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Algorithms for Designing Pop-Up Cards
- Frederick Daniels
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1 Algorithms for Designing Pop-Up Cards Zachary Abel Erik D. Demaine Martin L. Demaine Sarah Eisenstat Anna Lubiw André Schulz Diane L. Souvaine Giovanni Viglietta Andrew Winslow Abstract We prove that every simple polygon can be made as a (2D) pop-up card/book that opens to any desired angle between 0 and 360. More precisely, given a simple polygon attached to the two walls of the open pop-up, our polynomial-time algorithm subdivides the polygon into a single-degree-of-freedom linkage structure, such that closing the pop-up flattens the linkage without collision. This result solves an open problem of Hara and Sugihara from We also show how to obtain a more efficient construction for the special case of orthogonal polygons, and how to make 3D orthogonal polyhedra, from pop-ups that open to 90, 180, 270, or Introduction Pop-up books have been entertaining children with their surprising and playful mechanics since their mass production in the 1970s. But the history of pop-ups is much older [27], and they were originally used for scientific and historical illustrations. The earliest known example of a movable book is Matthew Paris s Chronica Majora (c. 1250), which uses turnable disks (volvelle) to represent a calendar and uses flaps to illustrate maps. A more recent scientific example is George Spratt s Obstetric Tables (1850), which uses flaps to illustrate procedures for delivering babies including by Caesarean section. From the same year, Dean & Sons Little Red Riding Hood (1850) is the first known movable book where a flat page rises into a 3D scene, though here it was actuated by pulling a string. The first known examples of self-erecting pop-ups, where the rise into 3D is actuated by opening the page, are a card promoting the Trinity Buildings in New York City (c. 1908), and S. Louis Girand s Bookano Book (c. 1930s). Modern pop-ups have taken these principles to new heights, often employing linkage-like mechanisms to form elaborate 3D shapes and motions; some good guides for designing pop-ups are [1, 3, 5, 20]. In recent years, pop-up books have risen to an MIT Department of Mathematics, 77 Massachusetts Ave., Cambridge, MA 02139, USA, MIT Computer Science and Artificial Intelligence Laboratory, 32 Vassar St., Cambridge, MA 02139, USA, David R. Cheriton School of Computer Science, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada, Institut für Mathematsche Logik und Grundlagenforschung, Universität Münster, de Department of Computer Science, Tufts University, Medford, MA 02155, USA, Department of Computer Science, University of Pisa, Italy, 1
2 art form with such art books as Bataille s ABC3D [2], Carter s series of dot/spot books [4], and Pelhem s poetic pop-up book [26]. One striking form of pop-ups is origamic architecture, which form buildings and other geometric structures, and are usually each made from a single (cut) sheet of card stock. A few examples of the many origamic architecture books are [7, 8, 32]; see [11] for a thorough bibliography. Our results. This paper investigates the computational geometry of pop-ups, in particular, algorithmic design of pop-ups. We achieve three main results: 1. Any 2D n-gon (extruded orthogonally into 3D) can be popped up by opening a book to a specified angle θ with 0 < θ 360, using a construction of complexity O(n 2 ). 2. Any orthogonal n-gon (extruded orthogonally into 3D) can be popped up by opening a book to a specified orthogonal angle θ {90, 180, 270, 360 }, using a construction of complexity Θ(n). 3. Any orthogonal polyhedron can be popped up by opening a book to a specified orthogonal angle θ {90, 180, 270, 360 }, using a construction of complexity O(n 3 ). All of our constructions use rigid flat polygonal pieces to form single-degree-of-freedom linkage structures, which uniquely and deterministically unfold from the flat state to the open state, while avoiding collision. Related work. Our first result solves an open problem of Hara and Sugihara [14], who gave an algorithmic construction for arbitrary polygons but without guarantees of collision avoidance (and indeed the construction sometimes requires collisions). An example of a popup constructed with this method is shown in Figure 1. Another result in computational geometry is by Uehara and Teramoto [31], who proved that when pop-ups have multiple ambiguous motions (including creases that can fold both mountain and valley), they are NP-hard to open or close. (a) (b) (c) Figure 1: A linkage L constructed by the method of [14] in its open configuration (a) and two of its intermediate configurations (b c). The induced linkage uses common joints ( ), and flaps ( ). In computer graphics, Mitani et al. [23, 24] showed how to automatically design pop-ups within a common class of 90 origamic architecture, in which the surface is monotone (hit only once) in the view direction. This work led to Tama Software s Pop-Up Card Designer [30]. Li et al. [22] 2
3 (a) The desired pop-up card. (b) Cross-section perpendicular to the spine. (c) The contents of the cross-section. Figure 2: Three views of a desired 3D structure, before the creases and extra paper have been added to make it pop up. developed a software system for converting a given 3D model into one that fits within this class. Several other systems enable designing and simulating pop-ups by composing standard pop-up gadgets, including Glassner s [12, 13], Popup Workshop [16, 15], Okamura and Igarashi s [25], and Iizuka et al. s [19]. Geometric pop-ups have also been studied for specific examples of polyhedra. The first such example is a rhombic dodecahedron of the second type [10]. Other examples include the dodecahedron [29] and other Platonic solids [17, 6, 21]. These types of pop-ups are typically not attached to pages of a book, however. Applications. Pop-ups have potential practical applications as well. Nano and micro fabrication technology are well-established for patterning 2D sheets, but remain in their infancy for 3D surfaces. Pop-ups offer a way to transform patterned 2D sheets into 3D surfaces. This idea was recently explored in the context of MEMS [18], where Hui et al. successfully manufactured a 1.8mm-tall 3D model of the UC Berkeley Campanile clock tower, with micron resolution, using pop-ups. 2 Models of Pop-Ups Our basic model is of a book with planar front and back covers which, when opened to a desired angle θ, pops up a 3D paper construction made from pieces of stiff paper that are folded and glued to each other and to the covers. (We will not deal with the more restrictive model of origamic architecture where one piece of paper is cut and folded but not glued.) Given a desired 3D structure, we aim to design a pop-up book that achieves it by adding creases and adding extra pieces of paper. Adding creases may be necessary in order to get the structure to fold up when the book is closed. Adding extra paper may be necessary in order to get the structure to pop up into the correct shape when the book is opened. Until Section 5, we consider a restricted version of the problem that arises when all fold lines and all gluing lines are parallel to the spine, just as in Figure 2. In this case, a cross-section in a plane perpendicular to the spine yields a 2D pop-up: the pop-up structure and the desired shape form a planar linkage composed of rigid bars (line segments) connected at joints. A joint is a point 3
4 (a) A common joint. (b) A flap. (c) A sliceform. Figure 3: The three types of joints used in this paper. where line segments intersect, usually at an endpoint of at least one of the line segments. distinguish three kinds of joints: We Common joints: Two or more bars are linked at one of their endpoints. Flaps: A bar contains a joint in its interior, where an endpoint of another bar is linked. location of the joint at the interior of the first bar is fixed. The Sliceforms: A joint (called a sliceform) can be formed by the intersection X of two bars. The intersection point X cannot shift along the bars, but the two bars can change their angle at X (scissors-like). Notice that we do not consider the two edges crossing if they are linked by a sliceform. To distinguish the different joints in figures, we use a dot ( ) for common joints and endpoints of edges, an empty circle ( ) for flaps, and a cross ( ) for sliceforms. Examples of the three types of joints are depicted in Figure 3. The common joint is sufficient to simulate the other joint types. A flap can be simulated by forming a zero-area triangle among the three collinear points. A sliceform can be simulated by common joints and flaps as illustrated in Figure 4. In the 2D case, we want to construct a linkage L with one degree of freedom that folds to the desired shape, which is given by a simple polygon P. During the folding motion we require that no bars cross, and that the order of the bars emanating at a joint is preserved. Let the vertices of P be v 1, v 2,..., v n labelled in counter-clockwise order. The edge incident to v i and v i+1 is named e i, the edge between v n and v 1 is named e n. We Figure 4: Simulating assume that P is contained in one of the two wedges bounded by the rays sliceforms. v 1 v 2 and v 1 v n. The angle of the wedge containing P is called the opening angle, and the union of the rays v 1 v 2 and v 1 v n is called the cover. We require L to have the following properties: 1. In one configuration of L, the boundary of L coincides with P. We call this the open configuration. The linkage L contains the edges e 1 and e n of P as bars. If a joint of L coincides with a vertex v i in the open configuration, we name it p i. 2. In one configuration of L that can be reached from the open configuration, all edges are collinear and p 1 is an endpoint of the union of the edges of L. This configuration is called the closed configuration. 4
5 (a) (b) Figure 5: Superimposing an orthogonal polygon. The resulting 90 pop-up for an orthogonal polygon in its open configuration (a) and in one of its intermediate configurations (b). 3. There is a unique motion that transforms the open configuration into the closed configuration. During this motion, L is contained inside the wedge defined by the cover and the opening angle decreases continuously. We refer to this motion as the closing motion. Every configuration of L obtained during the closing motion is called an intermediate configuration. The open configuration might have several joints that are opened 180. In order to specify the folding uniquely, we prescribe for every such ambiguity the way the vertex moves during the folding motion. Collinear points in the open configuration appear naturally in pop-up structures. In the real world the folding motion at these points is prescribed by the creasing of the paper. The combinatorial complexity of a 2D pop-up is equal to the number of joints in the pop-up. 3 Orthogonal Polygon Pop-Ups In this section, we assume the polygon P is orthogonal, i.e., every edge of P is either horizontal or vertical. We show how to construct a pop-up linkage L for the polygon P with combinatorial complexity linear in n Pop-Ups We present two ways to construct a linkage L that folds to P. An easy solution (called superimposing) can be constructed using sliceforms. As a first step we superimpose an orthogonal grid on P. This is done by replacing every edge of P by its supporting line. Every intersection between two lines becomes a sliceform. The linkage L is obtained by restricting this linkage to P. If one of the extended edges ends on the boundary of P then the former sliceform is replaced by a flap. Similarly, if two extended edges are joined by a sliceform that lies on a vertex of P then the sliceform is replaced by a common joint. An example of the construction is depicted in Figure 5. In order to prove that the constructed linkage has a closing motion, we define the following: Definition 1. A shear is a motion of a linkage that leaves parallel edges parallel. 5
6 (a) (b) (c) Figure 6: The result of h-superimposing an orthogonal polygon. (a) The induced stripes. (b) Intermediate linkage, with too many degrees of freedom. (c) Final linkage, with bracing segments to enforce a single shear motion. We denote by a cell of a planar linkage a bounded face of its underlying graph. If the closing motion is a shear and all cells are parallelograms then no two edges can cross during the motion. Theorem 1. The linkage L obtained by superimposing is a pop-up fold in the sliceform model for the orthogonal polygon P with 90 opening angle. The combinatorial complexity of L is O(n 2 ). Proof. We show that L has one degree of freedom and that the only possible motion is a shear. The proof is by induction. We define an order of the cells of the superimposed linkage: let G k be the union of the first k cells; then G 1 must contain p 1, and for all k 1, the interior of G k is connected. By decreasing the opening angle, G 1 folds flat. Assume now that G k 1 also folds flat. The kth cell is linked with G k 1 by two joints which are either flaps or sliceforms. Hence adding the kth cell extends at least two edges of G k 1. Because the location of these two edges is already determined by G k 1, adding the kth cell does not produce any additional degree of freedom. As a consequence, the whole linkage folds with one degree of freedom, and hence the folding motion mimics the motion of the complete superimposed grid (before cutting the edges). This motion is a shear and all cells are parallelograms, which shows that L is a pop-up fold for P. Because every bar in L is an extension of an edge in P, we have O(n) bars in L. To construct a joint (sliceform), two of the bars must cross, thus producing at most O(n 2 ) joints. Next we show how to construct a linkage L that is a pop-up fold for P while reducing the combinatorial complexity from quadratic to linear. The process we use is called h-superimposing. As a first step we split P into stripes such that (i) each stripe is an axis aligned rectangle, and (ii) the left and right boundary edges of a stripe are a part of the boundary of P, and (iii) the union of any two stripes is not a rectangle. Such a decomposition is obtained by extending all horizontal edges of P horizontally as long as they lie in P. We say two stripes are adjacent, if they (partially) share an edge. See Figure 6(a) for an illustration. Let L 1 be the linkage obtained by extending the horizontal edges as long as they lie within P. The newly introduced degree-3 vertices become flaps. An example of this is depicted in Figure 6(b). However, this intermediate linkage might have more than one degree of freedom. In particular, any pair of adjacent stripes that do not share a vertical bar can shear independently. To handle this, we note that for any pair of adjacent stripes, there must be at least one vertical line passing through the (strict) interior of both stripes. We call this a bracing line for the stripe pair. The subset of the line contained in the stripe pair is called a bracing segment. For each pair of adjacent stripes that do not already share a vertical bar, we add a bracing segment to the linkage, creating a sliceform joint where the segment intersects with the boundary between the stripes. See Figure 6(c) for an example. Let L 2 be the linkage resulting from the addition of the bracing segments. 6
7 Theorem 2. The linkage L 2 obtained by h-superimposing defines a pop-up fold for the orthogonal polygon P with 90 opening angle. The motion of L 2 is a shear. The combinatorial complexity of L 2 is O(n). Proof. We show that L 2 has one degree of freedom and the only possible motion is a shear. Let us fix an order of the stripes that corresponds to their first appearances in some breadth-first search traversal of the set of stripes. Let G k be L 2 restricted to the first k stripes. We first consider the base case. The linkage G 1 consists of a single stripe, possibly with some segments on the interior resulting from the addition of bracing segments. However, the bracing segments were added as sliceforms, so the four boundary edges of the first stripe are still bars. Because the four bars start in a rectangular configuration, the only possible motion for the bars is a shear. The additional segments on the interior of the stripe are attached to fixed locations on both horizontal edges of the stripe, so their motion is constrained to follow the same shear. Hence, the linkage G 1 has one degree of freedom, and the only motion is a shear. Next, we consider the inductive case. When going from G k 1 to G k, the change to the linkage is a local addition. Assume that in order to form G k the kth stripe is adjacent to the lth stripe. Let M be the linkage L 2 restricted to stripes k and l. Just as with the base case, we know that the edges of each stripe are rigid in M. Hence in any motion, stripes k and l must form parallelograms. Let α be the measure of the upper-left angle of stripe k. Because stripe k must always form a parallelogram, no matter the motion, we know that the upper-left and lower-right angles must be equal to α, while the lower-left and upper-right angles must be equal to 180 α. Similarly, let β be the measure of the upper-left angle of stripe l. We wish to show that M has one degree of freedom, and that the only possible motion is a shear. Without loss of generality, assume that stripe k lies above stripe l. We consider two cases: Case A: The kth and lth stripes share a vertical bar. Without loss of generality, assume that the vertical bar lies to the right of both stripes. The horizontal bar between the two stripes must be attached to the vertical bar as a flap. Therefore, the lower-right angle of stripe k is equal to 180 minus the upper-right angle of stripe l. Hence, α = 180 (180 β) = β. Case B: The kth and lth stripes are connected by a bracing segment. Let C 1 be the part of the kth stripe that lies to the left of the bracing segment, and let C 2 be the part of the lth stripe that lies to the left of the bracing segment. In the open configuration, both C 1 and C 2 are rectangles. Hence, in any motion, C 1 and C 2 must be parallelograms. Because the upper-left corner of C 1 is the upper-left corner of the kth stripe, the angle measure must be α. By similar reasoning, the measure of the upper-left corner of C 2 must be β. Hence, the measure of the lower-right corner of C 1 must be α, and the measure of the upper-right corner of C 2 must be 180 β. By the properties of the sliceform, α = 180 (180 β) = β. As a result, we know that in either case, the stripes are constrained to move with the same shear. By induction, the motion of G k 1 must be a shear with one degree of freedom. When the kth stripe is added, the restriction on M means that the combined linkage G k has only one possible motion: a shear with one degree of freedom. We are left with counting the vertices and edges of L 2. We begin by counting the number of stripes. The stripes are created by taking every horizontal edge of P, and extending it both left and right until it reaches some other side of the polygon. This creates at most two new horizontal bars, so the total number of bars created is O(n). Each created bar forms the boundary between a 7
8 pair of adjacent stripes. Therefore, the total number of stripes is O(n). The number of joints per stripe in L 1 is constant. We also add a constant number of joints (at most one sliceform and two flaps) per bracing segment. Hence, the total number of joints in L 2 is O(n). Because the graph induced by L 2 is planar, the number of edges is linear in n as well , 270, and 360 Pop-Ups This section is devoted to constructing pop-up folds with larger opening angle. We reduce this problem to the 90 pop-up scenario by introducing a linkage (called a reflector gadget) that allows us to reflect a shear. We construct the open configuration of the gadget as shown in Figure 7(a). Figure 7(b) shows an intermediate configuration. D F 1 M 1 1 M 1 C E R τ α R 2 L 1 2 A 1 2 G 1 1 O 1 (a) The open configuration. B 2 L β G γ 2 β β γ 1 A B δ α 2 α δ 1 O (b) An intermediate configuration. Figure 7: The reflector gadget that helps to reflect two shearing motions. Lemma 1. The reflector gadget has one degree of freedom. Its closing motion has the following properties: (a) the vertical line segments in the open configuration remain vertical during the induced motion, (b) the boundary of the gadget is symmetric with respect to a line of reflection running through OM, (c) the linkage folds to a line without introducing any crossings in an intermediate configuration. Proof. Property (a) is ensured by the top part of the gadget. In particular, the two glued rectangles DF MM and CEMM preserve the parallelism by the induced 2 degree of freedom motion. In order to prove (b) we define a line l that is orthogonal to the vertical lines of the reflector gadget and runs through O. Let δ 1 be the angle between l and OB and let δ 2 be the angle between l and OA (see Figure 7(b)). Notice that the angles δ 1 and δ 2 determine the shape of the boundary of the gadget. 8
9 Claim 1. Pick δ 1 arbitrarily, such that 0 δ 1 < 90. Assume that the strict order of edges emanating from any vertex matches the order given by the open configuration. The configuration of the reflector is unique for AL and BR being vertical. Proof of Claim 1. The angle δ 1 and the vertical line through BR determine the point R, which determines in turn the point G as only point above AB with distance 1 from O and distance 2 from R. We know that A lies on a circle c 1 around O with radius 1 and that L lies on a circle c 2 around G with radius 1/2. Let c 3 be the circle c 2 moved down by 1/2 units vertically. Because LA is vertical and has length 1/2, the location of A has to coincide with the intersection of c 1 and c 3. One of the intersection points is infeasible, because it coincides with G and hence does not preserve the strict order of the edges around O. The other point is therefore the only valid place for A. The location of the top part of the reflector is uniquely determined because the vertical lines are determined. L G c 2 A c 1 c 3 O Figure 8: Construction used in the proof of Claim 1. We show next that there is a configuration with δ 1 = δ 2, and hence this is the only solution in our setting. We define the following angles: In the triangle OBR we have the angles α (at O), γ 1 (at B), and ᾱ (at R). In the triangle OAL we have the angles β (at O), γ 2 (at A), and β (at L). Notice that by symmetry, these angles also show up in the triangles ORG and OGL. The notation is shown in Figure 7(b). We set δ 1 = δ 2. Due to γ 1 = 90 + δ 1, and γ 2 = 90 + δ 2, (1) we have γ 1 = γ 2. As a consequence triangle OBR and triangle OLG are similar (in particular, they differ by a scaling factor of 1/2). It follows that ᾱ = β and β = α. In order to show that δ 1 = δ 2 gives a valid configuration we have to show that δ 1 + δ 2 + 2α + 2β = 180, which holds because δ 1 + δ 2 + 2α + 2β = δ 1 + δ 2 + ᾱ + α + β + β, = δ 1 + δ γ γ 2, = 180 (γ 1 δ 1 ) (γ 2 δ 2 ), = =
10 (a) (b) Figure 9: A 180 pop-up fold constructed with the help of reflector gadgets. (a) Open configuration. (b) Some intermediate configuration. (a) (b) Figure 10: (a) A polygon with opening angle 270. The induced connected components are drawn with different shades of grey. (b) The pop-up linkage. The reflector gadgets have to be inserted at the crossed regions. Property (c) follows from the fact that the order of the emanating edges around every vertex is preserved. Furthermore the vertex M cannot cross GR. To see this consider the angle τ that is realized between EB and EM. Because 2ᾱ = 2β 90 δ 2 = 90 δ 1 = τ, the slope at GR is larger than the slope at EM and hence GR lies below EM. We use the properties of the reflector to combine two 90 pop-up folds to a fold with larger opening angle. We discuss 180 pop-ups first. In this case both cover edges lie on a line through p 1. To guide our construction we add a bisector s of the cover edges that runs through p 1. Furthermore, we add two parallel lines to s, such that the induced stripe contains s in the middle and no point of P except those lying on s. This stripe is called S. The edges that appear when intersecting P with the boundary of S are added to the linkage L. We fill each rectangle obtained by intersecting P with S with a reflector gadget. The components of P \ S are turned into a linkage by h-superimposing as discussed in Section 3.1. By this, every component of P \ S supports a shearing motion. The shearing motions are linked by the reflector gadgets, so the combined linkage L has one degree of freedom. By the properties of the reflector, the left and right side of s perform a shear and both parts of P stay on their own side, relative to s. Hence it is impossible for L to self-intersect. Notice that we can always make the stripe S thin enough that the rectangles of P S are not too wide for the reflector gadgets. See Figure 9 for an example. We conclude with: Theorem 3. The method described above constructs a pop-up fold for the polygon P with opening angle 180. The combinatorial complexity of the linkage is O(n). Proof. The correctness of the construction follows from the discussion above. We have at most O(n) reflector gadgets, each using O(1) new joints. The complexity of the remaining part is linear due to Theorem 2. In order to realize 270 and 360 folds we extend the 180 construction as follows. We split P into pieces by cutting it along the horizontal and vertical lines through p 1. We then turn each connected component of the split polygon into a 90 linkage, by adding bars and joints as discussed in Theorem 2. Then each piece of the polygon will be constrained to move in a shear motion, 10
11 but different pieces will not necessarily move together. To synchronize the pieces, we use reflector gadgets to connect them. To generate the space for the gadgets, we add bars that sandwich the horizontal and vertical lines through p 1, thereby creating vertical and horizontal strips in which the reflector gadgets can be placed. Because no gadgets lie inside the intersection of the vertical and horizontal strip, no two reflector gadgets interfere. Figure 10 shows an example of an 270 fold. We conclude with the following theorem: Theorem 4. The method described above constructs a pop-up fold for the polygon P with opening angle 270 or 360. The combinatorial complexity of the linkage is O(n). 4 General Polygon Pop-Ups In this section we provide a different method for constructing pop-ups of polygons. This method works for all simple P (not necessarily orthogonal), but has a higher asymptotic complexity of O(n 2 ). Before giving the construction, we provide a key geometric lemma about the non-crossing of nested V-fold linkages. 4.1 Nested V-folds We define an outward V-fold as the single-degree-of-freedom linkage formed by a (weakly) convex quadrilateral ABCD with AB +BC = AD +DC. (This was called a V-fold in [14].) Such a linkage folds flat as the opening angle BAD decreases to zero. If, in the open configuration, the angle at C is 180 and the angle at A is less than 180 (i.e. the quadrilateral is a nontrivial triangle with C on side BD), we call this linkage a flat outward V-fold, and illustrate it with a small arrow as in Figure 11 in the appendix. Similarly, the linkage formed by a (weakly) non-convex quadrilateral ABCD with AB BC = AD DC has one degree of freedom and folds flat without overlap, and is called an inward V-fold. If the angle at C is 180 and the angle at A is less than 180 it is a flat inward V-fold. B = B' B = B' A C D C' D' A D C C' D' (a) Two nested outward flat V- folds (b) A contradiction arises of we assume C hits C D Figure 11: According to Theorem 5, flat outward V-folds ABCD and ABC D will not touch as they are folded. Theorem 5. (a) Let ABCD and AB C D be flat outward V-folds on the same rays with BAD B AD, where we may have B = B or D = D. Then these linkages do not cross during the closing motions. In fact, they do not touch at all, except at the closing configuration and possibly at the endpoints B = B or D = D if either equality holds. (b) The same statement holds with outward replaced by inward. 11
12 Proof. We rely on the following well-known Lemma: Lemma 2 (Pitot s Theorem). 1. A simple quadrilateral ABCD (not necessarily convex) satisfies AB + CD = AC + BD if and only if there is a circle internally tangent to all four side lines of the quadrilateral. By internally tangent we mean that the circle lies on the same side of the lines as the interior of the quadrilateral. 2. A simple quadrilateral ABCD satisfies AB + BC = AD + DC if and only if either: The quadrilateral is a parallelogram; AB + AD > CB + CD, no pair of opposite sides are parallel, and there exists a circle internally tangent to lines AB and AD and externally tangent to lines CB and CD; or AB + AD < CB + CD, no pair of opposite sides are parallel, and there exists a circle externally tangent to lines AB and AD and internally tangent to lines CB and CD. Proofs of these facts can be obtained by defining P = AB CD (if AB CD) and comparing incircles or excircles of triangles AP D and BP C. We first prove part (a) of Theorem 5. It suffices to prove the theorem in the case that B = B : indeed, if B B and D D then pick C BD such that ABC D is a flat outward V-fold and apply the theorem to ABCD ABC D and ABC D AB C D. So we may assume B = B and D D. First let us show that C never touches C D except possibly at the closing configuration. If it did, then fix the opening angle at the first time that C lies on segment C D, as in Figure 11 this angle exists by continuity. We have AB+BC AD DC = 0 = AD+DD +D C+CC AB BC, and adding these expressions produces 0 = (BC + CC BC ) + (DD + D C DC) 0 + 0, so by triangle inequality both triangles BC C and CDD must be flat. It follows that quadrilaterals ABCD ABC D have equal area and are thus equal, contradicting the assumption D D. So C never touches C D until both quadrilaterals have area 0 at the closing configuration. Now suppose that C ever lies on BC during the closing motion. Consider the largest opening angle θ 0 for which C BC, i.e. the first such angle reached during the closing motion. We ll show that C lies outside quadrilateral ABC D at angle θ 0 + ɛ for some sufficiently small ɛ, contradicting the assumed maximality of θ 0. For this, consider increasing the opening angle θ at a constant rate starting from θ 0, while holding A, D, and D fixed. We will compute the velocities of B, C, and C and show that C moves strictly outside ABC D to the first order, which implies that it does so for all opening angles θ 0 + ɛ for all sufficiently small ɛ > 0. Now fix the opening angle at θ 0. Note that BC + CD < AB + AD by triangle inequality on the original configuration because ABCD is a flat V-fold, and similarly BC + C D < AB + AD. By Lemma 2, it follows that we may define points P = AB CD and P = AB C D, and furthermore that there exist circles Ω and Ω such that Ω is internally tangent to AB and AD and externally tangent to CB and CD, and likewise Ω is internally tangent to lines AB and AD and externally tangent to lines BC and CD. But three of these lines coincide, so Ω = Ω, and in particular, Ω is externally tangent to line C D. Because D is between A and D, it follows that P is between A and P in fact, P is between B and P, as in Figure 12. The velocity vector v B of point B is perpendicular to AB, and we normalize so that v B = BP. In other words, if r is the counter-clockwise rotation by 90, we have r( BP ) = vb as vectors. Let 12
13 P' P B = B' Ω A C D C' D' Figure 12: All five lines are tangent to a single circle by Pitot s theorem. v C and v C be the resulting velocities of C and C. Vector v C satisfies v C DC and v C v B BC, which uniquely determines v C = r( CP ). Pick the point Q on line BC so that P Q C D, and note that B, C, Q are collinear in that order because BP P are collinear in that order. By reasoning similar to that for v C, we derive that v C = r( QP ). So the angular velocity of C rotating clockwise around B (as in Figure 12) is equal to BC / BC = 1, and similarly the angular velocity of C around B is BQ / BC > 1. So C moves out of quadrilateral ABCD to the first order, which completes the proof. If ABCD AB C D begin as flat inward V-folds, then we may assume B = B as above, and Lemma 2 guarantees that quadrilaterals ABCD and ABC D have a common inscribed circle (i.e. tangent to all lines internally). The rest of the proof proceeds as above. 4.2 The General Pop-Up Construction: The Method We are now able to describe the construction for pop-ups of general polygons. As in Section 2, we wish to construct a one-degree-of-freedom linkage L contained in simple polygon P = v 1 v 2 v n, where P is contained in the wedge formed by rays v 1 v 2 and v 1 v n. We sometimes refer to the crease point v 1 as O. The opening angle θ of the original configuration, namely the angle of polygon P at vertex O, is not constrained to {90, 180, 270, 360 } in this section: it may take any value 0 < θ 360. First we discuss the general strategy and provide a linkage L 1 that has a pop-up motion for polygon P but has more than one degree of freedom. Later we brace the linkage to remove the excess flexibility. We first subdivide the wedge around O containing P by rays starting at O, where there is one such ray through each vertex of P and additional rays are inserted so that consecutive rays form acute angles. Suppose r 1,..., r t are these rays in order around O = v 1, starting at r 1 = Ov 2 and ending at r t = Ov n. The region of the plane between rays r i and r i+1 is the ith wedge, W i. We subdivide polygon P by these rays: any positive length segment of a ray r i contained in P or its boundary is inserted as a single bar in linkage L 1 and is called a wall segment. Notice that edges of P may be wall segments. Also, by slight abuse of terminology, a positive length subsegment of a wall segment is also called a wall segment. Any isolated points on r i P are necessarily vertices of P and are called wall points. 13
14 The rays r i or equivalently the wall segments subdivide P into a number of triangles and quadrilaterals, called cells. Each cell has two wall portions on consecutive rays: at least one of these is a wall segment, and the other may be a wall segment or point. A cell that has two wall segments is called an internal cell, and those with a wall point are ear cells. Two cells are adjacent if they share a wall segment. By adding at most one new ray for each ear cell, (and renumbering the rays as necessary), we may assume that each ear cell is adjacent to a unique interior cell. The rays r i also subdivide the boundary of P into segments. On each such segment AB that is not a wall segment (which implies A and B are on consecutive rays), insert a joint C at the point that would make OACB an outward V-fold at O, i.e., C is the unique point on AB with OA + AC = OB + BC. This linkage L 1 serves our first stated purpose: Lemma 3. The linkage L 1, constructed from P by adding wall segments and extra boundary vertices as described here, can be continuously folded flat without overlap. Proof. Let φ i be the angle of wedge W i, i.e., the angle between rays r i and r i+1 at O. Consider any continuous rotation of rays r 1,..., r t around O so that all angles φ 1,..., φ t 1 decrease monotonically to 0. Let each wall portion on ray r i rotate around O to stay on ray r i, and for each boundary portion ACB of P within wedge W i, let ACB fold outward as would the outward V-fold OACB. Then path ACB remains entirely inside wedge W i throughout the motion, and therefore does not interact with portions of P in different wedges. Furthermore, by Theorem 5, the various boundary portions in wedge W i do not touch each other throughout the motion. It follows that this is indeed a continuous planar motion of L 1. The rest of the construction shows how to add additional support to L 1 to turn it into a onedegree-of-freedom linkage whose motion has the form described in the proof of Lemma 3. We cut down the freedoms of L 1 in several steps, given in the next three subsections. 4.3 Constraining Wall Segments to Rotations For two non-overlapping segments P Q and RS whose lines intersect at a point O, consider the rotation gadget as illustrated in Figure 13. (When we apply this below, P Q and RS will be wall segments, and O will indeed be the crease point.) This linkage is specified as follows: AB DE are any two segments not sharing an endpoint with P Q or RS with AB closer to O than DE; C is chosen on AB such that OA+AC = OB +BC, and the 180 angle at C is declared to fold outward, with F on DE chosen similarly; G is chosen so that DACG is a parallelogram, and likewise CBEH is a parallelogram. Lemma 4. The linkage illustrated in Figure 13(a) has one degree of freedom. If P Q and point O are held fixed in the plane, then in the unique motion, segment RS rotates rigidly around point O from its starting position to a closed configuration where P Q and RS are collinear. Proof. First note that, in this original configuration, O, C, and F are collinear by similarity of triangles AOB and DOE. By similarity of AOB and GCH, it follows that the side lengths of quadrilateral CGF H are proportional to those of OACB and ODF E, and in particular, CG+GF = CH + HF, To see that the linkage has one degree of freedom, note that if the shape of any one of parallelogram ACGD, parallelogram CBEH, or V-fold CGF H is known, then all three are uniquely determined. 14
15 Q D A P G F C H B R S E Qi 1 CL EL Pi 1 DL Qi GLB FL GR FR IR HL IL HR A Pi ER DR Pi+1 CR Qi+1 (a) The rotation gadget O (b) The synchronizing gadget Figure 13: The two gadgets analyzed in Lemmas 4 and 7 To verify that this motion has RS rotating rigidly around O, suppose we have any other configuration of the linkage where vertex B has moved to B, C has moved to C, and so on, where A, D, P, Q, O have not moved but line RS is not known to pass through O. Let O = P Q R S. Because the lines of quadrilateral C G F H are parallel to the corresponding lines of O DF E, and we know that DF /F E = G F /F H, it follows that quadrilaterals O DF E and C G F H are similar. Because OD/DF = CG/GF = C G /G F = O D/DF, it follows that OD = O D, so O = O. Similarly, this proportionality gives OE = OE, so RS has indeed simply rotated about O. This also implies that the linkage stays planar during the folding motion. Lemma 5. Let L 2 be the linkage derived from L 1 as follows: for every internal cell, attach a rotator gadget inside the cell connecting (internal subintervals of) the wall segments. Then the motions of L 2 correspond exactly to those motions of L 1 where wall segments only rotate around O, and planar motions of L 1 extend (uniquely) to planar motions of L 2. Proof. In one direction, we must show that any configuration of L 2 has the property that every wall segment only rotates about O. Because any wall segment on ray r 1 clearly is constrained to rotating about O, the result follows from Lemma 4 paired with the fact that P is simple and hence the graph of cell adjacency is connected. In the other direction, we must show that any non-overlapping planar motion of L 1 induces a non-overlapping motion of L 2. Specifically, we must show that the rotation gadgets do not introduce crossings. But this follows from Theorem 5, because the flat, outward V-folds composing the rotation gadget (ACB and DF E in Figure 13) are initially inside their cell (which in turn is bounded by flat, outward V-folds) and thus do not overlap during the motion. 4.4 Synchronizing Wall Segments We next show how to synchronize the wall segments to ensure that all wall segments originally on ray r i remain on a single ray through O throughout any continuous motion. Let φ 1,..., φ t 1 be the initial angles of the wedges W 1,..., W t 1. For an internal cell ABCD with AB r i and CD r i+1, we know that any motion of L 2 rotates AB and CD around O, and we define the angle of the cell at any time as the angle between rays OAB and OCD. Definition 2. For each 1 i t 2, construct a linkage M i with two adjacent flat V-folds as follows. Points A, D, B, E, C are collinear, and connected in order (with B a flap on bar DE), and point O connects to A, B, and C. Angle OBA is 90, AOB = φ i, and BOC = φ i+1. Finally, 15
16 if i is even then OADB is an outward flat V-fold and OBEC is an inward flat V-fold, and if i is odd then OADB is chosen outward and OBEC is inward. Lemma 6. The linkage M i defined as above has a single degree of freedom and folds from the initial configuration to a flat one without overlap. Furthermore, there is a continuous, strictly increasing, and invertible function m i : [0, φ i ] [0, φ i+1 ] such that m i ( AOB) = BOC during this motion. Proof. Each V-fold is a one-degree-of-freedom mechanism and they are linked by the flap at B, so M i has one degree of freedom. The existence of a continuous and strictly increasing function m i follows from the fact that as M i folds toward its flat state, all angles between bars increase or decrease strictly. These imply that m i has a continuous and strictly increasing inverse. Inductively define Φ 1 (s) = s and Φ i (s) = m i 1 (Φ i 1 (s)); these will control the rates at which internal cells angles change. Specifically, fix an internal cell X 1 Y 1 Y 2 X 2 with two wall segments X 1 Y 1 and X 2 Y 2 such that X 1 Y 1 r 1 and X 2 Y 2 r 2 initially. (We may have X 1 = X 2 = O.) Let s be a variable representing the angle of cell X 1 Y 1 Y 2 X 2 during any motion. We will brace L 2 to a new linkage so that every internal cell initially in W i will have angle Φ i (s) during the motion. To do this, we make the following additions to L 2 to form a new linkage L 3 : For every pair of adjacent internal cells with wall segments P i 1 Q i 1 r i 1, P i Q i r i, and P i+1 Q i+1 r i+1 (note that P i Q i need not be the maximal wall segment for either cell), attach a synchronizing gadget as shown in Figure 13(b)and described in detail below. Specifically, make the following additions to L 2 to form a new linkage L 3 : For every pair of adjacent internal cells with wall segments P i 1 Q i 1 r i 1, P i Q i r i, and P i+1 Q i+1 r i+1 (note that P i Q i need not be the maximal wall segment for either cell), attach bars as shown in Figure 13(b). Specifically, AB is some subsegment of P i Q i not containing any vertices of P i Q i, and C L and C R are points of P i 1 Q i 1 and P i+1 Q i+1, and these are chosen so that triangles ABC L and ABC R do not intersect any rotation gadgets of L 2. Points D L, E L, D R, E R form outward V-folds as shown, and quadrilaterals AF L G L B and AF R G R B are drawn similar to quadrilaterals OC L E L B and OC R E R B. Finally, a segment H L H R is drawn perpendicular to AB with H L AF L and H R AF R (this is possible because φ i 1, φ i < 90 ), with a sliceform at J. Finally, an outward (resp. inward) V-fold is drawn at I L if i is even (resp. odd), with an inward (resp. outward) V-fold at I R. The resulting construction is called a synchronizing gadget. Lemma 7. Define L 3 as the linkage constructed from L 2 by inserting a synchronizing gadget between every pair of adjacent internal cells as described above. Then the continuous motions of L 3 correspond to those motions of L 2 such that the angle of any internal cell originally in wedge W i is now Φ i (s), where s represents the (changing) angle of cell X 1 Y 1 Y 2 X 2. Furthermore, planar motions of L 2 induce planar motions of L 3. Proof. Recall that all motions of L 2 can only rotate the wall segments about O. The synchronizing gadget is constructed to ensure that, during any motion of L 3, quadrilaterals OC L E L B remains similar to AF L G L B throughout the motion, and in particular, C L OB = F L AB throughout. Similarly, BOC R = BAF R throughout the motion. And because AH L I L JI R H R forms a copy of linkage M i 1, it follows that BOC R = OAF R = m i 1 ( F L AB) = m i 1 ( C L OB). The claim that the angle of each cell originally in each wedge W j is Φ j (s) (where s is as in the theorem) now follows by induction on the length of the shortest path from each cell to cell X 1 Y 1 Y 2 X 2. We must also ensure that all such motions of L 2 extend to planar motions of L 3. Each internal cell now has a rotation gadget and possibly many parts of syncronizing gadgets, but each of these 16
17 (a) (b) (c) (d) Figure 14: Applying the Pop-up algorithm from Theorem 6 to a fan-shaped polygon. is bounded by flat outward V-folds, so they do not intersect each other by Theorem 5. The only potential intersection within a synchronizing gadget is that F L may intersect segment AD L, and similarly on the other side. It can be shown from Lemma 2 that rays AD L and OC L always intersect, and because AF L remains parallel to OC L, it follows that angle F L AD L never shrinks to 0 unless P i 1 Q i 1 and P i Q i become collinear. 4.5 Constraining Ear Cells The configurations of all internal cells in L 3 are determined by s = Y 1 OY 2. The only unwanted degrees of freedom of L 3 must therefore come from the ear cells, which have not yet been modified. In this section we constrain these to produce the final linkage L. Consider an ear cell with wall segment P i Q i r i and wall point V i+1 r i+1, say. This is adjacent to a unique interior cell, with wall segment P i 1 Q i 1 along r i 1. To constrain ear cell P i Q i P i+1, we simply add two synchronization gadgets centered on P i Q i that both connect to V i+1 r i+1 and some point V i 1 P i 1 Q i 1. Adding these synchronization gadgets for each ear cell produces the final linkage L: Theorem 6. The linkage L obtained from L 3 by adding two synchronization gadgets to each ear cell is a pop-up for the polygon P. Its boundary is connected and forms the polygon P in its opened configuration, and there are O(n 2 ) total bars in the linkage. 17
18 Proof. Consider the motion of L 3, parametrized by s = Y 1 OY 2, that rotates V i+1 so that Q i OV i+1 = Φ i+1 (s), and similarly for all other ear cells. This describes a continuous, planar motion of L 3 (of the form described in Lemma 3), and it follows from the analysis in the previous section that this extends to a continuous, planar motion of L. We must show that L is a one-degree-of-freedom mechanism. We will show that s parameterizes the one degree of freedom, and as mentioned above, it suffices to show that the location of point V i+1 depends only on s. But this can be easily derived from properties of rotator gadgets. The boundary of L is unchanged from that of P other than the insertion of vertices, so it is connected. Finally, there are t = O(n) rays r 1,..., r t which gives L 1 at most O(n 2 ) bars, and each of the O(n 2 ) rotator gadgets and synchronizing gadgets has O(1) bars. An example of this algorithm applied to a fan-shaped polygon is shown in Figure Orthogonal Polyhedra Pop-Ups In this section, we apply some of the techniques of 2D pop-up folds to the design of 3D pop-up structures that take the shape of orthogonal polyhedra. We first show how to construct pop-ups with an opening angle of 90, then extend the construction to larger opening angles D Pop-Up Model In the 3D case, we model a pop-up using a model similar to rigid origami. A structure in rigid origami is composed of a number of infinitely thin rigid sheets of paper, each in the shape of a simple polygon, connected using hinged joints. If two sheets are joined at a hinge and one is held fixed, then the only possible motion for the other is rotation around the hinge. A hinge may also join more than two sheets, placing the same restriction on motion. A fold or a crease in a pop-up is equivalent to a hinge connecting two sheets. A flap in a pop-up corresponds to attaching the edge of one sheet to the center of another. Let P be a simple polyhedron with n vertices v 1, v 2,..., v n. We select one edge e in P to be the spine of the pop-up. Let the faces adjacent to e be f 1 and f 2. The opening angle of the pop-up is the measure of the dihedral angle between f 1 and f 2. The cover of the pop-up consists of the union of two halfplanes. The first halfplane in the cover is the half of the supporting plane of f 1 that contains f 1 and has the extension of e as its boundary. The half of the cover containing f 2 is defined similarly. A rigid-origami structure L is a 3D pop-up for P if it has an open configuration, a closed configuration, and a unique folding motion from open to closed, all defined analogously to the configurations of a 2D pop-up. Specifically, the following conditions must hold: (1) There exists a configuration of L such that the outer surface of the union of all of the sheets in L is equal to the boundary of P, and fhat e is in the same location as h. We call this the open configuration. (2) There exists a configuration of L such that all sheets lie in the same plane, and all sheets lie on the same side of the line through h. We call this the closed configuration. (3) There is a unique motion that transforms the open configuration into the closed configuration. During this motion, L is contained inside the wedge defined by the cover, and the opening 18
19 Figure 15: A pinwheel pattern. The rigid bars surrounding one cell are highlighted in blue. angle decreases continuously. Just as in the 2D case, we assign all hinges in the pop-up structure a particular direction to fold in. The combinatorial complexity of the 3D pop-up L is equal to the number of hinges. Note that unlike in the 2D case, it is not sufficient to simply add more paper and more creases. By the Bellows Theorem [28, 9], if we treat a polyhedron as a linkage where each face is rigid and faces must rotate around edges, then all motions of the linkage preserve the volume of the polyhedron. Hence, we cannot fold the polyhedron flat unless we cut the boundary of the polyhedron. 5.2 Scaffold Pop-Ups Suppose we have a simple orthogonal polyhedron P with an opening angle of 90. Without loss of generality, we may assume that e lies along the z-axis, and that f 1 lies in the positive x section of the xz plane. Suppose further that f 2 lies in the positive y section of the yz plane. In our first step, we construct an orthogonal grid. Let x 1,..., x n be the x-coordinates of all vertices in P sorted in increasing order. Similarly, let y 1,..., y n be the sorted y-coordinates and let z 1,..., z n be the sorted z-coordinates. Then grid cell (i, j, k) is the rectangular box [x i, x i+1 ] [y j, y j+1 ] [z k, z k+1 ]. By construction, the polyhedron P is the union of a face-connected subset R of grid cells. The scaffold of P is the union of all faces f of cells in R such that f is parallel to the spine. The grid slice G k consists of the union of all grid cells (i, j, k), not necessarily contained in P. Let the slice scaffold S k be the intersection of the scaffold with G k. The slice scaffold contains no faces perpendicular to the z-axis, and every cross section perpendicular to the z-axis is the same. Hence, the problem of constructing a pop-up for S k is purely 2D. To construct a pop-up for S k, with the correct shear motion, we must find a way to combine faces of S k into larger rigid sheets so the structure shears in the way we want. Say that we have an edge bordering exactly three faces. Then two of the faces must be coplanar, and can be merged into a single rigid sheet. The third face can be added as a flap to the middle of the larger sheet. Now say that we have an edge with x and y coordinates (x i, y j ) bordering exactly four faces. Then there are two pairs of coplanar faces, which gives us two possible choices for the way to rigidify. If (i + j) is even, then we rigidify the pair of faces perpendicular to the x-axis; otherwise, we rigidify the pair of faces perpendicular to the y-axis. This construction means that the four sheets adjacent to a given grid cell are arrayed in a pinwheel pattern, as depicted in Figure 15. Suppose that we use this construction to make a pop-up-like structure for each slice, which we will call a pinwheel slice. Now suppose that we place them all side-by-side so that the initial position takes the shape of the scaffold. Call the result of this process the sliced pinwheel scaffold. Unfortunately, the sliced pinwheel scaffold is not a actually a pop-up for the scaffold: each slice scaffold is disconnected from its neighbors, and even within a single slice the slice scaffold may be 19
20 disconnected. To resolve this, we need a way to make the motions of one pinwheel slice affect the motions of its neighbors. Given any pair r 1, r 2 R of adjacent cells in adjacent slices, we wish to cause any motions of the sheets around r 1 to affect the sheets around r 2. For each such pair r 1, r 2, we fuse each of the four sheets that surround r 1 in the initial configuration with the corresponding coplanar sheet around r 2, to create four larger rigid sheets in the initial opening configuration. Call the result of this fusing the pinwheel scaffold of P. Lemma 8. The pinwheel scaffold of a polyhedron P is a pop-up for the scaffold of P. The pinwheel scaffold has complexity O(n 3 ). Proof. By construction, the pinwheel scaffold has a valid open configuration, with the union of all sheets congruent to the scaffold of P. To see that it satisfies the other two properties of a 3D pop-up, we wish to show that if the opening angle α is given, then the location of each hinge is determined, and the mapping of hinges from their original locations is f(x, y, z) = (x + y sin α, y cos α, z) We proceed by induction on the number of cells. Suppose that the locations for the hinges for the first l cells satisfy the inductive hypothesis. Now consider a new cell r 1 R that is face-adjacent to some cell r 2 R in the set of l cells. We consider two cases: Case 1: r 1 and r 2 are in the same slice. By the construction of the pinwheel slices, if r 2 satisfies the shear mapping, then r 1 will also satisfy the shear mapping. Case 2: r 1 and r 2 are in different slices. Then r 1 and r 2 share all four hinges, and so all of the hinges incident to r 1 must satisfy the shear mapping. The complexity of the pinwheel scaffold is linear in the number of grid cell, for a total of O(n 3 ). The pinwheel scaffold has a number of faces parallel to the spine. All such faces are contained within P when the scaffolding is open, and all faces on the boundary of P that are parallel to the spine also exist in the scaffolding (although they may be subdivided). The only missing pieces are the faces of P that are perpendicular to the spine. 5.3 Additional Faces To add those pieces to the pinwheel scaffold, we first subdivide the faces using our rectilinear grid so that the sheets we wish to add to the pinwheel scaffold are faces of the grid cells. We must attach each such sheet to the sheets in the scaffold that form the adjacent grid cell. There are four potential hinges that we could use to attach the new face to the scaffold. The two potential hinges we choose to use are the hinge parallel to the x-axis with the smallest y- coordinate, and the hinge parallel to the y-axis with the smallest x-coordinate. By construction, the angle between these two hinges will grow smaller as the pinwheel scaffold folds. Therefore, if we attach the new face using these hinges, we need not cut the resulting paper. Instead, it is sufficient to add a crease to the new sheet emanating from the intersection of the two hinges at a 45 angle. For consistency, we make each crease constructed in this fashion fold in the same direction (e.g. the positive z-direction). We call the resulting rigid origami structure the draped scaffold. Theorem 7. The draped scaffold of P is a pop-up for P with complexity O(n 3 ). 20
21 (a) The open configuration. (b) An intermediate configuration Figure 16: A 3D rendering of what the draped scaffold might look like for a particular 3D figure. Proof. Just as in Lemma 8, our construction of the draped scaffold ensures that there exists an open configuration whose boundary is the target shape P. Furthermore, Lemma 8 shows that the pinwheel scaffold will uniquely fold into the closed state. Therefore, we need only consider how the new faces added to the pinwheel scaffold affect the way that it folds flat. To show a unique folding motion, we first show that there is at most one way to fold the draped scaffold as the opening angle decreases. To see why, consider how a single added face will move as the opening angle decreases. The single face we add consists of two rigid sheets. Each rigid sheet shares a hinge with a sheet in the pinwheel scaffold, whose motion is entirely determined by the opening angle. As a result, the two newly added rigid sheets each have a single dimension of motion. The hinge joining the two sheets further restricts the motion of both, thereby ensuring that there is at most one way to place the newly added sheets, given the opening angle. Next, we wish to show that the draped scaffold does fold in other words, that there is at least one way to fold it as the opening angle decreases. To do so, we must check that folding the pop-up does not cause the sheets of the pop-up to self-intersect. Lemma 8 shows that no pair of sheets from the pinwheel scaffold can intersect each other. We must ensure that any sheets new to the draped scaffold will (a) not intersect with the pinwheel scaffold, and (b) not intersect with each other. To show both these properties, it will be useful to consider the x- and y-coordinates of the new sheets during the fold. To that end, let points A through H be defined as in Figure 17, and consider what happens as ABC closes. The point E is equidistant from A and G when ABC = 90. Therefore, because sheets ABE and BGCF E are rigid, E must be equidistant from A and G no matter what the measure of ABC is. So if we project the locations of each vertex onto the xy plane, E must lie on the angle bisector of ABC. Furthermore, the distance between B and E is fixed, so in the xy projection it cannot get longer. This means that in the xy projection, E can 21
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376 pages, 6 b/w photos, 2 tabs
This Asian plant, with mysterious cathartic powers, spurred many European trade expeditions, and remarkable efforts by botanists, gardeners and pharmacists to adapt it for convenient use in Europe. This is an analysis of the discovery, use and adaptation of this plant.
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Simplicity 3985; ©1941; Misses' and Women's Dress: Curved shoulder yokes introduce soft gathers of the becoming neckline and gathers join the simple bodice to the gored skirt. Style I, made with long fitted sleeves, is finished at the seams of the shoulder yokes with a button-trimmed applied band. Style II is untrimmed and finished with simple short sleeves.
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2016 Samaritan's Feet Barefoot Classic Features 18 Teams from Three States
The Sanford Pentagon Samaritan's Feet Barefoot Classic will take place on January 2, 2016 featuring 18 teams from South Dakota, Iowa, and Minnesota.
The Sanford Pentagon Samaritan's Feet Barefoot Classic will take place on January 2, 2016 featuring 18 teams from South Dakota, Iowa, and Minnesota.
The 2015 Sanford Pentagon Classic will feature nine games on Heritage Court on December 19. This year will feature three defending state champions.
The Sanford Pentagon was the site of the South Dakota Basketball Coaches Association/Sanford Pentagon All-Star games Sunday.
The Huether Family Match Pointe is open for play. Sunday April 12 will be the unveiling of upcoming attractions.
During March Madness, the NCAA Division I teams—the so-called "big schools"—get most of the fan and media attention.
But after watching teams from the D-I Summit League play their championship tournament in Sioux Falls two weeks ago and now the smaller D-II schools play their "Elite Eight" tournament, it's difficult to see a difference in the quality of the basketball...
First round play began Tuesday in the Women's Division II NCAA Elite Eight at the Sanford Pentagon Center in Sioux Falls.
You'd think getting to the Elite Eight in the Women's NCAA Division II championship might be the best thing about coming to the Sanford Pentagon. It is.
Field set for Division II Women's Basketball Elite 8 in Sioux Falls at the Sanford Pentagon
Iowa State, Colorado latest teams booked by Sanford Pentagon
No. 1 seed Augustana opened up play in the NCAA Central Region Tournament with a convincing 104-77 win over No. 8 seed Arkansas Tech.


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From pepperoni to mushroom, we've got lots of delicious pizza recipes to get the whole family making this month:
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For updates on American Festivals join us on Facebook
Festivals in South America are a mix of indigenous rituals and the Catholic celebrations from colonizers. However there are lots of crazy festivals around the Americas such as Burning Man & How Weird Festival to name but a few.
check out North American festivals 2010 here
Festivals in the Americas 2010 covers everything from Alaska to Buenos Aires Tango festival. The best about the Americas is..there's two of them- ok but the fact that it spans two hemispheres means that if its Winter up North there's always something going on South from indigenous festivals which protest the Spanish conquistadors to Mexico celebrating the defeat of France. We feature Latin American festivals from Mexico to Tierra del Fuego.
check out South American festivals 2010 here
Wash the Bonfim One of the oldest festivals of Brasil where a church is worshipped, followed by … a carnaval of course.Mummers Day ParadeGet to Philly and party through the night, barely finished celebrating and dancing ? Ok now put on fancy dress and party through the streets.Great Alaska Beer & Barley FestAlaska Beer & Barley Fest; Clear skies, cloudy beers, hundreds of brews, thousands of people and one great reason to celebrate: beer.Sundance Film FestSundance Film Festival 2009: every January in Park City Utah.
continue to festivals in South America here
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Trophy Lamp By Isabelle Rolland
Ohmigosh, this is hilarious -- Can someone buy me one, please??
Yup, these are antlers. I'd like to put them over my bed.
Wow, I would LOVE this on my fridge! The cool thing, too, is that you can buy either the gray or the color-toned magnetic-backed squares and create multiple designs (so you're not stuck with just Che or Audrey)
A unique little accessory for the home. This mason jar stores sunlight, and casts a subtle glow later in the night.Added 8 Years Ago from Amazon.com
flowers are much too girly... this vase puts a little edge on everything but doesn't make it look masculine. Perfect bit of "umph" in your apartment from one pretty, edgy vase.Tags: home, gifts, accessories, style, interior design, home decor, China, flowers, rosesAdded 9 Years Ago from Gnr8
Inspired by old pendulum clocks, this tabletop timepiece from walnut plywood.Tags: home, accessories, style, home decor, clocks, wood, living, walnut, JapanAdded 9 Years Ago from Gnr8
Very nice classic look but with contemporary technology.Tags: home, gifts, technology, lamps, lighting, accessories, comfort, sculptures, styleAdded 9 Years Ago from Gnr8
Beautiful! That's some astounding knit work.
Great combo of organic and digital
Sleek W-hotel like lighting.Tags: home, furniture, lighting, lamps, style, floor lamps, light cubeAdded 9 Years Ago from Gnr8
Makes for a beautiful presentation.Tags: home, food, kitchen, japanese, cooking, soy, style, dinnerware, entertainingAdded 9 Years Ago from Gnr8
I heart coffee!
Ha! Great idea.
Different designs of things that are commonly found happening in parks...my personal favorite is the flasherTags: home, humor, art, sculptures, style, modern, containers, planters, urbanAdded 9 Years Ago from Scienceandsons
Apparently this adjustable wood highchair can hold up to 200lbs. Thats one big baby. Well, its good to know that such an amazing high chair is sturdy even if it is to the point of absurdity. I love the dark wood chair. Available i... Apparently this adjustable wood highchair can hold up to 200lbs. Thats one big baby. Well, its good to know that such an amazing high chair is sturdy even if it is to the point of absurdity. I love the dark wood chair. Available in 5 different finishes.
It's actually a money egg. Its adorable and you literally have to crack it open to get your money.
I like this idea. You can arrange the coat hooks in any fashion on the wall. I guess you could also do this with furniture knobs, hooks and handles.
Futuristic and stylish, this piece would look great with almost anything, especially at night. It reminds me a little bit of ET's finger, but you definitely won't get lost while wearing it.Tags: fashion, gifts, electronics, gadgets, lighting, accessories, style, light, modernAdded 9 Years Ago from Gnr8