LuoYang's Portfolio

title

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Robotic Fabrication Research

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2.1

3D Printing Software(series)

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2.2

3D Metal Printing Software

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2.3

"Fermat Spiral" Algorithm for Infill Path

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Course Instruction of Zhejiang University

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AR(mrtk)--Palletizing Demo

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Sea Light -- Robotic 45° 3D Printing

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BREATH -- Sound Installation

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Extension Barn -- Undergraduate Project

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Final design for fabrication test Robotic Fabrication of Topology Optimized Concrete Components with Reusable Formwork Time: 2020 Role: Fabrication; Path Optimization; Workflow Optimization; Paper Writing

Yiyao Guo Zhejiang University Yang Luo Zhejiang University Sihan Wang Singapore University of Technology and Design Ying Yi Tan Singapore University of Technology and Design Kenneth Tracy Singapore University of Technology and Design

ABSTRACT In this paper, we introduce a design-to-fabrication workflow to create topology optimized concrete components by clay printing a temporary mold and simultaneously casting concrete into it. The design of this component has two functions of creating a support structure that braces large trees during high speed winds as experienced in typhoon seasons, and as a bench to serve as a public furniture. Meanwhile, an integrated function that sits people during the off-typhoon season is also considered. This is followed by an introduction of our fabrication approach including the work cell setup and methodology, with considerations of its overall workability, material properties, and fabrication efficiency. In the end, we showcase our prototype and discuss the feasibility and challenges of this approach in fabricating complex freeform components on a large scale.

Final design for fabrication test

VARIABLES

(a) topology optimization parameters for the support structure; LOAD 1

BOUNDING BREP

l manual support structure made of timber poles

LOAD 2

KEYWORDS Robotic Fabrication; Topology Optimization; Freeform Concrete; Reusable Formwork.

1. topology optimization parameters for the support structure

SUPPORT

Final design for fabrication test

1

1. Traditional Manual Support Structure

(a) topology optimization parameters for the support structure;

i. This structure only supports from limited direction. ii, Wool poles tend to decay in high humidity and requires maintenance or replacement. iii, Such a supporting structure makes the area under the tree canopy inaccessible.

2. the meshed model generated from the optimization

Different length between the tree and the bench

2

3

(b) the meshed model generated from the optimization;

(c) the finalised model for fabrication

1 2

(b) the meshed model gene from the optimization;

(a) topology optimization parameters for the support structure;

PARAMETERS&RESULTS

3. the finalised model for fabrication

2 . T o p o l o g y O p ti mi za t i o n Concrete Bench i, The radial position provides multi-directional support. Different height of trees ii, The concrete benches will not need constant maintenance. iii, The benches serve as a seating area for locals.

LENGTH OF THE BENCH FROM THE TRUNK

Different types of support

Different length between the tree and the bench.

Different height of trees.

DIFFERENT FORCES EXERTED ON BENCH

Different types of support.

DIFFERENT FORMS OF SUPPORT

2

DIFFICULTIES & SOLUTIONS

Printing Files ROBOTIC FABRICATION OF TOPOLOGY OPTIMIZED CONCRETE COMPONENTS WITH REUSABLE FORMWORK

1. The lateral pressure from the poured concrete.

Printing 2 layer-path.

14-1 14-2

concrete must be well connected to ensure structural stability by avoiding 2. The nozzle may collide with the delamination at these regions; 2. The clay printing must finish before the setting mold.

13-1 12-2set so that 12-1 the 13-2 preceding segment of concrete; 3. The concrete has to be fast Printing different part separately and of evenly. preceding 13-3segments of concrete no longer exert pressure on the clay mould and can sustain the incoming weight of the next segment of concrete.

Thus, each 11-1 11-2 segment of concrete must be cast before the initial setting of the former portion 3. The cantilever part might be too and must be given enough time to hydrate and solidify.

10-1 inclined to support itself.

Our10-2 concrete mixture is designed in a way to reduce its setting time and be Adding support structure by extra sufficiently stiff for our application. This is listed in Table with a mix of 9-11, 9-2 printing paths or labor.

8-1 8-2 (Sp), glass 9-3 Casting concrete after each printing Calcium Sulfoaluminate (CSA), sand (S), water (W), superplasticizer fiber at 6 mm (GF6) and 12 mm (GF12) length, deformer (D) and section to support the next section.

Dihydroxysuccinic acid (Da).

7-1 7-2 6-1 6-2 4. The connection between the back chair and the surface might be too small to be firmly attached.

4-3 4-4

Component

Embedding in steel structures such as nails.

5. The printing length is limited by the capacity of the clay cylinder.

Separating the file according to the extruding length of the clay cylinder.

Amount(g)/Liter

CSA 812

S 988

W 295

Sp 6.5

GF6 12

GF12 12

legs in front.

1-1 1-2

Arrangement Table 2. Fabrication procedures of the tree support.

(c) the finalised model for fabrication

File 3-2 File 13-3 Essential Points: C: Cantilevering The concrete The can concrete providecan enough provide strength enough to strength to support the printing the path printing path 1) The neighbouring segments ofsupport the concrete must be well connected to ensure structural SL: Seat Level SC: Simultaneous stability; Casting 2) The printing must be finished before the setting of the preceding segment of concrete; LSG: Last Section Leg 3) The concrete has to be fast set so that the preceding segment of concrete no longer SE: Seat Envelope exert pressure on the clay mould and can sustain the incoming weight of the next segment SS: Seat Support of concrete.

3

D 0.9

5-1 5-2

Da 5-3 0.5

4-1 4-2 3-1 The 3-2 fabrication process followed the designated procedures as shown in Table 2 and required 5 hours to complete, with printing process beginning with the 2-1 two 2-2

Cast Cast concrete concrete simultaneously simultaneously

(b) the meshed model generated from the optimization;

6-3 6-4

Table 1. The proportion of the concrete mix.

2.1

3D Printing Software(series) Time: 2023 Role: Software Development(gh+humanUI); Printing Test

BACKGROUND >

>

As more and more traditional AEC departments in university are trying to follow the digitization trend and engage in the revolution, the concepts of "digital fabrication", "computational design", "parametric design", etc, have aroused lots of interest among students and universities.

As one of the primary parts in the field of digital fabrication -additive fabrication,or so called "3D printing" is an appropriate method for students to learn about the parametric design, and robotics.

For those who want to substantiate the design concept through robotic 3D printing, the main problems are: 1) It takes quite a long time for students to learn Grasshopper and robotic code from scratch.

2) It is difficult and complex for students to operate the hardwares and set up the environments at the beginning, while the printing condition would be different form case to case.

Thus, creating a software or plugin for students to set up the printing environment step by step, process and modify their design models, and generate robotic code is necessary.

GOALS For students: to learn and set up easily.

Basic Steps: Configuration

Technics

>

Simulation

set initial position and tool

set printing model

simulation

TCP INITIAL POSITION PLANE

SELECT MODEL PLACING MODEL

save file (.src)

set printing datas PRINTING/SLICING PARAMS

For engineer: to standardize the on-site delivery procedures among different conditions of different labs, such as robot with external track, robot with side mounted track, robot with coupled platform and so on For developer: to include various technics of robotic additive fabrication, such as clay 3D printing, concrete 3D printing, metal printing and so on.

>

initial pos plane pt1

plane pt2 tcp

plane pt3

KRL CODE ANALYSIS: &ACCESS RVP &REL 1 DEFDAT A6_T_ROB1 PUBLIC DECL GLOBAL FRAME DefaultGHTool={FRAME: X 708.431,Y 6.903,Z 219.503,A 0,B -90,C 0} DECL GLOBAL FRAME DefaultFrame={FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0} DECL GLOBAL REAL DefaultSpeed = 0.1 DECL GLOBAL REAL Speed000 = 0.05 DECL GLOBAL REAL DefaultZone = 0 global declaration of basic DECL GLOBAL REAL Zone_Distance000 = 20 information ENDDAT &ACCESS RVP &REL 1 DEF A6_T_ROB1() BAS (#INITMOV,0) $ADVANCE=5 approximation range of $APO.CPTP=20 point-to-point move motion A6_T_ROB1_000() END &ACCESS RVP &REL 1 DEF A6_T_ROB1_000() $TOOL=DefaultGHTool $LOAD.M=0 $LOAD.CM={X 708.431,Y 6.903,Z 219.503,A 0,B 0,C 0} $BASE=DefaultFrame BAS(#VEL_PTP, 100) PTP {A1 12.86,A2 -70.1398,A3 115.3998,A4 1.4599,A5 -42.49,A6 0.5099} $APO.CDIS=Zone_Distance000 $VEL={CP 0.05, ORI1 180.000, ORI2 180.000} LIN {X 2112.905,Y 57.353,Z -85.366,A 0,B 0,C 0} C_DIS procedure setions: ......

LIN {X 2109.842,Y 144.96,Z 136.455,A 0,B 0,C 0} C_DIS PTP (initial pos) | END LIN motion(printing) photos from Yifei Cao(engineer) in Tianjin University

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2.2

COOLING AND WAITING

Different from other traditional FDM 3D printing technics (such as clay printing), the metal printing with coupled platform is quite different in terms of geometric/path processing logic, printing sections(which is consists of printing and pause), and so on.

3D Metal Printing Software

Time: 2023 Role: Software Development(gh+humanUI); Printing Test

STRIKING AND PRINTING

90°

END STRIKING AND START TO COOL DOWN

-0°(360°)

90°

90°

310°

-40°

-0°(360°)

-0°(360°)

90°

90°

KRL CODE ANALYSIS: &ACCESS RVP &REL 1 DEFDAT jsdy_1_T_ROB1 PUBLIC

50° 400° (out of range)

-0°(360°)

-5°(355°) -0°(360°)

90°

GEOMETRIC PROCESSING: Normally, the seam curve of the 3D printing object could be straight concerning the design.

310°

-40°

-0°(360°)

While for metal printing, the seam curve should be relatively inclined in order to prevent the striking point accumulating material, which would lead to printing failure.

Additionally, due to the platform's hardware limitation, the rotating range of the plaftorm is -358 ° to 358 ° , and the rotation direction is anticlockwise.

Cooling position

Therefore, instead of letting the rotating range of each layer 90° be +n° to +m° (n ≥ 0 and m ≥ 360), it's better to adjust the position of the object, and remap the rotation range of each layer to -x° to +y° (355 > x ≥ 5 and 5 ≤ y ＜ 355）.

90°

50°

A = $POS_ACT

400° (out of range)

DEF qh( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN -0°(360°) $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here

5°(355°) -0°(360°)

;ENDFOLD (USER INI) ;ENDFOLD (INI) .......

End striking

Striking point

invoking subprogram set in the teaching pad

5

DECL GLOBAL FRAME M={FRAME: X -0.13,Y -1.71,Z 365.08,A -178.82,B -45.7,C 177.42} DECL GLOBAL FRAME F={FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0} DECL GLOBAL REAL DefaultSpeed = 0.1 DECL GLOBAL REAL Speed000 = 0.0075 DECL GLOBAL REAL DefaultZone = 0 DECL GLOBAL REAL Zone_Distance000 = 10 global declaration of basic ENDDAT information &ACCESS RVP &REL 1 DEF jsdy_1_T_ROB1() BAS (#INITMOV,0) $ADVANCE=5 declaration of coordination $APO.CPTP=20 system(platform center) PDAT_ACT = {VEL 7.5, ACC 100, APO_DIST 10} and tool which are set in the FDAT_ACT = {TOOL_NO 1, BASE_NO 1, IPO_FRAME #BASE} teaching pad by engineer BAS(#PTP_PARAMS, 50) jsdy_1_T_ROB1_000() END &ACCESS RVP &REL 1 DEF jsdy_1_T_ROB1_000() $TOOL=M $LOAD.M=60 $LOAD.CM={X -0.13,Y -1.71,Z 365.08,A 0,B 0,C 0} BAS(#VEL_PTP, 100) PTP {A1 15.9998,A2 -96.0002,A3 120.0001,A4 124.9999,A5 -54.9999,A6 -88, E1 -4.9386} C = $AXIS_ACT ph() PTP {A1 15.9998,A2 -96.0002,A3 120.0001,A4 124.9999,A5 -54.9999,A6 -88, E1 -4.9386} $APO.CDIS=Zone_Distance000 $VEL={CP 0.0075, ORI1 180.000, ORI2 180.000} LIN {X 72.044,Y 6.225,Z 323.27,A 15,B 0,C 0, E1 -4.9386} C_DIS LIN {X 72.044,Y 6.225,Z 23.27,A 15,B 0,C 0, E1 -4.9386} C_DIS A = $POS_ACT qh() procedure setions: $VEL = {CP 0.0075, ORI1 180.000, ORI2 180.000} PTP (initial & cooling pos: ph()) LIN {X 71.258,Y 1.282,Z 23.27,A 11.0941,B 0,C 0, E1 -1.0303} C_DIS | ...... start striking: qh() LIN {X 72.781,Y 10.862,Z 26.27,A 18.5471,B 0,C 0, E1 -8.4884} C_DIS | B = $POS_ACT printing sh() | LIN {X 72.781,Y 10.862,Z 326.27,A 18.5471,B 0,C 0, E1 -8.4884} C_DIS end striking: sh() ph() | WAIT SEC 5 back to the cool pos: ph() $VEL = {CP 0.0225, ORI1 180.000, ORI2 180.000} BAS(#VEL_PTP, 100) $VEL_AXIS[5] = 3.372 PTP {A1 15.9998,A2 -96.0002,A3 120.0001,A4 124.9999,A5 -54.9999,A6 -88, E1 -7.5109} LIN {X 72.575,Y 9.569,Z 329.27,A 17.5705,B 0,C 0, E1 -7.5109} C_DIS ......

2.3

"Fermat Spiral" Algorithm for Infill Path Time: 2023

Question aroused when ... sub-section1 sub-section2 sub-section3 sub-section4

Pseudo Code When designing and tending to print an component with bottom, such as a vase, printing the bottom layers at one time or processing the whole printing path into a single curve is important concerning the material's property and hardware's limitation.

However, problems would come when the printing component is complex. Normally, we would use the "polyline offset" of "Clipper" in Grasshopper to generate the infill path, but this function would fail when the geometry generates several sub-sections.

Therefore, after doing some researches of Computational Graphics, I made a small program to generate continuous fermat spiral curve for complex geomery for infilling.

Find the innermost centroids. | Sort the curve group from the centroids to the outside. | Determine the inclusion relation between the groups. | Transform the curve groups into fermat spiral curves. | Join the fermat spiral curves together.

Connection nodes Innermost centroids

Sort the curve group from the centroids to the outside.

Code of important sessions

import rhinoscriptsyntax as rs import ghpythonlib.components as ghlib from Grasshopper.Kernel.Data import GH_Path as ghpath from Grasshopper import DataTree as ghtree tree = ghtree[object]() vec = rs.VectorCreate((0,0,0),(0,0,-5)) for i in range(x.BranchCount): path = ghpath(i) for j in range(len(x.Branch (i))): crvID = x.Branch(i)[j] crv = rs.coercecurve(crvID,-1,False) crvSf = ghlib.BoundarySurfaces(crv) crvSfm = ghlib.Move(crvSf,vec)[0] crvBp = ghlib.Extrude(crvSfm,vec*(-2)) tree.Add(crvBp,path)

Determine the inclusion relation between the groups.

import rhinoscriptsyntax as rs from Grasshopper.Kernel.Data import GH_Path as ghpath from Grasshopper import DataTree as ghtree import ghpythonlib.components as ghlib from Grasshopper.Kernel import GH_Convert as ghct p = tpath[0] pL = p.Length treecrv = ghtree[object]() if pL == 2: for i in range(len(tpath)): tpath[i] = ghpath.PrependElement(tpath[i],0) for j in range(crv.BranchCount): pc = crv.Path(j) pc = ghpath.PrependElement(pc,0) # print(pc) for k in range(len(crv.Branch(j))): obj = crv.Branch(j)[k] treecrv.Add(obj,pc) crv = treecrv result = [[]] resultc = [[]] cBC = crv.BranchCount #print(cBC) vec = rs.VectorCreate((0,0,0),(0,0,-5)) tree = ghtree[object]() treec = ghtree[object]() #create brep tree and list for i in range(cBC): result.append([]) resultc.append([]) cLen = len(crv.Branch(i)) path1 = crv.Path(i)[0] path1 = ghpath(path1) # path = ghpath(i) for j in range(cLen): cEdgeID = crv.Branch(i)[j] cEdge = rs.coercecurve(cEdgeID,-1,False) # print(type(cEdge)) cSurf = ghlib.BoundarySurfaces(cEdge) cSurfm = ghlib.Move(cSurf,vec)[0] cBrep = ghlib.Extrude(cSurfm,vec*(-2)) result[i].append(cBrep) resultc[i].append(cEdge) tree.Add(result[i],path1) treec.Add(resultc[i],path1) b = tree c = treec treel = ghtree[object]() tlen = len(tpath) for i in range(tlen-1,-1,-1): item1 = tpath[i][0] item2 = tpath[i][1] item3 = tpath[i][2]

a = tree treeC = ghtree[object]() treeBool = ghtree[int]() for i in range(x.BranchCount): for j in range(len(x.Branch(i))): shapeCID = x.Branch(i)[j] shapeC = rs.coercecurve(shapeCID,-1,False) pathC = ghpath(i,j) for k in range(len(a.Branch(i))): brepC = a.Branch(i)[k] boolC = ghlib.ShapeInBrep(brepC,shapeC) treeBool.Add(boolC,pathC) if boolC == 0: anCID = x.Branch(i)[k] anC = rs.coercecurve(anCID,-1,False) treeC.Add(anC,pathC) b = treeC c = treeBool flagtree = ghtree[object]() for i in range(c.BranchCount): path = c.Path(i) item1 = path[0] pflag = ghpath(item1) for j in range(len(c.Branch(i))): flag = c.Branch(i)[j] if flag == 0: flagcrv = y.Branch(pflag)[j] flagtree.Add(flagcrv,path) d = flagtree

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pathi = ghpath(item1,i) crvlist = [] #print(item3) bTgt = b.Branch(item1) cTgt = c.Branch(item1) #shape = cTgt[item2][item3] pathcrv = ghpath(item1,item2) shapeID = crv.Branch(pathcrv)[item3] shape = rs.coercecurve(shapeID,-1,False) treel.Add(shape,pathi) #find the ancestor curve using shape in brep for it2 in range(item2-1,-1,-1): qlen = len(bTgt[it2]) #print(qlen) for q in range(qlen): brep = bTgt[it2][q] ####### if ghlib.ShapeInBrep(brep,shape) == 0: shape = cTgt[it2][q] pathtoadd = ghpath(item1,it2,q) cTgt[it2].pop(q) bTgt[it2].pop(q) treel.Add(shape,pathi) break else:continue d = treel

3Course Instruction of

Design & Analysis Method In the era of information, the traditional architecture industry is undergoing a digital FINAL FINAL REVIEW REVIEW 基于力学找形的三角异形楼板· 基于力学找形的三角异形楼板· 工艺组 工艺组 FINAL FINAL REVIEW REVIEW transformation. The emergence of various digital technologies is providing entirely new 基于力学找形的三角异形楼板· 基于力学找形的三角异形楼板· 工艺组 工艺组 FINAL FINAL REVIEW REVIEW 数字化设计与机器人建造 数字化设计与机器人建造 基于力学找形的三角异形楼板· 基于力学找形的三角异形楼板· 工艺组 工艺组 means for architectural design and fabrication.

This course, a collaboration between FINAL FINAL REVIEW REVIEW 数字化设计与机器人建造 数字化设计与机器人建造 COMPUTATIONAL COMPUTATIONAL DESIGNDESIGN & ROBOTIC & ROBOTIC FABRICATION FABRICATION 基于力学找形的三角异形楼板· 基于力学找形的三角异形楼板· 工艺组 工艺组 the Architecture ARCHITECTURAL ARCHITECTURAL MOLD & MOLD NEW & MATERIAL NEW MATERIAL COMPUTATIONAL COMPUTATIONAL DESIGN DESIGN & ROBOTIC & ROBOTIC FABRICATION FABRICATIONDepartment of Zhejiang University and RoboticPlus.AI, aims to guide 数字化设计与机器人建造 数字化设计与机器人建造 ARCHITECTURAL ARCHITECTURAL MOLD & MOLD NEW & MATERIAL NEW MATERIAL 数字化设计与机器人建造 数字化设计与机器人建造 COMPUTATIONAL COMPUTATIONAL DESIGN DESIGN & ROBOTIC & ROBOTIC FABRICATION FABRICATIONworkshops to actively explore the various possibilities of "digital design students through COMPUTATIONAL COMPUTATIONAL DESIGN DESIGN & ROBOTIC & ROBOTIC FABRICATION FABRICATION ARCHITECTURAL ARCHITECTURAL MOLD & MOLD NEW & MATERIAL NEW MATERIAL 流程设计 流程设计 PROCESS PROCESS DESIGN DESIGN ARCHITECTURAL ARCHITECTURAL MOLD & MOLD NEW& MATERIAL NEW MATERIAL robotic fabrication."

Zhejiang University

Time: 2023 Course Name: Parametric Design and Robotic Fabrication Role: Course structure design; Instruction of robotic program and genetic algorithm; Material pre-test

流程设计 流程设计 PROCESS PROCESS DESIGNDESIGN 流程设计 流程设计 PROCESS PROCESS DESIGNDESIGN 流程设计 流程设计 PROCESS PROCESS DESIGNDESIGN

The goal of course is to transform design concepts into tangible realities. The curriculum integrates interdisciplinary knowledge encompassing computer programming, specific material processing methods, robotic fabrication, and more. It encourages students to contemplate the relationship between "design" and "fabrication" in a dialectical manner. 严泽核

严泽核 谢睿

吴雅薇 谢睿

吴雅薇 金子杨

金子杨 郭昀季

郭昀季

严泽核

严泽核 谢睿

吴雅薇 谢睿

吴雅薇 金子杨

金子杨 郭昀季

郭昀季

严泽核

严泽核 谢睿

吴雅薇 谢睿

吴雅薇 金子杨

金子杨 郭昀季

郭昀季

吴雅薇 金子杨

金子杨 郭昀季

郭昀季

问题分析及实验记录 问题分析及实验记录 EXPERIMENT EXPERIMENT 严泽核 严泽核 谢睿 吴雅薇 谢睿 问题分析及实验记录 问题分析及实验记录 EXPERIMENT EXPERIMENT

The course focuses on "genetic algorithms" for the design aspect and "clay 3D 问题分析及实验记录 问题分析及实验记录 EXPERIMENT EXPERIMENT "genetic algorithms" printing" for the construction aspect. Leveraging 问题分析及实验记录 问题分析及实验记录 EXPERIMENT EXPERIMENT as a computational tool, it encourages students to incorporate factors such as light, wind, sightlines, human flow, and forces that impact the design volume. This involves systematically analyzing and optimizing the design object comprehensivelyUtilizing the additive manufacturing technology of "robotic 3D printing," students use clay, a recyclable material, to construct molds for complex forms. They then pour concrete into these molds to create negative forms, ultimately demolding to obtain the final product. 打印粗细，在打印时根据不同黏土含水量，调整打印速 打印粗细，在打印时根据不同黏土含水量，调整打印速 大气泡，机器暂停，将工作平面升起，脱开 大气泡，机器暂停，将工作平面升起，脱开 tcp 和黏土 tcp 和黏土 度 度 的距离 的距离 打印粗细，在打印时根据不同黏土含水量，调整打印速 打印粗细，在打印时根据不同黏土含水量，调整打印速 大气泡，机器暂停，将工作平面升起，脱开 大气泡，机器暂停，将工作平面升起，脱开 tcp 和黏土 tcp 和黏土 度 度 的距离 的距离 打印粗细，在打印时根据不同黏土含水量，调整打印速 打印粗细，在打印时根据不同黏土含水量，调整打印速 大气泡，机器暂停，将工作平面升起，脱开 大气泡，机器暂停，将工作平面升起，脱开 tcp 和黏土 tcp 和黏土 度 度 的距离 的距离 打印粗细，在打印时根据不同黏土含水量，调整打印速 打印粗细，在打印时根据不同黏土含水量，调整打印速 大气泡，机器暂停，将工作平面升起，脱开 大气泡，机器暂停，将工作平面升起，脱开 tcp 和黏土 tcp 和黏土 度 度 的距离 的距离

过程记录 过程记录 FABRICATION FABRICATION 过程记录 过程记录 FABRICATION FABRICATION 过程记录 过程记录 FABRICATION FABRICATION 过程记录 过程记录 FABRICATION FABRICATION

Fabrication Method

Step1

Step2

Step1: Prepare the clay for printing.

Step2: Print the negative form components.

STEP1 STEP1 黏土准备工作黏土准备工作 STEP1 STEP1 黏土准备工作黏土准备工作 STEP1 STEP1 黏土准备工作黏土准备工作 STEP1 STEP1 黏土准备工作黏土准备工作

Step3: Assemble the wood container for concrete Step3 casting.

STEP3 模具加工 STEP3 模具加工 STEP3 模具加工 STEP3 模具加工

Step4

STEP3 模具加工 STEP3 模具加工 STEP3 模具加工 STEP3 模具加工

Step5

STEP4 摆放黏土 STEP4 摆放黏土 STEP4 摆放黏土 STEP4 摆放黏土

STEP4 摆放黏土 STEP4 摆放黏土 STEP4 摆放黏土 STEP4 摆放黏土

Step6

Step7: Cure concrete and remove the wood container.

4AR(mrtk)--Palletizing Demo

STEP5 STEP5 浇筑准备工作浇筑准备工作 STEP5 STEP5 浇筑准备工作浇筑准备工作 STEP5 STEP5 浇筑准备工作浇筑准备工作 STEP5 STEP5 浇筑准备工作浇筑准备工作

STEP6 STEP6 浇筑及封膜 浇筑及封膜 STEP6 STEP6 浇筑及封膜 浇筑及封膜 STEP6 STEP6 浇筑及封膜 浇筑及封膜 STEP6 STEP6 浇筑及封膜 浇筑及封膜

STEP7 STEP7 拆膜及养护 拆膜及养护 STEP7 STEP7 拆膜及养护 拆膜及养护 STEP7 STEP7 拆膜及养护 拆膜及养护 STEP7 STEP7 拆膜及养护 拆膜及养护

STEP8 敲土 STEP8 敲土 STEP8 敲土 STEP8 敲土

Step7

Time: 2023 Role: UDP streaming; mrtk part;QRcode-calibration

reality - qr code position&gesture signals remoting control

unity-mrtk

sending programs

UDP updating programs

方便拆模、隔离负形与混凝土，涂抹凡士林 方便拆模、隔离负形与混凝土，涂抹凡士林

模具制作，不封死，方便拆模 模具制作，不封死，方便拆模

方便拆模、隔离负形与混凝土，涂抹凡士林 方便拆模、隔离负形与混凝土，涂抹凡士林

模具制作，不封死，方便拆模 模具制作，不封死，方便拆模

方便拆模、隔离负形与混凝土，涂抹凡士林 方便拆模、隔离负形与混凝土，涂抹凡士林

防止浇筑时渗漏，采用封胶带 防止浇筑时渗漏，采用封胶带

拆模时黏土过硬，用水浸泡 拆模时黏土过硬，用水浸泡

防止浇筑时渗漏，采用封胶带 防止浇筑时渗漏，采用封胶带

拆模时黏土过硬，用水浸泡 拆模时黏土过硬，用水浸泡

防止浇筑时渗漏，采用封胶带 防止浇筑时渗漏，采用封胶带 成品照片 成品照片 PHOTOS PHOTOS 防止浇筑时渗漏，采用封胶带 防止浇筑时渗漏，采用封胶带 成品照片 成品照片 PHOTOS PHOTOS

拆模时黏土过硬，用水浸泡 拆模时黏土过硬，用水浸泡

成品照片 成品照片 PHOTOS PHOTOS 成品照片 成品照片 PHOTOS PHOTOS

Step6: Cast concrete.

Step8: Remove the clay molds.

方便拆模、隔离负形与混凝土，涂抹凡士林 方便拆模、隔离负形与混凝土，涂抹凡士林

模具制作，不封死，方便拆模 模具制作，不封死，方便拆模

STEP2 STEP2 打印黏土负形打印黏土负形 STEP2 STEP2 打印黏土负形打印黏土负形 STEP2 STEP2 打印黏土负形打印黏土负形 STEP2 STEP2 打印黏土负形打印黏土负形

Step4: Place the clay components according to manual calibration. And apply vaseline on the surface of clay components for demolding easily.

Step5: Infill the vacant space of clay components and blend concrete.

模具制作，不封死，方便拆模 模具制作，不封死，方便拆模

grasshopper-robotics

7

Step8

STEP8 敲土 STEP8 敲土 STEP8 敲土 STEP8 敲土

拆模时黏土过硬，用水浸泡 拆模时黏土过硬，用水浸泡

5Sea Light

-- Robotic 45° 3D Printing Time: 2023 Role: Concept design; Grasshopper programming; Optimizing the printing path; Fabrication

Through experimentation, we simulated different states of ocean waves on the surface, achieving varying light and shadow effects under the influence of light sources.

We aim to incorporate these effects into lampshade design. Based on our research in furniture design, we have categorized the lampshade prototype into central light source and external enclosure elements. Combining these elements with our summarized patterns of wave variation, we can derive multiple prototypes where R is inversely proportional to the degree of folds.

Variations

1 support

Structure Analysis Metal triangle bracing

2 supports

Printing Strategy 2 3 1

exploding it into 3 parts to print easily The lampshade has a considerable height, so it is planned to use two triangular connecting pieces, one on top and one on the bottom. The relative height of these connecting pieces to the lampshade affects the relative stability of the single-piece lampshade. Additionally, due to the eccentricity issue in the cross-section, the bending moments at the endpoints of the connecting pieces are different.

Optimization directions: 1. Optimize the positions of the connecting pieces.

Ring tube

Concrete pedestal

8

Light pole

PETG lampshade

Fabrication

2. Optimize the shape and separation method of the single-piece lampshade, aiming for a larger cross-sectional radius to reduce the selfweight of the lampshade.

Mechanical testing results: Reduced displacements in various components.

6 BREATH

-- Sound Installation

Time: 2020 Role: Concept design; Grasshopper programming; Mechanism design In the urban environment, to bring the sounds of the Earth to the concrete world......

Analysis of the Four Characteristics of Sound: Sound Intensity: Sound intensity reflects the strength of a sound wave and can be measured using sound pressure level or sound intensity level.

The Elements of a Forest From a human experiential perspective, the intention behind "forest" can perhaps be deconstructed into—gentle ambient white noise, dappled sunlight filtering through layers of leaves, and leaves swaying lightly in the wind... And from another angle of understanding, it is precisely these elements that collectively define our imagination of the forest.

By placing receivers in the forest to capture environmental sounds, translating them into digital signals, and processing and transmitting them through Grasshopper and Arduino, we can eventually represent these sounds through flipping panels.

Resonance Peaks: Resonance peaks refer to specific regions in the spectrum of a sound where energy is relatively concentrated. Resonance peaks not only determine the quality of sound but also reflect the physical characteristics of the sound-producing medium or resonating system.

Sound Intensity

Spectrum: Spectrum, or frequency spectrum density, represents the distribution of frequencies in a sound. Complex oscillations can be decomposed into harmonic oscillations with varying amplitudes and frequencies, and the graphical representation of these harmonics arranged by frequency is called the spectrum.

Resonance Peaks

Reinterpreting the Senses Controlled by the distant forest's environmental sounds, the panels abstractly restate the intention of the "forest." The panels, flipping in response to audio digital signals, create gaps that allow dappled light to filter through and produce audible effects from their movement. The overall coherent and gradual effect, akin to the gentle swaying of a forest, might enable the experiencer to associate the visual and auditory experience with the rustling of leaves in a natural forest.

Fundamental Frequency: In a natural complex sound, there is one sub-tone with the highest amplitude and the lowest frequency, known as the first harmonic or the "fundamental frequency." This sub-tone, often referred to as the "fundamental," vibrates at the fundamental frequency.

Spectrum

Fundamental Frequency Fundamental Frequency

In order to achieve a smooth and varied angular motion of the panels, where n servos control n² panels, let's take a 10×10 array as an example and delve into the technical details.

In the end, the sound intensity data with the greatest variation is selected as the input data based on actual comparative results.

Data Processing for Smooth Transitions (Pseudo Code): #Collect white noise audio using Firefly and translate it into digital signals. # The data recorder records 13 sets of data. # Remap the obtained data to control it within the range of 0 to 180, suitable for servo usage. # Take the average of every four adjacent sets of the obtained 13 data sets, resulting in 10 sets of data. # Input the 10 sets of data into 10 servos, individually controlling their rotation angles. degree -- height

height -- degree

a

b

...

x

1

H1,a=R*(1-cosa)

H1,b=R*(1-cosb)

...

H1,x=R*(1-cosx)

2

H2,a=R*[cos18-cos(18+a)]

H2,b=R*[cos18-cos(18+b)]

...

H2,x=R*[cos18cos(18+x)]

...

...

...

...

...

n

Hn,a=R*{cos18(n-1)-cos[18(n-1)+a]}

Hn,b=R*{cos18(n-1)-cos[18(n-1)+b]}

...

Hn,x=R*{cos18(n-1)cos[18(n-1)+x]}

8 1

Hn,x=f( n,x) x: Input angle values for each column n: number of rows

9

6

5 3 2

4 7

1: the outer structure (to combine with other components) 2: the unit frame (to hold the rotating installation) 3: to hold the rotating disk 4: the rotating disk 5: the mechanism pointer 6: the rotating frame (to confine the rotating domain) 7: the connector stick 8: the plate control lever

7Extension Barn

-- Undergraduate Project Time: 2022 Individual Work Instructor: Prof. Paolo Vincezo Genovese

Through computational analysis algorithm and design method, I intended to find a solution to engender as minor influence and change as possible, and gently be immersed in their mundane lives ... ...

Harvest Culture of Miao Minority

Space Elements of Barn: - Crop Storage - Crop Suspending - Walking Path

the extension barn

Site Analysis evaluation of the site's slope gradient the old barn

Type 1

Type 2

Type 3

Type 4

The storage block

The compound block

The leisure block

Storage & Leisure

Threshing Machine

Suspending Structures

Storage BLock

Thresh Space Drying Platform

Type 1 Type 2

Type3 Type 4 Type 3

Type 2 Type 3

Type 4 Type 2

10

Type 4