/ Fabrication by Self-assembly Robots in a sequential structure tessellation Between Construction & Deconstruction /
Theory Tutor Jordi Vivaldi Piera Student : 16056382 Chen Chun-Yen
2017 - 2018 I pledge that this paper represents my own work in accordance with The University’s regulations
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Design Thesis Report RC3 - James Chen
M odulars tructure A ggregration I n AnI ndeterinmate S c a l a b l e F r a m e w o r k
// Black Bubbles
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Design Thesis Report RC3 - James Chen
1.0 Introduction 1.1 Research statement 1.2 Architectural context 1.3 Technical context 2.0 Relevant Research 2.1 Definition of indetermination a. In science b. In philosophy 2.2 Relevant theory of architecture 2.3 Matter V.S pattern 2.4 Traditional perspective of “matter = pattern” 2.5 Futuristic perspective of “matter = pattern” 2.6 Indetermination in design methodology 2.7 Self‐assembly structure in Indetermination 3.0 Black Bubbles ‐ Self‐assembly Architecture Sequence 3.1 What’s the dream of architecture? As a structure & As the robots. 3.2 Self‐assembly modules geometry experiment 4.0 Black Bubbles ‐ Modular structure aggregation 4.1 Combination between determination & indetermination a. Determinate plug‐in architecture b. Indeterminate plug‐in architecture 4.2 Scalability in robotic structure 4.3 Robotic architecture’s adaptivity nowadays 4.4 Modular structural units’ development 4.5 Modular sequences in tessellation framework 5.0 Black Bubbles – Sequential structural tessellation of Architectural Design 5.1 Tessellation of the Architectural sequence 5.2 Scalability of structure design and timeline 5.3 Fabrication of Architecture 6.0 Black Bubbles – On Mars 6.1 Taking advantage of Martian Dust Storms 6.2 Architectural tessellation in Sequential adaption of Martian city 7.0 Conclusion 7.1 Mars colonization’s meaning 7.2 Indeterminate design & self‐assembly system 8.0 The list of figures 9.0 Bibliography
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/ Figure 01 Without architecture worker, without enought materials to build a shelter for human, How can we image the architecture after the earth has been worn away by human?
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BSTRACT
Design Thesis Report RC3 - James Chen
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Exploring the possibility of a futuristic architectural construction process without workers and luxuriant materials, this study aims to develop an indeterminate design system to achieve an efficient architectural generation process based on this situation. As for research thesis, indeterminate design system provides an automatic framework generation process. With this system, packing structure modules and reshaping architectural volume will be processed in parallel and adaptive to environment continuously. In terms of the research project, manipulating robots to aggregate structure and collecting structure situation are two major functions of this fabrication to deform adaptively. In this project, Black Bubbles, “ self-assembly robots ” are a crucial agent to generate architecture and implement this indeterminate design system. Regarding this system as an architectural design process, it not only builds the structure but also makes a decision of designing and adapting itself to the environment. Comparing to traditional architecture, the construction process is less sustainable which is a linear process and unable to update and adapt architectural results accordingly to social requirements and environmental diversity. In order to experiment with this system, Mars was selected as a design site for this project. By achieving a temporary and permanent structure at once in an architecture, the project, Black Bubbles has an important feature, scalability. This “scalable range” of structure enables architecture to provide an indeterminate system for unpredictable environment adaption. This deformable structure is designed to tackle the indeterminate environment issue. “Martian Dust Storm” is the major environmental indetermination and threat to architecture on Mars. Within this adaptive system, another main achievement of Black Bubbles is the modular tessellation. This is a continuous generation process of an architectural sequence from construction to deconstruction in parallel. Basing on this tessellation structural packing system, architecture is able to deform partially and update structural information from environmental change to architectural space making results simultaneously.
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ey Words Indetermination; Self-assembly robots ; Scalability; Structure tessellation; Adaptive architecture; Living architecture; Martian Dust Storms; 5_
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/ Figure 02 The phycial potortype model of the living structure.
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Indetermination is a principle of nature and also a basic rule which triggers and cause natural phenomenon and aggregations. Algorithmic methodologies allow the architectural design to conceive a hybrid architectural situation which has a conflict situations; temporary and permanent. Indetermiante desgin process aim to develop a continuous process to updating desgin outputs day by day. It gives static architecture a “scalable range” which functions as adaptive system for structure to deforem and scale accordingly. The boundary between the design inputs and design outputs becomes more ambiguous. An architecture generative process is possible to be a endless processe and be evolved continuously . In contrast to the indetermination, determination is a traditional design process. It is a totally top-down perspective and linear design process. It mainly to control the results of architecture design. With the technology improvement, architectural design and urban design take advantage of latest technology to design a “perfect” system to tackle the environmental issue human facing nowadays. However, the truth proof that the determinate system still cannot conquer the drastic and unpredictable natural phenomenon. The main difference between this two methodology is that determination intending to control every situation from nature and indetermination taking the unpredictable change from the nature to achieve certain results accordingly. In order to realize this system, architecture is redefined as a structure and also discrete elements which are operated by self-assembly robots. Indeterminate methodology is an optimization and critique to challenge traditional architecture design process. A major difference between indeterminate desgin process and additive manufacturing ( determinate desgin process ) is that architectural construction is no longer a top-down generative process. In contrast, it is a modular aggregation and deformative process with an ability to interact with environment automatically.
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The “scalable range” , one of the most important featrue of this design reaseach, acts as an decision-making system of architecture. Self-assembly robots collect structural situation and aggragate structure according to this indeterminate system. It provides a specific range and certain funtions for architecture to be adaptive. According to different environmental issues and various requirements, architectural agents make a decision to deform and approach certain behavior continuously. The architecture is a sequence from construction to deconstruction. This perspective intends to generate a sequential structure which redefines architecture’s spatial boundaries by “architecture’s movement”. Architecture design is not merely a making of space. On the contrary, it will be a evolving and continuous deformation.
/ Figure 03 / ” Integration ” of architecture module and Robotic Manufacturing /
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_______ 1.2 // Architectural context
/ Figure 04 : “columns” & “plan” & “corridor”
/ Le Corbusier Dom-Ino House / “Giving the freedom for architecture”, this concept was generated by architect Le Corbusier. A redefinition of the basic composition of architecture. The more simple this architectural model is the more diverse the generation of this module can achieve. This architecture prototype generally defines the structure as three main parts: “columns”, “plan”, and “corridor” [figue 04] . / The Five Points of a New Architecture / 1. Pilotis / elevating the building off the ground 2. ambiguous boundary of the ground floor 3. Free Facade 4. Horizontal window module 5. Roof garden
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In term of this five perspective, a keyword which Le Corbusier indicating is “ ntegration ”.
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The integration between 1/ interior and outdoor space, 2 / interior pathways and traffic circulation, 3/ structure engineering thinking and architectural aesthetics, 4/ architectural vertical volume and horizontal space extension, 5/ architectural design and landscape architectural design. / The indetermination and determination of Le Corbusier / The main difference between determinate architecture and indeterminate architecture is decision-making of architectural design. The projects of Le Corbusier represent a new possibility of integration of architecture and surroundings and a further develop form facade design to interior design. However, these changes are still on the side of determinate architectural design. Architects decide the new interior plan for architecture and a new pattern of the facade. It is still a linear design process. Comparing to indeterminate architectural design, the new perspective of this research aims to point out is designing a process and a system for architecture to make a decision for themselves. Actually, the beginning of this concept is being triggered by Le Corbusier 1. The original perspective of “Giving the freedom for architecture”was generated from him. By rethinking this concept, these freedoms are actually for architects in stead of architecture. The five points of new architecture are new architectural design tools for architects. In terms of this, the decision-making of architectural design is still controlled by architects. The indeterminate architecture, an indeterminate design system, is a concept to trigger a design process which is high control by an architectural generation system and is continuously interactive with environment and society.
En.wikipedia.org. (2018). Le Corbusier. [online] Available at: https://en.wikipedia.org/wiki/Le_Corbusier [Accessed 11 Jun. 2018]. 1
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/ Figure 05 : Elements’ reconnection and living module’s spatial aggragation
/ Reconstruction and Redefination / 1. Elements’ functionalization / Each structural element can reconstruct and redefine as the other structure’s function. 2. Elements’ reconnection and living module’s spatial aggregation / [figue 05] Development each elements’ certain aggregating units and reconnect them into a particular behavior. 3. Sequential boundary space making / The architectural boundary is indeterminate. The continuous connection and deformation are two characteristics for this indeterminate boundary.
/ continuous changing architecture boundary / The open-ended boundary enables architecture to reconnect and deform with the new environment and new architectural modules.
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/ The indetermination and determination of design process / The latest architectural design perspective which aims to deconstruct and reconstruct the architecture is called “discrete architecture�, which is mentioned by Gilles Retsin in his project called Tallinn Architecture Biennale Pavilion1. This conceptual design process modularizes structural elements and aggregates them into a new architecture again. However, how soon this design process can be generalized in this architecture market depends on how effective and meaningful effects this architectural design can bring to next generation. The great advantage of discrete architecture is its modularization which provides a new vision for an architectural generation process. However, its structure manufacturing method and design process are a determinate process. The issue of a determinate process is that it cannot reconstruct and deform according to drastic environmental changes. It will lose a point to modularize architectural units if it cannot integrate with additive manufacturing and architectural generation process. Comparing to this, the indeterminate design system aims to combine artificial intelligence with architectural generation process. This is a modular self-assembly manufacturing which constructs a structure with the automatic decision-making system and deforms a structure immediately to adapt the environmental changes. With the new development of 3D-printing, robotic fabrication and also Big Data Era, technology is not only a tool of architectural design. They are possible to be a new process which can be integrated with architectural design. The main point to implement artificial intelligence in architectural design is that it can achieve a more effective and complex problem-solving process than the human can do. For example, in terms of this research, an indeterminate design system is an operating system for architecture to interact with the various environmental factors. Furthermore, this system is able to give a buffer time and immediate reaction before the environmental factors cause damages to the human which are always some unpredictable situations.
Retsin.org. (2018). Tallinn Architecture Biennale Pavilion - www.retsin.org. [online] Available at: http:// www.retsin.org/Tallinn-Architecture-Biennale-Pavilion [Accessed 11 Jun. 2018]. 1
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/ Figure 06 : Robots’ scale according to various function requirements
/ Robotic Fabrication in architecture / Robots fabrication’s scale and quality depend on different types of robots and different kinds of manufacture. As for this study, the high movement freedom and structural load are two major requirements to achieve. The living structure, it can be an aggregation and going through the Martian landscape. As a structure, when the higher and bigger scale it going to achieve, a certain structural load level will be crucial and essential to it.
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/ Modular Self-assembly Manufacturing / From traditional manufacturing to robotic manufacturing, the biggest difference is the working character has been a change form the humans to the robots. Another optimization is that the same material application method can be implemented into larger and various architectural scale. However, the cutting-edge improvement is optimizing manufacture form robots to modular self-assembly stage in architectural scale.
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__ 2.1 // Definition of indetermination a __ // In science b __ // In philosophy __ 2.2 // Relevant theory of architecture __ 2.3 // Matter V.S Pattern __ 2.4 // Traditional perspective of “matter = pattern” __ 2.5 // Futuristic perspective of “matter = pattern” __ 2.6 // Indetermination in design methodology __ 2.7 // Indetermination in Self-assembly structure
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_______ 2.1 // Relevant Research
The definition of indetermination / a. In science / In science, physical quantum theory, indeterminism is a position that no happening is convinced and the entire result of anything can be regarded as a probability. The starting points of indeterministic nature of the universe are supported by “uncertainty relations“ which developed by a German theoretical physicist, Werner Heisenberg, and “Born rule” proposed by the German physicist, Max Born. Another perspective which represented the indetermination in a mathematic theory is Chaos Theory. It aims to claim that the reality is indeterminate or all the things in this world cannot be predicted precisely. It has a wide range of usage in many various fields, environmental science, computer science, engineering and philosophy e.g. This interdisciplinary theory focused on dynamical systems’ behavior which is greatly sensitive to initial circumstances. All of the chaotic complex systems’ apparent randomness exist a basic mode. They are constant feedback loops, repetition, fractals, self-similarity, and self-organization, which known as the original point highly relying on initial conditions. A well-known example is butterfly effect which explains how can large differences caused by a simple and extremely small change. A simple and tiny factory which creates a connection that how indeterministic factors exist in our natural phenomenon. It is also the reason why this theory can involve so many science fields. Furthermore, the simple and initial point’s influences can be visualized into a random, natural and indeterministic pattern. Lorenz system, a system of ordinary differential equations which is studied firstly by Edward Lorenz. It reveals a three-dimensional butterfly liner pattern.
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/ Figure 08 : lorenz attractor was first studied by Ed N. Lorenz, a meteorologist 1963
Another notable chaotic solution which having initial conditions and the certain parameter is called “Double Pendulums�1. This complicated dynamic behavior caused by a simple physical system. Both of these instances point out an important observance. The reason why those complex and natural phenomenon can exhibit attractively and contain both random and methodical in its behavior is that indeterministic factor which existing in their initial conditions as an original point. Following that, one of an approach to creating indeterministic matter is to input a chaotic factor into a system sophisticatedly. The intention is not to cause chaos, in contrast, the ambition is to trigger nondeterminacy algorithmic effects in the system. In other words, non-linear algorithmic will result in an indeterministic outcome.
Levien, R. and Tan, S. (1993). Double pendulum: An experiment in chaos. American Journal of Physics, 61(11), pp.1038-1044. 1
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The definition of indetermination / a. In philosophy / Indeterminism is an explanation and a perspective to observe how particular cases and individual circumstances were generated. It also leads us to conceive a system which operates itself nondeterministically. In philosophy, free will and libertarianism are highly related to Indeterminism. These theories all indicate one thing, indeterminacy support and build up their positions. Free will is regarded as a kind of complicated, prominent system with a principle of indeterminism. An instance of this sort of approach has been promoted by Robert Kane1, which he hypothesizes that, “In each case, the indeterminism is functioning as a hindrance or obstacle to her realizing one of her purposes — a hindrance or obstacle in the form of resistance within her will which has to be overcome by effort.” The libertarianism function an internal operation for architecture to have free will to express its behavior in particular circumstances. It captures a notion that self-learning system enables the architecture to take more than one possible action in its own way. The point for a combination of architectural design and indeterminism is to create an open-ended design result, which allows architecture to adjust its generation based on each special environmental condition. In a perspective of an artificial intelligence, the indeterminism is a spirit and a structure is a body. Architecture is a combination of them. This conceptual architectural thinking was inspired by Aristotelian philosophy, the Hylomorphism. “a living being contains at least two substantial forms — (1) the shape and structure of its body, and (2) its soul, which makes its body alive “ 2
Fischer, J., Kane, R., Pereboom, D. and Vargas, M. (2009). Four Views on Free Will. Hoboken: John Wiley & Sons, Ltd., p.39. 2 En.wikipedia.org. (2018). Hylomorphism. [online] Available at: https://en.wikipedia.org/wiki/Hylomorphism#cite_note-53 [Accessed 10 Jan. 2018]. 1
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Accordingly, the architecture could have self-learning mind within a structural matter. Literally, architecture obtains a decision-making agent in itself and it triggers self-assembly matter to develop its own behavior.
/ Figure 09 : New Media Art - Artistas: Casey Reas_Path Prints
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_______ 2.2 // Relevant theory of architecture
/ Conway’s Game of life In architectural design, a kind of self-organizing system, a kind of free will in the architectural theory can also be found in Conway’s Game of life. Individual birds or game’s single cells work in their own ways without a central control system and they are able to behave according to particular circumstances. It is hard to predict their certain behavior precisely but the general aggregation can be hypothesized. In each agent, they deal with their own status base to their own will and individual rule. The indeterminacy act as a hindrance or obstacle to their own status. In this situation, combining all of those conditions, that is the reason why the entire bird group and cellular swarm are able to behave randomly but also operate in kinds of logical order. Technically, this system is identical to a self-learning operation. In the architectural design process, the design input always plays an important role to a result. The indetermination input a design process to generate a semi-natural and semi-artificial design results. How deep architects controlling this process is a criterion of how creative this design result will be. In terms of the generation process, this is no longer a linear design strategy. The non-linear and bi-directional operation system can be found in this generation process. It is about how much control should be input in the process. For example, the birth and death rules of Conway’s Game of life are designed in a really simple way. The diversity of its generations are extraordinarily different. This is the exactly a valid example to investigate how the generative process is to create and how the results can be influenced by this process in parallel. The methodology how to reach a balance between control and no-control in the process is the next step to achieve the design goal. This is what a suggestion from Stan Allen.1
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“Crowds and swarms operate at the edge of control. Aside from the suggestive formal possibilities. I wish to suggest with these two examples that architecture could profitably shift its attention from its traditional top-down forms of control and begin to investigate the possibilities of a more fluid, bottom-up approach.�
/ Figure 10 : A simulation of particular behavior of blinker and glider in 2D and 3D
/ Figure 11 : Visualize a behavior of assemblying logic. The point of this visualization is not its form; the reason behind its results deserve more attention.
1. Carpo, M. (2013). The digital turn in architecture 1992-2012. Chichester: Wiley, p.77.
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_______ 2.2 // Relevant theory of architecture
/ Neri Oxman’s design principle - a second nature “New form is not conceived. It is coaxed out, flushed from its virtuality.”1
A strong suggestion from Brian Massumi1. In other words, this is a concept about an alteration of the explicit design process to generative design modes. In the traditional design process, architects aim to design an artifact and build an extremely practical architecture. Although the morpho of architecture is combined with natural form, the entire architectural shape is created manually and directly. How could a form be generated and what is the trigger to create this architectural process? A valid perspective from Neri Oxman is this. “ my assumption is that designed by shift of perspective may be considered perhaps a second nature”2
Nature inspired designers to rethink the definition of the forms and a matter. How could a matter be generated by a human? Meanwhile, it could also inherit the beauty and multiple functions from nature. Once a matter is not only a simple material but also contain a function interacting with surroundings. In nature, it can be regarded as a biomimetic pattern. The honeycomb structure is a valid example. It’s pattern results in bees’ social behavior and strong structural function. Leaves, pieces of sparse matter. It can not only transform nutrients form surroundings but also control a water transmission. In architectural field, an interactive matter can be regarded as a biomimetic installation. An interactive facade of a building can also change its form or position automatically according to sunlight but also achieve a sort of structural function. “ the split personality of every designers and architects operating today, between the chisel and gene, between machine and organism, between assembly and growth ”3
1 Goldemberg, E. (2012). Pulsation in architecture. Ft. Lauderdale, Fla.: J. Ross Pub., p.409. 2 YouTube. (2018). Neri Oxman: On Designing Form. [online] Available at: https://www.youtube.com/ watch?v=txl4QR0GDnU [Accessed 10 Jan. 2018] 3 YouTube. (2018). Design at the Intersection of Technology and Biology | Neri Oxman | TED Talks. [online] Available at: https://www.youtube.com/watch?v=CVa_IZVzUoc [Accessed 10 Jan. 2018].
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Accordingly, the main concept of this case study is how a two different conceptual operating system can be implemented in an architectural design. Similar to the Hylomorphism, a living thing can be defined by two things, soul, and body. In terms of architecture, these two things can be referred to an interactive internal operating system and indeterministic matter.
/ Figure 12 : “Mushtari “, a 3D Printed Wearable hybrid product can interact with sunlight. Synthetic biology act as a microbial factory in this wearable living material. A photosynthetic microbe and compatible microbes are synthesized with this mater and convert the sunlight into particular substance, such us color pigment, or fue and a scent.
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_______ 2.3 // The matter V.S pattern
/ The traditional architecture material development “Concrete, as the Romans knew it, was a new and revolutionary material. Laid in the shape of arches, vaults and domes, it quickly hardened into a rigid mass, free from many of the internal thrusts and strains that troubled the builders of similar structures in stone or brick.”1
The greatest breakthrough in the development of architectural industry is concrete. This material composes buildings with a larger span, a higher column, and a freedom architectural appearance. The Pantheon dome in Roman was finished at 128AD. It is the biggest dome which is constructed of unreinforced concrete in the world. In order to increase this matter’s structural strength, the reinforced concrete was invented by Joseph Monier in 1849. He built the first reinforced concrete bridge at Chazelet in 1875. And this inspired Francois Hennebique who announced the whole reinforced-concrete construction system in 1892. The structural scale and form enlarge quickly after this stage. In 1930, the first reinforced concrete skyscraper was built in Cincinnati, Ohio which contains 16-story and 210 feet height. In the early 20th century, Salginatobel Bridge which described as the most beautiful bridge in that generation was also created from reinforced concrete. In the later 20th century, this matter achieves more and more curving structure form small scale to large scale. Ove Arup, an English engineer built a notable small bridge with two intersecting concrete spiral ramps and free-form forms for penguins to enjoy the pool.
“The Penguin Pool complex comprises a long elliptical pool with a deep glass fronted diving tank and nesting boxes around the perimeter. The design was based on “behaviourism”; this was a popular philosophy of psychology in the 1930s that claimed that all animal behaviours were a result of external environments. “2
1 En.wikipedia.org. (2018). Concrete. [online] Available at: https://en.wikipedia.org/wiki/Concrete [Accessed 10 Jan. 2018]. 2 Victoria and Albert Museum. (2018). V&A · Engineering the Penguin Pool at London Zoo. [online] Available at: https://www.vam.ac.uk/articles/engineering-the-penguin-pool-at-london-zoo [Accessed 10 Jan. 2018].
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With the mature development of this material, a wide range of free-form architectural projects was finished in the late 20th and early 21st centuries. A Brazilian architect, Oscar Niemeyer, who explored the aesthetic possibilities of reinforced concrete and created symbolic architecture with this matter. A UFO shape with a curving slope is finished in 1996 by Oscar Niemeyer. This saucer-shaped modernist museum is originated by a flower and flowers’ appearance. Another project, the Roman Catholic cathedral with 16 concrete columns and 90 tons weight of each is not only a reinforced concrete structure but also a hyperboloid structure. And its appearance represents a two-handed movement from upwards to heaven. The matter’s improvement enables architecture to transform from geometry to symbolic 3D shapes. And the matter not only represents the architectural forms but also demonstrates an abstract behavior of a movement from a human.
/ Figure 13 , 14 , 15 (left to right) Concrete Block https://www.laird.co.uk/concrete Penguin Pool http://www.dfab.ch/https://www.vam.ac.uk/articles/engineering-the-penguinpool-at-london-zoo Museu do Arte Contemporanea https://www.architecturaldigest.com/gallery/stunning-modern-architecture-oscar-niemeyer/all
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_______ 2.4 // Traditional perspective of “matter = pattern”
/ Fossilized Concrete Fabrication A matter of architecture is a basic element that constructs a physical framework and space. In architecture, this material is the concrete which is the most common and widely used matter in this day and age. However, once this matter can play a role not only acting a component element but also expressing an internal pattern or structure. In computational architecture generation, a novel manufacturing method, it focuses on aggregating a concrete matter to represent a digital structural self-growing process. In this project, the matter acts as a physical result of the digital structural computation. The choice of the concrete matter influences the growth of structure. The computational generation process is designed especially for this matter and result in this certain way. In other words, the matter and the structural pattern influence each other in parallel. The composition of concrete and organic pattern achieve multiple functions for the material used to be effective and for vegetation to cover this structural surface. This project,“Fossilized Concrete Fabrication“, is exactly a concrete structure which fuses the shapes and textures into a single fabrication. The innovative manufacturing process, a combination of 3D printing and concrete, is important of this project. Another creative point of it is the interaction of the matter and computational manufacturing.
/ Figure 16 Fossilized Concrete Fabrication https://www.archdaily.com.br/br/781010/estudantes-da-bartlett-desenvolvem-novo-metodo-de-impressao-3d-com-concreto
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/ Cement Polymer Another emergent and also realistic project, a new concrete which called cement polymer is used to create a light and strong installation. This practical and re-assembling concrete fabrication project, based on a light-weight 3D printing manufacturing process to create a spiral fabrication. It is composited by a number of lightweight concrete pieces and they are designed to be assembled and disassembled quickly. In this project, the innovative breathrough is the implement of tiling structure with a light and strong new matter, cement polymer. It aim to represent the realistic way how can reinforced concrete matter aggregate to a structure which can be constructed and slso deconstructed. The matter plays a role as a surface and framework in this project. And the structural pattern is an optimization of the traditional construciton method which mentions about the material sustainability. The possibility of construction and deconstruction brings a rethink about how the architecture or the fabrication can be built in different palce within the same pices of the structural matter. And the strength of the structure will not be decrease and change during this process.
/ Figure 17 Cement Polymer https://www.3ders.org/articles/20130413-exploring-7-materials-with-3d-printing.html
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_______ 2.4 // Traditional perspective of “matter = pattern”
/ Discrete Structural Assemblies A novel project, “Discrete Structural Assemblies“, intend to implement the prefabricated architecture in the field of discrete structural assemblies especially in a tectonic architecture scale. There is two advanced perspective of this project which are the prefabrication and efficient assembly strategies. To achieve the most effective way of composing these individual elements, matter and form not only influenced by the method of assembly but also the consideration of effectivity and stability. “ ...for the purposes of simplifying connection details, reducing or even totally eliminating falsework and scaffolding, using weak materials and fully embracing novel fabrication strategies in order to ultimately reduce the embodied energy of constructions.”1
The intention of investigating new relationship and possibilities in this matters and the manufacturing process is to bring out a new horizontal of architectural design. To be more specific, the most effective digital architectural design process and emergent practical design achievement are a general goal in the architectural design field. Furthermore, the most simple and important start point of this thing is the choice of the matter.
/ Figure 18 / 19 Discrete Structural Assemblies http://block.arch.ethz.ch/brg/research/3d-printed-floor-system 1 Dfab.ch. (2018). Discrete Structural Assemblies | dfab. [online] Available at: http://www.dfab.ch/ portfolio/discrete-structural-assemblies/ [Accessed 10 Jan. 2018].
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Futuristic perspective of “matter = pattern” // 2.5_______
/ Self-Replicating Spheres With an oscillating table and adding spheres continuously, this process aims to simulate cellular division and replication. The spheres have small metal and magnet spheres inside. Instead of using a robotic controller, it uses certain geometry and magnetic effect to represent the biological process. A design logic of this case exactly demonstrates how a geometry aggregation can be triggered by an indeterminate factor. By setting up simple rules, a number of spheres and magnet field design, this case shows a continuous and unpredictable process from units connected to a group aggregation, from connection to disconnection. “Self-Assembly is a process by which disordered parts build an ordered structure through only local interaction. In self-assembling systems, individual parts move towards a final state, whereas in self-organizing systems, components move between multiple states, oscillate and may never come to rest in a final configuration.”1
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Self-Replicating Spheres
https://selfassemblylab.mit.edu/self-replicating-spheres/
1 Self-Assembly Lab. (2018). Research. [online] Available at: https://selfassemblylab.mit.edu/research/ [Accessed 10 Apr. 2018].
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_______ 2.6 // Indetermination in design methodology
/ Top-down & Bottom-up “The real art of business and organizations in the network economy will not be in harnessing the crowd of”everybody”(simple!) but in finding the appropriate hybrid mix of bottom and top for each niche, at the right time. The mix of control/no-control will shift as a system grows and matures.”
A conclusion drew by Kelly1 expressing a well-organized operational system which should have a non-traditional feature. Two contradictory operations exist in a system and shit interactively. The function of this system is to enhance and adjust itself to a more effective system gradually and step by step. In architectural construction, recently, a wide range of robots arms are used to build a simple structure automatically. For instance, a curving wall made of bricks or a temporary pavilion which constructed of wood. Robots arm can collaborate with another one to build the structure. However, this is not an indeterminate design approach. It is just an optimization of traditional fabrication which changing the labor force form the human to the robots. In contrast, another robotic fabrication, operating swarm robots to construct a structure is a better approach to demonstrate the indeterminate design. In terms of this development, the whole buildings can be constructed by this behavioral swarm robots. A balance between control and the no-control operational system will enable the swarm to make a decision by itself in different situations and interact with the various environmental factors. Roland Snooks2, a director of Studio Roland Snooks who engages in the algorithmic design and behavioral processed formation suggested that : “I think this is the real challenge of any non-linear design methodology: how does a bottom up design strategy comprehend a global condition such as topology.”
1 Kelly, K. (2018). The Technium: The Bottom is Not Enough. [online] Kk.org. Available at: http:// kk.org/thetechnium/the-bottom-is-n/ [Accessed 2 Jan. 2018]. 2 SWARM INTELLIGENCE - ARCHITECTURES OF MULTI-AGENT SYSTEMS. (2010). University of Hong Kong Faculty of Architecture’s Shanghai Study Center: Neil Leach, Roland Snooks, p.121.
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When it comes to a stage of generating a real artifact or an architectural space, how this operating system works is an important aspect. Altering a different behavioral direction based on the different situation each time and enabling this swarm cluster operated by itself are two important factories. This is how Roland Snooks1 concludes a generative design process could include three different stages : “The first morphological: the manipulation of known topologies. The second are unstructured fields : a set of points or agents that you extract higher-level geometry from. The third are hybrid conditions that operate through a constant interaction between high level topologies and lower level agency.”
/ Figure 21
The manipulation of known topologies : A framework system http://www.squareddesignlab.com/projects/eco-pod
/ Figure 22
Unstructured Fields : Geometry Aggregation http://www.squareddesignlab.com/projects/eco-pod
/ Figure 23
Interaction between high level topologies and lower level agency : Modular Self-assembly Manufacturing http://www.squareddesignlab.com/projects/eco-pod
1 SWARM INTELLIGENCE - ARCHITECTURES OF MULTI-AGENT SYSTEMS. (2010). University of Hong Kong Faculty of Architecture’s Shanghai Study Center: Neil Leach, Roland Snooks, p.133
Relevant Research //
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_______ 2.6 // Indetermination in design methodology
The intention of design with indeterminacy is to design a self-organized process. With the input of indeterministic points and matters, this design process will generate a result which could approach a goal in its own way.Furthermore, it can change and adjust its approach automatically with an internal purpose achieving effective solutions each time. This interaction between control and non-control is the reason why it can operate by itself automatically. However, how to implement this system into realistic architecture is the next stage that focuses on the generation of architecture.The two major different approach to generate emergent topologies or proto-architectural forms are these : “One is selforganization to solve a complex problem. For example, this might be selforganizationof program or structure. The second is the generation of emergent patterns or forms or affects, which is an attempt to capture non-linear behavior.�
Both of these design processes which suggested by Roland Snooks1 are productive and realistic. However, a behavioral swarm must contain these two directions. The point to design a process is that create a system which can alter its direction constantly to achieve the most effective architectural design advertisement and construct the strongest and lightest structure into a real site. A continual shift between top down and bottom up operational direction is a major factor which allows this architectural system to make a decision by itself. The self-assembly architectural system is also the primary goal which is this study aiming to achieve.
1 SWARM INTELLIGENCE - ARCHITECTURES OF MULTI-AGENT SYSTEMS. (2010). University of Hong Kong Faculty of Architecture’s Shanghai Study Center: Neil Leach, Roland Snooks, p.135
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Indetermination in Self-assembly structure // 2.7_______
/ Form traditioanl architecture generation to Computational Architecture generation From matter to behavior, an architecture is a composition of these two elements. Specifically, the behavior is a system or a formula. Input, the matter, is the basic need and trigger for this process. Another important thing is that a reason or a motivation for this architecture to emerge and birth. This study defines it as indeterminacy. And the architecture with an indeterminacy was redefined as a new concept, “Re-architecture”, which is self-growing, self-assemble, reversible, interactive and it will work for architects. However, how can “living architecture” be achieved ? Nicholas Negroponte suggested that : “ Computing is not about computers anymore. It is about living. “1
To conceive a re-architecture, the design process composes nonlinear algorithm with an indeterministic element, nature. A similar example which almost achieves this can be found in the projects of a director of Bartlett School of architecture, Marcos Cruz. His principle concept is that : “ ....a long-standing relationship between architecture and nature. And in the sense nature has seen as a model for architects“2
The interactive influence can be found also between architects and nature. From structural biomimicry, TWA Flight Center reveal that how bird’s wing and behavior can inspire architects to create this large-scale airport structural design in the 1950s. Another way of this influence which exists in architecture is morphological biomimicry. Peter Cook’s, one of the greatest architects nowadays, his projects also reveal a strong character which comes from the natural world.
1 SHurford, D. (2012). To read or not to read. [Place of publication not identified]: Scribner, p.186. 2 YouTube. (2018). TEDxUCL - MARCOS CRUZ - LIVING BUILDINGS - ARCHITECTURE’S PATH TO ECOLOGY. [online] Available at: https://www.youtube.com/watch?v=YFKJW67X8hw [Accessed 10 Jan. 2018].
Relevant Research //
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_______ 2.7 // Indetermination in Self-assembly structure
/ Self-adaptive Membrane In this project, the adaptive skin can deform itself into different form according to solar radiation’s level. This deformation is not a design result, on the other hand, it is the process which was triggered by the indeterminate factor, sunlight. The “self-assembly” system in this project is a spring and a range of scalability which transfer the radiation’s level into the geometry deformation. There is smart matter inside each unit of this membrane, “Shape Memory Nitinol alloy (SMA)”. It is a special spring which changes its length at low temperatures and scales itself into another programmed geometry at actuation temperature. The transform of this structure is not controlled by the robotic system but influenced by the environmental factor which is unpredictable. The crucial design method of this system is a particular shape-deforming range which was designed in this structure. It is a valid project which is between control and uncontrol system.
/ Figure 24 SELF-ADAPTIVE MEMBRANE http://materiability.com/portfolio/self-adaptive-membrane/
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/ Robotic Reconfiguration : Project Dom Indoors “how can we fit more space into the same space? Reconfiguration could help accommodate multiple-use scenarios in tiny environments.� 1
These two questions are important of this project and also to this research. They are also the reason why structure or architecture have to be reconfigurable. Meeting the multiple-use scenarios and the drastic environmental change, interior design, and architectural design is not only making a space but also making a self-assembly space which can adapt itself to meet all the requirements. In terms of this project, it combines a number of self-assembly robots and structural framework. By means of this, the structure sometimes can transform by robots and robots can also be a part of this structure in certain circumstances. Furthermore, they aggregate and construct from small scale to large scale continuously.
/ Figure 25/26 Robotically Reconfigurable Interiors http://asmbld.com/dom-indoors 1 Asmbld.com. (2018). Asmbld. Dom Indoors. [online] Available at: http://asmbld.com/dom-indoors [Accessed 11 Apr. 2018].
Relevant Research //
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__ 3.1 // What’s the dream of architecture? As a structure & As the robots __ 3.2 // Self-assembly modules geometry experiment
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_______ 3.1 // What’s the dream of architecture?
/ As a structure and as robots In the computational generation, biomimetic design and computational algorithm are not only learning from natural form and geometry. How to behave as nature and operating as nature is a further question for the human? This question is important and the reason is that it forces the human to rethink how to coexist with the environment. Instead of controlling the nature and conquer it, a more suitable approach and steps are developing a further evolution of living style and manufacturing method, especially in this high-tech era. In terms of architectural design, this is the inspiration of living architecture. Therefore, how to define the word “ living “ is really important. In this research, this word means a “self-assembly system” which is pre-programmed in the architecture and structure. It enables architecture to metabolize in city and environment. An architecture can be not only permanent but also temporary. In other words, it is a structure and also a number of robots which can aggregate together and construct on one site before deconstructing from another area. In nature, there is a valid example, fire ants, that can aggregate into a strong structure and also deconstruct to a number of individual units swarming on a surface. In architecture, it can be regarded as a group of swarm robots behave form 2D surface to 3D structure purposefully. But there is a realistic point should be pointed out, these each one of the robots cannot be each one of the structural elements. That is also an approach to this research. Operating the robots to build a structure, it is the first step to demonstrate this self-assembly system. After this, the robots can be a part of the structure but also can move around to next destination to build other structure. This process, construction, and destruction are able to process in parallel and progressively.
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/ Figure 27 Fire Ants http://www.dailymotion.com/video/x24x2s6
Robotic Metabolism //
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_______ 3.2 // Self-assembly modules geometry experiment
/ Case study I : Robotic Aggregations Self-adaptive ability’s meaning to an structure is an internal decision-making system to deform itself into certain function and behavior. However, the behavior is not only a geometry. It is a sequential movement. In this study, it calls this as “robotic aggregation”. This aggregation is not only a static object which is composited by all of the swarm robots. This is a sequence and it can transform gradually according to a particular intention. For example, this sequential movement can have several stages. From a beginning stage which is prepared itself to be ready to aggregate into a bigger volume and structure. And next step, expanding itself in a horizontal and vertical axis or a certain direction to achieve transformation accordingly. In terms of a further stage, it can convert itself into a moving statement. In order to behave as a different “living structure”, it has to operate part of the robots’ units as a support structure inside and part of the aggregation as a scalable structure to simulate some functional behaviors.
/ Figure 28 PROTOCOL INFRASTRUCTURE http://object-e.net/uncategorized/protocolinfrastructure
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/ Case study II : Self-assembly architecture modules Modular Self-assemble Manufacturing is a futuristic architecture construction perspective which inspired by plug-in city and metabolism architecture. This design thinking rethinks and redefines how architecture can be generated and developed into a further sequential space. It is a continuously improving process from the geometry framework establishment to structure construction and a further achievement, sequential space movement. The reason why architecture can be and should be evolved into this new stage is that the human’s living has been changed by the high-tech. Furthermore, the third industrial revolution, 3D printing, is coming and the drastic environment forces the human to space migration. In terms of architecture, this modular Self-assemble Manufacturing can optimize not only design process but also architectural adaptivity. This new construction method integrates robotic fabrication with modular geometry aggregation. The modular units not only is a structural aggregation unit but also a construction unit.
/ Figure 29 PROTOCOL INFRASTRUCTURE http://object-e.net/uncategorized/protocolinfrastructure
Robotic Metabolism //
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_______ 3.2 // Self-assembly modules geometry experiment
/ Experiment I : 2D geometry aggregating in 3D framework / Figure 29 //
Using simple 2D geometry to develop certain aggrega-
- 2D geometry
Unit A
Unit B
- Aggregation Results
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/ Figure 30 //
3D Framework
Functionlizing certain aggregation results to define different architectural behaviour . / Figure 31 //
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/ Experiment II : 3D geometry aggregating in 3D framework / Figure 32 //
Developing certain voxel aggregation according to certain rules. 2.2.3.3 2.3.4.6 1.3.1.1
Age = 5 Age = 10
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__ 4.1 // Combination between determination & indetermination a __ // Determinate plug-in architecture b __ // Indeterminate plug-in architecture __ 4.2 // Scalability in robotic structure __ 4.3 // Robotic architecture’s adaptivity nowadays __ 4.4 // Modular structural units’ development __ 4.5 // Modular sequences in tessellation framework
49 _
_______ 4.1 // Combination between determination & indetermination // The“ Combinaton “ of 10 % - 5% determination & 90 % -95% indetermination . / Figure 34
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Control poitns for structural deformation
Units’ deformation & aggregation pathway from the algorithm
The Black Bubbles is conceiving a self-decision making architecture generation process. According to an algorithm, it is a preparation of Signaling Pathway. Modular units follow this pathway to aggregate into a particular tessellation structure. The indeterminate algorithm is a major approach which providing a structured framework. However, it still needs to combine some of the determinate parts. The rules are designed to be control points and checkpoints to collect feeback. In general, the black bubble is a combination of indeterminate framework & self-assembly structural aggregation and determinate scalable units design and generation rules design. / Figure 35 Pinterest. (2018). Art. [online] Available at: https://www.pinterest.com/ pin/300756081355959551/ [Accessed 11 Jun. 2018].
Modular structure aggregation //
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Self-assembly structural Units Geometry
_______ 4.1 // Combination between determination & indetermination
/ Determinate plug-in architecture - Aggregation Units’ Design /// DISCRETE ECONOMIES A newly developed architectural design, discrete architecture, is a further design thinking which was also inspired by the plug-in city. Deconstructing structure into several similar units and reconstructing them into a new architectural behavior are this system’s characteristics. This design approach optimizes traditional architectural construction process. In terms of the geometry aggregation process, it is similar to modular architecture design. However, It is not exactly a new development of structural manufacture. The building still has to relay on the additive manufacturing process, constructing layer by layer. When it comes to design development, it is still a determinate design process. The design result and aggregation process are all controlled by top-down system totally. The most valuable and futuristic approach is that it provides an image of less artificial architectural style and a possibility of integrating robots with the modular architectural design.
/ Figure 36
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DISCRETE ECONOMIES https://www.plethora-project.com/discrete-economies/
// Modular structure aggregation
Design Thesis Report RC3 - James Chen
/// Robotic-built Pavilion When it focuses on automatic construction method, the “robotic fabrication” is a valid example of this new architectural construction field. The great advantage of this construction system is automation. Before a construction process starting on a site, the structure elements and matter preparation can be finished early in a factory. It reduces a great demand for labor force and raises the accuracy and efficiency of the fabrication and construction. However, this construction system has been developed since 1938. In this study, an advanced intention is how to operate these robot arms to work more automatically. For example, they can realize where is suitable to build and how large the structure should be constructed. If they only can be a replacement of labor force, it is still an indeterminate process. By contrast, if they can work by themselves totally, this is an advanced meaning of “robotic fabrication” and a valid point of why design needs to integrate with determination.
/ Figure 37 Robotic-built Pavilion http://weiyuhsiao.com/Robotic-built-Pavilion
Modular structure aggregation //
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_______ 4.1 // Combination between determination & indetermination
/ Indeterminate plug-in architecture - Units’ relationship with neighbour /// Responsive Structural Joints
“These foldable structures coupled with the material advantages of Shape Memory Polymers have the potential to create transportable structures and architecture that immediately responds to our changing needs. ”1
This is a valid indeterminate project which implements a new material, Shape Memory Polymers (SMP), in a deformable tessellation surface. It proves that designing a range of transformation in a structure and inputting an environmental factor (which is a various temperature in this project) can trigger an installation to deform in its certain behavior. An adaptability of this project allows for different spatial configurations to fit various programmatic needs. The most important perspective of this deformation is that it caused by the SMP’s properties and geometry’s pattern rather than a result which is controlled purposely.
/ Figure 38 / 39 ( up to down ) Responsive Structural Joints https://www.archdaily.com/546834/iaac-students-develop-material-system-with-responsive-structural-joints
1 ArchDaily. (2018). IaaC Students Develop Material System with Responsive Structural Joints. [online] Available at: https://www.archdaily.com/546834/iaac-students-develop-material-system-with-responsive-structural-joints [Accessed 12 Apr. 2018].
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/// SimShun AA DRL Research + GAP Pavilion
In terms of a bigger scale, from a tessellation surface to a triangulated structure, this project represent a possibility that indetermination can be implement into a larger fabrication and construction. The intension of this project is to crearte a “dynamic urban space�. In order to achieve this, this triangulated structure can transform into three different stage to provide certain public activities. For example, a two dimension urban pathway transforms its basement which can fit different functions accordingly. Sometimes, a path way integrates with seating area. In another situation, it seperate itself into pathway and seating area clearly. If this structure going to achieve a three dimension fabrication, a pavilion, it can also be functionalize into several stage to meet particular requirement. For example, in the middle of the diagram below, it shows that this pavilion change its superficial structure to create different level of shadows for the other side of this structure.
/ Figure 40/41 SimShun Q4 River Thames Pavilion http://node-ygao.blogspot.co.uk/p/simshun-aa-drl-research-gap-pavilion.html
Modular structure aggregation //
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_______ 4.2 // Scalability in robotic structure // “ Scalability “ of “ Edges & Joints “ In order to achieve dynamic tessellation structure and initialize this triangle units’ movement and aggregations, the flexible angles of joints and changeable length of edges are important.
version 1.0
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/ Figure 42 // Scalable
/ Figure 43 // Mutiple
Cylinder & expanable suface
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// Modular structure aggregation
Design Thesis Report RC3 - James Chen
// Figure 44 // “ Scalable range “ in robotic structure
The scalable range provides a certain limitation and possibility for this robotic structure movement. The architecture will be generated into a certian geometry and volume according to this “ Scalable range “ and the different axis of this deformation. For example, the diagram above shows that the tetrahedron can scale volume from 1 times to 2 times bigger than the orginal size. And the number of scalable edges are a reason why it can still keep the tetrahedron shape during this defromation. In order to provide more diversities of this scalable geometry prototype, controlling different numbers of the control points is a key point to create different triangle shape. With this half-control and half-uncontrol scalability, these triangle shapes can aggregrate into a various structure which achieving particular funtion.
Modular structure aggregation //
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_______ 4.2 // Scalability in robotic structure Case Study I / Robotic Facade : Eextendable Frame Structure
Night-Purge Ventilation, a major function this project aim to achieve. With an extendable frame structure of each living units, robotic mechanical engineering integrates with AI software which recording the climate situation. This robotic structure is not merely a facade design. It is a scalable structure design. The extendable balcony space can move outward to ventilate cool air from outside into the interior living areas. This cutting-edge strategy reveals how parametricism and sustainability design can be realized in a tower. The intention of this project is integrating computational architectural design n with self-assembly structure to achieve sustainability not only in green energy uses but also in multifunctional space uses. Another valid point of this project is the realization of how robotic structure can achieve a larger architectural scale and be operated in an indeterminate way.
/ Figure 45 Robotic Facade http://www.evolo.us/architecture/robotic-facade-for-a-new-skyscraper-in-chicago-reacts-to-weather-conditions/
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Case Study II
/ Figure 46 / 47 ( up to down ) Robotic Facade http://www.evolo.us/architecture/robotic-facade-for-a-new-skyscraper-in-chicago-reacts-to-weather-conditions/
Modular structure aggregation //
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_______ 4.3 // Robotic architecture’s adaptivity nowadays Case Study of adaptive robotic architecture / ECO-POD
The post-adaptivity can be realized in a whole architecture and also be approached in a modular architectural design. This is a futuristic and conceptual project which has a high flexibility of construction and deconstruction. With a number of prefabricated modules, this aggregation changing its position and window facing to collect sunlight as many as it can for those modules. The functions of this modules not only is a living unit ( see the diagram below) but also a bio-fuel generator with algae bio-reactor inside the structure. In terms of the aggregation rules ( see the middle diagram of right page ), it has a structural framework to arrange the different conditions where these new modules can connect to a exist buildings’ structure and the original living modules.When it comes to a larger scale, urban scale, it is also a solution to urban public deserted space redevelopment. These prefabricated modules can be transported to those public deserted space and aggregated into a temporary and small community. ( see the last two perspectives of right page )
/ Figure 48 / 49 / 50 ( up to down )
ECO-POD
http://www.squareddesignlab.com/projects/eco-pod
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/ Figure 51 / 52 / 53 / 54 ( up to down )
ECO-POD
http://www.squareddesignlab.com/projects/eco-pod
Modular structure aggregation //
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_______ 4.4 // Modular structural units’ development
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If modular structural units are an individual robotic structure builder, they will aggregate with the other units within a point connection. However, in this situation, the agents’ number will be 15. In other words, there will be 15 controllers ( motors ) to control 6 connection points. In order to simplify this control system, the “ Version 2.0 “ is mainly to reduce the numbers of agents in each of these modular structural units. / Figure 55 / 56 ( up to down )
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// Version 2.0 Triangle Framework as a self-assembly brick Agents (Controller /Motors )
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The principal optimization of Version 2.0, this self-assembly triangle brick, is changing the connection methods from points connection to face connection. Within this optimization, the numbers of joints and agents are reduced to 4 and 6. Basing on this situation, the movements and aggregations of modular structural units are more simple to achieve with the comparison of version 1.0. / Figure 57 / 58 ( up to down )
Self-assembly brick’s development Modular structure aggregation //
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_______ 4.5 // Modular sequences in tessellation framework
// Version 1.0 Triangle Robot as a structure Builder In terms of the version 1.0 triangle structure builder, the first experiment is aggregation development within the various scale. The diagram below reveals a sequence of a small number of units to bigger numbers of units’ aggregation. Because of the point connection, this aggregation has a problem to solve. The structure will not be connected completely. The three edges robots sometimes leave a disconnection in the framework. Although this can be tackled by the aggregation’s orders and the different connection face, it will create a more complex issue when it going to aggregate into a larger structure.
/ Figure 59 //
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/ Figure 60 //
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Design Thesis Report RC3 - James Chen
/ Figure 61 //
Modular sequence - medium group
Top View
Perspective
/ Figure 62 //
Modular sequence - Vertical Aggregation
Stage 1 : group connection
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_______ 4.5 // Modular sequences in tessellation framework
// Version 1.0 Triangle Robot’s movement
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/ Figure 63 //
Triangle Robots Moving Sequence
/ Figure 64 //
Triangle Robots' Movement Control Process
// Modular structure aggregation
10 Layers
>>>>>>>>>>>>>>>>>
Design Thesis Report RC3 - James Chen
/ Figure 65 //
Triangle Robot's Transformations Sequence
10 X
Initialization
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Modular structure aggregation //
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_______ 4.5 // Modular sequences in tessellation framework
Version 1.0 Triangle Robot’s Aggregation Rules
/ Figure 66 //
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Design Thesis Report RC3 - James Chen
/ Figure 67 //
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Modular structure aggregation //
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_______ 4.5 // Modular sequences in tessellation framework
// Version 2.0 Triangle Framework as a self-assembly brick
/ Figure 68 //
/ Figure 69 //
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self-assembly bricks’ movement
self-assembly bricks’ Aggregation within certain rules
// Modular structure aggregation
self-assembly bricks’ Aggregation within certain rules
/ Figure 70 //
self-assembly bricks’ Aggregation within multiple scale
In terms of self-assembly brick 2.0, simple movement allow this units aggregate into a diverse behavior according to particular rules and orders. Another feature of this modular aggregation is that it will create various tessellation structural types when the numbers of units increase gradually.
Modular structure aggregation //
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/ Figure 70 //
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equential tessellation structure of Architectural Design __ 5.1 // Tessellation of the Architectural sequence __ 5.2 // Scalability of structure design __ 5.3 // Fabrication of Architecture
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_______ 5.1 // Tessellation of the Architectural sequence // Tessellation of bridge construction sequence - medium scale Phrase 1 : Basement Establishment
Phrase 2 : Rigid Joints Location
Phrase 3 : Growth Pathway
Phrase 4 : Construction Optimization
/ Figure 71 / 72 / 73 / 74 ( up to down ) Bridge construction sequence
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Design Thesis Report RC3 - James Chen
// Tessellation of Architectural sequence - Large scale Phrase 1 : Basic Aggragation Process Growth Direction
Phrase 2 : Aggregation Expanding Process A small aggregation are planned to be merged into a larger aggregation. A larger aggregation expand itself vertically for a preparation of further connection with the other aggregations.
Original Aggragation
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/ Figure 75 / 76 / 77 ( up to down ) Tessellation of Architectural sequence
Sequential tessellation structure f Architectural Design //
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_______ 5.2 // Scalability of structure design / Figure 78 //
Scalability of structure design Version 1.0
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Editor 30% 0% 0% 90% 90%
Structure Stength Jionts Flexibility Length Flexibility Functional Ability Mobile Ability
When it comes to a fabrication process, how can individual “Triangle robot� act as a different function is an important structure design intention. For example, the diagram above reveals that builder robots are suitable to aggregate into the whole structure. The Joints and edges flexibilities are helpful for a framework to deform and give various possibilities in a transformation from one behavior to another behavior.
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Triangle robots’ functionalization
Carrier
Builder
Design Thesis Report RC3 - James Chen
/ Figure 79 //
Editor
/ Figure 80 //
Editor’s main function is an adjustment in the tessellation structure. Therefore, their ability to travel vertically and horizontally from bottom to upper space is essential.
Sequential tessellation structure of Architectural Design //
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_______ 5.2 // Scalability of structure design / Figure 81 //
Scalability of structure design Version 1.0 Triangle robots’ movement
/ Figure 82 // Deformable Phycial Models Prototype I //
Stage _ 0
Deformable Structural Section
Stable Structural Basement
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Stage _ 1
Modular Robot’s movement
Design Thesis Report RC3 - James Chen
/ Figure 83 //
/ Figure 84 // Deformation Sequence //
Stage _ 2
Stage _ 3
Stage _ 4
Stage _ 5
Sequential tessellation structure of Architectural Design //
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/ Figure 85 //
Scalability of structure design Version 2.0
version 1.0
Edges
version 2.0
Scalable Cylinder & expanable suface
Joints Mutiple Angles
The main feature of self-assembly brick, triangle robots version 2.0, is that its joints are flexible and also rigid for each units’ structure connection. This joint mainly bearing the force of each unit directly. The whole structure force will transit via each edge ( cylinders ). In other words, there is two structure force loading system. One is the joints connection of individual units. Another one is each cylinders’ with their neighbor. By means of this, the joint will be the only one to bear the total structure weight and it can also keep flexibility to achieve individual units’ movement.
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Self-assembly brick Joint design
Design Thesis Report RC3 - James Chen
/ Figure 86 //
Use linear actuator as scalable edges to bear heavy structure weight
Joint Version 1.0
scalable edge use piston cylinder to control the different length of edges
Joint Version 2.0
/ Figure 87 //
Self-assembly brick Movement design
A critical design requirement of scalable cylinder design is applying the scalability of length for reloaction of this triagnle’s gravity center. After the gravity center change from original possition to next location, the self-assembly brick can move around from begining triangle position to ending triangle position.
Sequential tessellation structure of Architectural Design //
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_______ 5.3 // Fabrication of Architecture // Fabrication’s scale of timeline Scale of Timeline 2030
2040
2055
Stage I
2070
2090
Stage II
Habitat
Community
2115
Stage III
Village
Town
City
Multiple
City
Architecture Manufacturing Method 0%
Self-assembly Robots
KUKA Fabrication
Temporal Structure Limited Source
3D printing Structure
100 %
Permanent Structure Unlimited Souce
Deformable Structure Units Discrete Architecture Units
Construction Travelers Elevator
Main Structure
Self-assembly Robots
KUKA Fabrication
3D printing Structure
1. Self-assembly elements 2. Enclosure structure 3. Environmental Senser 4. Recyclable Architectural Elements 5. Temporal Scaffolding 6. Mobile Living Units
1. Automative Workers
1. Solid Structure 2. Force Loading structure 3. Insulation Layer 4. Permantent Structure
Environmental Issue
/ Figure 88 // Structure Construction Process between Self-assembly Structure & External Envelopoe enclosure space of habitation
Self-assembly Structure
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strengthen structure
Scaffolding
External Envelopoe
// Sequential tessellation structure of Architectural Design
Permanent structure Recyclable element
Fabrication’s process in architecture scale
Design Thesis Report RC3 - James Chen
/ Figure 89 //
Choose the surface 2 types of Expandable edges
Units
A
Units
2 units 1 Enclousure
B
After structure units’ development, the following step is implementing units to construct various architecture. According to different scale of architecture and construction phrase in particular timeline, self-assembly structure units act as the basic construction builder. This is also the major purpose of “Black bubbles”, the foundational establishment of living habitation. When it comes to further construction steps and plans, Black bubbles can work with the KUKA Fabrication and 3D printing to achieve a larger scale architecture and urban planning. According to the diagram above, the first step of Black Bubbles’ fabrication process is connection face location and then trigger the edges’ expanding surface to create an enclosure for the structure.
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_______ 5.3 // Fabrication of Architecture // Fabrication’s process in architecture scale 4 units 2 Triangle Envelope
The unit which has a chosen surface
expanding edges’ types I
expanding edges’ types II
expanding sequence
One of the most important requirements of architecture quality is the enclosure of this structure. By choosing the triangle area which is connected with another one, each of the self-assembly units of this chosen surface will active their edges to open the expandable edges to create either external or internal envelope.
s 3 u n 3 En it c E l s x o p u a s n u d r i e n g 8 e d 4 g u e 1 n s 8 E i n t E c s x l p o a u n s d u i r n e g e d g e
6
1
9
2
6
u E ni n t c s E l x o p u a s n u d r i e n g e d g
e
s
Actived Unit
10 units 6 Enclousure 24 Expanding edges
/ Figure / 90/ 91 / 92 (up to down) Units’ construction sequence within Expading Edges’ Enclosure
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Design Thesis Report RC3 - James Chen
Stage 1 : Creat a framework
Stage 2 : Choose pathway for envelope location
Stage 3 : Expanding Edges as enclosure
When it comes to a larger scale, the envelope generation process includes 3 stages. Firstly, generation of this whole structure. This a framework not only for architecture to define which area is external and internal but also give a signal pathway for face choosing. After this, the chosen triangle face will inform the individual unit and trigger each related edges to process the expanding sequence. Finally, this structure will be partially combines with this envelope. Depending on different sizes triangle faces, the expandable edges can open accordingly for this envelope to be perfectly closed. / Figure 93 / 94 ( up to down ) Units’ aggregation sequence in Architectural Scale
Sequential tessellation structure of Architectural Design //
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_______ 5.3 // Fabrication of Architecture / Figure 95 ( the upper one ) //
Fabrication’s material experiment
Edges’ expansion experiment I
In terms of the real fabrication scale and process. Materials experiment and mechanical experiments are an imprtant study of this project. The sequence diagram above shows the two different types of this expanding edges structure partially cram the internal area with the stainless wires. Another point of this experiment is that it combine the scalable edges’ movement with this expanding prcess. Whenever this edge shrinking, edges’ expansion will be triggered.
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Fabrication’s Aggragation Structure experiment
Design Thesis Report RC3 - James Chen
/ Figure 96 ( the lower one ) //
A further step of fabrication experiment is researched a certain aggregation and relationship between triangle brick. As the picture showing below, there is a feedback that expanding edges have some conflict with their neighbors. Another result of this physical model is the disadvantage of this stainless wires. A various size of these expanding edges will create unstable bias in the structure. This will result in difficulties of providing the envelopes.
Sequential tessellation structure of Architectural Design //
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_______ 5.3 // Fabrication of Architecture // Fabrication’s material experiment - unit’s structural detail
PVC tubes
Wood sticks
Stainless wires
In order to optimize this expanding structure to be more controllable, this research chooses three different linear materials for a test their flexibility and tenacity. The PVC tubes are the most flexible matter. In terms of wood sticks, they are the most rigid one but it will result in some control difficulties. The last one, stainless wires are the best option because they have both good qualities of flexibility and tenacity. Also, when it considers the next step which is going to cover envelope on this stretchable structure, stainless wires will be more suitable than PVC tubes. Because the wires have a certain concave pattern on its surface, they can hold the surface to expand. The PVC tubes’ surface is too smooth to bring the envelope to increase itself. Another important comparison of this experiment is decoupling expanding action without scalable edges’ movement.This design decision simplifies structural generation and robotic aggregation.
/ Figure 97 / 98 / 99 ( left to right ) Edge Expansion Structural Experiment
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Design Thesis Report RC3 - James Chen
Concerning the materials of the envelope, latex and liquid rubber’s flexibility are the two ideal consideration. Furthermore, this surface has to be combined with stainless wires. The first picture above is testing the flexibility of them. Liquid rubber is stretchable than latex. Different thickness of these materials can also result in various flexibility. The 1.5 millimeters latex was tested by a different situation which is combined with a different pattern of stainless wires. The pattern in the middle of the diagram is the most easier to control its stretching direction. Another two pictures shows a more simple pattern which is also more controllable with combination with only 0.5 millimeters latex. By this experiment, it allows the research to have more option for further fabrication. Implement of scalable and volumetric stainless wires devices and this stretchable surface into the tessellation structure is the crucial approach which can provide a particular envelope for the whole structure.
/ Figure 100 / 101 / 102 ( up to down ) Surface Expansion Structural Experiment
Sequential tessellation structure of Architectural Design //
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B
lack Bubbles
/ 6.0 /
O
n Mars
__ 6.1 // Taking advantage of Martian Dust Storms __ 6.2 // Architectural tessellation in Sequential adaption of Martian city
91 _
_______ 6.1 // Taking advantage of Martian Dust Storms // Taking advantage of Martian Dust Storms
/ Figure 103 / 104 ( up to down ) 103 . Martian Dust air flow diagram / 104. Martian Dust shelter plan
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// On Mars
/ Figure 105 / 106 / 107 ( up to down ) Black Bubbles’ top view / section plan / elevation
On Mars //
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Design Thesis Report RC3 - James Chen
The first issue of creating architecture on Mar is how to deal with the Martian Dust. Regarding this issue as a design process inspiration, self-assembly robots aggregate into a round area accordingly to the wind flow. Furthermore, the enveloped area close to guide airflow and give a semi-public scape. Whenever the Martian Dust is too strong, opening the envelope is another function of this structure which can provide a perfectly closed space.
_______ 6.2 // Architectural tessellation in Sequential adaption of Martian city // triangle mesh as robot’s pathway
The other environmental feature on Mars is Martian chaos terrain. Black bubbles aim to choose the most suitable area to create the living habitation. The concave and convex landform already provides a various spatial definition. Therefore, Black bubbles are choosing a basin terrain for the construction site. Which means the Black babbles only have to create a shelter for this space, the various enclosure can be provided by the combination of natural terrain tessellation structure. The diagrams of this page are showing that the first step of this construction. By creating a triangle mesh according to the undulating terrain, Black Bubbles are able to choose the most ideal and effective pathway and the starting position of construction (the lower picture on this page with pink triangles). The diagram of right pages reveals a sequence of the construction process from scaler filed to the basement and final structure’s boundary. The major tessellation generation process is choosing a construction starting seed image and combining certain aggregation rules. / Figure 108 / 109 ( up to down ) Black Bubbles moving path sequence
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// On Mars
Design Thesis Report RC3 - James Chen
/ Figure 110 / 111 ( up to down ) Black Bubbles’ aggregation rules & seed image / top view with Martian chaos terrain
On Mars //
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/ 7.0 /
C
onclusion
__ 7.1 // Mars colonization’s meaning __ 7.2 // Indeterminate design & self-assembly system
97 _
_______ 7.1 // Mars colonization’s meaning
Basing on Mars as a design site is mainly to experiment the design approach. There are many similar environmental issue between Mars and Earth. In terms of this research argument, considering a futur situation that human are not willing to be a construction builder and also there are no additional materials for architecture, how can an architectural design approach a not only mutli-functional and sustainable architecture? Self-assemble robots are able to be a structure and an architecture. The black bubbles are these robots. Their main roles are not only structure construction but also deconstruction. This is an effective approach to enable architecture to be more sustainable. For examble, in a situation that only 1000 robots are avaliable, the construction site is sometimes unsuitable for living, Black Bubbles can either to choose a site as a construction site firstly and deconstruct to a number of self-assemble robots to choose a better site continuously. Therefore, why Mars, the reason is that there is an ideal environment to train these architectural agents and there is also a possibility that will happen to Earth in th nearly future. If these Black Bubbles can successfully tackle those issue on Mars, undoubtedly they can also slove the similiar problems on Earth.
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Indeterminate design & self-assembly system // 7.2 _______
The indeterminate design is a perspective which aim to looking for a suitable position between top-down and bottom-up system. The scalablity of Black Bubbles is a adapt range which is designed for the structure to deform and interact with the indetermiate environmental situation. This research project only design the joints, scalable cylinders and expandable surface, the general structure results are not designed. The structure’s behavior results in the aggregation rules and different construction site’s condition. Furthermore, various self-assembly process and architectural requirement will generate different structure. In conclusion, Black Bubbles are a self-decision making architecture sequence. This research focus on the structural detail design which is real cucial section to realize this self-assemble system from a conceptal design to a realistic tesselaltion struction aggregation. Althought the detail design is a topdown process, its main goal is to achieve an indeterminate system. “The Bottom is Not Enough”, this is totally prove that only base on both top-down and bottom-up process can achieve an effective indeterminate self-decision making system. The key point is only require a small percentage and high quality of this top-down design can achieve a high diversity indeterminate design output and it will be a continuous sequence.
/ Figure 112 // The Black Bubbles is a architectural deformation sequence. From construction to deconstruction, self-assembly robots are able to either aggregating into a structure or combining with different group of robots to achieve a larger architecture.
Conclusion //
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T he list of figures
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Resources of figures: / Figure 1 - New Media Art - Artistas: Casey Reas / Figure 2 - James Chen / Figure 3 Concrete Block https://www.laird.co.uk/concrete / Figure 4 Penguin Pool http://www.dfab.ch/https://www.vam.ac.uk/articles/engineering-the-penguin-pool-at-london-zoo / Figure 5 Museu do Arte Contemporanea https://www.architecturaldigest.com/gallery/stunning-modern-architecture-oscar-niemeyer/all / Figure 6 Fossilized Concrete Fabrication https://www.archdaily.com.br/br/781010/estudantes-da-bartlett-desenvolvem-novo-metodo-de-impressao-3d-com-concreto / Figure 7 Cement Polymer https://www.3ders.org/articles/20130413-exploring-7-materials-with-3d-printing.html / Figure 8 Discrete Structural Assemblies http://www.dfab.ch/ / Figure 9 lorenz attractor was first studied by Ed N. Lorenz, a meteorologist 1963 / Figure 10 ENCODED MATTER_Schizo(Metr)ic_ GSAPP 2012 / Figure 11,12,13 4D printing matter http://www.3ders.org/articles/20160125-harvard-scientists-unveil-4d-printed-structure-that-changeshape-when-placed-in-water.html
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/ Figure 14 ENCODED MATTER_Schizo(Metr)ic_ GSAPP 2012 / Figure 15 FIBROUS ASSEMBLAGES | UPENN SPRING 2011 / Figure 16 BIO.tech HUT, Expo 2017 https://www.domusweb.it/it/notizie/2017/07/05/bio_tech_hut.html / Figure 17 Megalomania perceives the city in total construction https://www.behance.net/gallery/1605849/MEGALOMANIA
The list of figures //
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B ibliography
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Bibliography: 1. Goldemberg, E. (2012). Pulsation in architecture. Ft. Lauderdale, Fla.: J. Ross Pub., p.409. 2. Fischer, J., Kane, R., Pereboom, D. and Vargas, M. (2009). Four Views on Free Will. Hoboken: John Wiley & Sons, Ltd., p.39. 3. En.wikipedia.org. (2018). Hylomorphism. [online] Available at: https://en.wikipedia.org/wiki/Hylomorphism#cite_note-53 [Accessed 10 Jan. 2018]. 4. Carpo, M. (2013). The digital turn in architecture 1992-2012. Chichester: Wiley, p.77. 5. Goldemberg, E. (2012). Pulsation in architecture. Ft. Lauderdale, Fla.: J. Ross Pub., p.409. 6. YouTube. (2018). Neri Oxman: On Designing Form. [online] Available at: https://www.youtube.com/ watch?v=txl4QR0GDnU [Accessed 10 Jan. 2018] 7. YouTube. (2018). Design at the Intersection of Technology and Biology | Neri Oxman | TED Talks. [online] Available at: https://www.youtube.com/watch?v=CVa_IZVzUoc [Accessed 10 Jan. 2018]. 8. Levien, R. and Tan, S. (1993). Double pendulum: An experiment in chaos. American Journal of Physics, 61(11), pp.1038-1044. 9.Kelly, K. (2018). The Technium: The Bottom is Not Enough. [online] Kk.org. Available at: http://kk.org/thetechnium/the-bottom-is-n/ [Accessed 2 Jan. 2018]. 10. En.wikipedia.org. (2018). Concrete. [online] Available at: https://en.wikipedia.org/wiki/Concrete [Accessed 10 Jan. 2018]. 11. Victoria and Albert Museum. (2018). V&A · Engineering the Penguin Pool at London Zoo. [online] Available at: https://www.vam.ac.uk/articles/engineering-the-penguin-pool-at-london-zoo [Accessed 10 Jan. 2018]. 12. Dfab.ch. (2018). Discrete Structural Assemblies | dfab. [online] Available at: http://www.dfab.ch/portfolio/discrete-structural-assemblies/ [Accessed 10 Jan. 2018]. 13. Levien, R. and Tan, S. (1993). Double pendulum: An experiment in chaos. American Journal of Physics, 61(11), pp.1038-1044. 14. Kelly, K. (2018). The Technium: The Bottom is Not Enough. [online] Kk.org. Available at: http://kk.org/ thetechnium/the-bottom-is-n/ [Accessed 2 Jan. 2018]. 15. SWARM INTELLIGENCE - ARCHITECTURES OF MULTI-AGENT SYSTEMS. (2010). University of Hong Kong Faculty of Architecture’s Shanghai Study Center: Neil Leach, Roland Snooks, p.121. 16. SWARM INTELLIGENCE - ARCHITECTURES OF MULTI-AGENT SYSTEMS. (2010). University of Hong Kong Faculty of Architecture’s Shanghai Study Center: Neil Leach, Roland Snooks, p.133 17. SWARM INTELLIGENCE - ARCHITECTURES OF MULTI-AGENT SYSTEMS. (2010). University of Hong Kong Faculty of Architecture’s Shanghai Study Center: Neil Leach, Roland Snooks, p.135 18. SHurford, D. (2012). To read or not to read. [Place of publication not identified]: Scribner, p.186. 19. YouTube. (2018). TEDxUCL - MARCOS CRUZ - LIVING BUILDINGS - ARCHITECTURE’S PATH TO ECOLOGY. [online] Available at: https://www.youtube.com/watch?v=YFKJW67X8hw [Accessed 10 Jan. 2018]. 20. Issuu. (2018). IaaC bits 2.4.2. [online] Available at: https://issuu.com/iaacbits/docs/2.4.2_carmelo [Accessed 10 Jan. 2018].
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try.com. Available at: https://3dprintingindustry.com/news/neri-oxman-shows-stratasys-connex3-polyjet-technology-change-biomanufacturing-48977/ [Accessed 18 Jan. 2018]. 23.
Oxman, N. (2018). Neri Oxman. [online] Neri.media.mit.edu. Available at: http://neri.media.mit.edu/
[Accessed 10 Jan. 2018]. 24. Papageorgiou, M. (2018). 4D Printing: A technology coming from the future. [online] 3D Printing Blog: Tutorials, News, Trends and Resources | Sculpteo. Available at: https://www.sculpteo.com/blog/2017/10/25/4dprinting-a-technology-coming-from-the-future/ [Accessed 10 Jan. 2018].
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22. Oxman Revolutionizes Biomanufacturing with Living, 3D Printed Wearable. [online] 3dprintingindus-