We’re running an in-person Summer module as part of the Leeds International Summer School. The module will be delivered over a 2 week period, covering topics including

• History of shell structures
• Parametric design with Grasshopper
• Shell structure form finding techniques and algorithms
• Tesselation and planarisation for panelling
• Connection systems
• Design for digital fabrication

I kept seeing PSO being used in papers to minimise paths for manipulators, so I wrote a quick toy script to test it out. Here’s the results with a Sphere function:

PSO with 5 particles acting on a sphere function landscape.

Following the procedure of (Zacharias et. al, 2007: Capturing robot workspace structure: representing robot capabilities), I have been studying the use of reachability mappings of manipulator workspaces. Using inverse kinematic (IK) solvers for a kinematic chain specific to an available manipulator setup, a number of orientations about positions on a discretised grid can be tested to be reachable. A scoring is then assigned to each position by the percentage of orientations that are achievable at that voxel location.

Defining geometries in CAD and sending via ROS2 middleware.

The VS068 moving to a series of points

Here’s a fine ball produced in Rhino/GH, thanks to Iris and Shortest Walk.

All hail the tomato overlord

I’m just a basic first try at producing a page really. Not used markup before so it’ll be a slight learning curve!