WIRED // R4D4 // AADRL // v02 // autonomous building robot

Studio Shajay Bhooshan Alexandra Lipezker | Eva Magnisali Georgios Pasisis | Sai Prateik

Contents Chapter 1

7 - 11

1. Studio Brief 2. Abstract

Chapter 2: Thesis

12 - 43

1. Thesis Prep 2. Nomadic Architecture 3. Case Studies

Chapter 3: Design Process

44 - 87 1. Growth Systems: Evolution Strategies, Decision Making and Deployment 2. Growth Logic and Integration Of the Distinct Stages 3 Pod Analysis : The Capsule Hotel 4 Pod Catalog

Chapter 4: Fabrication Process & Robotics

88 - 153 1. Programmable Material : Between Organicism and Computation 2. Introduction to Robotics 3 Nylon Reinforced with Piano Wires 4 Global Deformation Studies - Translation in the XY Plane 5 Global Deformation Studies - Translation in the Z Axis / Rotation 6 Local Deformation Studies - Heating Time 7 Loading Tests 8 Manual Vs Robotic Process

Chapter 5: Appendix 1. Previous System Proposals 2. Material Experimentation and Research

154 - 201

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AADRL R4D4 Chapter 1

1. Studio Brief 2. Abstract

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StudioR4D4 Brief

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Studio Brief Brief: -Z Chapter Chapter1.1

Investigations into material and robotic technology has led to groundbreaking Robotics: Znegative: Shajay proposals in the field of architecture. The aim of the studio is to understand Autonomous Booshan.

Booshan studio.AADRL AADRL material behaviour, andand robotic computation to behaviour, rule-based rule-basedcalculation calculation robotic computation to Shajay generate feedback systems systems capable capable of of achieving achieving evolution, evolution, self-regulation self-regulation and self-replication. self-replication. InIn aaproposal brief deployed in inLondon, urbanurban conditions are deployed Z negative, conditions addressed where ultimately, aspects of communication, networking andand are addressed where ultimately, aspects of communication, networking access lead to a proposal for architectural architecturla innovation.

In many address myriad aspects risingrising in in many regards regards the thebrief briefwishes wishesto to address myriad aspects contemporary architectural discourse. Themes that have been explored in the past, with architects such as Frei Otto, Le Ricolais, Nervi and taken into the future by others such as Marc Fornes, and Francois Roche R&Sie(n) Architects.

The proposal for an architecture with these parameters in mind, begins to address three three major major components: components: material materialbehaviour, behaviour,feedback feedbacksystems systems and robotics.

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Abstract Chapter 1.2

Buckminster Fuller addressed several issues of habitation during the 1960s; ideas that propagated like fire throghout the decade and encouraged the generation of unconventional architecture. Archigram, Haus-Rucker Co, Arata Isozaki, etc. were all amidst these revolutionary groups whose aim was to propose a new kind of urbanity. An urbanity generated from hybrid environments and by automated systems.

In a proposal that addresses nomadology and inhabitable space, the project attempts to address multiple aspects of a dynamic and complex agenda concerning modern architecture and autonomous robotic deployment. By means of robotic-arm construction and material behaviour, we propose to deploy in space a veritable organism; a prototype that replicates when needed and adapts to city conditions.

"Through improved materials and alternate systems . . . we can produce ever higher performance.. and acomplish so much with relatively little resource per function, that we are able to sustain all humanity at a higher standard of living than heretofore experienced . . .That's the essence of [a] more-form-less philosophy"1.

1. Buckminster Fuller, R. "My New Hexa-Pent Dome Designed for You to Live In".

Popular Science Magazine 1966. Arquelogia del Futuro.

1972. Web. 2014. http://www.deconcrete. org/2010/09/13/real-pop-sci/

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Thesis Development Chapter 2

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THESIS PREP 12

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Nomadic Architecture: An Introduction

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Opportunity for Development

Future Urbanity Current Research Framework In Pursuit of Nomadology

Integrated Systems Automated Robotic Construction Flux and mobility

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Thesis Statement Re-thinking robotic architecture Integrated and Automated Systems

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Data Driven Growth Logics Real time Feedback

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Future Research Structural Deployment Concept Models Digital Scenarios

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What happens now?

Pushing the Boundaries of Robotic Arm Applications Bringing Together the Digital and Material Worlds Proposing a Viable Prototype for Future Deployment

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Haus-Rucker Co. Wayback Machine.1968

The Sun Dome, Buckminster Fuller. 1960

The Plug-in City, Archigram.. 1964

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Arata Isozaki, Clusters in the Air 1962.

Future Urbanity Thesis Prep 2.1.1

The Evolution of Cities We live in an age that is characterized by notions of mobility, of the quick exchange of information, permeability of boundaries and dissolution of spaces. Nomadism deals with fundamental relationships of place and people. We are concerned primarily with the use of space and the creation of a deployable framework whose very structure could support temporal behaviours.

Nomadism establishes a direct engagement with the generation and construction of a built environment; fundamentally it could be argued that for autonomous architecture, there is little more suited to real-time feedback and exchange than an architecture in continuous flux.

We are searching for solutions that before were mere fantasy. What are we now proposing? Perhaps it may be argued, that we are in pursuit of the re-surection of ideas that were propagated in the pamphlets of Archigram's publications. Perhaps, we are in search of the capsules of Haus-Rucker Co. We are in pursuit of nomadic structures, and consequently the redefinition and articulation of an architecture long past (yet never more relevant) than in today's shifting global scene.

1. Richard Koshalek; essay

by David B. Stewart and Hajime Yatsuka, Arata Isozaki: Architecture 19601990, [Rizzoli International Publication, Inc., 1191 2.

Robert W. Marks.

The Dymaxion World of Buckminster Fuller (New York: Reinhold, 1960)..

3. Cook, Peter. AD Classics: The Plug-In City / Peter Cook, Archigram"" Archigram Archives. AD. 2014. http://www.archdaily. com/399329/ad-classicsthe-plug-in-city-peter-cookarchigram/

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Research Framework Thesis Prep 2.1.2

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Growth Logics NOMADIC STRUCTURES

Structural Analysis

Nomadic Plug-in

Robotic Automation

Haus-Rucker Co. Pneumacosm 1967

First Phase

Second Phase Coop Himmelblau. Cloud. 1968

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Skeleton

Digital Research

Prototype Outcome 17

Capsule

Material Research

End Effectors Fabrication Processes

First Phase

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Second Phase

Second Phase

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A

B

C

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In Pursuit of Nomadology: Requiem of an Archigram-like Dream Thesis Prep 2.1.3

What is Nomadism?

Images: A. The Isotropic Urban Unit B. The operational structure.

The infrastructure of the city.

C. The functions are introduced to the space.

Configure areas of use D. Configuration of space.

Fluidity of form E. Connection to operations F. Materialized space.

Formation of physical form.

G. Basic organization is determined. Overlaped functions The urban unit is in place.

H. Skeleton is in place, the structure has taken over and merged with the existing urban condition.

1. "NOMADOLOGY." LAITS Site List. University of Texas at Austin, 2010. Web. http:// wikis.la.utexas.edu/theory/ page/nomadology 2. Deleuze, Gilles, and Felix Guattari. Nomadology: The War Machine. New York, NY, USA: Semiotext(e), 1986.

Print. P.44

Deleuze and Guattari termed their critique of modern social and urban structures as "nomadism". For them, the state of nomadism was a more and more common occurrence in society1. This kind of movement on the part of people occurs now where social, economic and governmental edges are dissolving.. Globalization has taken care of changing the very edges of our society.

Techno-mechanical Structures: System Theory We are proposing an architecture that is automated. We propose to explore the links between interconnected parts, to visualize architectural space as the systems that construct it are exposed on the surface.

Architecture is no longer a striated condition, it becomes deformed and bundled to create the skeleton of a new expanse. We bring Deleuze and Guattari's smooth space to the forefront of our minds, and see the city come to life in the continuous transition of inhabitable forms.

The very systems that breath life into contemporary architecture, articulate the design of our formation. We re-shape architecture into a technomechanical construct. While a seeming prosthetic, it will deploy where conditions give way to exhitable exchange.

The Nomad and Robotic Automation: "Sedentary space is striated, by walls, enclosures, and roads between enclosures, while nomad space is smooth, marked only by "traits" that are effaced and displaced with the trajectory.. .The nomad distrubutes himself in a smooth; he occupies, inhabits, holds that space; that is his territorial principle"2. Man is in charge of his space, it moves, transitions and enables

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his specific needs. If we are to address the modern nomad, we must understand the condition under which man interacts with space. Nomadism is but the claiming of space temporarily. Now that society is entirely in flux due to globalization, what can we expect of cities but to accommodate changes? The city has always been a man-made scenario, each instance addressing specific use and program.

Systems theory in regards to nomadism pertains to aspects of feedback, where structural and physical space are informed, changed and generated from behaviour. In this system, complexity is ruled by interconnected elements: system, skeleton and man. Complexity arises in the moment, and thus deployment occurs as an inevitable reaction. The robotic arm is utilized as the means to construct and quickly deploy a system. In their ability for precision, relative ease of use, and inexpensive deployment, the project sees a greater possibility for creation.

Robotic automation is but one method of facilitating behavioural complexity.

Robotic arms are the agents of the network, the facilitators of an organism that is holistic and emergent and belonging to man. We understand space as a biological organism, with its own rules, its own logics. It grows, expands, shrinks and disappears. It has a life-cycle, and as such, is defined by flux. Robotic automation is a means of keeping up with its metabolism.

They deploy and consequently, so does the construct.

The Living Pod. David Greene 1966

The Living Pod: Pod and attached machines.

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Pneumacosm, 1967.

Haus Rucker Co. provided an example of pneumatic living units for various inhabitants. The units were meant for ready use and adaptability. The units presented cities with a vision of mobility, exchange and ultimately globalization.

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1. Kenzo Tange, Plan for Tokyo. 1960s. Metabolism.

Zhongjie Lin". Kenzo Tange and the Metabolist Movement Utopias". Print

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Opportunity for Development Thesis Prep 2.2

Industrial Robotic Arms in Architecture 22 1. Brell-Cokcan, Sigrid, and Johannes Braumann.

Rob/Arch 2012: Robotic Fabrication in Architecture, Art and Design. Wien: Springer, 2013. Print.

IMAGE (across) 1. Tesla Robotic Arms constructing automobile machinery. http://image. motortrend.com/f/features/ consumer/1206_temple_ of_tesla_touring_elons_ factory/38156267/tesla-multitasking-robots.jpg

Architectural research into robotics does not aim to change the machinery, but its use in regards to built space and fabrication1. Digital and material processes are brought together by means of robotic engineering, and given new meaning consequently to the combination of these two worlds.

Fabrication thus, is not the only aspect addressed in robotic manufacture, but generation of new viable building systems by means of highly organized and complex concepts.

Our aim is to develop a seamless integration between digital and material processes that will render as its outcome, a viable proposal for urban deployment. Robotic automation is but the key for aspects of repeatability, speed, and regeneration.

The use of robotic arm technology is not a matter of reinvention but of repurpose. We are using machinery that is employed in other fields to redefine what architectural automation means. With all the advantages of a robotic arm, we hope to generate a system that is sophisticated, responsive and structurally adept at generating new environment. This system will deal with the city's growth, and construct architecture on the basis of flux.

Electronics Milling

Welding

Assembly

Painting

Building???

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It is not a matter of reinvention but of repurpose.

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R4D4 Thesis Prep 2.3

A neo- nomad constitutes a vital part of the contemporary urbanity. He is an intelligent self-organism which, by the use of the communication technology, joints together with other organisms and create a super- organism. A single nomad, a single self- organism, cannot change dramatically the environment in which he is moving in. But this superorganism, a global system formed by the interaction of its lower level parts, can change the structure of our society, the digital and physical spaces.

We propose the creation and development of inhabitable spaces for the most flux populations of today's world, the neo- nomads. In a similar way to their organization logic, our proposal investigates in multiple levels the interaction and the continuity of its' fundamental ingredients.

In this holistic approach, material system and robotic fabrication process are, considering as one part that creates the basic structure, the basic network in which the neo- nomad operates. We aim to create a prototypical space with notions of nomadology in mind, with a sensitivity to growth logics, feedback processes and integrated building technologies.

More specifically in order to develop a dynamical system we implement a growth logic into our design process, and through the investigation of aggregation systems found in nature, we create rule-based design methodologies. The ultimate goal of the latter is the formation of an automated process, which will allow the decision-making of the robots.

In order to achieve the development of a plurality of systems, hierarchically connected, we create a composite material made out of metal wires and nylon coating. Through a thermoforming process, we fuse the structure into one overall formation, characterized by spatial continuity, while at the same time maintaining a scalar hierarchy of matter.

Last but not least, robotic arms are used for the fabrication process, which is intentionally controlled at an implicit level, allowing the material intelligence to indicate innovative paths in architecture. The robotic arms' limitations constitute creative constraints and are addressed as opportunities for the extension of our research further that the already known paths..

For Whom: Contemporary Nomads

By Whom: Automated Robotic Arms What: Infrastructure and Inhabitable Space When: On Demand Where: Prototype Why: To Address Flux How: Behavioural Complexity and Material Tectonics.

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Growth Systems and Automation 26 1. Tierney, Therese..

"Biological Networks: On Neurons, Cellular Automata, and Relational Architectures."

Network Practices: New Strategies in Architecture and Design. Ed. Anthony Burke and Therese Tierney. New York: Princeton Architectural, 2007. 78-99. Print.

2. Ibid. P. 78-79

We understand growth systems as "relational dynamics within network morphologies"1. In our case we use diffused limited aggregation to begin to determine the interaction between elements in our system. It is the underlying structure of the prototype's deployment.

As growth systems are non-linear, the aspect of feedback is incorporated into the design proposal to understand dynamics. As the system changes, real time data is fed back to inform the next condition. Thus, as these two aspects are put together and resolved, so is a sophisticated prototype created as a consequence.

"Some of the outstanding questions in genetics, evolution and development, including notions of modularity, will involve unraveling and comprehending networks of interacting elements. Feedback makes the one-way signaling paradigm inadequate; it has been superseded by a dynamical network approach"2. - Andrew Wuenshe

DLA > 25

DLA > 100

DLA > 200

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Future Research Thesis Prep 2.5

Opportunites and Exploration We aim to develop two kinds of prototypes: proof-of concept models, and design application models. Each of these will be tested in specific conditions that will determine how the overall system and proposal works in space.

Proof of Concept Models: Material and Fabrication 1. Automation and Vision Models: these address mainly the layout and automation of robotic systems in space. Synchronicity of movement, choreography and feed-back processes will inform the final physical architectural construct in space.

2. End-effector Models: These tests will address the overall construction of the system, from the anchoring and placement of structure, to the deformation. They will again address the robotics specifically, as they are the executors of the prototypes. In this sense, the end-effector becomes the more realistic testing model for the applicability of the overall system.

3. Module and Skeleton tests: These will test aspects of the overall design and production of the prototype. The skeleton test will be executed with the robotic arms, and tested as scaled models of the proposal. The module tests themselves will deal with the other aspects of inhabitable space which the frame must accomodate and the robotic automation must take into consideration. All in all, these specific prototypes form the basis for the architectural proposition.

4. Integrated Construction Systems: Testing air-supply systems to understand the transformation of structure, module and final configuration parameters. This will consist of aspects of air passage and its effects on the structural configuration, deployment and order of generation.

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Opportunites and Exploration Part II 28

Design Application Models 1. Generative Models: These will test the basic feedback and growth logics of the system in regards to its deployment and aggregation. The design bases itself on the skeleton's formation as it is informed by DLA based aggregation of capsule units.

Skeleton and Unit-Skin Configurations: 2. Control structure and surface generation via soft and rigid geometries.

Dynamics will be explored to explain and develop some of the concepts of the structure. In order to give shape to an object and animate its behaviour in digital space we are testing and simulating pneumatics, airflows and other determining factors for these structural typologies.

Evaluation criteria will also study structural capacity, strength and diverse aspects of the overall systems construction, deployment and finally its viability.

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What Happens Now? Thesis Prep 2.6

The Evolution of Cities Continued "The vision of the cybernetic city of control and communication . . . [are] the activities of an organized society [which] occur within a balanced network of forces which naturally interact to form a continuous chain of change . . . The sensitized net detects changes of activity, the sensory devices respond and fe[e]d back information to program correlators.. .[or in other words, robots in space]"1 Architectural Prototype The final outcome of the research studies will address both the urban case scenario and detaill case scenarios of a prototype. It will address the implementation of the design in a prototypical condition and space. It will establish the overall proposal's aims and speculate on its impact, all to establish the future viability of such structures and automated robotic systems.

Digital and Material Technologies Converge: We also believe that at the end of our research, we will be a step closer to bringing together the digital and material worlds. It is an important gap to bridge, and only through these types of explorations, do we see those two notions come closer together.

Robotic Arms in Arcitecture: Finally, we also strive to progress and make a contribution to the discourse of robotic arms in architecture. Via the prototype, we hope to develop a system unique in this field and full of potential for future exploration.

29 1. "Archigram: Architecture without Architecture".

Indeterminacy, Systems and the Dissolution of Buildings. p.

119..

Web. <<http://issuu.com/filipesilva/ docs/0262693224>>

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Case Studies Chapter 2.7

Architecture Case Studies: 1. The Japanes Metabolists 2. Archigram 3. Takis Zenetos 4. Haus-Rucker Co.

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The Metabolists, and Co. 1960s-1980s Metabolism's inception took place at the 1960s World Deaiign Conference in Tokyo, involving architects like Kikutake, Kurokawa, Fumiiko Maki, Tange and Isozaki1. At the root of the movement, there exists a biotechnical theory of the city as an organic process. As something that grows and evolves with time, having always a life-expectancy.

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1. Kenzo Tange, Plan for Tokyo. 1960s. Metabolism.

Zhongjie Lin". Kenzo Tange and the Metabolist Movement Utopias". Print

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Nagakin Tower. Kisho Kurokawa 1972.

Kiyonori Kikutake's Marine City. 1968.

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Nagakin Tower. Kisho Kurokawa 1972.

The Japanese Metabolists Case Studies 2.7.1

During the 1950s a group of Japanese architects and designers began working on issues regarding housing after the war-ravaged landscape presented an urban landscape with largely derelict space1. The need for new residential housing began a wave for highly efficient and mobile units.

Modules capable of reconfiguration and adaptability.

Organisms achieved a new definition, due to the fact that architecture was meant to have a short life-span. Growth had a notion of time inherent in the development of these cluster-like structures. Infrastructure was reconceived as an anchor in the city; a skeleton capable of structuring the activity of the city, yet remain transparent enough to accommodate the rest of the architecture, which could change based on need, use or program.

Nagakin Tower: Kisho Kurokawa 1972 One of the most famous and well known examples of metabolism is Kisho Kurokawa's Nagakin Tower. The structure is built with common materials such as steel and concrete for both the skeleton and the capsules.2. The dimensions of the pods were average, the configuration of them is what made the entire structural proposal interesting and novel.

1. Architecture in Japan: The Metabolist Movement. Web. http://outsiderjapan.pbworks. com/w/page/32006912/ Architecture%20in%20 Japan%3A%20The%20 Metabolist%20Movement 2. Ibidem. Web. Fig. Clockwise 1. Ibid. Web. 2. Ibid. Web.

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The Plug-in City, Archigram.. 1964

Collage of the Plug-in-City. Peter Cook. 1968.

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The Plug-in City. Module Design. Peter Cook. 1964

Archigram Case Studies 2.7.2

The group formed during the 1960s with the aim of proposing neofuturistic architectures that were lightweight, high tech and replaced existing infra-structures1. By using modular technology and mobility they attempted to shape the city's physical configuration2.

Plug-in-City, Peter Cook. 1964 Project proposed by one of the members of the group: Peter Cook3.

The city was intended to be built as a large number of frames into which modules would be inserted. The frames were the only permanent structure, while the units themselves could be changed and plugged into other slots in the infrastructure.

The frame in this particular case became a large organism, a machine whose extensions allowed for inhabitation.

1. Merin, Gili. "AD Classics: The Plug-In City / Peter Cook, Archigram" 10 Jul 2013. ArchDaily. <http://www. archdaily.com/?p=399329> 2. Ibidem. Web 3. Ibid. Web. Fig. Clockwise 1. Ibid. Web 2. Ibid Web. Peter Cook's well known collage regarding the new city's infrastructure. The layout is centered on notions of mobility. In regards to the timeline, this example came before but paved the way for the group's later more wellknown works.

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Electronic Urbanism. A collaborative space. 1950-60

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Takis Zenetos: Electronic Urbanism Case Studies 2.7.3

Similar in agenda to Archigram's work and the Metabolists, Takis Zenetos in Greece was paving a similar way for speculative projects. His project attempted to address the urban need for various programs to co-exist in similar spaces. In many ways, the architecture was to deploy in an urban area from either cantilevers or infrastructure to suspend within it, pods for inhabitation and use1. The system in itself would be integrated to various communication and infrastructural systems in order to create a viable new urban condition.

We speak in this sense of a disintegration of built structure. In many regards, electronic urbanism proposed a version of a city that would easily be deployed in areas that required rapid development or were undergoing urban renewal2.

"The structure of a city and the house of tomorrow will be fleeting almost something fluttering and whenever possible, inmaterial"3 -T. Zenetos In Electronic Urbanism a skeletal structure is created into which units or modules are inserted. It is this kind of disintegration via adaptability on which we begin to base our investigations.

1. Takis Zenetos, Electronic Urbanism. DPR-Barcelona.

January 16, 2010 Web. http://dprbcn.wordpress. com/2010/01/16/takiszenetos-electronic-urbanism/ 2 Ibid. Web. 3. Ibid. Web. 4. Images Ibid. Web.

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Pneumacosm. Haus-Rucker Co. Ortner & Ortner Baukunst

Mind Expander. Untitled.. Haus-Rucker Co. Ortner & Ortner Baukunst

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Pneumacosm. Haus-Rucker Co. Ortner & Ortner Baukunst

Haus-Rucker Co. Case Studies 2.7.4

Group founded in Vienna 1967, whose work inspired theories dealing pneumatic and prosthetic architectures. Their work focused mainly on aspects of space as a consequence of mobility. Mainly experimental in nature, their proposals dealt once again with the infrastructures of cities, though many times framed as critique.

Horton, Guy. "The Indicator: On Disappearance, Part 1" 07 Mar 2013. ArchDaily.

Accessed 15 Sep 2014.

In a manner reminiscent to theatrics, their architecture meant to play with <http://www.archdaily. the environment. Pneumatic structures became the means through which com/?p=340106> to see as much as to be seen. Man was not a passive entity in space, http://architizer.com/blog/ but the very catalyst from which architecture sprang.

In several scenarios, Haus-Rucker Co presented the world with new infrastructure, a way to actualize the city, and plug people to their environments. In the Pneumacosm, they proposed dwelling-units which would plug-into a vertical urban-structure (existing buildings or a new skeleton) and anchor themselves in space, all to create a technomechanical composite for a future dream.

retrospective-the-incredibleinflatable-architecture-of-the1960s/

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Design Process Chapter 3

1. Growth Systems: Evolution Strategies, Decision Making and Deployment 2. Growth Logic and Integration Of the Distinct Stages 3 Pod Analysis : The Capsule Hotel 4 Pod Catalog

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It is understood that at the basis of material research in architecture there should be an element of formal and programmatic logic inherent in any formation. A research of materiality based on observing the behaviours of natural phenomena and translating them into coded languages, has emerged in the field to redefine both conceptual and perceptual approaches to several urban conditions. .

In our research, we have focused on applying a growth logic to the design process, and more specifically that of Diffusion Limited Aggregation (DLA), in order to create a rule-based methodology. In this way, the overall process, including the robotic fabrication, will easily become automated in terms of decision making. Another advantage is the opportunity for generation of high levels of complexity through the application of simple rules. And last but not least, by using simple control parameters, we are aiming to take advantage of the fact that small changes in the rule can allow evolutionary things to happen.

THE PHENOMENON DESCRIPTION Diffusion-limited aggregation (DLA) is the process whereby particles undergoing a random walk due to Brownian motion cluster together to form aggregates of such particles. This theory, proposed by T.A. Witten Jr. and L.M. Sander in 1981, 1 is applicable to aggregation in any system where diffusion is the primary means of transport in the system. DLA can be observed in many systems such as electrodeposition, Hele-Shaw flow, mineral deposits, and dielectric breakdown.

1 DLA is a simple computer simulation of the formation of clusters by particles diffusing through a medium that jostles the particles as they move.T. Witten, L. Sandler 1981

MACROSCALE GROWTH Throughout our research, we have been interested in the Diffusion Limited Aggregation growth system in terms of a macroscale deployment of our material system Firstly, the DLA growth system offers the possibility of acquiring several levels of control, specifically concerning the direction of the growth, through the specification of the position of the seeds of the growth. Nevertheless, this extension also relies on other parameters, which result in unexpected, interesting geometrical and structural formations. In general, the DLA growth logic is chosen for the simulation of the networks growth in an urban level, where several input parameters and obstacles will exist, but the deployment of the system will have to occur through processing feedback from the urban environment.

Fig. 3_001 Fig. 3_002 Fig. 3_003 Aggregation 22 - 23 - 30 Simulation by Andy Lomas http://www.andylomas.com/ aggregationImages.html

Fig. 3_004 (Left) Diffusion Limited Aggregation Simulation by MArk Stock http://markjstock.org/dla3d/

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In the first stages of our research, Diffusion Limited Aggregation was treated as a tool in order to explore connectivity of space and units. In our first investigations, we addressed the issue of spatial deployment of a system, both in a local and a global scale, and we tried to use the DLA aggregation logic in order to achieve connectivity between the parts, as well as controlled spatial occupation.

Although Diffusion Limited Aggregation is a well-known natural phenomena, it's translation in architectural vocabulary might not by as straight forward as usually imagined.

Thus, after several iterations of attempts of using DLA as an space making tool, we focused in very specific attributes of the aggregation logic. These are, firstly the connectivity between the distinct units, and also, the dynamical growth of the system, in terms of using its previous state as an input for the next one.

NETWORK

LOCAL

SEED

OPERATION SCALE OF GROWTH

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DLA BASIC SPATIAL DEPLOYMENT Diffusion Limited Aggregation has inherent properties of a dynamical system. The system grows in such a way that every stage of growth is perceived as a pre-existing initial condition for the next one. This fact is considered to be very important as it allows the adaptation of the general growth in real-time conditions and its further expansion without the need to recalculate its entire structure.

In general, the basic spatial deployment of DLA systems is based on simple rules, but create complicated patterns. It is the role of the architect, who wants to implement this logic to his design process, to understand the main parameters of this growth, and translate them into architectural qualities and spatial properties that can be manipulated and affect the architectural proposal.

boundary

scale

seeds

directionality

concentration/dispersion

CONTROL PARAMETERS In our initial research, we explored the possibilities of DLA growth through a set of different control parameters. Firstly, we are able to define the boundary conditions for the DLA growth, which means that we have the possibility to give as an input the geometry of space where we want to deploy our architectural proposal. Also, DLA growth begins from specifc seed points, which can be conceived as central points from where the system will grow around. Furthermore, there is possibility of manipulating the directionality of a DLA growth, meaning that not only we can control the starting point of the architectural output, but we can also define the path of the growth. Moreover, scale consists another control parameter, through the definition of the distance between the connected units. And finally, the growth of the aggregation can occur in a concentrated or a disperse way, creating different density conditions and spatial formations.

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Fig. 3_005 48

DLA by lateral growth Big space of occupation High spread

Fig. 3_006 DLA linear growth Medium space of occupation Medium spread

Fig. 3_007 DLA curvilinear growth Medium space of occupation High spread

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DLA Deployment - Spatially Spreaded In this case study, the main goal was to control the growth spatially (disperse, linear and curvilinear growth), while maintaining a significant distance between the units, thus resulting into spatially spreaded configurations.

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DLA by lateral growth Medium space of occupation Low spread

Fig. 3_009 DLA linear growth Small space of occupation Low spread

Fig. 3_010 DLA curvilinear growth Small space of occupation Minimum spread

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DLA Deployment - Spatially Concentrated In this case study, the main goal was to control the growth spatially (disperse, linear and curvilinear growth), while trying to acieve the maximum possible concentration in space.The cubes represent the space of occupation of the growth in each particular case.

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Proximity Pull Spin Wind Seeds

Proximity Pull Spin Wind Seeds

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Proximity Pull Spin Wind Seeds

Proximity Pull Spin Wind Seeds

DLA Growth Two seed points - Connectivity In this case study, the DLA growth used as an initial condition the existence of thw seed points. In the first case the two systems grow independantly, avoiding one another, whereas in the second one, they are attracted to each other, thus resulting into an interconnected network.

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After a thorough investigation of the Diffusion Limited Aggregation possibilities, we want to implement the main logic of this dynamical growth system in our design process. Our main goal is to create an automated production system for architecture, based on simple rules, but able to adapt in different environmental conditions and other spatial and structural requirements.

For this reason, we are developing a design strategy which can be devided in different stages. These design stages are not independent from one another; on the contrary, they are interconnected as each one provides thee initial conditions for the next one and thus small changes in one of them can lead to extremely different configurations.

Furthermore, in order to achieve the aforementioned automation, we are developing a design methodology which is based on simple rules. In that way, we can facilitate the decision-making process of the robots, while we can base our architectural proposal on a generative logic, where evolutionary growth is applied, allowing space for innovation to happen.

Moreover, our design process emphasizes on feedback loops. The final outcome is not just an object sent to the robots for manufacturing, but on the contrary it informs the overall process, which gets ajusted and evolves through the observation of material behaviour and the fabrication process.

These observations serve as evaluation criteria that are being fed back into the design process and alter it till the point where the digital simulation and the actual fabrication coordinate.

Our final aim is to create a continuous structural system which is spatially deployed according to input given from both the environment and the designer. Furthermore, our design process takes into consideration the properties of the composite material used for the construction of the system, thus it can be used for the development of architectural systems that are characterized by plurality (not monomaterial systems). Finally, there is a hierarchy of the structures that consist the final architectural outcome, which is also connected to the idea of scalar hierarchy of matter.

DLA consists the input condition for the structural system's growth..

In our future research, the basic parameters and the final outcome of DLA growth will be evaluated and adjusted according to the satisfaction of external architectural conditions.

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GRADIENT MAP INITIAL CONDITION This map expresses the existing conditions, such as points in space where the structure anchors from or differentiation in scale of the aggregated units according to needs.

The gradient color of this map represents the density level of the aggregation and can alter the final structural density and formation by marking areas of different spatial qualities.

PROTOTYPICAL SITE CONDITIONS

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MAIN SKELETAL STRUCTURE The main skeletal spaceframe is deployed in space as a continuous system, flowing around the aggregated units. The final formation depends on multiple parameters and will be subject to structural evaluation.

57

MATERIAL PLACEMENT

ROBOTIC CONSTRUCTION

DIFFUSION LIMITED AGGREGATION OF UNITS The units aggregation in space is deployed based on the inital gradient map and by using the general volume of the space of occupation that each pod will finally have. The position, orientation and occupied area of each unit highly affects the formation of the structural system.

SECONDARY SKELETAL STRUCTURE

POD INFLATION

The secondary skeletal structure creates the spaceframe that will enclose the pods.

DESIGN PROCESS SPATIAL DEPLOYMENT CONCEPT The design process can be broken down to different design stages, which nevertheless are interconnected and affecting each other. The digital model is informed by the material behavior and the robotic construction and each time gets readjusted to the new data. When the skeleton is deployed in space, the pods get inflated into position.

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Before starting to investigate specific urban site conditions, we focus on several prototypical spatial conditions in order to develop a design proposal which can later be adjusted to any case scenario.

A key parameter for our system to grow are the anchor points that support the spaceframe and the orientation of the planes on which these anchor points are located.

For this reason, we are investigating five different conditions, displayed on the opposite page.

These protoypical site conditions might result in seemingly similar formations, which nevertheless have to be structurally eveluated in a completely different way (compression / suspension / tension etc) Our future goal is to apply the growth of the system in all these cases and evaluate the structural results according to the loading conditions applied in each case.

1 BASE PLANE

4 VERTICAL PLANES

2 VERTICAL PLANES

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CONDITION 1 Initial condition: 2 Vertical planes anchor points: minimum 2 growth: linear loading: tension and compression

59 CONDITION 2 initial condition: 4 Vertical planes anchor points: minimum 4 growth: by lateral loading: mainly tension

CONDITION 3 Initial condition: 1 Base plane anchor points: minimum 2 growth: by lateral loading: mainly compression

2 BASE PLANES

1 TOP PLANE

CONDITION 4 Initial condition: 1 Top plane anchor points: minimum 2 growth: by lateral loading: tension

CONDITION 5 Initial condition: 2 Base planes anchor points: minimum 2 growth: linear loading: compression

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Density scenario 1 - Anchor points

61 Gradient map indicating the areas needed to become denser structurally, because they are closer to an anchor point.

Initial Diffusion Limited Aggregation of units. Spatial Deployment as it would be without the influence of the density gradient map.

Final Diffusion Limited Aggregation of units. Altered space occupation area of the units that are located within the indicated areas. The bigger the occupation area of the units is, the more branching and dense the structure around them gets

Density scenario 2 - Needs of users

Gradient map indicating the areas where units of 1 person, of two persons and of four persons are needed. These areas are defined by the percentage of users' needs.

Initial Diffusion Limited Aggregation of units. Spatial Deployment as it would be without the influence of the density gradient map.

Final Diffusion Limited Aggregation of units. Altered space occupation area of the units that are located within the indicated areas. Dynamic aggregation of different units.

GRADIENT MAPS DLA DIFFERENTIATION The aggregation of the units and their spatial deployment can be manipulated according to a gradient map indicating need for denser units' concentration and thus, need for denser structure.

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UNIT 1 - single occupancy

UNIT 2 - 2 people occupancy

UNIT 3 - 4 people occupancy

62

PARAMETERS NEIGHBOURING CONDITIONS Possibility to alter the distance between the units.

This factor will affect the distribution of the units in space and thus the light and air conditions of the final architectural proposal

CONNECTIVITY - ACCESS DLA has the inherent property of connectivity between the neighbouring units. Thus, issues of access throughout the overall structure and of creation of an interconnected structure will be addressed.

OCCUPATION OF SPACE Different ways of applying DLA result in different space occupation strategies. From those, only the ones satisfying certain design aand structural criteria will be selected.

DISTANCE/ OPEN SPACE DLA allows growth mostly at the periphery of the aggregated cluster. This property will be used to address issues of inbetween open spaces and natural ventilation of the design proposal.

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63 AGGREGATION METHOD - POINT SEED

AGGREGATION METHOD - SURFACE SEED

AGGREGATION METHOD - VOLUME SEED

UNITS' AGGREGATION CONCEPT The aggregation of the units in space can be achieved in different ways. Here we can see the deployment of the units(area of occupation of future inflated pods) according to the initial seed conditions.

Parameter 002 Flow around the units' surface

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After deploying DLA and getting the apprximation of the pods position in space, the next design process stage is the deployment of the structural skeleton.

In order to maintain the continuity of the system, the simulation of the skeleton's growth follows several simple rules: Firstly, the wires spatial deployment is simulated via particles and their trajectory in space. The latter are continuously attracted to the units centers, so as to reach every part of the aggregated cluster and create the spce for the future inflation of the pods.

Also, there is a flow force around the surface of the area of occuupation of each unit. This ensures the creation of the secondary structure around the pods.

Moreover, at a macroscale, the growth of the structural skeleton occurs towards a specific target or anchor point.

Finally, the growth of the skeleton is a dynamic process. It can adapt real-time to changes and even create future extensions for further expansion of the structure.

Parameter 003 Attraction to an anchor point Dynamic system Real-time adaptation to changes

64

Parameter 001 Attraction to the units' centers

Initial condition Pod aggregation in space

CHAPTER

The deployment of the skeleton in space depends on all these factors. A combination of these will give the optimum solution, which will also need to be evaluated according to design criteria and conditions referring to the users' demands, that need to be satisfied.

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65 DENSITY DIFFERENTIATION

BRANCHING DIFFERENTIATION

COLLISION DIFFERENTIATION

WIRE SKELETON SPATIAL DEPLOYMENT The formations of the structural skeleton depends on various parameters which can be manipulated in order to meet the optimum configuration. The final output will be evaluated structurally and in terms of design and will be refined till it satisfies all conditions.

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scaled model of space of occupation 2 PEOPLE CASE

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scaled model of space of occupation 1 PERSON CASE

scaled model of space of occupation 4 PEOPLE CASE

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primary structure [skeleton] secondary structure [pod framework]

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bifurcation branching

separation

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Students, Travelers, Jet-Setters, Commuters, Tourists, Artists, etc.. .

Today's Modern Nomads

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Pod Analysis The Capsule Hotel Chapter 3.3 In contemporary society there is still an instance of reminiscence over the work of architects like Archigram and Haus-Rucker Co, for their ability to propose a landscape in a city that was so foreign, yet entirely plausible as a future case scenario. Today in Japan and other Asian countries, the notion of the deployable unit, the flux city, is still very much alive and operating1. In these cities, we see the construction of revolutionary concepts in design of inhabitable space, from luxury flats and towers, to capsule hotels that provide only the most essential services to man.

We believe the latter option, the capsule hotel, is not only a plausible idea for the city, but an essential one. We believe cities are in need of adaptable inhabitation. Of spaces that provide man the essentials, but have 1. . "9 H Nine Hours Capsule the ability to be deployed as needed. Where man may have the ability to Hotel in Kyoto - Designboom | Architecture & Design inhabit space as needed.

In regards to theory, the inhabitable capsule stands on its own, and is selfexplanatory.. Space is distilled to its most essential of uses for temporary inhabitation. We are not proposing a long term scenario, but something that can be deployed where necessary, where required and as a means to address unexpected circumstances.

There is a definite market in the industry for places that will provide the essentials and nothing more. Where inhabitation is streamlined to its most elemental configuration to provide a unit unlike others, that adapts in space along with today's modern nomad.

Magazine." Capsule Hotel.

DesignBoom Architecture.

Design Magazine, 2011. Web.

http://www.designboom. com/architecture/9-hnine-hours-capsule-hotelin-kyoto/

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SleepBox and NapCab: Both applications of single-user units deployed in the airport terminals for one night or hour-based use (NapCab is currently deployed in the Munich terminal). One kind of solution to provide travelers with a place to rest without having to resort to a typical hotel.

GoSleep Pods: Throughout the Abu Dhabi Airport, new flatbed pods have been provided for travelers to sleep in between flights or during long waits. These are set-up as single-use pods deployed in a terminal space. Similar to NapCab, yet the space has been even more greatly minimized to contain only the basic pod.

Pod Hotels: Pod structures are not limited to those used by travelers alone. Pod Hotels have also become a trend that has moved beyond to include hotel design. These, similarly, have reduced space to its limits in order to encompass only the basic user and his/her immediate needs.

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The main aspects of a pod are distilled to an essential amount of aspects: the space and the amenities for one night of sleep.

The Pod is essentially a distilled space. A unit per user. Similar to the notion of a cabin on a yacht. You can think of something that offers comfort with streamlined design.

Nomadism implies short duration stays. One day in, and out the next.

That is the basis of a theory which bases its structure on temporality.

It forms the elements of a key urban structure.

9-hour hotel pod concept is adapted and used on an urban scale deployment http:// ninehours.co.jp/en/concept/ proposal.

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POD ANALYSIS INFERENCE 1 : THE CAPSULE INN, OSAKA, JAPAN

1 REGULAR TYPE CAPSULE

Capsule Size : 1.91m X 0.95m X 0.95m Capsule Area : 1.82 m2 Capsule Volume : 1.73m3 Occupancy : 1 person

0.95 m

Facilities :

0.75 m

0.95m 0.82 m

0.95 m latitudinal Section

Plan

2 WIDE TYPE CAPSULE

1.91 m longitudinal Section

0.75 m

0.95 m

0.95 m

Capsule Size : 2.02m X 1.05m X 0.95m Capsule Area : 2.12 m2 Capsule Volume : 2.01 m3 Occupancy : 1 person

1.05 m

2.02 m

0.95 m

1.91 m

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2.02 m

1.05 m latitudinal Section

longitudinal Section

Air Conditioner Vent Lights TV

0.82 m

control Panel

Plan

Isometric View Of the Capsule

Table

Blinds

Bed

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INFERENCE 2 : THE YELLOW HEART, VIENNA, AUSTRIA

3.2m

Capsule Size : 4mX3.2mX3.2m Capsule Area : 12.8 M2 Capsule Volume : 38.5 M3 Occupancy : 2 people

Air Ring Lock

Plan

Inflatable Bed

Air Chambers

Air Pump View of the Capsule 4m Longitudinal Section

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POD DESIGN CATALOG Chapter 3.4 This section explores the various possibilities of pods , that can be adapted into the skeletal system generated.

Using three branching conditions of the material skeletal system, the basic polygons were deformed and rudimentary shapes were generated as a part of the first iteration for capsule design.

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CONDITIONS 1

PLAN VIEW A

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User

Input

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Input

ck ba ed

Fe op

Lo

Decision

[ [ Man

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Capsule

Add | Subtract

Life-Cycle

[

Machine

Deployment

Output

[

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Fabrication Process Chapter 4

1. Programmable Material : Between Organicism and Computation 2. Introduction to Robotics 3 Nylon Reinforced with Piano Wires 4 Global Deformation Studies - Translation in the XY Plane 5 Global Deformation Studies - Translation in the Z Axis / Rotation 6 Local Deformation Studies - Heating Time 7 Loading Tests 8 Manual Vs Robotic Process

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It is in nature that we observe the serial, the notion of simple rules from which we derive infinitely complex systems.

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Programmable Material: Between Organicism and Computation Chapter 4.1

It is understood that at the basis of material research in architecture there should be an element of formal and programmatic logic inherent in any formation. Deeper structure, a research of materiality based on observing the behaviours of natural phenomena and translating them into coded languages, has emerged in the field to redefine both conceptual and perceptual approaches to myriad urban conditions1. In order to achieve higher levels of architectural performance, materiality has become, in its many forms and gestations, the driving force of innovation.

It is in nature that we observe the serial, the notion of simple rules from which we can derive infinitely complex systems and interactions. Serial architecture questions the role of the architect; the generative parameters of any given system have been displaced by sets of digits and coded behaviours. From nature emerges notions of calculability used in order to enhance observation, and as the lens through which we interpret the physical world. Though natural formations and organic material may inspire technique, these are also generative of digital information. Historically the architect has been tempted to find in nature the forms, structural strength, diversity, and even processes, that have no man-made equivalent, with which to transform the built environment2. It is these very variables, organic abstracts which are then deployed across millions of networks and uploaded real-time by the computer. We've managed to merge the reductionist approach of the digital to the singularities of nature3. Life has become a veritable algorithm.

1. Lorenzo-Eiroa, Pablo.

"Form:In:Form. On the Relationship Between Digital Signifiers and Formal Autonomy". Architecture in Formation. On the Nature of Information In Digital Architecture. Routledge. NY. USA, 2013. P.E01.

2. Picon, Antoine. "Digital Design Between Organic and Computational Temptations".

Architecture in Formation. On the Nature of Information In Digital Architecture. Routledge.

NY. USA, 2013. E11.01 3. Karl Chu, "The Unconscious Destiny of Capital (Architecture in Vitro/Machinic in Vivo)", Neil Leach (ed.), Designing for a Digital World (Chichester: 2002). p.127-33. Hyperzoa according to Karl S. Chu are the eruptions of artificial life that are intelligent andform part of the everyday fabric of reality.

4. Image of Project Model.

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Material Experiments Investigations into phase-changing materails that allow for innovative and unexpected results of formation..

90

Glass-Wax:

Latex and String:

ABS and String:

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Introduction: Robots in Architecture Chapter 4.2

93 n the last decade the development of technology has led to the discovery of many new techniques of construction, 3-D printing and Robotic arm fabrication being the most highlighted outcomes. The usage of robotic arms in the industrial sector production in the previous years laid base to this innovative idea of using them in architecture. Thereby creating possibilities of fabricating complex geometries using these arms through the medium of coding and extensive software application . Many firms such as Gramazio & Kohler, Robofold, Bot and Dolly have collaborated with world renowned architectural schools, researchers and leading names in the profession to create outstanding structures and complex installations, using the innovation to the maximum. Therefore highlighting the applicability of these robotic arms as the future of the evolving construction and fabrication industry.

IMAGE 1 - GRAMAZIO & KOHLER NYC

IMAGE 2 - ZHA pavilion Venice BIEnnale

Learning from the achievements of the above mentioned structures and their fabrication process, we desire to apply the same in our thesis project of autonomous building robots. Using the material intelligence and the feedback generated, exploring the ways in which the robotic arm could be used to fabricate the structure in the prototypical conditions is the goal.

IMAGE 1 "GRAMAZIO & KOHLER: DIGITAL MATERIALITY." WHAT WE DO IS SECRET. N.p., n.d.

Web. 10 Apr. 2014. <http:// www.whatwedoissecret. org/madebyblog/2009/09/ gramazio-kohler-digitalmateriality/>.

IMAGE 2. Urschler, Matthias.

Urschler, Matthias. "WHAT | we did summer 2012 , Venice - AA Visiting school , Bangalore 2013." WHAT we did summer 2012 , Venice - WHAT | we did summer 2012 , Venice -N.p., n.d. Web. 9 Apr. 2014. <http://www. zha-code-education.org/ WHAT-we-did-summer-2012Venice>.

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Precedents : The 2012 Research Pavilion Achim Menges

94 THE RESEARCH PAVILION 2012

The Research Pavilion was built in November 2012 by the Institute for Computational Design (ICD) and the Institute of Building Structures and Structural Design (ITKE) at the University of Stuttgart led by Achim Mengis. It was completely fabricated by a single 6-axis robotic arm using carbon and glass fibre composites. This interdisciplinary project, conducted by architectural and engineering researchers of both institutes together with biologists of the University of Tbingen, investigated the possible interrelation between biomimetic design strategies and novel processes of robotic production.

The research focused on the material and morphological principles of exoskeletons of arthropods as a source of exploration for a new composite construction in architecture.1 The project transferred the fibrous morphology of the biological role model - the exoskeleton of the lobster (Homarus americanus) (which was analysed in greater detail for its local material differentiation) to fibre-reinforced composite materials, the anisotropy of which was integrated from the start into the computer-based design and simulation processes,.

1 - "achimmenges.net - Achim Menges Design Research Architecture Product Design." achimmenges.net - Achim Menges Design Research Architecture Product Design.

N.p., n.d. Web. 8 Apr. 2014. <http://www.achimmenges. net/?p=5561>.

2 - Ibid.

IMAGE 3 - PAVILION FABRICATION

IMAGE 4 - RESEARCH PAVILION 2012

The lobsters exoskeleton (the cuticle) consists of a softer endocuticle, and a relatively harder exocuticle. The specific position and orientation of these fibres and related material properties relate to specific local requirements. In areas where a non directional load transfer is required, the chitin fibres get incorporated into the matrix by forming individual unidirectional layers laminated together in a spiral arrangement forming an isotropic structure which helps in uniform load distribution throughout. And the areas which are subject to directional stress, a unidirectional layer structure is exhibited, forming an anisotropic assembly for dirrect load distribution. Due to this local material differentiation, the shell creates a highly adapted and efficient structure. These principles of locally adapted fibre orientation constituted the base for the computational form generation, material design and manufacturing of the pavilion.2

3 - Ibid

IMAGE 3 - achimmenges. net Achim Menges Design Research Architecture Product Design." achimmenges.net - Achim Menges Design Research Architecture Product Design.

N.p., n.d. Web. 8 Apr. 2014. <http://www.achimmenges. net/?p=5561>.

IMAGE 4 - Ibid

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IMAGE 6 - ISOTROPIC FIBRE ORIENTATION

95 FABRICATION

After the thorough research, a fibre composite system of resin saturated glass and carbon fibres was employed in weaving the anchored temporary light steel frame which formed the mold of the pavilion. The 6 -axis robotic arm instead of having to move around to place the fibre was coupled with a digitally controlled turntable which was was rotating the whole pavilion's structure, while the robotic arm was just moving the filaments.

The prestressed fibres were tensioned between the anchor points and from the straight segment of these fibres emerged the double curved shape of the pavilion. In this way the hyperbolic paraboloid surfaces resulting from the first sequence of glass fibre winding served as an integral mould for the subsequent carbon and glass fibre layers with their specific structural purposes and load bearing properties.

The glass fibres were mainly used for spatial partitioning and the carbon fibres contributed primarily for the load transfer and the global stiffnes of the pavilion..3 Fibre optic sensors were also integrated into the structure which continuously monitored the stress and strain values so as to regulate the fibre placement such that their orientation gets optimally aligned with the force flow in the skin of the pavilion.

The arm was placed on a 2m high pedestal which allowed it to a working span of 4m. Since the control of the robot was highly explicit in this scenario many virtual iterations and simulations of the same were generated and compared before the final structure which spanned 8m in dia and 3.5m was erected and it consisted of 30 km of fibre rovings.

IMAGE 7 - ISOTROPIC & ANISOTROPIC FIBRE ORIENTATION

IMAGE 8 - FIBRE WEAVING

IMAGE 5 - achimmenges.net - Achim Menges Design Research Architecture Product Design." achimmenges.net - Achim Menges Design Research Architecture Product Design. N.p., n.d. Web. 8 Apr. 2014. <http://www.achimmenges.net/?p=5561>.

IMAGE 6 - Ibid IMAGE 7 - Ibid IMAGE 8 - Ibid

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Precedents : The Chandelier Prototype Kruysman and Proto

96 THE CHANDELIER PROTOTYPE This project was fabricated in 2013 by Jonathan Proto and Brandon Kruysman at the Sci-Arc robot house. The bottom up approach consisted of 3 stabuli robots choreographed using Esperant.o software to fabricate a chandelier made of plastic tubes, highlighting the collaboration of the robotic arms, each performing a certain task.

The complexity of the project lies in the networking of the three arms which were simulated virtually and physically simultaneously to achieve the end result, invariably testing the heat fusing and material deforamtion process.

FABRICATION It consisted of three arms as mentioned earlier, where one robotic arm was choreographed to pick up the plastic tubes from the dispenser and rotated it, while the other arm heated the tube using the heat gun as an end effector. Once heated, the arm holding the tube would then place it on the stack, melting and fusing with the tubes which were laid earlier.

The third arm then consisting of a spray gun would spray the coloured coolant on the rim of the placed plastic tube.

IMAGE 9 - The chandelier prototype

The project is of great interest, since it speaks of the level of precision and control that can be obtained through the choreography of multiple robots. Even though the control on the deformation of the material on heating was limited but the amount of heat applied and the time period could be realised.. Moreover the designers experimented to develop a form finding process through the generative logic by giving up control on the material deformation.

IMAGE 9 "SCI-Arcâ&#x20AC;&#x2122;s Robot House Gets Hot | Los Angeles, I'm Yours." Los Angeles Im Yours. N.p., n.d.

Web. 8 Apr. 2014. <http:// www.laimyours.com/20418/ sci-arcs-robot-house-getshot/>.

IMAGE 10 - Ibid.

IMAGE 11 - Ibid IMAGE 12 - Ibid

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97 IMAGE 10 - HEATING THE PLASTIC TUBE

IMAGE 11 - PLACING THE HEATED TUBE

IMAGE 10 - SPRAYING THE COOLANT

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2 3 4 5 6

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Why Robotic Arms?

1. Quality/Accuracy/Precision

6. Economic

$$$$$$$$$$$ Replacing the use of typical robotic arms in production lines and applying them to architecture in regards to quality, accuravy and precision. Aspects that may not be possible in other construction scenarios.

Automation implies a high degree of control.

The costs of production may be minized through highly capable manufacture. The robotic arm would eliminate aspects of the work place that are detrimental to production.

2. Efficiency/Speed/Production Rate

7. Repetition

Highly capable manufacture implies dealing with highly complex tasks. Operations that the human hand would have a hard time accomplishing.

3. Ability to Work in Environments that are inhospitable to Humans.

Robotic arms would ensure the safety of the work-force by deploying where conditions would usually be harmful or dangerous.

Robotic-arms can operate under hazardous conditions.

99

Manufacture with robotic arms would allow for quick iteration and repetition. Manufacture based on need, with the robotic arm, would ensure the possibility of ensuring quick assembly and deployment of myriad parts in little time.

8. Automation

Complete automation of building systems via robotics is a futuristic notion. There are aspects of feedback and deployment that must be taken into consideration; however a certain degree of automation can be achieved should all of these parameters come together in one integrated system.

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Programmable Material: Nylon reinforced with Piano Wires Chapter 4.

1.03 Chapter

101

In our initial material experiments we use nylon reinforced with piano wires.

In direct relationship with reinforced concrete, this technique combines both, the advantages of the compressive strength of the nylon, and the tensile strength of the piano wires. The final result is a composite material in which Nylon's relatively low tensile strength (45 - 90 MPa) is counteracted by the inclusion of reinforcement with steel wires which has relatively higher tensile strength (860 MPa).

different types of nylon spiral tubes that we use in our experiments

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The experiment process includes the following steps: - Preparing the framework Our framework is composed by plates having a pattern of holes from which wires are passing. We investigate the results produced by frameworks in which the wires between the interacting planes are weaved with different ways and different densities.

>

- Initial material configuration - weaved wires - spiral nylon tubes as an exterior layer - From solid to malleable state- nylon' s heat deflection temperature= 60°C - Apply basic Euclidean transformations to the plates - translation (x, y, z) / rotation or combination of those.

103

The final deformation is relative to the initial setup, the applied forces, the plane normal, the heating temperature and the heating time.

- Hardening procedure We stabilize the system allowing to act only gravitational forces in our system. The system requires almost 1 hours to fully harden.

The wires are embedded passively in the nylon. In this system we observe two kinds of material deformation, the global based on the wiresâ&#x20AC;&#x2122; behaviour because of the external forces that we apply and the local based on the deformation of the nylon because of the heating process. We freeze the transformation of the wires using the nylon' s deformation.

We can predict in some extent the global deformation based on Young' s modulus which enables the calculation of the change in the dimension of a bar made of an isotropic elastic material under tensile or compressive loads.

left: plate's weaving pattern right: global deformation of the wires based on Young's modulus

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Programmable Material: global deformation studies translation in the xy plane Chapter 4.1.4 1 Chapter

105

In this series of experiments we investigate the global transformation of the wires by translating- moving the end- effector's plates in the xy plane. The process is manual without the use of any robot and aims to understand the material' s behavior.

The result is a branching system which depends on the variation of the applied forces in terms of direction (two, three or four different directions).

We also design some basic robotic configurations that can produce the similar result.

Initial experiment: Before and After heating process

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final height initial - final h max expand wire density nylon 3mm nylon 8mm

split 2

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img. 1

diagram 1

Image of the final state of the experiment 1 -1 - 2 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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img. 2

diagram 2

Image of the final state of the experiment 1 -1 - (3 +1) Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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final height initial - final h max expand wire density nylon 3mm nylon 8mm

split 4

110

img. 3

diagram 3

Image of the final state of the experiment 1 -1 - 4 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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FABRICATION CATALOGUE 1A

INITIAL POSITION

FINAL POSITION

112

1B

1C

TWO BRANCH SYSTEM

The catalog explores the robotic fabrication process and the choreography required to manufacture the three different variations of a two branched material system.

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INITIAL POSITION

ROBOT PATH

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FINAL POSITION

1A ELEVATION 2 A

30°

2

B 110°

2

2 A'

B' 113

1

A

PLAN

1

A'

B

A

B

B'

B'

A'

1B PLAN 2

2

A' 30°

1

2 A

B

1

1 B' A

A'

B

B'

1C PLAN

2

2 45°

60° B' 1

A

B

A'

2

1 A

B

1 B'

A'

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2A

114

2B

2C

THREE BRANCH SYSTEM

The catalog explores the robotic fabrication process and the choreography required to manufacture the three different variations of a three branched material system.

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ROBOT PATH

INITIAL POSITION

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FINAL POSITION

2A

3 30째

3

PLAN 2

A

A'

B

3

B'

1

1 C

115 B

A

B'

A' C'

C

C'

2B PLAN 3 30째

2 A'

3

3 C' 1

1

A

A

B' A'

C

B

C'

B

B'

C 2C PLAN 3 45째

2

3 B'

A

B

3

A'

1

1 C'

A

B

B'

A'

C C

C'

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INITIAL POSITION

FINAL POSITION

3A

116

3B

3C

FOUR BRANCH SYSTEM

The catalog explores the robotic fabrication process and the choreography required to manufacture the three different variations of a four branched material system.

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ROBOT PATH

INITIAL POSITION

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FINAL POSITION

3A ELEVATION 4 30°

A

B

C

D

4 110°

4

4 A' C'

B' D'

1

1 117

PLAN A

B

C

D

A'

A

B

B'

A'

B'

C'

C

D

D'

C'

D'

3B PLAN 30°

4 A' 1

A

B

C

D

B

C

D

1

110°

4

30°

A

4

110°

B'

C'

D'

4

A'

B'

C'

D'

3C PLAN

45°

60°

4

1

A' D B C'

1

D' A C B'

4

45°

4

4

60°

D

A

A'

D'

B

C

C'

B'

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img. 4

diagram 4

Image of the final state of the experiment 4- 1- 4 Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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img. 5

diagram 5

Image of the final state of the experiment 4- 1- 4 Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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Programmable Material: global deformation studies translation: z axis / rotation Chapter 4.

1.25 Chapter

121

In this series of experiments we continue to investigate the global transformation of the wires by using basic Euclidian transformations. We concentrate in the translating in the Z axis (compression of the wires) by reducing the distance between the end- effector's plates. We also introduce rotation of the plates around the z axis passing from the center of gravity of the geometry. The second experiment is double the size of the first one, and we use the double amount of material (scale factor 2). The process is manual without the use of any robot and aims to understand the material's behavior.

Diagrammatic representation of the robotic movementcollaboration producing a spiral geometry.

Translation in Z axis Rotation

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final height initial - final h max expand wire density nylon 3mm nylon 8mm

spiral 1

122

img. 6

Image of the final state of the experiment spiral 1 : 2 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus General Setup

diagram 6

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123

Initial state.

Wires and nylon configuration before the heating process.

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final height initial - final h max expand wire density nylon 3mm nylon 8mm

spiral 2

124

img. 7

diagram 7

Image of the final state of the experiment spiral 1 : 1 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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125

Lattice formation and branching system as a result of the accumulation of material in specific areas

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Programmable Material: local deformation studies heating time Chapter 4.

1.36 Chapter

127

In this series of experiments we investigate the local deformation of the nylon by changing the heating time.

Thermoplastics, such as nylon, shrinks in length when heated, while expanding in width. When the material is cooled, it returns to its original length. Similar materials are the shape memory polymers or the carbon nanotubes but are very costly. Nylon is an extremely common and very cheap polymer.

In this experiments even if all the other parameters are remaining the same we observe that the local deformation of the nylon influences the global result. The process is manual without the use of any robot.

the 3 minutes experiment measuring the temperature change in a single nylon tude and observing the local deformation the heating stops at 2:45

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128

img. 8

diagram 8

Image of the final state of the experiment H1 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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129

img. 9

diagram 9

Image of the final state of the experiment H2 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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130

img. 10

diagram 10

Image of the final state of the experiment H3 Basic parameters information Base plate weaving pattern Linear diagram of the final state Deformation of the wires based on Young's Modulus

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131

Initial state.

Wires and nylon configuration before the heating process.

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Programmable Material: loading test Chapter 4.

1.47 Chapter

133

In this experiment we are testing the strength of the same component in compression forces. Compressive stress (or compression) is the stress state caused by an applied load that acts to reduce the length of the material (compression member) along the axis of the applied load. A part of the applied forces because of the components geometry is translating to transverse loading. This causes the members to bend and deflect from its original position, with internal tensile and compressive strains accompanying the change in curvature of the member.

In materials science, the strength of a material is its ability to withstand an applied load without failure. In the last experiment the component can stand with a total loading force equal to 245N.

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Programmable Material: manual VS robotic process Chapter 4.

1.58 Chapter

139

In this series of experiments we investigate the difference between the manual and the robotic fabrication process. The basic parameters remain the same, like the initial setup, the heating time and the applied forces.

Finally we compare the results in terms of deformation of the final product.

Even if the global deformation and the bounding boxes of both products are similar, in local scale the difference is dramatic. In the robotic fabrication the transformation of the wires appears to be more uniform in comparison with the manual process. This happens because of the uniform distribution of forces in the plates, and then from there to the wires.

Digital sketch of the robotic setup and movement. Collaboration between four robots.

Need for embedded systems

Preparation of the robotic experiments at Robofold LTD.

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ROBOTIC ANALYSIS

LYNX MOTION

IAAC

140

HARDWARE AL5D ARM

KUKA KR 150 - 2

PAYLOAD = 30 - 40 gms

PAYLOAD = 150 kgs

AXIS AXIS AXIS AXIS AXIS AXIS

AXIS AXIS AXIS AXIS AXIS AXIS

1 2 3 4 5 6

-

servo servo servo servo servo servo

HS HS HS HS HS HS

485HB 805BB 755HB 645MG 485HB 485HB

1 2 3 4 5 6

-185 ° to +185 ° -120 ° to +70 ° -119 ° to +155 ° -350 ° to +350 ° -125 ° to +125 ° -350 ° to +350 °

SOFTWARE RIOS SSC - 32 MAYA IK Handle Godzilla Plugin

kUKA PRC Plugin

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ODICO

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ROBOFOLD

141

HARDWARE ABB IRB 6400 M2000 150

ABB IRB 6400 M97A

PAYLOAD = 175 kgs

PAYLOAD = 120 kgs

AXIS AXIS AXIS AXIS AXIS AXIS

AXIS AXIS AXIS AXIS AXIS AXIS

1 2 3 4 5 6

-180 ° to +180 ° -70 ° to +85 ° -28 ° to +110 ° -300 ° to +300 ° -120 ° to +120 ° -300 ° to +300 °

1 2 3 4 5 6

-180 ° to +180 ° -70 ° to +85 ° -28 ° to +110 ° -300 ° to +300 ° -120 ° to +120 ° -300 ° to +300 °

SOFTWARE Py Rapid

Y= Sin(2x)

Godzilla Plugin

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END EFFECTOR DESIGN End Effector 1 4MM Dia Bolts

Base Plate

142 Main Plate

Base Plate Design

4MM dia holes connecting to the Main Plate.

10MM dia holes connecting to the metal flange of the Robot Arm. 300MM

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Main Plate Design

M1

M2

4mm dia connecting to Base Plate

143 300MM

M3

270MM

M4

25 mm hard foam

270MM

270MM

End Effector 2 Base Plate 200 mm dia.

6mm thick MDF Board

Vertical supports 6mm MDF board 90mmX100mmX6mm

Horizontal Support 6mm MDF board 100mmX60mmX 6mm 10mm dia connecting to the Metal Flange of the Robot Arm

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SENSOR STUDIES The fabrication process required of three main sensors for the automation of the process..

1 -The Proximity Sensor 2 -Infra Red Image Capture Analysis 3 -Temperature Sensorxelixzation of the black and white image pattern to Proximity Sensor

144

5 cm

<5 cm

The proximity sensor helps in maintaining a constant distance between the material and the heat source. If the robot appears too close to the material than the desired distance, then the proximity sensor helps the robot in readjusting the distance between the material and the end effector.

Infra - Red Image Capture Voxelisation of the black and white captured image pattern to understand the global deformation.

Temperature Sensor The temperature / heat sensor would help in understanding and identifying the local deformation of the material system.

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145

A

B

C

D

E

F

G

H

I

J

K

L

AL5D ARM FABRICATION TEST The above sequence shows the process of fabrication, using two Al5D robot arms. The process is programmed using the godzilla plugin for grasshopper as shown in the initial sequence(A-C). It involves the material system being heated from a constant distance of 5cm, while the robots rotate the suspended material to ensure uniform heating(D-F). The robots then rotate in the opposite direction to enable the twisitng( global deformation) of the material system, while the phase changing occurs due to heating.(local deformation) as shown in the sequence(G-L).

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Resultiing geometries form experiments: Straiight and 1- 1- 3 Column Height: 90cm

the

manual

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148

Image of the final state of the experiment Basic robotic configuration Final robotic path- planes

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150

Image of the final state of the experiment Final robotic path- planes Base plate weaving pattern Deformation of the wires based on Youngâ&#x20AC;&#x2122;s Modulus

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Appendix Chapter 5

1. Previous System Proposals 2. Material Experimentation and Research

LOCAL SCALE

GLOBAL SCALE

005

DEPLOYMENT

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Growth Systems: Previous design process investigations Appendix

155

In our earlier attempts to form a design process, we investigated several stategies that through trial and error formed the current design methodology. It is important to point out the main goals of this research so as to understand the concepts behind the current process and also be aware of the continuity of the research analysis.

More specifically, in the previous design scenario, we investigated, in a global scale, the possible diffusion limited aggregation (DLA) growth options, so as to understand which is the occupation space of such a dynamical system. Working at a higher level of abstaction, we represented this occupation space by voxelizing it, in order to compare more easily the results in each case. What drew our attention more, was the connectivity within those voxelized spaces or their dispersion, according to the application of different rules fedd in the DLA algorithm.

Furthermore, after defining the overall occupation space, we devided it into units (voxels) and applied topological algorithms rules to each one of these, according to its neighbouring conditions. This resulted in the approximation of where the material deposition should occur.

Finally, we placed the wires in space according to this material map and applied the design process on a prototypical site so as to evluate the final outcome.

Important observation of theis design process that led to the current one where the DLA growth which defines the occupation of space and the position of the different units in space, the importance of the connectivity and the neighbouring relationships between the units, and the realization of the need for a continuous structural system insted of a fragmented, component-based one.

For the DLA growth investigation, look at Design Process chapter.

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In this early design process, after identifying the design space through the diffusion limited aggregation, we create load and support conditions for each unit, according to its neighbouring conditions. In that way, not only we achieve the material connectivity of the system, but we also create a flow of forces throughout the design space.

Also, in this way, we can maintain the possibility for further future development of the system, making it a dynamical configuration.

156

Furthermore, after the definition of the flow of forces, we apply a topology optimization algorithm in order to specify where material should be placed, according to the flow diagram. The result of this process is used as a material map, as well as a diagram of indication of connectivity between the unitsvoxels.

The next step is to isolate each unit and treat it as a separate entity. From the resultant geometry which is used as a density diagram, we extract the medial lines which indicate the basic skeleton formation. This abstraction is necessary so as to avoid confusing the topology optimization material diagram with the the final formation, and in order to observe more easily the connection points between the units.

After applying this process to all the units, we place the wires of the structure according to the medial line diagram and in the end, we apply a material approximation in order to be able to reflect on the final formation, after the addition of the binding phase change material.

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DESIGN SPACE

CHAPTER 005

GLOBAL SCALE / GROWTHING RULE

FLOW OF LOADS/SUPPORTS

SELECTION OF UNITS ACCORDING TO NEIGHBOURING CONDITIONS

ISOLATED UNIT TOPOLOGY OPTIMIZATION PROCESS

EXTRACTION OF MEDIAL LINES

PLACEMENT OF THE WIRES

UNIT STUDIES - LOCAL SCALE

MATERIAL APPROXIMATION

157

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4 NEIGHBOURS CONDITION

158

3 supports 1 load corners

3 supports 1 load corners

3 supports 1 load corners

3 supports 1 load corners

3 supports 1 load corners

UNIT 1

UNIT 2

UNIT 3

UNIT 4

UNIT 5

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3 NEIGHBOURS CONDITION

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2 NEIGHBOURS CONDITION

159

3 supports 1 load corners

3 supports 1 load corners

3 supports 1 load corners

3 supports 1 load corners

3 supports 1 load corners

UNIT 6

UNIT 7

UNIT 8

UNIT 9

UNIT 10

RULE-BASED TOPOLOGY OPTIMIZATION As we observed, there are 10 possible combinations of loading and supporting conditions. The resultant 10 units form the library of elements that can be used in any possible design space, fitting in place through rotation or mirroring.

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4 NEIGHBOURS CONDITION

TOPOLOGY OPTIMIZATION RESULT

160

EXTRACTION OF MEDIAL LINES

PLACEMENT OF WIRES

MATERIAL APPROXIMATION

UNIT 1

UNIT 2

UNIT 3

UNIT 4

UNIT 5

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3 NEIGHBOURS CONDITION

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2 NEIGHBOURS CONDITION

161

UNIT 6

UNIT 7

UNIT 8

UNIT 9

UNIT 10

STRUCTURAL LOGIC After every unit gets analyzed topologically, the next step is the extraction of the medial lines diagram.

According to that follows the placement of the wires and the material approximation.

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EARLY FORM-FINDING PROCESS To sum up, in this early form-finding process, the topology optimization material map was the main guideline for the final formation, from which we extracted the medial lines and according to the latter we placed the wires and the material.

162

Nonetheless, this process faced certain important problems. First of all, the placement of the wires was following the geometrical formation of the topology optimization very extensively. This was an important constraint for the evolution of the system, where innovation had very little space for it to occur.

Furthermore, although we achieved a certain connectivity and continuity between the units, analyzing each unit separately created a severe obstacle concerning the overall continuity of the structural system.

STEP 1 Topology optimization Material diagram STEP 2 Extraction of medial lines Abstraction STEP 3 Placement of wires STEP 4 Material approximation

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Topology optimization result

Reduction of redundant material

Consideration of material behaviorBending

EARLY DESIGN PROCESS FURTHER CONSIDERATIONS The main concern about this early design process was the evaluation of the outcome. We identified a need to reduce the redundant material and also another important consideration was the material behavior of our system of wires (bending) which was not taken into account in this design process.

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165 Topology optimization - Units combination

Medial lines diagram - Units combination

The next step after conducting the individual analysis for each unit, was was the application of the same design methodology to a whole cluster of aggregated voxels so as to obtain an overall view of the design space.

A basic concern about the design process of the bigger cluster of units was that the clear image of the structure that each unit had was lost when all the different medial lines were put together. Even if the connection of these medial lines was maintained, the overall structure was quite random in terms of evaluation of the design aspect.

A set of units from the previously created library was selected and placed in space according to the neighbouring conditions. As it was observed, the different units when put together in place, created an interconnected structure where the flow of forces and the overall continuity that we wanted to achieve. was fostered up till a certain degree.

Five different configurations of units were chosen and investigated in order extract conclusions concerning the differences in the connection between teir units.

The main idea behind the extraction of the medial lines was the abstraction of the material diagram deriving from the topology optimization process. In the end, the level of this abstraction was so high that the general spatial deployment of the structural system gave place to the fragmented connection of components.

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CASE STUDY 1

166

CASE STUDY 2

CASE STUDY 3

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CASE STUDY 5

DLA DIAGRAM Spatial deployment

167

Design space

load flow

topology optimization

medial lines

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168

The second case study of combination of units was chosen as a prototypical complex in order to investigate the spatial qualities that are created through this design process.

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DLA DIAGRAM Spatial deployment

topology optimization

Design space

medial lines

load flow

placement of wires and material

CHAPTER 005

PREVIOUS DESIGN PROPOSAL PROTOTYPICAL SITE The early design process was followed in order to deploy a structure in spce. A critical observation that was made was the difficulty of creating enclosed space with this form-finding process.

169

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3D view of the spatial deployment of the structure

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The was from DLA

initial condition for structural viability found by means of a topopt analysis which medial lines were extracted for deployment.

Initial structural condition from topop

The DLA outcome was then voxalized in order to comparatively assess it once more against the intial structural condition.

Voxelized DLA comparison of the same, tested for structural similarity.

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173

First Proposal Loop: Evaluation Methods DLA

Topology Optimization software was used to determine an initial structural condition against which to deploy and compare the DLA structures. In many regards, this was a study to form a viable system that could deploy growth logics to form its most basic elements, and determine its continuous development. The voxelizede results of our DLA structures were again in the end tested against the general loading conditions of the fist generic geometry. The outcome was an intersting evaluation and design loop which was further developed for the first iteration of the project at the end of the First Phase.

These evaluation loops are of particular interest to us in order to develop a structure that is structurally sound, and has inherent solid parameters for its growth, deployment and finally, use.

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DLA Deployment | Evaluation Loop The topopt results begin to define the deployment and general strategy of operation and evaluation.

TopOptimization

Design Process

174

Dynamical Growth

Evaluation

A

Abstract Diagram

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DLA Deployment | Design Loop The design loop is based on aspects of evaluation and feedback in order to design the final pieces of the system.

175

Topology Optimization Material Density Diagram

Mesh Geometry High Level of Complexity

Extract Main Line Diagram

Design Structural Elements Place Wire

Allow Growth

Get New Mesh Geometry New Material Density Diagram

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Soft Image DLA Deployment | Parameters Column: -Equal -Diagonal -Thin -Thick Slab

Slab deformation due to DLA connections

176

Column webbed network from deployment conditions

Base and Top identifiable

Initial Setup

C: 1 S: 1

C: 2 S: 1

C: 3 S: 1

Plan View

Front View

Left View

Back View

Right View

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177

First Proposal Loop: DLA as Structural System SoftImage DLA

Initailly, DLA was deployed with the concept of creating architectural elements in space. Various scenarios were used in order to structure this logic, allowing for the DLA to grow under specific conditions. We observed that, while the structures were becoming digitally interesting, they were still too far away from the actual material behaviour. In essence, we were tyring to determine how the growthing logic, the structural logic and the material fabrication could all converge.

In the case of the initial proposal loops (design > evaluation > design), we arrived to conclusions that have pushed the project forward in other more precise directions, but that have maintained the level of digital sophisticationa and complexity.

Fig. opposite.

Initial DLA tests for structure.

They are deployed in a column to slab condition and allowed to grow on the structure subsequently.

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Initial Setup

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Plan View

Front View

Left View

Back View

Right View

Plan View

Front View

Left View

Back View

Right View

C: 3 S: 1 178

C: 2 S: 1

C: 2 S: 1

Initial Setup

C: 2 S: 1

C: 2 S: 1

C: 2 S: 1

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Initial Setup

Plan View

Front View

Left View

Back View

CHAPTER 005

Right View

C: 2 S: 1 179

C: 2 S: 1

C: 2 S: 1

Initial Setup

C: 2 S: 1

C: 2 S: 1

C: 2 S: 1

Plan View

Front View

Left View

Back View

Right View

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Soft Image DLA Deployment | Parameters Types of Joints: Different conditions lead to deployment of wiring across the structure.

Conditions: for Column Trials: Column Growth

180 Type 1

Type 2

Proximity

Join

Type 3

Branching

Type 4

Intersection

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181 Frame 00:05

Frame 00:20

Frame 00:35

Frame 00:50

Frame 01:05

Frame 01:20

Frame 01:35

Frame 01:50

Frame 02:05

Frame 02:20

Frame 0235

Frame 0250

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Intersection

Branching

Join

182

Combination 1

Combination 2

Combination 3

Possible Conditions Catalogue

Combination 4

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Column 1 Branching

183

Column 2 Intersection

Column 3 Branching

Column 4 Join

Column 5 Proximity

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185

Bundling effects NDynamics.

We used the concept laid out by Frei Otto regarding optimized string pathways to analyze the dynamics and structural effects of bundling in lattice formations. These specific studies have contributed to the overall shape and language of the project's current outcome. In many regards, bundling dynamics refer conceptually to structures that begin as standard layouts to culminate in non-standard and unexpected formations.

A physics engine was utilized to portray, as closely as possible, the behaviour of the formation to the real-life experiments conducted throughout the material research. We opted for formatins that were lattice-like in nature, but far more complex to generate.

Fig. opposite: Outcome of bundling tests with an NDynamic system.

Bundling methodologies.

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Maya Hair Dynamics | Parameters Iterations Stiffness Repulsion Static Cling Number of Collide Members

MH Exp. Plans 001

186 I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 4 S: 0.1 R: 0.2 SC: 6 CN: 4

I: 4 S: -10 R: 0.2 SC: 6 CN: 4

I: 8 S: 0.1 R: 0.2 SC: 6 CN: 4

I: 8 S: 0.1 R: 0.2 SC: 6 CN: 4

I: 8 S: -10 R: 0.2 SC: 6 CN: 4

I: 8 S: 0.1 R: 0.2 SC: 6 CN: 4

I: 8 S: 0.1 R: 0.2 SC: 6 CN: 4

I: 8 S: -10 R: 0.2 SC: 6 CN: 4

MH Exp. Plans 002

I: 4 S: 0.1 R: 0.2 SC: 6 CN: 8

MH Exp. Plans 003

I: 4 S: 0.1 R: 0.2 SC: 6 CN: 8

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187 I: 4 S: 2 R: 0.1 SC: 6 CN: 8

I: 4 S: 1 R: 0.2 SC: 6 CN: 8

I: 4 S: 1 R: 0.2 SC: 4 CN: 8

I: 4 S: 1 R: 0.2 SC: 4 CN: 8

I: 4 S: 0.2 R: 0.3 SC: 6 CN: 8

I: 4 S: 0.1 R: 0.2 SC: 6 CN: 8

I: 4 S: 0.1 R: 0.2 SC: 6 CN: 9

I: 4 S: 0.1 R: 0.3 SC: 6 CN: 20

I: 6 S: 0.1 R: 0.2 SC: 6 CN: 8

I: 8 S: 0.1 R: 0.2 SC: 6 CN: 8

I: 4 S: 1 R: 0.2 SC: 6 CN: 16

I: 4 S: 0.1 R: 0.2 SC: 6 CN: 15

CHAPTER

005

R4D4

Maya Hair Dynamics | Parameters

188

Iterations Stiffness Repulsion Static Cling Number of Collide Members

I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 4 S: 1 R: 0.2 SC: 3.5 CN: 2

I: 4 S: 1 R: 0.2 SC: 2 CN: 6

I: 3 S: 1 R: 0.2 SC: 4 CN: 8

I: 5 S: 1 R: 0.2 SC: 2 CN: 1

I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 3 S: 1 R: 0.2 SC: 2 CN: 10

I: 4 S: 0.1 R: 0.2 SC: 4 CN: 12

I: 6 S: 1 R: 0.2 SC: 4 CN: 14

I: 10 S: 1 R: 0.2 SC: 4 CN: 16

R4D4

CHAPTER 005

I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 4 S: 1 R: 0.2 SC: 3.5 CN: 2

I: 4 S: 1 R: 0.2 SC: 2 CN: 6

189 I: 3 S: 1 R: 0.2 SC: 4 CN: 8

I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 4 S: 1 R: 0.2 SC: 3.5 CN: 2

I: 4 S: 1 R: 0.2 SC: 4 CN: 6

I: 3 S: 1 R: 0.2 SC: 4 CN: 8

I: 0 S: 0 R: 0 SC: 0 CN: 0

I: 4 S: 1 R: 0.2 SC: 3.5 CN: 2

I: 4 S: 1 R: 0.2 SC: 2 CN: 6

F: 12

I: 4 S: 1 R: 0.2 SC: 2 CN: 6

CHAPTER

005

R4D4

Maya Hair Dynamics | Parameters Stiffness Static Cling Repulsion Number of Collide Members Iterations Drag Collide Offset

MH Initial Condition 00

190

S:0 SC: 150 R: 0.5 NCM: 4 I: 8 D: 0.05 CO:0

S: 0 SC: 200 R: 2 NCM: 4 I:8 D: 0.05 CO: 0

S: 0 SC: 200 R: 2.3 NCM: 8 I: 8 D: 0.05 CO: 0

S: 0 SC: 300 R: 2 NCM: 8 I: 8 D: 0.05 CO: 0

S: 0 SC:300 R: 2 NCM: 16 I: 8 D: 0.05 CO: 0

S: 0 SC: 300 R: 2 NCM: 24 I: 8 D: 0.05 CO: 0

R4D4

CHAPTER 005

Maya Hair Dynamics | Parameters Stiffness Static Cling Repulsion Number of Collide Members Iterations Drag Collide Offset

MH Initial Condition 01

191

S: 0 SC: 150 R: 0.5 NCM: 4 I: 8 D: 0.05 CO: 0

S: 0 SC: 200 R: 0.5 NCM: 4 I: 8 D: 0.05 CO: 0

S: 0 SC: 200 R: 1 NCM: 4 I: 8 D: 0.05 CO: 0

S: 0 SC: 200 R: 3 NCM: 8 I: 8 D: 0.05 CO: 0

S: 0 SC: 200 R: 3 NCM: 8 I: 8 D: 0.05 CO: 0

S: 0 SC: 300 R: 3.2 NCM: 8 I: 12 D: 1 CO: 0

CHAPTER

005

R4D4

192

MH Initial Condition 01._07

MH Initial Condition 01._08

S: 0 SC: 200 R: 3.2 NCM: 8 I: 12 D: 1 CO: 0

S: 0 SC: 200 R: 2 NCM: 8 I: 8 D: 1 CO: 0

R4D4

CHAPTER 005

MH Initial Condition 02

193

S: 0 SC: 150 R: 0.5 NCM: 12 I: 8 D: 0.05 CO: 0

S: 0 SC: 200 R: 0.8 NCM: 12 I: 8 D: 0.05 CO: 0

S: 0 SC: 150 R: 3 NCM: 12 I: 8 D: 2 CO: 0

S: 0 SC: 150 R: 3 NCM: 12 I: 8 D: 2 CO: 0

S: 0 SC: 200 R: 2.5 NCM: 12 I: 8 D: 2 CO: 0

S: 0 SC: 300 R: 2.5 NCM: 12 I: 8 D: 2 CO: 0.05

CHAPTER

005

R4D4

MH Initial Condition 03

194

S: 0 SC: 200 R: 3.2 NCM: 8 I:12 D: 2 CO: 0

S: 0 SC: 150 R: 3 NCM: 16 I:12 D: 2 CO: 0

S: 0 SC: 200 R: 3 NCM: 16 I:12 D:1.5 CO: 0

S: 0 SC: 200 R: 4 NCM: 16 I:12 D:1.5 CO: 0

S: 0 SC: 200 R: 4 NCM: 16 I:12 D:1.5 CO: 0.2

S: 0 SC: 400 R: 1 NCM: 20 I:12 D:1.5 CO: 0.3

R4D4

CHAPTER 005

195

MH Initial Condition 01._09

S: 0 SC: 250 R: 2 NCM: 8 I: 8 D: 1 CO: 0

CHAPTER

005

R4D4

MH Initial Condition 04

196

S: 0 SC: 180 R: 2 NCM: 12 I: 12 D: 2 CO: 0

S: 0 SC: 240 R: 2 NCM: 12 I: 12 D: 2 CO: 0

S: 0 SC: 240 R: 3 NCM: 12 I: 12 D: 2 CO: 0

S: 0 SC: 240 R: 3 NCM: 12 I: 12 D: 2 CO: 0

S: 0 SC: 240 R: 3 NCM: 12 I: 12 D: 2 CO: 0.2

S: 0 SC: 120 R: 3 NCM: 12 I: 12 D: 2 CO: 0.3

R4D4

CHAPTER 005

MH Initial Condition 05

197

S: 0 SC: 150 R: 0.5 NCM: 12 I: 4 D: 0 CO: 0

S: 0 SC: 200 R: 1 NCM: 12 I: 4 D: 0 CO: 0

S: 0 SC: 250 R: 1 NCM: 24I: I: 8 D: 1 CO: 0

S: 0 SC: 250 R: 1 NCM: 24 I: 8 D: 1 CO: .05

S: 0 SC: 250 R: 2 NCM: 24 I: 8 D: 2 CO: .05

S: 0 SC: 250 R: 2 NCM: 24 I: 8 D: 2 CO: .08

CHAPTER

005

R4D4

MH Initial Condition 06

198

S: 0 SC: 150 R: 0.5 NCM: 4 I: 4 D: 0.05 CO: 0

S: 0 SC: 200 R: 0.5 NCM: 4 I: 4 D: CO: 0

S: 0 SC: 400 R: 0.5 NCM: 8 I: 4 D: 0.05 CO: 0

S: 0 SC: 400 R: 0.5 NCM: 12 I: 4 D: 0.05 CO: 0

S: 0 SC: 200 R: 0.5 NCM: 24 I: 4 D: 0.05 CO: 0.05

S: 0 SC: 250 R: 0.5 NCM: 24 I: 4 D: 0.05 CO: 0.06

R4D4

CHAPTER 005

199

MH Initial Condition 03_07

S: 0 SC: 240 R: 3 NCM: 24 I: 8 D: 2 CO: .1

Architectural Association School of Architecture Design Research Laboratory London 2014