Prototyping large, electronically integrated structures is challenging and often results in unwieldy wiring, weak mechanical properties, expensive iterations, or limited reusability. While many electronics prototyping kits exist for small-scale objects, relatively few methods exist to freely iterate large and sturdy structures with integrated electronics. To address this gap, we present the Voxel Invention Kit (VIK), which uses reconfigurable blocks that assemble into high-stiffness, lightweight structures with integrated electronics. We do this by creating cubic blocks composed of PCBs that carry electrical routing and components and can be (re)configured with simple tools into a variety of structures. To ensure structural stability without expertise, we created a tool to configure structures and simulate applied loads, which we validated with mechanical testing data. Using VIK, we produced devices reconfigured from a shared set of voxels: multiple iterations of a customizable AV lounge seat, a dance floor game, and a force-sensing bridge.

We present a robotic system for the assembly of 3D discrete lattice structures in which the robots are able to self-reproduce, such that the assembly system may scale its own parallelization. Robots and structures are made from a set of compatible building blocks, or voxels, which can be assembled and reassembled into more complex structures. Robotic modules are made by combining actuators with a functional voxel, which routes electrical power and signals. Robotic modules then assemble into reconfigurable robots via a reversible solder joint. The robot assembles higher performance structures using a set of construction voxels, which do not contain electrical features. This paper describes the design, development, and evaluation of this assembly system, including the robotic hardware, lattice material, and planning and controls methods. We demonstrate the system through a set of fundamental assembly tasks: the robot assembling another robot, and the two robots collaborating to assemble a small structure.

We present FibeRobo, a thermally-actuated liquid crystal elastomer (LCE) fiber that can be embedded or structured into textiles and enable silent and responsive interactions with shape-changing, fiber-based interfaces. Three definitive properties distinguish FibeRobo from other actuating threads explored in HCI. First, they exhibit rapid thermal self-reversing actuation with large displacements (∼40%) without twisting. Second, we present a reproducible UV fiber drawing setup that produces hundreds of meters of fiber with a sub-millimeter diameter. Third, FibeRobo is fully compatible with existing textile manufacturing machinery such as weaving looms, embroidery, and industrial knitting machines. This paper contributes to developing temperature-responsive LCE fibers, a facile and scalable fabrication pipeline with optional heating element integration for digital control, mechanical characterization, and the establishment of higher hierarchical textile structures and design space. Finally, we introduce a set of demonstrations that illustrate the design space FibeRobo enables.

In this video, we consider recognition and reconfiguration of lattice-based cellular structures by very simple robots with only basic functionality. The underlying motivation is the construction and modification of space facilities of enormous dimensions, where the combination of new materials with extremely simple robots promises structures of previously unthinkable size and flexibility. We present algorithmic methods that are able to detect and reconfigure arbitrary polyominoes, based on finite-state robots, while also preserving connectivity of a structure during reconfiguration. Specific results include methods for determining a bounding box, scaling a given arrangement, and adapting more general algorithms for transforming polyominoes.

Digital fabrication machines (such as laser cutters or 3D printers) can be instructed to produce any part geometry within their application space. However, machines' application spaces are not easily modified or extended. How can we enable the production of application-specific computer-controlled machines by machine building novices? How can we facilitate rapid prototyping of rapid prototyping tools? We propose a novel set of modules, the Cardboard Machine Kit, for the construction of digital fabrication machines. These open-source modules are implemented using cardboard frames, stepper motors, and networked electronics controlled through a Python library. We evaluated the kit both through machine building workshops and by studying the usage of the kit in the wild. In the wild we observed more than 500 novice machine builders who built 125 different machines for 15 different application types. We argue that this breadth demonstrates the efficacy of this modular approach. Finally we discuss the limitations of the Cardboard Machine Kit and discuss how it could inform future machine building infrastructure.

The Milli-Motein (Millimeter-Scale Motorized Protein) is ca chain of programmable matter with a 1 cm pitch. It can fold itself into digitized approximations of arbitrary three-dimensional shapes. The small size of the Milli-Motein segments is enabled by the use of our new electropermanent wobble stepper motors, described in this paper, and by a highly integrated electronic and mechanical design. The chain is an interlocked series of connected motor rotors and stators, wrapped with a continuous flex circuit to provide communications, control, and power transmission capabilities. The Milli-Motein uses off-the-shelf electronic components and fasteners, and custom parts fabricated by conventional and electric discharge machining, assembled with screws, glue, and solder using tweezers under a microscope. We perform shape reconfiguration experiments using a four-segment Milli-Motein. It can switch from a straight line to a prescribed shape in 5 seconds, consuming 2.6 W power during reconfiguration. It can hold its shape indefinitely without power. During reconfiguration, a segment can lift the weight of one but not two segments as a horizontal cantilever.

Computer science has served to insulate programs and programmers from knowledge of the underlying mechanisms used to manipulate information, however this fiction is increasingly hard to maintain as computing devices decrease in size and systems increase in complexity. Manifestations of these limits appearing in computers include scaling issues in interconnect, dissipation, and coding. Reconfigurable Asynchronous Logic Automata (RALA) is an alternative formulation of computation that seeks to align logical and physical descriptions by exposing rather than hiding this underlying reality. Instead of physical units being represented in computer programs only as abstract symbols, RALA is based on a lattice of cells that asynchronously pass state tokens corresponding to physical resources. We introduce the design of RALA, review its relationships to its many progenitors, and discuss its benefits, implementation, programming, and extensions

No abstract available.

It has been observed that a linear-feedback shift-register (LFSR) sequence can be synchronized by feeding the modulated sequence into a "soft" (or "analog") version of the LFSR. In this correspondence, the "soft LFSR" is derived as forward-only message passing in the corresponding factor graph. A continous-time analog (suitable for realization as a clockless electronic circuit) is then given of both the LFSR and the soft LFSR. A connection is thus established between statistical state estimation and the phenomenon of entrainment of dynamical systems, which opens the prospect of deriving dynamical systems (such as electronic circuits) with strong entrainment capabilities from more powerful message passing algorithms

A multi-user, polyphonic sensor stage environment that maps position and gestures of up to four performers to the pitch and articulation of distinct notes is presented. The design seeks to provide multiple players on a stage with the feeling of a traditional acoustic instrument by giving them complete control over the instrument's expressive parameters and a clear causal connection between their actions and the resulting sound. The positions of the performers are determined by a custom ultrasonic tracking system, while hand motions are measured by custom-made gloves containing accelerometer units. Furthermore, juggling clubs are illuminated dynamically to make complex juggling patterns more apparent. The system is currently on tour with the Flying Karamazov Brothers juggling troupe.

This paper demonstrates the use of software radio techniques in the context of sensing, rather than communications. It describes code-division multiplexing (CDMA) and time-division multiplexing (TDMA) of a receiver channel in an electric field sensing system. The only hardware used is a front-end gain stage consisting of two opamps and a microcontroller. The modulation and demodulation operations are implemented entirely in the microcontroller software. Multiple coded waveforms are transmitted simultaneously, and induce a combined signal on a single receive electrode. The combined signal, after passing through a single analog front end terminating in an analog-to-digital converter, is separated into the four original component signals by a software demodulation operation. The signal-to-noise ratio (SNR) achieved by the code-division multiplexed system given a fixed measurement time is compared to the SNR achieved by a time-division multiplexed implementation given the same total measurement time. The paper also compares the scaling of TDMA and CDMA performance with the number of transmitted channels and the number of demodulated channels.

A non-contact sensor based on the interaction of a person with electric fields for human-computer interface is investigated. Two sensing modes are explored: an external electric field shunted to ground through a human body, and an external electric field transmitted through a human body to stationary receivers. The sensors are low power (milliwatts), high resolution (millimeter) low cost (a few dollars per channel), have low latency (millisecond), high update rate (1 kHz), high immunity to noise (>72 dB), are not affected by clothing, surface texture or reflectivity, and can operate on length scales from microns to meters. Systems incorporating the sensors include a finger mouse, a room that knows the location of its occupant, and people-sensing furniture. Haptic feedback using passive materials is described. Also discussed are empirical and analytical approaches to transform sensor measurements into position information. KEYWORDS: user interface, input device, gesture interface, non-...