Mjuk robotik är ett område inom robotik där mjuka material används för att skapa robotar som kan användas i kontakt med människor samt anpassa sig till okända miljöer och uppgifter. För att kunna skapa mjuka robotar behövs mjuka material med förmåga att röra sig med många frihetsgrader. Det har i tidigare forskning visat sig möjligt att integrera McKibben aktuatorer i vävda textiliers väftriktning för att skapa en konstruktion med förmågan att röra sig med en frihetsgrad. Detta arbete ämnar undersöka hur McKibben aktuatorer kan integreras i en vävd textils varp- och väftriktning med syfte att uppnå ett så högt antal frihetsgrader och rörelser som möjligt. Arbetet syftar även till att kategorisera egenskaper hos den textila struktur som tas fram på ett sätt som underlättar användningen av textil inom mjuk robotik. En vävd konstruktion bestående av en dubbelvävd tuskaftsbindning designades med kanaler i väft-och varpriktning där McKibben aktuatorer kunde placeras. Flera konstruktioner med varierande väfttäthet och antal bindepunkter tillverkades sedan för att testa hur de påverkade konstruktionens E-modul, böjstyvhet och kraftgenerering. För att undersöka hur många frihetsgrader som konstruktionen kunde uppvisa testades olika rörelser. Här undersöktes om avståndet mellan McKibben aktuatorerna hade någon påverkan på dess förmåga att röra sig. Resultaten från testerna visade att E-modulen och böjstyvheten båda ökade med ökande väfttäthet. Väfttätheten anses alltså vara en effektiv parameter för att variera tygets flexibilitet och styvhet. Antalet bindepunkter hade ingen påverkan på E-modulen och ett tydligt samband till böjstyvheten kunde inte hittas. Testerna av konstruktionens förmåga att utöva kraft visade att konstruktionen kunde utöva en signifikant kraft mellan 15 – 20 Newton. När det kom till rörelse kunde konstruktionen uppvisa fyra frihetsgrader. Det framkom att zonstorleken hade en påverkan på de olika rörelsernas storlek. Om konstruktionen placerades i en bestämd form innan McKibben aktuatorerna aktiverades upptäcktes att den kunde bibehålla denna form självständigt under en längre tid. Det ansågs därmed intressant att i framtiden undersöka om denna egenskap skulle gå att kombinera med andra rörliga textila material, för att skapa en mjuk struktur med möjligheten att anta olika komplexa tredimensionella former för användning inom mjuk robotik. / Soft robotics is a category within robotics where soft materials are used to create robots for safe use in contact with humans or capable of adapting to their surroundings. To create soft robots, the materials must be able to move with several degrees of freedom where the movement is activated by some type of actuation. Previous research has already integrated McKibben actuators in woven textiles in weft direction, with the possibility to move in one degree of freedom. This work aims to integrate McKibben actuators in both warp and weft direction to achieve as many degrees of freedom as possible. The properties of the textile structure will also be characterized based on certain properties that could facilitate its use in soft robotics. To integrate the actuators, a double woven structure was created in plain weave with channels in warp and weft direction. The parameters weft density and number of binding points were then varied to investigate their effect on the textiles Young’s modulus, flexural rigidity and force generation. The degrees of freedom were tested by creating different movements where the distance between the actuators was varied to examine its effect on the movements. Results from the tests showed increasing Young’s modulus and flexural rigidity with an increasing weft density. Weft density is therefore an effective parameter to adapt the textiles flexibility and stiffness. The number of binding points had no effect on Young’s modulus and no distinct relationship could be seen with flexural rigidity. The force generation tests showed that the structure could exhibit a force between 15 – 20 N. With the movements tested, the textile construction could achieve four degrees of freedom and it was established that the distance between the actuators influence the size of the movements. If the textile was held in a certain position before actuation, it was discovered that it could independently hold that position for a long period of time. This type of memory effect could be interesting to investigate further to achieve more complex 3D movements in textiles for use in soft robotics.

This thesis set out to address the ‘unsuccessful entrance’ experienced by the technique of tufting in the context of fashion design. The conventions of industrial tufting methods are challenged in the field of contemporary couture with a focus on three different aspects: backing, raw material and technique. This traditional carpet making technique, presented through the concept of couture, is aimed to be introduced as a potential novel technique among the other artisan ones inherent to the field. Robot tufting has until now been exclusively employed by the carpet manufacturing industry and only two robot manufacturing companies operate worldwide. It is a research subject with no previous academic or artistic publications. This thesis introduces for the very first time the concept and technique of robot tufting in the field of fashion design for the potential future garment creation. A more profound exploration of tufting in the context of fashion design requires a fusion of fashion and textile design into a one hybrid practice with a cross-disciplinary approach. Alongside challenging the conventions of tufting, the conventions of old disciplinary boundaries are aimed to be challenged.

Technological developments in digital Jacquard weaving, as well as material research, have a strong influence on today‘s possibilities of textile production. These advancements enable to shift the perspective of textile as a flat surface to textile as a three-dimensional form and push two-dimensional weaving into the third dimension. Utilizing recent technologies in the form of applying multi-layering weaving techniques and embedding heat-reactive shrinking material, the research of Woven Forms aims to explore the forming method of construction through weaving to create abstract forms transformed from flat and to investigate its textile-form properties of shape, texture, color, and scale. The developed method of Embedded Form Weaving is set within experimental design research and structures a systematical approach to generate three-dimensional forms activated from flat surfaces. The outcome in form of abstract, self-supporting textile-forms showcases the multitude of form expressions and variety of formal variables within two construction-form-thinking families. This research contributes to the field of 3D weaving, demonstrates the potential for further research and application possibilities in other disciplines and fields, and evaluates the potential of seeing the weaving loom as a forming tool. While the fundamental base is the interlacement of warp and weft, technology, material science, and textile engineering shift the perception of woven textiles: from a rectangular piece of cloth to the opportunity to construct textile-forms.

Because of a demonstrable need, there should be a course for the study of Appalachian art in the high school curriculum. This study is a proposal for the study of traditional Appalachian art and its importance to the promotion and preservation of the arts and crafts in the Appalachian region. This course consists of background information on selected traditional Appalachian art, contact and interaction with local artists and craftspeople, and student hands-on experience in the art forms considered. Detailed unit and lesson plans are included in the following areas: Spinning and Weaving, Dyeing, Basketry, Quilting, Pottery, Woodcarving, Blacksmithing, Vernacular Architecture, and Handmade Instruments of Country Music. This course has been taught by the writer at Science Hill High School in Johnson City, Tennessee, and was enthusiastically received by both students and members of the community.

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<p dir="ltr">Vehicle weaving describes the lane-changing actions of vehicles, which is a critical aspect of traffic management and road design. This study focused on the weaving behavior of vehicles occurring between ramp merge and diverge areas. Weaving in these areas causes congestion and increases the risk of accidents, especially during heavy traffic. Redesigning such areas for enhanced safety requires a comprehensive analysis of the traffic conditions. Obtaining the weaving pattern is a challenge in the traffic industry. To address this challenge, we leveraged AI and image processing technology to develop algorithms for quantitative analysis of weaving using surveillance videos at the consecutive ramp merge and diverge areas. This approach can also determine the weaving patterns of passenger cars and trucks respectively. The experimental results captured the lane-based weaving behavior of around 30% of vehicles in the favorable areas. The captured weaving data is used as weaving data samples to derive an overall analysis of a weaving location. Remarkably, our approach can reduce the manual processing time for weaving analysis by more than 90%, making this highly practical for use.</p>

Värmdö is a commuter municipality to Stockholm. Road 222 between Värmdö and Stockholm is the main commuter route for both bus and car traffic. Road 222 is a bottleneck at Farstabron in the direction towards Värmdö, where the motorway will go from two to one lane and become a non-meeting motorway. Towards Stockholm, the bridge has two lanes, which is why capacity is not affected as strongly in that direction. The accessibility problems arise mainly in the direction of Värmdö during maximum hours in the afternoon and during weekends and summer time as the municipality also has many holiday homes. Measures to improve accessibility have been raised by both the municipality and the Swedish Transport Administration. Building a new bridge is not relevant as the remaining expected technical life of the bridge is long. The Swedish Transport Administration has an idea for a reversible lane solution on the bridge, which is the proposal studied in this thesis. Data collection and traffic analysis has been performed to study how the travel time effect would be if Farstabron was rebuilt into a reversible 2 + 1 road, with or without a reversible bus lane. The tool used is the microsimulation program PTV VISSIM. The results show that a reversible solution without a bus lane is the alternative that provides by far the largest travel time gains for both car and bus in 2040. The degree project contains a chapter that deals with traffic engineering theory and traffic simulation theory as well as a literature study chapter that summarizes the knowledge about reversible lanes. The information about reversible lanes, even international studies, is poor.Experiences of reversible lanes is good and is mainly to be recommended as the flow in one direction is significantly greater than in the other. The traffic safety risk is primarily linked to unprotected road users. The most common internationally according to what has been identified is to implement reversible lanes on motorways with protective barriers. However, no reversible lane without a barrier have been identified holding 80km/h. Studies have shown that reversible lanes could have a cost-benefit ratio of around 7, which means that the benefit outweighed the costs 7 times in money measured. The weaving dynamics of VISSIM from two to one lane were challenging to calibrate against the reality. Preparatory behavior during lane changes is mainly affected by car-following and lane-changing models in VISSIM. In the simulation the correlation with collected data was slightly more accurate with the car following model for W99 (freeway) rather than W74 (weaving urban rd).

The increasing ecological impact of textiles and textile overproduction creates both local and global environmental concerns. Through the theoretical framework of speculative realism and the concept of alienation this paper investigates how textile art can be used to discuss the dark emotions connected to climate change. The project uses a method of material exploration to find new life to waste material from textile industry in Sweden. Through the zombie metaphor the life and death of waste is discussed. The paper finds that by giving material new life, creating zombie weaves; the darkness within the topic can be reached. The tactile qualities of the work bridges to counteract the alienation created from the lack of insight and understanding of material values. The project finds that embracing the darkness and getting to know the monster can make room for new solutions to the ecological crisis.