kinetic architecture
DESCRIPTION
DIssertation Kinetic ArchitectureTRANSCRIPT
KinMode
Carlo
netic eling de
Roussee
Master
Archesign an
euw
A
r in de in
hitectnd beha
Academi
ngenieur
tureavior
ejaar 20
rswetens
Tbehalein de
10 – 201
schappe
Thesis vooen van de
e ingenieur
Bouw
P
11
en: archi
orgedragengraad van
rswetenschArch
wtechnisch
ProProf. Vande
AssProf. Van
BegelProf. Bo
tectuur
n tot het Master
happen: hitectuur he Optie
omotor: e Moere
sessor: Broeck
leiders: oeykens
KinMode
Carlo
netic eling de
Roussee
Archesign an
euw
A
hitectnd beha
Academi
tureavior
ejaar 20
Tbehalein de
10 – 201
Thesis vooen van de
e ingenieur
Bouw
P
11
orgedragengraad van
rswetenschArch
wtechnisch
ProProf. Vande
AssProf. Van
BegelProf. Bo
n tot het Master
happen: hitectuur he Optie
omotor: e Moere
sessor: Broeck
leiders: oeykens
ii
©CopyrightbyK.U.LeuvenZondervoorafgaandeschriftelijketoestemmingvanzoweldepromotor(en)alsdeauteur(s)isovernemen,kopiëren,gebruiken of realiseren van deze uitgave of gedeelten ervan verboden. Voor aanvragen tot of informatie i.v.m. hetovernemen en/of gebruik en/of realisatie van gedeelten uit deze publicatie, wend u tot de K.U.Leuven, FaculteitIngenieurswetenschappen –KasteelparkArenberg1,B‐3001Heverlee (België).Telefoon+32‐16‐321350 &Fax.+32‐16‐321988.Voorafgaandeschriftelijketoestemmingvandepromotor(en) iseveneensvereistvoorhetaanwendenvandeinditafstudeerwerk beschreven (originele) methoden, producten, schakelingen en programma’s voor industrieel ofcommercieel nut en voor de inzending van deze publicatie ter deelname aan wetenschappelijke prijzen ofwedstrijden.©CopyrightbyK.U.LeuvenWithoutwrittenpermissionofthepromotorsandtheauthorsitisforbiddentoreproduceoradaptinanyformorbyany means any part of this publication. Requests for obtaining the right to reproduce or utilize parts of thispublication shouldbe addressed toK.U.Leuven, FacultyofEngineering–KasteelparkArenberg1,B‐3001Heverlee(België).Telefoon+32‐16‐321350&Fax.+32‐16‐321988.A written permission of the promotor is also required to use the methods, products, schematics and programsdescribedinthisworkforindustrialorcommercialuse,andforsubmittingthispublicationinscientificcontests.
iii
Preface TheideaforthisresearchcametomewhenIwasfirstintroducedtothenotionofInteractiveArchitecture:anewkindofarchitecture,previouslyunknowntome,butwhichgrabbedmyattention.Variousprojectsinthecurrentlandscapeintriguedmeandcausedmetodivedeeperintothisnewandupcomingfield.Themainfocusformewastogaininsights,informationandtobeabletopassthisontootherstoo.Thisfocussometimesledtoquantityoverquality,whichIamnotashamedtosay.Itistheintentofthisresearchtodrawthebiggerpictureandintroducethisnewskillsettoallwhowanttoknow.Itwasnevertheintentiontolurepeopleintoanarrowmindset,onlytointroducethemtothisnewsandboxwheretheycanplaythemselves.Anotherdifficultyformepersonallywastheabsenceofpreviouslocalresearchandthepossibleprejudicesthatothersmighthavetowardsthisresearch.ThisresearchdidnottakeformasfastasIwouldhavelikedandwasnoteasytocompletebutthesupervisingprofessorswerealwayspositiveandguiding,whichallowedmetokeepongoing.Athanksgoesouttopeoplewhoinspiredme,familyandfriendswhosupportedmeandhelpinghandsthatguidedthisresearchintotherightdirection.
CarloRousseeuw
iv
Tableofcontents
Preface .................................................................................................................................................... iii
Tableofcontents .................................................................................................................................... iv
Abstract ................................................................................................................................................. vii
ListofFigures ....................................................................................................................................... viii
ListofTables ........................................................................................................................................ xiv
Nomenclature ........................................................................................................................................ xv
Chapter1:Introduction ......................................................................................................................... 1
InteractiveArchitecture ................................................................................................................ 1
PhysicalCounterpart ..................................................................................................................... 4
IntelligenceCounterpart ............................................................................................................... 5
PracticalKnowledge ...................................................................................................................... 7
Motivation ...................................................................................................................................... 8
Objectives ....................................................................................................................................... 9
Significance ..................................................................................................................................... 9
Chapter2:Background ........................................................................................................................ 11
2.1EarlierWorks ............................................................................................................................. 11
2.2Literaturestudy ......................................................................................................................... 12
2.2.1Timeline ............................................................................................................................... 15
2.2.2ProjectLocation .................................................................................................................. 16
2.2.3ProjectMechanism ............................................................................................................. 16
2.2.4ProjectTypologies .............................................................................................................. 18
2.2.5ProjectApplicationKinetics............................................................................................... 18
2.2.6ProjectTimespan ................................................................................................................ 19
2.2.7ProjectStructuralbehavior ................................................................................................ 20
2.2.8ProjectIntelligence ............................................................................................................. 21
2.2.9ProjectSensorvalues ......................................................................................................... 21
v
2.2.10Web‐BasedLiterature ...................................................................................................... 22
Chapter3:Methodology&Results ..................................................................................................... 23
3.0Methodology .............................................................................................................................. 23
3.0.1TheSimulationSoftware,Grasshopper ............................................................................ 23
3.0.2Themicrocontroller,Arduino ............................................................................................ 26
3.1Simulatingdesign ...................................................................................................................... 28
3.1.1Simulations,CaseStudies ................................................................................................... 28
3.1.2NumericalValidation .......................................................................................................... 41
3.1.2.1DefaultScenarioResults ................................................................................................. 42
3.1.2.2ActuatedScenarioResults............................................................................................... 43
3.2Simulatingbehavior .................................................................................................................. 44
3.2.1TheSimulationSoftware .................................................................................................... 44
3.2.2LinkingDataMethods ........................................................................................................ 45
3.2.3Simulations .......................................................................................................................... 46
3.2.4Emotivebehavior ................................................................................................................ 53
3.3DesignIssues .............................................................................................................................. 55
3.3.1Joints .................................................................................................................................... 56
3.3.2.12DJoint ............................................................................................................................. 56
3.3.2.23DJoint ............................................................................................................................. 58
3.2.1Members .............................................................................................................................. 61
3.3.2Cladding ............................................................................................................................... 62
3.3.3Actuatordesign ................................................................................................................... 67
3.3.5PrototypeDesign ................................................................................................................ 74
3.3.5.1Introduction ..................................................................................................................... 74
FlexibleSkin ................................................................................................................................. 74
Biomimicry ................................................................................................................................... 75
3.3.5.2Results .............................................................................................................................. 76
Design ........................................................................................................................................... 76
Polyp ............................................................................................................................................. 78
Truss ............................................................................................................................................. 80
Cladding ........................................................................................................................................ 83
Behavior ....................................................................................................................................... 86
Chapter4:Evaluation&Discussion ................................................................................................... 90
4.1Evaluation&DiscussionSimulatingDesign ............................................................................ 90
vi
4.1.1SimulationCaseStudies ..................................................................................................... 90
4.1.2Numericalvalidation .......................................................................................................... 92
4.2Simulatingbehavior .................................................................................................................. 94
4.3DesignIssues .............................................................................................................................. 96
4.3.1Joints .................................................................................................................................... 96
4.3.2.12DJoint ............................................................................................................................. 96
4.3.2.23DJoint ............................................................................................................................. 97
4.3.3Members .............................................................................................................................. 98
4.3.4Cladding ............................................................................................................................... 99
4.3.5Actuatordesign ................................................................................................................. 100
4.3.6PrototypeDesign .............................................................................................................. 102
Design&Polyp ........................................................................................................................... 102
Truss&Cladding ........................................................................................................................ 104
Behavior ..................................................................................................................................... 106
Chapter5:Conclusion ....................................................................................................................... 108
5.1SimulatingDesign ................................................................................................................ 108
5.2SimulatingBehavior. ........................................................................................................... 110
5.3PracticalIssues .................................................................................................................... 111
5.3.2Cladding ............................................................................................................................. 112
5.3.3ActuatorDesign ................................................................................................................ 113
5.3.4Prototype ........................................................................................................................... 115
Appendices ......................................................................................................................................... 118
AppendixA ..................................................................................................................................... 119
AppendixB ..................................................................................................................................... 123
Bibliography ....................................................................................................................................... 127
FicheMasterproef .......................................................................................................................... 131
vii
AbstractThewayweuseandexperienceobjectsinourdailylivesisconstantlybeingimprovedwithincreasinguser‐interactivity.Fromourcarswhicharefilledwithsensorstoenrichourdrivingexperiencetotheautomatedshadingofourwindowswhichdisappearswhenweneedtogetoutofbedinthemorning.Architecturetodayontheotherhandisstatic,itsstructuralformdoesnotinteractwithitsusersoritschangingenvironmentalfactors.Insteadofshieldingtheinhabitantsfromthesefactors,thesefactorscanberespondedtoandinteractedwithtochangetheinhabitant’sperceptionofthisnewspace,InteractiveArchitecture.Inthedesignofinteractivearchitecturewithstructuralkineticchanges,KineticArchitecture,thesimulationofastructureanditsbehaviorplaysavaluableroleinitsoveralldesignandproduction.Beingabletoconnectawiderangeofsensordatawiththisdesign‐softwarewecrossthebridgenecessaryforcompletelysimulatinginteractivearchitecture,whichinturnhasaneffectonthefinaldesign.RecentdevelopmentsandcommunityeffortsinpluginsfordrawingsoftwarelikeGrasshopperforRhinoceroshavegivenustheseabilities.Everyprojectisuniquebyitsowncontextandusageandthereforeuniquebyitsmeanstointeract.ThisthesissimulatesdifferentexistingstructuresinthecurrentlandscapesandteststhescopeofcurrentsimulationpackagesandtheirusetodesignerswithregardstoKineticArchitecture.AlsotheintelligencewhichcontrolsthisKineticArchitectureandthedifferentkindsofdatastreamsareaddressedtogetherinthecontextofthesimulationsoftware.Besidestheresearchintermsofsimulation,thisthesisalsodiscussespracticalissuesofKineticStructuresinageneralwaybeforebuildingaworkingprototype.ThisresearchwillactasacatalysttoprovidearchitectswiththenecessaryskillsettodevelopanddesigninteractivearchitecturebutalsotoprovideamutualgoalforotherdisciplineslikeroboticsandmaterialengineerstoformandresearchdifferentendproductswithenhanceduserinteractivitywhichcouldbeusedinthisnewbreedofInteractiveArchitecture.
viii
ListofFiguresFigure1:BurbleattheSingaporeBiennale(Haque2006)...............................................................................2
Figure2:InteractiveWall (FestoCorporate2009)..........................................................................................3
Figure3:Tesselate(Lab[au]2010)............................................................................................................................3
Figure4:FabricDome(Hoberman1997)...............................................................................................................4
Figure5:PneumaticMuscle...........................................................................................................................................4
Figure6:VisualizingWifiStrength,Immaterials(Arnalletal.2011)..........................................................5
Figure7:Pixelskin2.0(Orangevoidn.d.).................................................................................................................5
Figure8:Flockofbirds(NationalGeographicn.d.).............................................................................................6
Figure9:HighTechTeamworkofswarmrobots(NationalGeographicn.d.)..........................................6
Figure10:BallJoint,3D‐Print.......................................................................................................................................7
Figure11:StiffCladdingConnection.........................................................................................................................7
Figure12:ErnstingWarehouseGate,SantiagoCalatrava,1983(Tzonis&Lefaivre1997).............11
Figure13:ScaleModel,SantiagoCalatrava(Tzonis&Lefaivre1997).....................................................11
Figure14:InteractiveArchitectureCategorization+Dissertation............................................................14
Figure15:TimeversusBookContents..................................................................................................................15
Figure16:LocationversusBook..............................................................................................................................16
Figure17:MechanismversusBook........................................................................................................................17
Figure18:TypologyCategorization........................................................................................................................18
Figure19:ApplicationCategorization...................................................................................................................19
Figure20:LoadBearingcategorization................................................................................................................20
Figure21:IntelligenceCategorization...................................................................................................................21
Figure22:SensorValuesCategorization..............................................................................................................21
Figure23:InteractiveArchitecturedotorg,Wordle(Glynn2005)..........................................................22
ix
Figure24:Actuators,SpringImplementation.....................................................................................................24
Figure25:Trussmember,SpringImplementation..........................................................................................24
Figure26:KangarooComponentsinGrasshopper...........................................................................................24
Figure27:GrasshopperEnvironment....................................................................................................................25
Figure28:TestingtheArduino,LED‐bar..............................................................................................................26
Figure29:ScalemodelType3(D’EstreeSterk2003).....................................................................................28
Figure30:SimulationActuatedTensegrityType1..........................................................................................29
Figure31:SimulationActuatedTensegrityType2...........................................................................................30
Figure32:SimulationActuatedTensegrityType3..........................................................................................30
Figure33:WhoWhatWhenAir,FlexibleTower(Kilianetal.2006)...........................................................31
Figure34:MuscleTowerII,Hyberbody(Oosterhuis2000).........................................................................31
Figure35:SimulationFlexibleTower....................................................................................................................32
Figure36:TESSEL(Lab[au]2010)..........................................................................................................................33
Figure37:RoboticMembrane(Orangevoidn.d.)..............................................................................................33
Figure38:SimulationRoboticMembrane............................................................................................................34
Figure39:Excerptfromdissertation,ResponsiveActuatedTruss(Merali&Long2009)..............35
Figure40:SimulationActuatedResponsiveTruss...........................................................................................36
Figure41:SimulationKineticCircle........................................................................................................................37
Figure42:ExpandingGeodesicDome(Hoberman1997).............................................................................38
Figure43:StrataModule(AdaptiveBuildingInitiative2006).....................................................................38
Figure44:SimulationoftheExpandingGeodesicDome................................................................................39
Figure45:AddingacolorscaleinGrasshopper.................................................................................................41
Figure46:SimulationGrashopper,5kN,NotActuated,DeformationScale1:1....................................42
Figure47:SimulationANSYS,5kN,NotActuated,DeformationScale1:1..............................................42
Figure48:SimulationGrasshopper,0kN,Actuated,DeformationScale1:1..........................................43
Figure49:SimulationANSYS,0kN,Actuated,DeformationScale1:1.......................................................43
Figure50:ArduinoSend/ReceiveimplementationinGrasshopper.........................................................44
Figure51:ManipulatingandvisualizingSensorDatainGrasshopper.....................................................45
x
Figure52:Optimization,KineticArchtowardspoint......................................................................................46
Figure53:IRsensorconnectedtotheArduino..................................................................................................47
Figure54:Manipulating&visualizingSensorDatainGrasshopper.........................................................47
Figure55:PushsensitivesensorconnectedtotheArduino.........................................................................48
Figure56:ImplementingSensorData....................................................................................................................48
Figure57:Optimization,KineticArchminimizingstresses..........................................................................49
Figure58:PachubereceiveimplementationinGrasshopper......................................................................51
Figure59:Pachube,Livesensorstreamingandstreaminformation.......................................................51
Figure60:FiducialimplementationinGrasshopper.......................................................................................52
Figure61:Sensors..........................................................................................................................................................53
Figure62:Grasshopper/KinectSensor(AndyPayneetal.2010)..............................................................53
Figure63:Dune4.0Maastunnel(Roosegaarde2011).....................................................................................54
Figure64:Laser‐cuttingandengravingasheetofMDF.................................................................................55
Figure65:2DTurningJoint,witheccentricity...................................................................................................56
Figure66:2DTurningJoint,withouteccentricity.............................................................................................56
Figure67:2DJointUnstable......................................................................................................................................57
Figure68:Intersecting2Djoints,Snap‐Fit...........................................................................................................57
Figure69:ParametricalModelUniversalJoint2...............................................................................................58
Figure70:3D‐printUniversalJoint2.....................................................................................................................58
Figure71:CardboardSpaceframe;RingPass,Delft(Octatube2010).....................................................59
Figure72:ParametricalBallJoint............................................................................................................................59
Figure73:SectionParametricalBallJoint............................................................................................................60
Figure74:3DPrintedBallJoint.................................................................................................................................60
Figure75:3DprintedBallJoint,Section...............................................................................................................60
Figure76:TrussMember............................................................................................................................................61
Figure77:TrussMember............................................................................................................................................61
Figure78:Textilemembrane,Unstretched.........................................................................................................62
Figure79:Textilemembrane,Stretched...............................................................................................................62
xi
Figure80:KineticBox,DefaultScenario...............................................................................................................64
Figure81:KineticBox,Scenario1...........................................................................................................................64
Figure82:KineticBox,Scenario2...........................................................................................................................64
Figure83:ExpansionjointWoodencladding.....................................................................................................65
Figure84:Balljoint(KejiaIndustryn.d.)..............................................................................................................65
Figure85:LivingGlass(TheLivingn.d.)...............................................................................................................66
Figure86:XeromaxEnvelope(FutureCitiesLab2010)................................................................................66
Figure87:Rectangle,DiagonalActuation.............................................................................................................67
Figure88:MuscleWireActuation............................................................................................................................68
Figure89:ScrewLinearActuator............................................................................................................................69
Figure90:CrankshaftLinearActuator..................................................................................................................69
Figure91:Gear‐PinionLinearActuator................................................................................................................69
Figure92:MuscleProject(FestoCorporate2009)...........................................................................................70
Figure93:McKibbenPrinciple(Daerden&Lefebern.d.)..............................................................................70
Figure94:TestSetup.....................................................................................................................................................71
Figure95:McKibbenairmusclesetup....................................................................................................................71
Figure96:3/2AirValveFesto...................................................................................................................................72
Figure97:ArduinoController...................................................................................................................................72
Figure98:Elongation/OriginalLength[%].........................................................................................................73
Figure99:UnderwaterPolyps(NationalGeographicn.d.)...........................................................................75
Figure100:AxonometricViewPrototype............................................................................................................76
Figure101:Prototype,3DSketch............................................................................................................................77
Figure102:ScotchYokeMechanism(Mechanisms101n.d.)......................................................................78
Figure103:PolypActuation,3DSketch................................................................................................................78
Figure104:PolypActuator.........................................................................................................................................79
Figure105:Polyp,Uppernodeconnection..........................................................................................................79
Figure106:2DSimulation,Design1.......................................................................................................................80
Figure107:3Dsimulation,Design1.......................................................................................................................80
xii
Figure108:2Dsimulation,Design2.......................................................................................................................81
Figure109:3Dsimulation,Design2.......................................................................................................................82
Figure110:Trussassembly........................................................................................................................................82
Figure111:LasercutVacuumFormingMolds....................................................................................................83
Figure112:VacuumFormerwithmold................................................................................................................84
Figure113:Vacuumformingresultwithhighmold........................................................................................84
Figure114:Cladding,UpperView...........................................................................................................................85
Figure115:Cladding,LowerView...........................................................................................................................85
Figure116:Built‐InOpto‐Resistor..........................................................................................................................87
Figure117:Built‐InPiezoElement.........................................................................................................................87
Figure118:Built‐inIRSensor...................................................................................................................................87
Figure119:PrototypeSide‐View.............................................................................................................................88
Figuur120:PrototypeSide‐View.............................................................................................................................88
Figure121:PrototypePerspectiveView...............................................................................................................89
Figure122:PrototypeUpperView..........................................................................................................................89
Figure123:SimulationFlexibleTower..................................................................................................................91
Figure124:SimulationoftheExpandingGeodesicDome.............................................................................91
Figure125:SimulationGrasshopper,0kN,Actuated,DeformationScale1:1.......................................93
Figure126:SimulationANSYS,0kN,Actuated,DeformationScale1:1....................................................93
Figure127:Optimizatin,Kineticarchmovingtowardspoints....................................................................94
Figure128:2DTurningJoint,withouteccentricity..........................................................................................96
Figure129:2Dunstablejoint....................................................................................................................................96
Figure130:3D‐printUniversalJoint2...................................................................................................................97
Figure131:3DprintedBallJoint,Section............................................................................................................98
Figure132:TrussMember..........................................................................................................................................98
Figure133:KineticBox,Scenario2.........................................................................................................................99
Figure134:ExpansionjointWoodencladding...................................................................................................99
Figure135:McKibbenairmusclesetup.............................................................................................................100
xiii
Figure136:Elongation/OriginalLength[%]...................................................................................................101
Figure137:SketchesPolyp,Design1..................................................................................................................102
Figure138:PolypActuator......................................................................................................................................103
Figure139:PrototypePerspectiveView............................................................................................................103
Figure140:CladdingHinge,Trussmemberconnection.............................................................................104
Figure141:VacuumFormingresultswithhighmold..................................................................................105
Figure142:ArduinopoweredbyUSBand9Vbattery.................................................................................107
Figure143:SimulationGrasshopper,0kN,Actuated,DeformationScale1:1....................................109
Figure144:SimulationANSYS,0kN,Actuated,DeformationScale1:1.................................................109
Figure145:CentralIntelligenceversusSwarmintelligence,Simulation1.........................................110
Figure146:3DprintedMultiplememberBalljoint......................................................................................111
Figure147:KineticBox,Scenario2......................................................................................................................112
Figure148:ExpansionjointWoodencladding................................................................................................112
Figure149:Linearactuators,ShrinkRate.........................................................................................................113
Figure150:Airmuscle,Elongationrate[%]....................................................................................................114
Figure151:Prototype,Perspectiveview...........................................................................................................115
Figure152:PrototypeUpperView.......................................................................................................................116
Figure153:PrototypeSideview...........................................................................................................................116
Figure154:3DTrussSimulation...........................................................................................................................117
xiv
ListofTablesTable1:LegendTimeversusBookContents......................................................................................................15
Table2:LegendBooks..................................................................................................................................................16
Table3:ErrorMargin%,Default5kN
Table4:Errormargin%,Default10kN................................................................................................................42
Table5:ErrorMargin%,0kN
Table6:ErrorMargin%,5kN.....................................................................................................................................43
Table7:Intelligent‐versusSwarmBehavior......................................................................................................47
Table8:ComparisonDifferentiterationprocesses..........................................................................................49
Tabel9:LinearActuators,ShrinkRate..................................................................................................................69
Table10:MuscleElongation[%]..............................................................................................................................73
Table11:PolypsBehavioralScheme......................................................................................................................86
Table15:ErrorMargin%,Default5kN
Table16:ErrorMargin%,5kN..................................................................................................................................92
Tabel17:Optimizationresultsversusswarmimplementation,Simulation1......................................95
Tabel18:Optimizationresults,Simulation2......................................................................................................95
Tabel19:ShrinkRatesofdifferentactuators...................................................................................................100
Table20:MuscleElongation[%]...........................................................................................................................101
Table21:ErrorMargin%,Default5kN
Table22:ErrorMargin%,5kN...............................................................................................................................109
xv
NomenclatureIA InteractiveArchitectureKA KineticArchitectureFE FiniteElementsKDGKineticDesignGroupF ForceE Young’sElasticitymodulusx DisplacementinxDirectiony DisplacementinyDirectionk (Elasticity)StiffnessGH GrasshopperFF FireflyKG Kangaroo
1
Chapter1:IntroductionInteractiveArchitecture
Architecturetodayismonotoneandstatic.Imaginearchitecturehowevertobealive,tobeabletopartakeinadiscussionwithitsinhabitantsortheenvironmentinwhichithasbeenplaced.Theseinhabitantsandenvironmentalfactors,likesunlightandwind,aredynamic:theyarenotstaticormonotoneandtheydeservetobeacknowledgedandinteractedwith.Whenreactingandinteractingwiththesefactors,architecturechangestheinhabitant’sperceptionofspaceandletsthemliveinsymbiosiswitharchitectureratherthanonlyinhabitingarchitecture.Thisnewkindofarchitecturehastobedynamic,responsiveandinteractive.
“Onewaytobeginexploringthedynamicsisthroughrethinkingarchitecturebeyondconventionalstaticandsingle‐functionspatialdesign.”(Fox&Kemp2009)
Letusforexamplethinkofapavilion,apavilionthatcanchangeitsshellformtoautomaticallyusethebestformforminimizingthedisplacementsorstressesinitsstructure.Apavilionthatcanbraceitselffortheincomingimpactofanearthquakeorapavilionthatbreathes,ventilates,andcatchesrenewableresourcesforitsinhabitantsandtheircurrentactivity.BuckminsterFullerevencoinedthisas“Ephemeralization”(Fox&Kemp2009),beingabletobuildastrongerformwithminimalmaterialusingactivemeasures,similartothehumanbodywhereafixedamountofmusclesandbonescanprovidevariousstancesforvariouspositionsandactions.“Perhapsthemostapplicableresearchtodrawuponindesigningintelligentsystemslies
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dbytheir“wurecanbethxpandingorngascissorvaopenswit
formulatedhesearealsical,pneumamusclerese
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utthekinetiuringacaseorstogaini
nnectedwith
tupintotwoctivespaceisintelligence)netics).”(Fox
hereforeutiasaphysica
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ingmechanctuatorsinthurally,chemhisthesisis
iccounterpae‐study,tofinsightinto
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derpragmarietyofdataeasuresWIFeractivesha
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ure 6: Visualiz
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unterpartoTheintelligeKA.
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ceofIAisdectuationofticdatatohu
aticdatafallathatistangFIstrengthinadingreacti
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zing Wifi Stren
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sthetermtatareembeoonlyacoupblethebuil
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otionshoweherepragmaccuratelysgescale.Thissimulation
ngth, Immate
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ligenceundructureisth
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thatdepictsedded,implepleofdedicdingtorece
heprogrammcounterpartata.
hasthedaymbers.Projeor“Pixelskinghtlevels,ar
evercannotmaticsensorssensehumansresearchwofKA.
erials (Arnall e
ertheformhecentraln
slikeabodyofm
thenumeroemented,incatedfunctioeive,proces
ming,thatut.Thesestre
ylightlevel,wectssuchasn”byOrangreexamples
bemeasuresarealreadnmovemenwilladdress
et al. 2011)
ofembeddeervoussyste
ywithoutabmoving.”(Fox
ousmicrocontoday’seleons.InIAthsandactup
ndertheinfeamsofdata
windspeed“PaintingWgevoid,whicofusingpr
edinnumbeyavailableotoremotionsbothdatat
edemthat
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fluenceofdacanvary
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ers.Thesearonawidenhoweveratypesandh
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“Thebesourcesofa
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hthereisaothofthesealcomparis
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genceistheWhenahairothermusclngenvironmff‐sitedatact.Apracticurther.Thisisdatatoan
nefitofananumberofsyorsystems
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nceisusedhichhavetheheirsensorychasthe“Picificvaluegylinkedtot
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activesustainsystemssothsachievemo
nal Geograph
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hic n.d.)
obots (Nation
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iswhenastnsorsbutcanentisequallarshadingmbytheiroorscienceof
elligenceantionourbrainsoryenvireansallofththeentiresructurewheeasuresthefordinglywi
misthatitcaorkingtogethsumoftheir
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ndworksmuinisalertedonmentisnhesensordastructureusereminimalforceappliethitsentire
anintelligenher,theindivrparts.”(Fox
c n.d.)
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ntlycombinevidualelemex&Kemp20
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chniquesusntrol(CNC)llkeepimprtheproductishoweveri
ure 10: Ball Jo
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owledge
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edinthisthmillingandrovingdurinionofbuildisnottheca
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hesisare3Dvacuumforngtheupcomingcomponaseatthem
ection
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areabutshompactand/o
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whereanidg,connectinwaybeforeonceptualde
aser‐cuttingthewriter’ssothatthebleforcarryhisresearch
ouldclearlyrenhancethigning.”(Fox
dealkineticgmembers,usingthiskesign.
g,computeropiniontheywilleventyingthecalc.
understandheprojectstx&Kemp20
structureis,actuators,knowledget
numericalhatthesetootuallybeusculatedload
7
thethey009)
s
to
olsedds.
8
Motivation
“Theuseoftoolswithreal‐timefeedbackforprototypingbehaviorscangreatlyinfluencetheoverallprocessofdesignandhaveaprofoundeffectuponthefinalendproduct.”
(Fox&Kemp2009)
TryingtovisualizeaKAdesign,thedesignerneedsthetoolstosimulate,calculateandanimatethemovementofitsstructure.The2Dor3Ddrawingsoftwarecommonlyusedarenotyetreadytogeneratethisforhim.Theydeliver,justlikeourcurrentperceptionofarchitecture,staticdrawings.Designtoolsforkineticsystemsdoexistinspecializedsoftwarepackages(Fotiadou2007),designedformechanicalengineersandanimatorsinthemediaorentertainmentsector.Theyutilize“skeleton”toolstosimulatetheirdesignbasedonstiffmembersandactuatorsthatbringmovementinthesystem.Butevenwhensoftwarethatcanhandleskeletonanimationisavailablewelackeasy‐to‐usereal‐timecalculationofstressesanddisplacementsinthestructureduringitsanimation.Whatwegaininsimulationofthekineticsweloseinstructuralinsightoftheglobalstructure.Doesthekineticstructureforexampledecreaseitsinternalforcesbymovinginthatspecificstanceordoesitincreasethem?Evenwhentalkingaboutsmallerscalekineticstructureswithoutsimulationtoolsathoroughknowledgeandstructuralinsightisneededtonoticeproblematicpointsintheentirestructure.
“Theintegrationofcomputationaltools,suchas3Dmodelingsoftwareforreal‐timesimulationandactualphysicaltestingintotheprocessofdesigningalsoallowsdesigners
toconfrontandanticipatemanyoftheissuesthatoccurwhenbuildingatfullscale.”(Fox&Kemp2009)
DesigningandconstructingIAalsoinvolvesaspecificskillsetinmicrocontrollers,sensorsandactuatorstomakethedesigncometolife.Thisskillsetisnotpartofthebasiccurriculumofanarchitect.Butwithoutabasicnotionoftheseskills,thearchitectcannotconstructKA.ThesesimulationtoolsandspecificskillsdonotexistbecauseKAexistsbutbecausetheywillcomplementeachothertoproducebetter(andparametrical)KAwhenintroducedinanearlyphaseofdesign.“Whenthetoolsevolvewiththedesign,theheuristicsarefacilitatedbythetools,andnotnecessarilylimitedbytheirparameters.Thedesignprocessesassociatedwithinteractivesystemsdesignareconstantlyevolvingandarefosteredbytheconsequentdevelopment
ofnewtools.”(Fox&Kemp2009)
9
Objectives
Theaimofthisresearchconsistsofresearchingtoday’ssimulationtoolstosimulatethephysicalcounterpart,researchingthevarioussensorsandactuatorswhilealsolinkingthemtooursimulationandgainingpracticalknowledgeinthisfieldbyaddressingdifferentgeneralsolutionsandconstructingaworkingprototype.Whenresearchingthechosensimulationsoftware,itsworkingrangeisfoundbyimplementingdifferentcase‐studiesanddocumentingwherethesimulationsoftwareexperiencesproblems.ThesimulationsoftwareisalsovalidatedbycomparingitnumericallytoacommonFEsoftwarepackage.Varioussensorsandactuatorsareresearchedtogainpracticalknowledgeonhowtooperateandimplementthembutarealsolinkedtothesimulationsoftwaretotestitsrangeagaininthisaspect.DesignissueswhenphysicallybuildingKAareaddressedusingabottomdownapproachinvolvingdifferentgeneralaspectslikeactuation,claddingandnodes,butalsobybuildingaprototype.
Significance
“Architectsareeagertoembracetechnologythatcanincreaseoptimizationthroughadaptationwithrespectbothtotheenvironmentanduserneeds,yettheymustlearnto
recognizetheinterdisciplinaryneedsthatsuchtechnologieshaveensnared.”(Fox&Kemp2009)
ThisresearchisgoingtoactasacatalysttoinspirenewdesignsorresearchinthemultidisciplinaryfieldofIA.ItwillprovidethenecessaryskillsforarchitectstogetherwithmeanstobeginsimulatinganddesigningKA.ButwillalsoprovidetheconceptofIAintheformofEphmeralizationtostructuralengineerswhocanproducefurthercalculationsandcanthusdeveloplighterandstrongerstructuresusingactivecontrolmeasurements.Engineersstudyingtheindoorbuildingclimatecandevelopstrategiesthatformthebasisforarchitectsandtheirdesignsforinteractivefaçades2.
2InteractiveFacades:Interactivecomponentsembeddedinalargerstructure(façade)interactingwithbuildingphysicsbehaviorandappearance.Theseincludesunlight,temperature,ventilationandalsoappearanceinallkindofforms.
10
Mechanical,chemicalandelectricalengineerscanalsofindinspirationfornewmechanisms,smartmaterialsorelectronicstoupgradecurrentversionsofIA,likeactuatorsthatarepoweredbythesunortextilemembranesthatcanchangecolorlikeachameleon.Thiscommongoalisthecomplementaryinspirationforbothpartiesfordesigninganddiscoveringnewapplications.EvensocialsciencescanobserveprototypesofIAinasocialcontexttoseewhatkindofimpactithasonhumanandsocialbehavior,whichinreturnformsthebasisforarchitecturalcritiqueandthebranchingoutofIAindifferentdirections.Notonlycantheyobservedirectconfrontationbetweenthebuiltenvironmentandtheirusersbuttheycanalsointerpretthevaststreamofpragmaticandhumanisticdatathatwillsoonbeavailablefromeverycornerofthisnewsentientcity,comprisedofInteractiveArchitecture.
C
2.1
ThearcprocoubeaWaopithaBesIns(Fototear
Figu
Figu
hapt
1EarlierW
econceptofchitectshaveominentfiguupleofkinetamswheretarehouseGainionthatthattime.
sidestheindstituteofTecox1995a)cathenbytheirlierworks.
ure 12: Ernstin
ure 13: Scale M
er2:
Works
fKineticArceincorporaureofthemticprojectsthekineticsateandthedhisisdirectl
dependentwchnologywaategorizeddirmechanis
ng Warehous
Model, Santia
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chitectureistedKAinthisSantiagowhichcontcouldstillbdesignforthlylinkedto
workofCalaascommissdifferentintm(s)andis
e Gate, Santia
ago Calatrava
kgrou
sayoungcoheirownoeuCalatrava(tainlinkagebecalculateheMilwauketheabsence
atrava,aressionedarounteractivestrthusagrea
ago Calatrava
a (Tzonis & Lef
und
oncept.LessuvrebeforeCalatravansystemswitedbyhand.FeeArtMuseeofmoreco
searchground1995.Thructuresthaatwayofcap
a, 1983(Tzonis
faivre 1997)
sthanahan1990.Them.d.).HehasthasetofnForexampleeum.Itistheomplexsimu
pattheMasheKineticDathadbeencpturingmos
s & Lefaivre 1
ndfulofmostdesignedanon‐bearingehisErnstinewriter’sulationtool
ssachusettsesignGroupconceivedustofthe
1997)
11
ng
sat
spup
12
2.2Literaturestudy
Fromtheearlierworksupto1990therewasstillnolargescaleinterestininteractivearchitecture.ThebackgroundworksofWilliamJ.Mitchell(Mitchelln.d.)weretheonlyonespublisheduntilthe21stcentury.ThesepavedthewayforIAbyintroducingthebiggerpictureregardingthechangingsocialrolesthankstoupcomingphenomenaatthattimesuchastheinternetandthedigitalrealm.Around2000differentarchitectsandarchitecturalfirmsbegantoexperimentwithanddocumentIA:Anewgenerationwhonowhadthemeansandskillstodoso.ThemagazineiAforexamplewaspublishedbyKasOosterhuiswhoisstillthecurrentdirectoroftheHyperbodyworkgroup(Oosterhuis2000)attheTechnicalUniversityofDelft.Thesemagazinesthereforeconsistofmanystudentprojectsandprototypestogetherwithpartsoftheoreticaltheory.Around2009anelaborateworkofMichaelFoxandMilesKemptitled“InteractiveArchitecture”waspublished.MichaelFox,founderoftheKineticDesignGroupatMITcanbeconsideredasthepersonwiththelargesthistoricalexperienceinthefieldandmakesthebook“InteractiveArchitecture”(Fox&Kemp2009)aprominentpieceinthisliteraturestudyaswellastheentirefieldofIAatthemomentofwriting.
13
ThefollowingbooksregardingIAweretakenintoaccountwhileconductingthisliteraturestudy:
1. W.J.Mitchell,CityofBits,Space,PlaceandtheInfobahn,MITPress,1996,pp.224(Mitchell 1996)
2. W.J.Mitchell,e‐topia,UrbanLife–Butnotasweknowit,MITPress,2000,pp.184(Mitchell 2000)
3. W.J.Mitchell,ME++,TheCyborgSelfandtheNetworkedCity,MITPress2004,pp.259 (Mitchell 2004)
4. K.Oosterhuis;X.Xia,iAn°1–InteractiveArchitecture,JapSamBooks,2007,pp.96(Oosterhuis & Xia 2007)
5. K.Oosterhuis;X.Xia,iAn°2–InteractiveArchitecture,JapSamBooks,2008,pp.112(Oosterhuis & Xia 2008)
6. M.Fox;M.Kemp,InteractiveArchitecture,PrincetonArchitecturalPress,2009,pp.225(Fox & Kemp 2009)
ThefollowingmagazineshavebeenreadbutintheopinionofthewritertheydonotfitinsidethecategoryofKAsincemostoftheprojectsinthesemagazineshavenokineticcounterpartintheirinteractivedesign.Nonethelesstheseprojectsarepartofthecurrentinteractiveprojectlandscapeandformasourceofinspirationandknowledge.
7. K.Oosterhuis;X.Xia,iAn°3–EmotiveStyling,JapSamBooks,2010,pp.128 (Oosterhuis & Xia 2010)
8. LucyBullivant,4Dspace–InteractiveArchitecture,AcademyPress,2005,pp.128 (Bullivant 2005)
9. LucyBullivant,4Dsocial–InteractiveDesignEnvironments,AcademyPress,2007,pp.127(Bullivant 2007)
14
Figure 14: Interactive Architecture Categorization + Dissertation
The entire written IA landscape has been split up into different categories by the writer. Abstracting their quantity, each of these categories contribute to the domain of IA. Each book has been mapped on its categorization in relationship to the other categories, most fitting for its content in the opinion of the writer. The contents of this dissertation have also been categorized to visualize the content in relationship to the existing landscape. This study also states that simulation tools are still not yet widely documented or actively used. Except for some projects in the magazine iA, KA and IA in general are not simulated in current projects. The majority of the project landscape arise from a practical knowledge and heuristic production methods of building prototypes and scale models. The majority of the projects in the above books have been documented3 and categorized in the following sections. By doing this, the research compares the books based on their vision on the current IA landscape/projects.
3 Appendix A: Project Landscape Raw Data
Background
Theory
Protype
Simulation
Build Projects
K. O
osterh
uis, IA
nr3
2.2
TowasumacctriloveAnoprothe
Figu
Tab
2.1Timelin
visualizethsroughlydimofthecatecounttheamlogyofW.J.ertogetherwotherremarototypes,meeirwayinto
ure 15: Time v
BackIATSimu
ble 1: Legend T
W.J. M
itchell, C
ity of B
its
ne
hechangingividedbythegoriesatamountofliteMitchellthewithaboomrkisthesmeaningthatsomespeci
versus Book C
kgroundheoryulationsTime versus B
W.J. M
itchell, E‐to
pia
rolesofthehewriterintnyonetimeeratureataneoverallbacmofprototyallriseinsithesimulatficworks.
Contents
Book Content
WJMitch
ellE‐to
pia
esecategorietopercentageistherefornyonetimeckgrounddypesandsimimulationptionpackage
ts
W.J. M
itchell, M
E++
esinsidethgesandplotre100%ande.Itisobvioisappearsamulationsinrojectsrathesarerelati
PrototypeRealLife
eIAlandscattedonatimdthuswillnustoseethndtheIAthntheprojecterthanrealivelynewan
esProjects
Kas O
osterh
uis, IA
nr1
apeeachbomeline.Thenottakeintohataftertheheorytakestlandscape.lprojectsanndhavemad
Fox&
Kem
p, In
teractive Arch
itecture
Kas O
osterh
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nr2
15
ok
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.ndde
Kas
Oosterh
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2.2
Figu
Tab
CatnotArcproTheprores
2.2
BasthevalsamItisprowhendThekincat
2.2Project
ure 16: Locati
IAn°1(O
IAn°2(
ble 2: Legend
tegorizingthticeablethachitecturehojectsinWe
eearlierwoominentfiguspectivepie
2.3Project
sedonacateaforementuebutshowmecolorcod
sshownthaojectstendthichareinted‐andstart
esemechanneticstructutegorieswas
Location
on versus Boo
Oosterhuis
Oosterhuis
Books
heexamplestthemagazhasawidersternEurop
orks,ascateureslikeSanchartstells
Mechanism
tegorizationionedprojewingtheirredeisusedfo
attheKDGhtoavoidtherestingbutpoint.
nismsarethures.The“wstoohigh,o
ok
&Xia2007)
&Xia2008)
sfoundinlzineiAmainscope,notpeaswell.
gorizedbytntiagoCalatusthatnew
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ninmechanictsareputiespectiveboortherespe
hasmadeanearlierlinkonlyhavea
esamecateways”havenonlyproving
)
)
literaturepenlydepictsnonlyshowin
theKDG,ortravaandOtwerprojects
ismsmadebintogroupsookinastacectivebooks
nddocumenkagesystemalimitedsco
egoriesasthnotbeendocgtheenorm
InteractivKemp20KineticD1995a)
erbookandnationalworngnational
riginatedfrottoFrei.Altsaremorep
bytheKDGswhileabstrckedcolumnsasthegeog
ntedavarietsorNurnbeopeofusabi
heaforemencumentedsiousamount
veArchitect009)DesignGroup
dgeographicrk.Thebookprojectsbu
omthehomethoughthespresentinqu
atMIT(Foxractingtheirn.Keepingigraphicloca
tyofmechanergscissorslityandapr
ntioned“meincetheamotsofactuato
ture(Fox&
pMatrix(Fo
clocationitkInteractivutconceptua
ecountriessizeoftheiruantity.
x1995b),alrabsoluteinmindtheation.
nisms.Newmechanismredetermin
eans”oftheountoforsavailable
16
ox
isveal
of
lof
wermsed
e.
Figu
ure 17: Mechaanism versus Book
17
2.2
IntkinmaDynDepincsetDynbutvenEmstruand
Figu
2.2
AnoKemConsolMuwaSpabaswil
2.4Project
thebookIntneticalcountajorityofpronamicorEm
ployablestrludemilitartupbutthee
namicsystetwhoarestntilationsys
mbeddedsysuctureanddembedded
ure 18: Typolo
2.5Project
othercategomp2009),i
ntextualAdaarposition,
ulti‐functionllsormulti‐
atialoptimizsketballgamlloptimizea
Typologies
teractiveArterpartindojectsfoundmbedded.
ructuresarery,nonmilitendposition
emsaresysttillonlyapiestems,etc.
stemsarelikspace.Itcandstructures
ogy Categoriz
Applicatio
orizationalsthatofthe
aptabilityinwindveloc
ndesignfun‐functionfu
zationseeksmeisbeingpacousticsan
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rchitecture(ifferenttypdintheliter
econceivedtaryandcrisnofthebuil
temsthatareceofabigg
kedynamicnbeseenthsinsteadoft
ation
nKinetics
socoinedbyeapplication
ncludesstrucityonthesc
ctionsonanrniture.
stooptimizplayedinasndlightingt
(Fox&Kemologies.Theratureintoo
asstructuresisrelieftenldingsisstil
reinteractivgersystem.
systemsbuhatthenewetheearlierd
ytheauthonofkinetic
ucturesreaccaleofourb
ninteriorsc
zethestructspaceorourtoourchang
p2009)theefollowingoneofthree
eswithasmnts:verykinllstatic.
veandhaveTheseinclu
tformaninerprojectstdeployables
rsofInteracsystems.W
ctingtoourbuilding.
cale:Positio
turetoitsurofficesaregingneeds.
eauthorselacategorizatietypes:Dep
mallsetuptineticsystem
aphysicalcudesolarsh
ntegralparttendtowardstructures.
ctiveArchithatisaproj
changingen
ningofmov
sage.Whetheplacedther
aboratetheionputstheployable,
ime.Thesemsduring
counterparthading,
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tecture(Foxjectusedfo
nvironment
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herare,thespac
18
e
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ure 19: Applic
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hendividingbeseen.Evesbeenveryeirwork.
econceptofrrentIAprocountthree
rectinteractobjectsorpereisalotoitcanevenreoroverhe
mulioverwnditionslikeuctureandwessesandd
ermonthsmacertainresangetheirsiestayingint
sthewriterorporatediylightandve
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cation Catego
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geachprojeeryproject’sfeworeven
ftimeisnotjectlandscalevelsofint
tivityinvolveople.Abuifnoisetomchangetheeatingwillo
weekscanbeerisingwatewilltherefoisplacemen
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r’sopiniontneachotheentilationca
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nisticvaluesitcanadjusngtotheam.
thatdiffereneronatechnannotcoinc
ortantgoalgtochange
peedoftheirwasdirect,itsordesigne
ydocumentethisreasonntime:Dire
ikedaylightorexampleoptimalspaindowssoth
nasuchaschheseinvokethestructure
scanchangesthisspatiamountofchil
ntlevelsofinicalscale.Fcidewithop
ofaninterabetweenhu
rmovementimplyingmiersprototyp
edandtakennthatthewrect,Medium
tlevels,sounchangeitssacefortheohatthespac
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e.Likethealconfiguratldrenbetwe
nteractivityForexampleptimalstruct
ctivesystemmanneedsa
cond
t,therewasinutes.Thispingthisbig
nintoaccouriterexpliciandLongti
ndlevelsanskin,thickenccupanttorceisequally
ndpatternsntheappliedformversus
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ycannotalwetheinhabituralbehavi
todayshoulandexternalditions.”(Fox
nodifferensmeanstherggerpicture
untintheitlytakesinttimespans.
ndthepreseningitwherreaditsbooylitandno
orgeologicdloadsontsinternal
ountofvisitygroundscaof3‐15whi
waysbetant’sneedior.
ldbetoactalenvironmenx&Kemp20
19
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to
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isthesismaattheselevevelsreacttoiscategoriztbeableto
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ure 20: Load B
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adeadivisioelscannotbdifferentdaationhowevbeloadbea
alabilitydepalargescal
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yimpliesasestructure
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cstructurescludedome
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istancetoenhighloadbe
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nvironmentearingifthe
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2.9Project
tegorizingthagmaticvaluuesarevalucordingly.Wnsorsarenoswillchang
ure 22: Senso
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23
Chapter3:Methodology&Results
3.0Methodology
Beforetalkingaboutthedifferentpackagesofthemethodologythisthesiswillfirstelaborateontheusedsimulationsoftware,Grasshopper,andtheusedArduinomicrocontroller.
3.0.1TheSimulationSoftware,Grasshopper
Researchinsimulationsoftwareledtoagrowingusercommunityinvolvingtheadd‐on“Grasshopper”(Davidsonn.d.)forRhinoceros4SR8.Thegrasshopperadd‐ongivesusavisualcodingenvironmentwhereparametricaldesignisthemaintopic.Rhinocerosisnotdevelopedforskeletonstructuresthough.Thecommunitygroupshavedevelopedpiecesofcode,visualizedas“components”inGrasshopper,whichallowustosimulaterealphysicalbehavior.Afterreadingacomparisonthesisoncommercialskeletontools(Fotiadou2007),togetherwiththedocumentationonRhinocerus+Grasshopper(Davidsonn.d.),Kangaroo(Piker2011b)andFirefly(Andy&Johnson2010),thisresearchhastakenGrasshopperasprimarysimulationtool.Thisismainlybecauseoftheavailablecomponents,FireflyandKangaroo,whichallowustomanipulatedataandsimulatekinetics,thetwobasicneedsinthisIAresearch.Kangarooisaphysicsenginebasedontheuseofaparticle‐springsystem.ForabetterunderstandingofthesystemanditsimplementationwerefertotheKangarooManual(Piker2011c).Butthisbasicallymeansthatinthisthesisstructuralnodeswillbemodeledasparticlesandinterconnectingbeamsortrussmemberswillbemodeledasa“spring”connectionbetweentwoparticles.Thesespringshaveacertainstiffnessdefinedbyfollowingformulasofgeneralstructuralengineering,inaccordancewiththeircompatibleunits:
∗
Lindiffvaractadjjusact
Figu
Figu
Figu
nearactuatoferentwaytriablerestletuatorthatcustableslidtlikeinreatuatorands
ure 24: Actuat
ure 25: Truss
ure 26: Kanga
ors,anintegthanthestifength.Variacouldbeusederswhichclity.Whenwimulatethe
tors, Spring Im
member, Spr
aroo Compone
ralpartofKffbeams.Acablelengthwedinrealitycanbeusedweadjustthekineticsof
mplementatio
ing Implemen
ents in Grassh
KA,arehowctuatorsarewhichislinky.Theresulttocontroltheseparamethestructu
on
ntation
hopper
weverbeingieimplementkedtothesttofasuccesthestrokeoetersweadre,whichth
implementetedasspringtrokeofthesfulsimulatfeverysingjustthelenghisresearch
edinagswithaespecifictionwillhavgleactuator,gthofthehislookingf
24
ve
for.
Figuure 27: Grasshhopper Enviroonment
25
3.0
ForDudevproanalighEthnot
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0.2Themic
rreceivingaemilovemicvelopingOpogrammingaloganddightsormotorhernetconntresearched
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ure 28: Testin
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searchusespartofastuusingtheArdhastheabilitnalstoactuaortsaswelltheDuemil
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26
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27
Totacklethesubjectspokenofintheintroductionithasbeenbrokendownintothreepackages:
1. SimulatingDesignThefirstpackageisacompilationofdifferentcasestudies.TheseinvolvepracticalcaseswhichcanbefoundinthecurrentKAlandscape.Aninformation‐orientatedsamplinghasbeenusedtofinddifferentatypicaldesignstotesttheabilitiesofthesimulationsoftware,Grasshopper.ThispackagewillalsocontainacomparisonstudybetweenGrasshopperandaFiniteElements‐softwarepackage,ANSYS,fornumericalvalidation.
2. SimulatingBehaviorThefollowingpackagewillimplementdifferentlowcost,highlyavailablesensorsinsomeofthepreviouscasestudies.Thisagaintotesttheabilitiesofthesimulationsoftware,Grasshopperandtofindthescopeofitsabilitytolinkthephysicalsensoryenvironmenttothesimulation.Notonlythepragmaticbutalsohumanisticsensorswillbeaddressedhere,togetherwiththenumericaldifferencesofswarmandcentralintelligence.
3. PracticalDesignIssuesInthepracticaldesignpackage,anidealkineticstructurewillbebrokendownintoitsdifferentpartslikecladding,connectingmembers,actuators,etc.Differentgeneralsolutionswillfirstbeanalyzedandproducedinapracticalstudyofbuildingandusing.TheendofthispackagewillcontainaworkingprototypeofaconceptualKAdesign.
3.1
3.1
TheinsinteresInoablillu
Figu
Figu
1Simulati
1.1Simulat
1. ORAMBa.
eOfficeforshortORAMerestedin“sponsivesys
oneofhisfiletomultiplustrationas
ure 1: Actuate
ure 29: Scale m
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tions,Case
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2. Hyberba.
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andinter
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3. ORANGa.
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ure 44: Simulaation of the Expanding Geo
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7. Results
odelscompilnbesimulat
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40
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3.1
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1.2Numeri
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esimulationallthenoderencesindieachotherf
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Tab
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ure 46: Simula
ure 47: Simula
ble 3: Error Ma
ode X Dire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
ltScenario
enarioisthacalculatedidswereapp
ation Grashop
ation ANSYS,
argin %, Defa
ection Y D
0,0
0,0
0,1
0,1
0,1
0,0
0,1
0,1
0,1
0,0
0,0
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0,0
0,0
0,0
0,0
0,0
0,0
0,0
0,0
0,0
0,0
oResults
atofnoactusplacementliedtotheu
pper, 5kN, No
5kN, Not Act
ult 5kN
Direction
0,0
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uationanditsandinternuppernodes
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uated, Deform
Tab
N
isusedtovanalforcesins.
Deformation S
mation Scale
ble 4: Error ma
Node X Dir
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
alidatetheGnanormals
Scale 1:1
1:1
argin %, Defa
rection Y Di
0,0
0,1
0,1
0,1
0,2
0,0
0,2
0,1
0,1
0,1
0,0
0,0
0,0
0,0
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0,0
0,0
0,0
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Grasshoppesituation.5k
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irection
0,0
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0,0
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0,1
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0,1
0,1
0,1
0,1
0,1
0,1
0,0
0,1
42
rkN
3.1
Theandkin
Figu
Figu
Tab
No
1.2.2Actuat
eactuatedsdapply0kNneticsrespec
ure 48: Simula
ure 49: Simula
ble 5:Error Ma
de X Dire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
tedScenar
scenariowilNand5kNloctivelytoget
ation Grassho
ation ANSYS,
argin %, 0kN
ection Y Dire
0,0
‐106,4
‐111,8
317,3
247,8
206,8
158,8
127,6
106,0
90,1
0,0
0,0
63,0
70,9
79,3
‐132,1
‐120,8
‐112,0
‐104,6
‐97,7
‐91,0
0,0
32,8
ioResults
llshortenthoadsontheutherwithap
opper, 0kN, A
0kN, Actuate
ection
0,0
21,6
9,5
‐2,7
‐17,4
‐28,0
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‐45,2
‐59,2
0,0
0,0
31,1
13,6
17,7
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‐33,6
‐38,9
‐46,7
‐65,2
0,0
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he4thverticuppernodeppliedloads
Actuated, Defo
ed, Deformati
Tab
No
altrussmemesforvalidas.
ormation Scal
on Scale 1:1
le 6:Error Ma
ode X Dire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
mbertohalftingthekin
e 1:1
rgin %, 5kN
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0,0
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316,2
247,3
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fofitslengtneticsandth
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43
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3.2
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2Simulati
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44
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ure 51: Manip
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Figure 98: Elongation/Original Length [%]
Table 10: Muscle Elongation [%]
0,92
0,94
0,96
0,98
1,00
1,02
1,04
1,06
1,08
0,00 0,50 1,00 1,50 2,00 2,50 3,00 3,50 4,00 4,50 5,00
Length/ Original length [/]
Air Pressure [bar]
Elongation[/] vs. Air Pressure[bar]
1kg
2kg
3kg
5kg
4kg
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4,50 ‐8,09 ‐7,42 ‐6,74 ‐4,72 ‐3,36
5,00 ‐8,43 ‐7,76 ‐7,42 ‐5,39 ‐4,38
Total Range 8,78 9,80 11,15 10,14 9,80
74
3.3.5PrototypeDesign
3.3.5.1Introduction
FlexibleSkin
AsasummarizationofpracticalknowledgethisresearchendswiththedesignandcreationofanInteractiveKineticStructure.Thisprototypedoesnotfocusondocumentingthesocialinteractionwiththestructure,henceitssocialaspects,butdocumentsitsdesignprocess,productionprocessandproblematicissues.Theprimeconceptualideabehindtheprototypeisthatofaflexibleskin.Askinwhichisabletodefinearchitecturalspaceonitsown.Askinthatrespondstopragmaticdatasuchassunlight,proximityandtouch.Bydoingsotheinhabitantisnolongershieldedfromtheoutside,passersbyorsunlightbyabrickwallbutperceivesthespaceinaninteractiveway,constantlychangingintime.WhileexistingprototypesinthefieldofIAdonotspecificallymentionthedifferentlevelsofinteractivityinvolvingtimespan,thisresearchdoes.Thisresearchstatesthattherearethreedifferentlevelsofinteractivity:Direct,WeeksandMonths.Mostoftheprojectsinthecurrentlandscapeonlyinvolvedirectinteractivity.Thisprototypeskiniscomprisedofthetwofirstlayersofinteractivity,meaningdirectinteractivitysuchasdaylightentranceandventilationaswellasdefiningitsownbehaviorlikeshynessandaggressivenessbaseduponthesepragmaticvaluessuchasproximityandtouch.Thesecondlayerofinteractivity,meaningthestructurallayerinthiscase,canformitselfintoanoptimalspaceaccordingtominimalinternalstressesorspatialoptimization.Bothlayersareaestheticallywovenintoeachotherunlikeprojectsinthecurrentlandscapewhichmainlyintroduceeitherstructuralordirectinteractivity.Issue3‐8:Anotherfactthatthisresearchspecificallymentionsistheoverallinabilitytoincorporatetwodifferentlevelswhiletheyarelinkedtogetherwithonlyoneactuator.Meaningoneactuatorcannotberesponsiblefortwolevelsofinteractivity.Forexample,ourneedfordaylightandventilationdoesnotcoincidewithourneedforanoptimalstructurewithminimaldisplacements.Thisinsightonlycameafterthepracticalissuesduringtheactuatordesign.
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Behavior
Varioussensorswereimplementedintotheflexibleskin.Piezoelementscapableofmeasuringimpactorshocksweregluedtothecladding,transformingthecladdingtoatouchsensitivesurface.Onelightsensorwasattachedtomeasuredaylightlevels,sothatthepolypscouldrespondaccordingly.Sincethe9nodesoftheprototypelieclosetoeachotherthereisnoneedforinstalling9independentsensors.Howeverinrealitythesearesupposedtobeinstalled.Eachofthepolypsthenreactstoitsspecificsensor,transformingtheflexibleskinintoavisualizationoftheincidentsolarradiation.Finallytwoinfraredsensorswerealsoimplementedonthesurfaceofthecladding,measuringtheproximityofobjectstowardstheskin.Thepolypscanthusreactandinteractwithpassersbyorcouldshyawayfromthemtomaintaininnerspaceprivacy.Thesameprinciplegoesfortheimplementationofmultipleinfraredproximitysensorssothatthepolypswillactmoreautonomouslyandinatagreaterresolution.Asameansofprototypingthepolypsfurthestawayfromeachotherwillbedrivenbyaseparateinfraredsensor.Andthemiddlepolypswillbedrivenbyanaveragedvalueofthe2infraredsensors.Alloftheprogramming7wasdoneinArduinoenvironmentbasedonProcessing.
7 Appendicx B: Behavior Arduino code
Sensor Action Behavior
Light Polyps Open Polyps will catch daylight dispersing it over its structure.
Light Polyps Close Polyps will block daylight to intervene in its inner space.
Touch Polyps Close Polyps will shy away from interested people, opening again over time.
Touch Polyps Open Polyps will be eager to respond to interested people. Conversing with the person in front of it.
Proximity Polyps Close Polyps will shy away from passerby's.
Proximity Polyps Open Polyps will affirm passerby's, luring them closer
Table 11: Polyps Behavioral Scheme
Figu
Figu
Figu
ure 116: Built
ure 117: Built
ure 118: Built
‐In Opto‐Resi
‐In Piezo Elem
‐in IR Sensor
stor
ment
87
Figu
Figu
ure 119: Proto
uur 120: Proto
otype Side‐Vi
otype Side‐Vi
ew
ew
88
Figu
Figu
ure 121: Proto
ure 122: Proto
otype Perspec
otype Upper V
ctive View
View
89
90
Chapter4:Evaluation&Discussion
4.1Evaluation&DiscussionSimulatingDesign
4.1.1SimulationCaseStudies
ThesimulationofkineticbeamstructuresispossiblewiththeGrasshopperenvironment.ThecomponentKangaroousesaspringbasedmodelwherenodesareconsideredasdiscretepointsandbeamsaremodeledasspringswiththeappropriatestiffness.Actuatorsarespringswithadjustablerestlength.Thisresearchhoweverdidnotimplementachangeinspringstiffnessinvolvingactuators.Whentherestlengthofanactuatorchanges,itsstiffnessissupposedtochangeaccordingtothestiffnessformulaE*A/L,whenabstractingtheactuatorasatrussmemberwithconstantcrosssection.Anactuatorcouldalsohaveadifferentstiffnessbehaviorsinceitscrosssectionisnotconstantoveritslength.Furtherresearchcouldanalyzedifferentactuatorsandtheirstiffnessbehavioroveritsstroke,toimplementinGrasshopperasanaccuratestiffnessfunction.Kineticstructuresonlymadeoftrussmembers,actuatorsandanchorpointsfixedintimeandspacecanbeimplemented,whenthebasicskillsetinvolvingGrasshopperandKangarooisavailable.Bendingcanalsobeimplementedontwocoupledlinestosimulatehingednodes.HoweverKangaroolacksthenecessarydocumentationexplainingtheusedunitsasbendingstrength.TheGrasshopperenvironmenttogetherwithKangarooisnotacommercialpackage.Itisalsonotintendedtobeatheoreticalcalculationpackage.ThereforeunderstandingGrasshopperonlyfortheuseofdisplacementcalculationisnotmeantasabasisforfurtherresearch.Thispackagehoweverprovidesthesimulationenvironmentwitheasytousekinematicswheretheusercanhavetotal,visual,controloveritsdesign.FurtherresearchcanhowevertakeadeeperlookintotheexactprogrammingofKangarooandimproveoraddcomponentswherenecessary.
TheguiguistruKanimpandmeisa
Figu
Figu
emainprobides,meaninidesformthucturescan
ngarooiscoplementatiodshouldproantimesimuanelaborate
ure 123: Simu
ure 124: Simu
blemwhenunganchorphebasisfornnstillnotbe
ontinuouslybonoftherollovetobeabulatingrollieandinaccu
ulation Flexibl
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beingdevelolingguideisigimprovemngguidesbyuratesolutio
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arooisitscuhedtoaspekineticstruc
opedaswesstobeintrodmentinthisyvariablepon.
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ilitytointrosurface.Thningaparto
sbeenannounextreleaseimulationcawardsinters
oducerollingheserollingofkinetic
uncedthateofKangaroapacity.Inthrsectingplan
91
g
oohenes
92
4.1.2Numericalvalidation
Kangarooisquiteaccurateforsimulatingnon‐dynamicstructures.Acomparisonstudyindisplacements,comparingKangarooandANSYS,showsthattheaveragederrormarginofKangarooisonly0,1%oftheANSYSresult.Whensimulatingadynamicstructure,meaninganactuatedstructure,Kangarooisnotasaccuratebasedonthecomparisonresults.DisplacementsfoundbyKangaroohaveerrormarginsof316%maximum.HoweverthisdoesnotprovethatKangarooisnotsuitableforthesimulationofKA.InANSYStheactuatorwasmodeledasatrussmemberwithaninitialstrain.InGrasshopperitwasmodeledasaspringwithvariablerestlength.Changingstiffnessandotherfactorscouldplayapartintheseendresults,asdiscussedbefore.Non‐linearanalysisinANSYSandfurtherresearchwouldbeconclusive.SincethedifferenceinresultsaresmallinabsolutevaluethisresearchhoweverstatesthatKangarooisavaluableearlysimulationpackageandwillimproveorjustifyitsresultsinfurtherresearch.
Table 12: Error Margin %, Default 5kN Table 13:Error Margin %, 5kN
Node X Direction Y Direction
1 0,0 0,0
2 0,0 0,1
3 0,1 0,1
4 0,1 0,1
5 0,1 0,1
6 0,0 0,1
7 0,1 0,1
8 0,1 0,1
9 0,1 0,1
10 0,0 0,1
11 0,0 0,0
12 0,0 0,0
13 0,0 0,1
14 0,0 0,1
15 0,0 0,1
16 0,0 0,1
17 0,0 0,1
18 0,0 0,1
19 0,0 0,1
20 0,0 0,1
21 0,0 0,1
22 0,0 0,0
0,0 0,1
Node X Direction Y Direction
1 0,0 0,0
2 ‐105,7 21,3
3 ‐111,2 9,4
4 316,2 ‐2,7
5 247,3 ‐17,4
6 206,7 ‐28,0
7 159,0 ‐33,0
8 128,0 ‐38,1
9 106,4 ‐45,4
10 90,6 ‐59,7
11 0,0 0,0
12 0,0 0,0
13 62,6 30,8
14 70,5 13,4
15 79,0 17,6
16 ‐132,0 ‐18,8
17 ‐120,8 ‐29,1
18 ‐112,2 ‐33,7
19 ‐104,8 ‐39,0
20 ‐97,9 ‐46,9
21 ‐91,4 ‐65,7
22 0,0 0,0
32,8 ‐20,3
WhthecalThiKanwhconTheiterbenbenThesimnotbut
Figu
Figu
henanalyzineresultsinAculatesneu
isresultiscngaroosimuereasactuanstantofthe
esimulationrativeprocendingmomendingmome
esimulationmulation,metthecaseintstillbeinga
ure 125: Simu
ure 126: Simu
ngtheinternANSYScalcutralorposit
causedbythulatesaspritioninANSYespecificme
nbyKangarossofitssimuentthankstoentwillimply
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ewayactuangwithvariYSisinserteemberisinse
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hopper, 0kN, A
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softhediffenintheupplforces.
ationisimpliablerestleedasadifferertedintoth
eenasanonine.Anon‐liwhichthetrsitefixedend
einitialstrawilloccurothosimulatesdingtoitsstif
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ntralintelligtuatorsbasespectivecelllapagosOpt.
eoptimizatiplacement,cognitionorternallangu
ure 127: Optim
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uinomicrocsensordataKA.Theactuhsofitsactu
ppingthedaintheGrassmaticsensosmethodisbersandthu
genceontheedonacoup.CentralinttimizationS
ionsolvercdistanceorrRDIFreadiuage.
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ationofalloylinkedtoengeitherthernallangua
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94
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Besidescentralintelligencebeingmoreaccuratethanswarmintelligence,whichwasfoundinthecomparedresultsofabasicsimulation,theendactuationisalsodependentontheiterativeprocessoftheoptimizationsolver.Thiswasnotvisibleinthefirstsimulation,minimizingthedistancetowardsapoint,butwasinthesecondsimulationwhenminimizingtheinternalforces.
Thisproblemwillalwaysoccurwhenusingevolutionarysolversandtheiriterativeprocess.Howeverresultsshowthatdifferentactuationendresultsgivethesameendvalue.Problemsarelikelytoarisewhenmorecomplexsimulationswillleadtodifferentendresultswithmajordifferencestheendresult.Thereforeoptimizationsolversaretobehandledwithcareandresearchedwhenimplementinginafinaldesign.
Tabel 14: Optimization results versus swarm implementation, Simulation 1
Tabel 15: Optimization results, Simulation 2
Grasshopperisnotonlyinterestingforthesimulationofkinetics,thisfreeandopencodingenvironmentmakeswaytodifferentprotocolsthatcanbeusedincombinationwithupcominghumanisticaswellaspragmaticsensors.Forfurtherdetailsinvolvingsubjectssuchastheemotivelayerandbehaviorwerefertothechaptermethodologyandresultsinquestion.Itisthewriter’sopinionthatGrasshopperprovidesandwillcontinuetoprovideavaluableenvironmentforthesimulationanddesignofInteractiveArchitecture.
Actuator Intelligent 1 Intelligent 2 Intelligent 3 Swarm
1 0 0 0 7,93
2 0 0 0 12,58
3 18 20 8 17,68
4 20 20 20 20,00
5 19 20 19 16,76
6 0 0 0 11,51
7 7 9 3 7,12
8 10 4 0 3,25
9 0 0 0 0,00
CP 0,565594 0,565594 0,565594 0,565692
Difference 0 0 0 9,8E‐05
Actuator Intelligent 1 Intelligent 2 Intelligent 3
1 1 1 1
2 0 0 0
3 ‐3 ‐3 ‐3
4 0 0 0
5 0 0 0
6 0 0 0
7 0 0 0
F*L 0,000033 0,000033 0,000033
4.3
4.3
4.3
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generalitcasiertobuildaceandallowpossiblewhhenthetruss
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desshouldnnectedinteconnectedakineticstr
ure 128: 2D Tu
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ure 133: Kinet
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rengththemonal/linearordingtothe
Rates of diffe
ibben air mus
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uscle
allsortsofrswereresearactuatorswillallowm
inthefamilmallstrengtactorssuch
widelyavailaasicmechanreintroduce.
eusedbutfuiggeractuat
musclesarecapableofc
esetupofthermsunderai.ObviouslytssuchinakheMcKibbenmuscletofa
musclecanonractuatorscestrengthof
erent actuato
scle setup
Shrink Rate
types,driviearched,whs.Theimpleorecompre
lyoflinearath,unsuitabasexternal
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urtherreseartionratesw
ethefinaltycarryingrel
emuscle.Thirpressureathemuscleiskineticstructnairmuscletail.
nlycontractcancontractftheelectric
ors
[%]
ingmechaniereasthisdementationehensivestr
actuators,isbleforbuildiheating.
erentsizes,aansformthettomeasure
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23
48
28
11
ismsordrivoesnotimpofrollingguuctures.
snotsuitablingloads,an
availablestrrotationalmethepractic
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aractuatorseloadsinte
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ofitsoriginaandcanresis
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100
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101
By looking at the test results of the McKibben air muscle this research recognizes the fact that the air muscle has a variable elongation rate according to the applied load. There even seems to be a maximum value at 30N. This effect was not examined further but is likely to be caused by different material strengths and properties like strength of the specific braided sleeve and silicone tubing. Additionally parameters such as the wall thickness, length or diameter of the silicone tubing used could lead to these findings. Further research, documentation and examination of material strength should provide conclusive insights.
Figure 136: Elongation/Original Length [%]
Table 17: Muscle Elongation [%]
0,92
0,94
0,96
0,98
1,00
1,02
1,04
1,06
1,08
0,00 0,50 1,00 1,50 2,00 2,50 3,00 3,50 4,00 4,50 5,00
Length/ Original length [/]
Air Pressure [bar]
Elongation[/] vs. Air Pressure[bar]
1kg
2kg
3kg
5kg
4kg
Druk(Bar) 1 kg 2 kg 3 kg 4 kg 5kg
0,00 0,35 2,04 3,73 4,74 5,42
0,50
1,00
1,50
2,00 ‐3,03 ‐2,35 ‐0,66 1,36 2,04
2,50 ‐4,72 ‐4,04 ‐1,68 0,35 0,69
3,00 ‐5,73 ‐5,05 ‐3,36 ‐1,34 ‐0,32
3,50 ‐6,74 ‐5,73 ‐4,38 ‐2,35 ‐1,34
4,00 ‐7,42 ‐7,08 ‐5,73 ‐3,36 ‐2,69
4,50 ‐8,09 ‐7,42 ‐6,74 ‐4,72 ‐3,36
5,00 ‐8,43 ‐7,76 ‐7,42 ‐5,39 ‐4,38
Total Range 8,78 9,80 11,15 10,14 9,80
4.3
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3.6Prototyp
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esecondancondlayerninteractivityerwovenbumensionedolyps,onwhiussmembertheoccurri
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ure 138: Polyp
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ndfinaldesignowprovidey,allowingdutactuatorsonlyontheiichnoexterwhichprovingbending
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minaryetrussdirection.itsheight,thrthanthatthecladdin
104
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106
Behavior
BehaviorwasprogrammedusingtheArduinoprogramminglanguage8,whichisbasedonProcessing.Duringdevelopmentandenduseitbecameobviousthatsmoothingmethodshavetobeappliedonincomingsensordata.Pragmaticdatasuchasproximity,deliveredbyanIR(beam)sensor,introduces,thankstothenatureofitssensordesign,aparticularnoiseontothedatastream.Thishastobesmoothedouttoovercometheeffectof“twitching”actuation.Theusedsmoothingfunctionsumsupanamountofmeasurementswithadelayanddividesthembytheiramount.Causingthedatastreamtobeflattenedouttoreducemajorspikes.Theservomotorsused(HextronikHX550)movedinanarbitrarydirectioneverytimetheprogrammingwasuploadedtotheArduinoboard.Thistwitchcausedtheservotomoveoutoftherange,enabledbythemechanism,causingfailureoftheleverconnectingthemotorwiththemechanism.Thishoweverwasovercomewhenmovingtheservotoaknownin‐rangepositionatthetimeofdeclarationintheprogramming.TheusedMotorlibraryusedintheArduinoprogrammingenvironmentisalsoonlyabletoactuate8servomotors.
8 Appendicx B: Behavior Arduino code
WhmoresArdtoaboaproAccactwasnec
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henuploadinotorsbeganstartfollowiduinoboardactuateeighardtosucceogramming.
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ure 142: Ardu
ngthefirsttotwitch.Angtheactuadconnectedhtservomotessfullyactu
surementsofdconsumeueringaboutcificationsw
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107
oheernoy
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108
Chapter5:ConclusionThisresearchconcludeswiththesummarizationofdifferentresultsandpracticalinsightsinvolvingKineticArchitecture,modelingdesignandbehavior.
5.1SimulatingDesign
KangarooandGrasshopperarerathernewsoftwarepackagesandnotyetfullyincorporatedintheuseofarchitecturedesign.Likestatedintheliteraturestudy,eveninthespecificfieldofInteractiveArchitecture,simulationpackagesarenotwidelyused.SimulationtoolsdonotexistbecauseInteractiveArchitectureexistbutparametricaltoolswhicharecontinuouslydevelopedtogetherwithnewprojectsarenolongerboundtothatspecificdesign.Newtoolsthereforestimulateandpositivelyreinforcenewstructuresduringtheirdesign.InthisresearchacasestudyresearchshowedthatKangaroo,theusedcomponentforsimulatingphysics,isapromisingtool.Whendesigningstructures,whichareanchoredbypoints,Kangarooisabletosimulatekinetics,aprimarydemand.Thebiggestissueinvolvingthiscomponentisthecurrentinabilitytoimplementrollingguidesoranchorpoints.Meaningotherthananchorpointsfixedinspace,Kangarooisnotyetabletoimplementthem.Kangarooisstillbeingdevelopedatthetimeofwritinghoweverandthesecomponentshavebeenannounced.FurtherresearchcouldbethedesignofmultiplecomponentpackagesbasedonaspecificdesigntoimplementandpublishfortheuseinGrasshopper.Involvingaccuracy,itcanbeconcludedthatKangarooisabletoaccuratelysimulatestructuralbehaviorofnon‐actuatedstructures.AveragederrormarginsincomparisontoANSYS,aFiniteElementspackage,areaslowas0,1%.Errormarginsofthecomparisonbetweenactuatedstructureshoweverareashighas316,2%.Thisresearchisnotabletoaccuratelyargumentthislargeerrormargin.ItstateshoweverthatANSYSisnotdesignedtoactuatemembersduringitscalculations.AninitialstrainwasappliedtothebeaminANSYSwhichwastheonlypossiblemethod.ComparedtoKangaroohoweverwhereactuationofabeamisimplementedbyadjustingtherestlengthofthestiffspringdepictingthebeam.
TheANissupac
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3
4
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6
7
8
9
10
11
12
13
14
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16
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18
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20
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2
3
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7
8
9
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15
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thelinearcangarooaretcuracyofth.
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109
y
on
110
5.2SimulatingBehavior.
Besidesbeingabletosimulatekinetics,Grasshopperhastheabilitytointroducereal‐lifesensordatatotheprogrammingenvironmentthankstothecomponentFirefly.Beingabletoimplementthesestreamsofdata,thedesignercanbegintodesigntheintelligencewhichisacrucialpartinthetranslationofdataintoactuationofthekineticstructure.BasictechniqueswhicharealreadyimplementedinGrasshopperaretheremappingfunctionandtheOptimizationsolver,Galapagos.Theremappingfunctionallowstoeasilyremapthevalueinthesensorrangetotheactuationrange.Thesensorrangeisdependentonthespecificsensorandpostprocessing.Theactuationrangeisspecifiedbytheusedactuatordrivingthestructure.Remappingfunctionshoweverleadtoaswarmlikeintelligencenottakingthewholestructureintoaccount.TheGalapagosOptimizationsolverhoweverisabletooptimizeasinglevalue,maximallyorminimally,basedoneveryactuatorlength.Techniqueswhichprovetobevaluableinfurtherdesignsandresearcharepositiontowardsapoint(displacementorattractor)andthesumproductofbeamlengthandinternalforce.Structurescouldbeactuatedtominimizeinternalforcesorminimizedisplacements.Againfurtherimplementationandprogrammingofcomponentsspecificallyforarchitecturaldesignanddatamanipulationisapossibility.Thisresearchalsoremarksthefactthattheoptimizationsolverisanevolutionarytypesolver,meaningeveryiterationprocesswillleadtoanotheractuation.Howeverseeingcomparedresultstheendvalueisalwaysthesame,leadingtoanoptimalactuation,independentfromthechosenactuationvalues.
Figure 145: Central Intelligence versus Swarm intelligence, Simulation 1
Actuator Intelligent 1 Intelligent 2 Intelligent 3 Swarm
1 0 0 0 7,93
2 0 0 0 12,58
3 18 20 8 17,68
4 20 20 20 20,00
5 19 20 19 16,76
6 0 0 0 11,51
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112
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113
5.3.3ActuatorDesign
ActuatorsarethemeansofourKineticArchitecture.Accordingtotheliteraturestudyavarietyofactuators,whichnotevenbecategorizedbecauseoftheirnumbers,areavailable.Allofthesewithdifferentcharacteristicsorlimitingfactors.Thisresearchlookedintomusclewires,rotationalactuatorsandpneumaticallydrivenactuators.MusclewireswereresearchedbutdiscardedfortheuseinKineticArchitecturebecauseoftheirlimitedstrengthandlargedependenceonenvironmentalfactorssuchastemperature.MusclewiresthereforedidnotfitintheuseforKineticArchitecture.Rotationalactuators,inthisresearchsmallservomotors,areavailableindifferentapplications.TotransformtherotationalactuationintolinearactuationforourKineticstructuresdifferentpossibilitiesormechanismsoccur.Thisresearchhasbuilt3differentmechanismswithrotationalactuators:arack‐pinionsystem,acrankshaftmechanismandascrewmechanism.Thisresearchstatesthattheseactuatorsarelimitedbytheiravailabletorque,dependingonthetype,andtheirelongation/shrinkrate(stroke).Sinceactuatorsusedwereofthesametorquestrength,differentshrinkratescouldbecalculatedandcomparedtoeachother.Furtherresearchincooperationwithmechanicalengineerscouldprovidenewinsightsinvolvingactuatorsandtheirbehaviorinrealscaleapplications.
Figure 149: Linear actuators, Shrink Rate
Mechanism Shrink Rate [%]
Crankshaft 23
Gear Pinion 48
Screw 28
Pneumatic muscle 11
114
ForthisresearchaMcKibbenairmusclewasalsofabricatedtotestitselongationrateversusappliedload.Whenintroducingavariablepressurerangeof0to5barthemusclecontracted.Differenttotalelongationrateswerefound,depictingtheaccuracyofthesetuporotherissuesthatmightinfluencetheendresults.Theseissuesarethestrengthofthebraidedsleeve,acomponentofthemuscle,aswellasthedimensionsofthesiliconetubing.Furtherresearchcouldresearchthisspecificairmuscleordesignandvalidatedifferentnewmechanismsforlinearorrotationalactuation.
Figure 150: Air muscle, Elongation rate [%]
Druk(Bar) 1 kg 2 kg 3 kg 4 kg 5kg
0,00 0,35 2,04 3,73 4,74 5,42
0,50
1,00
1,50
2,00 ‐3,03 ‐2,35 ‐0,66 1,36 2,04
2,50 ‐4,72 ‐4,04 ‐1,68 0,35 0,69
3,00 ‐5,73 ‐5,05 ‐3,36 ‐1,34 ‐0,32
3,50 ‐6,74 ‐5,73 ‐4,38 ‐2,35 ‐1,34
4,00 ‐7,42 ‐7,08 ‐5,73 ‐3,36 ‐2,69
4,50 ‐8,09 ‐7,42 ‐6,74 ‐4,72 ‐3,36
5,00 ‐8,43 ‐7,76 ‐7,42 ‐5,39 ‐4,38
Total Range 8,78 9,80 11,15 10,14 9,80
5.3
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118
Appendices
119
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Kinetic
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ctuato
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ael Fox
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IA
number 1
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Neth
erlan
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Oosterh
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Optim
ization
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ng
structu
ral
capacity
IA
number 2
Muscle
Body
Neth
erlan
ds
Oosterh
ui
s
2005
Optim
ization
Embedde
d
S‐ interio
r
Direct
Muscles
Pragm
atic
Head
Postitio
ni
ng
structu
ral
capacity
IA
number 2
Muscle
Tower 1
Neth
erlan
ds
Oosterh
ui
s
2007
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Muscles
Pragm
atic
Head
Truss
structu
ral
capacity
IA
number 2
Muscle
Tower 2
Neth
erlan
ds
Oosterh
ui
s
2008
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Muscles
Pragm
atic
Head
Truss
structu
ral
capacity
IA
number 2
Muscle
Space
Neth
erlan
ds
Oosterh
ui
s
2007
Optim
ization
Embedde
d
S‐ interio
r
Direct
Muscles
Pragm
atic
Swarm
Postitio
ni
ng
structu
ral
capacity
IA
number 2
Interactiv
e Wall
Neth
erlan
ds
Festo 2004
Activity
Clim
ate)
Embedde
d
S‐ interio
r
Direct
Muscles
Pragm
atic
Head
Truss
structu
ral
capacity
Design
Group
Plaza &
Fountain
Spain
Santiago
Calatrava
1995
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Linkage
structu
ral
capacity
Design
Group
Guided
Mast
Germ
any
Otto
Frei
1976
Activity
Clim
ate)
Dep
loyab
l
e M‐
Building
Direct
Pragm
atic
Head
Antago
nis
t structu
ral
capacity
Design
Group
Hoberm
a
n Sp
here
United
States
Asso
ciates
1998
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Nurnberg
scissors
structu
ral
capacity
Design
Group
Hoech
st
Stadium
Germ
any
Otto
Frei
1976
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Postitio
ni
ng
structu
ral
capacity
122
Design
Group
Kuwait
Pavilio
n
Spain
Santiago
Calatrava
1992
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Ben
ding
at node
structu
ral
capacity
Design
Group
Music
Pavilio
n
United
States
FTL Happold
1997
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Linkage
structu
ral
capacity
Design
Group
Dep
loyab
l
e Schell
United
Kingdom
Felix Pallares
1992
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Nurnberg
scissors
structu
ral
capacity
Design
Group
Kinetic
Wall
United
States
Group
MIT
2004
Optim
ization
Dynam
ic
Systems
S‐ interio
r
Direct
Pragm
atic
Head
Antago
nis
t structu
ral
capacity
Design
Group
Floatin
g
Pavilio
n
Switzerla
nd
Santiago
Calatrava
1995
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Ben
ding
at node
structu
ral
capacity
Design
Group
Iris Dome
United
States
Asso
ciates
1998
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Nurnberg
scissors
structu
ral
capacity
Design
Group
Kinetic
Canopies
France
Otto
Frei
1976
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Linkage
structu
ral
capacity
Design
Group
IBM
Pavilio
n
United
States
Pian
o
Ren
zo 1995
Activity
Clim
ate)
Embedde
d
M‐
Building
Direct
Pragm
atic
Head
Ben
ding
at node
structu
ral
capacity
123
AppendixB
#include<Button.h>#include<Servo.h>//Declaration!Servomyservo1;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo2;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo3;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatServomyservo4;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo5;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo6;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatServomyservo7;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo8;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedintsensorPinLight=0;intsensorPinIR=2;intsensorPinKnock=5;intsensorPinButton=13;intpos=30;booleanKnocking=false;intcounter=1;ButtonKnop=Button(sensorPinButton,PULLDOWN);
124
//Initialization!voidsetup(){myservo1.attach(12);//attachestheservoonpin12totheservoobjectmyservo1.write(pos);myservo2.attach(3);//attachestheservoonpin3totheservoobjectmyservo2.write(pos);myservo3.attach(4);//attachestheservoonpin4totheservoobjectmyservo3.write(pos);myservo4.attach(5);//attachestheservoonpin5totheservoobjectmyservo4.write(pos);myservo5.attach(6);//attachestheservoonpin6totheservoobjectmyservo5.write(pos);myservo6.attach(7);//attachestheservoonpin7totheservoobjectmyservo6.write(pos);myservo7.attach(8);//attachestheservoonpin8totheservoobjectmyservo7.write(pos);myservo8.attach(10);//attachestheservoonpin10totheservoobjectmyservo8.write(pos);pinMode(sensorPinLight,INPUT);pinMode(sensorPinIR,INPUT);Serial.begin(9600);//printstitlewithendinglinebreakSerial.println("ProgramStarting");
125
//Loop!voidloop(){intValueLight=map(irRead(sensorPinLight,10),0,900,30,160);//ValueLight=map(analogRead(sensorPinLight),0,900,30,160);floatdistance=12343.85*pow(irRead(sensorPinIR,10),‐1.15);//floatdistance=12343.85*pow(analogRead(sensorPinIR),‐1.15);//floatdistance=irRead(sensorPinIR,10);intValueIR=map(distance,0,100,30,160);intValueKnock=irRead(sensorPinKnock,10);if(ValueKnock>=50){Knocking=true;}ValueLight=constrain(ValueLight,30,160);ValueIR=constrain(ValueIR,30,160);if(Knop.uniquePress()){counter++;if(counter==3){counter=0;}Serial.println("Program:");Serial.println(counter);}if(counter==0){Serial.println(ValueLight);WriteAll(ValueLight);}if(counter==1){Serial.println(ValueIR);//Serial.println(distance);WriteAll(ValueIR);}if(counter==2){Serial.println(ValueKnock);if(Knocking==true){WriteAll(170);delay(10000);SweepAll(170,30);Knocking=false;}}delay(100);}
126
intirRead(intreadPin,intamount){inthalfPeriod=13;//oneperiodat38.5khZisaproximately26microsecondsintcycles=amount;//26microseconds*38ismoreorless1millisecondinti;inttotal=0;for(i=0;i<=cycles;i++){intinterval=analogRead(readPin);total=total+interval;delay(halfPeriod);}return(total/cycles);}voidWriteAll(intvalue){myservo1.write(value);//delay(1000);myservo2.write(value);//delay(1000);myservo3.write(value);//delay(1000);myservo4.write(value);//delay(1000);myservo5.write(value);//delay(1000);myservo6.write(value);//delay(1000);myservo7.write(value);//delay(1000);myservo8.write(value);//delay(1000);}voidSweepAll(intstart,inteinde){if(start>einde){for(intvalue=start;value>einde;value‐‐)//goesfrom0degreesto180degrees{//instepsof1degreeWriteAll(value);//tellservotogotopositioninvariable'pos'delay(15);//waits15msfortheservotoreachtheposition}}if(einde>start){for(intvalue=start;value<einde;value++)//goesfrom0degreesto180degrees{//instepsof1degreeWriteAll(value);//tellservotogotopositioninvariable'pos'delay(15);//waits15msfortheservotoreachtheposition}}
127
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FicheMasterproef
Student:CarloRousseeuwTitel:KinetischeArchitectuur:ModellerenvanontwerpengedragEngelsetitel:KineticArchitecture:ModellingdesignandbehaviorUDC:72ProefschriftvoorgedragentothetbehalenvandegraadvanMasterindeingenieurswetenschappen:Architectuur–BouwtechnischeOptiePromotor(en):Prof.AndrewVandeMoereAssessoren:Prof.LeoVanBroeckBegeleiders:Prof.StefaanBoeykensKorteinhoud:Thewayweuseandexperienceobjectsinourdailylivesisconstantlybeingimprovedwithincreasinguser‐interactivity.Fromourcarswhicharefilledwithsensorstoenrichourdrivingexperiencetotheautomatedshadingofourwindowswhichdisappearswhenweneedtogetoutofbedinthemorning.Architecturetodayontheotherhandisstatic,itsstructuralformdoesnotinteractwithitsusersoritschangingenvironmentalfactors.Insteadofshieldingtheinhabitantsfromthesefactors,thesefactorscanberespondedtoandinteractedwithtochangetheinhabitant’sperceptionofthisnewspace,InteractiveArchitecture.Inthedesignofinteractivearchitecturewithstructuralkineticchanges,KineticArchitecture,thesimulationofastructureanditsbehaviorplaysavaluableroleinitsoveralldesignandproduction.Beingabletoconnectawiderangeofsensordatawiththisdesign‐softwarewecrossthebridgenecessaryforcompletelysimulatinginteractivearchitecture,whichinturnhasaneffectonthefinaldesign.RecentdevelopmentsandcommunityeffortsinpluginsfordrawingsoftwarelikeGrasshopperforRhinoceroshavegivenustheseabilities.
K.U.LeuvenFaculteitIngenieurswetenschappen 2010‐2011
132
Everyprojectisuniquebyitsowncontextandusageandthereforeuniquebyitsmeanstointeract.ThisthesissimulatesdifferentexistingstructuresinthecurrentlandscapesandteststhescopeofcurrentsimulationpackagesandtheirusetodesignerswithregardstoKineticArchitecture.AlsotheintelligencewhichcontrolsthisKineticArchitectureandthedifferentkindsofdatastreamsareaddressedtogetherinthecontextofthesimulationsoftware.Besidestheresearchintermsofsimulation,thisthesisalsodiscussespracticalissuesofKineticStructuresinageneralwaybeforebuildingaworkingprototype.ThisresearchwillactasacatalysttoprovidearchitectswiththenecessaryskillsettodevelopanddesigninteractivearchitecturebutalsotoprovideamutualgoalforotherdisciplineslikeroboticsandmaterialengineerstoformandresearchdifferentendproductswithenhanceduserinteractivitywhichcouldbeusedinthisnewbreedofInteractiveArchitecture.