Full Portfolio of Jaimme Guan MIT Media Lab Big

7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big

1/106


2/106


3/106

Science

Art

10years old

31 years old

Art

My Education is a blend of Science and Art

term1

hypothe

sisresearch

start

prototype1

prototype2

prototy

pe3

prototype4

prototype5

experience

Projectof1st

Element

when I was 12 years old , I alreadyobtain three different programlanguages . Silver medal winnerof youth coding competitionin my country. Before I went touniversity , I was a totally GEEK.

Study computational designand do experiments.

I created sphericalrobot in GAD .

Then I seek for change,I decide to study morefantastic subject as anarchitect.

1st

element

design

o

bservation

mobile

robots

different

sphericalrobot

making

software

observation

design

background

prototypes

ELEMENT& HIGH SCHOOL

LCD

BARTLETT SCHOOL

UNIVERSITY

MY PROJECT


4/106

W

It is the 1st tattoo create

by Procesing I guess.

My heart want

observing more truth by

programming.

My hands want touching more truth by fabrication..


5/106

Programming and Hardware


6/106

Debug in 4 am main libruary of UCL


7/106

long previousMillis = 0;

long interval = 20;

int pulseTimeMID = 1450;

int pulseTime = 1650;

int servoPinA = 11;int calibrationTime = 1;

int led1=0;

int led2 =0;

int led3 =0;

int fadeValue1;

int fadeValue2;

int fadeValue3;

//the time when the sensor outputs a low impulse

long unsigned int lowIn1;

long unsigned int lowIn2;

//the amount of milliseconds the sensor has to be low

//before we assume all motion has stopped

long unsigned int pause = 5;

boolean lockLow = true;

boolean takeLowTime;

boolean lockLow1 = true;

boolean takeLowTime1;

boolean h1=true;

boolean h2=true;

int pirPin = 3; //the digital pin connected to the

PIR sensor's output

int pirPin1 = 6;

int ledPin1= 9;

int ledPin2= 10;int ledPin3= 5;

int s=0;int fuc=1;

int i=0;

int s1=0;

int fuc1=1;

int i1=0;

int RUNtime=1;

int StayTime=20000;

int sensorpin = 0;

int sensorpin1 = 1; // analog pin used to connect

the sharp sensor

int val = 0;

int val1 = 1; // variable to store the values from

long previousMillis = 0;

int val = 0;

int val1 = 1; // variable to store the values from

sensor(initially zero)

void setup()

{

pinMode(pirPin, INPUT);

pinMode(pirPin1, INPUT);

pinMode(ledPin1, OUTPUT);

pinMode(ledPin2, OUTPUT);

digitalWrite(pirPin, LOW); digitalWrite(pirPin1, LOW);

Serial.begin(9600); // Debugging only //give the sensor some time to calibrate

Serial.print("calibrating sensor ");

// for(int i = 0; i < calibrationTime; i++){

// Serial.print(".");

// delay(1000);

// }

Serial.println(" done");

Serial.println("SENSOR ACTIVE");

delay(50);

// put your setup code here, to run once:

pinMode(servoPinA, OUTPUT);

void loop()

//////////////////distance

int a= servospeed( pirPin1,h1,lockLow1 ,1550, lowIn1);

int b= servospeed( pirPin,h2, lockLow ,1250 , lowIn2);//int b=1450;

if (a==1550 && b== 1250){

pulseTime=1300;

}

if (a==1550 && b== 1450){

pulseTime=1400;

}

if (a==1450 && b== 1250){

pulseTime=1200;

}

if (a==1450 && b== 1450){

pulseTime=1300;

}

//////////////////////////////////////LED1

// fade in from min to max in increments of 5 points:

if ( led1==0) {

for(int fadeValue1 = 0 ; fadeValue1 = 0; fadeValue1

-=5) {

// sets the value (range from 0 to 255):

analogWrite(ledPin1, fadeValue1);

// wait for 30 milliseconds to see the dimming effect

delay(30);

}

led1=1;

fadeValue1 = 0;

}

if ( led1==1){


}

Serial.println(fadeValue1);

/////////////////////////////////////////////////////////

lED2

if ( led2==0) {

for(int fadeValue2 = 0 ; fadeValue2 = 0; fadeValue2

-=5) {

// sets the value (range from 0 to 255):


// wait for 30 milliseconds to see the dimming effect

delay(30);

}

led2=1;

fadeValue2 = 0;

}

if (led2==1){


}

Serial.println(fadeValue2);

//////////////////////////////////////

/////////////////////////////////////////////////////////lED3

if ( led3==0) {

for(int fadeValue3 = 0 ; fadeValue3 pause){

//makes sure this block of code is only executed again

after

//a new motion sequence has been detected

y = true;

Serial.print("motion ended at "); //output your

behavior my son.

Serial.print((millis() - pause)/1000); Serial.println(" sec");

pulseTime=1450;

// delay(10);

}

} result= pulseTime;

return result;


8/106

Grasshopper to rey to adruino to processing to java to internet in 1st term


9/106

Robot & kinetic Installations


10/106

1st Element Project


11/106

1st Element showing in Kinetic Art Fair 2014 London.


12/106


13/106


14/106


15/106


16/106


17/106


18/106


19/106


20/106


21/106


22/106


23/106


24/106


25/106


26/106


27/106


28/106


29/106


30/106


31/106


32/106


33/106


34/106


35/106


36/106


37/106


38/106


39/106


40/106


41/106


42/106


43/106


44/106


45/106


46/106

Fabrication of the 6th prototype of 1st Element . more than 700 parts inside it.


47/106

Fabrication of the 6th prototype of 1st Element .


48/106

First 3-axises movement been captured in classroom


49/106

Fabrication of the 6th prototype of 1st Element with water jet ,3d printer and other device.


50/106


51/106

Flying Fluid Project


52/106


53/106


54/106


55/106


56/106


57/106


58/106

Vision Light Project


59/106


60/106


61/106


62/106

Vsion Light


63/106

Vsion Light


64/106


65/106

High Speed Spherical Robot Data Interface Research

the key to increase the speed and keep its exbility


66/106

advantages:1good for the sensorson it to collect data2 good for the direction control of the robot

the key is to keep the inside part in same

position.

when it in high acceleration.

accelerate direction

HOW IT WORKS.


67/106

use the compassor air to keep the inside core in same

position. with the high speed motor , it has the potential to

reach 45 Km/h.accelerate direction

THE NEW PROTOTYPE ( balance control and direction control work sperately)


68/106

sensors

wireless charge battery

air compressor system

omni wheel robot

DIRECTION CONTROL:


69/106

use the control Fuzzy Operation code for omni robot we already have omni-robot is capable of moving in any direction by changing the velocity and direction of each wheel

without changing its orientation. But the speed is less than 4 KM/H.

Omni-wheels have poor efciency because not all wheels rotate in the direction of robot movement. There are high losses from friction too. Position control will not work because ofhigh slip. And there is the high computational loss by calculating angles with trigonometry.

FO CODE CONTROL:


70/106

Balance CONTROL: use the control system of on ballbot ,to apply it the air compreesor system.


71/106

WPF programing, Kinect SDK, AForge.NET, PID algorithm, Kalman lter algorithm,

AVR MCU programing and STM32 MCU programing.

CHALLENGE :by seperating the kinetic system of mobility and balance,

the new robot would keep balance without sacrice it mobility.

Balance CONTROL: embody the PID algorithm to the soft robotic device to acheive the ballance in high speed moving .


72/106

Solenoid ValveON: 3.5 ms, OFF: 2 ms, Dispension accuracy 1 ms

air press sensor

gyo sensor


73/106


74/106


75/106

Reference paper

h i l b

Reference paper


76/106

spherial robot

1.Armour, Rhodri H., and Julian FV Vincent. Rolling in nature and robotics: a review. Journal of Bionic Engineering 3.4 (2006): 195-208.

2.Joshi, Vrunda A., Ravi N. Banavar, and Rohit Hippalgaonkar. Design and analysis of a spherical mobile robot. Mechanism and Machine Theory 45.2 (2010): 130-136.

3.Gosselin, Clment M., and Eric Lavoie. On the kinematic design of spherical three-degree-of-freedom parallel manipulators. The International Journal of Robotics Research 12.4

(1993): 394-402.

soft robotic

4.Trivedi, Deepak, et al. Soft robotics: B iological inspiration, state of the art, and future research. Applied Bionics and Biomechanics 5.3 (2008): 99-117.

5.Shepherd, Robert F., et al. Multigait soft robot. Proceedings of the National Academy of Sciences 108.51 (2011): 20400-20403.

on ball robot:

6.Kumagai, Masaaki, and Takaya Ochiai. Development of a robot balancing on a ball. Control, Automation and Systems, 2008. ICCAS 2008. International Conference on. IEEE, 2008.

7.Hollis, Ralph. Ballbots. Scientic American 295.4 (2006): 72-77.

contorl of omni robot:

8.Quigley, Morgan, et al. ROS: an open-source Robot Operating System. ICRA workshop on open source software. Vol. 3. No. 3.2. 2009.

9Hirata, Yasuhisa, Takahiro Baba, and Kazuhiro Kosuge. Motion control of omni-directional type walking support system Walking Helper. Robot and Human Interactive

Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on. IEEE, 2003.

10.Chen, Peng, et al. Omni-directional robot and adaptive control method for off-road running. Robotics and Automation, IEEE Transactions on 18.2 (2002): 251-256.

11.Mori, Yoshikazu, et al. A study on the mechanism and control of omni-directional vehicle. Intelligent Robots and Systems 96, IROS 96, Proceedings of the 1996 IEEE/RSJ

International Conference on. Vol. 1. IEEE, 1996.

12.Watanabe, Keigo, et al. Feedback control of an omnidirectional autonomous platform for mobile service robots. Journal of Intelligent and Robotic Systems 22.3-4 (1998):

315-330.

13.Chen, Peng, et al. Omni-directional robot and adaptive control method for off-road running. Robotics and Automation, IEEE Transactions on 18.2 (2002): 251-256.

algorithm

14.Li, Y. F., and C. C. Lau. Development of fuzzy algorithms for servo systems. IEEE Control Systems Magazine 9.3 (1989): 65-72.

15.Welch, Greg, and Gary Bishop. An introduction to the Kalman lter. (1995).

16.Freeston, Leonie. Applications of the kalman lter algorithm to robot localisation and world modelling. Electrical Engineering Final Year Project (2002).

17.Han, Jingqing. From PID to active disturbance rejection control. Industrial Electronics, IEEE transactions on 56.3 (2009): 900-906.

18.Choi, Song K., Junku Yuh, and Gregg Y. Takashige. Development of the omni directional intelligent navigator. Robotics & Automation Magazine, IEEE 2.1 (1995): 44-53.19.Salzmann, Ch, D. Gillet, and P. Huguenin. Introduction to real-time control using LabVIEWTM with an application to distance learning. Int. J. Engng Ed 16.5 (2000): 372-384.

20.Feng, Hsuan-Ming, Chih-Yung Chen, and Ji-Hwei Horng. Intelligent omni-directional vision-based mobile robot fuzzy systems design and implementation. Expert Systems with

Applications 37.5 (2010): 4009-4019.

21.Jetto, Leopoldo, Sauro Longhi, and Giuseppe Venturini. Development and experimental validation of an adaptive extended Kalman lter for the localization of mobile robots.

Robotics and Automation, IEEE Transactions on 15.2 (1999): 219-229.

22.Aguirre, Eugenio, and Antonio Gonzlez. Fuzzy behaviors for mobile robot navigation: design, coordination and fusion. International Journal of Approximate Reasoning 25.3

(2000): 255-289.

Timetable & Shopping List


77/106

Timetable & Shopping List


78/106


79/106

space data interface

relavent research:

i f bi d t


80/106

space data system:

stable device

data input:

1 light

2 sound

3 temperture

4 huminity

5 wind

6 movement of human

in space

data outout:

1. control of the smartmobile devices.

processing of big data

machine learning......

high speed data transport

mobile device: smart cloth, smart kinetic light,

smart window, home robot.

data input: body data, location data.

data output: ........

smart cloth

smart light

smart window

smart robot

clude computing


81/106


82/106


83/106


84/106


85/106


86/106

Computational Design Research

Comptutational research in Beijing


87/106

Site


88/106

Vision analyze by Processing


89/106

Vision analyze by Processing


90/106

Reconstruction of the traditional booth by Grasshopper


91/106

Development of the traditional method of fabrication of the wood beam.


92/106

Estabiish a relationship betewwn envirnment and constuction of the basic element


93/106

Applying the circle packing system to dene the site.


94/106

Combine of the design, culture, site, environment and structure..


95/106

Rendering


96/106


97/106

Architecture Design

Prospective rendering


98/106

HangzhouTaihu Holiday Hotel


99/106

Detail design


100/106

Plan and facade details


101/106

Guiyang China Railway Center Project


102/106

Plan


103/106

Super High Building for Opera


104/106

Facadw design


105/106


106/106

Documents

Full Portfolio of Jaimme Guan MIT Media Lab Big