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Self-Assembly in the Built Environment IAN MANN MAA02
Master in Advanced Architecture
Developed at
MAA02
Master in Advanced Architecture
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self-assembly in the built environment Author
Ian Mann
7KLV WKHVLV LV SUHVHQWHG WR REWDLQ WKH TXDOLÀFDWLRQ RI 0DVWHU 'HJUHH IURP WKH ,QVWLWXWH of Advanced Architecture of Catalonia
Supervisors
Lluis viu Rebés; Jordi Pagés
IaaC, Barcelona September, 2015
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IAN MANN
The construction industry is undergoing a revolution in methodology and materiality. One of the theories which has been proposed during this revolution is self-assembly. An evolution of responsive architecture and adaptable structures, self-assembly applies additive assembly systems with URERWLFV WR WKH ÀHOG RI DUFKLWHFWXUH FUHDWLQJ VWUXFWXUHV ZKLFK DUH DEOH WR DFFRXQW IRU WKH PDQ\ limitations in built environment with contemporary and historically static structures. Re-Form addresses the young theory of self-assembly through a prototyping process and a thorRXJK HYDOXDWLRQ RI WKH OLPLWDWLRQV DQG EHQHÀWV RI WKH V\VWHP RIIHULQJ SRWHQWLDOLWLHV IRU WKH IXWXUH of self-assembly in the built environment.
ABSTRACT
I
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PREFACE
III
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I
ABSTRACT
III
PREFACE
V
CONTENTS
1 5
1.0
7 9 11 13 15 17 27
2.0
29 31 39 35
3.0
57 59 61 63 65 67 69
4.0
71 73 75 77 85 87
5.0 APPLICATION 5.1 Limitations 5.2 Realistic Applications 5.3 Evaluations 5.4 Application Evalutation 5.5 Earthquake Application - Case Study
1.1
INRODUCTION Capacity for Adaptation
2.1 2.2 2.3 2.4 2.5 2.6
PRECEDENTS Relevance and Scope Categorisation Input-Driver-Output Typologies Key Precedents Findings
3.1 3.2 3.3
PROCESS Form Tests Prototype
4.1 4.2 4.3 4.4 4.5 4.6
SIMULATIONS Walk Climb Interact Supporting Structures Shortest Path Energy
97 99 101
6.
103
7.
107
REFERENCES
6.1 6.2
DISCUSSION Evaluation of Research Field of Self-Assembly
CONCLUSION
CONTENTS
V
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CHAPTER 1
INTRODUCTION
1
Various key-frames of potential applications for responsive architecture.
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INTRODUCTION
3
The potential occupation achievable with structures which can change and adapt to their environments.
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INTRODUCTION
CAPACITY FOR ADAPTATION
5
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CHAPTER 2
PRECEDENTS
7
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PRECEDENTS
RELEVANCE & SCOPE
9
Figure 1a. Input-Output-Driver model
Figure 1b. Wadhawans’ (2005) EDVLF FRQÀJXUDWLRQ IRU D biological system
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INPUT
DRIVER
OUTPUT
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PRECEDENTS
CATEGORISATION
11
Icon Legend
Manual
Air
WaterH
Light
eatP
rogramming
Motion
Sound
Time
The selection of input is defined by the desired interaction between structure and user or external influence.
Driver
Smart Material
HydraulicM
anualK
inetic
Pneumatic
N/A
The drivers main parameter is the cost efficiency, and size of mechanism.
Output
Deformation
Bending
Rotation
Extrusion
Stacking
The final output defines the transformation created by the mechanism, which can have a secondary, collateral transformation.
Figure 2. Input-output-driver categorisation typologies
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N/A
Mind
N/A
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PRECEDENTS
INPUT-DRIVER-OUTPUT
13
Figure 3. Driver vs. structure typology graph
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conc prot conceptual temporary/pa prototyped mass/commercial prod temporary/pavillion mass/commercial production
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PRECEDENTS
TYPOLOGIES
15
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CHAPTER 2.5
KEY PRECEDENTS
17
A Lego sculpture from the exhibition The Art of the Brick.
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PRECEDENTS
LEGO
19
A suspended structure of glad-wrap occupies deadspace between buildings.
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source www.numen.eu
IAN MANN
PRECEDENTS
NUMEN
21
A dancer performs with Behnaz Farari’s tensegrity Alloplastic Architecture
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source www.behnazfarahi.prosite.com
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PRECEDENTS
ALLOPLASTIC ARCHITECTURE
23
Movement Figure 4. Hypercell climbing steps.
movement Magnet on Magnet off
[ process of movement and climbing (2 units) ]
start
meet
3D printed and linear actuated prototypes of Hypercell.
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connect
join
roll
sitr
elax
source www.hypercell.co.uk/
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PRECEDENTS
HYPERCELL
25
Figure 5. Two key adaptation forms.
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PRECEDENTS
FINDINGS
27
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CHAPTER 3
PROCESS
29
Figures 6-10. Tensegrity models, with increasing strut numbers.
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3 4 5 6
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PROCESS
FORM
31
Arduino Uno TIP120
12v
GND
3 ~
12
Figure 11. Electromagnet sketch with external power supply.
Arduino Uno TIP120
5v 12v
Figure 12. Nitinol circuit sketch with external power supply.
Arduino Uno
5v
Stepper Motor Driver
GND
Figure 13. Stepper motor sketch with external power supply.
12v
48 Stepper Motor
Figure 14. Servo motor sketch - power supply is <5v. so no additional power supply is required.
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~
360 Servo Motor
Arduino Uno
GND
3 ~
12
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PROCESS
ACTUATOR & CIRCUIT OPTIONS
33
nitinol spring strut Nitinol spring
Steel spring
10mm Square section tube 8mm U-section tube
Resin “stopper”
heat nitinol spring to extend. cool to reset - pulled by steel spring
extension
tension
stepper motor strut Steel spring [ contracts strut when cable is released ]
luorocarbon Cable [ fishing wire - lightweight, high tensile capacity ]
stepper motor [ acts as a winch to extrude strut ]
10mm Square section tube
Resin “stopper”
8mm U-section tube wind in cable to extend strut. release cable to reset - pulled by spring
extension
tension
servo motor strut Steel spring [ contracts strut when cable is released ]
luorocarbon Cable [ fishing wire - lightweight, high tensile capacity ]
Resin “stopper”
servo motor [ acts as a winch to extrude strut ]
10mm Square section tube 8mm U-section tube
wind in cable to extend strut. release cable to reset - pulled by spring
Figure 15. First stage of strut prototyping, with nitinol, servo and stepper struts respectively.
extension
tension
nitinol spring strut Nitinol spring
10mm Square section tube 8mm U-section tube
Resin “stopper”
heat nitinol spring to extend. cool to reset - pulled by steel spring
extension
tension
servo motor strut roller teeth
servo motor roller gear
Resin “stopper”
10mm Square section tube 8mm U-section tube Extrude strut via roller
Figure 16. Second stage of strut prototyping, with only nitinol and stepper drivers.
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extension
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PROCESS
STRUT TYPOLOGIES
35
20kg ElectroMagnet Arduino Nano
Nitinol Driver Circuit
20kg ElectroMagnet (E.M.)
-+ +
AAA
NOTES Length is l ost in t he i nternalisation of the batteries. Although the batteries at the ends o f the struts e nhances t he overbalancing m oment, i t limits t he total extruded length of the strut.
AAA
AAA Battery (1.5v) E.M. Driver Circuit Rolling Cap
1mm Nitinol Wire
E.M. Driver Circuit AAA Battery (1.5v) Power Cable Spring
AAA
AAA
Activated Nitinol Wire 60% extension Total Length
AAA
AAA
AAA
AAA
NOTES This s econd, c ompact strut is m uch wider (it includes double the batteries), but leaving the batteries outside of the sides allows a m uch shorter strut. The will hide these bulky components.
AAA
AAA
AAA
Figure 17. 7KH Ă&#x20AC;QDO VWDJH RI VWUXW SURWRW\SLQJ UHĂ&#x20AC;QLQJ WKH nitinol spring actuator.
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AAA
Activated Nitinol Wire Total Length
80% extension
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PROCESS
STRUT TYPOLOGIES
37
4000 grams
290%
Latex Membrane 1.5mm
3100 grams
320%
Latex Membrane 1.0mm
2500 grams
400%
Latex Membrane 0.8mm
2000 grams
1000%
Elastic Band 2mm
1500 grams
300%
Silicon Cable 3mm
4000 grams
1000%
Latex Cable 5mm
1000%
Latex Cable 3mm
Max. load (grams) until failure
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Max. deformation (%) until failure
1000%
4000 grams
3000 grams
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PROCESS
TENSILE COMPONENT
39
voltage
hold strength (n)
€4.25
3
12v
25n
20mm
€8.80
4
12v
100n
23mm
€10.45
7
12v
200n
25mm
€12.35
9
12v
400n
cost (euro)
power (watts)
attraction distance
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18mm
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PROCESS
ELECTROMAGNETS
41
grams
1000
spring mandrel
0.9mm
max. reset load
1000
min. extension load
1000
spring mandrel
1.5mm
max. reset load
1000
min. extension load
1000
spring mandrel
1.8mm
max. reset load
1000
min. extension load
1000
spring mandrel
2.7mm
max. reset load
1000
min. extension load
1000
spring mandrel
Latex Cable 3mm
3.2mm
min. extension load
1000
GRAMS
1000
3000
max. reset load
0.75mm spring mandrel 5.2mm
spring diameter
max. reset load
1000
min. extension load
1000
1.0mm spring mandrel 4.75mm spring diameter
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max. reset load
1000
min. extension load
1000
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PROCESS
NITINOL SPRINGS
43
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CHAPTER 3.3
PROTOTYPE
45
i. Aliminium framed, servo motor actuated robot. This robot applied an internal winch system.
ii. Aliminium framed robot using servo motors with a gear and tooth driver system.
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PROTOTYPE
MODEL EVALUATION
47
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ii - iii. Testing maneuverability between the two thickQHVVHV RI ODWH[ FDEOH LQ WKH ÀUVW VFDOHG GRZQ SURWRW\SHV
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PROTOTYPE
MODEL EVALUATION
49
LY 7KH Ă&#x20AC;UVW URERW LQWHJUDWLQJ HOHFWURPDJQHWV WR HQcourage overbalance and connect with its neighbours.
v. Two robots utilising latex membrane as the tensile component interact with each other.
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PROTOTYPE
MODEL EVALUATION
51
An alternative robot using a combination of magnets and electromagnets to induce 3-axis movement.
The same movement type as above, but achieved using two 9 gram servo motors.
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PROTOTYPE
ALTERNATIVE MODELS
53
maneuverability
Figure 18. Graphing the various prototyped models for comparison and evaluation.
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cost
energy
compactness
durability
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PROTOTYPE
MODEL EVALUATION
55
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CHAPTER 4
SIMULATIONS
57
A single robot selects the best URXWH WR UHDFK LWV Ă&#x20AC;QDO GHVtination, mapping its future movement.
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SIMULATIONS
WALK
59
(TOP) (SIDE)
step. 1
(TOP) (SIDE)
step. 1
(TOP) (SIDE)
step. 2
(TOP) (SIDE)
step. 2
(TOP) (SIDE)
step. 3
Figure 19. Roll-over climbing method.
Figure 20. Magnet climbing method.
(TOP) (SIDE)
step. 2
(TOP) (SIDE)
step. 3
Figure 21. Community-aided climb.
(TOP) (SIDE)
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step. 1
(TOP) (SIDE)
step. 3
(TOP) (SIDE)
step. 4
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SIMULATIONS
CLIMB
61
A single unit traverses a pre-constructed community of robots.
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SIMULATIONS
INTERACT
63
Key frames of self-assembling sttructure with showing support structures.
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SIMULATIONS
SUPPORTING STRUCTURES
65
Key frames of self-assembling sttructure with shortest path.
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SIMULATIONS
SHORTEST PATH
67
Figure 22. Solar radiation exposure over 24 hours for a self-assembled wall.
Figure 23. Community energy sharing grid, for power sharing and redistribution.
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SIMULATIONS
ENERGY
69
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CHAPTER 5
APPLICATION
71
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APPLICATION
LIMITATIONS
73
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APPLICATION
REALISTIC APPLICATIONS
75
COST Pavillions
Commercial exposure
Real-time trending spacial allocation
Subterrainean
Labour free
Time bonus
Extra-Terrestrial
Labour free
Time bonus
At High altitudes
Labour free
Additional floor space
Post-natural Disasters
Human-life Justified
Radiation Zones
Human-life Justified
War Zones
Human-life Justified
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Aid, medical supplies, food
Aid, medical supplies, food
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APPLICATION
EVALUATIONS
77
Energy Requirements Pavillions
Plug-in
Insitu
Subterrainean
Plug-in
Water-tight
Extra-Terrestrial
Off-grid
Photovoltaic
At High altitudes
Plug-in
Insitu
Post-natural Disasters
Off-grid
Elastic Photovoltaic skin
Piezo-Electrics
Radiation Zones
Off-grid
Elastic Photovoltaic skin
Piezo-Electrics
War Zones
Off-grid
Elastic Photovoltaic skin
Piezo-Electrics
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City grid
Suspended
â&#x20AC;&#x153;Parasiteâ&#x20AC;?
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APPLICATION
EVALUATIONS
79
Ownership Pavillions
Subterrainean
Coorporate
Research Institutions
Public/Large Corporations
Extra-Terrestrial
Government Bodies
At High altitudes
Private sector developers
Post-natural Disasters
Government Bodies
Radiation Zones
Government Bodies
War Zones
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Aid organisations
Government Bodies
Private Sector space exploration
Public aid organisations
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APPLICATION
EVALUATIONS
81
Maintenance & Storage Pavillions
Subterrainean
Shipping container storage
Static storage,/deployment vigilant off-site mainenance
Extra-Terrestrial
Static storage, vigilant on-site mainenance
At High altitudes
In host building
Post-natural Disasters
Shipping Container - rapid deployment
Radiation Zones
One movement/installation until static
War Zones
Shipping Container - rapid deployment
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APPLICATION
EVALUATIONS
83
Cost
Energy
Ownership
Maintenance & storage
Shipping Container
Pavillions
Subterrainean
Government
Extra-Terrestrial
Government
High Altitudes
Post-Natural Disasters
Human-life risk
Off-Grid
Government
Shipping Container
Radiation Zones
Human-life risk
Off-Grid
Government
Shipping Container
War Zones
Human-life risk
Off-Grid
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Shipping Container
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APPLICATION
EVALUATIONS
85
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CHAPTER 5.5
APPLICATION CASE STUDY
87
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source: www.ibtimes.co.uk
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APPLICATION
CASE STUDY
89
Figure 24. Graphing the death tolls vs. number of days for the Nepal earthqualkes in April and May 2015.
tota to tall daily deaths deat hs deaths 1000 10 000 0
2500
source: Nepal Police, NEOC and CATDAT
total deaths
9000 90 00 8000 80 00
2000
7000 70 00 6000 60 00
1500
5000 50 00 4000 40 00
1000
3000 30 00 2000 20 00
daily deaths
500
1000 10 00 0
0 1
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3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 days
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APPLICATION
CASE STUDY
91
Figure 25. Karamba structrual analysis of destabilised structure.
Figures 26 - 34. Growth simulation of support structures
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APPLICATION
CASE STUDY
93
Figures 26 - 34. Growth simulation of support structures
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APPLICATION
CASE STUDY
95
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CHAPTER 6
DISCUSSION
97
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DISCUSSION
99
c. 200 A.D. c. 200 - c. 1650 c. 1650 - c. 1850 c. 1850 - c. 1915 c. 1915 - 2015
Barcelona urban sprawl map
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DISCUSSION
101
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CHAPTER 7
CONCLUSION
103
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CONCLUSION
105
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REFERENCES
107
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REFERENCES
109
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IAN MANN Supervisors: Lluis viu Rebés; Jordi Pagés