A Framework and Process Library for Human-Robot Collaboration in Creative Design and Fabrication

In the last two decades, the increasing affordability of industrial robots, along with the growing maturity of computational design software, has led architects to integrate robots into their design process. Robots have exceptional capabilities that enable the fabrication of geometrically complicated components and assembly of complex structures. However, the robot control and motion programming tools currently being adopted by designers were all initially intended for engineering-based manufacturing industries. When using computer-controlled tools, designers cannot adapt their designs to the production process in real time. Current industrial robot control systems force the designer to envision and embed all of the required machining data in the digital model before the fabrication process begins. This requirement makes the process of design to fabrication a unidirectional workflow. In pursuit of a solution, a growing body of research is exploring various human-robot collaboration methods for architectural practices. However, many of these studies are project- based, targeting the ad hoc needs of a particular robotic application or fabrication process. Consequently, this dissertation investigates a generalizable framework for human-robot collaboration that is rooted in the principles of distributed cognition. As an essential part of the research argument, the role of the tools of production in the formation of a designer's cognitive system is considered. This framework, defined for a bi-directional design and fabrication workflow, relies on and integrates material and fabrication feedback into the design process. The framework has three main components: interactive design, adaptive control, and a design and fabrication library. While different aspects of these components have been studied to various extents by other researchers, this dissertation is the first to define them in an integrated manner. Next, the requirements for each of these elements are introduced and discussed in detail. This dissertation focuses in more detail on the library component of the framework because compared to the first two components, it is the least investigated solution to date. A structure for the library is proposed so that the tacit knowledge of makers could be structured, captured, and reused. At its core, the library is a process-centric database where each process is supported by a set of tools, instructions, materials, and geometries required for the transformation of a part into its final form. Finally, this study demonstrates the generalizability of the library concept through a series of experiments developed for different material systems and with various robotic operations.Ph.D

Systematic knowledge transfer for the development of integrated architectural systems

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Architecture, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 64-67).In the last century, many of the developed computational theories and methods have been inspired by biological principles. The design generation methods, originating from these theories, along with the advances in digital fabrication technologies have impacted architecture in the last thirty years. One of the main qualities of the biological systems, functional integrity, can be adapted to architectural systems to shape a new generation of digitally designed and fabricated architectural systems. Proposing a guideline for the development of integrated systems, this thesis first presents a critical review on the precedents of biologically inspired computational theories, form generation tools and digital fabrication techniques. Later, it frames a systematic cross-domain knowledge transfer method, specifically with some guidelines for the development of architectural integrated systems. And finally through an example, it has been demonstrated how the described process can lead to the development of a method for the design and fabrication of an integrated wall system.by Shani Sharif.S.M

Inflammatory Bowel Diseases Are Associated with Polymyositis and Dermatomyositis—A Retrospective Cohort Analysis

Background and Objectives: Polymyositis and dermatomyositis (PM/DM) are classified as polygenic autoimmune diseases, whereas inflammatory bowel disease (IBD) is considered a polygenic autoinflammatory disease. In the literature, several cases exist reporting the co-occurrence of both conditions. At the molecular level, PM/DM and IBD share common genetic determinants including interferon regulatory factor and vitamin D receptor susceptibility loci. Accumulating evidence underline several indicators that confer poor prognosis in IBD, including antinuclear antibody positivity and the presence of other autoimmune diseases, therefore the aim of this study is to assess the association between these entities. Materials and Methods: This is a population-based retrospective study using data retrieved from a large electronic medical record in Israel, the Clalit health registry. The sample included PM/DM patients and age- and sex-frequency matched controls. The prevalence of IBD in PM/DM was compared between the two groups and logistic regression was applied to control for confounding variables. Predictors of IBD in patients with PM/DM were also explored. Results: Our study included 12,278 subjects with 2085 PM/DM patients and 10,193 age- and sex- frequency-matched controls. The incidence of IBD in patients with PM/DM was significantly higher even after controlling for various confounding variables (OR of 1.73, 95% CI 1.05–2.86, p-value = 0.033). Anti-nuclear antibodies (ANA) positivity was found to be an independent predictor for IBD diagnosis in patients with PM/DM (OR 3.67, 95% CI 1.01–13.36, p = 0.048). Conclusion: Our analysis reports an association between IBD and PM/DM. Such association could point towards a common pathophysiological background. Further research is needed to further describe the clinical courses and whether a unique therapeutic approach is warranted

The surface nanostructures of titanium alloy regulate the proliferation of endothelial cells

To investigate the effect of surface nanostructures on the behaviors of human umbilical vein endothelial cells (HUVECs), surface nanostructured titanium alloy (Ti-3Zr2Sn-3Mo-25Nb, TLM) was fabricated by surface mechanical attrition treatment (SMAT) technique. Field emission scanning electron microscopy (FE-SEM), atomic force microscopy (AFM), transmission electron microscopy (TEM) and X-ray diffraction (XRD) were employed to characterize the surface nanostructures of the TLM, respectively. The results demonstrated that nano-crystalline structures with several tens of nanometers were formed on the surface of TLM substrates. The HUVECs grown onto the surface nanostructured TLM spread well and expressed more vinculin around the edges of cells. More importantly, HUVECs grown onto the surface nanostructured TLM displayed significantly higher (p < 0.01 or p < 0.05) cell adhesion and viabilities than those of native titanium alloy. HUVECs cultured on the surface nanostructured titanium alloy displayed significantly higher (p < 0.01 or p < 0.05) productions of nitric oxide (NO) and prostacyclin (PGI2) than those of native titanium alloy, respectively. This study provides an alternative for the development of titanium alloy based vascular stents