Morphino: A nature-inspired tool for the design of shape-changing interfaces

The HCI community has a strong and growing interest in shape-changing interfaces (SCIs) that can offer dynamic af- fordance. In this context, there is an increasing need for HCI researchers and designers to form close relationships with dis- ciplines such as robotics and material science in order to be able to truly harness the state-of-the-art in morphing technolo- gies. To help these synergies arise, we present Morphino: a card-based toolkit to inspire shape-changing interface designs. Our cards bring together a collection of morphing mechanisms already established in the multidisciplinary literature and illustrate them through familiar examples from nature. We begin by detailing the design of the cards, based on a review of shape-change in nature; then, report on a series of design sessions conducted to demonstrate their usefulness in generating new ideas and in helping end-users gain a better understanding of the possibilities for shape-changing materials

Size-assortative mating and sexual size dimorphism are predictable from simple mechanics of mate-grasping behavior

<p>Abstract</p> <p>Background</p> <p>A major challenge in evolutionary biology is to understand the typically complex interactions between diverse counter-balancing factors of Darwinian selection for size assortative mating and sexual size dimorphism. It appears that rarely a simple mechanism could provide a major explanation of these phenomena. Mechanics of behaviors can predict animal morphology, such like adaptations to locomotion in animals from various of taxa, but its potential to predict size-assortative mating and its evolutionary consequences has been less explored. Mate-grasping by males, using specialized adaptive morphologies of their forelegs, midlegs or even antennae wrapped around female body at specific locations, is a general mating strategy of many animals, but the contribution of the mechanics of this wide-spread behavior to the evolution of mating behavior and sexual size dimorphism has been largely ignored.</p> <p>Results</p> <p>Here, we explore the consequences of a simple, and previously ignored, fact that in a grasping posture the position of the male's grasping appendages relative to the female's body is often a function of body size difference between the sexes. Using an approach taken from robot mechanics we model coercive grasping of females by water strider <it>Gerris gracilicornis </it>males during mating initiation struggles. We determine that the male optimal size (relative to the female size), which gives the males the highest grasping force, properly predicts the experimentally measured highest mating success. Through field sampling and simulation modeling of a natural population we determine that the simple mechanical model, which ignores most of the other hypothetical counter-balancing selection pressures on body size, is sufficient to account for size-assortative mating pattern as well as species-specific sexual dimorphism in body size of <it>G. gracilicornis</it>.</p> <p>Conclusion</p> <p>The results indicate how a simple and previously overlooked physical mechanism common in many taxa is sufficient to account for, or importantly contribute to, size-assortative mating and its consequences for the evolution of sexual size dimorphism.</p

Master of Science

thesisThis thesis describes the design, modeling, and gait control of a new bounding/rolling quadruped robot called the roll-U-ped. The robot has four uniquely-designed compliant legs for bounding gait locomotion, and the legs can reconfigure for passive and powered rolling. One of the main advantages of such a design is versatility as the robot can efficiently and quickly traverse over flat and downhill terrain via rolling and then transition to running for traveling over more complex terrain with a bounding gait. The contributions of this work are: (1) a detailed description of the robot design, (2) modeling and simulation of bounding motion, (3) investigation of bounding gait effectiveness using sinusoidal control inputs and inputs obtained from machine learning, and (4) prototype development and performance evaluation. Specifically, the prototype robot utilizes 3D-printed compliant legs for dynamic running and rolling, and the dual-purpose leg design minimizes the number of joints. Two functional prototypes are developed with on-board embedded electronics and a single-board computer running the Robot Operating System for motion control and evaluation. Simulations of the bounding gait locomotion are shown and compared to the performance of the prototype designs. Additionally, the robot's running motion is investigated for two types of inputs: a sinusoidal trajectory and a learned gait using the Q-learning technique, where results demonstrate effective running and rolling behavior. For example, using sinusoidal inputs, the robot can run with a bounding gait over a flat and stiff sandpaper-like surface at speeds of up to 0.21 m/s. On the other hand, over a flat and tacky-cushioned surface, the speed is measured at 0.14 m/s. Simulation results for Q-learning show gait speeds of 0.22 m/s for the tacky-cushioned surface, where experiments on the physical system yielded a gait speed of 0.15 m/s. For powered rolling, the robot was able to reach a speed of 0.53 m/s over a flat-smooth surface. The results demonstrate proof-of-concept of the design and feasibility of using machine learning to determine inputs for effective running locomotion. Finally, possible future improvements to the design, modeling, and motion control of the robot are discussed

Towards understanding of climbing, tip-over prevention and self-righting behaviors in Hexapoda

Die vorliegende Dissertation mit dem Titel “Towards understanding of climbing, tip-over prevention and self-righting behaviors in Hexapoda” untersucht in drei Studien exemplarisch, wie (i) Wüstenameisen ihre Beine einsetzen um An- und Abstiege zu überwinden, wie (ii) Wüsten- und Waldameisen ein Umkippen an steilen Anstiegen vermeiden, und wie sich (iii) Madagaskar-Fauchschaben, Amerikanische Großschaben und Blaberus discoidalis Audinet-Servill, 1839 aus Rückenlagen drehen und aufrichten. Neuartige biomechanischen Beschreibungen umfassen unter anderem: Impuls- und Kraftwirkungen einzelner Ameisenbeine auf den Untergrund beim Bergauf- und Bergabklettern, Kippmomente bei kletternden Ameisen, Energiegebirge-Modelle (energy landscapes) zur Quantifizierung der Körperform für die funktionelle Beschreibung des Umdrehens aus der Rückenlage

The hydrodynamics of water-walking insects and spiders

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mathematics, 2006.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (leaves 142-152).We present a combined experimental and theoretical investigation of the numerous hydrodynamic propulsion mechanisms employed by water-walking arthropods (insects and spiders). In our experimental study, high speed cinematography and flow visualization techniques are used to determine the form of the flows generated by water-walkers. In our supporting theoretical study we provide a formal fluid mechanical description of their locomotion. We focus on the most common means of walking on water such as the alternating tripod gait, rowing, galloping and leaping. We also examine quasi-static modes of propulsion in which the insect's legs are kept stationary: specifically, Marangoni propulsion and meniscus-climbing. Special attention is given to rationalizing the propulsion mechanisms of water-walking insects through consideration of the transfer of forces, momentum and energy between the creature and its environment.by David Lite Hu.Ph.D

A Biologically Inspired Jumping and Rolling Robot

Mobile robots for rough terrain are of interest to researchers as their range of possible uses is large, including exploration activities for inhospitable areas on Earth and on other planets and bodies in the solar system, searching in disaster sites for survivors, and performing surveillance for military applications. Nature generally achieves land movement by walking using legs, but additional modes such as climbing, jumping and rolling are all produced from legs as well. Robotics tends not to use this integrated approach and adds additional mechanisms to achieve additional movements. The spherical device described within this thesis, called Jollbot, integrated a rolling motion for faster movement over smoother terrain, with a jumping movement for rougher environments. Jollbot was developed over three prototypes. The first achieved pause-and-leap style jumps by slowly storing strain energy within the metal elements of a spherical structure using an internal mechanism to deform the sphere. A jump was produced when this stored energy was rapidly released. The second prototype achieved greater jump heights using a similar structure, and added direction control to each jump by moving its centre of gravity around the polar axis of the sphere. The final prototype successfully combined rolling (at a speed of 0.7 m/s, up 4° slopes, and over 44 mm obstacles) and jumping (0.5 m cleared height), both with direction control, using a 0.6 m spherical spring steel structure. Rolling was achieved by moving the centre of gravity outside of the sphere’s contact area with the ground. Jumping was achieved by deflecting the sphere in a similar method to the first and second prototypes, but through a larger percentage deflection. An evaluation of existing rough terrain robots is made possible through the development of a five-step scoring system that produces a single numerical performance score. The system is used to evaluate the performance of Jollbot.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Seeing the Spell: Baroque, Decadence, and a Cinema of Digital-Animated Liberation

This dissertation draws on the artistic traditions of seventeenth-century Baroque and nineteenth-century Decadence in seeking to formulate an analytical vocabulary for the aesthetics of digitally-animated spectacle in contemporary cinema. The dissertation seeks to critique binary antinomies of narrative vs. spectacle, and instead propose a concept of narrativized spectacle whereby digital visual effects have brought about a profound liberation in cinemas capacity to envision narrative story-worlds, and depict their workings. It takes the contemporary Hollywood blockbuster as its chief subject for this inquiry, insofar as this is the filmmaking idiom most given to the embrace and deployment of digitally-liberated spectacle, and one which is frequently assumed to be largely bereft of formal and narrative sophistication. This dissertation argues, on the contrary, that the Hollywood blockbusters spectacular nature in fact bears complex utopian implications, and that the crudities which occasionally mar the form in practice are more the result of not being imaginatively hyperbolic enough, rather than being too much so. The dissertations invocation of Baroque and Decadent aesthetics provides a conceptual apparatus for describing this contemporary cinematic idiom of digitized blockbuster spectacle. It identifies a Baroque aesthetic in such stylistic traits as verticality, profusion, and the sublime, as well as narrative themes of transgression of limits, reverence before imposing scale and grandeur, and refusal to ennoble passivity and martyrdom. Likewise, it identifies Decadent aesthetics in stylistics which privilege the gaze, the enclosed and aestheticized space, and formal ritual, as well as narratives ordered around principles of perversity, self-consciousness, and interconnectedness. The ultimate intervention which this dissertation seeks to make, however, is to demonstrate the centrality rather than marginality of animation to cinema, insofar as cel animation has always possessed the graphic freedom to realize any imaginative vision, which digital effects have only recently extended to live-action cinema. All of the aesthetics of Baroque and Decadent blockbuster spectacle that the dissertation traces could be and, the dissertation seeks to show, were deployed in the animated feature years in advance of the liberation of representation that digital effects would bring to live-action

Pedagogy in performance: An investigation into decision training as a cognitive approach to circus training

This research project represents the first formal research conducted into the potential application of Decision Training in an elite circus arts school environment. The research examines the effects of the introduction of Decision Training—a training model developed for sports applications—into the elite circus arts training program at the National Circus School (NCS), a key circus arts school in one of the world’s most vital circus domains, Montreal, Quebec, Canada. Decision Training, a cognitive-based training model, has been shown through extensive sports-based research to support the development of decision-making ability and self-regulatory learning behaviour, both of which are fundamental for the long-term retention and application of physical skills. A key research aim was to investigate whether Decision Training had the potential to enhance existing teaching practice at the NCS. This research investigates how this cognitive training model—developed for use in the world of competitive sports—functions in a performing arts context in which not only physical and technical skills are trained, but also elements connected with performance, such as aesthetic expression and the creation and development of new performance material. A qualitative action research methodology was employed, consisting of three reflection–action cycles with three case studies of student–teacher pairings. Data collection took place over an extended training period at the NCS from November 2011 to April 2012. Observation, interviews with teachers and students, and group discussions were used to collect data and to provide the impetus for the Decision Training interventions for the three action research cycles. This qualitative study reveals how teachers implemented the three-step Decision Training model and how students responded to these teaching interventions. This was done through an action research process investigating the lived experiences of the participants involved in each case study. The research findings indicate that incorporating a cognitive training method such as Decision Training into circus pedagogy has the potential benefit of giving students the means of acquiring important skills such as effective decision making in performance situations, and self-regulatory behaviour such as the ability to effectively self-assess their performance. Teachers have the potential to benefit by not having to be the sole providers of feedback or motivation, allowing the rapport between student and teacher to become collaborative and creative. The research findings show that the effectiveness of the Decision Training interventions was influenced by the different learning and teaching backgrounds and styles of the student–teacher pairings, and the different ways in which the teachers integrated Decision Training into their existing teaching practices. The research findings led to the proposal of an “integrated” pedagogical approach based on a combination of Decision Training and direct teaching. This “integrated” pedagogy would enable a teacher to use the cognitivist, student-centred learning approach of Decision Training to develop self-regulation and effective decision making in students, but switch to aspects of direct teaching at appropriate times: for instance, when a student needs to be directly aware of safety issues or has little foundational knowledge in a circus discipline; in the lead-up to a performance showing; or during the period in which a student is adjusting to the new cognitivist learning and teaching environment. Recommendations are made for the gradual phasing in of Decision Training into the main training program at the NCS, and implications for future research are discussed

Integrating Gestures

Gestures convey information about culture, discourse, thought, intentionality, emotion, intersubjectivity, cognition, and first and second language acquisition. Additionally, they are used by non-human primates to communicate with their peers and with humans. Consequently, the modern field of gesture studies has attracted researchers from a number of different disciplines such as anthropology, cognitive science, communication, neuroscience, psycholinguistics, primatology, psychology, robotics, sociology and semiotics. This volume presents an overview of the depth and breadth of current research in gesture. Its focus is on the interdisciplinary nature of gesture. The chapters included in the volume are divided into six themes: the nature and functions of gesture, first language development and gesture, second language effects on gesture, gesture in the classroom and in problem solving, gesture aspects of discourse and interaction, and gestural analysis of music and dance

Integrating Gestures

Gestures convey information about culture, discourse, thought, intentionality, emotion, intersubjectivity, cognition, and first and second language acquisition. Additionally, they are used by non-human primates to communicate with their peers and with humans. Consequently, the modern field of gesture studies has attracted researchers from a number of different disciplines such as anthropology, cognitive science, communication, neuroscience, psycholinguistics, primatology, psychology, robotics, sociology and semiotics. This volume presents an overview of the depth and breadth of current research in gesture. Its focus is on the interdisciplinary nature of gesture. The chapters included in the volume are divided into six themes: the nature and functions of gesture, first language development and gesture, second language effects on gesture, gesture in the classroom and in problem solving, gesture aspects of discourse and interaction, and gestural analysis of music and dance