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Studio Spyropoulos Design Research Lab v.15 Architectural Association London, UK Cemil Ceyhan Gonen [ Turkey ] Konstantinos Psomas [ Cyprus ] Sara Gemma Sabate Gomez [ Spain ] Vishu Bhooshan [ India ] Copyright Syntax Error 2012 2
Self-Organizing / Self-Assembling Systems The agenda of the studio is to explore a system or process that incorporatea self-organizing methodology. These systems are dynamic, coherent and adaptive structures, which tend to repair themselves and resist change. Phase-changing rule systems which allows them to adapt and develop integrated solutions responding to specific performance criteria in different scenarios. Marine Stratocumulus Clouds, like flocks of birds, shifting sand dunes or bubbles in boiling water, exhibits a similar phenomena to these systems. The air movement forms patterns in low clouds that remain cohesive structures even while appearing to shift about the sky, due to the principle of self-organization. The challenge of the studio is to think beyond the processes of these clouds production modes thereby studying existing digital fabrication methods and developing strategies to produce highly flexible and customized fabrication system. The research focuses on critical questions of constructing space frame systems through novel fabrication methods that rely on theses self-organizing/self-assembling systems. Speculating on the potential cultural and social implications of producing highly customized and yet adaptable architectural units by developing strategies for urban or sub-urban scenarios; considering the fact that this fabrication equipment should be possible to build also in remote locations where there are communities that are still disconnected from technology or those with less or no infrastructure.
Flying Assembled Architecture 6
0 Flight Assembled Architecture
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1 Design Research Self organizing systems: CLOUDS Space frame structures - Natural analogies
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2 Materiality Research properties: Bi-Resin Scaffolding - soft supporting system Local and global rules
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3 Robotic Fabrication SERB (Arduino Controlled Servo Robots) Cars experiments Remote control helicopter - Heli-hack Quadrocopter test flights with AR.Drones
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4 Questioning the Space Frame Knots as intersection Setting up a field - generation of environment Building up a movement - choreography
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5 Self Organizing System Building a smart agent Agent in a voxel grid - tension and compression zones
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6 Production PIPELINE
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Bibliography Endnotes Image credits
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4
Making of
material test BIRESIN
robotic fabrication Serb cars rc helicopter
AR DRONE
generation of environment
setting up the problem
response to environment structural framework SPACE FRAME 66
Beauty of nature self-organizing systems with their inherent efficiency and performance motivated us in pursuit of a collective behaviour like flocks of birds. Looking for an artificial aspect of this behaviour the robotic fabrication has been a key area of interest in recent years in many fields. However, this aspect has not got the desired attention thus far in the field of architecture. The research explores how to take advantage of this robotic field and specifically the area of flight assembly using quad-rotors as a fabrication as well as a design tool. The intention is develop a smart agent which has embedded behavioural intelligence based on the force zone of the flying machines hovering and moving characteristics. The force zones, which are either compression or tension, were developed by drawing tangencial vectors to configuration lines within a physics engine. The lines were drawn to support an already exiting plane held in space by a set of quad-rotors. Using flight assembled architecture, we effectively generate architectural structures.
Flight Assembled Architecture The materiality of the proto design agenda was addressed with Bi-Resin, a quick setting material with phase changing capabilities with additional properties of lightness and high compressive strength. We questioned exiting notions of a space frame, which being the studio brief, by developing a choreographed movement of quad-rotors based on local rules. This combined with the material tests of BiResin results in a global formation (structure). The research would further focus on application of the research thus far on a scenario selected for the thesis. The generative design process is being developed considering the analysis of specific context in order to obtain a well integration of performance.
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Design Research Exploring systems or processes that incorporate self-organizing methodology, for example the marine-stratocumulus clouds, the flocks of birds, the shifting sand dunes, the bubbles in boiling water, or even, the economy system, it is possible to notice that these case studies are described as dynamic and adaptative structures which respond to specific performance criteria in different scenarios. Clouds are the most familiar aspect of our environment. They play a significant role in determining the radiation budget of the planet and serving as an important link for other systems in the earth, disappearing in one place and reappearing in another like shifting sand dunes. Approaching to this self-organizing system gave us a better understanding of these processes. In this case, the rain and the evaporated seawater cause the air to move in vertical direction, as tracers of vertical motion within the atmosphere due to convection forces. Clouds forming on the edges breaking down and building up walls. The movement form patterns in clouds which remain cohesive structures even while disappearing and appearing to shift about the sky, forming an amazingly organized system thanks to the principle of self-organizing. Understanding the self-organizing paradigm, which obtains a global behaviour via typically simple local rules and interactions among a number of agents, we focus on the interestng behaviour of these systems for technical applications like cooperative autonomous robots.
self-organizing
cLOUDS A convective cloud system that show an incredible degree of self-organization, atmosphere forces as a collective behaviour based on the constant movement - formation of a FLUID
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cell open
clos
e
ds
clou
LIGHTNESS SPACE FRAME
PHASE-CHANGING NO LIMITATIONS
THE architecture [DEVOID] of boundaries
ed c ell
AIR CONSTRUCTION clou
ds
Feedback precipitation
convection forces aerosol particles
heat transfer
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Space Frame Structures - Natural Analogies
stinkhorn mushroom
We commenced on our research by looking at analogies in nature that could correspond to architecture in their structural methodology, growth processes and optimization. Some natural examples such as the stinkhorn mushroom, the spider web or the silkworm, become very interesting and exciting ones thanks to its formation, structure and mechanics.
silkworm cocoon
The main point of these study cases is for trying to investigate material behaviour, how it makes possible some structural purposes; and some kind of properties that these structures possess. The analogy of theses systems enabled us to understand the main concepts of space-frame structure and how they could be achieved by employing a continuous material. Also, they let us understand how it should be the economy of means, where amount of material is deposited where it is required.
spider web
10 10
The three samples have in common how is their formation based on few phases by continuous depositions and layering of various materials with an clear objective.
thicker units as primary support
dense structure with large openings form by dense thinner members
structure ties back in various directions to allow overall stability upon all axis of movement apparent curvature is consisting of straight units pulling upon one another
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Materiality The conventional casting processes rely on the rigidity of a fixed cast to form the material, which implies two step processes: the structure of the cast and the pouring of the material into that cast. We understand ‘cast’ as a constraint by which a material will mold itself into the given form, and where the material behaviour on its own, is not much involved in the formation process. Our research explores new ways of using phasechanging materials for building structures without any help of a cast for giving a fixed shape. Our interest lies on the study of material behaviour in itself and, then, on the logic of the device that would allow such process to happen. By studying phase-changing materials, where change happens almost instantaneously. This kind of construction opens a great potential in casting systems. First of all, due to the fact that structures can be produced instantly wihtout a cast; secondly, by using material intelligence as a process of free-form finding; and last but not least, by exploring a machinic logic that breaks through the usual constraints of movement and position.
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Research Properties: Bi-Resin The idea that architecture is fixed belong to the past. Today, architecture can change where it is needed, even it can be in a continuous state of becoming, a phase-changing construction. Looking for phase-changing, strength and continuity materials, the research focuses on the hybrid materials. The combination of two or more different materials which act in harmony to create a product that performs greater than the sum of its parts1. Such recombinant materials could act as a symbiotic relationship to accomplish high performance properties, they have long demonstrated their performance in the construction industry. A classic recombination material, the reinforced concrete, takes advantage from the compressive strength of concrete and the tensile strength of steel; in this direction, the research focus looking for any material that allows flexibility for making different shapes and at the same time that can freeze the previous one in order to form a solid structure. In terms of high-performance characteristics, the research pay attention on several essentials properties which enhance collaboration between the elements of the project. Strength, lightness, quick setting and adherence to itself and to other materials are the main characteristics to look for in the tests. The bi-resin has an apparent advantage of phase changing and continuity, which guarantee its strength resistance. For this reason, we chose to work with this material that rely on some behaviour and properties, such as:
W 14 14
• quick setting properties, phase changing aspects • capability of expansion when the two component (A and B) are mixed, and relation of the amount of material used when water is present or not in the mixture • lightness • strength compression • adherence properties to itself when is pouring in the same moment or in different stages
Fast Drying Phase-changing is an essential property for the material used in the flight assembled architecture. A quick setting is required for creating an on-site fabrication. For this reason, time is an essential variable for controlling the phase changing materials. There are differents steps in its harden process.
CURE TIME
0 seconds to 25 seconds
Freshly pouring the material is liquid
GEL TIME
25 seconds to 2 minutes
Skin formation (when the adhesive power finishes), surface starts to dry but still soft
CREAM TIME
2 minutes to 5 minutes
Structural formation, becomes solid
Considering bi-resin as the building material, there are several restrictions in terms of the construction; thus, the material should be used to solidify a flexible structure. In this way, it is possible to achieve both flexibility and rigidity and create a phase-changing structure.
QUICK SETTING
PHASE-CHANGING 15
Expansion of components A+B One of the main objectives of the research is to find a material which could be able to increase its volume, because the flying robots have limitations in terms of amount of material that can carry. The basis of biresin is to combine, in the same proportion, a hardener and a resin for obtaining an expansion eigth times of its volume. When the same amount of components A and B are mixing with 1/10 of water the expansion is double, almost sixteen times of its initial volume.
= amount = volume
x
8
biresin mixture
components A+B
expansioN 16 16
x
16
adding water mixture
Lightness The quality of lightness is always a focus of design for space and structure. The construction needs a non heavy material. The fact that the robots have to carry the material implies to search for lightness properties of the possible materials in order to avoid problems in the construction process. Testing bi-resin with water and without, the same volumen have huge differences in terms of weight for an already ligth material. An ideal condition for the requirements of the fabrication method.
119 Grams
biresin mixture
47 Grams
adding water mixture
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Strength Looking for increasing the lightness of the material we add water to the solution of component A + B which result in the biresin material. This new solution give a ligther product and the interesting fact is that its resistence under compression is not affected by the mixture with water. Even with equal volume of the tests with and without H2O, the resistace of both are the same, it does not matter that the water added mixture has less amount of biresin in its composition. The advantage of mixing with water is how the hardener process is speeded up.
12.5 KG
strenGth
compressioN 18 18
Adherence ADHERENCE TO ITSELF
2nd
layer
1st layer
Biresin is a material with an exceptional capability of adherence between its own particles, what makes it too strong under compression. The incredible fact of this property is that not only its adherence power is not lost when it is pouring several times, but it is even stronger in every new lawyer. This means that once is pouring for first time it is possible to do it over and over again, because the tendency of the partcicles to cling to one another has not been altered and, therefore this does not affect the strength of the material in terms of the formation of a solid structure.
This property could be essential when it is needed to reinforce some parts of the structures once it is made; because it implies that once the material is poured, it can be done again and it remains its strength of adherence.
ADHERENCE TO OTHER MATERIALS Biresin has a incredible adherence power to itself and to other materials as well. The material possess high adhesrence to various base materials such as fibers, films, metal, etc... It is possible to reinforce the selfstructure of the material adding a scaffolding system. It could allow to extend the possibilities of this material.
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Scaffolding - Soft suppoting system Our inference, from the first set of experiments, was that material and structure can be further reinforced by adding a scaffolding system in order to optimize the amount of material involve in the process and controlling the space frame system that would be developed. Textile industry for mechanically manipulating the fibers into 3d structures when a resin in applied on gave us the solution for the scaffolding system. To understand its distribution and density, we began to look at local tests using jute as guide for our phase changing material. These experiments gave us an insight into all the methods for understand the better way for pouring the material, their properties and various production methods to organize the threads:
• interweaving, intersection of two or more sets of threads, warp and weft, which cross and interweave at right angles to each other • warping, is by far the oldest and most common method for producing a continuous length of straight-edged fabric • twisting, such as braiding and knotting, where threads are caused to intertwine with each other (in the past, this techniques tend to produce special constructions whose uses are limited to very specific purposes) • interlooping, consists of forming yarns into loops, each one is typically only released after a succeeding loop has been formed and intermeshes with it so that a secure ground loop structure is achieved.
Though biresin plus threads, with the advantage of lightness, provide a fast construction method. The selection of jute as a thread is due to its fiber configuration enhance the adherence properties of the biresin to other materials. The thread scaffolding systems have immense potential, and have not been utilized in fields like architecture before.
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Threads selection Recombinant materials is the key word. The phase-changing material needs a scaffolding based on a thread system. For this reason the selection of the fibers plays a fundamental role, in order to find those which allow a perfect match of adherence with the bi-resin.
pvc
wax leather
cotton
JUTE lace
Space frame is materialize as a scaffolding system of threads were the material (biresin) adheres. Using threads allow a huge flexibility of the building system which can be freezing throught the connection with phase-changing material, the bi-resin. The combination of both allows a flexible system (the jutes) to solidify, and a non-structurable material to have a scaffolding. 21
Pouring system The next step in the research in terms of the recombinant material is to determine its advantges and its limitations. The adherence between the thread (jute) and the biresin (component A + B) change based on several conditions such as the angle of the thread with the vertical, the time of pouring, the number of times and the intersection between the threads.
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x1
0
o
0-15
x2
o
15-30
x4
o
<45
o
In this test, when the angle with the vertical increase the adherence power of the bi-resin with the jute exponentially decrease, and for this reason, in order to achieve a balance, it is neccesary to increase the of times of pouring for getting the same result.
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Intersections increasing the scale by increasing the complexity The connection between threads and bi-resin determines the design process. As a spiderweb construction process, the intersection among the different parts is essential. The local behaviour of the material focus on how is this connection and its consequences.
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[Is] the future of control: partnership, co-control, Cyborgian control. What it all means is that the creator must share control and his destiny, with his creations.1
Physical Computing Physical Computing, if one searched the word on the Google search engine, as usual the case it reveals a series of links. A closer look at the links and the tag lines suggests a list of common words like intelligent, sensing, interactive, programming, robotics. Looking at all these words, one can string together a definition of physical computing. Letâ&#x20AC;&#x2122;s say, it is an intelligent system which can sense and interact with its physical environment with the help of a computer or in other words, it is about creating a conversation between the physical world and the virtual world of the computer.2 The obvious question is what can been done with these interactive systems? As Rodney Brooks puts it, finding that Killer App, is of course the generic problem of the new technological world we inhabit.3 Traditionally this system has been used in the field of Artificial Intelligence (AI), using computers to imitate, and maybe someday replace, human beings.4 It has been an important part of computer science since its beginning. The second aspect of it is in the domain of Intelligence Amplification (IA), which focuses on computing as a medium of communication between the people.5 We believe this aspect of computing and the shifting the focus of physical computing from AI to IA would benefit in the application of physical computing in the field of architecture.
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We believe in this notion of sharing control with a machine and collaborating in development of a system. We would like to build on the work Raffaello Dâ&#x20AC;&#x2122;Andrea along with architects Fabio Gramazio and Matthias Kohler, who built a 20-foot tall tower from 1,500 foam bricks. Each brick was carefully placed by an autonomous flying drone, and is on display while under construction. Though based on the self-organising system of flocking, we believe that the Quad rotors have a better application than just placing of bricks. We also believe that system should be a merger between the human and machine, rather than just be the replacement for the human, as the design of the layout is already predefined and programmed into the quadrotor. Keeping that aside, we would like to learn from the project the way the quadrotors are programmed to be controlled by a computer code and also the way they interact with the neighbouring agent to build up a structure. The quest for the above mentioned system was started by building up a small Serb car. Then it was tested on a remote controlled helicopter and finally with the quad-rotor itself. The following is a brief summary of the systems we are been researching and developing.
from two wheels...
...to four rotors 27
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Serb (Arduino Controlled Servo Robot) Cars Experiments What they are? SERB (Arduino Controlled Servo Robot) is a prototye that is usually built by beginners in the field of hobby robotics to learn to use a circuit board, motors, and programming. The popularity of these prototypes come from their customizability and simplicity, that allows users to experiment further ideas and design their own cars. How they work? SERB robots consists of two parallel running servo robots which are controlled by an arduino board. Continuous rotation of the servos are programmed to stop at value 90, run full throttle at both 0 and 180 degrees. Because the two servos on SERB are parallel and facing each other, to make a move forward at full speed, while one of the servos programmed to run at 0 degrees, other should be programmed to run at 180, and to move backward vice versa. Programming both servos to 90 makes the car stop. According to this information, to make a turn, depending the time and degree of the turn needed, servos should be programmed to run either to different directions or to same direction with different speeds. Amount of turning speed and degree can only be set to desired value by testing several times. What are the results? Using this information, four different tests are accomplished by SERB cars. We used different principles, and added more gadgets such as proximity sensors, photocells and led lights. With two SERBs we built we learned and tested the basic principles of robotics. Robotic interaction and autonomous behaviour are achieved by the end of these tests.
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Polygonal Movement SERB moves forward for a certain time that is set initially, then stops for a certain time, makes a rotation by turning one of the servos while other stops, and repeats this steps continuously. At the end of the test, two robots move next to each other drawing perfect pentagons. To achieve this geometrically perfect shape, several tests were made by changing duration and speed of forward movements and rotations.
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Time lapse 01, 5 seconds
Time lapse 02, 10 seconds
Time lapse 03, 15 seconds
Time lapse 04, 20 seconds
Time lapse 05, 25 seconds
Time lapse 06, 30 seconds
Circular Movement As the second step the aim is to making a turn while both servos are running. That would enable the car to make a turn instead of a pivot rotation. Both servos run at same direction, with different speeds. Timing is tested over and over again to achieve the perfect circle. Afterwards same code is modified for the other SERB to make a larger circle on counter direction.
Time lapse 01, 5 seconds
Time lapse 02, 10 seconds
Time lapse 03, 15 seconds
Time lapse 04, 20 seconds
Time lapse 05, 25 seconds
Time lapse 06, 30 seconds 31
Avoiding obstacles A new part is mounted on the cars. Infrared distance sensor returns an analogue value, depending on the distance of the obstacle ahead. It can only detect objects between 10 to 80 centimetres. This analogue value is used for speeding up, slowing down and turning for a certain time to avoid the obstacle ahead. Cars are programmed to stop, rotate 120 degrees, start going forward at full speed until another obstacle is detected, when something is detected in 30 centimetres range.
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Time lapse 01, 5 seconds
Time lapse 02, 10 seconds
Time lapse 03, 15 seconds
Time lapse 04, 20 seconds
Time lapse 05, 25 seconds
Time lapse 06, 30 seconds
Following each other As the leading robot has one IR sensor that helps to avoid obstacles, second one that follows is equipped with two IR sensors, one on the front right side and other on the front left. As the first car moves, second car tries to follow it by the values it gets from its distance sensors. If the distance returned from sensor on the left is higher than the one is returned from right, arduino board tells the left servo to speed up to equalize the value. When both sensors detect the other car too close, follower stops. It also speeds up both servos when the leading car is too far, slows down when it is closer.
Time lapse 01, 5 seconds
Time lapse 02, 10 seconds
Time lapse 03, 15 seconds
Time lapse 04, 20 seconds
Time lapse 05, 25 seconds
Time lapse 06, 30 seconds 33
Remote Control Helicopter - Hacking Experiments What it is? This set of work is aiming to gain knowledge over a remote control helicopter toy, using computer and arduino board. Controlling and programming a flying robot enables to have a btter understanding for the further steps of project. Parts used are a RC helicopter with its remote control, and arduino board, and three servos.
heli-hack
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How it is hacked? Remote controls for helicopters usually have two joysticks, one direction mover for taking-off, one altitude control and landing by changing vertical speed, and other that moves to two sides for rotating and rolling. Joysticks have a part inside called potentiometer which controls the signal that is sent in order to the helicopter by changing the resistance on the circuit. When the joystick is moved, then the potentiometer inside moves. In these set of experiments, the potentiometers are the joysticks which are attached to the servos instead. The servoâ&#x20AC;&#x2122;s movements are programmed on computer through an arduino board. What are the achievements? Curves drawn on 3D modelling tool Rhino is divided into its curvature vectors and vectors are mapped to servo steps. Each curvature vector on the curve is simulated by servos steps. Each step makes the potentiometer on remote control rotate thus make the helicopter turn. Basically, the curve seen on the computer screen is defining a trajectory for the physically flying helicopter.
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Heli-hack Programming
Screenshot of interface- helicopter is controlled through Grasshopper for Rhino after
Hacked remote control is attached to three servo motors that move the potentiometers. Servo motors are controlled by arduino, which is recieving commands from computer. To control servos, Rhinoceros plug-in Grasshopper and firefly are used. Firefly enables direct communication with arduino board. Curve drawn in Rhinoceros is analysed and mapped to servo steps by using the Grasshopper.
The new Remote Control - after hacked with servos and arduino 36 36
Heli-hack Flight Tests First flight tests are made indoors. Small size of the helicopter enables to fly indoors, on the other hand, it has the risk of breaking the propellers when it hits the objects around. Fllying outdoors has no risk of hitting its surroundings, but because the helicopter is too small, it easily loses control when it is windy.
Time lapse 01, 0 seconds
Time lapse 02, 5 seconds
Time lapse 03, 15 seconds
Time lapse 04, 20 seconds
Time lapse 05, 30 seconds
Time lapse 06, 35 seconds 37
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This set of tests are made to check if the trajectory of the helicopter is matching the curve on the computer screen. Long exposure images in the dark environment are captured to be able to see the trace of LED lights of the helicopter.
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Heli-hack Tests This set of work is aiming to gain knowledge over a remote control helicopter toy, using computer and arduino board. Controlling and programming a flying robot enables to have a btter understanding for the further steps of project. Parts used are a RC helicopter with its remote control, and arduino board, and three servos.
Outdoor Flying test 01 Rhinoceros curve with vectors (trajectory)
Long exposure image
Outdoor Flying test 02 Rhinoceros curve with vectors (trajectory) 40 40
Long exposure image
Outdoor Flying test 03 Rhinoceros curve with vectors (trajectory)
Long exposure image
Outdoor Flying test 04 Rhinoceros curve with vectors (trajectory)
Long exposure image 41
Quadrocopter Test Flights with AR.Drones What it is? Quadrotors or quadrocopters are four-rotor unmanned aerial vehicles. Four rotors allow the machines to be more agile and powerful comparing to a regular helicopter. In these tests a popular version of quadrotors, AR.Drones are used. These are widely used for video gaming, and usually controlled by a smartphone or tablet pc.
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How is it controlled? At the first stage, controlling quadrotors without being manipulated by a remote control is the key point. A Java-based Processing code is used to program AR.Drones through computer. Rotors are moving the body with four different kinds of movements, which are pitch, yaw, roll and altitude. It also has an automatic stabilization system that balances the height of four rotors by speeding up and slowing down individually. Accelerometer helps the robot to sense if tilted. What is achieved? After simple test flights that were useful for understanding capabilities of the drone, more advanced tasks were given. Using the webcam in front of it, image processing techniques like face detection, colour recognition and augmented reality marker recognition are applied to the image captured. Autonomous flight was manipulated by the image captured by the AR.Drone while flying. Quadrotor is programmed to fly autonomously at a limited height and speed and land when HIRO marker is recognized. Augmented reality marker HIRO is shown to the camera, and Processing code has given the command â&#x20AC;&#x2DC;landâ&#x20AC;&#x2122; to the AR.Drone. 43
AR.Drone Outdoor Flight Various parameters control the quadrotor in order to make choreographies in the air, and defining the structural paths for the construction of the space frame system using threads and biresin.
choreography
QUADrotors
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time 00’00’’
time 00’10’’
time 00’30’’
time 00’45’’
processing based control
processing based control
time 01’10’’
time 01’20’’
time 01’30’’
time 01’45’’ (landing by AR marker recognition)
processing based control
processing based control 45
AR.Drone Indoor Tests Thread weaving.
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time 00’00’’
time 00’30’’ (inbuilt bottom camera view)
time 00’10’’
time 00’40’’ (inbuilt bottom camera view)
time 00’25’’
time 00’55’’ (inbuilt bottom camera view)
time 01’00’’
time 01’10’’ (inbuilt bottom camera view)
time 01’20’’
time 01’20’’ (inbuilt bottom camera view)
time 02’00’’
time 02’00’’ (inbuilt bottom camera view) 47
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Questioning the Space Frame Space frame structures are ‘open frame’, lightweight structures that are charecterized for their potential continuation and flexibility. They concern a large field of the architecture tradition with Buckminster Fuller, Frei Otto and Robert Le Ricolais producing the most representative examples of those structures. In the architecture and engineering world the term ‘space frame’ is commonly used to describe three-dimensional structures that may be either frames or trusses2. The space frame should control the formationo of the full structure not allowing to randomness any kind of strategy. We propose a ‘structure’ as a system. Structures are ‘means’ to construct, means alluding to the word ‘assemble’3. The spatial structures can be divided in non-rigid structures and rigid ones. Tens, cables and pneumatics are light weight structures part of the non-rigid group, working on tension and leaving to the gravity their formation. While shells, folded plates and freeforms are structures working on tension, compression, bending and shearing; their shapes are not defined for the gravitational forces. Responding to the studio’s agenda for a space frame structure we began to explore through digital experimentations a continuous system which is self-structuring. Rethinking the traditional space frame, we question the behaviours embedded in the flight assembly, from local to global level responding to the specified fields of the environment. By questioning the space frame, we question the behaviours embedded in the flight assembly, from local to global level responding to the specified fields of the environment.
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Knot as Intersection The local behaviour of the design process determines the variables of how to control throughout the design process. The kind of connection among the threads, the number of threads per robot, the total amount of robots and the trajectories in local scale. Straight lines, gravitational curves or non-gravitational ones. The sum of all these set ups define the outputs and how is the space frame construction.
local behaviour threadBot
resinBot
robots threads bi-resin These local behaviour is defined by the interaction between the robots and their trajectories, between the threads and the bi-resin. There are two types of robots: the ‘ThreadBot’ and the ‘ResinBot’. The first one carries the threads and the second emmits bi-resin. The process of formation becomes dynamic through the phase change aspect of the bi-resin, which is changing from liquid to solid. Our digital explorations in softimage concern the interaction between 4 and 9 threads towards the creation of knots as intersection with different trajectories: straight, gravitational and nongravitational 51
interaction
phase-changing
CASTING [DYNAMIC]
PROCESS of FORMATION
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Straight trajectories 4 threads
9 threads
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Gravitational curves trajectories 4 threads
9 threads
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Antigravitational curves trajectories 4 threads
9 threads
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Changing the distance between material robot and thread robot Delaying the time of leads to the creation of a catenary curve deposited with material as compared to a straight line if there were not any delay,
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Setting up a field-generation of Environment The digital simulations define the environment of the fight assembly by setting up an initial choreographic configuration for the quadrotors. Specifically, through the digital simulations in Maya, we attempt to define an environment of trajectories as vector field for the movement of the quadrotors and developing upon the analog experimentations to apply the possible influence of the material behaviour on the generation of those trajectories. These trajectories were drawn on configurational lines in a physics engine which allows to enhance some conceptual approach towards a generative potential of a system which is self-structuring. Based on the digital catalogs created in our wokshop we have explored, the design potential of various possibilities of structural concept-paths. By concerning points between interacting planes we have realised that different kind of connections offer various accumulations of lines and different types of trajectories for our robots. We have achieved an extended variety of connections by changing the following variables:
• start point of the connection, top to bottom or bottom to top • subdivisions of the plane • scale of the plane • distance of a plane
The parameter of repulsion in the physics engine is simulating the compression forces that are acting on the gravitational curves. The attractive forces acting outside the material correspond to tension in material. Moreover, the parameter of repulsion, in all the above cases, gives the opportunity for open and closed geometries, developing a branching system with accumulation of trajectories (threads) in specific areas. In our design process those densities allow the structural
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Repulsion By changing the parameter of repulsion in the physicâ&#x20AC;&#x2122;s engine (Maya) we enable the interaction between the threads through various accumulations. We tested two simple configurations: 2D parallel lines (A) and 2D grid (B).
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours A: 2D lines
B: 2D grid
A. step01
step04
St 0.15 Re 0.25 SC 10 CN 1
St 0.15 Re 2 SC 10 CN 1
St 0.15 Re -0.25 SC 10 CN 1
St 0.15 Re -50 SC 10 CN 1
St 0.15 Re 0.25 SC 10 CN 5
St 0.15 Re 1.5 SC 10 CN 5
St 0.15 Re 2 SC 10 CN 5
St 0.15 Re -1 SC 10 CN 5
B. step01
60 60
step03
step02
step03
step02
step04
St 0.15 Re 0.01 SC 10 CN 1
St 0.15 Re 0.25 SC 10 CN 1
St 0.15 Re 5 SC 10 CN 1
St 0.15 Re -0.01 SC 10 CN 1
St 0.15 Re 0.01 SC 10 CN 5
St 0.15 Re 0.25 SC 10 CN 5
St 0.15 Re 5 SC 10 CN 5
St 0.15 Re -0.25 SC 10 CN 5
Rebuild of curves The parameter ‘rebuild’ of the curves defines the accumulation of the trajectories and therefore the density of the threads in specific areas in a similar way that the parameter of ‘repulsion’ does. We explored the potential of this parameter with a 2.5D configuration of parallel lines and 2.5D configuration with parallel grids.
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours B: 2D grid
A: 2D lines A. step01
step03
step02
Rb 4 St 0.15 Re 0.5 SC 10 CN 4
B. step01
Rb 10 St 0.15 Re 0.5 SC 10 CN 4
Rb 20 St 0.15 Re 0.5 SC 10 CN 4
step03
step02
Rb 4 St 0 Re 1 SC 20 CN 4
step04
Rb 10 St 0 Re 1 SC 20 CN 4
Rb 40 St 0.15 Re 0.5 SC 10 CN 4
step04
Rb 20 St 0 Re 1 SC 20 CN 4
Rb 40 St 0 Re 1 SC 20 CN 4
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Start-End point of connection The start-end point of connection plays a crucial role to the process of formation and gives a varying effect on the brancing of the trajectories. There are two main ways of connection: bottom to top ot top to bottom thorughout three combinations.
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours
combination 01
combination 02
St 0 Re 0.5 SC 3 CN 5 Gr 0 62 62
combination 03
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0
Subdivisions of planes The amount of subdivision of the planes define the amount of the connected points and therefore by increasing the number of subdivisions we increase the density of trajectories.
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours
combination 01
combination 02
St 0 Re 0.5 SC 3 CN 5 Gr 0
combination 03
St 0 Re 0.5 SC 3 CN 5 Gr 0
combination 04
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0 63
Distance - Axis X The change of distance of the (middle) plane on X or Y direction cause change on the length of the lines and results to the creation of new more â&#x20AC;&#x2DC;stretchedâ&#x20AC;&#x2122; forms-structural paths in tension.
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours
x = 0.00
x = 0.50
St 0 Re 0.5 SC 3 CN 5 Gr 0 64 64
x = 1.00
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0
Distance - Axis Z In the same way the change of distance on the Z axis causes the creation of vertical stretched forms.
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours
z = -0.50
z = -0.75
St 0 Re 0.5 SC 3 CN 5 Gr 0
z = 0.50
z = 0.00
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0 65
Scale By increasing the scale of the plane we allow to the trajectories to have more clarity of networking.
Rb: rebuild St: stiffness Re: repulsion SC: static cling CN: num. collide neighbours
x0.75
x0.25
St 0 Re 0.5 SC 3 CN 5 Gr 0 66 66
x2.00
x1.50
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0
St 0 Re 0.5 SC 3 CN 5 Gr 0
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Building up a Movement - Choreography The behaviour of space grid structures is analogous to that of flat planes. The analysis of the force distribution is necessary to specify the positions of the nodes, the location and orientation of each member and supporting system. The generation of the environment in our flight assembled system is defined by the structural behaviour of the configuration lines which are connected at nodes. The force distribution is setting up a field or an environment of vetors for the quadrotor (agents) to interact and respond. Using the physics engine and based on the previous explorations, we have tried at a first level to generate some typical structural paths of compression and tension (like a column, span, candeliver) by connecting points of subdivided horizontal planes-grids. The lines were drawn to support an already exiting plane by a set of quadrotors. Specific amount of points are connected between two planes developing a branching system to the top or to the bottom. Finally, we have choosed the system that is developed to the top plane because we realized that it gives us more structural possibilities. Therefore, the digital experimentations continued with increasing the amount of the interacting planes involved in the system, a combination of various planes in different positions, combining at the same time the various typical structural paths. After doing the horizontal plane, we realized that to hold up a plane we would require a large number of quadrotors, so we tried to lift a mesh with minimum amount of quadrotors and tried to support that using the choreography. Finally, in order to achieve a pre-detection of tension and compression zones ad feedback for our system, fewer quadrotor lift up a grid mesh into space. The mesh is a spatial cable nets with tetragonal grid. A spatial cable net is a three-dimensional structure under tensile load, consisting of one-dimensional elements exactly as the space frame. The joint points that are hanged by the robots are suspension point of the various configurations of the cable net. Therefore, a waveshaped structure which is formed is subjected to compression. The surface has a sharp ridge on top which is in tension around the suspended points. The cable nets are subjected in compression, tension and in bending, depending of the position of the suspension points in space.
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01 | Compression path Distribution of forces to one plane in a middle distance (column).
Bottom to top_one middle plane
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02 | Compression path Bottom plane placed to the side of the configuration (cantiliver).
Bottom to top_one side plane
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03 | Compression path Hypothetical distribution of forces to two side planes in smaller scale (span).
Bottom to top_two side planes
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04 | Compression path Hypothetical distribution of forces to one plane in a middle distance (column).
Top to bottom_one middle plane
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05 | Compression path Bottom plane placed to the one side of the configuration (cantiliver).
Top to bottom_one side plane
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06 | Compression path Hypothetical distribution of forces to two side planes in smaller scale (span).
Top to bottom_two side planes
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01 | Tension path Two bottom plane in equidistant with the top plane.
Bottom to top_two side planes
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02 | Tension path Three bottom planes equidistant with the top plane.
Bottom to top_three side planes
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03 | Tension path Four bottom planes equidistant with the top plane.
Bottom to top_four side planes
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Configuration 01_Multiples planes Multiple planes in different distance with the top plane.
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Configuration 02_Soft mesh Multiple planes in different distance connected with the mesh.
From a flat plane
To a soft mesh
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Generation of configuration 02_Soft mesh Multiple planes in different distance connected with the mesh.
Quadrotors lifting up a mesh.
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Generation of trajectories.
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Final result_Structure of configuration 02_Soft mesh
Plan view.
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Perspectives view.
Side view 01.
Side view 02.
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Self Organizing Systems
Self-organization is the current buzz word. As Paul Krugman puts it, thinking about self-organization stimulates you to think about familiar issues in a novel, if not always sensible, ways. 1 In simple words, self-organizing systems2 are those that become structured through interactions internal to the systems without intervention by external directing influences. One of the key features of the system is that they are dynamic and exhibit properties of Emergence - a process by which a system of interactive local units acquire new complex properties at the global level that are not understood or present at the local level, through feedback loops. When one talks of a self-organizing system, in the domain of architecture, the propensities is generally towards an aesthetically potent environment.3 These environments are reactive and adaptive, that is, they respond, converse and adapt its characteristics to the prevailing mode of discourse. Michael Hensel agrees on this notion when he describes that these systems entail self-organization and emergence.4 We envision the system being developed to be based on such environments. It would lead to a hybrid self-organizing system in which the agents would converse 88 88
1 2
respond and adapt to an environment it is situated and there by leading to a structure. It would path driven, in the sense that depends on the input condition. It will similar in this regard to the Colloquy of Mobiles Project by Gordon Pask or the Generator Project of Cedric Price. The main drawback of these projects which we would like to address is the finite number of input conditions or â&#x20AC;&#x153;menusâ&#x20AC;?, as Cedric Price called it. This could be negated if the inputs are directly derived from the context or the surrounding environment, rather than it being inputs of commands. Self-organised structures can be regarded as a kind of computation performed by the interactions of physical particles or agents. We consider the quad- rotor to be like an agent, more in the sense of it being in an intelligent agent. Initially based on the rules of flocking of birds [a self-organising system], the system was made more complex with additive rules. We consider having the following properties will make an agent into a smart agent. The following pages explain the properties which we consider make the agent intelligent. The process is in continuous development, and hence additional qualities would be added to the agent subsequently. 89
Building a Smart Agent
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01 | Response to Neighbours Check for neighbours within close proximity and the ability to repel them. The repulsion factor was a parameter which can be controlled in order to develop different interactions. Proximity Radius | 60 Repulsion Factor | 5
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02 | Movement in a vector field Agent behaviour being controlled based on the values of a vector field. The vector direction is decided for each pixel on the field.
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03 | Performance of a task based on position The agent performs a specified taks depending on the zone it was moving. The zone is decided based on the angle between the standard horizontal vector and the vector of the pixel. Depending on the angle the agent will either attract its nearest neighbours or repel them.
Standard Vector | 1,0,0 Attraction angle with standard and pixel vector | 0 to 180 degrees Repulsion angle with standard and pixel vector | 180 to 360 degrees
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Agent in a Voxel Grid The two dimensional pixel grids were upgraded into a three dimensional voxel grid. In this case, the agent is constantly checking its angle with the Up Vectos (0,0,1) and deciphers whether the zone it is hovering is in tension or compression area. Tension
Compression
The agents, in the compression zone, track its neighbours in short vicinity and try to intersect at points. The attraction force for some amount of time being stronger than the vector direction of the voxel it is in. In the tension zone, it is other way round, with the agents trying to repel and move away from each other. With a few interactions we could see that there where large amount of intersections in the compression zone. We control this behaviour by changing the radius of the proximity search of neighbours.
Up Vector
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Interaction 01 Agent behaviour under different zones of compression and tension.
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Interaction 02 Controlling number of intersection in the compression zone through proximity radius.
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Interaction 03 Agent behaviour under different zones of compression and tension.
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Interaction 04 Agent behaviour under different zones of compression and tension.
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Interaction 05 Building up a frame.
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02 | Setting up the Environment Building up a frame.
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Design Pipe-Line The digital fabrication pipe line begins with the generation of an environment. It is setting up a field of lines, in which the agent would converse and respond. The environment is developed by lifting up a mesh in space, drawing configuration lines to the mesh from the static ground positions. These lines are mapped for compression and tension zones and converted into vectors. This setup would act as the voxel grid in which the agent interacts as explained in the previous section. The interaction of the agents with the environment and amongst themselves produces a space frame. The frame is built up by using the local rules of connections. With the frame simulated on the computer, tracking and breaking down the trajectory of individual agents was done. We realised that the trajectories produced in the simulation where too rugged and needed to be rationalised in order for the quadrotor to have a free flow motion. The following pages explain the sequence of development using different platforms to achieve the results and the subsequent integration. The pipeline development is a work in progress with the individual components built up. The connection of different platforms and the actual control of the quadrotor using a path developed on the computr need to be developed and integrated with the system. 103
01 | Generation of Lines Setting up configurational lines using the hair engine on Maya.
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02 | Setting up the Environment Conversion of configurational lines into to tangential vectors using Rhinoceros Grasshopper plugin.
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03 | Response to the Environment Running the Processing script by breaking up the tangential vectors into a voxel grid.
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04 | Development of Trajectories Rationalising the curves into arches, which act as the trajectories for the quadrotors.
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05 | Rendered Output The sequence of the thread and material depositing quadrotors.
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Endnotes chapter 2
1. BROWNELL, Blaine Erickson.’Transmaterial 1 : a catalog of materials that redefine our physical environment ‘ Princeton Architectural Press, 2006 [p. 14]
chapter 3
2. KELLY, Kevin. ‘Out of Control: The Biology of Machines’ London, Fourth Estate, 1994, p. 331 [p. 26] 3. O’SULIVAN, Dan, and Tom Igoe. ‘Physical Computing: Sensing and Controlling the Physical World with Computers’ Boston, SVP, Thomson Course Technology PTR, 2004, xix [p. 26] 4. BROOKS, Rodney Allen. ‘Flesh and Machines: How Robots will Change Us’ New York, Vintage Books, 2002, p.115W5. O’SULIVAN, Dan, and Tom Igoe. ‘Physical Computing: Sensing and Controlling the Physical World with Computers’ Boston, SVP, Thomson Course Technology PTR, xvii 6. O’SULIVAN, Dan, and Tom Igoe. ‘Physical Computing: Sensing and Controlling the Physical World with Computers’ Boston, SVP, Thomson Course Technology PTR, xvii
chapter 4
7. TIEN T. Lan. ‘Space Frame Structures’ in Handbook of Structural Engineering, Beijing, CRC Press, 2005 [p. 49] 8. CHILTON, John. ‘Space Grid Structures’ Oxford, Architectural Press, 2000
chapter 5
[p. 49]
9. KRUGMAN, Paul. ‘The Self-Organizing Economy’ Cambridge MA: Blackwell Publishers Ltd., 1996, p. 73 [p. 88] 10. CAMAZINE, Scott, Jean-Louis Deneubourg, Nigel R Franks, James Sneyd, Guy Theraulaz, and Eric Bonabeau. ‘Self-Organization in Biological Systems’ Princeton, N.J. : Princeton University Press, 2001, p. 9 [p. 88] 11. PASK, Gordon. ‘A Comment, a Case History, a Plan’ In Cybernetics, Art and Ideas, edited by Jasia Reichardt, 76-99. London, Studio Vista, 1971, p. 77 [p. 88] 12. HENSEL, Michael. ‘Towards Self-Organisational and Multiple-Performance Capacity in Architecture’ Architectural Design, Techniques and Technologies in Morphogenetic Design, March - April 2006 [p. 88]
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Image Credits chapter 0
chapter 1
chapter 5
Dâ&#x20AC;&#x2122;Andrea, Raffaello; Fabio Gramazio; Matthias Allen, Flight Assembled Architecture, 2011, FRAC Centre, Orleans, Accessed on 15 March, 2012 < http://www.idsc.ethz.ch/Research_DAndrea/ fmec> Roberta; The Silkworm Story: A Thread through History, 2008, Accessed on 24 September, 2012 < http://blog.growingwithscience.com/2008/11/the-silkworm-story-a-thread-throughhistory/> Marsteller, Bob; Spider Web Art, 2010,Accessed on 24 September, 2012 < http://www.naturesarts.net/spider.htm>
Azura, Lynn; Ant Bridge, 2009, Accessed on 24 September, 2012 < http://www.flickr.com/photos/bakawali/3518291523/>
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Bibliography Books BROOKS, Rodney Allen. ‘Flesh and Machines: How Robots will Change Us’ New York, Vintage Books, 2002. BROWNELL, Blaine Erickson.’Transmaterial 1 : a catalog of materials that redefine our physical environment ‘ Princeton Architectural Press, 2006. CAMAZINE, Scott, Jean-Louis Deneubourg, Nigel R Franks, James Sneyd, Guy Theraulaz, and Eric Bonabeau. ‘Self-Organization in Biological Systems’ Princeton, N.J. : Princeton University Press, 2001. CHILTON, John. ‘Space Grid Structures’ Oxford, Architectural Press, 2000. KELLY, Kevin. ‘Out of Control: The Biology of Machines’ London, Fourth Estate, 1994 KRUGMAN, Paul. ‘The Self-Organizing Economy’ Cambridge MA: Blackwell Publishers Ltd., 1996. LAN, Tien T. ‘Space Frame Structures’ In Handbook of Structural Engineering, 24.1 - 24.50. Beijing: CRC Press, 2005. O’SULIVAN, Dan, and Tom Igoe. ‘Physical Computing: Sensing and Controlling the Physical World with Computers’ Boston, SVP, Thomson Course Technology PTR, 2004 OTTO, Frei, and Friedrich-Karl Schleyer. ‘Tensile Structures’ Volume 2. Cambridge, Massachusetts: MIT Press, 1969. PASK, Gordon. ‘A Comment, a Case History, a Plan’ In Cybernetics, Art and Ideas, edited by Jasia Reichardt, 76-99. London, Studio Vista, 1971.
Magazines HENSEL, Michael. ‘Towards Self-Organisational and Multiple-Performance Capacity in Architecture’ Architectural Design, Techniques and Technologies in Morphogenetic Design, March - April 2006.
Online Resources ‘Cast definition’, <http://en.wiktionary.org/wiki/cast> ‘Flight Assembled Architecture’, 2011, FRAC Centre, Orleans, consulted on 15 March 2012 < http://www.idsc.ethz.ch/Research_DAndrea/fmec> ‘Flight Assembled Architecture’, 2011-2012, consulted on 26 April 2012 <www.ethz.ch/quadro>
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Making Of
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