An integrated system design interface for operating 8-DoF robotic arm

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

In dialogue with emergence

The following report outlines the conjectural basis for an examination of the existing system of architectural production, and the imminent changes that are becoming more evident with the increasing saturation of digital technologies. Emergence and complexity theory have set the stage for a future of integrated system design. With many of our current modes of production already being heavily influenced by digital design and automated fabrication, the question for the building industry becomes not if, but how shall these systems be integrated in the production of architecture? Through the execution of an urban design project located at the Alexandra Park housing co-operative, this thesis establishes a commentary based in emergent theory that grounds the speculation of future possibilities in an historical understanding of current changes in contemporary architectural discourse. The exploration of difference as a generator of urban renewal is central to the proposals ability to induce positive change through dynamic emergent behavior.

In dialogue with emergence

The following report outlines the conjectural basis for an examination of the existing system of architectural production, and the imminent changes that are becoming more evident with the increasing saturation of digital technologies. Emergence and complexity theory have set the stage for a future of integrated system design. With many of our current modes of production already being heavily influenced by digital design and automated fabrication, the question for the building industry becomes not if, but how shall these systems be integrated in the production of architecture? Through the execution of an urban design project located at the Alexandra Park housing co-operative, this thesis establishes a commentary based in emergent theory that grounds the speculation of future possibilities in an historical understanding of current changes in contemporary architectural discourse. The exploration of difference as a generator of urban renewal is central to the proposals ability to induce positive change through dynamic emergent behavior.

Robust design from systems physics

A crucial challenge in engineering modern, integrated systems is to produce robust designs. However, quantifying the robustness of a design is less straightforward than quantifying the robustness of products. For products, in particular engineering materials, intuitive, plain language terms of strong versus weak and brittle versus ductile take on precise, quantitative meaning in terms of stress–strain relationships. Here, we show that a “systems physics” framing of integrated system design produces stress–strain relationships in design space. From these stress–strain relationships, we find that both the mathematical and intuitive notions of strong versus weak and brittle versus directly characterize the robustness of designs. We use this to show that the relative robustness of designs against changes in problem objectives has a simple graphical representation. This graphical representation, and its underlying stress–strain foundation, provide new metrics that can be applied to classes of designs to assess robustness from feature- to system-level.

Alternative Methods for Preheating Outdoor Ventilation Air

In the pursuit of energy efficiency one has developed a complex technology of earth-air heat exchangers (EAHX). In this process, one discovered some drawbacks such as possible entry of radon gas or high humidity in the shoulder seasons. Elsewhere, we highlighted that when the outdoor temperature changes frequently, one needs using two different air intake sources with an automatic selection of the one more appropriate for the actual weather conditions. In winter, the EAHX may be used continually but in the other seasons, the selection should be performed by a steering/ control system. In this paper examined two nearly identical EAHX systems placed in the soil next to the building or under the basement slab. While there is an advantage in the under house placement, yet the advent of integrated system design permits replacing the EAHX by different heat exchangers located in the mechanical room (as it was done in a case study in NY) or in the exterior wall. In the latter case we propose an alternative system that permits using different ventilation patterns in summer and winter.