Waiting for each part of a 3D-printed project to finish, taking it out of the printer, and then installing it on location can be tedious for multi-part projects. What if there was a way for your printer to print its creation exactly where you needed it? That’s the promise of MobiPrint, a new 3D printing robot that can move around a room, printing designs directly onto the floor.

MobiPrint, designed by Daniel Campos Zamora at the University of Washington, consists of a modified off-the-shelf 3D printer atop a home vacuum robot. First it autonomously maps its space—be it a room, a hallway, or an entire floor of a house. Users can then choose from a prebuilt library or upload their own design to be printed anywhere in the mapped area. The robot then traverses the room and prints the design.

It’s “a new system that combines robotics and 3D printing that could actually go and print in the real world,” Campos Zamora says. He presented MobiPrint on 15 October at the ACM Symposium on User Interface Software and Technology.

Campos Zamora and his team started with a Roborock S5 vacuum robot and installed firmware that allowed it to communicate with the open source program Valetudo. Valetudo disconnects personal robots from their manufacturer’s cloud, connecting them to a local server instead. Data collected by the robot, such as environmental mapping, movement tracking, and path planning, can all be observed locally, enabling users to see the robot’s LIDAR-created map.

Campos Zamora built a layer of software that connects the robot’s perception of its environment to the 3D printer’s print commands. The printer, a modified Prusa Mini+, can print on carpet, hardwood, and vinyl, with maximum printing dimensions of 180 by 180 by 65 millimeters. The robot has printed pet food bowls, signage, and accessibility markers as sample objects.

MakeabilityLab/YouTube

Currently, MobiPrint can only “park and print.” The robot base cannot move during printing to make large objects, like a mobility ramp. Printing designs larger than the robot is one of Campos Zamora’s goals in the future. To learn more about the team’s vision for MobiPrint, Campos Zamora answered a few questions from IEEE Spectrum.

What was the inspiration for creating your mobile 3D printer?

Daniel Campos Zamora: My lab is focused on building systems with an eye towards accessibility. One of the things that really inspired this project was looking at the tactile surface indicators that help blind and low vision users find their way around a space. And so we were like, what if we made something that could automatically go and deploy these things? Especially in indoor environments, which are generally a little trickier and change more frequently over time.

We had to step back and build this entirely different thing, using the environment as a design element. We asked: how do you integrate the real world environment into the design process, and then what kind of things can you print out in the world? That’s how this printer was born.

What were some surprising moments in your design process?

Campos Zamora: When I was testing the robot on different surfaces, I was not expecting the 3D printed designs to stick extremely well to the carpet. It stuck way too well. Like, you know, just completely bonded down there.

I think there’s also just a lot of joy in seeing this printer move. When I was doing a demonstration of it at this conference last week, it almost seemed like the robot had a personality. A vacuum robot can seem to have a personality, but this printer can actually make objects in my environment, so I feel a different relationship to the machine.

Where do you hope to take MobiPrint in the future?

Campos Zamora: There’s several directions I think we could go. Instead of controlling the robot remotely, we could have it follow someone around and print accessibility markers along a path they walk. Or we could integrate an AI system that recommends objects be printed in different locations. I also want to explore having the robot remove and recycle the objects it prints.

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Earlier this year we launched a new version of the BBC News mobile site, making it easier and quicker to use. This week we've begun the process of directing all mobile users automatically to that site. This means that anyone who visits BBC News on their mobile will be taken to the version of the site best suited to the type of phone they are using.

Many of you already visit the mobile site regularly but, up until now, people looking for BBC News on their phone will often have found themselves on the desktop version of the site, which is designed for desktop PCs, macs and laptops - all with much bigger screens. If you are using this desktop version on your phone it can be awkward to pinch, zoom and scan the stories on a small mobile screen.

This image shows how the mobile site displays on a smartphone - compared with the desktop version:

To tackle this, we've been working over the past six months to improve and add to the mobile site, taking on board your feedback about how you'd like to see it develop.

We've recently added video clips for iPhone and Android users, and made it easier to navigate the site. (We hope to extend this video service to other types of mobile in the future.) We've also added easier ways of getting to local news and weather services, something many of you asked for. You can read more about those changes here.

So, we're confident that the mobile site now has the wide range of content you are looking for and that it offers a better experience on a small screen than the desktop site, which is why we are taking the step of automatically redirecting mobile users there.

Of course, you may be happy to keep visiting the desktop site on your mobile and if you want to continue doing so just scroll to the bottom of the page and tap on the link for the desktop site. Your choice will be remembered for the next time you visit.

Similarly, if you use a mobile and find that you're not redirected to the new site, you can scroll to the bottom of the page and select the mobile site.

This is the latest stage in the ongoing work by our News product team on responsive design - a way of presenting our content to you in the most suitable way by detecting the type of device you are using and displaying the format best adapted for it. We are doing similar work to optimise the site for tablet users too.

The number of people coming to BBC News on mobile continues to grow. In an average week, 13.3m users worldwide use their mobile or tablet to visit the BBC News site and apps - around one-third of total users to BBC News Online.

If you are one of them, our aim is to offer you the full range and depth of BBC News content, whatever device you are using, whilst also making best use of the screen size.

We hope you'll like using the new mobile site, and if you'd like to leave comments and feedback about it, or have questions, please post them below. Or you can tweet your views using the hashtags #bbcnews #responsive

Update: Thanks for your comments. Here are some answers to the questions posted below:

John Walsh – Kindle: As a tablet device, albeit with a smaller screen than some makes, Kindles currently default to the desktop site. Users of any device including Kindles are certainly free to use the mobile version if they prefer by clicking the link at the bottom of the screen. Our aim is to further improve the experience for progressively larger screen sizes over time.

Jesse Moore - HTC: We know there are some devices that are incorrectly classified by our systems, often due to the fact that some devices have different identifiers dependent on the mobile network they are on. In any case we will certainly be doing everything we can to correct errors and ensure the redirection behaves as it should. In the meantime, please use the “Mobile Site” link at the foot of the page should you wish to use the mobile site – the selection will be remembered as long as cookies are not cleared. At this time the redirect only applies to the BBC Homepage and the News site.

Cogito Ergo Sum - Windows phone: This change applies to the browser experience, which is already designed to work for Windows Phone although at present we are unable to provide video for those devices.

Costmeabob - We take accessibility for our services seriously so, for example, our browser and applications are designed to work with Voiceover on iOS. 

Tim Stey - If you do still prefer the desktop version you can select the link at the bottom of the page and you’ll be taken to it. Your choice will be remembered next time you visit the site. We are working on enhancing the mobile site still further to include more content where the technology allows it - but with navigation more suited to a smaller screen size. 

 Josh Tumath - This blog post might be of interest, about our overall approach to responsive design published in March by Chris Russell, head of product for BBC News Online.

Steve Herrmann is editor of the BBC News website.

BBC coverage of the US election, which my colleague Jon Williams trailed here a couple of days ago, brought the highest traffic to BBC News Online so far this year, and set a new record for us on mobile.

On 7 November, there were 16.4m unique browsers across the website and mobile, 8.1m of which came from the UK. That makes it the highest traffic day of 2012 so far and rivals our two biggest previous days during the August riots and the March Tsunami, in 2011. During the England riots, on 9 August 2011 there were there were 18.2m unique browsers, 10.9m of which came from the UK.

The peak traffic point yesterday was 07:00-08:00 GMT, which saw higher usage than lunchtime, maybe as people checked the results as soon as they woke up. UK usage figures yesterday were 50% higher than the average for 2012, and ex-UK usage was 75% higher than average.

We spent a lot of time working out how to provide the best possible service on mobile, so it's encouraging to see that nearly 5m mobile devices visited BBC News Online yesterday, a record figure for us on mobile, accounting for about 30% of all users yesterday (on an average weekday, we'd expect mobiles to account for about 24% of users).

Steve Herrmann is editor of the BBC News website.

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The mobile-first design methodology is great—it focuses on what really matters to the user, it’s well-practiced, and it’s been a common design pattern for years. So developing your CSS mobile-first should also be great, too…right? 

Well, not necessarily. Classic mobile-first CSS development is based on the principle of overwriting style declarations: you begin your CSS with default style declarations, and overwrite and/or add new styles as you add breakpoints with min-width media queries for larger viewports (for a good overview see “What is Mobile First CSS and Why Does It Rock?”). But all those exceptions create complexity and inefficiency, which in turn can lead to an increased testing effort and a code base that’s harder to maintain. Admit it—how many of us willingly want that?

On your own projects, mobile-first CSS may yet be the best tool for the job, but first you need to evaluate just how appropriate it is in light of the visual design and user interactions you’re working on. To help you get started, here’s how I go about tackling the factors you need to watch for, and I’ll discuss some alternate solutions if mobile-first doesn’t seem to suit your project.

Advantages of mobile-first

Some of the things to like with mobile-first CSS development—and why it’s been the de facto development methodology for so long—make a lot of sense:

Development hierarchy. One thing you undoubtedly get from mobile-first is a nice development hierarchy—you just focus on the mobile view and get developing. 

Tried and tested. It’s a tried and tested methodology that’s worked for years for a reason: it solves a problem really well.

Prioritizes the mobile view. The mobile view is the simplest and arguably the most important, as it encompasses all the key user journeys, and often accounts for a higher proportion of user visits (depending on the project). 

Prevents desktop-centric development. As development is done using desktop computers, it can be tempting to initially focus on the desktop view. But thinking about mobile from the start prevents us from getting stuck later on; no one wants to spend their time retrofitting a desktop-centric site to work on mobile devices!

Disadvantages of mobile-first

Setting style declarations and then overwriting them at higher breakpoints can lead to undesirable ramifications:

More complexity. The farther up the breakpoint hierarchy you go, the more unnecessary code you inherit from lower breakpoints. 

Higher CSS specificity. Styles that have been reverted to their browser default value in a class name declaration now have a higher specificity. This can be a headache on large projects when you want to keep the CSS selectors as simple as possible.

Requires more regression testing. Changes to the CSS at a lower view (like adding a new style) requires all higher breakpoints to be regression tested.

The browser can’t prioritize CSS downloads. At wider breakpoints, classic mobile-first min-width media queries don’t leverage the browser’s capability to download CSS files in priority order.

The problem of property value overrides

There is nothing inherently wrong with overwriting values; CSS was designed to do just that. Still, inheriting incorrect values is unhelpful and can be burdensome and inefficient. It can also lead to increased style specificity when you have to overwrite styles to reset them back to their defaults, something that may cause issues later on, especially if you are using a combination of bespoke CSS and utility classes. We won’t be able to use a utility class for a style that has been reset with a higher specificity.

With this in mind, I’m developing CSS with a focus on the default values much more these days. Since there’s no specific order, and no chains of specific values to keep track of, this frees me to develop breakpoints simultaneously. I concentrate on finding common styles and isolating the specific exceptions in closed media query ranges (that is, any range with a max-width set). 

This approach opens up some opportunities, as you can look at each breakpoint as a clean slate. If a component’s layout looks like it should be based on Flexbox at all breakpoints, it’s fine and can be coded in the default style sheet. But if it looks like Grid would be much better for large screens and Flexbox for mobile, these can both be done entirely independently when the CSS is put into closed media query ranges. Also, developing simultaneously requires you to have a good understanding of any given component in all breakpoints up front. This can help surface issues in the design earlier in the development process. We don’t want to get stuck down a rabbit hole building a complex component for mobile, and then get the designs for desktop and find they are equally complex and incompatible with the HTML we created for the mobile view! 

Though this approach isn’t going to suit everyone, I encourage you to give it a try. There are plenty of tools out there to help with concurrent development, such as Responsively App, Blisk, and many others. 

Having said that, I don’t feel the order itself is particularly relevant. If you are comfortable with focusing on the mobile view, have a good understanding of the requirements for other breakpoints, and prefer to work on one device at a time, then by all means stick with the classic development order. The important thing is to identify common styles and exceptions so you can put them in the relevant stylesheet—a sort of manual tree-shaking process! Personally, I find this a little easier when working on a component across breakpoints, but that’s by no means a requirement.

Closed media query ranges in practice 

In classic mobile-first CSS we overwrite the styles, but we can avoid this by using media query ranges. To illustrate the difference (I’m using SCSS for brevity), let’s assume there are three visual designs: 

• smaller than 768
• from 768 to below 1024
• 1024 and anything larger 

Take a simple example where a block-level element has a default padding of “20px,” which is overwritten at tablet to be “40px” and set back to “20px” on desktop.

.my-block {
  padding: 20px;
  @media (min-width: 768px) {
    padding: 40px;
  }
  @media (min-width: 1024px) {
    padding: 20px;
  }
}

.my-block {
  padding: 20px;
  @media (min-width: 768px) and (max-width: 1023.98px) {
    padding: 40px;
  }
}

The subtle difference is that the mobile-first example sets the default padding to “20px” and then overwrites it at each breakpoint, setting it three times in total. In contrast, the second example sets the default padding to “20px” and only overrides it at the relevant breakpoint where it isn’t the default value (in this instance, tablet is the exception).

The goal is to: 

• Only set styles when needed. 
• Not set them with the expectation of overwriting them later on, again and again. 

To this end, closed media query ranges are our best friend. If we need to make a change to any given view, we make it in the CSS media query range that applies to the specific breakpoint. We’ll be much less likely to introduce unwanted alterations, and our regression testing only needs to focus on the breakpoint we have actually edited. 

Taking the above example, if we find that .my-block spacing on desktop is already accounted for by the margin at that breakpoint, and since we want to remove the padding altogether, we could do this by setting the mobile padding in a closed media query range.

.my-block {
  @media (max-width: 767.98px) {
    padding: 20px;
  }
  @media (min-width: 768px) and (max-width: 1023.98px) {
    padding: 40px;
  }
}

The browser default padding for our block is “0,” so instead of adding a desktop media query and using unset or “0” for the padding value (which we would need with mobile-first), we can wrap the mobile padding in a closed media query (since it is now also an exception) so it won’t get picked up at wider breakpoints. At the desktop breakpoint, we won’t need to set any padding style, as we want the browser default value.

Bundling versus separating the CSS

Back in the day, keeping the number of requests to a minimum was very important due to the browser’s limit of concurrent requests (typically around six). As a consequence, the use of image sprites and CSS bundling was the norm, with all the CSS being downloaded in one go, as one stylesheet with highest priority. 

With HTTP/2 and HTTP/3 now on the scene, the number of requests is no longer the big deal it used to be. This allows us to separate the CSS into multiple files by media query. The clear benefit of this is the browser can now request the CSS it currently needs with a higher priority than the CSS it doesn’t. This is more performant and can reduce the overall time page rendering is blocked.

Which HTTP version are you using?

To determine which version of HTTP you’re using, go to your website and open your browser’s dev tools. Next, select the Network tab and make sure the Protocol column is visible. If “h2” is listed under Protocol, it means HTTP/2 is being used. 

Note: to view the Protocol in your browser’s dev tools, go to the Network tab, reload your page, right-click any column header (e.g., Name), and check the Protocol column.

Also, if your site is still using HTTP/1...WHY?!! What are you waiting for? There is excellent user support for HTTP/2.

Splitting the CSS

Separating the CSS into individual files is a worthwhile task. Linking the separate CSS files using the relevant media attribute allows the browser to identify which files are needed immediately (because they’re render-blocking) and which can be deferred. Based on this, it allocates each file an appropriate priority.

In the following example of a website visited on a mobile breakpoint, we can see the mobile and default CSS are loaded with “Highest” priority, as they are currently needed to render the page. The remaining CSS files (print, tablet, and desktop) are still downloaded in case they’ll be needed later, but with “Lowest” priority. 

With bundled CSS, the browser will have to download the CSS file and parse it before rendering can start.

While, as noted, with the CSS separated into different files linked and marked up with the relevant media attribute, the browser can prioritize the files it currently needs. Using closed media query ranges allows the browser to do this at all widths, as opposed to classic mobile-first min-width queries, where the desktop browser would have to download all the CSS with Highest priority. We can’t assume that desktop users always have a fast connection. For instance, in many rural areas, internet connection speeds are still slow. 

The media queries and number of separate CSS files will vary from project to project based on project requirements, but might look similar to the example below.

Depending on the project’s deployment strategy, a change to one file (mobile.css, for example) would only require the QA team to regression test on devices in that specific media query range. Compare that to the prospect of deploying the single bundled site.css file, an approach that would normally trigger a full regression test.

Moving on

The uptake of mobile-first CSS was a really important milestone in web development; it has helped front-end developers focus on mobile web applications, rather than developing sites on desktop and then attempting to retrofit them to work on other devices.

I don’t think anyone wants to return to that development model again, but it’s important we don’t lose sight of the issue it highlighted: that things can easily get convoluted and less efficient if we prioritize one particular device—any device—over others. For this reason, focusing on the CSS in its own right, always mindful of what is the default setting and what’s an exception, seems like the natural next step. I’ve started noticing small simplifications in my own CSS, as well as other developers’, and that testing and maintenance work is also a bit more simplified and productive. 

In general, simplifying CSS rule creation whenever we can is ultimately a cleaner approach than going around in circles of overrides. But whichever methodology you choose, it needs to suit the project. Mobile-first may—or may not—turn out to be the best choice for what’s involved, but first you need to solidly understand the trade-offs you’re stepping into.