BlindBuilder : a new encoding to evolve Lego-like structures

This paper introduces a new representation for assemblies of small Lego-like elements: structures are indirectly encoded as construction plans. This representation shows some interesting properties such as hierarchy, modularity and easy constructibility checking by definition. Together with this representation, efficient GP operators are introduced that allow efficient and fast evolution, as witnessed by the results on two construction problems that demonstrate that the proposed approach is able to achieve both compactness and reusability of evolved components

Statistics of shared components in complex component systems

Many complex systems are modular. Such systems can be represented as "component systems", i.e., sets of elementary components, such as LEGO bricks in LEGO sets. The bricks found in a LEGO set reflect a target architecture, which can be built following a set-specific list of instructions. In other component systems, instead, the underlying functional design and constraints are not obvious a priori, and their detection is often a challenge of both scientific and practical importance, requiring a clear understanding of component statistics. Importantly, some quantitative invariants appear to be common to many component systems, most notably a common broad distribution of component abundances, which often resembles the well-known Zipf's law. Such "laws" affect in a general and non-trivial way the component statistics, potentially hindering the identification of system-specific functional constraints or generative processes. Here, we specifically focus on the statistics of shared components, i.e., the distribution of the number of components shared by different system-realizations, such as the common bricks found in different LEGO sets. To account for the effects of component heterogeneity, we consider a simple null model, which builds system-realizations by random draws from a universe of possible components. Under general assumptions on abundance heterogeneity, we provide analytical estimates of component occurrence, which quantify exhaustively the statistics of shared components. Surprisingly, this simple null model can positively explain important features of empirical component-occurrence distributions obtained from data on bacterial genomes, LEGO sets, and book chapters. Specific architectural features and functional constraints can be detected from occurrence patterns as deviations from these null predictions, as we show for the illustrative case of the "core" genome in bacteria.Comment: 18 pages, 7 main figures, 7 supplementary figure

Design of decorative 3D models: from geodesic ornaments to tangible assemblies

L'obiettivo di questa tesi è sviluppare strumenti utili per creare opere d'arte decorative digitali in 3D. Uno dei processi decorativi più comunemente usati prevede la creazione di pattern decorativi, al fine di abbellire gli oggetti. Questi pattern possono essere dipinti sull'oggetto di base o realizzati con l'applicazione di piccoli elementi decorativi. Tuttavia, la loro realizzazione nei media digitali non è banale. Da un lato, gli utenti esperti possono eseguire manualmente la pittura delle texture o scolpire ogni decorazione, ma questo processo può richiedere ore per produrre un singolo pezzo e deve essere ripetuto da zero per ogni modello da decorare. D'altra parte, gli approcci automatici allo stato dell'arte si basano sull'approssimazione di questi processi con texturing basato su esempi o texturing procedurale, o con sistemi di riproiezione 3D. Tuttavia, questi approcci possono introdurre importanti limiti nei modelli utilizzabili e nella qualità dei risultati. Il nostro lavoro sfrutta invece i recenti progressi e miglioramenti delle prestazioni nel campo dell'elaborazione geometrica per creare modelli decorativi direttamente sulle superfici. Presentiamo una pipeline per i pattern 2D e una per quelli 3D, e dimostriamo come ognuna di esse possa ricreare una vasta gamma di risultati con minime modifiche dei parametri. Inoltre, studiamo la possibilità di creare modelli decorativi tangibili. I pattern 3D generati possono essere stampati in 3D e applicati a oggetti realmente esistenti precedentemente scansionati. Discutiamo anche la creazione di modelli con mattoncini da costruzione, e la possibilità di mescolare mattoncini standard e mattoncini custom stampati in 3D. Ciò consente una rappresentazione precisa indipendentemente da quanto la voxelizzazione sia approssimativa. I principali contributi di questa tesi sono l'implementazione di due diverse pipeline decorative, un approccio euristico alla costruzione con mattoncini e un dataset per testare quest'ultimo.The aim of this thesis is to develop effective tools to create digital decorative 3D artworks. Real-world art often involves the use of decorative patterns to enrich objects. These patterns can be painted on the base or might be realized with the application of small decorative elements. However, their creation in digital media is not trivial. On the one hand, users can manually perform texture paint or sculpt each decoration, in a process that can take hours to produce a single piece and needs to be repeated from the ground up for every model that needs to be decorated. On the other hand, automatic approaches in state of the art rely on approximating these processes with procedural or by-example texturing or with 3D reprojection. However, these approaches can introduce significant limitations in the models that can be used and in the quality of the results. Instead, our work exploits the recent advances and performance improvements in the geometry processing field to create decorative patterns directly on surfaces. We present a pipeline for 2D and one for 3D patterns and demonstrate how each of them can recreate a variety of results with minimal tweaking of the parameters. Furthermore, we investigate the possibility of creating decorative tangible models. The 3D patterns we generate can be 3D printed and applied to previously scanned real-world objects. We also discuss the creation of models with standard building bricks and the possibility of mixing standard and custom 3D-printed bricks. This allows for a precise representation regardless of the coarseness of the voxelization. The main contributions of this thesis are the implementation of two different decorative pipelines, a heuristic approach to brick construction, and a dataset to test the latter

Structural dynamics in the evolution of a bilobed protein scaffold

Novel biophysical tools allow the structural dynamics of proteins and the regulation of such dynamics by binding partners to be explored in unprecedented detail. Although this has provided critical insights into protein function, the means by which structural dynamics direct protein evolution remain poorly understood. Here, we investigated how proteins with a bilobed structure, composed of two related domains from the periplasmic-binding protein–like II domain family, have undergone divergent evolution, leading to adaptation of their structural dynamics. We performed a structural analysis on ∼600 bilobed proteins with a common primordial structural core, which we complemented with biophysical studies to explore the structural dynamics of selected examples by single-molecule Förster resonance energy transfer and Hydrogen–Deuterium exchange mass spectrometry. We show that evolutionary modifications of the structural core, largely at its termini, enable distinct structural dynamics, allowing the diversification of these proteins into transcription factors, enzymes, and extracytoplasmic transport-related proteins. Structural embellishments of the core created interdomain interactions that stabilized structural states, reshaping the active site geometry, and ultimately altered substrate specificity. Our findings reveal an as-yet-unrecognized mechanism for the emergence of functional promiscuity during long periods of evolution and are applicable to a large number of domain architectures

EUD-MARS: End-User Development of Model-Driven Adaptive Robotics Software Systems

Empowering end-users to program robots is becoming more significant. Introducing software engineering principles into end-user programming could improve the quality of the developed software applications. For example, model-driven development improves technology independence and adaptive systems act upon changes in their context of use. However, end-users need to apply such principles in a non-daunting manner and without incurring a steep learning curve. This paper presents EUD-MARS that aims to provide end-users with a simple approach for developing model-driven adaptive robotics software. End-users include people like hobbyists and students who are not professional programmers but are interested in programming robots. EUD-MARS supports robots like hobby drones and educational humanoids that are available for end-users. It offers a tool for software developers and another one for end-users. We evaluated EUD-MARS from three perspectives. First, we used EUD-MARS to program different types of robots and assessed its visual programming language against existing design principles. Second, we asked software developers to use EUD-MARS to configure robots and obtained their feedback on strengths and points for improvement. Third, we observed how end-users explain and develop EUD-MARS programs, and obtained their feedback mainly on understandability, ease of programming, and desirability. These evaluations yielded positive indications of EUD-MARS

OBTAINING OPTIMAL CONTROL PARAMETERS-ACCELERATION BASED WHEEL TRACTION CONTROL

This project deals with a detailed dynamic model of a two independent wheel drives and a traction control system. By applying external force it is possible to have a path plan in each wheel drive that enables the implementation of a traction control algorithm. This control level improves the stability and the safety of the vehicle. Analysis, design and simulation results of this system will be presented. The wheel traction control method for path tracking of the two independent wheel drives is the function of velocity and acceleration of the mobile robots. The traction control algorithm which can be independently implemented to each wheel without extra sensors and devices compared with standard speed control. Simulations are performed to verify the validity of the algorithm. The proposed traction control algorithm to improve the tracking control efficiency. This project work aims to analyze the fixed acceleration path for two independent wheel drives system by using analyzing software (Adams 12.0) and also this project work is mainly focused on the increase stability and the safety of the two independent wheel drives by planning the fixed acceleration path