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## Core latex/pdflatex auxiliary files:
*.aux
*.lof
*.log
*.lot
*.fls
*.out
*.toc
*.fmt
*.fot
*.cb
*.cb2
.*.lb
## Intermediate documents:
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*.xdv
*-converted-to.*
# these rules might exclude image files for figures etc.
*.ps
*.eps
*.pdf
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## Bibliography auxiliary files (bibtex/biblatex/biber):
*.bbl
*.bcf
*.blg
*-blx.aux
*-blx.bib
*.run.xml
## Build tool auxiliary files:
*.fdb_latexmk
*.synctex
*.synctex(busy)
*.synctex.gz
*.synctex.gz(busy)
*.pdfsync
## Build tool directories for auxiliary files
# latexrun
latex.out/
## Auxiliary and intermediate files from other packages:
# algorithms
*.alg
*.loa
# achemso
acs-*.bib
# amsthm
*.thm
# beamer
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*.t[1-9][0-9]
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#(r)(e)ledmac/(r)(e)ledpar
*.end
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*.[1-9]
*.[1-9][0-9]
*.[1-9][0-9][0-9]
*.[1-9]R
*.[1-9][0-9]R
*.[1-9][0-9][0-9]R
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*.eledsec[1-9][0-9]R
*.eledsec[1-9][0-9][0-9]
*.eledsec[1-9][0-9][0-9]R
# glossaries
*.acn
*.acr
*.glg
*.glo
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*.glsdefs
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*.slg
*.slo
*.sls
# uncomment this for glossaries-extra (will ignore makeindex's style files!)
# *.ist
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*.gnuplot
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*.idx
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*.slt[0-9]*
*.stc[0-9]*
# minted
_minted*
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sympy-plots-for-*.tex/
# pdfcomment
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pythontex-files-*/
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# Latexian
TSWLatexianTemp*
## Editors:
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# Texpad
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# LyX
*.lyx~
# Kile
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# gummi
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# KBibTeX
*~[0-9]*
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./auto/*
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# Uncomment the next line to have this generated file ignored.
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# Emacs backup files
*~
# build directories
build/
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Formas.png

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# posterExample
This repo contains a complete example for `\usetheme{ReglerPoster}`
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
```
cd existing_repo
git remote add origin https://gitlab.control.lth.se/regler/posterExample.git
git branch -M main
git push -uf origin main
```
## Integrate with your tools
- [ ] [Set up project integrations](https://gitlab.control.lth.se/regler/posterExample/-/settings/integrations)
## Collaborate with your team
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
## Test and Deploy
Use the built-in continuous integration in GitLab.
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
## Suggestions for a good README
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
## Name
Choose a self-explaining name for your project.
## Description
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
## Badges
On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
## Visuals
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
## Installation
Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
## Usage
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
## Support
Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
## Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
## Contributing
State if you are open to contributions and what your requirements are for accepting them.
For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
## Authors and acknowledgment
Show your appreciation to those who have contributed to the project.
## License
For open source projects, say how it is licensed.
## Project status
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
\documentclass{beamer}
\usetheme{ReglerPoster}
\title{Biomimetic Fabrication using Robotic 3D-printing}
\author{Anton Tetov Johansson\quad Ana Goidea\quad
Anders Robertsson\quad David Andréen}
\institute{Department of Architecture and Built Environment \& Department of Automatic Control, Lund University}\begin{document}
\begin{frame}
\begin{columns}[T]
\begin{column}{0.35\textwidth}
\centering
\includegraphics[width=0.9\textwidth]{Termiter}\\
Termites placing clay. © Kirstin Petersen
\vspace*{3ex}
\begin{block}{Introduction}
In this project we explore swarm construction using an agent
model acting as a virtual twin to a concurrently 3D-printed
structure. We develop methods for real-time nonlinear design
and fabrication strategies with two-way feedback between the
output structure and the simulated design space.
Architectural processes are typically linear, with the design
stage concluding before the initiation of
construction. Similarly, the construction process itself
follows a linear logic. This is sometimes limiting, for
example because of dynamic behaviour of some materials (such
as the shrinking of clay/mud), complex design/fabrication
demands, or the evolving use and state of a building over
longer periods.
This project aims to develop a process which relies on fully
nonlinear design and fabrication, and incorporates complete
feedback loops between the fabricated output and a temporally
and spatially aligned digital twin. The process is modelled on
the self-organised construction process through which
macrotermites construct their mounds: physiologically and
formally complex structures that perform critical functions
for the termite colonies in variable and dynamic environments
(Andréen et al. 2019).
\end{block}
\begin{block}{Method}
Three distinct processes are part of the method: 1. Additive
fabrication through discrete deposition of clay
globules. 2. Collection of sensory data and its translation
into the virtual twin. 3. Concurrent and real-time design
through a bottom-up agent simulation whose actions are
executed through the robotic 3D-printing.
The 3D-printing process uses an off-the-shelf clay extruder
mounted on a robotic arm to deposit discrete
globules. Extruding non-continuously allows for processing
of sensory input in the virtual twin in order to determine
the following actions, and because of the discrete
deposition the spatio-temporal continuity can be broken,
enabling the use of a nondeterministic design process as
well as correcting for or avoiding distortion.
\end{block}
\includegraphics[width=0.8\textwidth]{RuleBasedDesign}\\
Example of rule based design generation where blocks stacked.
\end{column}
\begin{column}{0.35\textwidth}
\centering
\includegraphics[width=0.9\textwidth]{ClayPrinter}\\
Discrete clay depositions with 3D-printer.
\vspace*{3ex}
\begin{block}{Method (Continued)}
The sensory data is recorded through the use of a stereo
camera system, recording depth data and colour. The recorded
data can then be interpreted as, for instance; material
localization, material composition, or moisture
content. This is then used to construct a multi-parameter
volumetric model which is transferred into the digital twin.
The design model operates on the continuously updated
voxel-cloud. It is structured as a multi-agent system, where
the agents operate based on local data and coordinate
through indirect, stigmergic communication (Werfel \& Nagpal
2006). Once the agents decide on an action, this is
communicated to the robot and executed as a clay globule
extrusion, or a direct alteration of one of the volumetric
parameters directly in the voxel model. No specific rule set
is determined in this project, as the goal is to create a
flexible platform that combines the benefits of virtual
(e.g. Bonabeau et al. 1998) and physical (e.g. Werfel 2014)
swarm construction models.
Robot control, including path planning, is achieved using
open source tools of which most are part of ROS (Quigley et
al., 2009). This also includes the perception pipeline,
enhanced by OpenVDB (Museth, 2013) for voxel model
manipulation.
\end{block}
\begin{block} {Application}
The developed model is intended to be used in both direct
applications, such as improving the robustness with
regards to global and local distortion and enabling
adaptability in fabrication using dynamic materials (e.g
Adaptive Clay Formations, Johansson \& Morales 2021), or to
explore and investigate the possibilities of complex swarm
construction models inspired by biological design (Andréen
\& Goidea 2022).
\end{block}
\begin{block}{References}
\scriptsize\parindent=0pt\parskip=\medskipamount
Andréen, D., Goidea, A., Johansson, A., and Hildorsson,
E. (2019). Swarm materialization through discrete,
nonsequential additive fabrication. Proceedings - 2019 IEEE
4th International Workshops on Foundations and Applications
of Self* Systems, FAS*W 2019,
225–230. https://doi.org/10.1109/FAS-W.2019.00059 Andréen,
D., and Goidea, A. (2022). Principles of biological design as
a model for biodesign and biofabrication in
architecture. Architecture, Structures and Construction
2022, 1, 1–11. https://doi.org/10.1007/S44150-022-00049-6
Bonabeau, E., Theraulaz, G., Deneubourg, J., Franks, N. R.,
Rafelsberger, O., Joly, J., and Blanco, S. (1998). A model for
the emergence of pillars, walls and royal chambers in
termite nests. Philosophical Transactions of the Royal
Society B: Biological Sciences, 353(1375),
1561–1576. https://doi.org/10.1098/rstb.1998.0310
Johansson, A. and Morales Zúñiga, E. 2021. Adaptive Clay
Formations. Master’s thesis, ETH Zürich / Lund
University. http://lup.lub.lu.se/student-papers/record/9041159,
last accessed 2022-05-30
Museth, K. (2013) ‘VDB:
High-resolution sparse volumes with dynamic topology’, ACM
Transactions on Graphics, 32(3),
pp. 1–22. https://doi.org/10.1145/2487228.2487235.
Werfel, J., and Nagpal, R. (2006). Extended Stigmergy in
Collective Construction. IEEE Intelligent Systems, 21(2),
20–28. https://doi.org/10.1109/MIS.2006.25
Werfel, J., Petersen, K., and Nagpal, R. (2014). Designing
Collective Behavior in a Termite-Inspired Robot Construction
Team. Science (New York, N.Y.), 343,
754–758. https://doi.org/10.1126/science.177.4047.393
Quigley, M. et al. (2009) ‘ROS: an open-source Robot
Operating System’, in Proc. of the IEEE Intl. Conf. on
Robotics and Automation (ICRA) Workshop on Open Source
Robotics. Kobe, Japan.
\end{block}
\end{column}
\begin{column}[T]{0.29\textwidth}
\centering
\includegraphics[width=0.9\textwidth]{FlowDiagram}\\
\includegraphics[width=0.9\textwidth]{ClayExtruder}\\
The Clay Extruder
\vspace*{3ex}
\begin{RaggedRight}
Contact: David Andréen, david.andreen@abm.lth.se
\vspace*{4ex}
\begin{columns}[c]
\begin{column}{0.39\textwidth}
Research funded by
\end{column}
\begin{column}{0.59\textwidth}\centering
\includegraphics[width=0.8\textwidth]{Formas}
\end{column}
\end{columns}
\end{RaggedRight}
\end{column}
\end{columns}
\end{frame}
\end{document}
\ No newline at end of file
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