Post on 13-Apr-2018
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
1/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
2/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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..
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
5/106
Programming and Hardware
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
6/106
Debug in 4 am main libruary of UCL
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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){
analogWrite(ledPin1, fadeValue1);
}
Serial.println(fadeValue1);
/////////////////////////////////////////////////////////
lED2
if ( led2==0) {
for(int fadeValue2 = 0 ; fadeValue2 = 0; fadeValue2
-=5) {
// sets the value (range from 0 to 255):
analogWrite(ledPin2, fadeValue2);
// wait for 30 milliseconds to see the dimming effect
delay(30);
}
led2=1;
fadeValue2 = 0;
}
if (led2==1){
analogWrite(ledPin2, fadeValue2);
}
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;
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
8/106
Grasshopper to rey to adruino to processing to java to internet in 1st term
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
9/106
Robot & kinetic Installations
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
10/106
1st Element Project
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
11/106
1st Element showing in Kinetic Art Fair 2014 London.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
12/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
13/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
14/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
15/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
16/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
17/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
18/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
19/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
20/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
21/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
22/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
23/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
24/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
25/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
26/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
27/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
28/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
29/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
30/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
31/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
32/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
33/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
34/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
35/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
36/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
37/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
38/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
39/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
40/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
41/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
42/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
43/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
44/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
45/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
46/106
Fabrication of the 6th prototype of 1st Element . more than 700 parts inside it.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
47/106
Fabrication of the 6th prototype of 1st Element .
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
48/106
First 3-axises movement been captured in classroom
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
49/106
Fabrication of the 6th prototype of 1st Element with water jet ,3d printer and other device.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
50/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
51/106
Flying Fluid Project
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
52/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
53/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
54/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
55/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
56/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
57/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
58/106
Vision Light Project
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
59/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
60/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
61/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
62/106
Vsion Light
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
63/106
Vsion Light
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
64/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
65/106
High Speed Spherical Robot Data Interface Research
the key to increase the speed and keep its exbility
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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)
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
68/106
sensors
wireless charge battery
air compressor system
omni wheel robot
DIRECTION CONTROL:
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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:
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
70/106
Balance CONTROL: use the control system of on ballbot ,to apply it the air compreesor system.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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 .
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
72/106
Solenoid ValveON: 3.5 ms, OFF: 2 ms, Dispension accuracy 1 ms
air press sensor
gyo sensor
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
73/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
74/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
75/106
Reference paper
h i l b
Reference paper
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
77/106
Timetable & Shopping List
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
78/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
79/106
space data interface
relavent research:
i f bi d t
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
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
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
81/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
82/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
83/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
84/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
85/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
86/106
Computational Design Research
Comptutational research in Beijing
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
87/106
Site
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
88/106
Vision analyze by Processing
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
89/106
Vision analyze by Processing
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
90/106
Reconstruction of the traditional booth by Grasshopper
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
91/106
Development of the traditional method of fabrication of the wood beam.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
92/106
Estabiish a relationship betewwn envirnment and constuction of the basic element
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
93/106
Applying the circle packing system to dene the site.
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
94/106
Combine of the design, culture, site, environment and structure..
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
95/106
Rendering
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
96/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
97/106
Architecture Design
Prospective rendering
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
98/106
HangzhouTaihu Holiday Hotel
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
99/106
Detail design
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
100/106
Plan and facade details
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
101/106
Guiyang China Railway Center Project
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
102/106
Plan
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
103/106
Super High Building for Opera
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
104/106
Facadw design
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
105/106
7/26/2019 Full Portfolio of Jaimme Guan MIT Media Lab Big
106/106