Procedural function-based modelling of volumetric microstructures

We propose a new approach to modelling heterogeneous objects containing internal volumetric structures with size of details orders of magnitude smaller than the overall size of the object. The proposed function-based procedural representation provides compact, precise, and arbitrarily parameterised models of coherent microstructures, which can undergo blending, deformations, and other geometric operations, and can be directly rendered and fabricated without generating any auxiliary representations (such as polygonal meshes and voxel arrays). In particular, modelling of regular lattices and cellular microstructures as well as irregular porous media is discussed and illustrated. We also present a method to estimate parameters of the given model by fitting it to microstructure data obtained with magnetic resonance imaging and other measurements of natural and artificial objects. Examples of rendering and digital fabrication of microstructure models are presented

3D Time-Based Aural Data Representation Using D4 Library’s Layer Based Amplitude Panning Algorithm

Presented at the 22nd International Conference on Auditory Display (ICAD-2016)The following paper introduces a new Layer Based Amplitude Panning algorithm and supporting D4 library of rapid prototyping tools for the 3D time-based data representation using sound. The algorithm is designed to scale and support a broad array of configurations, with particular focus on High Density Loudspeaker Arrays (HDLAs). The supporting rapid prototyping tools are designed to leverage oculocentric strategies to importing, editing, and rendering data, offering an array of innovative approaches to spatial data editing and representation through the use of sound in HDLA scenarios. The ensuing D4 ecosystem aims to address the shortcomings of existing approaches to spatial aural representation of data, offers unique opportunities for furthering research in the spatial data audification and sonification, as well as transportable and scalable spatial media creation and production

Inclined Surface Locomotion Strategies for Spherical Tensegrity Robots

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates robust climbing on inclined surfaces in hardware experiments and speeds significantly faster than previous spherical tensegrity models. This robot is an improvement over other iterations in the TT-series and the first tensegrity to achieve reliable locomotion on inclined surfaces of up to 24\degree. We analyze locomotion in simulation and hardware under single and multi-cable actuation, and introduce two novel multi-cable actuation policies, suited for steep incline climbing and speed, respectively. We propose compelling justifications for the increased dynamic ability of the robot and motivate development of optimization algorithms able to take advantage of the robot's increased control authority.Comment: 6 pages, 11 figures, IROS 201

LTE Spectrum Sharing Research Testbed: Integrated Hardware, Software, Network and Data

This paper presents Virginia Tech's wireless testbed supporting research on long-term evolution (LTE) signaling and radio frequency (RF) spectrum coexistence. LTE is continuously refined and new features released. As the communications contexts for LTE expand, new research problems arise and include operation in harsh RF signaling environments and coexistence with other radios. Our testbed provides an integrated research tool for investigating these and other research problems; it allows analyzing the severity of the problem, designing and rapidly prototyping solutions, and assessing them with standard-compliant equipment and test procedures. The modular testbed integrates general-purpose software-defined radio hardware, LTE-specific test equipment, RF components, free open-source and commercial LTE software, a configurable RF network and recorded radar waveform samples. It supports RF channel emulated and over-the-air radiated modes. The testbed can be remotely accessed and configured. An RF switching network allows for designing many different experiments that can involve a variety of real and virtual radios with support for multiple-input multiple-output (MIMO) antenna operation. We present the testbed, the research it has enabled and some valuable lessons that we learned and that may help designing, developing, and operating future wireless testbeds.Comment: In Proceeding of the 10th ACM International Workshop on Wireless Network Testbeds, Experimental Evaluation & Characterization (WiNTECH), Snowbird, Utah, October 201

Parameterization and geometric optimization of balloon launched sensorcraft for atmospheric research missions

We present a method for the payload centric automated design and manufacturing of balloon launched, high altitude gliders. The purpose of these gliders is to conduct directed measurements of atmospheric phenomena with a variety of payloads. A bespoke airframe design is generated that can protect the payload, ensure recoverability and extend sampling times. A manufacturing technique, that relies heavily on rapid prototyping, allows for rapid realization of the aircraft design. This allows atmospheric scientists and researchers unprecedented access to a broad range of altitudes

Remote voice training: A case study on space shuttle applications, appendix C

The Tile Automation System includes applications of automation and robotics technology to all aspects of the Shuttle tile processing and inspection system. An integrated set of rapid prototyping testbeds was developed which include speech recognition and synthesis, laser imaging systems, distributed Ada programming environments, distributed relational data base architectures, distributed computer network architectures, multi-media workbenches, and human factors considerations. Remote voice training in the Tile Automation System is discussed. The user is prompted over a headset by synthesized speech for the training sequences. The voice recognition units and the voice output units are remote from the user and are connected by Ethernet to the main computer system. A supervisory channel is used to monitor the training sequences. Discussions include the training approaches as well as the human factors problems and solutions for this system utilizing remote training techniques