Mustafa Doga Dogan, Faraz Faruqi, Andrew Day Churchill, Kenneth Friedman, Leon Cheng, Sriram Subramanian, Stefanie Mueller
2020 ACM CHI Conference on Human Factors in Computing Systems
G-ID is a method that utilizes the subtle patterns left by the 3D printing process to distinguish and identify objects that otherwise look similar to the human eye. The key idea is to mark different instances of a 3D model by varying slicing parameters that do not change the model geometry but can be detected as machine-readable differences in the print. As a result, G-ID does not add anything to the object but exploits the patterns appearing as a byproduct of slicing, an essential step of the 3D printing pipeline. We introduce the G-ID slicing & labeling interface that varies the settings for each instance, and the G-ID mobile app, which uses image processing techniques to retrieve the parameters and their associated labels from a photo of the 3D printed object. Finally, we evaluate our method’s accuracy under different lighting conditions, when objects were printed with different filaments and printers, and with pictures taken from various positions and angles.
Junichi Yamaoka, Mustafa Doga Dogan, Katarina Bulovic, Kazuya Saito, Yoshihiro Kawahara, Yasuaki Kakehi, Stefanie Mueller
2019 ACM CHI Conference on Human Factors in Computing Systems
FoldTronics is a 2D-cutting based fabrication technique to integrate electronics into 3D folded objects. The key idea is to cut and perforate a 2D sheet to make it foldable into a honeycomb structure using a cutting plotter; before folding the sheet into a 3D structure, users place the electronic components and circuitry onto the sheet. The fabrication process only takes a few minutes enabling users to rapidly prototype functional interactive devices. The resulting objects are lightweight and rigid, thus allowing for weight-sensitive and force-sensitive applications. Finally, due to the nature of the honeycomb structure, the objects can be folded flat along one axis and thus can be efficiently transported in this compact form factor. We describe the structure of the foldable sheet, and present a design tool that enables users to quickly prototype the desired objects. We showcase a range of examples made with our design tool, including objects with integrated sensors and display elements.
Donghoon Son, Mustafa Doga Dogan, Metin Sitti
2017 IEEE International Conference on Robotics and Automation (ICRA)
Max Planck Institute for Intelligent Systems
Best Medical Robotics Paper Award Nomination
This paper presents a magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy (B-MASCE) in the upper gastrointestinal tract. A thin and hollow needle is attached to the capsule, which can penetrate deeply into tissues to obtain subsurface biopsy sample. The design utilizes a soft elastomer body as a compliant mechanism to guide the needle. An internal permanent magnet provides a means for both actuation and tracking. The capsule is designed to roll towards its target and then deploy the biopsy needle in a precise location selected as the target area. B-MASCE is controlled by multiple custom-designed electromagnets while its position and orientation are tracked by a magnetic sensor array. In in vitro trials, B-MASCE demonstrated rolling locomotion and biopsy of a swine tissue model positioned inside an anatomical human stomach model. It was confirmed after the experiment that a tissue sample was retained.