0.060000, 0.000000, 0.000000, 0.000000]) movej([-1.454000, -1.793000, -2.405000, -0.514000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.480000, -1.797000, -2.400000, -0.516000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.506000, -1.800000, -2.395000, -0.517000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.532000, -1.804000, -2.389000, -0.519000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.557000, -1.808000, -2.382000, -0.522000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.583000, -1.813000, -2.375000, -0.524000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.609000, -1.818000, -2.367000, -0.527000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.835000, -2.342000, -0.536000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.634000, -1.824000, -2.359000, -0.530000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.840000, -2.333000, -0.539000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.659000, -1.830000, -2.350000, -0.533000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.846000, -2.325000, -0.542000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.862000, -2.299000, -0.551000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.427000, -1.785000, -2.407000, -0.520000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.454000, -1.787000, -2.403000, -0.522000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.497000, -1.943000, -2.157000, -0.613000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.794000, -2.394000, -0.525000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.812000, -2.367000, -0.533000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.518000, -1.946000, -2.152000, -0.614000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.798000, -2.388000, -0.527000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.815000, -2.362000, -0.535000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.539000, -1.949000, -2.147000, -0.617000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.802000, -2.381000, -0.529000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.820000, -2.355000, -0.538000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.560000, -1.952000, -2.141000, -0.619000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.807000, -2.374000, -0.531000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.824000, -2.348000, -0.540000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.841000, -2.322000, -0.549000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.956000, -2.135000, -0.621000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.812000, -2.366000, -0.534000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.829000, -2.341000, -0.543000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.846000, -2.315000, -0.552000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.602000, -1.960000, -2.128000, -0.624000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.818000, -2.358000, -0.537000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.835000, -2.332000, -0.546000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.851000, -2.307000, -0.555000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.622000, -1.964000, -2.121000, -0.627000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.824000, -2.349000, -0.540000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.840000, -2.323000, -0.549000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.857000, -2.298000, -0.558000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.643000, -1.969000, -2.113000, -0.631000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.779000, -2.406000, -0.528000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.455000, -1.934000, -2.163000, -0.615000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.781000, -2.402000, -0.529000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.799000, -2.376000, -0.537000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.476000, -1.936000, -2.160000, -0.617000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.784000, -2.398000, -0.530000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.802000, -2.371000, -0.539000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.497000, -1.938000, -2.156000, -0.618000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.788000, -2.392000, -0.532000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.806000, -2.366000, -0.540000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.518000, -1.941000, -2.151000, -0.620000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.792000, -2.386000, -0.534000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.810000, -2.360000, -0.542000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.827000, -2.334000, -0.551000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.539000, -1.944000, -2.146000, -0.622000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.797000, -2.380000, -0.536000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.814000, -2.354000, -0.545000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.831000, -2.328000, -0.553000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.948000, -2.140000, -0.625000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.801000, -2.373000, -0.538000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.819000, -2.347000, -0.547000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.836000, -2.321000, -0.556000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.951000, -2.134000, -0.627000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.807000, -2.365000, -0.541000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.824000, -2.339000, -0.549000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.840000, -2.313000, -0.558000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.602000, -1.955000, -2.127000, -0.630000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.812000, -2.356000, -0.544000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.829000, -2.331000, -0.552000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.846000, -2.305000, -0.561000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.622000, -1.960000, -2.120000, -0.633000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.818000, -2.347000, -0.547000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.835000, -2.322000, -0.555000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.851000, -2.297000, -0.564000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.643000, -1.964000, -2.112000, -0.636000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.773000, -2.405000, -0.535000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.791000, -2.378000, -0.543000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.455000, -1.929000, -2.162000, -0.621000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.775000, -2.401000, -0.536000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.793000, -2.374000, -0.544000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.476000, -1.931000, -2.158000, -0.622000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.778000, -2.396000, -0.538000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.797000, -2.370000, -0.546000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.814000, -2.344000, -0.554000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.497000, -1.934000, -2.154000, -0.624000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.782000, -2.391000, -0.539000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.800000, -2.365000, -0.548000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.818000, -2.339000, -0.556000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.518000, -1.937000, -2.150000, -0.626000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.786000, -2.385000, -0.541000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.804000, -2.359000, -0.549000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.821000, -2.333000, -0.558000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.539000, -1.940000, -2.145000, -0.628000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.791000, -2.378000, -0.543000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.808000, -2.353000, -0.552000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.826000, -2.327000, -0.560000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.943000, -2.139000, -0.630000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.796000, -2.371000, -0.545000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.813000, -2.346000, -0.554000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.830000, -2.320000, -0.563000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.947000, -2.133000, -0.633000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.801000, -2.363000, -0.548000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.818000, -2.338000, -0.556000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.835000, -2.312000, -0.565000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.602000, -1.951000, -2.126000, -0.635000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.807000, -2.355000, -0.551000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.824000, -2.330000, -0.559000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.840000, -2.304000, -0.568000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.622000, -1.955000, -2.119000, -0.638000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.813000, -2.346000, -0.554000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.829000, -2.321000, -0.562000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.846000, -2.295000, -0.571000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.862000, -2.270000, -0.580000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.643000, -1.960000, -2.111000, -0.642000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.767000, -2.403000, -0.543000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.785000, -2.377000, -0.550000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.455000, -1.925000, -2.161000, -0.627000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.769000, -2.399000, -0.544000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.788000, -2.373000, -0.552000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.806000, -2.347000, -0.560000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.476000, -1.927000, -2.157000, -0.628000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.773000, -2.395000, -0.545000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.791000, -2.369000, -0.553000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.809000, -2.342000, -0.561000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.497000, -1.929000, -2.153000, -0.630000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.776000, -2.389000, -0.547000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.794000, -2.363000, -0.555000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.812000, -2.337000, -0.563000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.518000, -1.932000, -2.149000, -0.632000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.780000, -2.384000, -0.548000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.798000, -2.358000, -0.556000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.816000, -2.332000, -0.565000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.538000, -1.918000, -2.171000, -0.623000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.935000, -2.144000, -0.634000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.785000, -2.377000, -0.550000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.803000, -2.351000, -0.558000, 1.571000, 1.584000],a=0.300000,v=0.400000)
movej([-1.583000, -1.825000, -2.318000, -0.569000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.582000, -1.842000, -2.292000, -0.578000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.926000, -2.159000, -0.627000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.581000, -1.942000, -2.132000, -0.638000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.795000, -2.362000, -0.555000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.813000, -2.337000, -0.563000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.830000, -2.311000, -0.572000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.847000, -2.285000, -0.581000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.602000, -1.930000, -2.152000, -0.630000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.946000, -2.125000, -0.641000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.801000, -2.354000, -0.558000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.818000, -2.328000, -0.566000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.835000, -2.303000, -0.575000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.852000, -2.277000, -0.584000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.623000, -1.934000, -2.145000, -0.633000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.951000, -2.118000, -0.644000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.807000, -2.345000, -0.561000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.824000, -2.320000, -0.569000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.841000, -2.294000, -0.578000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.857000, -2.268000, -0.587000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.644000, -1.939000, -2.137000, -0.636000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.956000, -2.110000, -0.647000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.761000, -2.402000, -0.550000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.779000, -2.376000, -0.558000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.798000, -2.349000, -0.566000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.455000, -1.920000, -2.160000, -0.633000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.763000, -2.398000, -0.551000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.782000, -2.372000, -0.559000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.800000, -2.345000, -0.567000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.476000, -1.922000, -2.156000, -0.634000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.767000, -2.393000, -0.552000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.785000, -2.367000, -0.560000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.803000, -2.341000, -0.568000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.495000, -1.908000, -2.180000, -0.625000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.925000, -2.152000, -0.635000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.770000, -2.388000, -0.554000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.789000, -2.362000, -0.562000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.807000, -2.336000, -0.570000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.824000, -2.310000, -0.578000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.517000, -1.911000, -2.175000, -0.627000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.518000, -1.928000, -2.148000, -0.637000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.775000, -2.382000, -0.556000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.793000, -2.356000, -0.563000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.810000, -2.330000, -0.572000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.534000, -1.828000, -2.304000, -0.580000, 1.571000, 1.607000],a=0.300000,v=0.400000) movej([-1.538000, -1.914000, -2.170000, -0.629000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.931000, -2.143000, -0.639000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.779000, -2.376000, -0.558000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.797000, -2.350000, -0.565000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.815000, -2.324000, -0.574000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.832000, -2.298000, -0.582000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.917000, -2.164000, -0.631000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.934000, -2.137000, -0.641000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.784000, -2.368000, -0.560000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.802000, -2.343000, -0.568000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.819000, -2.317000, -0.576000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.582000, -1.837000, -2.291000, -0.585000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.921000, -2.158000, -0.633000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.581000, -1.938000, -2.131000, -0.644000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.790000, -2.361000, -0.562000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.807000, -2.335000, -0.570000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.824000, -2.310000, -0.578000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.842000, -2.284000, -0.587000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.602000, -1.925000, -2.151000, -0.636000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.942000, -2.124000, -0.647000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.795000, -2.352000, -0.565000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.813000, -2.327000, -0.573000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.830000, -2.301000, -0.581000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.847000, -2.276000, -0.590000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.623000, -1.930000, -2.144000, -0.639000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.946000, -2.117000, -0.649000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.801000, -2.343000, -0.567000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.819000, -2.318000, -0.576000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.835000, -2.293000, -0.584000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.852000, -2.267000, -0.593000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.644000, -1.935000, -2.136000, -0.642000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.951000, -2.109000, -0.653000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.755000, -2.400000, -0.557000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.773000, -2.374000, -0.565000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.792000, -2.348000, -0.573000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.450000, -1.881000, -2.213000, -0.618000, 1.571000, 1.692000],a=0.300000,v=0.400000) movej([-1.452000, -1.898000, -2.186000, -0.628000, 1.571000, 1.689000],a=0.300000,v=0.400000) movej([-1.455000, -1.916000, -2.158000, -0.638000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.757000, -2.396000, -0.559000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.776000, -2.370000, -0.566000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.795000, -2.344000, -0.574000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.462000, -1.813000, -2.318000, -0.582000, 1.571000, 1.679000],a=0.300000,v=0.400000) movej([-1.472000, -1.883000, -2.210000, -0.619000, 1.571000, 1.670000],a=0.300000,v=0.400000) movej([-1.474000, -1.901000, -2.183000, -0.629000, 1.571000, 1.668000],a=0.300000,v=0.400000) movej([-1.476000, -1.918000, -2.155000, -0.640000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.761000, -2.392000, -0.560000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.482000, -1.779000, -2.366000, -0.567000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.798000, -2.340000, -0.575000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.486000, -1.816000, -2.313000, -0.584000, 1.571000, 1.655000],a=0.300000,v=0.400000) movej([-1.494000, -1.886000, -2.206000, -0.621000, 1.571000, 1.648000],a=0.300000,v=0.400000) movej([-1.495000, -1.903000, -2.179000, -0.631000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.920000, -2.151000, -0.641000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.765000, -2.387000, -0.561000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.783000, -2.361000, -0.569000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.801000, -2.335000, -0.577000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.819000, -2.308000, -0.585000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.516000, -1.889000, -2.201000, -0.622000, 1.571000, 1.626000],a=0.300000,v=0.400000) movej([-1.517000, -1.906000, -2.174000, -0.632000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.518000, -1.923000, -2.146000, -0.643000, 1.571000, 1.624000],a=0.300000,v=0.400000) movej([-1.532000, -1.769000, -2.381000, -0.563000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.787000, -2.355000, -0.571000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.805000, -2.329000, -0.579000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.534000, -1.823000, -2.303000, -0.587000, 1.571000, 1.607000],a=0.300000,v=0.400000) movej([-1.538000, -1.892000, -2.196000, -0.624000, 1.571000, 1.604000],a=0.300000,v=0.400000) movej([-1.538000, -1.909000, -2.169000, -0.63400 0, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.926000, -2.141000, -0.645000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.773000, -2.374000, -0.565000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.791000, -2.348000, -0.572000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.809000, -2.323000, -0.581000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.827000, -2.296000, -0.589000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.560000, -1.896000, -2.190000, -0.626000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.913000, -2.163000, -0.637000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.930000, -2.136000, -0.647000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.583000, -1.778000, -2.367000, -0.567000, 1.571000, 1.558000],a=0.300000,v=0.400000) movej([-1.583000, -1.796000, -2.341000, -0.575000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.583000, -1.814000, -2.316000, -0.583000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.582000, -1.831000, -2.290000, -0.591000, 1.571000, 1.559000],a=0.300000,v=0.400000) movej([-1.581000, -1.900000, -2.184000, -0.629000, 1.571000, 1.560000],a=0.300000,v=0.400000) movej([-1.581000, -1.917000, -2.157000, -0.639000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.581000, -1.933000, -2.129000, -0.649000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.784000, -2.359000, -0.569000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.802000, -2.334000, -0.577000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.819000, -2.308000, -0.585000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.836000, -2.282000, -0.594000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.603000, -1.904000, -2.177000, -0.631000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.921000, -2.150000, -0.642000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.938000, -2.123000, -0.652000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.790000, -2.351000, -0.572000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.807000, -2.326000, -0.580000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.824000, -2.300000, -0.588000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.842000, -2.274000, -0.596000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.624000, -1.909000, -2.169000, -0.634000, 1.571000, 1.517000],a=0.300000,v=0.400000) movej([-1.623000, -1.925000, -2.142000, -0.644000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.942000, -2.115000, -0.655000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.796000, -2.342000, -0.574000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.813000, -2.317000, -0.582000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.830000, -2.291000, -0.591000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.847000, -2.266000, -0.599000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.646000, -1.914000, -2.161000, -0.637000, 1.571000, 1.496000],a=0.300000,v=0.400000) movej([-1.644000, -1.930000, -2.135000, -0.648000, 1.571000, 1.497000],a=0.300000,v=0.400000)
movej([-1.643000, -1.947000, -2.108000, -0.658000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.749000, -2.399000, -0.565000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.768000, -2.373000, -0.572000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.786000, -2.346000, -0.580000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.438000, -1.805000, -2.320000, -0.588000, 1.571000, 1.704000],a=0.300000,v=0.400000) movej([-1.444000, -1.841000, -2.266000, -0.605000, 1.571000, 1.698000],a=0.300000,v=0.400000) movej([-1.447000, -1.859000, -2.239000, -0.614000, 1.571000, 1.695000],a=0.300000,v=0.400000) movej([-1.450000, -1.876000, -2.212000, -0.624000, 1.571000, 1.692000],a=0.300000,v=0.400000) movej([-1.452000, -1.894000, -2.185000, -0.634000, 1.571000, 1.689000],a=0.300000,v=0.400000) movej([-1.455000, -1.911000, -2.157000, -0.644000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.752000, -2.395000, -0.566000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.770000, -2.369000, -0.573000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.789000, -2.343000, -0.581000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.462000, -1.807000, -2.316000, -0.589000, 1.571000, 1.679000],a=0.300000,v=0.400000) movej([-1.474000, -1.896000, -2.181000, -0.635000, 1.571000, 1.668000],a=0.300000,v=0.400000) movej([-1.476000, -1.913000, -2.154000, -0.645000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.482000, -1.774000, -2.364000, -0.574000, 1.571000, 1.660000],a=0.300000,v=0.400000) movej([-1.484000, -1.792000, -2.338000, -0.582000, 1.571000, 1.657000],a=0.300000,v=0.400000) movej([-1.492000, -1.864000, -2.232000, -0.617000, 1.571000, 1.650000],a=0.300000,v=0.400000) movej([-1.494000, -1.881000, -2.205000, -0.627000, 1.571000, 1.648000],a=0.300000,v=0.400000) movej([-1.495000, -1.899000, -2.177000, -0.637000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.916000, -2.150000, -0.647000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.759000, -2.385000, -0.569000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.777000, -2.359000, -0.576000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.796000, -2.333000, -0.584000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.814000, -2.307000, -0.592000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.516000, -1.884000, -2.200000, -0.628000, 1.571000, 1.626000],a=0.300000,v=0.400000) movej([-1.517000, -1.901000, -2.173000, -0.638000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.532000, -1.763000, -2.379000, -0.570000, 1.571000, 1.610000],a=0.300000,v=0.400000) movej([-1.533000, -1.781000, -2.353000, -0.578000, 1.571000, 1.609000],a=0.300000,v=0.400000) movej([-1.534000, -1.800000, -2.327000, -0.585000, 1.571000, 1.608000],a=0.300000,v=0.400000) movej([-1.534000, -1.818000, -2.301000, -0.594000, 1.571000, 1.607000],a=0.300000,v=0.400000) movej([-1.537000, -1.870000, -2.222000, -0.621000, 1.571000, 1.605000],a=0.300000,v=0.400000) movej([-1.538000, -1.887000, -2.195000, -0.630000, 1.571000, 1.604000],a=0.300000,v=0.400000) movej([-1.538000, -1.905000, -2.168000, -0.640000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.539000, -1.922000, -2.140000, -0.651000, 1.571000, 1.603000],a=0.300000,v=0.400000) movej([-1.557000, -1.768000, -2.373000, -0.572000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.786000, -2.347000, -0.579000, 1.571000, 1.584000],a=0.300000,v=0.400000) movej([-1.558000, -1.804000, -2.321000, -0.587000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.822000, -2.295000, -0.596000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.839000, -2.269000, -0.604000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.874000, -2.216000, -0.623000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.581000, -1.878000, -2.209000, -0.625000, 1.571000, 1.560000],a=0.300000,v=0.400000) movej([-1.581000, -1.895000, -2.182000, -0.635000, 1.571000, 1.560000],a=0.300000,v=0.400000) movej([-1.581000, -1.912000, -2.155000, -0.645000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.778000, -2.358000, -0.576000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.796000, -2.332000, -0.584000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.814000, -2.307000, -0.592000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.831000, -2.281000, -0.600000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.605000, -1.848000, -2.255000, -0.609000, 1.571000, 1.537000],a=0.300000,v=0.400000) movej([-1.604000, -1.883000, -2.202000, -0.627000, 1.571000, 1.538000],a=0.300000,v=0.400000) movej([-1.603000, -1.900000, -2.176000, -0.637000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.916000, -2.149000, -0.647000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.933000, -2.121000, -0.658000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.784000, -2.350000, -0.579000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.632000, -1.802000, -2.324000, -0.586000, 1.571000, 1.509000],a=0.300000,v=0.400000) movej([-1.631000, -1.819000, -2.299000, -0.594000, 1.571000, 1.511000],a=0.300000,v=0.400000) movej([-1.629000, -1.836000, -2.273000, -0.603000, 1.571000, 1.512000],a=0.300000,v=0.400000) movej([-1.628000, -1.854000, -2.247000, -0.612000, 1.571000, 1.514000],a=0.300000,v=0.400000) movej([-1.624000, -1.904000, -2.168000, -0.640000, 1.571000, 1.517000],a=0.300000,v=0.400000) movej([-1.623000, -1.921000, -2.141000, -0.650000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.938000, -2.114000, -0.661000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.790000, -2.341000, -0.581000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.808000, -2.315000, -0.589000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.825000, -2.290000, -0.597000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.842000, -2.265000, -0.606000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.651000, -1.859000, -2.239000, -0.615000, 1.571000, 1.491000],a=0.300000,v=0.400000) movej([-1.647000, -1.893000, -2.187000, -0.633000, 1.571000, 1.494000],a=0.300000,v=0.400000) movej([-1.646000, -1.909000, -2.160000, -0.643000, 1.571000, 1.496000],a=0.300000,v=0.400000) movej([-1.644000, -1.926000, -2.133000, -0.653000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.942000, -2.106000, -0.664000, 1.571000, 1.499000],a=0.300000,v=0.400000) movej([-1.427000, -1.743000, -2.397000, -0.572000, 1.571000, 1.714000],a=0.300000,v=0.400000) movej([-1.431000, -1.762000, -2.371000, -0.579000, 1.571000, 1.711000],a=0.300000,v=0.400000) movej([-1.435000, -1.781000, -2.345000, -0.587000, 1.571000, 1.707000],a=0.300000,v=0.400000) movej([-1.438000, -1.800000, -2.318000, -0.594000, 1.571000, 1.704000],a=0.300000,v=0.400000) movej([-1.441000, -1.818000, -2.292000, -0.603000, 1.571000, 1.701000],a=0.300000,v=0.400000) movej([-1.444000, -1.836000, -2.265000, -0.611000, 1.571000, 1.698000],a=0.300000,v=0.400000) movej([-1.447000, -1.854000, -2.238000, -0.621000, 1.571000, 1.695000],a=0.300000,v=0.400000) movej([-1.450000, -1.872000, -2.211000, -0.630000, 1.571000, 1.692000],a=0.300000,v=0.400000) movej([-1.452000, -1.889000, -2.183000, -0.640000, 1.571000, 1.689000],a=0.300000,v=0.400000) movej([-1.455000, -1.907000, -2.156000, -0.650000, 1.571000, 1.687000],a=0.300000,v=0.400000) movej([-1.454000, -1.746000, -2.393000, -0.573000, 1.571000, 1.688000],a=0.300000,v=0.400000) movej([-1.457000, -1.765000, -2.367000, -0.580000, 1.571000, 1.685000],a=0.300000,v=0.400000) movej([-1.459000, -1.784000, -2.341000, -0.588000, 1.571000, 1.682000],a=0.300000,v=0.400000) movej([-1.462000, -1.802000, -2.315000, -0.596000, 1.571000, 1.679000],a=0.300000,v=0.400000) movej([-1.465000, -1.820000, -2.288000, -0.604000, 1.571000, 1.677000],a=0.300000,v=0.400000) movej([-1.467000, -1.838000, -2.261000, -0.613000, 1.571000, 1.674000],a=0.300000,v=0.400000) movej([-1.469000, -1.856000, -2.234000, -0.622000, 1.571000, 1.672000],a=0.300000,v=0.400000) movej([-1.472000, -1.874000, -2.207000, -0.631000, 1.571000, 1.670000],a=0.300000,v=0.400000) movej([-1.474000, -1.891000, -2.180000, -0.641000, 1.571000, 1.668000],a=0.300000,v=0.400000) movej([-1.476000, -1.909000, -2.152000, -0.651000, 1.571000, 1.666000],a=0.300000,v=0.400000) movej([-1.480000, -1.749000, -2.389000, -0.574000, 1.571000, 1.662000],a=0.300000,v=0.400000) movej([-1.486000, -1.805000, -2.310000, -0.597000, 1.571000, 1.655000],a=0.300000,v=0.400000) movej([-1.490000, -1.841000, -2.257000, -0.614000, 1.571000, 1.651000],a=0.300000,v=0.400000) movej([-1.492000, -1.859000, -2.230000, -0.623000, 1.571000, 1.650000],a=0.300000,v=0.400000) movej([-1.494000, -1.876000, -2.203000, -0.633000, 1.571000, 1.648000],a=0.300000,v=0.400000) movej([-1.495000, -1.894000, -2.176000, -0.643000, 1.571000, 1.646000],a=0.300000,v=0.400000) movej([-1.497000, -1.911000, -2.148000, -0.653000, 1.571000, 1.645000],a=0.300000,v=0.400000) movej([-1.506000, -1.753000, -2.384000, -0.576000, 1.571000, 1.636000],a=0.300000,v=0.400000) movej([-1.507000, -1.772000, -2.358000, -0.583000, 1.571000, 1.634000],a=0.300000,v=0.400000) movej([-1.509000, -1.790000, -2.332000, -0.590000, 1.571000, 1.633000],a=0.300000,v=0.400000) movej([-1.510000, -1.808000, -2.305000, -0.598000, 1.571000, 1.631000],a=0.300000,v=0.400000) movej([-1.513000, -1.844000, -2.252000, -0.616000, 1.571000, 1.628000],a=0.300000,v=0.400000) movej([-1.514000, -1.862000, -2.226000, -0.625000, 1.571000, 1.627000],a=0.300000,v=0.400000) movej([-1.516000, -1.879000, -2.199000, -0.634000, 1.571000, 1.626000],a=0.300000,v=0.400000) movej([-1.517000, -1.897000, -2.171000, -0.644000, 1.571000, 1.625000],a=0.300000,v=0.400000) movej([-1.558000, -1.799000, -2.320000, -0.594000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.558000, -1.817000, -2.294000, -0.602000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.852000, -2.241000, -0.620000, 1.571000, 1.583000],a=0.300000,v=0.400000) movej([-1.559000, -1.869000, -2.214000, -0.629000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.887000, -2.188000, -0.638000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.904000, -2.161000, -0.648000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.560000, -1.921000, -2.133000, -0.658000, 1.571000, 1.582000],a=0.300000,v=0.400000) movej([-1.581000, -1.925000, -2.127000, -0.661000, 1.571000, 1.561000],a=0.300000,v=0.400000) movej([-1.609000, -1.773000, -2.356000, -0.583000, 1.571000, 1.533000],a=0.300000,v=0.400000) movej([-1.608000, -1.791000, -2.331000, -0.591000, 1.571000, 1.534000],a=0.300000,v=0.400000) movej([-1.607000, -1.809000, -2.305000, -0.598000, 1.571000, 1.535000],a=0.300000,v=0.400000) movej([-1.606000, -1.826000, -2.280000, -0.607000, 1.571000, 1.536000],a=0.300000,v=0.400000) movej([-1.605000, -1.844000, -2.254000, -0.615000, 1.571000, 1.537000],a=0.300000,v=0.400000) movej([-1.604000, -1.861000, -2.227000, -0.624000, 1.571000, 1.537000],a=0.300000,v=0.400000) movej([-1.604000, -1.878000, -2.201000, -0.634000, 1.571000, 1.538000],a=0.300000,v=0.400000) movej([-1.603000, -1.895000, -2.174000, -0.643000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.912000, -2.147000, -0.653000, 1.571000, 1.539000],a=0.300000,v=0.400000) movej([-1.602000, -1.929000, -2.120000, -0.663000, 1.571000, 1.540000],a=0.300000,v=0.400000) movej([-1.634000, -1.779000, -2.348000, -0.586000, 1.571000, 1.508000],a=0.300000,v=0.400000) movej([-1.623000, -1.917000, -2.140000, -0.656000, 1.571000, 1.518000],a=0.300000,v=0.400000) movej([-1.622000, -1.933000, -2.113000, -0.666000, 1.571000, 1.519000],a=0.300000,v=0.400000) movej([-1.659000, -1.785000, -2.339000, -0.588000, 1.571000, 1.483000],a=0.300000,v=0.400000) movej([-1.657000, -1.803000, -2.314000, -0.596000, 1.571000, 1.485000],a=0.300000,v=0.400000) movej([-1.655000, -1.820000, -2.289000, -0.604000, 1.571000, 1.487000],a=0.300000,v=0.400000) movej([-1.653000, -1.837000, -2.263000, -0.612000, 1.571000, 1.489000],a=0.300000,v=0.400000) movej([-1.651000, -1.854000, -2.237000, -0.621000, 1.571000, 1.491000],a=0.300000,v=0.400000) movej([-1.647000, -1.888000, -2.185000, -0.639000, 1.571000, 1.494000],a=0.300000,v=0.400000) movej([-1.646000, -1.905000, -2.159000, -0.649000, 1.571000, 1.496000],a=0.300000,v=0.400000) movej([-1.644000, -1.922000, -2.132000, -0.659000, 1.571000, 1.497000],a=0.300000,v=0.400000) movej([-1.643000, -1.938000, -2.105000, -0.669000, 1.571000, 1.499000],a=0.300000,v=0.400000) stopj(1) end 1.
FORMING
Froming clay by robotic arm, within d i ff e r e n t t e x t u r e o f c l a y, c r e a t e new type froming system for digital fabrication. Try to use robotic arm such as precise tool to represent a movement of human hand. Because of robotic arm can precisely repeat a single movement for thousands times, using it as a experiment of control unexpect material texture.
Robotic Arm [Tearing01] 2 0 1 5 F a l l material studying project
IM/PRECISE
Tearing paper by robotic arm, compare with ZUND cutter and tearing by robotic arm. Different texture of edge, create new type cutting system for digital fabrication. Try to use robotic arm such a precise tool to represent a movement of human hand. Because of robotic arm can precisely repeat a single movement for thousands times, using it as a experiment of control unexpect material texture.
END EFFECTOR DESIGN
PATH
The paths of paper-tearing are divided into several frames and the differences on the z-axis would be applied by Grasshopper, for studying the limitation of degree of curves through testing different curvatures of curves. These frames would be transformed into UR script, then imported into the robotic arms controller with I/O functionalities. It would be executed from the given starting point on the paper cut by ZUND.
W O R K S H O P S [Robotic Arm] [Grasshopper]
ADG Arm Workshop 2013 Participate as student
TKU Lineage Workshop 2014, 2015 Participate as lecturer
TKU "Arms UP" Workshop 2015 as Teaching Assistant
FACE 01 PICK&PLACE
FACE 02 HOTWIRE CUTTING