RobotCube This research focuses on examining the interaction between the machine and spatial perception. We are concerned about whether there are possibilities for a new correlation among the space, machine and image. This research combines the large-scale robotic arm with the interactive image, and give full play to the technological and art potential of dynamic projection to create the sensory experiencing combining the virtuality and the reality. This research is devoted to the field of spatial sensing and human-machine cooperation, and combines the generative art, robot interaction, and real-time 3D mapping. Meanwhile, this research adopts motion and automation as an innovational medium for further development. The works are created through improvisation, enabling the performer and audiences to coexist.
Robotic Solution Cooperative (ROSOCoop) - Fall 2020 Professional Work Adviser: Prof. Yu-Ting Sheng and Shih-Yuan Wang Project Leader: Joseph Wu Group Member: Che-Wei Lin, Tiger Lin, Peng-Hsiu Tung Contribution: image production / robot trajectory planning / real-time mapping / design development / diagram drawing
Master
tx ty tz
Slave
rz ry rx
I.K Solver Analysis Robotic Mapping System
controller
The traditional projection mapping has its limitations. The projected
custom cube
objects must be rigid and stable. This research developed dynamic projection mapping technology to capture moving cubes installed on the robotic arm. After calibration, the
10%
tcp real-time communication
cubes can coincide with our visual
trajectory control
perception. The Robot movement is
dynamic projection mapping
projector calibration
(sev
collaborated
enth
-axi
with
the
projected
image to express art feelings and
s) li
nea
r mo
tion
create the visual effect that com-
trac
ks
bined virtuality and reality.
Images of this performance are created through the derivative design approach to express the idea that art should be an integration between the natural totem and the technology of the era. Therefore, the algorithm process are integrated into images. Modern technologies, such as computational design and robot movements, are combined to create a brand-new art experience.
Euler Angle Transformation Grasshopper to Touchdesigner
Z Transform Order : Scale Rotate Translate Rotate Order : Rx Ry Rz
Y Z
3
5
tx = ptx ty = pty tz = ptz
B Y
X Y
4
2
1
3
4
6
rz = prz+90 ry = pry rx = prx
Z X
1
Y
5
4 2
6 1
5
1
2
5
3
2
3
4
5
2
6
X
3
6
6
4
1
N The Euler Angle Transformation Mechanism is used to transform the six-axis point location of TCP on Grasshopper into the six-axis coordinate on Touch Designer so that both the software terminal can achieve synchronization.
Receiving TCP in Real-Time
controller
10%
euler angle transformation
tcp real-time communication
dynamic projection mapping
The TCP/IP is used for sending and receiving information over a TCP/IP connection between two remotely
located
computers.
This performance captures the real-time TCP data from KUKA Controller to touchdesigner to achieve
real-time
projection
mapping.
Virtual image plane
Projector Calibration Projector calibration enabled the projected image to match with
Object plane
the movement trajectory of the cube. We observe the projected image to infer the actual lens position, making the virtual and real closer to zero error.
Rail of the linear motorized stage
Collapse Project This research focuses on the interaction between humans and images. Utilize projection as the medium to create an interactive experience combining virtual and reality. Also, study how to involve the audience in the performance. The final results stages in the annual exhibition of the Institute of Architecture of NYCU. This
performance
focuses
on
spatial
perception
and
human-computer collaboration, combining Generative art, Body Movement, and Mapping. Meanwhile, utilize the sensor to capture the observer's gestures and body movements, making the work interactive in real-time, allowing the coexistence of the performer and the viewer.
NYCU ProjectProject Exhibition - Spring 2021 Group Work Adviser: Prof. Shih-Yuan Wang Group Member: Joseph Wu, Che-Wei Lin Contribution: image production / mapping / human-comptuter interaction / design development / diagram drawing
Interactive Mapping System Reconstruct
the
architecture
image to show the interweaving between media and space in a
touchdesigner
combination of simulated reality. The dynamic image presents the diachronic
changes
of
the
space. By combining the body of the visitor and the image, it gives immediate
feedback
on
Signal Communication
Mapping Column
the
impact on perception. Architectural drawing is not only to investigate the feasibility of
Human-Computer Interaction
the construction but also to produce new video texts. The meaning of the image exists in architecture and the process of its performance.
Kinect Motion Sensing & Calibration
Projection Calibration & Mapping
Robot-Controlled Camera The workshop utilizes the IIWA Lady, a human-machine collaborative robot, to explore the spatial perception experience extended by the virtual space and create unique animation effects. This design uses Unreal Engine to create virtual scenes. It also utilizes TACO IIWA software to collaborate with robots, exchanges information with Unreal Engine in real-time. Eventually, control the rendering effects of its virtual cameras and animations. In detail, this study developed a custom interface between the ROSOCoop robots and Unreal Engine. Utilize the robot as an intuitive input device for real-time control of virtual cameras within the Unreal Engine scene. It controlled not only camera position/rotation but also focal length, speed, etc.
Unreal Engine Robot-Controlled Camera Workshop SCI-ARC, ROSOCoop, FCU, NYCU, IDF - Summer 2021 Adviser: Prof. Alexin Marfin, Yu-Ting Sheng and Shih-Yuan Wang Team Member:
Han Lin, Chung-Chieh Cheng, Eric Chen, Lee-Yo Chen,
Xiao-Tian Yu, Hsiang-Ting Chien, Tsung-Han Tsai, Ting-Chia Chen, Kuo-Feng Wei, Kang-Chia Wei, Hung-Wen Lu, Zhao-Wei Liu, Joseph Wu, Shih-Kai Fan, Chun-Yu Lo, Ting-Xuan Jiang, Hung-Cheng Chun, Yung-Chi Liu, Yu-Sheng Liu
Medium X light This research is based on the premise of the 3D printing methodology, which incorporates the discussion of the immaterial (light) and the material (transparent Polylactic Acid). Through testing various parameters that enable light to contain inside the medium and also control the refraction of light and the path of the light. This research proposes a new method to revise light trajectories and reflection and also create a unique light atmosphere. Under process, model an adapter that holds the PLA plastic gun and mounts it to the flange of the robotic arm, operating different control variables such as density, layer height, printing path, and different light sources, to analyze light imaging under different conditions. Thus, integrate these conclusions to generate individual light performance. As for the main goal in the next stage,we not only want to create pattern or alphabet but a space or atmosphere which affects people’s emotion or vision in a more directly way.
Feng Chia University School of Architecture - Spring 2019 Acadamic Work - Design Studio Adviser: Prof. Yu-Ting Sheng and Shih-Yuan Wang Team: Joseph Wu, Han Lin, Tsung-Han Tsai Contribution: material exploration / robot trajectory planning / end effector design / design development / diagram drawing
Concept
Pattern
Refraction Process
A.
Printing Pattern
Spacial Atmosphere
Material
Light Source
Design
Light Refraction
Screen
Imaging
Point Source Line Source Divergent Source Parallel Source
Robotic printing 3D printing Epoxy casting
Lineaer bending Moiré pattern Irregular waving
Two-dimensional plane Three-dimensional object Three-dimensional space
Light resource Focal length Distance
Polylactic Acid
printing pattern light gathering
B.
Spacial Atmosphere
Light Source Point Source Line Source Divergent Source Parallel Source
Pattern
Infill Pattern
light [Acid]
( refraction )
Design Robotic printing 3D printing Epoxy casting
Observer
Refraction Imaging
Two-dimensional plane Three-dimensional object Three-dimensional space
Opaque part of the object is used as the imaging part
Retention of Marginal Ray
Property
Value
Technical Name
Polylactic Acid (PLA)
Chemical Formula
(C3H4O2)n
Melt Temperature
PLLA: 157 - 170 °C
SLASH TYPE
CONCENTRIC
OCTAHEDRON
size: 100mm*100mm*2mm speed: 20 mm/s infill: 100%
size: 100mm*100mm*2mm speed: 20 mm/s infill: 100%
size: 100mm*100mm*2mm speed: 20 mm/s 50% infill:
TRIANGULAR size: speed: infill:
100mm*100mm*2mm 20 mm/s 50%
CROSS TYPE
HEXAGON
size: speed: infill:
size: speed: infill:
100mm*100mm*2mm 20 mm/s 50%
100mm*100mm*2mm 20 mm/s 30%
Single Light
Single Light
Single Light
Single Light
Single Light
Single Light
Mulitiple Light
Multiple Light
Multiple Light
Multiple Light
Multiple Light
Multiple Light
Curvature Theory
Control Variables Different Method
Radius of Curvature Comparison
Layer Height PATTERN
LAYER HEIGHT
PRINTING PATTERN (1)SLASH TYPE (2)CONCENTRIC
0.05MM/1MM
Speed
Printing Thickness
INFILL PATTERN (1)OCTAHEDRON (2)CROSS TYPE (3)TRIANGULAR (4)HEXAGON
Printing Speed
Small Radius High Curvature Low Radius Low Curvature
CURVATURE
THICKNESS
(1)FLAT SURFACE
0.5MM/1MM/2MM
(2)RANDOM CURVE (2)SIN CURVE
POLY SURFACE
size: 80mm*80mm*1mm speed: 60 mm/s Infill: 100%
size: 80mm*80mm*1mm speed: 60 mm/s infill: 100%
CONVEX LENS-A size: speed: infill:
50mm*50mm*2mm 20 mm/s 100%
CONVEX LENS-B
CONVEX LENS-C
size: speed: infill:
size: speed: infill:
50mm*50mm*2mm 50 mm/s 100%
50mm*50mm*2mm 80 mm/s 100%
a dome. In essence, the radius of curvature tells us how curved a curve is . The
TRANSPARENT
30%/50%/80%
POLY SURFACE
The Radius of Curvature is a number that is used to determine the “flatness” of
COLOR
DENSITY
POLY SURFACE size: 80mm*80mm*0.5mm speed: 60 mm/s Infill: 100%
larger the dome, the less curve, the flatter the concrete.
60° 45°
Single Light
Single Light
Single Light
Multiple Light
Multiple Light
Multiple Light
30° 15°
PLA Extruder Contral Variable
Mulitiple Light
Multiple Light
Multiple Light
Curvature Section 0.65V 5.00V
EXTRUDING SPEED
AIR COOLING TUBE
HEATING CHAMBER TEMPERATURE
0.65V-5.00V
PATTERN TEXTURE
Perpendicular
Imaging
The texture of the pattern is perpendicular to the imagery
190°C
200°C
210°C
220°C
H CHM TEMP : 205°C H GUN TEMP : 2
BUBBLE
EXTR SPEED : 5.00 V
AIR COOL TUBE *2 COOL FANS
PRINTING SPEED
Positive correlation
Transparency
PRG SPEED : 5.0 %
The faster the printing speed, the worse the light transmittance
TRANSPARENCY
PROGRAMING SPEED MAX : 2 M/S
COOLING FAN
focuses
on
the
effects of light performance causing reservation
EVENNESS
1%-100%
research
by reflection, refraction, and light
180°C-220°C
180°C
This
TANGENT SLOPE
Positive correlation
Image Curvature
The positive and negative slope of the tangent affects the direction of the imaging
HEAT GUN TEMPERATURE
through
fabricating
transparent PLA (Polylactic Acid). Based on several control variables, we aim to control light imaging. Research the control variables (pattern, thickness, density, layer height, curvature and color) by using FDM 3D printer. We aim to discover the physical
1-9
LAYER HEIGHT
Interval
Light band Dark band
The interval material affects the image of the light band and dark band
factor which infects the light’s refraction and reflection that creates astonishing light pattern.
2
1
3
4
Curvature
5
y=A*sin(2π), π=180°
Wave crest value
6
7
8
10
9
11
Curvature
RefractionXCurvature
A=wave crest y=A*sin(2π)
y=A*sin(2π)
y=A*sin(2π)
A=1
A=2
A=3
y=A*sin(2π)
A=4
y=A*sin(2π)
A=5
Various Points 1
Reflection/
y=A*sin(2π)
y=A*sin(2π)
y=A*sin(2π)
Reflection/
y=A*sin(2π)
2
3
4
5
6
7
8
9
10
11
Reflection/
y=A*sin(2π)
1
2
3
4
5
6
7
8
9
10
y=4*sin(2π)
11
y=4*sin(2π) θ1 =75°
θ2 = 65°
θ3 = 45°
θ3 θ2
θ1
A=6
A=7
A=8
A=9
A=10
θ1
θ2
θ3
Curvature
Layer HeightXDouble-slit interference
POINT FOUR Reflection/
Reflection/
Reflection/
Reflection/
Reflection/
In astronomy, a light curve is a graph of light intensity of a celestial object or region, as a function of time. The light is usually in a particular frequency interval or band. Light curves can
Impact of Layer Height Layer Height
be periodic, as in the case of eclipsing binaries, cepheid variables, other periodic variables, and transiting extrasolar planets, or aperiodic, like the light curve of a nova, a cataclysmic varable star, a supernova or a microlensing event or binary as observed during occultation events. The study of the light curve, together with other observations, can yield considerable information about the physical process that produces it or constrain the physical theories about it.
y=4*sin(2π)
1
2
3
As for the main goal in the next stage,we Spool holder 2.0 Filament
Reflection
Refraction
Refraction
Refraction
bet but a space or atmosphere which affects people’s emotion or vision in a
Reflection
9
8
7
100mm
6
4滾滾長江東逝水 3
5
80mm
50mm
2
Flange adapter
Spool holder 1.0
1
30mm
Hot wind gun Filament extruder
4
5
Structure board
Curvature
6
Hot end
Air compressor Hot wind fan Reflection
PLA nozzle
Refraction
Refraction
Imaging Are
8
9
We decided to develop a printing system utilizing a welding plastic machine, comBy experience various types of transparent PLA (Polylactic Acid) to get the most suitable parameters for this printing system. Summarize the parameters of fabricating methods and the light imaging
Circle Curve 7
more directly way.
bined with a 6-axis industrial robotic arm.
Various Radius Curve
Refraction
not only want to create pattern or alpha-
210
Rail
while embody the unique light effects
0.65V
205
10%
under this fabricate system.
Laser pen Pen holder Refraction
Reflection
Heater temperature
Rail connector -vertical Rail connector -horizontal
Refraction
Refraction
Reflection
Voltage adjustment of extrusion speed
Program path speed
Experiment Curve Puzzle
Speed Control
Centre Temperature Control / Wind Temperature Control Filament Holder
Cooling System
one l+one mirror c
one c
one c
one c
KUKA KR90 R3100
Filament
Printing Area
Extrusion
one 45° l
one mirror c
one mirror c
one mirror c
Printing Broad
POINT ONE
Object Refraction 31.20°
38.50°
Reflection Light
53.21°
Normal
75.02°
Tangent
In stage one, our experience allows us to obtain the rules in refraction and reflection. The result enables us to control the light as playing puzzle.By seperating alphabet into curves,it makes it possible to image any pattern which is create by curves.
1.54 =
sinθ1 sinθ2
=
sin75.02° sin53.21°
=
sin38.50° sin31.20°
Reflection y=4*sin(2π)
Testing Model 2D Z offset variable
OFFSET 4MM
OFFSET 2MM program speed: filament speed: temperature: cooling fan: nozzle fan: hot wind: size:
level 4.86 5% 205ºc No Yes level 2 level 2
program speed: filament speed: temperature: cooling fan: nozzle fan: hot wind: size:
OFFSET 6MM level 4.86 5% 205ºc No Yes level 2 level 2
program speed: filament speed: temperature: cooling fan: nozzle fan: hot wind: size:
level 4.86 5% 205ºc No Yes level 2 level 2
HOLLOW TYPE
ENGRAVE TYPE-A
ENGRAVE TYPE-B
layer height: size: speed: infill:
layer height: size: speed: engrave: infill:
layer height: size: speed: engrave: infill:
0.05mm 50mm*100mm*2mm 10 mm/s 100%
0.05mm 50mm*100mm*2mm 10 mm/s 50% 100%
0.05mm 50mm*100mm*2mm 10 mm/s 100% 100%
8 sec 6 sec 4 sec 2 sec
WAIT TIME
Dome Model
33mm 100mm
300mm * 150mm * 150mm
A.
B.
A.
B.
A.
B.
A.
B.
PRESSURE
Bright band Dark band Bright band
[01]
[02]
Dark band Bright band Dark band Bright band
RAISING PATH We utilize different printing methods in the printing process so that the [03]
light will be cast on materials to achieve different effects. The light can
[04]
stay in the materials for refraction and reflection. Different changes of 2mm
light and shadow can influence the perception of humans, and create composite materials and a unique light atmosphere. In the future,
6mm
[05]
[06]
PRINTING PATH
these test parameters can be applied to architectural element fabrication process so that “a brick” can include special light effect.
In the final design, we enlarged the scale to a level that humans can perceive. On this basis, the parameters of these control variables can be further integrated to create a special lighting atmosphere. We include the movement of '"rotation" into the final design process. If the light source is projected in a fixed direction, we will find that during the rotation, the position of the projected light source will form a constantly changing curve, and will
experience
spatial
changes
between light and shadow. The value of this case is to extend the material to the discussion of spatial perception. At the same time, the operation method is based on the integration of materials, robot trajectory planning, and speed.