Water puppet automation technology has revolutionized the traditional art form of water puppetry in Vietnam, ushering in a new era of automated performances.. Through extensive testing a
INTRODUCTION
What is Water Puppetry?
Water Puppetry is a captivating traditional Vietnamese performance art that has its origins in the eleventh century in the Red River Delta region This culturally rich art form features meticulously crafted water puppets, skillfully controlled by puppeteers behind a screen, as they glide gracefully across the water's surface Accompanied by music, storytelling, and colorful costumes, Water Puppetry showcases the vibrant tapestry of Vietnamese traditions, reflecting daily life, communal celebrations, and ancient legends.
Figure 1.1 The artisans are manipulating the water puppets.
Water Puppetry performances feature puppeteers standing behind a bamboo screen in waist-deep water, skillfully manipulating puppets with long bamboo rods and strings The synchronized movements of the puppets, accompanied by music and storytelling, create an enchanting experience as they seem to glide gracefully across the water This art form blends traditional techniques with modern elements, captivating audiences with its ethereal charm and immersive narratives The combination of puppetry, music, costumes, and set designs results in a mesmerizing spectacle that transcends language barriers, appealing to spectators of all ages.
The creation of water puppets involves a meticulous process where artisans carve lightweight woods like fig or jackfruit to ensure buoyancy These puppets are then intricately painted and lacquered, showcasing vibrant colors and durability while incorporating traditional folk motifs and symbolic patterns that reflect Vietnam's rich cultural heritage Equipped with movable limbs and precise joint systems, the puppets allow puppeteers to control their movements during performances, blending striking visual appeal with functionality for captivating water puppetry shows.
What is An Automated Water Puppetry System
Automation Water Puppetry merges traditional Vietnamese water puppetry with modern automation technology, utilizing automated mechanisms to enhance puppet movements and create stunning visual displays This innovative approach preserves the cultural heritage of water puppetry while embracing contemporary advancements, marking a new era of creativity in this ancient art form.
The history of Automation Water Puppetry reflects the integration of technological advancements into this traditional art form, enhancing its performances and storytelling As Water Puppetry has evolved over centuries, automation has revitalized it, allowing for creative possibilities while preserving its cultural significance This blend of traditional puppetry techniques and modern automation has led to a captivating transformation, engaging audiences with a harmonious mix of tradition and innovation.
1.2.3 Types of Automated Puppetry Models
Puppets of animatronic "wayang kulit" or shadow puppetry
"Wayang kulit" is a traditional Indonesian puppetry art from Java and Bali, featuring intricately crafted leather puppets used in shadow plays The modern adaptation, animatronic "wayang kulit," incorporates mechanical and electronic components, enabling the puppets to move and interact autonomously while preserving their traditional aesthetic These advanced puppets are operated by skilled puppeteers from behind the screen, allowing for enhanced movements, expressions, and gestures The integration of animatronic technology brings a new level of realism and dynamism to performances, enriching the cultural experience.
The innovative blend of tradition and technology in animatronic "wayang kulit" offers a captivating experience for audiences These puppets exhibit lifelike movements, expressive gestures, and seamless interactions, effectively revitalizing the ancient tales and characters of "wayang kulit" for contemporary viewers.
The "Robot Masters String Puppetry" project, led by researchers from ETH Zurich, aims to create a robotic system that can effectively control real-world string puppets, or marionettes Traditional puppetry demands highly skilled puppeteers with extensive experience, making it a complex challenge for robots due to the various forces at play, including gravity, tension from control strings, and internal dynamics.
The Puppet Master system features three core components: a kinematic model of the robot puppeteer, a specially designed string-driven marionette for control, and a target motion for the marionette that the system seeks to replicate A significant innovation of this project is the use of motion derivatives derived from forward dynamics simulation to anticipate the impact of the robot's actions on the puppet's movement Researchers applied second-order sensitivity analysis to define the connection between the marionette's motion trajectory and the robot's movements, complemented by a physics-based simulation model to facilitate the achievement of the desired motions.
Figure 1.4 Robot Masters String Puppetry
Practical significance of project
The automated water puppetry project has important practical benefits, especially in overcoming the difficulties that human puppeteers encounter during traditional Vietnamese water puppet performances This art form involves skilled manipulation of puppets submerged in water, which often forces puppeteers to remain in the water for long durations while facing varying weather conditions.
The automation of water puppetry provides significant benefits by removing the necessity for human involvement in the water, which alleviates physical strain and enhances the safety of puppeteers, especially during inclement weather This technology enables remote control of the puppets, facilitating performances while safeguarding the well-being of the puppeteers.
Automation in water puppetry enhances performances by allowing for precise and programmable control over puppet movements This technology enables complex and synchronized choreography that can be difficult for human puppeteers to replicate consistently As a result, the artistic quality and precision of the shows improve, captivating audiences with seamless and visually stunning displays.
Automation in water puppetry enhances efficiency and reliability by enabling automated systems to execute repetitive movements with precision This consistency minimizes errors and inconsistencies that can arise from manual handling, ensuring superior performance quality Additionally, it allows for the seamless replication of specific motions across various shows, maintaining minimal variation.
The automation of water puppetry fosters innovation by merging robotic technology with traditional art forms, enabling the exploration of new creative possibilities By incorporating sensors, artificial intelligence, and interactive elements into these automated systems, audience engagement is significantly enhanced, resulting in immersive experiences.
Project Objectives
The overall objective of the project is to develop an automated water puppetry system that eliminates the need for human intervention and immersion in water during performances.
The aim is to enhance the safety, precision, efficiency, and creative potential of water puppetry while preserving the rich cultural heritage associated with this traditional ait form.
The project focuses on designing and engineering an advanced robotic system that precisely controls water puppets with fluid movements This involves creating mechanical components, developing control algorithms, and implementing sensing mechanisms to achieve realistic and synchronized puppet motions.
The goal of our project is to create a dependable and efficient remote control system for automated water puppetry This includes designing user-friendly interfaces and robust communication protocols that enable puppeteers to operate the puppets safely from outside the water, ensuring smooth coordination between the puppeteers and the automated system.
The project focuses on enhancing performance realism and artistic expression in automated water puppetry by refining control algorithms This advancement aims to replicate the nuanced movements and gestures traditionally executed by human puppeteers, enabling the automated system to deliver captivating and emotionally engaging performances.
Prioritizing safety and reliability is crucial in the automated waterpuppetry system This includes integrating robust safety features like collision detection and emergency shutdown mechanisms to safeguard both the puppets and the audience Furthermore, the system must be engineered for long-term durability, ensuring it can endure the demanding environmental conditions typical of water performances.
The project aims to develop an automated water puppetry system, covering all stages from conceptualization to implementation and testing This includes designing and fabricating robotic components, creating control algorithms and remote interfaces, and integrating sensors and safety features Collaborating with water puppetry experts and performers is essential to ensure the system aligns with the artistic and cultural standards of traditional water puppetry While the focus is on technical automation, the project emphasizes the importance of maintaining the cultural authenticity and artistic essence of this heritage art form.
The automated water puppetry project seeks to create a system that operates without human involvement or water immersion during performances Key limitations include difficulties in mimicking human movements, sensory challenges in environmental feedback, and the need to maintain artistic expression and improvisation Additionally, the system's adaptability to various performance conditions, cost and accessibility issues, and implications for cultural preservation must be addressed Acknowledging these limitations is crucial for guiding future research and development, ensuring the automated system respects the cultural heritage and artistic integrity of traditional water puppetry.
Related works
Automated Water Puppetry is part of a broader trend in performing arts that integrates technology and automation, exemplified by the concept of dancing fountains These innovative installations combine water, light, and music to create an interactive spectacle, featuring synchronized water movements choreographed to music, resulting in a visually captivating and immersive experience.
Figure 1.5 Applying technology to water music performances
Animatronics is a key technology in entertainment and art, utilizing automated systems to create lifelike movements in figures such as puppets This innovation allows for complex interactions with audiences, enhancing the overall experience Additionally, robotic puppetry focuses on programming robots to replicate traditional puppetry movements, using sensors and automated systems to perform choreographed routines seamlessly.
Projection mapping is a digital light projection technique that enhances Water Puppetry performances by projecting dynamic images onto a water screen This innovative approach simulates characters and changing scenery, significantly enriching the audience's visual experience Such advancements illustrate the diverse integration of technology and automation in the performing arts, opening up new avenues for creativity and audience engagement.
Figure 1.7 Using projection mapping techniques to present an artwork
The necessary of project
The automated water puppetry project is essential for enhancing performer safety and comfort by removing the need for human presence in water, particularly during adverse weather It plays a crucial role in preserving cultural heritage by faithfully replicating the movements and aesthetics of this traditional art form for future generations Additionally, the initiative promotes technological advancements in robotics and automation, leading to improved control algorithms and precise puppet manipulation, which results in dynamic and visually engaging performances By increasing accessibility, the automated system can be easily replicated in various venues, reducing dependence on skilled puppeteers and allowing for more frequent shows Furthermore, it encourages innovation by merging traditional art with cutting-edge technology, creating unique experiences for audiences Overall, this project significantly enhances safety, preserves cultural heritage, drives technological progress, improves performance quality, broadens accessibility, and fosters innovation within traditional arts.
THEORETICAL BASIS
Inspired by the movements of joints in traditional Water Puppetry performers
The development of an automated Water Puppetry system using DC motors with four degrees of freedom is inspired by the intricate joint movements of traditional performers This innovative technology aims to replicate the natural flexibility and articulation of human-like motions in Water Puppetry Engineers have meticulously studied the mechanics of traditional puppeteers to create a system that allows precise control over puppet movements Each DC motor corresponds to a specific joint, enabling independent and synchronized control of the puppet's head, arms, and other appendages This advancement in automation not only seeks to emulate the graceful movements integral to Water Puppetry but also enhances performance quality and expands creative possibilities within this age-old art form.
Motor selection for an automated Water Puppetry system
When choosing motors for an Automated Water Puppetry System, it's essential to consider several key factors The motors must provide adequate torque for effortless movement of the puppets' limbs and components, while also allowing for precise control to ensure smooth and accurate articulation Additionally, compact and lightweight motors are necessary for seamless integration into the puppet's structure without hindering movement Durability is vital due to the repeated use and challenging performance conditions the motors will face Lastly, power efficiency is important to extend battery life and minimize energy consumption within the system.
The automated water puppetry system is a cherished traditional art form in Vietnam, featuring enchanting water curtains and remote-controlled puppets To achieve captivating performances, it is essential to select appropriate engine power that ensures smooth, flexible movements while maintaining stability and accuracy This selection process focuses on optimizing performance, safety, and durability, with engines needing to provide sufficient force for robust operation in a water environment By assessing available engine options and their suitability, the system can be fine-tuned for speed, force, and precision, ultimately enhancing both the effectiveness of the puppetry and the creativity inherent in this cultural art form.
The transmission efficiency is calculated as equation (1). rỊhs= Vot2-rid 2 (1)
With roller bearing efficiency T]ol = 0,99;
The gearbox efficiency q= 0.8, and the requiredoutput power is calculatedas:
HARDWARE DESIGN
Designing the stage chamber
The design of this model seeks to embody the spirit of traditional folk water puppetry while integrating automated movements to elevate the performance With dimensions of 2 meters by 2 meters, it offers ample space for the water puppets to execute their intricate motions Standing at a height of 1.5 meters, the model ensures a visually striking presence while housing the mechanisms necessary for the puppets' controlled movements.
Several design constraints for the Automated Water Puppetry system proposed by the group.
• Design of puppets are inspired by mythical creatures, folklore characters, or animals that are commonly featured in water puppetry performances.
The design features eight 12V DC motors that control the movements of the puppets, with four motors dedicated to each puppet's distinct motions.
The design features transmission mechanisms like sliding bars and belts, which facilitate the movements of each water puppet These mechanisms allow for precise control and synchronization of the puppets' motions, enhancing the fluidity and realism of their performances.
To enhance the stability and strength of water puppetry models, the outer frame can be reinforced with iron Additionally, incorporating materials like PVC pipes and wood for the exterior further contributes to the model's durability.
Figure 3.2 Prototype of stage chamber
Size of Water Puppetry theatre
The dimensions of the square water tank, measuring 5 meters on each side and 1.2 meters in height, create a spacious environment for the automated Water Puppetry system, allowing for captivating performances Its ample size provides room for intricate puppet movements while the symmetrical shape enhances the visual appeal of the show The tank's depth accommodates water effects like gentle ripples and streams, adding realism and enchantment to the experience This design ensures puppeteers can maneuver with precision, delivering a seamless and mesmerizing performance that transports the audience into a world of wonder Overall, the water tank's dimensions significantly enhance the immersive experience of Water Puppetry.
Figure 3.3 Dimension of the Water Puppetry theatre
Designing the driving mechanism
Controlling water puppets involves a complex mechanism where the puppeteer manipulates multiple parts simultaneously to animate the puppet Crafted from lightweight materials like bamboo, these puppets feature hollow bodies for buoyancy and flexible joints that allow a variety of poses and gestures Performed in a water tank, the puppeteer operates from behind a curtain, with the puppet floating on the surface while parts remain submerged Each puppet is connected to control rods made of bamboo or metal, which link to specific body parts at designated control points The puppeteer, partially submerged, uses precise hand movements to push, pull, and rotate these rods, enabling a wide range of actions such as walking, dancing, and complex gestures In some performances, multiple puppeteers coordinate their movements to create fluid and natural motions Mastering water puppetry requires extensive training and skill, as puppeteers must practice to deliver captivating performances that showcase the artistry and storytelling unique to this traditional craft.
Figure 3.4 Mechanical design based on human works
The traditional water puppet movements have been modernized with the integration of DC motors, which replace the water puppeteers' arms This automation system features five DC motors, each designed for specific functions: one motor controls the vertical movement of the puppets, allowing them to rise and fall in the water, while two motors manage their forward and backward motions for smooth navigation Additionally, a dedicated motor facilitates the rotational movements of the puppets through an innovative belt system, enabling precise and dynamic performances.
Figure 3.5 The driving mechanism for water puppet
KINEMATIC ANALYSIS
Classification of puppets based on the movements
The dragon puppet, a symbol of Vietnam, showcases its majestic and dynamic movements through three distinct actions that simulate its flight The body undulates in a serpentine manner, the head and neck twist to scan the surroundings, and the tail moves rhythmically, creating a lifelike performance that captivates audiences In contrast, buffalo puppets, often used in water puppetry to reflect rural life, utilize simpler movements with just two actions: the head nods as if grazing, and the legs create a walking motion Despite their simplicity, these movements require careful attention to detail to accurately portray the buffalo's essence Analyzing the distinct kinematic characteristics of both dragon and buffalo puppets highlights the intricacies of puppet performance, emphasizing the need for precise coordination in dragons and meticulous detail in buffaloes to evoke the intended emotions and character.
Analyzing the movements of different puppet types reveals their unique characteristics, as shown in Figure 4.1 Each movement serves as a deliberate expression that animates the puppets and engages the audience in a rich cultural narrative This analysis sets the stage for kinematic calculations, offering valuable insights into the puppets' kinematics By examining positional relationships, velocity profiles, and acceleration patterns, we can uncover the principles governing their motions This understanding enables us to refine and optimize puppetry mechanisms, enhancing fluidity, precision, and visual appeal.
Analyzing specific movements allows us to create mathematical models that precisely describe a puppet's motion These models are essential for predicting and controlling the puppet's behavior, aiding in the design of mechanisms that replicate desired movements Through kinematic analysis, we ensure that each puppet performs gracefully and authentically, captivating audiences with its lifelike gestures and immersive performances.
The people puppet Degrees of freedom The animal puppet Degrees of freedom
Rotating around x-axis and Rotating around z-axis , z-axis y-axis and translating with x-axis
Rotating around x-axis and z-axis
Rotating around y-axis ; z-axis and translating with x-axis
Rotating around x-axis and z-axis
Rotating around y-axis and z-axis
Rotating around v-axis and z-axis
Rotating around x-axis , y-axis and z-axis w^
Rotating around v-axis and z-axis
Rotating around x-axis y-axis and z-axis x = i(y, ằ)./?(- ^) 1 X = R(x^Xr,f)A:.r)
Figure 4.1 Table of movement for each type of puppet
Kinematic Analysis
This section explores kinematic analysis, focusing on the mathematical techniques required to quantify the movements of various puppet types By applying these calculations, we gain valuable insights into puppet dynamics, enabling us to enhance their performance Through careful examination and computational analysis of each movement, we uncover the intricacies of water puppetry's kinematics Understanding these complexities allows us to elevate the artistry of water puppetry, captivating audiences with mesmerizing performances that bring these cultural artifacts to life.
Principle of operation Degree of Freedom
Rotating around z-axis (2 degree of freedom)
Translating with x-axis and y-axis
Translating with y-axis and rotating around z-axis (2 degree of fi’eedom)
Figure 4.2 Matrix table of ideas about the operating structure.
The motion structures of water puppets share a common two-degree-of-freedom rotating mechanism, which our research team has selected for this project While the kinematic aspects create diverse movements during performances, the positional kinematics are crucial for the puppets' overall motion across the stage We are integrating control signals from human hands to command the water puppet robot, ensuring compatibility with human hand motion Our proposed mechanisms facilitate an intuitive control scheme, allowing puppeteers to manipulate the puppet's movements in real-time, thereby enhancing the connection between the operator and the puppet These mechanisms will be designed and optimized to ensure smooth, accurate motion transmission for precise control over the puppet's position and trajectory during performances.
4.2.1 The kinematic of the slave robot.
The slave robot, designed for aquatic environments, features two degrees of freedom and two rotating joints, including a controllable swivel joint for interacting with a water puppet The key objective is to establish a position equation that governs the robot's movements, enabling synchronization with a master system By analyzing the kinematic relationships between the robot's joints and the puppet's motion, we can derive a mathematical model that connects the robot's large degrees of freedom to the desired puppet actions This position equation is essential for real-time control, allowing the slave robot to accurately replicate the puppet's movements and gestures Consequently, this capability enhances the creation of engaging performances, as the robot translates commands from the master system into smooth and coordinated puppet motions.
Figure 4.3 The slave robot with 2 degree of freedom.
4.2.2 The forward kinematics of the slave robot
The forward kinematics of a slave robot is determined by establishing local coordinate systems in relation to a reference coordinate system, enabling the calculation of a displacement matrix that indicates the position of a point relative to the origin By designating the reference coordinate system as the origin, four local coordinate systems can be defined to align with the robot's joints This approach facilitates the derivation of the displacement matrix, which illustrates the robot's original position across the four coordinate axes The motion equation for the displacement matrix is given by p' = R(y, a) X T(p, 0.0) X R(y, p) X ■/■(/, 0, 0) X p1, where p represents the coordinates in both the original and local coordinate systems, with local coordinate system 4 indicating that point p is at its origin The angles (X, fl) correspond to the rotation angles of the robot's big and small arms, respectively.
The symbol R represents rotation around a specific axis, such as R(y\ (%), which indicates the rotation of angle CL around the y-axis The general formula for this type of rotation is defined accordingly.
In this article, T represents the translation joints of a robot Specifically, T(L, 0, 0) indicates a translation of the robot along the x-axis by a segment length of L Although the robotic system does not possess a physical translation joint, it is treated as such for the sake of convenience in calculations.
Calculating the matrix we get the kinematic equation to determine the location of the water puppet robot as follows (4). p p p
4.2.3 The inverse kinematic of the slave robot
To determine the rotation value required for a robot to reach a specific point, we must calculate the inverse kinematic equation at that point This involves using the formula arccos(X^—-y-) to derive the necessary rotation angle.
2xL _ yi4xLsxl.s-(x2+y2-Li2-li2)
After finding 2 solutions ^is ^* , ^ - and 2 solutions +^ và ^ We have 2 cases for the robot to reach 1 position p as follows. a,i
In inverse kinematics calculations for a specific point p, there may be one or two pairs of solutions available When two pairs of solutions are present, this indicates that the robot has two potential positions to reach the desired point, as illustrated in Figure 4.
Figure 4.4 Results form the robot inverse kinematic
4.2.4 The workspace of the robot 2 DOF
Figure 4.5 The workspace of the slave robot
The range of the robot refers to a curved area with a limited radius, ranging from
The range of water puppet robots, as shown in Figure 5, is derived from the kinematic equation, indicating that the density is evenly distributed within the intervals that meet the curve's conditions.
ELECTRICITY AND CONTROL
RESULTS AND DISCUSSION
The automated water puppetry model has received widespread acclaim through real-world testing, including live performances and competitions, showcasing its superior precision, synchronization, and endurance compared to human performers This innovative technology seamlessly integrates with the artistry of water puppetry, with flawless drive systems, sliding rails, and rubber belts enhancing the performance Its success not only ensures the preservation and accessibility of water puppetry but also expands its cultural legacy, captivating audiences globally Ultimately, this model symbolizes the harmonious blend of cutting-edge technology and artistic expression, marking a new era for this beloved art form.
Figure 6.1 Prototype of the Automated Water Puppetry system
Figure 6.2 The model has worked stably in real environments
Some limitations of the model include:
• Cost: The automated water puppetry model may involve significant upfront costs for development, including research, design, and engineering expenses.
• Complexity: The complexity of the automated water puppetry model may pose challenges in terms of maintenance and troubleshooting.
The automated water puppetry model offers impressive precision and synchronization; however, it falls short in capturing the creativity and spontaneity that human performers contribute to traditional water puppetry.
The automated water puppetry model plays a crucial role in preserving this unique art form by making it more accessible to a wider audience However, there is a concern that this innovation may inadvertently undermine the traditional skills and craftsmanship of human water puppet performers, potentially leading to a decline in the cultural heritage associated with this artistic practice.
The model's adaptability may be limited by various factors, including stage size, water conditions, and lighting arrangements, which can impact its performance To ensure optimal functionality, adjustments or modifications may be necessary based on the specific venue or scenario.
6.3 The strength of the project
Our project revolutionizes water puppetry by integrating automation and technology, achieving unparalleled precision and synchronization that outperforms human capabilities This innovation allows for high-intensity performances without fatigue, broadening the accessibility and appeal of water puppetry beyond traditional limits The acclaim from experts highlights its ability to engage and impress audiences, showcasing a successful blend of technology and artistry that enhances the immersive experience Ultimately, this initiative preserves the rich tradition of water puppetry while redefining its artistic boundaries, making it a captivating and forward-thinking endeavor.
Integrating robot technologies into water puppetry offers a significant opportunity to preserve and promote this unique art form By implementing an automated system, puppeteers can enhance their artistic skills without the physical strain of long water immersion, leading to time and effort savings while ensuring stable performances This technological advancement also aids in preserving and sharing performance techniques, making it easier to record and transmit water puppetry traditions Additionally, the project's use of recycled materials highlights environmental consciousness and resourcefulness Overall, modern technology integration in water puppetry provides numerous benefits, including efficiency, stability, and the preservation of techniques for future generations.
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