Remembrane Project

re mem brane responsive kinetic structure

Barcelona

MASTER IN ADVANCED ARCHITECTURE

2014/15 research studio

DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS director

Areti Markopoulou faculty assistant

Alexandre Dubor assistant

Carlos Bausá Martínez

re mem brane responsive kinetic structure

team

Ji Won Jun Josep Alcover Matteo Silverio

INDEX 00

acknowledgement

9

01

abstract

11

02

state of the art

14

03

objective

18

04

research - kinetic structures

24

1

geometrical principles

24

2

actuators

32

05

system explorations / prototypes

58

1

linear systems

64

2

surface systems

74

06

digital intelligence & interaction

136

07

free form system

162

08

applications / vision

170

09

conclusion

212

10

tools

215

1 1

references/resources

217

00

ACKNOWLEDGEMENT We would never have been able to complete this project without great support of friends, family, faculty and staff.

We would like to express our deepest gratitude to our advisors, Areti Markopoulou, Alexandre Dubor and Carlos BausĂĄ MartĂ­nez to guide us through this challenging experiment and to provide us with continuous courage and determination.

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10

DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

01

ABSTRACT Architecture has experienced significant changes in the past decades due to deep changes in economy, society and technology. The economical crisis has highlighted the importance of creating efficient, sustainable, adaptable and multifunctional designs. The fixed heavy concrete and steel structures cannot longer be the solution for the constructions of the XXI century.

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Society has radically changed from a “fordist society“ that was a result of the industrial revolution (mass production, standardization, homogeneity and repetition) to a “postfordist society“ that has emerged from the informational era and claims for “mass customization“.

The new technological advances in the field of fabrication have opened a wide range of new formal possibilities that were inconceivable some years ago. In 1969, Nicholas Negroponte wrote an article called “Toward a theory of architecture machines“ in which he already envisioned the increasing importance of machines in architecture and he set a theoretical framework for their use and performance.

Nowadays, machines are not only a tool to fabricate new complex geometries but also a referent for new architectural designs. Architecture tends to become an intelligent machine that integrates construction technology and computer science to create complex systems that are able to perform in a more efficient and adaptable way.

Nature has become, once again, a model to study and learn from. However, if in the past nature was a source of inspiration in terms of order and proportion, now its complex processes and structures are what caught the attention of designers. Authors like Benoit Mandelbrot (theorist of fractal geometry and developer of the theory of roughness and self-similarity) and D‘Arcy Thompson (biologist and mathematician that developed the Theory of Transformation in “On growth and form“) have contributed to change the way nature is understood and have set the theoretical basis for a new era of designs.

In the field of architecture, Frei Otto, recently awarded with the Pritzker price, based most of his designs and theoretical explorations on the study of natural processes and structures.

The new digital tools have also radically changed the way architects design. In the article “Parametricism- A new global style for architecture and urban design“, Patrik Shumacher states that parametric design is “the great new style after modernism“. Parametric design is a formfinding method and it is an open ended process. It implies the design of a system instead of a closed final form.

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

In this framework, the research developed in the next pages aims to design a new adaptable system that can be endlessly reshaped to meet the requirements of the users and perform in an efficient and sustainable way.

The project is based on the study of tensegrity and pantograph structures as a starting point to develop multiple digital and physical models of different structural systems that can be controllably moved. It is not the goal of the project to design a specific architectural or urban element but to define a system that could be further developped in many different ways.

Another important part of the project is the research on smart materials that can replace motors to create a lightweight distributed system of actuators embedded in the structure.

The study of different ways of interacting with kinetic structures and the possibility of creating a prototype with artificial intelligence is the last but essential aspect of the project. The increasingly accessible world of physical computing (with platforms like Arduino or Processing) makes it possible to non-experts in the field to learn and develop complex interaction projects. Moreover, this research starts with the strong belief that new technologies are going to radically change architecture in the near future and that it is the responsibility of architects to contribute to this new era by applying their design skills in order to use technology in the most sustainable, efficient and intelligent way.

This research is the result of the Digital MatterIntelligent Constructions Studio of the Master in Advanced Architecture 2014/2015 at the Institute of Advanced Architecture of Catalonia. It must be understood as a work in progress. As one little step in the long, challenging and thrilling path towards the new responsive kinetic architecture.

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02

STATE OF THE ART Many projects related to the topic of responsive kinetic architecture have been studied in order to develop this research project. They have been a good source of inspiration and a solid starting point from which new systems have been designed. The three most significant ones are the Hypermembrane by HIBRIDa (Sylvia Felipe and Jordi Truco), the Morphs: Mobile Reconfigurable Polyhedra by William Bondin and ORAMBRA's articles and projects (Office for Robotic Architectural Media & Bureau for Responsive Architecture founded by Tristan d’Estree Sterk).

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

HYPERMEMBRANE

by HIBRIDa: Sylvia Felipe – Jordi Truco The Hypermembrane is a 20m long adaptable structure made of modular elements. It was built in 2014 at the Design Hub Museum in Barcelona. The structure is controlled by a software and it can respond to different environmental conditions or spatial needs. It can stand in an unlimited number of equilibrium positions which means that it is one single project with infinite shape variations. The movement is achieved thanks to the flexural compression capacity of the structural elements.

This project is particularly close to the aim of this research. However, the Hypermembrane needs heavy motors to change its shape and they cannot be embedded into the design, which means that the structure can only be reshaped when the motors are brought to the site. It is a key objective of this research to develop an autonomous system that can change its shape at any moment with a distributed system of actuators that are an intrinsic part of the structure and not an added element.

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MORPHS: MOBILE RECONFIGURABLE POLYHEDRA

by William Bondin The Morphs is a project developed in the Interactive Architecture Studio (unit headed by Ruairi Glynn and Ollie Palmer) of the Barlett School of Architecture UCL. Bondin’s project consists of a colony of self autonomous creature-like structures, called Morphs (Mobile Reconfigurable Polyhedra), which very slowly navigate public parks. They are programmed with a series of rules that determine their moves. However, the most interesting part of the project is that the Morphs can also react to the physical and social environment, and they can even communicate to each other. The Morphs move freely through the parks and they provide shelter. The Morphs can also join together and adopt more complex geometries according to the needs.

The Morphs project introduces a very interesting concept that can be applied to this research: the artificial intelligence. The Morphs can process information and make decisions according to the circumstances. This idea can be applied to a kinetic structure: a distributed system of sensors can provide real time data and the structure can decide what is the best way to move to improve the energy performance (according both to a set of pre-programmed rules and to the solutions learned in previous similar situations).

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KINETIC TENSEGRITY STRUCTURE

by ORAMBRA The Office for Robotic Architectural Media & the Bureau for Responsive Architecture (ORAMBRA) is a small technology office that develops new construction systems and components for buildings in the framework of responsive architecture. The office was founded by Tristan Sterk, winner in 2011 of AIA Chicago award of design excellence for unbuilt work with special recognition going to the project: Prairie House. This project is specially interesting because it introduces the concept of structural change to improve energy performance.

ORAMBRA has several projects (unbuilt), installations and articles that focus on the design of kinetic structures. Two very interesting ideas are extracted from the study of their production and applied to this research: the use of tensegrity structures as an efficient way of creating lightweight movable systems and the use of shape memory alloy to create a distributed system of lightweight actuators.

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03

OBJECTIVE

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

RESPONSIVE KINETIC ARCHTIECTURE

This project is developed within the framework of Responsive Architecture. Responsive architecture is an evolving field of architectural practice and research that works on the design of buildings or elements that react to certain environmental conditions or user's needs.

There are two key elements in responsive designs: the sensors and the actuators. The sensors are devices that measure actual conditions such as light, temperature, humidity, movement, position or speed. According to the data measured by the sensors, the responsive element reacts by changing its shape, color, position, size or any other property thanks to the actuators. By doing so, responsive designs aim to adapt themselves to different conditions improving their energy performance and flexibility of use.

The term “responsive architecture� was created by Nicholas Negroponte. Negroponte proposes that responsive architecture is the product of the integration of computing power into built spaces and structures, and that better performing, more rational buildings are the result.

Climate adaptive building shells (CABS) can be identified as a sub-domain of responsive architecture, with special emphasis on dynamic features in facades and roofs. CABS can repeatedly and reversibly change some of its functions, features or behavior over time in response to changing performance requirements and variable boundary conditions, with the aim of improving overall building performance.

The type of reaction that this project seeks is movement. The objective is designing and prototyping a lightweight kinetic structural system that can react both to environmental conditions and to user’s needs.

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ADVANTAGES OF A RESPONSIVE KINETIC STRUCTURE It is important to highlight the advantages of a responsive kinetic structure to understand the importance and applications of this research project. A structure that can be controllably moved can contribute in many different ways to improve the performance and efficiency of the design:

1 ENERGY A kinetic structure can reduce the energy consumption of a building by adapting to environmental conditions thanks to the data measured by the sensors. There are three main ways in which the movement of a structure can improve the energy performance of a building: 1.1 AIR VOLUME a movable structure can change the volume of air contained inside a space by changing its size.

Therefore, during hot days the space can become higher to help reduce the temperature in the lower areas and during cold days the space can become smaller to reduce the amount of air that has to be heated.

1.2 SHADING A kinetic structure can provide a much more efficient shading than a fixed one: it can follow the sun path and provide full shading when needed but it can allow the sun to go through if it is necessary.

1.3 ORIENTATION Kinetic structures can change their orientation and adapt to the sun position or predominant wind directions. This can improve the performance of photovoltaic panels or wind turbines, for example.

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2 FUNCTION The famous quote "Form follows function" was coined by the American architect Louis Sullivan in his article "The tall office building artistically considered" (1896).

The statement highlights the limitations of the current static architecture: how can form follow function if the function of a building changes over time and form remains always the same? A kinetic structure can be reshaped when necessary according to the spatial needs of different activities. Kinetic structures make buildings less specialized products and, therefore, they become multifunctional.

3 USER In a static building the user just inhabits a structure with a fixed shape that the architect designed and imposed.

With a kinetic structure, the user is actively involved in the shaping of the building. The architect designs an open system and the user is the one defining the shape according to the needs of every situation using the user interface (the space designed to achieve an efficient interaction between humans and machines).

By shaping the spaces they inhabit, users become part of a new active relationship between architecture and nature.

4 STRUCTURE A kinetic structure can adapt to wind, rain, snow or earthquake loads by changing its shape or orientation.

Therefore, it can be lighter than a static structure because it needs less amount of material to achieve the same performance.

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PROPERTIES OF KINETIC STRUCTURES This research project understands that there are two characteristics that are essential to achieve a successful kinetic design: it has to be lightweight and it has to be made of a distributed system of sensors and actuators.

LIGHTWEIGHT When designing a structure that can be moved, weight plays an essential role. A lightweight structure is not only easier to move but also cheaper and more sustainable in terms of amount of material used.

DISTRIBUTED SYSTEM A distributed system of sensors and actuators is the logic choice when designing a lightweight structure. Placing small light actuators all over the structure instead of using a big heavy centralized one is the only way to have a motor system embedded into the structure. This also allows individual control over the different parts of the system that can be moved to satisfy specific needs.

The distributed system of sensors provides real time data that can be used to move the structure globally or locally responding to specific conditions.

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04

RESEARCH

KINETIC STRUCTURES 041

geometrical principles The geometry of a kinetic structure is one of the key elements that has to be carefully designed in order to obtain a successful result. A very powerful actuation system can become useless if the geometry is not appropriate. On the other hand, a very smart way of assembling the components can lead to an efficient structure that needs very little energy to generate a big movement. This research takes two geometrical systems as a starting point to develop new ones: the pantographs and the tensegrities.

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

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PANTOGRAPH Originally, the pantograph was a device designed to copy and scale drawings. It was invented in 1603 by Christoph Scheiner. However, the logic behind this tool can be extrapolated to create a structure that can be compressed or extended (like an accordion) creating a rhomboidal pattern. The most interesting feature of the pantographs is that by moving one small part of the structure a big movement can achieved.

PANTOGRAPH CONTROL

26

simple unidirectional control to extend arms

DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

triangular base pantograph with shrinking in width vs extension in height

STACKED PANTOGRAPH

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TENSEGRITY

Tensegrities are a relatively new structural systems that were developed around the 1950s. Three men are considered authors of this invention: Richard Buckminster Fuller (USA), Kenneth D. Snelson (USA) and David Georiges Emmerich (France). Fuller invented the name “tensegrity”, which comes from joining together two words: “tensile” and “integrity”. Snelson was Fuller’s student and he designed and built many tensegrity sculptures all around the world. Emmerich had no relation with the other two authors but he developed independently and simultaneously some basic tensegrity structures.

It is important to establish a clear definition of tensegrity to avoid confusion and be able to differentiate pure tensegrity structures from those that might share some properties but are not real tensegrities. One of the best definitions is the one given by the Anthony Pugh: “a tensegrity system is established when a set of discontinuous compressive components interacts with a set of continuous tensile components to define a stable volume in space”.

This research is interested in the principles of tensegrities to generate kinetic structures. However, it is not the aim of this research to stay within the “pure tensegrities”.

Tensegrities are just understood as a starting point to develop new designs because they have several interesting properties that are and advantage when designing lightweight kinetic structures:

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PURE TENSION/COMPRESSION

All the elements in a tensegrity experience either pure tension or pure compression. This means that materials can be used in a very efficient way. Cables, for instance, can be used in all the elements in tension.

Moreover, the structural elements can be easily and efficiently replaced by linear actuators because the forces that act on them are completely linear.

Somehow, a tensegrity structure is the representation of the forces acting on it.

MAINLY TENSION ELEMENTS

In a tensegrity structure there are more elements in tension than in compression. Elements under tension tend to reafirm their shape and they can be much thinner because they do not suffer buckling. Therefore, less material has to be used to achieve the same structural strength, so materials are used in a much more efficient way.

WHOLE

Tensegrities have the ability of respond as a whole, so local stresses are transmitted uniformly and they are absorbed throughout the structure.

ELASTIC Tensegrities can be moved but they come back to their original shape.

EXPANDABLE (MODULAR)

They are stable by themselves which means that they can be joined together to create bigger and more complex systems.

FOLDABLE / DEPLOYABLE

Some tensegrities have the property of being deployable and they only need a small quantity of energy to change their configuration.

LIGHTWEIGHT

They are very light in comparison to other structures with similar resistance, mainly because they have a lot ot elements in tension that can be very thin.

NON REDUNDANT

They have no redundant parts. This means that all the elements are completely necessary for the stability of the structure (so there are not extra elements that add weight without having an essential function).

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SIMPLE TENSEGRITIES

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

“Simplex”, “Elementary Equilibrium” or “ThreeStruts T-Prism”

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04

RESEARCH

KINETIC STRUCTURES 042

actuators In a kinetic structure, the actuator is the element that turns energy into movement. It is, thus, an essential part of the system and it has to be carefully chosen, designed and integrated in order to achieve a successful result.

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

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TYPES OF ACTUATORS There are mainly five types of actuators: pneumatic actuators, hydraulic actuators, motors and shape memory materials (alloys and polymers). It is not an easy task to choose the most suitable one for a structure. The power, the reaction time, the weight, the energy consumption and the economical cost are some of the most important characteristics that should be taken into account when making the decision. This research seeks the objective of designing a lightweight kinetic structure so the pneumatic and hydraulic systems are set aside because of its weight. The motors are also heavy but they could be part of a centralized concentrated actuation system. This option has been explored in some of the systems and prototypes. However, the actuator that is considered more suitable is the shape memory alloy called Nitinol.

Distributed system of lightweight actuators

SHAPE MEMORY ALLOY

MOTOR

PNEUMATIC

HYDRAULIC

WEIGHT

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

SHAPE MEMORY ALLOYS A Shape Memory Alloy (SMA) is able to memorize and recover its original shape after it has been heated over its transformation temperature.

This unique effect of returning to an original geometry after a large inelastic deformation (near 10%) is known as the Shape Memory Effect (SME).

The SME was found as early as 1932 and until 1971 it was believed to be common to all alloys. Of these alloys, however, only CuZnAl and NiTi, are presently of commercial importance.

Other alloys are ill-suited to industrial manufacturing either because the constituent elements are too expensive or because they cannot be used unless they are in the form of single crystals.

The properties of NiTi and CuZnAl alloys are fairly different due to their different micro-structure. Because NiTi alloys have much higher strength, larger recoverable strain, better corrosion resistance and most importantly higher reliability than CuZnAl, they are the standard choice for use in space and several other applications. Therefore, the shape memory alloy that has been studied in depth in this research is Nitinol.

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nitinol transformation

AUSTENITE

MARTENSITE

MARTENSITE

temperature

NITINOL Nitinol is a shape memory alloy made of Nickel and Titanium. Its name comes from “Ni” for nickel, “Ti” for titanium and “NOL” for Naval Ordenance Laboratory, its place of discovery.

Shape memory transformations are based on the material ability to change its crystal structure. At high temperatures, Nitinol assumes a face-centered cubic structure (Austenite), while at low temperatures it spontaneously transforms its chemical organization to a more complicated body-centered tetragonal crystal structure (Martensite). The temperature in which Austenite transforms to Martensite is called the transformation temperature and it is between 20 and 80 °C. The transformation is reversible. This means that at a normal air temperature Nitinol is flexible and can be easily bent or stretched and it keeps the given shape (Martensite state). However, it goes back to a “saved shape” when heated above the transformation temperature (Austenite state). Moreover the reversion creates a potential kinetic energy that can be used, for example, as actuation force.

To save a shape (setting the Austenite state), the wire has to be fixed in the desired form and heated between 400 to 800oC for 1 to 5 minutes.

The temperature and time varies according to the properties of each Nitinol wire. After heating it, the wire has to be quickly cooled.

Nitinol has a big number of uses including cell phone antennas, flexible eyeglasses, orthodontic braces, aerospace release mechanisms, medical devices or greenhouse window openers.

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Nitinol has been chosen as an appropriate material for this research because it can be a relatively powerful, lightweight actuator that can be embedded into the structure creating a distributed actuation system. To create a linear actuator Nitinol has been shaped into a spring that can contract when heated, while it is deformable at normal air temperature.

PHYSICAL PROPERTIES

Melting Point: 1310°C

Density: 6.5 g/cm3

Electrical Resistivity: 76 μ ohm-cm

Modulus of Elasticity: 28 – 41 GPa

Coefficient of Thermal Expansion:

6.6 x 10-6 / °C

Nickel (nominal): 54.5 wt.%

Titanium: Balance

Oxygen: ≤ 0.05 wt.%

Carbon: ≤ 0.02 wt.%

Inclusion Area Fraction: ≤2.8%

MAIN FEATURES

MECHANICAL PROPERTIES

COMPOSITION

Ultimate Tensile Strength: 1070 MPa Total Elongation: 10% Trasformation Temperature: 75 to 120°C

No oxidation phenomena Good corrosion resistance

(Source: NDC - Nitinol Devices & components)

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CONTROLLING THE NITINOL: Control is the key word when designing a kinetic structure. A movable structure that cannot be controlled is completely useless. This is the reason why it has become necessary to design a system that allows precise regulation of the actuation system.

As described before, Nitinol wires need to be heated to exhibit their shape memory properties. A good way of controlling its temperature is using electricity.

Activating Nitinol using DC current with the proper amount of electricity allows an homogeneous and precise heating. However DC current could easily overheat and potentially damage the Nitinol wire.

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

In order to limit potential material damages a Pulse Width Modulation circuit has been developed.

Activating Nitinol using PWM has several advantages: it turns the current on and off to the wire very quickly and this power oscillation allows to keep heating the wire avoiding damage to the material’s crystalline structure.

In a PWM system, the duty cycle of the square wave output can vary from fully on 100% to fully off 0%.

This means that it can generate a degree of proportional control over the contraction of the Nitinol wire.

PWM allows to activate the wire with better control and for longer periods.

To set a PWM circuit an Arduino board has been used.

The Arduino microcontroller allows an easy interaction between the digital and physical world. This interaction can be achieved in many different ways. A simple solution is using Firefly add-on for Grasshopper.

As all the semiconductor materials, Nitinol has an electrical resistance that varies according to its geometrical characteristics and it must be precisely calculated in order to calibrate the exact amount of current that should pass through the wire.

For example, a 1,0 meter long Nitinol cable has a resistance value of 4,3 (0,5 mm thick) and in order to achieve a complete contraction in 1 second the cable needs 4,0 Ampere (source: Dynnalloy). Thanks to the Ohm law we can easily calculate the voltage value that the Nitinol needs:

V = R·I = 4,3 · 4,0 = 17,2 V This Voltage should be set as max value on the PWM circuit. However, this value allows a complete contraction in just 1 second and that is too fast and probably useless for this research. Therefore, after many tests, a lower current value has been chosen allowing the structure to move slowly.

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The Arduino board by itself is not powerful enough to control the Nitinol. In Banzi’s words “Arduino is a brain that comes with small muscles”, it can control LEDs and other low power devices but not power motors or heavy loads. Therefore, a power supply has to be used to drive the Nitinol. The best solution to control the power supply with Arduino is using a MOSFET (Metal Oxide Semiconductor Field Effect) transistor .

This small device can be used for switching electronic signals. Indeed, connecting the transistor Gate pin to an Arduino Board, the connection between Source and Drain can be controlled.

To make it easy, it is like having a switch (transistor) that controls a light bulbs (the circuit after Source and Drain pins). When someone pushes the switch (Voltage Gate input > 0) the light is on (Source and Drain are connected and the circuit is closed). On the other hand, when the switched is pushed again (Voltage Gate input = 0), the light turns off (Source and Drain are not connected anymore and the circuit is open). This is a general example to understand how a transistors works.

However, there are many types of transistors and each one has different characteristics.

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ACTUATED PROTOTYPES SHAPE MEMORY ALLOYS LINEAR ACTUATOR fabrication process

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

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Make a dense spring before “baking” using drill to rotate and fix the nitinol on the rod

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

“Baking� the nitinol using gaz burner for 2 minutes

Cooling down with cold water remembrane

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NITINOL Ă˜0.25mm SPRING TEST

1 bolt

5g

0

0

5

5

10

10

15

15

172mm -> 88mm

2 bolts

179mm -> 109mm

shrinking to

10g

3 bolts

shrinking to

15g

51.2 %

0

0

5

5

10

10

15

15

60.9 %

6 bolts

182mm -> 141mm

7 bolts

183mm -> 151mm

8 bolts

30g

shrinking to

35g

shrinking to

40g

46

77.5%

DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

82.5%

0

0

5

5

10

10

15

15

179mm -> 111mm

4 bolts

179mm -> 126mm

5 bolts

177mm -> 128mm

shrinking to

20g

shrinking to

25g

shrinking to

62.0 %

70.4 %

0

0

5

5

10

10

15

15

72.3 %

184mm -> 160mm

9 bolts

184mm -> 163mm

10 bolts

187mm -> 173mm

shrinking to

45g

shrinking to

50g

shrinking to

87.0%

88.6%

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92.5%

47

NITINOL Ø0.25mm X 3 WOVEN SPRING TEST 0

0

5

5

10

10

15

15

1 bolt

5g

1 S weight

60g

48

158mm -> 37mm

4 bolts

161mm -> 42mm

shrinking to

20g

7 bolts

shrinking to

35g

23.4 %

0

0

5

5

10

10

15

15

26.1 %

140mm -> 60mm

1 M weight

140mm -> 81mm

1 S+M weight

shrinking to

110g

shrinking to

170g

42.9 %

DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

57.9 %

0

5

10

15

167mm -> 66mm

10 bolts

173mm -> 81mm

shrinking to

50g

shrinking to

39.5%

46.8 %

NITINOL Ă˜0.5mm SPRING TEST 0

140mm -> 120mm shrinking to

5

85.7 %

10

15

remembrane

1 M weight

130mm -> 74mm

110g

shrinking to

responsive kinetic structure

56.9 %

49

NITINOL Ø0.5mm SPRING TEST

spring shrink

% 100

1 x 0.25 mm

90 80 70 60 50 40 30 20 10 0 5

50

10

15

20

25

30

35

DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

40

45

50

55

60

70

80

3 x 0.25 mm

1 x 0.5 mm

90

100

110

120

130

140

150

160

170

g

weight

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NITINOL FABRICATION PROCESS - Ă˜1MM SPRING

Nitinol wire in original shape

Wire fixed to a metal rod inserted in a drill with wing nuts and bolts

While keeping the wire in tension, rotate the rod to tightly wrap the wire around the rod to create a spiral spring.

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

Directly apply flame to heat the spring at high temperature to set its new shape for memory for 3 minutes.

Carefully remove the spring from the rod by “unscrewing� it to keep its shape.

Stretch the springs by pulling from both ends

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NITINOL FABRICATION - Ø1MM SPRING

spring before stretching spring length (mm) 430

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

springs contracted with electric current

spring stretched and cut to 43 cm

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NITINOL Ă˜1MM SPRING TEST spring length (mm) 430

room temperature (oC)

heat gun air temperature (oC)

660

880

1100

1320

1540

73.2

68.8

64.2

60.2

54.3

25

300

weight (g) 220

440

contraction (%) 85.8

81.6

63 82 122 142 163 189 226

444

445

455

455

455

475 493

approx. time (s) for the spring to decontract too long 100

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

90

55

1760

1980

2200

2420

2640

2860

48.0

40.7

32.0

27.0

22.0

18.4 -0 - 50 - 100 - 150 - 200 - 250

267 - 300

315 - 350

367 - 400

410 - 450

455 485 513

531

- 500 - 550

540 562 583

55

40

remembrane

- 600

594

30

responsive kinetic structure

57

05

SYSTEM EXPLORATIONS

SIMULATIONS / PROTOTYPES DIGITAL -< ACTUATION

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DIGITAL MATTER // INTELLIGENT CONSTRUCTIONS

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DESIGNING A KINETIC SYSTEM Pantographs and tensegrities are just a starting point from which different systems are developed and tested using digital simulations and physical prototypes. Some tests use either pantograph or tensegrity principles but the most advanced ones are a combination of both.

There are two main lines of tests: linear systems and surface systems (space frames). The linear systems are simpler and easier to move and control. However, their applications are limited and they could only be part of a bigger structure. Linear systems are developed to understand different material systems that can be applied to bigger structures. The surface systems are much more complex but they can become a structure by themselves. A kinetic surface system can be a solution for partitions, roofs, facades, walls or urban elements.

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ACTUATED PROTOTYPES SERVO MOTOR AND PANTOGRAPH STRUCTURE

Control of the structure using Grasshopper, Firefly & Arduino

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arduino uno light sensitive sensor

Photo sensitive sensor is covered and hid from environmental light

arduino uno light sensitive sensor

Photo sensitive sensor is now exposed to light and the structure gradually collapses

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051

linear systems SIMPLEX 3-struts T-prism

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LINEAR SYSTEM 1 PURE TENSEGRITY Discontinuous compression elements

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LINEAR SYSTEM 2 SPIRAL Compression elements: 3 points of contact/level

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LINEAR SYSTEM 3 ALTERNATING STACKING Compression elements: 3 points of contact/level

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LINEAR SYSTEM 3 ALTERNATING STACKING

Compression elements: 3 points of contact/level

physical prototype Pulling different cables allows to alter the shape and the direction of bending of the linear structure.

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digital simulation Demonstration of the kinetic control of the linear structure, by changing the length of each vertical cables individually, here represented in different colors.

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actuated protoype via digital control Physical and digital simulation of the kinetic control of the linear structure.

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APPLICATION OF LINEAR SYSTEM INDIVIDUAL COLUMNS WITH FABRIC

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052

surface systems COMBINATIONS OF THE “SIMPLEX” SURFACE SYSTEM 1

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SURFACE SYSTEM 2

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digital simulation Simulation of a surface system by locally controlling the length of the vertical cables to create different curvature of the whole surface.

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physical prototype Surface system with flexible rubber joints, 3 floating continuous compressive elements wrapped with fabric as secondary tensile structure.

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FOLDING STRUTS SYSTEM SURFACE SYSTEM 3 - INTERNAL ACTUATORS

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EXPLORATION OF SURFACE SYSTEMS TYPOLOGIES COMBINING TENSEGRITY AND PANTOGRAPH

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Simulation of physical behavious of a pantograph inspired system, which explores the potential of deployability (contraction, expansion) added to the curvature control.

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COMPOSITE SYSTEM PANTOGRAPH SYSTEM WITH FLEXIBLE JOINTS

flexible V joint

composite system of stiff MDF bars and flexible plastic sheets

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flexible X joint

composite system of stiff MDF bars and flexible plastic sheets. 8 layers for increased stiffness.

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DIAGRID SYSTEM System based on pantograph and tensegrity principles. It presents a big potential.

It is very stable but also easily movable.

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flexible joints under strong flexion and shear: the lower part of the structure is deformed

structural study

digital simulation of the structural behaviour in order to improve the stability of the system.

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tapered corners

the end of each bars are sanded one by one to allow the joint to fold to be flatten for deployability

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REMEMBRANE 1.0 First fully performative surface system prototype.

It is based on the diagrid system,

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REMEMBRANE 1.0 FLEXIBLE JOINTS

2 3

1 4

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joint A bending 4 flexible layers for

increased resistance to bending and torsion, responsible for the structural bending.

X joint B diagrid 1 flexible layer for

simple bending, mostly just to keep the diamond grid in its proportion

1

4

4

1 1

4

4

1

4

4

wider in profile to resist structural load and resist lateral torsions remembrane

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Contraction in one side will cause expansion on the other side, changing the angle of the members at the X joint.

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NITINOL WIRES DRIVING CIRCUIT The Arduino board (driven using Firefly), controls four transistors that open/close the Nitinol circuits. The microcontroller gates are set as PWM ports. Moreover, an optocoupler has been added between the Arduino and the transistors to protect the board from circuit malfunctioning.

To drive the final model four transistors have been used. Each transistor controls a power supply circuit (V = 14,0 V) that releases 4,67 A in each Nitinol line (made of four 650 mm long and 1,0 mm thick cables, shape as springs).

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REMEMBRANE 1.0 PROTOTYPE ACTUATION TEST

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REMEMBRANE 2.0 IMPROVING THE SYSTEM The prototype developed during the first part of the research (Remembrane 1.0) presents some important limits that compromise its use.

First, the Nitinol must be constantly heated in order to maintain a certain position. Second, the structure is not able to stand by itself and the actuators are not strong enough to control the movement. Third, the structure should have a skin to prevent users from touching the Nitinol wires and to protect the structure in outdoor applications.

All these aspets have been taken into account throughout the second part of this research, trying to improve the system by taking full advantage of the Remembrane features and using external forces (such as the gravity) to cleverly move the structure.

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REMEMBRANE 2.0 ENERGY CONSUMPTION AND BEHAVIOUR Since Remembrane 1.0 needs to be constantly electrified to maintain a certain position, a solution that permits to â&#x20AC;&#x153;freezeâ&#x20AC;? the structure has been designed, optimizing the energy consumption and the system movement.

The diagonal Nitinol lines in the first Remembrane prototype have been replaced by a new system made of cables connected to metal springs and a locking mechanism integrated in the structural components. When the system is locked, a piece of folded plastic (polypropylene) pushes two small elements that block a steel cables connected to the structure. A small Nitinol spring is connected to the element that blocks the cables, If the Nitinol is heated, it contracts and it moves the plastic piece, releasing the cable and allowing the whole structure to move.

The locking system also helps stabilizing and moving the structure. The metal springs expansion is proportional to the system movement: the more the structure bends, the stronger the force the springs applied to the system is. This force counters gravity and helps to stabilize the entire structure.

Thanks to that, the actuators need less force to move the structure. In fact, the Remembrane 2.0 uses 41,26% less Nitinol than the previous version, and 75% less energy.

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different tests of the locking mechanism

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REMEMBRANE 2.0 LOCKING SYSTEM COMPONENT WITH LOCKING MECHANISM

1 7 3 2

4

5

6

7

1 2 3 4 5 6 7

plastic joint nitinol spring folded prolypropylene blocking element rail element steel cable mdf components

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REMEMBRANE 2.0 LOCKING MECHANISM WORKING PRINCIPLE

NORMALLY LOCKED

diagonal cablesfixed length

TEMPORARLY UNLOCKED

diagonal cableselastic stabilizer

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REMEMBRANE 2.0 LOCKING SYSTEM VS ACTUATION SYSTEM

ACTUATION SYSTEM NITINOL SPRINGS VERTICAL LINES SPRING CONTRACTION: STRUCTURE BENDING

LOCKING SYSTEM STEEL WIRES AND SPRINGS DIAGONAL LINES LOCKED: STRUCTURE KEEPS POSITION UNLOCKED: STRUCTURE CAN MOVE

Movement: To move the structure, the locking system has to be released by heating up the small Nitinol springs. If the locking system is deactivated, the structure is free to move and activating the vertical Nitinol lines makes the structure bend.

Reached the needed position, the structure can be locked again. Once the structure is locked, the cables keep the structure in position. Then, if the structure needs to be moved again, the process should be repeated unlocking the cables, heating the vertical Nitinol lines and finally locking the cables again.

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REMEMBRANE 2.0 LOCKING / UNLOCKING / MOVING WORKING PRINCIPLE

UNLOCKING ACTUATION MOVEMENT ACTUATION

unlocking spring

unlocking spring

back springs

front springs

LOCKING SYSTEM DIAGONAL CABLES fixed length

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elastic stabilizer

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fixed length

elastic stabilizer

fixed length

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REMEMBRANE 2.0 MODULE PROTOTYPE

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REMEMBRANE 2.0 MATERIAL OPTIMIZATION The structural optimization is an essential step to maximise the performance of a lightweight structure. In order to minimize the system weight without modifying its strength, a topologic optimization process has been carried out. This analysis has generated an important mass reduction (about 52%).

To perform the structural analysis, a finite element calculation software

REMEMBRANE 1.0 - BASIC COMPONENT 0.00

-36.1%

1.55

-25.8%

UTILIZATION

DISPLACEMENT

REMEMBRANE 2.0 - COMPONENT_TYPE A

0.00

-59.8%

1.40

-8.4%

UTILIZATION

DISPLACEMENT

REMEMBRANE 2.0 - COMPONENT_TYPE B -82.5%

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-16.5%

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0.00

DISPLACEMENT

1.85

has been used. Thanks to this tool, the structure has been checked from a structural point of view, and the shape of each element has been modified according to the software results, minimizing the material quantity and improving the general system behavior. By reducing the structure weight, Nitinol wires need less force (and electricity) to move the structure.

ISOLINES

FORCE FLOWS

ISOLINES

FORCE FLOWS

ISOLINES

FORCE FLOWS

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REMEMBRANE 2.0 JOINTS

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JOINT A [position: interior/edge] BENDING

JOINT B1 [position: interior] FIXED or EXPANDABLE/ DEPLOYABLE

JOINT B2 [position: edge] FIXED or EXPANDABLE/ DEPLOYABLE

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REMEMBRANE 2.0 SKIN: WATERPROOF ENVELOPE While Remembrane 1.0 is characterized by an exposed structure, the new prototype has been designed to have a cladding waterproof layer to protect it from external elements such as wind, rain or snow.

In addition to that, the skin must be mid-high temperature resistant (in case it touches the Nitinol) and it should be super-elastic because the maximum envelope deformation is around 173%. Hence, it is very important to develop a system that doesnâ&#x20AC;&#x2122;t limit the structural movements and, at the same time, avoids unaesthetic wrinkles caused by a lack of tension in the skin.

The developed solution consists of two layers of plastic material connected with bars. These horizontal elements are free to move, keeping both sides of the envelope in tension during the structural movement and avoiding wilting. Moreover, the skin plays an important structural role helping the metal springs to stabilize the system and avoiding over bending.

TENSIONING BARS FIXING POINTS

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Movement: When the structure bends, one side of the skin experiences more tension than the other. The tensioned side pushes the bar towards the compressed side creating tension and avoiding wrinkles.

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06

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INTELLIGENT ARCHITECTURE By acknowledging the progress in technology and potentials of what these new tools, accessible within our hands at any given time, and as creative beings having capacity to imagine and concretise new ideas, this project allowed us to realise its demonstrative role and importance in the shift of architectural field, at least of its potential. While exploring kinetic structures, it was imperative to define how they would stand out from fixed and unique ideal design solutions aimed by most past and current architectural practices and theories. Indeed, the assumption of an invariable and predictable environment for the lifetime of building seems to be the common practice; however, it is hard to disagree that the future is, short or long term, unpredictable and uncertain, especially in the world we live in, artificial society or natural environment. While living in this exponentially evolving technological era and disposing of these powerful tools, the question to be asked is what if they are combined with visionary ideas from the past, those futurist visions of the 1960â&#x20AC;&#x2122;s and 70â&#x20AC;&#x2122;s when Archigram architecturally reshaped cybernetics ideas that architecture should be indeterminate and respond to uncertain conditions. The challenging urge is to refresh the concept of living space through contemporary theories and technologies, while revising the old ideas of design to enable choices through positive incorporation of the uncertainty and emergency as key factors.

The choices are to accommodate different range of desire and needs, which physically implies variable structural states and configurations; therefore it is a shift from inanimate towards animate, from static to true dynamic responsive building. The alternatives of shapes that answer to indeterminate solution have to go through several key factors: the users of building and the environment (WHO, WHY). the possible configurations (WHAT) & the way to achieve the variety of configurations (HOW).

When it comes to a structure that behaves as a living, adaptable organism that dynamically responds to their environment -, the way people live in and behave will differ a lot from static architecture. In other words, the role of architects and designers is shifted considerably from designing a static configurations of spaces from specific and determinate environment and needs (pre required programs), to designing and defining the possible architectural scenarios, the users behaviours and desires, the method of transformation and of control and the logistics of the system. By understanding the range of shapes and the mechanics of the reconfigurable system, the design approach can clearly be associated as bottom-up; reconfigurable system which is comprised of discrete distributed modular kinematic system.

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WHAT WE DESIGN

STATIC

DYNAMIC

INORGANIC

ORGANIC & INTELLIGENT

animated

inanimated

1 ideal solution

WHAT

several scenarios

HOW

behaviour system activation, bottom-up

WHO WHY

deciding agent: user / environment

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Viability of NITINOL as solely passive autonomic actuation system

As a bottom-up system, the ideal situation and application would be a complete passive system that would activate and transform the structure.

At a material level, the shape memory alloy used in our project, nitinol, has the property to go back to its shape originally baked at high temperature, by solely bringing its material specific temperature to activate its molecular reconfiguration. With this actuation system distributed throughout the structure, natural surrounding temperature would suffice to dynamically animate the structure, without having to intervene with electrical current and material resistance to heat the alloy wire. Although theoretically plausible and possible, practically speaking, this method is not precise in term of control and behavioural quality of shape memory. Thus, it would be ideal to be combined with digitally embedded and driven system that would take advantage of naturally occurring actuation and more precise real-time control.

Embedded computation

Kinematic structure brings up the study geometry and motion of mechanical systems which actuation control requires precision. Beyond the mechanics, such system with real-time dynamic response calls for a need of computation, where digital means is key for control, actuation and animation. It consequently addresses crucial need to define components such as : - Input to respond to, where user (manual control) and environment (data receiving sensors) are controlling factors; - Output as response, where interpretation of data into form and behaviour & where time and scale become sensitive factors.

Technological advancements allowed to the computers to be smaller and smarter at an incredible speed. If a current smartphone that fits in our hand is literally several billions times smarter per dollar than the computerâ&#x20AC;&#x2122;s few decades ago which is hundred thousands times bigger, we can expect in few decades from now, what fits in our hand will be the size of a blood cell : all that power within one single biological cell and even incredibly smarter, as if that was not enough. With such extrapolation towards the future, what it says, as a clear vision in a near future, is that such capacity of processing and intelligence can be intrinsically integrated within a building, a structural system that will be extremely smart and instantaneously responsive to our desire and need, or to predicted environmental factors, hence to possess

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advanced artificial intelligence that learns from behaviour pattern. The size of these digital components will be key for distributed and embedded computation, where input data can be sensed from any and every part of the structure (sensors), where the data will be processed (processor) and the output as interpreted response will be simultaneously executed. The idea is to be able to locally configure its modules to specific control input from individuals or a part of environmental factor without compromising the whole system. The analogy of the decentralized and local microprocessors is the autonomic nervous system, which are networked and communicate and inform each other to create a whole orchestra of computational intelligence.

Intelligent living system as architecture

The embedded computation is as mentioned essentially an overall system that digitally regulates different inputs, processes them and exports outputs as results. Such system already exists, from a thermostat that controls room temperature through air conditioning system to an intelligent building faรงade that would control the sun intake and diffusion control throughout days and seasons by controlling special panels.

Conceptually, our project objective diverges from a static building composed of faรงade with kinetic components at micro level, but as an adapting structure which morph its shape at macro level to volumetrically reconfigure its space. The goal as intelligent architecture is to seek for comfort and energy efficiency through imitation and aspiration from natural intelligence with biological capacity to respond to the nature. Similar to a rule of evolution in the nature, the optimal performance for spatial comfort should be achieved with the least energy, like an organism with efficient metabolism through passive adaptation.

The efficiency of living being is its ability to understand and make the best decision from given choices. Hence, an intelligent architecture should be able to respect following criteria by approaching both natural and artificial intelligence: - Know what given choices it is facing to, be able to detect its configuration and the prevailing environment stimuli (internal or external).

- Process these informations in an useful way to achieve its role: to reconfigure itself to provide a comfortable and productive environment with sufficient space to accommodate activities, by moderating the internal and external conditions, - actuate and achieve its transformation in a controlled, predictable manner within a promised time frame.

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Evolving intelligence in architecture

Aforementioned embedded intelligence into architecture is the commonly discussed as base of artificial intelligence. Further depth in redefinition of intelligent structural system should not be neglected, for the constant technological advancement. The concept of artificial intelligence is the way to foster non inert and a system harmonic with nature, by being the interface between the environment and the user: self detect, analyze and record in order to learn through experiences. In other words, the artificial intelligence are strongly related to human attributes distinguishing them from other living beings. Beyond sensing, perceiving, judging and acting, it should hence as an interface be able to memorize, think and speech (to transmit its thoughts in real-time). A true intelligence is not a system that merely follow simple prescribed rules, but to learn to adjust and adapt to new situation and even to anticipate the future from behavioural patterns of users, and of environmental and climatic conditions.

Remembrane as a living organism [biological analogy] Base structure as BONES and JOINTS. Actuator as MUSCLE Membrane as SKIN: - Protection and adapting system): - Double layered system -multiple functions and integrated control. - air flow control, insulation, solar energy, water repellant, water collection, wind / gust damping, - the boundary of internal and external environment: it should sense its surrounding - protection against physical, and chemical factors, guarding the internal components of the structure itself, but also double layered for internal occupants. Skin protects the muscles (the shape memory allows), sensors (eyes, hairs and nerves) and the microcontrollers (the brain).

Micro controller as BRAIN Sensors as receptors (EYES, EARS, ...)

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REMEMBRANE .NET

web based user interface

INTERACTING WITH THE REMEMBRANE The interaction between the users and the Remembrane is one of the most important parts of the project. A truly innovative responsive kinetic system has to be easily controllable but also intelligent enough to make its own decisions. In order to achieve that, a complex interaction system has been designed. The system has two possible ways of interacting: interface mode (the user sends orders through the user interface) and sensing mode (the structure reacts to the sensorsâ&#x20AC;&#x2122; inputs).

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WEB BASED GRAPHIC USER INTERFACE To make this complex interaction as easy as possible a user friendly web based interface has been designed.

A web application has the huge advantage of being accessible by any device that can support a web browser. This means that any computer, smartphone or tablet can be used to run the user interface and no special software or hardware is needed.

The interface has been developed in order to not only send orders to the prototype but also to visualize the information measured by the sensors installed on the structure. Therefore, there is a bidirectional communication with the Remembrane.

Four different scripting languages have been used to develop the application: Html, Css, JavaScript and Processing.

Html (HyperText Markup Language), is the standard markup language used to create web pages. It is written in the form of HTML elements consisting of tags enclosed in angle brackets. It defines the content of a website.

Css (Cascading Style Sheets) is a style sheet language used for describing the look and formatting of a document written in html. It specifies the layout of the site.

JavaScript is used to program the behavior of the website.

Html, Css and JavaScript are usually used together to create websites. However, for the interface of this project, a fourth language has been introduced to develop the graphic parts: Processing.

Processing is an open source object-oriented programming language and integrated development environment (IDE) built for the electronic arts, new media art, and visual design communities with the purpose of teaching the fundamentals of computer programming in a visual context, The language builds on the Java language, but uses a simplified syntax and graphics programming model.

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MICROCONTROLLER: ARDUINO YUN To phisically interact with the structure a microcontroller was needed. The microcontroller acts as an intermediate between the web application and the prototype. The most extended and easy to use microcontroller is the Arduino.

Arduino is an open-source physical computing platform based on a simple microcontroller board, and a development environment for writing its software for the board. The Arduino programming language is an implementation of Wiring, a similar physical computing platform, which is based on the Processing multimedia programming environment.

Among all the Arduino models the Yun was chosen because it can connect to the internet using wifi and, therefore, it allows to interact with the web application wirelessly.

The Arduino YĂşn is a microcontroller board based on 2 different processors: the ATmega32u4 and the Atheros AR9331.

The ATmega32u4 is the the same processor as the one used by the Arduino Leonardo. This processor takes care of the input and output pins and it can be programmed using the Arduino scripting language with the help of the Arduino IDE. The Atheros processor supports a Linux distribution based on OpenWrt named OpenWrt-Yun. It is essentially a very basic and small computer that has built-in Ethernet and WiFi support, a USB-A port and micro-SD card slot.

COMMUNICATION The key to succeed in the use of Arduino Yun is achieving a reliable and fast communication between 3 elements: the Internet, the Linux processor and the Arduino processor.

The bridge library has been designed to facilitate this communication.

It is easy to use and works out of the box. Unfortunately it Is very slow and it is not suitable for visualizing data in real time and sending orders that should have immediate effect. Therefore, a custom system had to be designed.

The final solution relies mainly on Node.js and Socket.IO for a very fast communication.

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Node.js is a platform built on V8 JavaScript runtime (the JavaScript interpreter that runs in the Google Chrome web browser) for easily building network applications. JavaScript was usually used as a client-side programming language that runs in a browser. However, Node.js allows to run JavaScript on the server; The most interesting feature of Node.js for this project is that it can make use of the WebSocket technology through the Socket.

IO library.

WebSocket is a new protocol that allows to create connections that are persistent (always on), full duplex (simultaneously bidirectional) and blazingly fast.

WebSocket support has been implemented in the latest version of the HTML language: the HTML5. Some experts consider that HTML5 WebSocket represents the first major upgrade in the history of web communications. Before WebSocket, all communication between web clients and servers relied only on HTTP. Now, dynamic data can flow freely over WebSocket connections.

Socket.IO is a JavaScript library that allows to use WebSocket with Node.js.

The server that Node.js runs is in fact a text document written in JavaScript language. It is something like a â&#x20AC;&#x153;server.jsâ&#x20AC;? file. This file has to be manually started through Node.js and if it stops working it has to be manually re-launched. This is a problem for the Remembrane project because the structure must be always ready to receive and send information. There are many tools to solve this issue but the chosen one was Forever.

Forever is a simple CLI (Command-Line Interface) tool for ensuring that a child process (such as a node.js web server) runs continuously and automatically restarts when it exits unexpectedly.

Node.js, Socket.IO and Forever all are installed in the SD card of the Arduino Yun that is linked to the Atheros processor that runs Linux.

This means that all the communication protocols established until this point end in the Linux part of the microcontroller and they have no interaction yet with the structure. The ATmega processor is the one in charge of controlling the pins of the board, Serial communication is used to send information from one processor to the other.

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INTERACTION CYCLE

IN

MICROCONTROLLER LINUX

Node.js +Socket.IO + Forever)

server.js

ARDUINO sketch.ino

OUT

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WebSocket

SENSORS proximity sensor

WEB APPLICATION JAVASCRIPT script.js

accelerometer

CSS

style.css

auto-sensing mode

OUT

USER

HTML

index.html

PROCESSING.JS sketch.pde

interface control mode

DEVICE

ACTUATION LOCKING SYSTEM LED-STATUS

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INPUTS AND OUTPUTS The actual interaction with the Remembrane takes place at the input and output pins of the Arduino Yun controlled by the ATmega processor that runs the program written in the Arduino language.

In this project there are 3 types of outputs and 2 types of inputs.

OUTPUTS - The 2 lines that control the actuators of the side A and side B of the structure (Nitinol springs).

- The line that controls the locking / unlocking system based on small Nitinol springs.

- The line that controls the 2 LEDs that show the status of the structure.

INPUTS - 2 proximity sensors (one in each side).

- 1 accelerometer that measures the inclination of the structure.

THE FILES In this relatively complex system there are several files, with different purposes, that are written in various programming languages and they have to be saved in different locations. The following list tries to clarify the format, purpose and location of each file.

LOCATION: Web host (accessible through a domain name: in this case â&#x20AC;&#x153;remembrane.netâ&#x20AC;?)

- index.html (creates the basic content and structure of the website) - style.css (defines the format and appearance of the site) - script.js (describes the different behaviours of the site. It is also used to interact with the Node.js server and with the processing sketch).

- sketch.pde (processing sketch to create interactive graphics in 2D and 3D).

LOCATION: Linux side of the Arduino Yun. - server.js (the JavaScript server file that runs in Node.js).

LOCATION: Arduino side of the Arduino Yun. - sketch.ino (the program that controls the inputs and outputs of the microcontroller).

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proximity sensor on top of the structure

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USING THE INTERFACE The Graphic User Interface has been carefully designed to allow an easy and efficient interaction between the user and the Remembrane. It is based on interactive graphics that make the whole communication process very intuitive.

The most important element of the interface is the interactive 2D diagram. It can be reshaped just by touching the screen of a tablet with a finger and it automatically sends the necessary information to shape the structure in the same way.

The 2D diagram is complemented by 2 other elements: a visualization of the real inclination of the structure measured by the accelerometer and a visualization of the distance to obstacles measured by the 2 proximity sensors. The 2D diagram is, therefore, a tool to send instructions but also a tool to understand the current state ot the prototype.

The button under the diagram is used to lock or unlock the structure. On top of the 2D diagram there is a 3D previsualization of the structure.

On the top left corner of the interface there is a button that allows the user to switch between interface control mode and sensing mode. In the interface mode the structure reacts only to the instructions sent through the interface. On the other hand, in the sensing mode, the prototype performs autonomously according to the sensorsâ&#x20AC;&#x2122; inputs. In fact, it behaves according to a set of rules that have been programmed before. These instruction are written using the following structure: if (something happens) {then do this} else if(something different happens) {do this other thing} The final prototype has a very basic set of rules: when the proximity sensor detects that something is very close, the structure bends to the opposite side. This simple behavior has the purpose of illustrating some kind of autonomous behaviour but it is not in itself a pure artificial intelligent example.

On the left side of the user interface there are different numbers that are continuously updated. These values are the data from the sensors and the length of all the actuators of the structure.

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Mode: Automatic (A) / Manual (M) Locking / unlocking progress (0 to 100 %) Sensors measurements Proximity sensor side A Proximity sensor side B Accelerometer (inclination)

Total length anctuators Actuators side A Actuators side B

Detailed lengths actuators side A Detailed lengths actuators side B 3D previsualization Real inclination visualization Target inclination visualization 2D interactive diagram to move the structure

Proximity sensor visualization Locking / unlocking button

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INTERFACE MODE.

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SENSING MODE.

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FREE FORM SYSTEM

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DOUBLE CURVATURE SYSTEM BIAXIAL DEPLOYABILTY STUDY Within the framework of the structural investigation, alternative systems have been explored. The aim of this research part has been the study of different and freer structures able to achieve double curvature as well as a biaxial deployability.

The developed structure has two main type of actuators: one allows the rotation between elements. The other one allows the system deployability independently along x and y. As the previous ones, the new structure is lightweight and characterized by a distributed system of sensor and actuators that permit to achieve any kind of form.

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1 4 3 2

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deployability actuator (x axis) deployability actuator (y axis) movable joint with embedded actuator (x axis) movable joint with embedded actuator (y axis)

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Expansionded position

Normal position

Contracted position

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DOUBLE CURVATURE SYSTEM EXTENDED DOUBLE CURVED SURFACE.

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DOUBLE CURVATURE SYSTEM ADAPTATION TO MULTIPLE FORMS

FREE SURFACE

SURFACE FIXED ON THE CORNERS

SURFACE FIXED ON THE EDGES

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APPLICATION & VISION

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APPLICATIONS REMEMBRANE LIFE CYCLE

PRODUCTION

ASSEMBLY

TRANSPORT

INSTALLATION

CUSTOM SKIN

DEPLOYMENT

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INSPECTION

DISASSEMBLY

MAINTENANCE EXPANSION CUSTOM SKIN

USER CONTROL PASSIVE RESPONSE

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APPLICATIONS PARAMETERS

INPUT

human sun light wind rain snow sound view temperature

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CONTROL MODE

user (totally manual)) automatic passive A.I. (artificial intelligence)

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SPEED

fast slow

ELEMENT

roof wall structure facade ceiling window door light system furniture integrated system

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APPLICATIONS PARAMETER COMBINATION

human sun light wind rain snow sound view temperature

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user (totally manual) automatic passive A.I. (artificial intelligence)

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fast slow

roof wall structure facade ceiling window door light system furniture integrated system

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APPLICATIONS PARAMETER COMBINATION

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REMEMBRANE CATALOGUE APPLICABILITY STUDY A surface system that can morph, expand, deploy.... It leads to all sort of imaginable and thought-provoking applications. They are numerous, and the possibilities infinite.

These diagrams and renderings are visualizing different potentials and applications of Remembrane, from some more traditional kinetic applications to more visionary examples.

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This matrix helps to classify and characterize different possibilities by their parameters: environment, user, adaptation method, use, transformation time frame, scale.

A tool to identify, compare, develop and communicate a sample of different concepts visually and methodically, giving a scale of pragmatism to each example. An encyclopedia to visualize our visions.

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multi-purpose public space

sun and shadow

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spatial configurations and visual connections

spatial configurations and visual connections

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expandable canopy

ventilation

roof vs precipitation

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form follow function

HVAC optimization

aerodynamism

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porosity for light/ventilation

porosity for circulation/privacy

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open air vs enclosed

controlling natural light source

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controlling entrance size

diverging natural light

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adapting to the program

adapting to spatial needs

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opening for view (user control)

opening for view (user control)

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controlling beam lights

from open corridor to enclosed corridor

adapting to activities

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emergency shelter

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INTERNAL AIR VOLUME CONTROL HVAC control through change of total volume of indoor space.

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BREATHING ENVELOPE Unlike an air inflated system, this structure can expand and contract by itself like diaphragm muscle to create a breathing system that creates a greater space or to rapidly exchange air volume with outdoor. It can also keep its expanded or contracted shape by itself without the need of pump or vacuum.

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ARISING FISSURES From continious smooth surface, appears the hidden splits to create openings with controlled distance and curvature for natural ventilations, light intake, views, access, etc. Through IR distance feedback and electromagnetic locking system, the fissures can disappear again.

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REDEFINING BOUNDARIES Relationship between spaces are more versatile.

View axis, connection, space sharing and indooroutdoor relationship becomes more flexible, temporal and playful. User can define it, so can the environmental factors.

PERISTALSIS OR DYNAMIC ENVELOPE Can be perceived as either a forcedly push of crowd by wave-like movement of the structure, or as a naturally enveloping system that creates a space which follows the inhabitants.

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REINVENTING THE URBAN ROOFSCAPE Inhabit available rooftops to densify urban fabric, efficiently achieved with fast installation and light structures that adapt its shape to usersâ&#x20AC;&#x2122; need, creating a never static skyline.

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PLUG-IN CITY 2.0 Inspired by Archigramâ&#x20AC;&#x2122;s Plug-In City concept, this visionary city has a mega infrastructure into which inhabitable spaces are incorporated and occupy it as needed to grow in an organic manner.

Through this enourmous grid, each plugged-in structure can also organicly grow, expand, morph and connect to each other like a colony, a complex network of space.

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VISION The vision of this project is beyond the idea of intelligent façades or similar systens. Our vision is an intelligent membraneous structure that redefines space and architecture that adapts to human demands and environmental impacts.

We would like to see an evolution towards a society with interactive, responsive and spontaneous architecture, where users participate in the creation of their own customized and personalized environment.

Furthermore, the living space becomes a living organism which has its own intelligence and optimally perform with least energy, continuously adapting and regulating its inhabitants and their comfort. The exponential growth of technologies will then bring humanity to a point, potentially in near future, where the built environment is in harmonic modulation with its occupantsâ&#x20AC;&#x2122; desires, where it has acquired an artificial intelligence, it shall interact and respond to human thoughts through brain-machine interface will be the singularity where the boundary between human and machine will transcends, where our living habitat will be one with our thoughts, even greater than our intelligence. Beyond the pragmatic reasons and practical pursuits, a new relationship with our built environment will be part of life, evocatively and emotively with enhanced experience, memory and senses.

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direct brain machine interface

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TECHNOLOGICAL ADVANCEMENT

30 YEARS AGO

10 0 intelligence/$

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NOW

10 9 intelligence/$

EMBEDDED AND DISTRIBUTED COMPUTATION

INTELLIGENCE NETWORK

30 YEARS LATER

10 18 intelligence/$

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REMEMBRANE VISION

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CONCLUSION This research must be understood as a work in progress. All the digital and physical explorations have led to a better understanding of the possibilities and the limitations of the systems that have been designed.

Lightweight responsive kinetic structures based on pantograph and tensegrity principles with a distributed system of Nitinol actuators have been proven to be feasible. Moreover, the final version of the Remembrane has become not only a performative kinetic prototype, but also a demonstration of new ways of user interaction and an exploration on basic artificial intelligence.

This research ends with a strong belief in the future of lightweight responsive kinetic structures. They are the evolution of the current architecture and they will radically change the way that spaces are experienced. These structures have undeniable advantages in terms of energy performance and adaptability to the needs of the users. Furthermore, there is already available technology to create interactive structures with embedded artificial intelligence.

However, it is absolutely necessary to understand the limitations of the systems and materials that have been tested in order to set the basis for future researches on the same or similar topics.

The first big limitation of the developed prototypes is the use of Nitinol as actuator. Nitinol is definitely an interesting material and many new applications are still to be discovered. However, in the architectural scale, Nitinol presents two major weaknesses: it needs a big amount of electricity to move and it has significant restrictions in terms of strength.

Another important aspect to reconsider is the number of elements of the prototype. After every test that was carried out many problems appeared.

In general, the problems have been solved by refining the existing components but also adding more elements to the structure. The result has been an highly complex prototype. The challenge now is not to keep adding complexity but to simplify the whole system to the point that the same performance is achieved with less and simpler components.

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A possible way to simplify the structure would be merging the actuation and locking systems into one. This could be achieved by replacing the metal springs with Nitinol. However, this solution would require stronger Nitinol wires and nowadays they are too expensive and difficult to manipulate to be considered a feasible alternative.

Another topic that should be taken into account is the possibility to incorporate within the skin photo-voltaic cells in order to make the system autonomous in terms of energy. This solution would allow to use the Remembrane in remote areas or in emergency situations (deployable shelter after natural catastrophes).

The flexibility and freedom of the structure is a significant limitation as well. Having a structure that can adopt an endless number of shapes can appear as a big achievement at the beginning but it prevents the prototype from being simple and efficient in solving just a few important problems.

Therefore, reducing the degrees of freedom would probably improve the performance of the Remembrane and, at the same time, optimize the fabrication time and cost.

The last major concern about the developed system is its indefinition in terms of application. This research started with the will of designing a multifunctional system, A big effort has been put into showing multiple possible ways of applying the Remembrane principles to different uses. However, the development of the prototype has already reached a point that makes it necessary do define a specific use of the structure and optimize every component according to it.

All these considerations should be taken into account in the development of future research on the same or related topics.

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TOOLS Softwares Rhinoceros 5 Grasshopper Kangaroo

Simulation of the structural system and digitally control the kinetic system

Firefly

Communicate with Arduino controller through Grasshopper interface

Karamba

Structural analysis to optimize components and understand the forces and equilibrium

Galapagos

Genetic algorithms and evolutionary systems to find optimal solutions

Processing

Programming language

Putty

Terminal emulator

Node.js

Platform for network applications

Micro-controller Arduino UNO Arduino YUN

Digital fabrication Laser cutter 3D printer

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REFERENCES RESOURCES ACTUATORS ANADON, Jose R. Santiago. Large force shape memory alloy linear actuator. Thesis presented to the Graduate School of the University of Florida. University of Florida, 2002.

HUANG, Weimin. Shape Memory Alloys and their Application to Actuators for Deployable Structures. University of Cambridge - Department of Engineering. Peterhouse, 1998.

TREASE, Brian Patrick. A Survey and Comparison of Smart Material Linerar Actuators.

University of Michigan - Department of Mechanical Engineering. Michigan, 2001.

VENUGOPALAN. TREPANIER. Assessing the Corrosion Behaviour of Nitinol for MinimallyInvasive Device Design. Min Invas Ther & Allied Technol 9(2) pp. 67-74. Department of Biomedical Engineering, University of Alabama at Birmingham. Fremont, CA, 2000.

ZHU, Lucy. FINO, Jennifer M. PELTON, Alan R. Oxidation of Nitinol. Proceedings of SMST2003, T.W. Duerig, A. Pelton Eds. Monterey, CA, 2003.

websites Musclewires.com, (2015). MuscleWires-Home. [online] Available at: http://www. musclewires.com/ Smartwires.eu, (2015). Flexinol | Nitinol | Shape Memory Alloys - Smart Wires. [online] Available at: http://smartwires.eu/index.php

STRUCTURAL SYSTEMS BURKHARDT, Robert William, A Practical Guide to Tensegrity Design. First Edition, Cambridge, MA, 1994.

D’ESTREE STERK, Tristan (ORAMBRA). Shape Control in Responsive Architectural Structures Current Reasons & Challenges. In Philip Beesley: Subtle Technologies Conference, University of Toronto, Canada, 2006.

D’ESTREE STERK, Tristan (ORAMBRA). Using Actuated Tensegrity Structures to Produce a Responsive Archtiecture. In Kevin Klinger: Connecting Conference, ACADIA, Indianapolis, USA, 2003.

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GOMEZ JAUREGUI, Valentin. Tensegritty Structures and their Application to Achitecture. School of Architecture, Queen’s University, Belfast, 2004.

MOTRO, Rene. Tension Structures in “Fifty years of progress for shell and spatial Structures”. IASS Jubilee Book, Multi-Sciences, 14 p., 2011.

PEÑA, Diana Maritza. Application of the Tensegrity Principles on Tensile Textile Constructions. International Journal of Space Structures Vol. 25 No. 1, 2010.

PUGH, Anthony. An introduction to tensegrity. University of California Press.

Berkeley and Los Angeles, California, 1976.

SNELSON, Kenneth. Tensegrity, Weaving and The Binary World. Essay in kennethslenson.net.

TIBERT, Gunnar. Deployable Tensegrity Structures for Space Applications.

Doctoral Thesis. Royal Institute of Technology - Department of Mechanics.

Stockholm, 2002.

websites Architizer, (2013). Would You Live In A Robot? William Bondin’s Morphs Propose Responsive Architecture For Parks. [online] Available at: http://architizer.com/ blog/william-bondins-morphs/ Arch2o.com, (2015). Hypermembrane. [online] Available at: http://www. arch2o.com/hypermembrane-hibrida/ [Accessed 18 Mar. 2015].

Orambra.com, (2015). ORAMBRA - The Office for Robotic Architectural Media & Bureau for Responsive Architecture. [online] Available at: http://www.orambra. com/ Tensegrity.wikispaces.com, (2015). tensegrity - Online Applications. [online] Available at: http://tensegrity.wikispaces.com/Online+Applications/

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ARTIFICIAL INTELLIGENCE LUGER, George F. , Artificial Intelligence: Structures and Strategies for Complex Problem Solving, Publisher, Pearson Education, 2005.

WIGGINTON, Michael & Jude Harris. Intelligent Skins, Butterworth-Heinemann, 2002.

ASIMOV, Isaac. I, Robot, Spectra, MIT edition, 2004.

websites Ieet.org (2015). Should Politicians be Replaced by Artificial Intelligence?

Interview with Mark Waser. [online] Available at: http://ieet.org/index.php/IEET/ more/pellissier20150612 Scientificamerican.com (2009). Rise of the Robots--The Future of Artificial Intelligence . [online] Available at: http://www.scientificamerican.com/article/ rise-of-the-robots/ Cs.bham.ac.uk (2007). What is Artificial Intelligence? [online]. Available at: http://www.cs.bham.ac.uk/research/projects/cogaff/misc/aiforschools.html

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MASTER IN ADVANCED ARCHITECTURE

2014/15

research studio

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Barcelona