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1. Closed-Loop Control of Magnetic Modular Cubes for 2D Self-Assembly

   https://doi.org/10.1109/LRA.2023.3296008  

   Lu, Yitong ; Bhattacharjee, Anuruddha ; Taylor, Conlan C. ; Leclerc, Julien ; O'Kane, Jason M. ; Kim, MinJun ; Becker, Aaron T. ( January 2023 , IEEE Robotics and Automation Letters)

   Ani Hsieh (Ed.)

   Reconfigurable modular robots can dynamically assemble/disassemble to accomplish the desired task better. Magnetic modular cubes are scalable modular subunits with embedded permanent magnets in a 3D-printed cubic body and can be wirelessly controlled by an external, uniform, timevarying magnetic field. This paper considers the problem of self-assembling these modules into desired 2D polyomino shapes using such magnetic fields. Although the applied magnetic field is the same for each magnetic modular cube, we use collisions with workspace boundaries to rearrange the cubes. We present a closed-loop control method for self-assembling the magnetic modular cubes into polyomino shapes, using computer vision-based feedback with re-planning. Experimental results demonstrate that the proposed closed-loop control improves the success rate of forming 2D user-specified polyominoes compared to an open-loop baseline. We also demonstrate the validity of the approach over changes in length scales, testing with both 10mm edge length cubes and 2.8mm edge length cubes. 

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2. The 3D Galactocentric Velocities of Kepler Stars: Marginalizing Over Missing Radial Velocities

   https://doi.org/10.3847/1538-3881/ac6fea  

   Angus, Ruth ; Price-Whelan, Adrian M. ; Zinn, Joel C. ; Bedell, Megan ; Lu, Yuxi ; Foreman-Mackey, Daniel ( June 2022 , The Astronomical Journal)

   Precise Gaia measurements of positions, parallaxes, and proper motions provide an opportunity to calculate 3D positions and 2D velocities (i.e., 5D phase-space) of Milky Way stars. Where available, spectroscopic radial velocity (RV) measurements provide full 6D phase-space information, however there are now and will remain many stars without RV measurements. Without an RV it is not possible to directly calculate 3D stellar velocities; however, one can infer 3D stellar velocities by marginalizing over the missing RV dimension. In this paper, we infer the 3D velocities of stars in the Kepler field in Cartesian Galactocentric coordinates (vx, vy, vz). We directly calculate velocities for around a quarter of all Kepler targets, using RV measurements available from the Gaia, LAMOST, and APOGEE spectroscopic surveys. Using the velocity distributions of these stars as our prior, we infer velocities for the remaining three quarters of the sample by marginalizing over the RV dimension. The median uncertainties on our inferred vx, vy, and vz velocities are around 4, 18, and 4 km/s, respectively. We provide 3D velocities for a total of 148,590 stars in the Kepler field. These 3D velocities could enable kinematic age-dating, Milky Way stellar population studies, and other scientific studies using the benchmark sample of well-studied Kepler stars. Although the methodology used here is broadly applicable to targets across the sky, our prior is specifically constructed from and for the Kepler field. Care should be taken to use a suitable prior when extending this method to other parts of the Galaxy. 

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3. An untethered isoperimetric soft robot

   https://doi.org/10.1126/scirobotics.aaz0492  

   Usevitch, Nathan S. ; Hammond, Zachary M. ; Schwager, Mac ; Okamura, Allison M. ; Hawkes, Elliot W. ; Follmer, Sean ( March 2020 , Science Robotics)

   For robots to be useful for real-world applications, they must be safe around humans, be adaptable to their environment, and operate in an untethered manner. Soft robots could potentially meet these requirements; however, existing soft robotic architectures are limited by their ability to scale to human sizes and operate at these scales without a tether to transmit power or pressurized air from an external source. Here, we report an untethered, inflated robotic truss, composed of thin-walled inflatable tubes, capable of shape change by continuously relocating its joints, while its total edge length remains constant. Specifically, a set of identical roller modules each pinch the tube to create an effective joint that separates two edges, and modules can be connected to form complex structures. Driving a roller module along a tube changes the overall shape, lengthening one edge and shortening another, while the total edge length and hence fluid volume remain constant. This isoperimetric behavior allows the robot to operate without compressing air or requiring a tether. Our concept brings together advantages from three distinct types of robots—soft, collective, and truss-based—while overcoming certain limitations of each. Our robots are robust and safe, like soft robots, but not limited by a tether; are modular, like collective robots, but not limited by complex subunits; and are shape-changing, like truss robots, but not limited by rigid linear actuators. We demonstrate two-dimensional (2D) robots capable of shape change and a human-scale 3D robot capable of punctuated rolling locomotion and manipulation, all constructed with the same modular rollers and operating without a tether. 

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4. A New Method for the Reconstruction of Strongly Lensed Galaxies with Resolved Kinematics

   https://doi.org/10.3847/1538-4357/ac59af  

   Young, A. J. ; Keeton, C. R. ; Baker, A. J. ( April 2022 , The Astrophysical Journal)

   Integral field spectroscopy of high-redshift galaxies has become a powerful tool for understanding their dynamics and evolutionary states. However, in the case of gravitationally lensed systems, it has proved difficult to model both lensing and intrinsic kinematics in a way that takes full advantage of the information available in the spectral domain. In this paper, we introduce a new method for pixel-based source reconstruction that alters standard regularization schemes for two-dimensional (2D) data in a way that leverages kinematic information in a physically motivated but flexible fashion, and that is better suited to the three-dimensional (3D) nature of integral field data. To evaluate the performance of this method, we compare its results to those of a more traditional 2D nonparametric approach using mock Atacama Large Millimeter/submillimeter Array (ALMA) observations of a typical high-redshift dusty star-forming galaxy. We find that 3D regularization applied to an entire data cube reconstructs a source’s intensity and velocity structure more accurately than 2D regularization applied to separate velocity channels. Cubes reconstructed with 3D regularization also have more uniform noise and resolution properties and are less sensitive to the signal-to-noise ratio of individual velocity channels than the results of 2D regularization. Our new approach to modeling integral field observations of lensed systems can be implemented without making restrictive a priori assumptions about intrinsic kinematics, and opens the door to new observing strategies that prioritize spectral resolution over spatial resolution (e.g., for multiconfiguration arrays like ALMA).

    

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5. The form-finding and fabrication of an ultra-thin funicular bridge prototype made up of hollow glass units

   LU, Yao ; CREGAN, Matthew ; CHHADEH, Philipp A ; SEYEDAHMADIAN, Alireza ; BOLHASSANI, Mohammad ; Schneider, Jens ; YOST, Joseph R ; AKBARZADEH, Masoud ( October 2021 , International Association of Shell and Spatial Structures)

   The recent development of three-dimensional graphic statics (3DGS) has greatly increased the ease of designing complex and efficient spatial funicular structural forms [1]. The reciprocal diagram based 3DGS approaches not only generate highly efficient funicular structures [2], but also result in planarity constraints due to the polyhedron nature of the reciprocal diagrams [3]. Our previous research has shown the feasibility of leveraging this planarity by using planar glass sheets to materialize the 10m-span, double-layer glass bridge [3]. This paper is framed as a proof of concept for the 10m bridge and explores the form-finding, detail configuration, fabrication constraints, and assembly logic by designing and constructing a small-scale bridge prototype with a span of 2.5m. The prototype is designed in a modular approach, where each polyhedral cell of the form is materialized using a hollow glass unit (HGU) (Figure 1a), which can be prefabricated and preassembled, and therefore, greatly simplifies the assembly of the whole bridge. The compression-only form of the prototype is generated using the PolyFrame beta [4] plug-in for Rhinoceros [5]. The form-finding is carried out with a comprehensive consideration of a variety of parameters, including fabrication constraints, assembly ease, construction cost, and practicality. To start the form-finding process, a group of closed convex force polyhedrons is aggregated, controlling the topology of the form diagram and the orientations of the form elements. By manipulating the face tilting angles of the force diagram, the supported edges at the end of the bridge are all made horizontal, reducing the difficulty of the support design. Then, vertex locations and edge lengths of the form diagram are constrained, determining the final dimensions of both the bridge and the cells. After getting the geometry of the bridge, the detail developments are streamlined. Each of the 13 HGUs consists of two flat deck plates and a series of side plates (Figure 1b). To interlock the adjacent cells and prevent possible sliding, a male-female connection mechanism is introduced to the conjoint side plates of the HGUs (Figure 1b). Additionally, to eliminate the direct contact of the glass parts and prevent the stress concentration, two softer transparent materials are involved for connecting purposes. Within each HGU, silicon-based binding agent is used to hold the glass parts together; between the neighboring HGUs, plastic sheets are placed as interface materials (Figure 1b). Figure 1. a) The 2.5m-span small-scale prototype dome, b) Exploded view showing deck plates, side plates, male-female connection, and interface material For the fabrication of the glass parts, 5-axis Waterjet cutting techniques are applied. While the glass sheets for the deck plates can be purchased from the market, the irregular side plates with male-female connections need to be made from kiln-cast glass. In terms of the Waterjet cutting constraints, there is a max cutting angle of 60 degrees from vertical. With respect to this, all the glass parts are examined during the design process to ensure they all satisfy the cutting angle requirements. Aiming to achieve a fast and precise assembly, several assistant techniques are developed. On the local HGU level, assembly connectors are designed and 3D-printed to help locate the glass parts. On the global prototype level, the assembly sequence of the HGUs are simulated to avoid interference. Besides, a labeling system is also established to organize the fabricated parts and guide the entire assembly process. The design and construction of this small-scale prototype provide important information for the future development of the full-scale bridge regarding the interlocking detail design, the fabrication constraints, and assembly logic. The actual structural performance of the prototype awaits further investigation through-loading experiments. 

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