1,720,965 research outputs found
Roaming Autonomous Distributed robot (RADr)
No full textRoaming Autonomous Distributed robot (RADr) is a two-wheeled mobile robot that can assemble hexagonal digital materials. This dataset contains the 3D models for a RADr and a digital material that the RADr can actively grab with an electromagnet and move around (in 3dm and STEP file format). On top of each, there are retroreflective markers so that can be tracked by a motion capture system such as Optitrack or Vicon. The dataset also contains the robot code that is uploaded to the robot to enable its wireless control via MQTT. MQTT is a standard messaging protocol for the Internet of Things (IoT).
The electronic components on the robot are as follows:
Arduino Uno Wi-Fi Rev2
2 ROBOTIS DYNAMIXEL XL430-W250-T with Wheel Set for TurtleBot3
ROBOTIS DYNAMIXEL Motor Shield
11.1 V 2250 mAh Lipo Battery
8kg Electromagnet
MOSFET
</ul
ABxM.DistributedRobotics.RADr: Agent-based Design and Control of multiple Roaming Autonomous Distributed robots (RADr)
No full textABxM.DistributedRobotics.RADr is an add-on to ABxM.Core for agent-based design and control of multiple Roaming Autonomous Distributed robots (RADr) that assemble hexagonal digital materials. The add-on contains various agent system constructs and utilities for simulation of the swarm within Rhino/Grasshopper and control of physical swarm of wheeled mobile robots. This version contains the tools for MQTT communication between Rhino/Grasshopper and the robots as well as between Rhino/Grasshopper and Motive, the software from Optitrack a motion capture system that can be utilized to track the robots. MQTT is a standard messaging protocol for the Internet of Things (IoT).The package includes two example files:
01_Example_CollaborativeCarrying.gh: Simulates a swarm of robots that must collaborate to move the digital material
02_Example_PaintedDesert.gh: Simulates the sorting of digital material by color. </li
ABxM.DistributedRobotics.RP19: Agent-Based Models for a Modular Collective Robotic Construction System
No full textABxM.DistributedRobotics.RP19 is an add-on to ABxM.Core for agent-based modelling of a collective robotic construction (CRC) system developed in the context of Research Project 19-1 (RP19-1) "Leveraging The Building Material As Part Of The Robotic Kinematic System For Parallel Construction" from the Cluster of Excellence Integrative Computational Design and Construction for Architecture (IntCDC). The add-on contains three agent constructs which revolve around the agent representing the building material or the mobile robots in the modelled CRC system. The agent constructs of BuildingMaterialAgent or MobileRobotAgent are utlized for the sole purpose of architectural design while the agent construct of KCAgent can be used to also robotically plan the structure. The first two constructs are discussed in the paper:
Leder, S., Menges, A. (2023). Introducing Agent-Based Modeling Methods for Designing Architectural Structures with Multiple Mobile Robotic Systems. In: Gengnagel, C., Baverel, O., Betti, G., Popescu, M., Thomsen, M.R., Wurm, J. (eds) Towards Radical Regeneration. DMS 2022. Springer, Cham. (DOI: 10.1007/978-3-031-13249-0_7).
And the other construct is discussed in the paper:
Leder, S., Menges, A.: 2024, Merging architectural design and robotic planning using interactive agent-based modelling for collective robotic construction. Journal of Computational Design and Engineering, Vol. 11, pp. 253-268. (DOI: 10.1093/jcde/qwae028).
The package includes examples files to be to be used within Rhino/Grasshopper that demonstrate implementations of each agent type
Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System
No full textThis data set contains the robotic plans for the assembly of a large-scale in-plane timber prototype with a collective robotic construction (CRC) system published in Automation in Construction (Leder, S., Kim, H., Sitti, M., Menges, A.: 2024, Enhanced Co-Design and Evaluation of a Collective Robotic Construction System for the Assembly of Large-Scale In-Plane Timber Structures. Automation in Construction, Vol. 162, 105390. DOI: 10.1016/j.autcon.2024.105390). The assembly was made from a modular CRC system composed of robotic actuators and timber structs, more information on the system can be found in the paper. The prototype was assembled using four robotic actuators composed into two kinematic chains, each connected with a single timber strut.
The data set contains 19 robotic plans in JSON file format. Each plan or JSON file correlate to one of the 19 timber struts that were placed into the structure. Each plan contains information on the robotic actuators and timber struts within the scene as JSON Objects. Within each JSON Object, the position and location of part of the CRC system is described with different amounts of keyframes. The keyframes represent moments in the assembly process when at least one robotic actuator in the scene opens or closes its gripper.
Timber struts, identified with the key:value pair "frame_name": "s0" as one example, contain information on the position and orientation of the strut. Robotic actuator information is split into four JSON Objects: one for the top body ("frame_name": "b0_0_body_t"), one for the axis of the robot ("frame_name": "b0_0_joint_f"), one for the bottom body ("frame_name": "b0_0_body_b"), and one for rotation ("b0_0_rotation"). The examples key:value pairs are given for Robot0. The first three contain the position and orientation and the state of the gripper in the case of the bottom body. The rotation JSON Objects indicated how much the robotic actuator needs to rotate around its axis to get to that position.
The plans were generated using the agent-based model described in a paper in Journal of Computational Design and Engineering (Leder, S., Menges, A.: 2024, Merging Architectural Design and Robotic Planning Using Interactive Agent-based Modelling for Collective Robotic Construction. Journal of Computational Design and Engineering, Vol. 11, No. 2, pp. 253-268. DOI: 10.1093/jcde/qwae028 ).
The plans can be used to simulate or execute the assembly process using the digital twin developed for the CRC system as published in another dataset (Leder, S., Kubail Kalousdian, N., Menges, A.: 2025, Digital Twin for a Modular Collective Robotic Construction System, https://doi.org/10.18419/DARUS-4761, DaRUS)
Collective Robotic Construction (CRC) Research Projects organized by Architectural Design Approach
No full textThis dataset contains the results of a database search to obtain research articles related to collective robotic construction (CRC). The database search criteria can be found in the related publication:
Leder, S., Menges, A.: 2023, Architectural design in collective robotic construction. Automation in Construction, Vol. 156, p. 105082. (DOI: 10.1016/j.autcon.2023.105082).
The found research articles are sorted by their relevance to the research topic of CRC and then if applicable, are categorized by the three dimension discussed in the paper, (1) design description, (2) goal specification, and (3) execution. The question that define the categorizaton at each dimension are as follows:
Is the architectural design known before construction?
How is architectural design communicated to the robots?
When is the robotic planning of the architectural design executed?
</ol
Digital Twin for a Modular Collective Robotic Construction System
No full textThis dataset contains the digital twin developed for a Collective Robotic Construction (CRC) system, as published in Advanced Science (Leder, S., Kim, H., Oguz, O.S., Kalousdian, N.K., Hartmann, V.N., Menges, A., Toussaint, M., Sitti, M.: 2022, Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. DOI: 10.1002/advs.202201524).
In this version, the digital twin allows robotic plans in .JSON format to be loaded (Load Plan), and either simulated without the physical CRC system or executed in real time. In both modes, plans can be played through continuously or stepped through action by action. During simulation, users can control the playback speed (Speed), allowing the simulation to run faster than real-world robot operation.
In real-time execution mode (Actuate Real Motors), communication with the robots occurs via serial communication over Bluetooth. The construction process is monitored using an external motion capture system. Implementations for both Vicon and OptiTrack are included in the digital twin. Data captured from the motion tracking system can be used for position correction (Position Correction) at each step of the robotic plan, if desired.
Additionally, the robots in the CRC system can be manually controlled. Within the interface, users can rotate the main axis of each robot, open and close the top and bottom grippers, and control the tongue within the gripper. These controls are available for each deployed robot and are accompanied by visualizations of both the real-time robot positions and their expected positions based on the robotic plans.
The digital twin relies on external code based for some functionalities. Included in the dataset is a therefore README, which provides setup instructions, dependency guidelines, and licensing information
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
- …
