If you remembered that you missed on Sajda by mistake, you should perform it immediately after the Prayer then perform 2 Sajda of Sahw (forgetting). The way of performing the two Sajda of Sahw is just prostrating and saying during Sajda (BISMILLAH WABILLAH ALLAHUMMA SALLI 'ALA MUHAMMAD WA AALI MUHAMMAD) then sitting and going again to Sajda and saying the same, then sitting and reciting Tashahhud and Salam.
It is permissible to prostrate on a clay on which something is written, though it is much better to prostrate on plain clay ( Torbah) or Mohr or Sajdagah.
The Prophet Muhammad (SAWA) and The Infallible Imams refused and forbade Sajda to them and said that Sajda is only to Allah (SWT).
We have many authentic Hadeeths on this fact.
The Sajda of the angles to Adam (AS) was in fact to Allah (SWT) who ordered the angles to do it.
Sajda in the shrines of Ahlu Bayt (AS) is in fact Sajda of Shokr (Thanking Prostration) , to thank Allah (SWT) who granted us he great bounty to reach and visit the shrines of Ahlul Bayt (AS).
Sajda (Prostration) on carpet is Not permissible unless you are under dangerous situations where Taqiyya becomes permissible for you to avoid possible danger or harm.
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