diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..4a12c68d4a441383bf2e6d4998ceb25f568c547b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,307 @@
+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+.*.lb
+
+## Intermediate documents:
+*.dvi
+*.xdv
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+*.ps
+*.eps
+*.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
+
+## 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
+*.nav
+*.pre
+*.snm
+*.vrb
+
+# changes
+*.soc
+
+# comment
+*.cut
+
+# cprotect
+*.cpt
+
+# elsarticle (documentclass of Elsevier journals)
+*.spl
+
+# endnotes
+*.ent
+
+# fixme
+*.lox
+
+# feynmf/feynmp
+*.mf
+*.mp
+*.t[1-9]
+*.t[1-9][0-9]
+*.tfm
+
+#(r)(e)ledmac/(r)(e)ledpar
+*.end
+*.?end
+*.[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
+*.eledsec[1-9]
+*.eledsec[1-9]R
+*.eledsec[1-9][0-9]
+*.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
+*.gls
+*.glsdefs
+*.lzo
+*.lzs
+*.slg
+*.slo
+*.sls
+
+# uncomment this for glossaries-extra (will ignore makeindex's style files!)
+# *.ist
+
+# gnuplot
+*.gnuplot
+*.table
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.glog
+*.gtex
+
+# htlatex
+*.4ct
+*.4tc
+*.idv
+*.lg
+*.trc
+*.xref
+
+# hyperref
+*.brf
+
+# knitr
+*-concordance.tex
+# TODO Uncomment the next line if you use knitr and want to ignore its generated tikz files
+# *.tikz
+*-tikzDictionary
+
+# listings
+*.lol
+
+# luatexja-ruby
+*.ltjruby
+
+# makeidx
+*.idx
+*.ilg
+*.ind
+
+# minitoc
+*.maf
+*.mlf
+*.mlt
+*.mtc[0-9]*
+*.slf[0-9]*
+*.slt[0-9]*
+*.stc[0-9]*
+
+# minted
+_minted*
+*.pyg
+
+# morewrites
+*.mw
+
+# newpax
+*.newpax
+
+# nomencl
+*.nlg
+*.nlo
+*.nls
+
+# pax
+*.pax
+
+# pdfpcnotes
+*.pdfpc
+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
+
+# scrwfile
+*.wrt
+
+# svg
+svg-inkscape/
+
+# sympy
+*.sout
+*.sympy
+sympy-plots-for-*.tex/
+
+# pdfcomment
+*.upa
+*.upb
+
+# pythontex
+*.pytxcode
+pythontex-files-*/
+
+# tcolorbox
+*.listing
+
+# thmtools
+*.loe
+
+# TikZ & PGF
+*.dpth
+*.md5
+*.auxlock
+
+# titletoc
+*.ptc
+
+# todonotes
+*.tdo
+
+# vhistory
+*.hst
+*.ver
+
+# easy-todo
+*.lod
+
+# xcolor
+*.xcp
+
+# xmpincl
+*.xmpi
+
+# xindy
+*.xdy
+
+# xypic precompiled matrices and outlines
+*.xyc
+*.xyd
+
+# endfloat
+*.ttt
+*.fff
+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
+# WinEdt
+*.bak
+*.sav
+
+# Texpad
+.texpadtmp
+
+# LyX
+*.lyx~
+
+# Kile
+*.backup
+
+# gummi
+.*.swp
+
+# KBibTeX
+*~[0-9]*
+
+# TeXnicCenter
+*.tps
+
+# auto folder when using emacs and auctex
+./auto/*
+*.el
+
+# expex forward references with \gathertags
+*-tags.tex
+
+# standalone packages
+*.sta
+
+# Makeindex log files
+*.lpz
+
+# xwatermark package
+*.xwm
+
+# REVTeX puts footnotes in the bibliography by default, unless the nofootinbib
+# option is specified. Footnotes are the stored in a file with suffix Notes.bib.
+# Uncomment the next line to have this generated file ignored.
+#*Notes.bib
+
+# Emacs backup files
+*~
+
+# build directories
+build/
\ No newline at end of file
diff --git a/ClayExtruder.png b/ClayExtruder.png
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diff --git a/Formas.png b/Formas.png
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diff --git a/README.md b/README.md
index f34894385decb0bbe1f78a0a6ce43f4842fc5ad9..5a169242e10293f2832e56debb15bece279c9609 100644
--- a/README.md
+++ b/README.md
@@ -1,92 +1,5 @@
# 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.
diff --git a/RuleBasedDesign.png b/RuleBasedDesign.png
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diff --git a/Termiter.jpg b/Termiter.jpg
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diff --git a/posterExample.tex b/posterExample.tex
new file mode 100644
index 0000000000000000000000000000000000000000..fc56c105dd6338298f4ec12f0f5933816bfed5d8
--- /dev/null
+++ b/posterExample.tex
@@ -0,0 +1,180 @@
+\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