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Content Research
Design Proposal
Extension
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Preface
01.01 Abstract 01.02 Studio Introduction 01.03 Contributors
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Domain
02.01 Background 02.02 Hypothesis 02.03 Genetic Algorithm
04.01 Module Stacking 04.02 Precedents 04.03 Workflow Diagram
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Research Scope
03.01 03.02 03.03 03.04
GA and Urban Abstract GA and Architecture Abstract Speculatve Everything Speculative Designs
Geographic Matrix
05.01 Altitude Matrix 05.02 Altitude Array 05.03 Algorithm Dagram
06 03
Geo-Adaptive
Desirability Matrix
06.01 Different Matrix for calculation 06.02 Stacking Rule 1, 2, 3 06.03 Sample Matrix Data from Processing
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Digital Matrix
07.01 Geographic Type 1 07.02 Geographic Type 2 07.03 Geographic Type 3
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Physical Matrix
08.01 Precedents 08.02 Prototype 1 08.03 Prototype 2 http://weburbanist.com/2013/02/27/future-skyscraper-arup-presents-awesome-vision-for-2050/
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Speculative Matrix
09.01 Rethinking Everything 09.02 Precedents 09.03 Prototype 3
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Thesis Conclusion
10.01 Conclusion 10.02 Other Key Texts
Abstract Autonomous Architecture Studio
Why the structure of ancient fossil coral reefs looks totally different from now and ancient spiders has no spinneret inside their body? (Changed form and functional organ) The best answer could be the Evolution Theory. And the most important term in the Evolution Theory can be Natural Selection which is the known cause of adaptation. Such an adaptation process to changhing environment are the key for animals to survive and evolve. Architecture as one certain form that communicates people to surrounding environment is playing a great role in human evolution. How can we utilize future technology to produce suitable living spaces under different types of environment could be a key issue to consider in this studio.
The Ancient Creature
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Studio Introduction Autonomous Architecture Studio will consider animal architecture and develop construction workflows that substitute robotic devices for animal behaviours. The main purpose of the studio is to engage in speculative design in order to develop critical awareness of the future possibilities in architecture and acquire practical skills in computing and digital fabrication. The studio will integrate three areas of learning: 1) animal architecture will serve as a lens for rethinking human architecture and a source of alternative design approaches and solutions; 2) creative computing will serve as a practical introduction to algorithmic thinking and expression (programming) that underpin data-driven and performance-oriented design; and 3) intelligent robotics will introduce principles of mechatronic design, computer vision and control for collaborative, autonomous devices. The studio is runing in collaboration with Mechatronics Design (MCEN90024) and Robotics and Automation Systems (MCEN90028). In teams with engineering students, studio participants will build custom robots, equip these robots with vision capabilities, automate their robots and use groups of robots to construct complex structures.
http://www.robarch2012.org/workshops
Contributors
Special Thanks to: Stanislav Roudavski (Studio Leader); Matt De Bono; Lawrence Leung (Scripting Assistance) and the whole mechanical student groups;
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Background Theory and Background information The employment of robotics in architecture is opening up the prospect of entirely new aesthetic and functional potentials that could fundamentally alter architectural design and the building culture at large. --------- Gramazio & Kohler In Le Corbusier’s key work entitled Ver une Architecture (Towards an Architecture),published in 1923, he maintained that the world’s tranformation by machines would lead either to “an amelioration, of historical importance”, or to “catastrophe”. Nowadays, it is tempting to use the same terms when referring to the impact of the information technology revolution and of linking computation and machines in what we consider as “robotics” or “mechatronics”----the latter term referring to a fusion of mechanical engineering, electronice engineering and computer engineering. In the article “Computation or Revolution” by Philippe Morel, the term “robotics” has been detailed explained
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and concluded as the inevitable resultant synthesis of human intelligence and machine integrating with technology evolution. Architecture as the communication media between human beings and surrounding environment is evolving as the link of artificial intelligence and automated production. The other article “Conterpoint: Crisis! What Crisis? Retooling for Mass Market in the 21st Century� by Tom Verebes has mentioned the crisis of design and construction towards rapid and large scale urbanisation in East Asia area. Robotic tools should be applied of mass customisation for the construction of distinctive rather than generic structures, which means physical features of robotic tools does save energy and resources for the
Artificial intelligence and automated production nowadays
construction while the inherent artificial algorithms determine the final outcome is aesthetic, rational and not singular repetitive modules. Moreoever, architectural or urban meanings encapsulated by these abstract modules made the prosperity and variety of future archtecture design.
Reference Texts
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Hypothesis
Architecture and Evolution Architecture as the significant media between the most special animal ------ human beings and our surrounding environment is also evolving simultaneously with animals. Rather than any other animals, human beings use more advanced tools which is the evolutionary consequence of technology and evolving recognition towards materials. Autonomous architecture or simply speaking architectures made by robots (artificial intelligence with machines) can be considered as the inevitable result of architecture evolution. Parallel to animal evolution, the central topic of architectural evolution is Coral reef hotel by Vincent Callebaut and “Flight Assembles Architecture by ETH Zurich
also to find the most adaptive status of architecture or even in urban scale to different surrounding envrionments. Such an adaptation process is also adopted from the essential concept of Natural Selection part in Evolution Theory.
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From biological point of views, the structure and form information of animals are all encapsulated by their genetic codes inside their cells. Evolution happens when change of these codes happen after a very long and complicate period of reflecting and feedbacking loop occur between their surrounding environments. Similarly, in architecture evolution process, in order to achieve a certain level of being adaptive under certain circumstance, those gene of architecture encapsulating architectural meanings shall also be studied and utilized. Abstracting from existing architecture elements and reconfiguring them as virtual modules with adaptation rules can be the effective way of studying the evolution of architecture design. However, without computational strategy and assistance of machines with artificial intelligence, thousands or millions of calculation and sim-
http://lucept.com/2014/06/02/robarch-robotic-fabrication-in-art-architecture-and-design/
ulation under adaptation rules could not be conducted at the first stage. Therefore, researching towards the inherent algorithm of evolution and its relationship to architecture design mechanism and elements is quite necessary for creating adaptive architecture in the near future at certain evolution level.
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Genetic Algorithm
Evolution of Population Algorithm
Autonomous Architecture as an evolutionary result
Genome
To grasp the essense of evolution, Natural Selection from the Evolution Theory is the key concept need to be mentioned. The diagram on the right is demonstrating natural selection process happening in the evolution process of population. Significantly, such a natural selection process can also be illustrated as an specific algorithm towards the idea of adaptation. The final status of adaptation process is normally referred as optimal solution. In order to interpret the function of adaptation thoroughly for further application towards architecture design, 3 elements are
Fitness Function
imperative inside the function which are genome, fitness function and evolutional engine respectively. (from Architectural Genomics by Keith Besserud & Josh Ingram) In the following chapters, how these 3 essential elements from genetic algorithm help to encapsulate either architectural or urban design meanings would be further analyzed.
Evolutional Engine
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Genetic Algorithm and Urban Abstract
Urban fabric structure and Memory in future information network Synthetic Polis by Yinfang Wang http://issuu.com/yfwang/docs/report_yfwang/1
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Fictional architecture types with corresponding geography categories Artwork by Mohamed Baki http://mbakiart.blogspot.com.au/
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Genetic Algorithm and Architecture Abstracts
Genome:
Modules (Columns, Beams, Ramps, Voids, Funtional Spaces, Stairs, Floors or Ceilings etc. )
Fitness Function:
Formation Algorithm (Stacking rules, Constructing sequence, Module selecting or processing rules etc.. )
Evolutional Engine:
Optimal Status check point (Like a boolean variable used to determine the end of the whole algorithm)
(This beam) Be here or not ? If not, what should be here ? or where it should be?
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Speculative Everything Speculative Everything: Design Fiction and Social Dreaming (MIT Press 2013) by Anthony Dunne & Fiona Raby is accessibly written, thoughtfully organised, and generously infused with a thoughtful selection of images. It functions as a missing manual or annotated bibliography to most of Dunne & Raby’s previous exhibitions, texts, and objects, given that not everything always gets interpreted, contextualized, or mobilised in the way that its originators may hope. Speculative designs depend on dissemination and engagement with a public or expert audience; they are designed to circulate. The usual channels are exhibitions,
Reference Texts
publications, press, and the Internet. Each channel or medium creates its own issues of accessibility, elitism, populism, sophistication, audience, and so on. This need for dissemination means speculative designs have to be striking but a danger is they end up being little more than visual icons for communicating an idea, in an instant. The best speculative designs do more than communicate; they suggest possible uses, interactions, and behaviors not always obvious at a quick glance.
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As we rapidly move toward a monoculture that makes imagining genuine alternatives almost impossible, we need to experiment with ways of developing new and distinctive worldviews that include different beliefs, values, ideals, hopes, and fears from today’s. If our belief systems and ideas don’t change, then reality won’t change either. It is our hope that speculating through design will allow us to develop alternative social imaginaries that open new perspectives on the challenges facing us. The idea of the “proposal” is at the heart of this approach to design: to propose, to suggest, to offer something. This is what design is good at. It can sketch out possibilities. Although these proposals draw from rigorous analysis and thorough research, it’s important they do not lose their imaginative, improbable, and provocative qualities. They are closer to literature than social science, emphasize imagination over practicality, and ask questions rather than provide answers.
A spider conducts operations that resemble those of a weaver, and a bee puts shame to many architects in the construction of her cells. But what distinguishes the worst architect from the best of bees is that the architect raises his structure in imagination before he erects it in reality.
The project’s value is not what it achieves or does but what it is and how it makes people feel, especially if it encourages people to question, in an imaginative, troubling, and thoughtful way, everydayness and how things could be different. To be effective, the work needs to contain contradictions and cognitive glitches. Rather than offering an easy way forward, it highlights dilemmas and trade-offs between imperfect alternatives. Not a solution, not a “better” way, just another way. Viewers can make up their own minds. This is where we believe speculative design can flourish—providing complicated pleasure, enriching our mental lives, and broadening our minds in ways that complement other media and disciplines.
Karl Marx, Capital Volume 1, Production of Absolute Surplus Value
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Speculative Designs
A Walking City for the 21st Century
http://www.archdaily.com/443701/a-walking-city-for-the-21st-century/525e878ae8e44e67bf000a50_a-walking-city-for-the-21st-century_nomadicurbanism03-jpg/
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Future Mechanical Mega-City
http://www.archdaily.com/443701/a-walking-city-for-the-21st-century-jpg/
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Future City Illusion
http://www.archdaily.com/443701/a-walking-city-for-the-21st-century-jpg/
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Geo-adaptive Architecture Thesis title with statement Towards architecture design in future, there are various speculations. With the evolution of technology and urgent needs of saving resource, human labour in construction field are gradually replacing by machines. As a cutting-edge application of arificial intellegence (A.I.), Robot is just the indispensible and comprehensive consequence of technology evolution. In the near future, autonomous architecture designs are highly recommended for conducting construction works with massive repetitive modules and steps under different environments. Similar to animals’ evolution, architecture as human habitats are also evolving to adapt to surrounding context. In this design proposal, geographic data as input while nature genetic algorithm as guides are drivers of design innovation for future geo-adaptive architecture which responding to surrounding environment and information networks. It automatically produces evolved (optimal) structure, form or organization of architecture or urban fabrics in certian aspect and scope.
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Input: Geographic Information
Output: Resultant Abstract of Mega-Structure Architecture or City
Geographic Type 1
Simple module stacking according to geographic input
Geographic Type 2
Composite module stacking according to geographic input
Geographic Type 3
Two types of module stacking according to geographic input
Geographic Type 4
Multiple types of module stacking according to geographic input 19
Precedents: (Modular repetition with specific algorithm) 1. ETH Zurich: “Flight Assembled Architecture�
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2. Modular repetition designs from digital fabrication and hand making
Digital fabricated Mega structure
Mechanical City by Ye Hui 21
3. LAVA’s Digital Origami at La Rinascente in Milan
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4. Coral Sketch, artwork by Kristen A. Fox
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Own Practices Before
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Workflow Diagram: (corresponding algorithm) Design Workflow
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Workflow Diagram: (corresponding algorithm) Pre-stacking Robot Workflow
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Geographic Matrix 33
Altitude coordinates set matrix based on factors from topographic values
Geographic Type 1
Factor = -200
Factor = -70
Factor = 0
Factor = 70
Factor = 200
Factor = 300
Geographic Type 2
Factor = -200
Factor = -70
Factor = 0
Factor = 70
Factor = 200
Factor = 300
Geographic Type 3
Factor = -200
Factor = -70
Factor = 0
Factor = 70
Factor = 200
Factor = 300
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Altitude coordinates set matrix based on factors from topographic values
Geographic Type 4
Factor = -200
Factor = -70
Factor = 0
Factor = 70
Factor = 200
Factor = 300
Geographic Type 5
Factor = -200
Factor = -70
Factor = 0
Factor = 70
Factor = 200
Factor = 300
Geographic Type 6
Factor = -200
Factor = -70
Factor = 0
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Factor = 70
Factor = 200
Factor = 300
Altitude Array Modules based on factors from topographic values
Geographic Type 1
Geographic Type 2
Geographic Type 3 36
Altitude Array Modules based on factors from topographic values
Geographic Type 4
Geographic Type 5
Geographic Type 6 37
Modular Stacking Rules based on Generic Algorithm
Fitness Function: Restriction rules from input (potentially can be calculated value from geographic matrix), Values inside the matrix can be affected by factors listed below: 1. Energy or resouce consumption to achieve certian boundary of buildings or cities (type, size, number of module by width restriction)
Horizontally: Wider area: Solid/Hollow modules Large/Small modules More/Less modules
Vertically: Higher levels: Solid/Hollow modules Large/Small modules More/Less modules
2. Energy or resouce consumption to achieve certian height of buildings or cities; (type, size, number of module by height restrictions) 3. Light, wind or temperature for determining building types and size; (type, size, number of module by orientation restriction) 4. Circulation or traffic direction or pattern for determining building types and size; (type, size, number of module by relationship restriction) • • • • Focusing on one type of restrictions as the stop value for fitness function so that optimal stacked structure can be achieved for applied architectural meanings
Environmentally: Brighter area Solid/Hollow modules Windy area: Large/Small modules More/Less modules
Socially: Busy area: Solid/Hollow modules Large/Small modules More/Less modules
In this case, we are only focusing on how resource consumption matrix being applied based on certain fitness function algorithm (stacking rules) to achieve an optimal resource saving status of stacking.
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Algorithm Diagram: (corresponding stacking rules)
Pathfinding Algorithm
Genome
Cull Out Module
By giving architecture or urban elements meanings, Modules are serving as genome
Functional Module
Structural Module
Fitness Function Resource cost matrix can be produced by applying stacking calculation on original geographic matrix.
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Geographic Matirx Value i.e. The higher the number, the higher the cost of resources
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Evolutional Engine By giving architecture or urban elements meanings, Modules are serving as genome
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Cost of resources (value)
Between the final result and above calculation towards two matrix, there is another very complicated matrix being applied and will be explained below !!!
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Final Cost Matrix
The A* Algorithm from Pathfinding is actually giving a lot of help to transferring the thinking of genetic algorithm into mathematical model. Only quantified genetic information can be better read by robots.
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Desirability Matrix 41
Geographic Matrix (altitude array in this case) Before Locating Functional Modules
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Average difference number of each 9 of these cells (central one and its 8 surrounding ones) are calculated and produced an new array called “desirability numbers�
Where Gaussian Distribution Happen To randomly distribute certain number of functional modules in one layer on a rather plain area (which means numbers are same or very close), this Gausian
Desirability Matrix (desirability array in processing) Before Locating Two Types of Modules
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Scheme of how to start !!!
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Generally, from the first half of semester’s experiments, helping our robot to find plain surface to allocate modules is the first step before putting them on exactly wanted coordinates. This desirability matrix is just making this all happening. By applying the desirability array onto altitude array, random spots on the plain surface are becoming more possible locations for solid (functional) modules while those coordinates representing slope or valley area are becoming less possible to place functional modules. After this matrix, the first layer of functional and structural modules can be determined.
Location Matrix (both coordinates of functional and structural modules) Locating Modules on Layer 1
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al modules on the right place. Right now, modules are basically determined. However, this is fixed genome and whether they are on the best location is still unverified.
+2
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Desirability matrix is one significant matrix between the geographic matrix and location matrix. It’s a unique measurement towards the tendency of putting function-
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After Desirability Matrix
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Therefore, another measurement matrix should be applied, which is represented by “resource cost numbers”. As discussed before, the scheme of calculation happens on this array is the fitness function under genetic algorithm. It helps to create the final cost matrix which is the “boolean” matrix for stop requirement.
Stacking Rule 1: Determining Structure Modules Horizontally Top view of layor 1 Basically, the first and primary rule of stacking is that one functional module requires 4 directly attached structural modules horizontally and corner structural modules are less necessary. The same setup also suits the resource cost matrix .
Overlapping Situation Solution The overlapping situation is the most common part in location matrix and the resource cost matrix is just helping us to determine the desirability of overlapped structural modules. The lower the number, the lower the necessity of structural modules. Direct Structural Module Selection
Corner Structural Module Cull-out
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Stacking Rule 2: Determining Structure Modules Vertically Side view of layor 1,2,3
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Matching Cost Matrix with Geographic Matirx to form the final Location Matrix
Layer 3 Accroding to the meaning of resource cost, the
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altitude matrix should be automatically added 1 when it goes up.
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Section 1 of the Stacking Structural Modules under Structural Modules can be deviated a bit No Structural Module under Functional Module is unacceptable !!!!
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Layer 3
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Section 2 of the Stacking Functional Module under Functional Module is acceptable but cost more than Structural Module under Functional Module. (i.e. every underneath functional module cost plus 2)
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First of all, when these matrix being stacked, they created a more complicated 3D matrix. As we don’t want to complicate the situation badly, we only add 1 when the altitude matrix go higher which is also matching the resource cost pattern. Meanwhile, there are also several non-compatible situations such as no any modules under a functional module and non resource cost pattern match this. Therefore, in rule 2, one functional or structural module has to be put back if there is a functional module hanging on the sky. To those already have one functional module stacking on top of another the cost number plus extra two.
Rule 3: Determining Clusters Horizontally Top view of layor 2 i.e.
More Complicated Situation 10
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Total Sum = 30 (just +8
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resource cost value)
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The more complicated situation could also happen is the situation of dealing with several very close functional modules. In rule 3, by checking a 4*4 or 3*3 matrix if there are more than 4 modules within it, they form a cluster and the calculation system is also matching with resource cost matrix. (just like the total sum value calculated) Actually, the situation become more complicated when it goes to 3D version. Based on personal scripting ability, only horizontal cluster situation is considered here for the cost calculation.
Final Cost Matrix (this is the matrix where stop value execute) After Locating All Modules on Each Layer
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Evolutional Engine Based on the three stacking rules related to genetic algorithm, this final cost matrix is just one result of certain layer in one radomly distributed functional module condition. The stop requirement of this evolutional engine in this case is that given certain numbers of functional modules, the lowest total sum of all layers of final cost matrix makes the optimal resource saving status. It’s also the best status of stacking and resource consumption.
Printed Matrix Data from Processing
First layer of stacking
Geographic Matrix from Processing
Desirability Matrix
Location Matrix (Coordinate)
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Digital Matrix 51
Pre Design Processing Study from the two book
Mouse Clicking in Processing
Movement Timer (Class) Setting in processing
Defining Shape and Function in Processing
L - system in processing
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First Layer of Coordinate
Printed Geographic Matrix
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Multiple Layers of Coordinate
Desirability Matrix
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Optimization Process happening on Location Matrix
Location Matrix
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Layer 1
Functional Module Num.: 20
Layer 1~2
Functional Module Num.: 30
Layer 1~3
Geography Type 1
Optimal Status for Robot to start stacking
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Functional Module Num.: 35
Layer 1~4
Functional Module Num.: 40
Layer 1~5
Functional Module Num.: 45
Layer 1~6
Functional Module Num.: 50
Layer 1~6
Status 1 Sum Cost = 906
Functional Module Num.: 50
Status 2 Sum Cost = 981
Layer 1~6
Functional Module Num.: 50
Status 3 Sum Cost = 872
Relationship between Altitude Matrix and Final Status based on Final Cost Matrix This optimal status is demonstrating the benefit of suitable numbers of functional module clusters on plain surface saving resource (energy or money) a lot
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Layer 1
Functional Module Num.: 20
Layer 1~2
Functional Module Num.: 30
Layer 1~3
Geography Type 2
Optimal Status for Robot to start stacking
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Functional Module Num.: 35
Layer 1~4
Functional Module Num.: 40
Layer 1~5
Functional Module Num.: 45
Layer 1~6
Functional Module Num.: 50
Layer 1~6
Status 1 Sum Cost = 1018
Functional Module Num.: 50
Status 2 Sum Cost = 987
Layer 1~6
Functional Module Num.: 50
Status 3 (Final Optimal Status) Sum Cost = 865
Relationship between Altitude Matrix and Final Status based on Final Cost Matrix This optimal status is demonstrating the benefit of suitable numbers of functional module clusters on plain surface saving resource (energy or money) a lot
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Layer 1
Functional Module Num.: 20
Layer 1~2
Functional Module Num.: 30
Layer 1~3
Geography Type 3
Optimal Status for Robot to start stacking 60
Functional Module Num.: 35
Layer 1~4
Functional Module Num.: 40
Layer 1~5
Functional Module Num.: 45
Layer 1~6
Functional Module Num.: 50
Layer 1~6
Status 1 Sum Cost = 934
Functional Module Num.: 50
Status 2 Sum Cost = 886
Layer 1~6
Functional Module Num.: 50
Status 3 (Final Optimal Status) Sum Cost = 820
Relationship between Altitude Matrix and Final Status based on Final Cost Matrix Basically, the optimal status is proving that modules on plain surface with multi-central distribution does save resources
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Physical Matrix 63
Precedents: (in physical stacking) 1. ETH Zurich: “Programmed Wall�
Strategy of Standing Physically To stack request module on exact coordinate seems a bit hard for our robot arm at this stage. Thinking on the other hand, a well designed module may also help a lot for the accuracy of stacking. To deal with the particular accuracy issue of these small modules, magnets are becoming a very powerful role for modules easier to snap to each other. After rounds and rounds of experiments, cylinder like magnets are selected for both snapping and supporting elements in the whole structure. Making the right direction of 8 magnets inside one module is quite a time consuming work but the final result seems good when the stacking executed by our robot.
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Magnet supported by perspex structure
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Precedents: (in physical stacking) 2. ETH Zurich: “Flight Assembled Architecture”
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Functional Module
Structural Module
Types of Modules In the final presentation of ETH Zurich’s “Flight Assembled Architecture”, their modules are also applied with different meanings. In my case, the distinguish mark on the side of both functional and structural modules is compulsory. With further technology, robots can conduct the module selection by themselves.
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Network for Module Stacking The Spinning Web project by Argentinian artist and architect, Tomås Saraceno is demonstrating a very complicated system of connecting black rope. Each rope inside the whole art piece is representing a different module. However, to deal with these rope with their location and direction, they are also need to be categorized and measured. This is a nesting artwork driven from spider’s net. To make a robot think and act like these natural creatures, the whole behavior network should be documented and coded as algorithm into computers. Those stacking rules from genetic algorithm thinking are also generating such a network for module stacking. Although to accomplish the whole network or algorithm may require large amount of analysis and tests, we can all start from simple. Just like the category of rop in the Spinning Web, the category of my module is also not limited. In this case, we just start from very simple cubes with size variation.
Spinning Web, by Tomas Saraceno
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Module & Meaning To make the stacking of optimal status physically based on different types of geography, the first prototype is made by simple cubes. It’s model with meaning in every scale. The cube can also be divided as smaller ones. Generally, the meaning of them can vary from beams and columns inside a building or mega-city towers in urban fabric. What is important is that the status of their organization is totally determined by their geographic information.
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Prototype 1 Stacked by robot and fixed by hand
Testing of Robot and Algorithm This is a result achieved after mid semester. The prototype is mainly made for testing of robot and algorithm. At this stage, it’s both kind of failed due to the shaking issue of robotic arm and improper coordinates from my algorithm. However, the final result still can prove the tendency of trying to put modules on more desirable plain (white) surface. As no cost matrix is involved, there is no evidence of genetic algorithm behind this model. But desirability matrix did help a lot in producing this prototype.
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Stacking Process Robot version (details in video)
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Stacking Process Fixed version
Due to the carrying and presenting purpose, these modules have to be fixed in the wanted coordinate. Rebuild the whole thing based on the video of how robot stack them is also a important part of finding flaws and defects of using this particular type of module.
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Prototype 2: Stacked by robot and fixed by hand
The Real Optimal Status This is the prototype after those 3 stacking rules based on genetic algorithm thinking being applied. Evidence can by found on following pages. This is the most resource saving stacking status matrix according to geography type 2. The total sum of cost in this model is 822 in terms of given 12 functional modules in total. For those small modules, they are representing less desirable structural modules.
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Stacking Process Robot version (details in video)
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Stacking Process Fixed Version The same reason for carrying purpose, most of these detail designed modules with magnets inside are removable and can be snaped to each other when stacking process conducting by robot and now have to be fixed on pre-determined coordinate. From the footage of documenting my stacking process, evidence of my 3 stacking rules can be easily found as shown. Evidence of Rule 1
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Evidence of Rule 3
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Speculative Matrix 79
Rethinking Everything Physical model is one of the best way to give meaningful feedbacks of the whole process of stacking with genetic algorithm. The optimal status is the core result we wanted to achieve. It’s proved that robot is acting as an imperative role in making architecture evolve with human beings and technology we created. The proposed Geo-Adaptive Architecture under the category of Autonomous Architecture is producing actual values to architecture design and construction. To involve with other environmental factors, only a new vector matrix needed to be created and applied in my algorithm. However, in order to develop this algorithm in actual construction field, scale and real architecture meanings of my module shall be further considered and investigated, which is exactly the reason of designing this speculative matrix part. (the prototype 3)
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When zooming in what can we find and what are we speculating to be found ?
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Think From Animals Towards the evolution meaning of proposed geo-adaptive architecture, in order to make the stacking algorithm more inherently genetic, we have to investigate more inherent structure of this algorithm and to approach to this, learning from animals can be the best way. Such as the coral reef, the genetic code inside their genes determined the outer structure of them. When zooming into some detail parts of the model, the structure of it can also be designed with genetic algorithm. In this way, robots are building themselves the most efficient structure for holding the optimal status of modules. The most adaptive structure for geo-adpative architecture can be achieved in this way. Theoretically, after a mature algorithm incorporating all those matrix discussed above and the structure matrix to support them, the robot can thoroughly work on its own to actually build something meaningful. In this way, the real level of “Auto� can be achieved in Autonomous Architecture.
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Speculation This program assisting with robot for designing and constructing autonomous architecture can be further developed and applied in construction field where machines are much more preferrable than human labour. With the accurate calculation and evaluation by robots, the optimal decision of material, structural and design solutions can be approached. One satelite with dozens of robots coded with this program and several required special material can build the first settlement place on a brand new planet or space.
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Precedents: (in speculative design by robot) Sci-Arc Robot House Think at Micro Scale In order to achieve the optimal structure for the geo-adaptive architecture, we need to think at micro scale. It means starting from jointing system to actual architectural elements. Sci-Arc robot house has been researching on this field for many years. Various optimal structure created by coding are realized by robots in real life. Due to the limitation of our robots, I have to design this part by myself and making most suitable joints for representative architectural columns, beams, truss and ramps. The processing of designing them is also the interesting way of giving actual meanings to these elements.
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Module & Meaning 2 When it comes to this level, modules are either being detailed as architectural elements or subdivided into the next level modules according to situation. To support optimal status modules after the division happened, well designed joint system is required and these joints are also serving as micro modules as well.
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Physical Parts of Micro Modules 86
Digital Fabrication of Joints and Micro Modules
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http://ffffound.com/home/lithiumc/found/?offset=4825&
Division Artworks
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Preparation
Contour Model
Physical Elements of Prototype 3 As the final prototype deal with the real condition of construction, a topography base should be ready for representing actual altitude situation. 4mm D X 4mm H magnets are also playing an important role in making joints snap to each other so that the whole structure can be hold up more easily with robotic arm.
Magnets
3D printed joints and micro modules Linear Modules
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Modules
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http://safetythird.wordpress.com/2011/04/11/packing-tape-web-installation-by-numen-for-use/
Installation Artworks
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Prototype 3 The Speculative Matrix Model The final prototype 3 is just demonstrating one tiny part of speculatve autonoumous structural system after optimal status of stacking is achieved. The key rule in this speculative matrix is totally based on its function which is load distribution. With limited amount of joints, beams and truss, the load of two functional clusters are perfectly distributed to the edge of the model where is the place with maximum strength. It opens up a new gate where genetic algorithm may help to find the optimal structure for load distribution with limited supporting materials and site conditions.
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http://weburbanist.com/2013/02/27/future-skyscraper-arup-presents-2050/
Speculative Matrix and its potentials For many designs where structural elements elaborating the most and best feature of it, the new gate opened by one aspect of my speculative matrix can be very beneficial for them. The inherent genetic algorithm program within the robot should be very helpful in both material selction and structural analysis towards those architectural modules inside and outside it. The optimal status of stacking turns to be optimal status of installation or arrangement plan for these architecture designs.
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Optimal Installation The optimal installation request the lowest cost of labor and energy. Program inside robot with genetic algorithm can be quite helpful for getting this. Particular mathematic model (like my 3 rules of stacking) to get the optimal value. Therefore, by proper extension of speculative design, more area requesting adaptability and optimization can be found in either architecture, urban or landscape design.
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http://weburbanist.com/2013/02/27/future-skyscraper-arup-presents-awesome-vision-for-2050/
Thesis Conclusion After one semester involvement with mechanical students and their robots, I have seen both potentials and hazard of utilizing robots to make future architecture designs. Further investigation towards genetic algorithm and processing coding did show various ability where machines work better than human. Probably at present or in near future, the absolute idea of Autonomous Architecture is still far but with proper interaction of artificial intelligence, and reasonable speculation in design, the physical Autonomous Architecture or City is also achievable. As long as speculation is growing and evolving together with technology, amazing architecture or urban projects completely designed and built by robots are not far from us.
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Other Key Texts: Nature and Animal Architecture
Coding
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Thank You
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