M.Arch MRP - Responsive Architecture by Trevor Boyle

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE Project By: Trevor Boyle Chair: Lee-Su Huang Co-Chair: Stephen Belton

A research project presented to The University of Florida Graduate School of Architecture in partial fulfillment of the requirements for the degree of Master of Architecture. University of Florida, 2015

TABLE OF CONTENTS CHAPTER ONE | PRELIMINARY STUDIES 12 1.1 Introduction 14 1.2 Technical Background And Related Material 18 1.3 Literary Relevance Of Kinetics And Form Generation 24 1.4 Precedents In Development 28 CHAPTER TWO | THEORY 40 2.1 Approach 42 2.2 Prototyping Methodology 44 2.3 Measurable Environmental Forces 48 CHAPTER THREE | ANALYSIS 54 3.1 Early Concept Testing 56 3.2 Prototype Series V1 60 3.3 Prototype Series V2 72 3.4 Prototype Series V3 84 3.5 Prototype Series V4 96 CHAPTER FOUR | DEVELOPMENT 108 4.1 Digital Representation & Testing 110 4.2 Form & Structure 114 4.3 Ardunio Coding 118 4.4 Intelligent Integration 120 4.5 Pavilion States 126 CHAPTER FIVE | CONCLUSION 130 5.1 Conclusion 132 ANNOTATED BIBLIOGRAPHY 136

LIST OF FIGURES Fig: 01. Energy Usage by Buildings

Fig: 02. Human Comfort Zone Diagram

http://w1.siemens.com.cn/sustainable-city-en/images/green-buildings-532x299.jpg http://dada.cca.edu/~rmarcial/bes2007/images/bioclimatic_psych.jpg

Fig: 03. Movements of Deformable Building Elements

Fig: 04. Relationships of Control in Responsive Systems

Fig: 05. Examples of Degrees of Motion

Fig: 06. Origami Folding Modules

Fig: 07. Institut du Monde Arabe Operating Diagram

Schumacher, Michael, Oliver Schaeffer, and Michael-Marcus Vogt. MOVE: Architecture in Motion - Dynamic Components and Elements. Basel, Switzerland: Birkhauser Verlag AG, 2010. Sterk, Tristan D'estrée. "Building upon Negroponte: A Hybridized Model of Control Suitable for Responsive Architecture." Automation in Construction: 225-32. (http://www.orambra.com/survey/~ecaade/media/sterkECAADE_03.pdf) Accessed October 5, 2014. Schumacher, Michael, Oliver Schaeffer, and Michael-Marcus Vogt. MOVE: Architecture in Motion - Dynamic Components and Elements. Basel, Switzerland: Birkhauser Verlag AG, 2010. Jackson, Paul. Folding Techniques for Designers: From Sheet to Form. London, UK: Laurence King Pub., 2011. http://2.bp.blogspot.com/-zDRPNbfIVeE/TZkwHHiyGGI/AAAAAAAABFo/6tnEh6yw6cA/s1600/3_2.jpg

Fig: 08. Institut du Monde Arabe Facade Module

Fig: 09. Abu Dhabi Investment Council Headquarters Opening Mechanism

Fig: 10. Abu Dhabi Investment Council Headquarters Facade Constructed

Fig: 11. Aegis Hypo-Surface Form Computation

http://compositesandarchitecture.com/wp-content/uploads/2013/10/New-Headquarters-Al-Bahar-Towers-Abu-DhabiUAE-9-682.jpg http://fluxwurx.com/installation/wp-content/uploads/2011/01/concept02.jpeg

Fig: 12. Aegis Hypo-surface Actuators

http://lab-au.com/mediaruimte/digital_territories/projects/cybernetic/images/aegis-03.jpg

Fig: 13. Aegis Hypo-surface Constructed Segment

http://archiv.ok-centrum.at/download/cyberarts2003/c3_aegishyp1.jpg

Fig: 14. Windshape Construction and Materials

http://c214210.r10.cf3.rackcdn.com/files/projects/24294/images/900:w/nA_WINDSHAPE_DIAG_COMPONENTS.jpg

Fig: 15. Structural Elements of Windshape Pavilion

http://acdn.architizer.com/thumbnails-PRODUCTION/06/bf/06bf4d6572299db4df39f3664deae2bb.jpg

Fig: 16. Overhead View of Umbrellas http://www.sl-rasch.de/projects/umbrellas/p_1114/schirm_12z.jpg

Fig: 17. Occupants under the Umbrellas of the Piazza

http://upload.wikimedia.org/wikipedia/commons/7/7d/Medina_Piazza_Umbrella.jpg

Fig: 18. Active Light Cloud Components

https://m1.behance.net/rendition/modules/51824525/hd/4e8b2661d327501331dcfa33417cf763.jpg

Fig: 19. Programming of the Active Light Cloud

Fig: 20. Varying Levels of Prototypes Fig: 21. Ardunio Board

45 47

Fig: 22. Temperature Sensor

https://m1.behance.net/rendition/modules/51824537/hd/41ef971784b2c191201b6cb80fb64339.jpg

http://www.arduino.cc/en/uploads/Main/ArduinoUno_R3_Front.jpg

https://learn.adafruit.com/system/assets/assets/000/000/470/medium800/temperature_TMP36_LRG.jpg?1396763327

Fig: 23. Light Sensor

https://learn.adafruit.com/system/assets/assets/000/000/449/medium800/light_cds_LRG.jpg?1396763136

Fig: 24. Environmental Force Mapping

Fig: 25. Airflow Direction in Architecture

http://www.mdpi.com/atmosphere/atmosphere-05-00178/article_deploy/html/images/atmosphere-05-00178-g002-1024. png https://aerostudio.files.wordpress.com/2011/02/img_0745ps.jpg

Fig: 26. Noise Levels on Streetscapes

http://ust.is/library/Myndir/Atvinnulif/Hollustuhaettir/Havadakort/Reykjavik%20-%20Lden%20-%201302.jpg

Fig: 27. Light Intensity Arial View

Fig: 28. Percipitation Mapping

Fig: 29. Pedestrian Anaylsis Through Amsterdam

Fig: 30. Planar Kinetic Concept Models Fig: 31. Linear Kinetic Concept Models Fig: 32. Prototype Series Number One Fig: 33. Series v1.01 Fig: 34. Series v1.02 Fig: 35. Series v1.03 Fig: 36. Series v1.04 Fig: 37. Series v1.05 Fig: 38. Series v1.06 Fig: 39. Series v1.07

57 59 60 62 63 64 65 66 67 68

http://www.eurosense.com/documents/graphics/images/your-application/energy-environment-agriculture/800x600_b/ lightmapping2_b.jpg http://www.cpc.ncep.noaa.gov/research_papers/ncep_cpc_atlas/7/fig10.jpg https://brianholmes.files.wordpress.com/2007/04/amsterdam-realtime-image.jpg

Fig: 40. Series v1.08 Fig: 41. Series v1.09 Fig: 42. Series v1.10 Fig: 43. Prototype Series Number Two Fig: 44. Series v2.01 Fig: 45. Series v2.02 Fig: 46. Series v2.03 Fig: 47. Series v2.04 Fig: 48. Series v2.05 Fig: 49. Series v2.06 Fig: 50. Series v2.07 Fig: 51. Series v2.08 Fig: 52. Series v2.09 Fig: 53. Series v2.10 Fig: 54. Prototype Series Number Three Fig: 55. Series v3.01 Fig: 56. Series v3.02 Fig: 57. Series v3.03 Fig: 58. Series v3.04 Fig: 59. Series v3.05 Fig: 60. Series v3.06 Fig: 61. Series v3.07 Fig: 62. Series v3.08 Fig: 63. Series v3.09 Fig: 64. Series v3.10 Fig: 65. Prototype Series Number Four Fig: 66. Series v4.01 Fig: 67. Series v4.02 Fig: 68. Series v4.03 Fig: 69. Series v4.04 Fig: 70. Series v4.05 Fig: 71. Series v4.06 Fig: 72. Series v4.07 Fig: 73. Series v4.08 Fig: 74. Series v4.09 Fig: 75. Series v4.10

69 70 71 72 74 75 76 77 78 79 80 81 82 83 84 86 87 88 89 90 91 92 93 94 95 96 98 99 100 101 102 103 104 105 106 107

Fig: 76. Prototype Models v4.01 and v4.07 Fig: 77. Digital Process of Early Concept Modelling Fig: 78. Rose Diagram of Solar Radiation Levels in Orlando Fig: 79. Top and Front View Indicating Direction and Intensity of Solar Radiation Fig: 80. Hourly Comparision of Physical State Change Fig: 81. Front / Right / Axonometric Comparision Fig: 82. Phase Change of Module Steps From Open to Closed Fig: 83. Dimensioned Construction of Modules Fig: 84. Stand Bending by Module Fig: 85. Arduino Code for Pavilion Model Fig: 86. Input / Output Diagrams Fig: 87. Input / Output Diagrams Fig: 88. Input / Output Diagrams Fig: 89. Front and Top View of Open Pavilion Fig: 90. Interior View With Fully Open Pavilion Fig: 91. Front and Top View of Closed Pavilion Fig: 92. Interior View With Fully Closed Pavilion Fig: 93. Travel Containers and Process Models for Presntation Fig: 94. Possible Enclosure Configurations Fig: 95. Ground-Level Views of Possible Configurations

110 111 112 112 113 114 115 116 117 119 121 123 125 126 127 128 129 133 134 135

ACKNOWLEDGEMENTS I would first like to thank my masters committee who I had the immense pleasure of working with and for being given the opportunity to learn from their experience. I am especially thankful for Professor Huang’s technical experience and unfaltering knowledge in the programmable kinetic division of architecture, as well as Professor Belton’s constant direction and ability to see possibilities in all deliverables. Their guidance and assistance helped shape my process and allowed me to grow as a designer. I would like to extend my thanks to the faculty and staff at the University of Florida and more specifically those who made themselves available to the Orlando CityLab program. I am proud to be associated with this university and thankful for everything that Dr. Frank Bosworth and the others have provided for our small graduating class. And finally, I would like to thank my family and friends who have provided me with support all the years it took to reach this point in my education. I am grateful for my wife’s patience as most of my nights and weekends were occupied with sketches, piles of basswood, and long render queues.

ABSTRACT The designing of space in architectural practice has primarily been considered as a static art form. In the post-industrial era of buildings, mechanical heating and cooling has assisted in the loss of environment forces being a factor for design. A result from this lack of regard has been a standardization of building performance that has held a deficit in its efficiency and interaction with the context it exists in. The average American spends 90% amount of time in buildings according to a 2009 survey by the Environmental Protection Agency1, and yet they have little to no true interaction with them. Buildings are seen as passive, dumb objects that are activated through human occupation. This ideology regards communication in a singular direction, where buildings have little say in their own overall form or spatial arrangement. People are then required to initiate any changes to improve the interior environment or adjust building components to be more efficient. In contrast of the current practices in mainstream architecture, buildings that understand the forces acting upon them and adapt to their surroundings would be more cost effective and efficient. The ability to respond appropriately would be possible through a kinetic structural coordination that has integrated the framework with intelligent electronics and sensors. The project began with a study of the background in kinetic and responsive architecture. The focus is on two separate conditions- architecture’s response to its environment and the physical structure that would allow for a change in stasis. This information was compared to the current methods for creating a comfortable living atmosphere in passive design systems to study how transformative elements accomplish these methods. Precedents in robotics, electronics, kinetic installations, kinetic facades, and responsive systems were referenced and compiled to determine the most successful strategies in integrating intelligent components into buildings. From this variety of concepts, physical scaled prototypes were constructed to test the compatibility of these technologies with a movable framework. The results of this process was the development of a flexible columnar system which responds specifically to temperature and light. This is accomplished by integrating sensors which are read by the Arduino microprocessor to control movement in the architecture through motorized modules. These modules hold together flexible tubes into space trusses which are deformed by the module feeding one side through and increasing a strand’s arc length while maintaining its position on the other strands. When configured into a field condition, these bendable structures with canopies stretched between them create varying spaces which depend on the information that is picked up by the system and used to allow the structure to create homeostasis under its canopy. By using this technology into more of our built environment, we can create a comfortable environment for human occupation with a much reduced demand on mechanical heating and cooling systems.

http://www.epa.gov/greenbuilding/pubs/gbstats.pdf

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CHAPTER ONE | PRELIMINARY STUDIES

CHAPTER

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

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1.1 INTRODUCTION Moving elements are not a recent phenomenon in buildings. Unfortunately in our most recent history they have typically been limited to operable doors and windows in most common cases, and adjustable shading devices in rarer instances. However, the earliest shelters were much more responsive out of necessity for human survival. As our needs have advanced over the timeline of human survival, so has the demand on our structures. The result has been fairly inefficient structures which sit stagnant in an adaptive environment. Developments in the field of robotics and electronics have made it possible for architectural elements to now respond to the stimuli around them and respond accordingly. This practice takes architecture from a passive observer to an active participant in the creation of space conditioned to a specific demand. Architectural designs that integrate intelligent systems into kinetic elements will produce a more resource efficient and adaptable approach towards linking together building morphology and the environment they are built within. As the technological fields has advanced to allow for responsive design, concurrently the evolution of contemporary architectural practice has recent developments in life-cycle design that minimizes the impact of designed environments on natural resources. This is a required evolution because the energy usage in buildings is generated mainly

from burning fossil fuels. This consumption results in not only the depletion of resources about also contributes to thirty eight percent of the nation’s carbon dioxide emissions1 (fig. 01). We can no longer think of these impacts as being local, because diminishing resources is a global problem and this change in attitude has resulted in the sustainability movement2. It is of particular concern to architects because forty percent of all energy consumed worldwide is attributable to buildings3. Specifically, residential and commercial buildings in the United States are responsible for thirty nine percent of the country’s overall energy consumption and sixty eight percent of electricity usage4. The consumption is much larger than necessary because traditional materials and methods for buildings are grossly energy inefficient and as a result make the building industry a large contributor to the drain of natural resources. Buildings are designed to maximize human comfort. Comfort is critical to the happiness and productivity of building occupants and is dependent on temperature, humidity, and air speed5. The typically accepted human comfort level is a small 1 2 3 4 5

http://www.epa.gov http://www.nist.gov/mep/services/sustainability/index.cfm http://www.unep.org http://www.epa.gov http://www.hse.gov.uk/temperature/thermal/explained.htm

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 01. Energy Usage by Buildings http://w1.siemens.com.cn/sustainable-city-en/images/green-buildings-532x299.jpg

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window of temperature and humidity (fig. 02) that often contrasts sharply with the exterior environment. To maintain an acceptable level of human comfort, energy is required to operate HVAC equipment, and the amount of energy needed to maintain this level is proportional to the difference in temperature and the thermal barrier. So, new approaches to design and construction are necessary because of the low energy efficiency of typical construction technology that is only now incorporating new code requirements and materials and equipment technologies to replace older and traditional building methods. The central Florida climate creates a challenge for designers to maintain human comfort because of the hot and humid climate results in a dramatic demand for chilled air to maintain comfort levels in interior spaces for the majority of the year6. These demands can be mitigated by improving the way structures react to their environment and how architects think about building design. This project investigated the use of intelligent components in kinetics and is based on the premise that architectural designs that integrate adaptive and responsive elements to enhance human comfort will produce buildings which do not rely so heavily 6 http://energy.gov/eere/buildings/downloads/buildingamerica-best-practices-series-volume-15-40-whole-house-energy

on mechanically changing air temperature which still creating a comfortable thermal space. The use of kinetics as an integral component of building design will create self-regulating conditions which maintain human comfort levels and dramatically lower energy cost. The goal was the creation of a modular system that would make it possible for these conditions to allow a building form to emerge. The technological advances in electronics are making it possible to utilize the equipment in a manner to create these responsive environments. At this point the question then becomes what about methodology can be employed in integrating intelligent robotics be to modular kinetic building elements and architectural design in order to provide buildings with the ability to make independent decisions based on exterior stimuli.

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 02. Human Comfort Zone Diagram

http://dada.cca.edu/~rmarcial/bes2007/images/bioclimatic_psych.jpg

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1.2 TECHNICAL BACKGROUND AND RELATED MATERIAL 1.2.1 DEFINITIONS & BACKGROUND Technology

robotics [rō-ˈbä-tiks] noun - Technology dealing with the design, construction, and operation of a mechanism guided by automatic controls robot [rō-ˈbät] noun - A machine that can do the work of a person and that works automatically or is controlled by a computer

The overall principles being applied in this project are outside of the normal subjects in architectural design, and so they require a brief description in order to connect them to the discussion in terms of building performance. In this scope, the robotic terminology will be used to describe objects that do not require human force in order to do work. Work will typically be movement via actuators in architectural elements. These should not be mistaken with anthropomorphic objects, although they will have a limited connection to living creatures since they will be fitted with the equivalent of human senses. Sensors in robotics have the ability to see, feel, and sense temperature. These are cabled to rudimentary decision making to allow for a small level of self-sufficiency in movement and though process. Mechanical Principles

kinetics [ki-net-iks] noun - The branch of mechanics, including both dynamics and kinematics, concerned with the study of bodies in motion

kinetic [ki-net-ik] adjective - Pertaining to motion - Caused by motion or characterized by movement

The discussion of dynamic objects is one that requires a base understanding of principles rooted in physics. Kinetics was not originally a topic that was associated within the architectural field, instead its origin is as a subset of one of the oldest and largest categories of physics called classical mechanics. Classical mechanics, also known as Newtonian mechanics, is focused on physical laws that describe the motion of objects which have been acted on by a system of forces1. More specifically within this larger area of study, the branch of kinetics is concerned on external forces and the reactions that these forces have on the moving of physical objects. This term is nearly synonymous with the more commonly used term since the middle of the twentieth century, dynamics2. The specific focus that architectural calculations relay on typically are from a relatable but opposite branch of physics. Most often, buildings are design based on the mechanical principle subdivision that is referred to as statics, in which objects are at 1 http://ocw.mit.edu/courses/physics/8-01sc-physics-iclassical-mechanics-fall-2010/index.htm 2 http://fit.hcmup.edu.vn/~hungnv/teaching/Robotics/ fundamental%20of%20kinematic%20and%20dynamics%20of%20 machines%20and%20mechanisms.pdf

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 03. Movements of Deformable Building Elements

Schumacher, Michael, Oliver Schaeffer, and Michael-Marcus Vogt. MOVE: Architecture in Motion - Dynamic Components and Elements. Basel, Switzerland: Birkhauser Verlag AG, 2010.

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rest when all forces are at equilibrium3. Adaptive & Responsive Architecture

adapt [uh-dapt] verb - To make suitable to requirements or conditions - To adjust oneself to different conditions, environment, etc.

Throughout the body of this project, kinetics will also be used in conjunction with two other terms which have become embraced within areas of architectural design. These lexica are ‘adaptive’ and ‘responsive’. The lines of connection will be drawn between these different classifications, as the art of developing kinetic objects will be in conjunction to more specifically generate a structure which by the nature of its motion is to be both adaptable to demand and responsive to exterior forces. Kinetic design is the underlying thread which ties together these basic principles with sustainable design, robotics, and geometric studies. Kinetics also is the vehicle for expression and brings the theoretical ideas and concepts into the physical environment. respond [ri-spond] verb - Act or behave in reaction to someone or something - The behavior of a living organism that results from an external or internal stimulus.

Even more closely related to the project proposed 3 http://ocw.mit.edu/courses/physics/8-01sc-physics-iclassical-mechanics-fall-2010/index.htm

here is the notion of responsive architecture. This emerging field starts with measuring actual environmental settings to allow buildings to readjust their form, shape, color, or any other characteristic to fit to the conditions (fig. 04). The goal of responsive architecture is to improve the practice of architecture through by integrating the energy performance of buildings with measuring technology such as sensors, control systems, and actuators and allowing these new technological practices to influence the design and style of the buildings to reflect their responsive nature4. Buildings with these systems are unique when compared to the typically constructed forms of architecture because they have integrated intelligent electronic systems into the basic design of a building’s overall parti. By doing so, architects have been given the ability to tie the form of a building directly to function or any other provoking conditions as desired. Responsive architecture measures the actual external conditions by using a series of sensors. This data is processed and is used to provide buildings with the ability to react by adapting their form, profile, hue or characteristics according via actuators. The overlapping principles that define architecture are the creation of spaces that are serviced, structures that include a building envelope, and the needs and 4

http://www.economist.com/node/8312200

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 04. Relationships of Control in Responsive Systems

Sterk, Tristan D'estrée. "Building upon Negroponte: A Hybridized Model of Control Suitable for Responsive Architecture." Automation in Construction: 225-32. (http://www.orambra.com/survey/~ecaade/media/sterkECAADE_03.pdf) Accessed October 5, 2014.

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wants of the occupants to be met. By integrating all three into an intelligent processing system that results in a reactive design5. Responsive architecture is an emerging and evolving field of architecture, with few fully realized and built works with which to develop upon. However, there is a large body of theoretical information and prototypical installations based on a series of principles which can be applied to whole building integration. 1.2.2 PRINCIPLES OF KINETIC DESIGN By definition, kinetic architecture is a concept through which buildings are designed to allow parts of the structure to move. A key factor within this description is that the overall structural integrity cannot be reduced by these actions while responding to the external forces acting on it6. Through the education and training process architects usually design things which fight against moving at all costs as typically a building only moves when it is undergoing structural failure and endangering the lives of its occupants. When purposefully designed, a building’s capacity for motion can be used to enhance its aesthetic qualities, respond to environmental conditions, 5 http://www.orambra.com/survey/~ecaade/media/ sterkECAADE_03.pdf 6 Zuk, pg 11

and perform functions that would be difficult or inefficient for a static structure. The limitations on this capacity in previous applications of kinetic architecture have decreased sharply in recent times because of the advancements that have been made in mechanics, electronics, and robotics. 1.2.3 SIGNIFICANCE OF CONCEPT The significance of this design ideology is its use in the evolving field of adaptive and responsive architecture. The understanding of forces and motion is a key component to the design of architectural mechanisms which embrace these principles. By developing these systems and integrating the advancing technological factor into architectural design, building performance and spatial conditions is easily made more efficient. This efficiency will contribute to the lessening of the stresses and dependencies placed on our limited natural resources. A major component that drives the wasteful consumption of fossil fuels is the common mechanical systems that require a large amount of fuel to overcome an inefficient building design in order to create a comfortable temperature in habitable spaces.

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

1.2.4 THERMAL COMFORT FOR OCCUPANTS The climate zones across the globe vary wildly, and so there is no singular method that will meet all of the unique conditions. For this scope of this investigation, the focus will be on the hot/humid climate regions. The needs within this area are drastically different than those of the other varied environments, artic or arid climates for example. The location of the prototypes will be set in this zone, and so the goals are to maximize thermal comfort as efficiently as possible within this specific needs. Much less heating loads will be required than would be of a concern in a colder climate, and the humidity levels will be a larger factor than would be in a desert area. The factors which would need to be typically meet in order to generate a comfortable interior space are: metabolic rate, clothing insulation, air temperature, mean radiant temperature, operative temperature, air speed, and relative humidity7.For the scope of this project, factors to be responded to by the architecture will be limited in order to simplify the analysis. The factors which are not within control of architecture will not be factored into the design concept. This means that the occupant’s metabolic rate will be ignored, as well as clothing insulation. 7

http://www.hse.gov.uk/temperature/thermal/factors.htm

The basis for calculations will be concentrated on the assumption that the individuals will have an average body temperature and will be wearing seasonally appropriate clothing as not to be an influence in the creation of desirable living spaces. Within this metric, operative temperature is the average of the air temperature and mean radiant temperature. So out of all of the official factors of thermal comfort, this study focuses on the selected aspects which will have the most influences; air temperature and direct solar radiation. The literary review for this study will be divided into specific categories in order to allow for the comparison of similar topics in the discussion. The two main sections will be within the fields of kinetics and form generation.

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1.3 LITERARY RELEVANCE OF KINETICS AND FORM GENERATION The literary review for this study will be divided into specific categories in order to allow for the comparison of similar topics in the discussion. The two main sections will be within the fields of kinetics and form generation.

advancement of these kinetic components, with elevators and roofs which slide open and close5. Others in architecture see the history as a search for the return to shelters with a clear connection to the outside world, and bringing in daylight and fresh air without sacrificing the comfort of the occupant6.

1.3.1 KINETICS

There are multiple stances on the purpose of kinetics within the field of architecture. Some view it as a method for allowing the exterior of a building to respond to the interior and to switch the role of the façade from being an energy barrier to a gatherer of energy7. Some see the idea of kinetics more in line with a programming purpose, allowing a house to flex in size to fit the needs of an individual as one acquires a family and then can be divided off into starter homes for children8. In particular, William Zuk sees the purpose of kinetics in architecture being that of a different enterprise than others. He believes that life itself is based on motion, and not only is adaption in biology as it is in architecture a necessity to grow and evolve, but also important in order to survive9.

The evolution of kinetic ideology in architecture starts with early nomadic tribes. In exploration of the historical trends of building design, linkages have been made between recent deployable architecture and kinetic structures with huts and tents adapted by cultures out of necessity1 2. From these humble and successful beginnings, most acknowledge that there was a lag in the advancement of kinetics for a long period of time, but the concepts were not gone, and flexible and mobile structures were particularly re-visited in the nineteenth and twentieth centuries3. The kinetic vestigial parts which were adapted into modern architecture became integrated through operable doors and windows, and even shading devices such as blinds are operable by the occupant4. As time has moved on, so has the technological 1 2 3 4

Zuk, 1970 Kronenburg, 2007 Clauss, 2002 Kronenburg, 2007

5 6 7 8 9

Zuk, 1970 Fortmeyer and Linn, 2014 Ibid Clauss, 2002 Zuk, 1970

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 05. Examples of Degrees of Motion

Schumacher, Michael, Oliver Schaeffer, and Michael-Marcus Vogt. MOVE: Architecture in Motion - Dynamic Components and Elements. Basel, Switzerland: Birkhauser Verlag AG, 2010.

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1.3.2 FORM GENESIS

create complex forms14. These tessellated patterns not only give the ability for the creation of easily constructed modules, but the natural curves in the repetition of folded triangular forms increases the strength simply through geometry15.

In general, architecture’s end result is the creation of a specific form through space making. With responsive designs, there is the possibility for multiple forms that change based on the demands placed on it. And so, form generation requires a different direction than typically used. A recommendation in moving objects is to make them easy to handle by a person, so having a modular pattern with smaller and simpler parts is recommended10 11. This module often results in a tiling pattern. With a technique that was widely used primarily in early Islamic tile patterning, tessellations are a key instrument in the creation of a modular system12. The basic tessellations are constructed with single repeating shapes, in the basic ‘regular’ tessellations they are either equilateral triangles, squares, or hexagons13. In the creation of more complex patterns, symmetry is a guiding force (fig. 06). This allows the designer to take any pattern and allow it to become form. This is through either repeating the module in a line, mirroring along a line, repeating around a single point, or repeating the pattern in any direction to

As mentioned previously, kinetics has been rooted within biology and biomimicry in the search for efficient inspiration in motion. This is because the designer is typically allowing the final form to evolve out from a process rather than arrive at a specific, pre-determined shape. In organisms, the form affects its behavior in the environment, and a change in the environment would result in a different form or behavior16 17. This change is a desire to reach homoeostasis, in organisms they continuously modify their structures or behaviors to make use of available energy, but in buildings we rely on using large amounts of energy to force heating or cooling throughout the spaces18. The overall objective is then creating buildings which act like organisms, and joining together function and structure with controls dictated by the demands of homoeostasis. Responsive systems often act in a similar manner to

10 Schumacher, 2010 11 “Actuated Tensegrity Structures.” ORAMBRA - Actuated Tensegrity Structures. Accessed October 3, 2014. 12 Gjerde, 2009 13 Ibid

14 Jackson, 2011 15 Ibid 16 Weinstock, 2010 17 Moussavi and Lopez, 2009 18 Pawlyn, 2011

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

biological organization, where cell’s act as the module and their interaction with their neighbors produce the morphological complexity19. It is the creation of this base unit that allows for a versatile and varying form that does not result in a predetermined system20. 19 Weinstock, 2010 20 Moussavi and Lopez, 2009

Fig: 06. Origami Folding Modules

Jackson, Paul. Folding Techniques for Designers: From Sheet to Form. London, UK: Laurence King Pub., 2011.

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1.4 PRECEDENTS IN DEVELOPMENT INSTITUTE du MONDE ARABE Jean Nouvel A reoccurring theme in Jean Nouvel’s work is his attention to detail, and this is definitely evident in his meticulously constructed facade for the Institut du Monde Arabe in Paris. In addition to the cultural symbolism and modern style in this building, the façade is an early example of a responsive mechanical skin. The kinetic feature stems from a series of hundreds of operable openings expertly aligned in metal panels along the face of the building. Individually, these apertures open and close in response to the amount of light that enters the building. It is a success in the combination of historical precedence to new technology and the control of interior spaces through a change of states. The problem with this particular system is that each panel is extremely complicated in its construction and as a result it is very expensive to maintain. The apertures are not operating currently because of the high cost to fix them. As beautiful and symbolic as the façade for the Institut du Monde Arabe is, there are simpler systems which could cause a more extreme difference in the opening and closing amount and with less moving parts to be replaced or fail1. 1 Yu, Mayine. Skins, Envelopes, and Enclosures: Concepts for Designing Building Exteriors. New York, NY: Routledge, 2014 (pg 6-27, 6-29.

Fig: 07. Institut du Monde Arabe Operating Diagram

http://2.bp.blogspot.com/-zDRPNbfIVeE/TZkwHHiyGGI/AAAAAAAABFo/6tnEh6yw6cA/ s1600/3_2.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 08. Institut du Monde Arabe Facade Module

Schumacher, Michael, Oliver Schaeffer, and Michael-Marcus Vogt. MOVE: Architecture in Motion - Dynamic Components and Elements. Basel, Switzerland: Birkhauser Verlag AG, 2010.

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ABU DHABI INVESTMENT COUNCIL HEADQUARTERS Aedas The Abu Dhabi Investment Council Headquarters show the strength in the ideology of kinetics through geometric tessellation. The majority of the exposed glass façade is protected by a geometric shading device. The dynamic skin system covers all but the northern face of the building, and is constructed as a series of tessellated panes. These triangular panels individually open and close, and this is done in reaction to the sun’s path moving across the building. They respond to the light, and reduced the amount of solar energy that pierces through to the interior spaces. The predicted energy savings with this modular system is reported to be twenty to twenty-five percent. While being a successful representative of the technology advancements in double skin systems, it is also tied into historical and cultural precedence and inclined towards biomimicry. This innovative and effective design shows how traditional Arabic architecture can be translated and have its principles applied to new products which are influenced by but do not directly duplicate the original techniques1. 1

Fortmeyer pg 176-183

Fig: 09. Abu Dhabi Investment Council Headquarters Opening Mechanism

http://www.aedas.com/Content/images/pageimages/ADIC-Responsive-Facade-Abu-Dhabi-UAEResearch-3.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 10. Abu Dhabi Investment Council Headquarters Facade Constructed

http://compositesandarchitecture.com/wp-content/uploads/2013/10/New-Headquarters-Al-Bahar-Towers-Abu-Dhabi-UAE-9-682.jpg

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AEGIS HYPO-SURFACE Mark Goulthorpe & dECOi The Aegis was designed as an art installation for the Hippodrome Theater in Birmingham. Focused not on the final determined aspect of form, the designers of the surface were more determined to set limits from which the form could generate itself. The terminology adopted for these two processes are autoplastic which is a pre-determined or fixed design, and alloplastic which is an open design where the object has a reciprocated relationship with its surroundings. The surface is interactive in the aspect that the pneumatic pistons are able to drive the segmented skin in response to movement, sound, temperature, and light captured from a series of active and passive sensors. Although it is purely an interactive artistic element at this stage, the Aegis Hypo-surface is a successful test of the intelligent and responsive technological systems which can allow for a form change based on surrounding conditions. Besides being an interesting and amusing piece, Aegis does not provide for much benefit as a responsive surface, but it is valuable in its exploration for a new tectonic language made possible by an electronic setting and the integration of these new technologies into our built environment1.

Fig: 11. Aegis Hypo-Surface Form Computation

http://fluxwurx.com/installation/wp-content/uploads/2011/01/concept02.jpeg 1

http://www.generativeart.com/on/cic/99/2999.htm

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 12. Aegis Hypo-surface Actuators

http://lab-au.com/mediaruimte/digital_territories/projects/cybernetic/images/aegis-03.jpg

Fig: 13. Aegis Hypo-surface Constructed Segment http://archiv.ok-centrum.at/download/cyberarts2003/c3_aegishyp1.jpg

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WINDSHAPE PAVILION nARCHITECTS Wind is an important element of the natural environment. At mild speeds it has the power to cool and push fresh air through a space, while at higher velocities it can cause major damage to structures. A structure specifically designed to react to these forces in a passive manner is the Windshape pavilion designed and built by nARCHITECTS. As a light tensional structure, it sways in the wind and the variation of movement can be calculated by the density and degree of tension in the strings connecting the vertical elements. The overall shape is determined by the wind, and doors through the system are created by pinching and lifting the string elements. Although the structure is not integrated with an intelligent system that controls its movement, it is a successful precedent in its ability to respond to environmental forces. It is similar in this way to Theo Jansen’s Standbeests. Windshape’s passive nature illustrates how system can react to environmental forces, but there is still a layer of information that is needed in order to create a more fully actualized system1. 1

http://narchitects.com/work/windshape-2/

Fig: 14. Windshape Construction and Materials

http://c214210.r10.cf3.rackcdn.com/files/projects/24294/images/900:w/nA_WINDSHAPE_DIAG_ COMPONENTS.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 15. Structural Elements of Windshape Pavilion

http://acdn.architizer.com/thumbnails-PRODUCTION/06/bf/06bf4d6572299db4df39f3664deae2bb.jpg

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THE PIAZZA OF THE PROPHET’S HOLY MOSQUE Mahmoud Bodo Rasch SL Rasch is an architecture firm named after Mahmoud Bodo Rasch. The German company focuses on unique building typology and lightweight assemblies. They designed foldable umbrellas in the holy site of Medina. More than 250 umbrellas powered by hydraulics were installed to protect millions of pilgrims who travel to the Great Mosque of Medina. The umbrellas cool the area beneath their large spanning canopy. The inventive lightweight frames where made possible by first investigating the structural integrity through physical modelling and testing, and then digitally creating the structures and running them through a structural analysis code. The desired outcome was a shape that would maximize the lifespan of the canopies under the harsh environmental conditions they would be exposed to1.

http://www.sl-rasch.com/p_1114.html

Fig: 16. Overhead View of Umbrellas

http://www.sl-rasch.de/projects/umbrellas/p_1114/schirm_12z.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 17. Occupants under the Umbrellas of the Piazza

http://upload.wikimedia.org/wikipedia/commons/7/7d/Medina_Piazza_Umbrella.jpg

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ACTIVE LIGHT CLOUD GFRY 2009 Studio The Active Light Cloud is a student project which was built to expand the interaction that people have with the environments they live in through lighting control. Visual sensors were used to track the movement of people through a space and allow for the system to be able to adjust the lighting amounts to the occupant’s needs. Changes can be made throughout a space from the system reading an occupant’s gesture. The goal of the project is to eventually replace the typical light switch by integrating the gestures and small movements of the occupant to control the lighting of the immediate vicinity. In the same way that the increasing use of simple motion sensors are reducing the energy consumption of buildings by eliminating unnecessary lighting, so will this technology at a much more integrated scale1. 1

http://gfry09.blogspot.com/

Fig: 18. Active Light Cloud Components

https://m1.behance.net/rendition/modules/51824525/hd/4e8b2661d327501331dcfa3341 7cf763.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 19. Programming of the Active Light Cloud

https://m1.behance.net/rendition/modules/51824537/hd/41ef971784b2c191201b6cb80fb64339.jpg

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CHAPTER TWO | THEORY

CHAPTER

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

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2.1 APPROACH Because this project is based on the development of simple mechanics and intelligent systems, the approach is one that requires a high degree of iteration and testing of detailing and individual components. Due to the changing nature of dynamic forms, less focus will be directly placed on the result of a specific building form and more on the forces and adaptions that create specific forms. Form can then become dependent on the forces placed on the structure and the building’s reaction. The process used to determine these responses in relation to this project can be broken down into categories based on the methodology behind it. For this process the linear sequence is background, concept testing, component testing, digital prototyping, physical prototyping, and data analysis. 2.1.1 BACKGROUND The gateway for this project was an exploration into the background in order to lay a foundation for intelligent mechanical systems in architecture. As this is not a completely novel concept, there is an established history of pioneers who have performed similar experiments and published the results. The study of relevant examples provides for an understanding of what type of systems work the most efficiently. From this, an extraction of the best processes can be performed and catalogued. This

summation of tested techniques can then be applied to towards developing a system which will allow these key concepts to be embodied in a single project to achieve a specific goal. As the requirements for a movable structure are unique, this involved research outside of what can be considered typical building construction. The goal with this step was to discover in structural terms how robotics and intelligent engineering are already developing these systems. 2.1.2 CONCEPT TESTING A proof of concept is required to translate an understanding of the basic principles that informed other’s progression into working modules. This requires the stripping of any extraneous parts and determining the base characteristics which can be developed. This is a formation of a structural language which is not necessarily one associated with architecture at this stage. For kinetic skin systems, a testing method can be derived from origami. It can simulate in simple terms an entire system that can be made of more complex parts. This study is secondary to the structural testing of movable systems which are still able to stand and absorb forces while allowing for freedom of movement when desired. The folding planes provide inspiration for canopies which can be stretched across this framework to create space.

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

2.1.3 DIGITAL PROTOTYPING Once the individual module is tested and works as designed, this can be modelled into software to create a digital representation and used to create the full system. The final result from this would be a full concept for a pavilion design that integrates the kinetic system. Rather than expending unnecessary resources early in the design phase to create a field of responsive modules, tests can be accomplished in a digital environment to simulate how the entirety of the design across multiple iterations. Finally, the digital model is tested through energy software to maximize the efficiency. 2.1.4 PHYSICAL PROTOTYPING Developed concurrently with the digital models, physical prototyping of the full system is completely necessary. Testing how the system works overall and ensuring that is actually does work as designed. This will uncover restrictions that cannot be found in a digital model where things like materiality and gravity are not necessarily limitations. This also allows for the programming of the actual intelligent system which controls the theoretical structural elements. By testing all components, omissions and errors in the logical framework which would control the pavilion can be eliminated early in the analysis.

Physical prototypes are able to accomplish this by becoming affixed with sensors to test if they are operating as they were designed to in a specified environment.

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2.2 PROTOTYPING METHODOLOGY 2.2.1 FORM GENESIS PROTOTYPING - First Generation (Paper Models) This process is an initial spatial and tectonic form finding exploration. It involves a study of multiple types of systems, and testing on the transformational qualities of each system. Part of this study is a collection of folded planes using origami art techniques. These will not be focused on material qualities or programming needs at this point. - Second Generation (Material Models) From the previous series, successful techniques will be further explored. Materiality and connections are explored to test each concept’s feasibility in a built condition. They test previously developed methods with new parameters in terms of real structuralism and materiality. - Third Generation (Digital Models) At this point in the process, the prototypical systems are modeled digitally and then analyzed for their efficiency in state changes and responsive ability to needs and demands of the human comfort protocols. The most beneficial solutions are integrated with electronic systems in order to drive and control the changes. These will be adaptive and responsive segments of a full system. - Fourth Generation (Intelligent Models)

After running the data for the digital models and based on the earlier constructional methods of the prototypes, final models are developed. These are a scaled down version from the single module prototypes, as they are indicative of the full pavilion system as how it functions. These models can be used with testing and post-occupancy style of data collection, such as temperature, humidity, and light levels. 2.2.2 INTELLIGENT SYSTEMS The base on which the intelligent side of the responsive system is made possible due to the Arduino system. Arduino is an open-source computing platform that is based on a simple microcontroller and a language for writing software to control the board. It is commonly used to create interactive objects which can take inputs from sensors and output this information. This system is similar to other types of boards, Arduino was recommended and selected due to its low cost and easy programming language that still allows for the flexibility needed in this project.1

http://arduino.cc/en/Guide/Introduction

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 20. Varying Levels of Prototypes

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2.2.3 HARDWARE - Main Board Complex kinetic systems can be controlled by material properties, or by mechanical systems. If there are simple electronic systems, something has to run programs which are able to cause reactions based from input being received. The brain which controls the over system in this project is the Arduino Uno2 (fig.21). - Input / Sensors To produce the desired results, there are a few systems which are required so that the building can adapt to its environment. Just as biological creatures have sensory organs to interoperate its environment, intelligent electronic systems need to be able to receive exterior data and translate it into useful information in which to base decisions on. For this system, the kinetic devices will be outfitted with sensors that can recognize temperature and light. The temperature sensors used are the LM35 series (fig. 22). These use solid-state techniques to measure temperature, which uses the fact that as temperature increases, voltage across a diode increases at a known rate. By amplifying the voltage charge, these sensors can generate an analog signal that is directly 2

http://arduino.cc/en/Main/ArduinoBoardUno

proportional to temperature. Because these sensors have no moving parts, they are precise, don’t wear out, and are inexpensive and simple to use.3 The light sensors used are the basic analog photocell (fig.23). Because of their simple design they are compact, comsume very little power, and do not have to be replaced often. Photocells are resistors that work by changing their resistance levels based on the amount of light to which the top of the photocell is exposed.4 - Output / Actuators The final piece of mechanical kinetic systems is the tools which actually generation the translational forces. The base unit is the simple stepper motor. This can create rotational forces, which can be transferred into directional forces with the proper mechanical system.5 Additionally, there are fluid pumps which are compatible with the system. These can be used to mimic the peristaltic forces in plants and create forces with a more hydraulic motion. This reduces the number of mechanical parts, but does run the risk of leaks with this system.6

3 4 5 6

https://learn.adafruit.com/tmp36-temperature-sensor https://learn.adafruit.com/photocells http://www.adafruit.com/products/858 http://www.adafruit.com/products/1150

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 22. Temperature Sensor

https://learn.adafruit.com/system/assets/assets/000/000/470/medium800/temperature_TMP36_LRG. jpg?1396763327

Fig: 21. Ardunio Board

http://www.arduino.cc/en/uploads/Main/ArduinoUno_R3_Front.jpg

Fig: 23. Light Sensor

https://learn.adafruit.com/system/assets/assets/000/000/449/ medium800/light_cds_LRG.jpg?1396763136

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2.3 MEASURABLE ENVIRONMENTAL FORCES As the purpose of this research is the development of architect that responds to its environment, a few key factors must be investigated. Defining what constitutes the environment is necessary before being able to react to it. 2.3.1 THERMAL A typical quantitative force that is considered when defining the environment is temperature. This is a force that is directly and commonly measurable. For greater levels of precision, how this temperature is experienced can be determined by measuring both wet bulb and dry bulb. The actual temperature is typically associated with comfort levels, which include humidity and airspeed, but these are separate aspects of the overall environment and typically acting independently of each other. Most commonly, the thermal levels are directly controlled by the amount of direct solar exposure in the given area. In order to either access the energy contained in this force or to deflect it, the strength and directionality is easily able to map and calculate. The practice of measuring this data through the material properties of mercury is a common tool developed in the 1700’s. The digital measurement of both air temperature and solar intensity allows for structures which can take these forces into account in their design.

Fig: 24. Environmental Force Mapping

http://www.mdpi.com/atmosphere/atmosphere-05-00178/article_deploy/html/images/atmosphere05-00178-g002-1024.png

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

2.3.2 AIR SPEED & DIRECTION Another easily quantifiable environmental factor is the movement of air. At times its forces can be almost non-existent, and quickly can rise to highly destructive levels. Although it is not easily predicted due to the volatile and ever-changing nature of natural forces, it can easily be measured. The most simple measurement devices are those which are able to rotate to make visible the direction of air, or devices such as the windsock which can indicate both direction and speed. These are still used around airports. These are simple flexible machines that are able to translate information via their level of transformation. In architecture, there can be skin systems or elements which move to either deflect or absorb the more destructive levels of architecture, or can take advantage of the natural breezes to ventilate interior spaces. The measurable aspect of these moving particles can be translated also into data by sensors assigned to electronic systems, and from there can be converted to controllable information that can be used in intelligent systems to control physical changes in architecture.

Fig: 25. Airflow Direction in Architecture

https://aerostudio.files.wordpress.com/2011/02/img_0745ps.jpg

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2.3.3 NOISE The noise levels within an environment are direct forces. Many architects neglect these forces, and spaces suffer the consequences of poor quality spaces. OSHA has regulations on noise levels in workplaces deemed dangerous for human occupancy for extended periods of time. Excess noise is undesirable, and spaces which manipulate the waves to its advantage are sought after. Acoustics is a science of its own, but the measurement and collection of noise levels is easily accessible in a digital format, and can be used to influence the space around it to create a desired spatial condition.

Fig: 26. Noise Levels on Streetscapes

http://ust.is/library/Myndir/Atvinnulif/Hollustuhaettir/Havadakort/Reykjavik%20-%20Lden%20-%20 1302.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

2.3.4 LIGHT The topic of light is typically addressed in two ways in architecture. The first is daylight, which originates from external sources and can either be utilized to the advantage of energy efficiency or ignored and create high consumption loads for either cooling to account for solar gains inside the building or for additional light fixtures and the complementary heat gain that follows. Light is another measureable force, but in a digital format it is usually in terms of either ‘light’ or ‘dark’. This binary data can be useful in allowing structures to respond to light levels, many times this is in a shading device on an auxiliary system or developed into the architecture.

Fig: 27. Light Intensity Arial View

http://www.eurosense.com/documents/graphics/images/your-application/energy-environmentagriculture/800x600_b/lightmapping2_b.jpg

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2.3.5 MOISTURE Moisture is experienced in the environment in two primary ways. The first is as levels of humidity in the atmosphere. These levels are directly detectable by the same sensors that read temperature. This is useful because typically the two are important to measure together to determine the comfort level for inhabitants. The second environmental force is the more massive quantity of moisture, water. The usual effects of this as a force is experienced through rainfall. Moisture is able to be recognized because of its ability to complete a circuit if put into contact with the right electronics, but rainfall as a system of moisture is measured constantly across the globe and its average or daily levels are accessible through databases. As one primary goal of architecture is to shelter its occupants from rain and other adverse environmental conditions, a structure should be able to be imbued with the power to adjust itself to account for rainfall.

Fig: 28. Percipitation Mapping

http://www.cpc.ncep.noaa.gov/research_papers/ncep_cpc_atlas/7/fig10.jpg

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

2.3.6 ACTIVITY Activity is much of an environmental force as heat and wind. These forces can be tracked through movement in the area, especially seen as circulation paths and the amount of people occupying the space. While activity can be seen and thought as types of varying intensity, such as sitting as opposed to playing sports, most measurements of activity are more concerned with movement through the space and less on the particular function. Motion sensors can pick up these kinds of forces, and although it may not track a path through a space, such electronics can at least decipher between ‘no movement’ and ‘movement’. Direct observation is currently the primary way to understand and chart out circulation as well as specific activity types within a space. This binary information can be translated to architecture that moves and flows with activity levels to allow for expansion and contraction of space on an as-needed basis.

Fig: 29. Pedestrian Anaylsis Through Amsterdam

https://brianholmes.files.wordpress.com/2007/04/amsterdam-realtime-image.jpg

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CHAPTER THREE | ANALYSIS

CHAPTER

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

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3.1 EARLY CONCEPT TESTING 3.1.1 Paper Models Initial tests broke down the two primary components in movable and flexible architecture, which are the skin system and the structural framework. The first phase was investigating how solid planar elements could bend and fold in specific ways to act in predetermined mannerisms. This exploration called for a look at the methodology of rigid movements. By scoring and folding lines into a sheet of paper, rigid edges and points of rotation where created easily and rapidly across the surface. By studying how each individual joint affects the others across the entire system, a base concept for a modular folding joint can be further developed in a larger scale. Different conditions are easily created by slight differences in the way that elements move in relation to the ones neighboring them, and this distinction is critical in the design process of modular kinetic ele-ments.

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 30. Planar Kinetic Concept Models

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3.1.2 Framing Models After running tests on how a system can work as a planar element, these joint conditions were brought up in scale and tested as structure members. Rather than working with flexible strands at the beginning, the first iteration of the structural frames relied on rigid linear elements with flexible joints to allow for transformation and deformation. The movement required translation of horizontal length into vertical length by moving the joints closer together. These fairly simple constructs are easily able to be repeated and joined into a field condition which creates a large difference in dimension as the number of modules are increase. The problem which arrives from this method, however, is the creation of many joints where different elements have to come together. These joints are weak spots where collapse can happen, or can be easily worn have to be replaced often in order for the system to function as designed. Due to the inherent problems in rigid framework, the study moved on to investigating flexible rods as preferred method of constructing movable structures. These provided the same level of transfor-mation and eliminated the majority of joints in between individual elements for a simplified and more sustainable system.

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 31. Linear Kinetic Concept Models

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3.2 PROTOTYPE SERIES v1 The first concept testing prototypes were based on a simple track method for controlling the direction of forces. They are built as to be a section of the final overall pavilion system. By limited the effective direction to a prescribed and standard linearity, the scaled models are able to illustrate changes that can be made by varying the force at key nodes along the sectional system. The materials used in the creation of the first series are flexible wooden linear elements for structure and paper for the canopy.

Fig: 32. Prototype Series Number One

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

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3.1.1 Prototype v1.01 The linear elements of the first model are attached to alternating nodes which run through the tracks. By increasing the force on different bands, the structure flexes and the gaps between them increases and changes form. The canopy are bands of material that fit within the structural elements.

Fig: 33. Series v1.01

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.1.2 Prototype v1.02 The defining nature of this physical model is its vertical design. Space is made by taking the strands and pushing the bases in different directions. The arches are defined by the distance between each node, and the overall effect of adjusting this parameter is a change in the wave form of the vertical plane.

Fig: 34. Series v1.02

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3.1.3 Prototype v1.03 With a much more regular framework, the third version offers a much more regulated transformation. Without any separated elements to flex away from each other, the whole system moves in a singular format and the force is absorbed as a whole. The framework provides for a regular support on which to attach a canopy, but is limited in the dynamic movements which can be achieved through the design.

Fig: 35. Series v1.03

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.1.4 Prototype v1.04 As a secondary vertical model, the space-making elements in the first version four are much more rigidly defined as a spline with control points along the tracks. The structure and canopy are constructed in a woven pattern, and their strength limits the amount of secondary spaces created along the planar system. This concept functions primarily as a whole element with little individual control given to each track.

Fig: 36. Series v1.04

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3.1.5 Prototype v1.05 As a system with little bracing in the perpendicular direction, the next prototype had a high degree of flexibility with little control over the way the deformation occurs after applying force in a particular direction. By weaving planar elements in between the linear elements, a slight amount of control can be created by moving these connectors along the strands towards a desired outcome. This requires a non-fixed connection between all elements except for the bases of strands where they meet the base.

Fig: 37. Series v1.05

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.1.6 Prototype v1.06 A distinctive characteristic which separates the sixth model from earlier versions is the development of individual components which have little to no control over each other but can still work in unison towards a common goal. Each canopy is attached to its own structure on its own track, and can absorb directional force to create gaps in between each arch. These gaps can control the amount of light which passed through an otherwise fairly cohesive overhead condition.

Fig: 38. Series v1.06

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3.1.7 Prototype v1.07 The start of the bundled strands motif begins with the seventh version of the models. This study looked at how the individual elements changed and moved as they were flexed as a whole. The only connection between the strands exist at the nodes which attach them to the base. Which each arm moves mostly independent from the other, there are still residual forces which are carried across the units. The structural integrity of the system is increased by the joining of these strands into a cohesive entity but still allowing them to function independently.

Fig: 39. Series v1.07

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.1.8 Prototype v1.08 The eighth version is a translation of the previous model typology of bundled strands. In this model, however, the forces act in a perpendicular direction and the bundle is spread across a larger amount of strands with their own bases. By created a multitude of this module with varying directional characteristics, a highly dynamic flexible model can be created and then affixed with a skin system that would create space without limiting the movement of the strands.

Fig: 40. Series v1.08

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3.1.9 Prototype v1.09 Rather than clumping individual strands together and letting them behave on their own terms, the ninth version of the models creates a more rigid connection and framework to hold these strands. By increasing the density of the strands, they can begin to create their own canopy system, which then flexes and bends in different directions to create gaps and operable openings in the now planar condition.

Fig: 41. Series v1.09

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.1.10 Prototype v1.10 The final model employs a combination of different techniques tested independently in previous iterations of the first series. The combating vertically and horizontally running elements limit the freedom of the design, and in turn the structure as a whole is more solid and can absorb force with much less deformation in the system. The nodes control a limited amount of movement along the sides, some of which is transferred to the overhead condition.

Fig: 42. Series v1.10

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3.3 PROTOTYPE SERIES v2 The second series of concept testing models introduced new materials and form-finding techniques. While the first iterations relied primarily on track systems to direct and control forces in which to study its effects on the flexible form, the second pass adapts more free-form techniques which require tensile control in the creation of arching forms. The skin system begins to become a more independent entity which is joined to the structure at determined points and is not entirely restricted to the form of the flexible strands. New interactions are created in between the planar and linear elements. The materials used in the creation of the second series are a combination of the flexible wooden linear elements used in the first iterations for structure as well as varying thicknesses of piano wire and the continuation of paper for the canopy.

Fig: 43. Prototype Series Number Two

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3.2.1 Prototype v2.01 The first model of the second series is based on the idea of a structural spine that holds perpendicular bars. The rigid elements are connected by a flexible beam, and are able to move independent of the neighboring bars. Stability is re-enforced by woven planar strips on either side which bridge the ribs and distribute the forces along each of the rigid parts of the structure.

Fig: 44. Series v2.01

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.2.2 Prototype v2.02 Pushing the boundaries of the upper limits of the scale that wooden linear elements can be in order to bend without breaking, the model utilizes larger structural elements and the base holds these pieces in a place as the structure pushes against it. This action holds the structure in place, and is wrapped by and affixed at key points to a folding skin system which moves along with the bent structural elements.

Fig: 45. Series v2.02

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3.2.3 Prototype v2.03 Another free-movement bar system, this model works as a compressive and expansive concept in addition to the flexible spinal column technique. The x-bracing wire allows for the supports to slide down the bar, reducing the distance between each rigid element and then expanding out once the forces are reversed. It is similarly being constantly compressed by the base in order to keep its form and place.

Fig: 46. Series v2.03

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.2.4 Prototype v2.04 Developed as a movable structure, the flexible structural elements are not fixed to the base, but can be moved around and push against the base at pre-determined locations. As each of the larger strands are moved, the flexible planar canopy and overall form of the model shift in response and it is able to be constantly changing as desired.

Fig: 47. Series v2.04

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3.2.5 Prototype v2.05 The dominate factor in the fifth version of the second iteration is the form-generating idea of nodes connecting strands. These connector pieces are able to slide along the strands, and as they clump together or spread apart the form and structure of the model change dependent on their placement and spacing. The structure is fixed to the base at specific points, but instead of relying on the connection to the base to move, the structure does so on its own.

Fig: 48. Series v2.05

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.2.6 Prototype v2.06 The sixth version of the prototype models introduces a gridded base as a concept. Strand bundles are brought back, and are held in place by vertical posts which are driven into the grid and are movable on demand. Because of the adjustable nature of the structure, the canopy system is allowed to be more free-flowing and only attaches to the structure at the ends of the strand bundles.

Fig: 49. Series v2.06

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3.2.7 Prototype v2.07 Contrasting previous flexible spine techniques in models of series two, the rigid bars are not secured into the base and placed in tension. They are flexed into position, and now the wire connecting them acts to secure them instead of hold them in place. This frame becomes a cradle for another free-folding planar system that is able to move freely from the structure as they shift in position which affects the form.

Fig: 50. Series v2.07

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.2.8 Prototype v2.08 Utilizing the gridded base system, the eighth model in the series is a completely free form system that is determined by the placement of the structures on the base. It is based on the bundled strands concept as others have been, but the arches are placed in tension by their location, and form is made by overlapping arches in pre-determined methods. Ends of the strands are allowed to be held down by other arches and a dynamic woven structure is generated.

Fig: 51. Series v2.08

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3.2.9 Prototype v2.09 The ninth testing model is a structural sculpture exercise. By adjusting the flexible spine technique and the rigid structure, form is adjusted by placing a force in a rotational direction. By twisting the structure it transforms from a flat surface to a spatial construct that extends equally in all directions. This kind of structure can be skinned with a fan-like planar canopy to create a more spatial condition shaped by these rigid members.

Fig: 52. Series v2.09

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.2.10 Prototype v2.010 The final version of the second series of models is the last of the gridded ground group, and uses a more collective bundled set of strands over a smaller area. Bracing the arched structure is a woven canopy which attaches to the strands only by sliding through the arches. This attachment allows for a freedom of movement which does not restrict the placement of the bases of the strands.

Fig: 53. Series v2.10

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3.4 PROTOTYPE SERIES v3 The third series of the prototypal models reintroduces the track system on the bases. However, instead of being completely limited to only parallel horizontal or vertical linearity, the tracks take on a more dynamic flow to test various effects of densities, movements in multiple directions, and also angled forces. The third series also is the start of the spacer module. These versions are advancements on the bundled strand methodology of flexible structures. These spacers allow for control on the thickness of the bundles as well as the strand density across the entire system. In addition, they allow for places to attach planar canopies to the structure without affixing them directly. The materials used primarily in the third series are varying thicknesses of piano wire and the continuation of paper for the canopy, with wooden spacer modules added into the development of these models.

Fig: 54. Prototype Series Number Three

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3.3.1 Prototype v3.01 Attached to an angled track system, this arch section model tests the flexing capability of a series of wire which are strung through square modules of various sizes. The strands are grouped into different bundles and brought back together at various parts throughout the arch. Not only is the system deformable by applying force to the connection at the base, but as is introduced in this series it also is adjustable by sliding the modules up and down the strands to adjust the lengths between each one independently.

Fig: 55. Series v3.01

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.3.2 Prototype v3.02 The second version of the model in the third series is the most vertically oriented of the group. The strands are bent and looped back though the spacers to create a system of legs which can be controlled independently to increase the amount space between them. With a canopy that weaves in between the vertical strands and the manner of construction, the horizontal dimension of this model is limited in comparison to the vertical.

Fig: 56. Series v3.02

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3.3.3 Prototype v3.03 The third model in the series utilizes hexagonal spacers across the arching strands. In v3.10 the canopy are held on rigid beams which traverse across the bundled strands. In this version the paper is attached to the first modules on the ends of the strands, so that they follow the movement of the structure and still allow for the modules in between to move freely along the strands.

Fig: 57. Series v3.03

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.3.4 Prototype v3.04 As an alternating series of arches which would connect across a larger field, this model tests the effectiveness of various rigid members which could be used to connect the strands at points other than the bases where they come together. This bridging act adjusts the form and characteristic of the movement from end to end, with non-connected modules running along the system to keep the stands’ spacing regular.

Fig: 58. Series v3.04

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3.3.5 Prototype v3.05 Rather than connecting the strands at the base, this module joins the arches at the middle and allows the ends to become separate entities, each of which is allowed to slide along on its own track. The canopy system here is woven into the structure in between modules, so that as they move up and down the strands the paper is kept between them and moves along as well.

Fig: 59. Series v3.05

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.3.6 Prototype v3.06 The sixth version in the series increases the strand per bundle ratio and combines multiple triangular spacers together into one larger module. These in turn act more a spreaders, and allow for the transition from a collected bundle to a more linear frame. This transformation is controllable by moving the spreaders either up or down the strand. By increasing the distance between them the system essentially can almost become a canopy structure using its ability to bridge gaps with the structure itself.

Fig: 60. Series v3.06

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3.3.7 Prototype v3.07 The octagonal track base is one that allows for a transition to perpendicular and angular forces along the track’s path. In this version of the model, the canopy paper is attached at each corner to a hexagonal module. This allows for a controllable deformation of the planer system at its major points. The larger gaps between the papers only are able to be closed by reversing the bend in the structure and pulling the arches further apart.

Fig: 61. Series v3.07

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.3.8 Prototype v3.08 The eighth version of the third series also involves two separate arches as v3.07 does, however the connections between the two happen at every module with separate bands of paper. As the two strands move independently of each other, the flexible material folds and bends and creates different experiences underneath the canopy system.

Fig: 62. Series v3.08

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3.3.9 Prototype v3.09 While applying a similar construction method of relating the individual arches to each other, the ninth version tests out new bundling technique to improve the quality of the structure. Multiple strands are woven through the spacers in alternating fashions to essentially create x-braces from one modular series to the next.

Fig: 63. Series v3.09

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.3.10 Prototype v3.10 The circular base in this version as well as v3.04 allows for not only linear movement of the strands but also adds perpendicular motion as the ends are able to swing around closer together along the track. This model in particular employs the extremely structural efficient weaving of strands through triangular modules. Because of the way the strands move through the modules, there is little to no deformation of the structure as it bends and moves.

Fig: 64. Series v3.10

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3.5 PROTOTYPE SERIES v4 The fourth and final series of structural testing models is an advancement of the language which began to be developed in the third series. It also utilizes spacer modules to constrain bundles of flexible wire. The forms achieve a much more expansive level of transformation by becoming more vertically oriented instead of previous forms which mostly arched to create space. These structures start acting in a more tree-like fashion with branches that reach out in a wider space that is achieved by sacrificing height in exchange for length. The materials used in this final series are varying thicknesses of piano wire with wooden spacer modules continued to play major roles within these models. Small springs are used in a few models to provide extra tensile strength in necessary situations.

Fig: 65. Prototype Series Number Four

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3.4.1 Prototype v4.01 The first model is a transformative structure based on the simple motion of sliding the module spaces along the strands. When collected at the top, the strands bunch together in a rigidly vertical form. By moving the spacers to the base of the column, the strands begin to spread apart and outward. This creates a very contrasting open and close form without any complicated methods.

Fig: 66. Series v4.01

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.4.2 Prototype v4.02 As a hybrid model with characteristics similar to both the third and fourth generation of prototypes, the second version can be both a vertically and horizontally based system. The structure can flex and attach its loose ends to existing nodes on the baseplate in order to create an arch and subsequently an overhead condition that did not exist in the vertical stage.

Fig: 67. Series v4.02

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3.4.3 Prototype v4.03 The third model is the first to utilize springs. It is a very linear model with a transformative system that is similar to an umbrella. By sliding the top module along the additional space on the column, the attached springs are pulled and raise the ends of the strands into a more curving horizontal position.

Fig: 68. Series v4.03

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.4.4 Prototype v4.04 Another bending and flexing structure, the fourth model in the series is based on the idea of a common base for multiple strands. Each one has its own attachment at the base, and by adding more strands a larger range of motion can be generated. By lowing the amount of modules along the bundles, deforming and twisting is allowed along the structure.

Fig: 69. Series v4.04

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3.4.5 Prototype v4.05 In the vein of vertical elements with operable strands, the model employs more springs to control the overall movement in the structure. All of the movable arms are fed through a module common to them all, and this is the control point for the motion of the overall form. The modules at the end of the strands are fed into the leftover length as they bend upwards.

Fig: 70. Series v4.05

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.4.6 Prototype v4.06 The sixth model is a singular unit which exists on its own with no loose ends to extend out in order to create space. Instead, it is generated internally. Force applied down from the top of the structure compresses the column and expands the middle of the strands out. The loss of height increases the overall width of a possibly inhabitable space in the middle of the column. This pressure requires springs to add support at the base to keep the structure from flexing undesirably at the base.

Fig: 71. Series v4.06

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3.4.7 Prototype v4.07 The seventh model is an expansion on the ideas generated in the v4.06 structural test. Larger spacers are added, and the control for the expanding space changes from a primarily force-driven change to one that is adjustable via the movement of the spacers along the path of the strands. This allows for greater control over the developable space. The overall structural integrity of the system was developed and improved upon so it could work more efficiently.

Fig: 72. Series v4.07

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.4.8 Prototype v4.08 The model uses springs to link together modules so that the distance in between them stays constant. The strands are fed all through the same hole until the very last module where they are spread apart. This change forces the individual wires apart at a steep angle, and by moving this change down towards the base of the structure the amount of horizontal reach is adjustable.

Fig: 73. Series v4.08

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3.4.9 Prototype v4.09 The ninth model combines techniques utilized in previous models to test how actions change in slightly different scenarios. This model allows vertical structures to share wires across their bundles. These conjoined strands can be attached to the base to create arches, or can be separated by adjusting the connecting module’s height on the strand itself either towards the end or the base.

Fig: 74. Series v4.09

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

3.4.10 Prototype v4.10 The final model is one that employs several individual strands per column, which become multiplied as the number of columns can increase in a given area. The strands can either connect to each other via the hooks at the end of the wires or at the base of its neighboring column. This becomes a continuation of one vertical structure to the others nearby into a singular entity.

Fig: 75. Series v4.10

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CHAPTER FOUR | DEVELOPMENT

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4.1 DIGITAL REPRESENTATION & TESTING The development of a singular project from the early precedent series developed through physical models required an analysis of the strengths of the previous studies to pick the most desired traits. Two typologies stood out from the others. The first was the flexible strands method similar to v4.01 and v4.10, due to the range of programmability as well as the flexible potential for a range of space making. The second was the expanding column form that was similar to v4.06 and v4.07 because of the possibilities in levels of occupation while changing the external conditions of lower spaces. These forms were polished, dimensioned, and fully modelled in a digital format that way they could be tested in a field condition with an array that would be used in the final format. After comparing the results of the changes from an open to closed state as well as the constructability and range of motion, the technique based off v4.01 and v4.10 was selected to advance. The challenges in creating accessible second levels without affecting the openness of the design of the expanding column eliminated it as an option by this point of the testing. The initial models were rough planar elements, but with the Sun settings built into the modelling software Rhino it was possible to start to test basic solar reactions from the different types of kinetic pavilion typologies. Fig: 76. Prototype Models v4.01 and v4.07

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Fig: 77. Digital Process of Early Concept Modelling

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By utilizing plugins for the parametric programming tool Grasshopper nested within Rhino, real-time weather data for the local area was able to be obtained and analyzed. HoneyBee and LadyBug are able to read official US weather files and translate this information to be used along with the geometry modeled in Rhino. Specifically for this project Florida weather data was used, as it was collected near the Orlando International Airport. This information was used to map and determine the directionality of the highest concentration of solar energy throughout a full year’s rotation of Sun cycles.

Fig: 78. Rose Diagram of Solar Radiation Levels in Orlando

The overall form of the flexible pavilion was tested against this data. As the structure would be sensing temperature and light, it was important that the phase change from open to close would greatly affect these two conditions. It is easy to see in the mapping of the solar radiation direction where the greatest concern would need to be focused, and the structure was developed accordingly. An array of both the fully open and fully closed states were modelled and tested for a daily performance of shading. By comparing the interior conditions of both at the same time of the day, it is clear to see the very dramatic change that is possible between the two phases of the same pavilion. Fig: 79. Top and Front View Indicating Direction and Intensity of Solar Radiation

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 80. Hourly Comparision of Physical State Change

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4.2 FORM & STRUCTURE 4.2.1 Transformation Typology The pavilion module is a repeatable structure that is able to operate without direction from any other units next to it. Designed for maximum efficiency to respond towards solar radiation, the canopy is divided into three sections, also referred to in this chapter as a ‘leaf’. These canopies are referenced by the direction they primarily serve; which is east, west, and north. The east and west leaves take the majority of the role in blocking light as the sun moves across the sky, and the northern leaf acts to complete the shade out to the next base of the nearby modules. Each module has six arms, three are dynamic flexible strands with spacers that run to bend the structure to the ground plane, and three alternating static bars which hold the canopy in tension throughout the changes. Each kinetic strand is wired to a microprocessor which reads input from its own dedicated light and temperature sensor located at the base by the walkway on the side which is shaded by the related canopy.

Fig: 81. Front / Right / Axonometric Comparision

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Fig: 82. Phase Change of Module Steps From Open to Closed

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4.2.3 Modules and Movement Along the kinetic arms are placed nine spacers which are feed the strands through themselves. There are three strands in each flexible arm, two of which are similar sizes and the other one is a larger more structural tube. The spacers vary slightly in size, but are all constructed in the same way. The spacers hold motors and gears which run along the ribbed strands. These motors are wired to the Arduino system and output the changes desired based on the input from the sensors. These spacers not only provide structural support for the strands but also drive the flexible motion in the pavilion. The bending force which allows the modules to flex in response to the environment is based on the principle of increasing one arc length more than others. The largest of the three strands is the one which is forced in between the spacers. The front two primarily are held in place by the gears and motors, when some extra length is needed they are able to feed the smaller strands through in the opposite direction. As these spacers move the strands around, enough motion is generated to force the structure to arc down to the ground.

Fig: 83. Dimensioned Construction of Modules

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Fig: 84. Stand Bending by Module

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4.3 ARDUNIO CODING The Arduino system is the overall intelligent controller which reads input from the sensors and decides what to do with the information. It is what gives this responsive construction the actual ‘responsive’ element of it, and has total control over the status of the pavilion’s structure and configurations. The light sensors are defined by creating a variable called ‘photocellreading’, which is constantly updating with the current reading as it loops through the code. The reading is broken into different categories depending on the levels of light being measured by the photocell. The high and lows of the range has to be defined based on measurements which are put out from the sensor, typically ranging from 0 to 900. Anything under 10 is defined as dark, from 10 to 200 is dim light, from 200 to 500 is just simply light, from 500 to 800 is bright light, and anything higher than that is classified as very bright. These measurements are taken and then printed out on the screen so that the user can see what the current light levels are for any given sensor at any time. The results can be tracked and the data can be analyzed to keep improving the system. Just as the light levels are translated from the sensor output into usable units, so are the readings taken from the temperature sensors. The output is subtracted by .5 and then multiplied by 100 to turn it into degrees Celsius, and from there into Fahrenheit.

This data is also printed out onto the screen for monitoring at the same rate as the light levels. The code is set up to run a single set of sensors and motors, but can easily adapt to more sensors by copying the code and redefining these parameters as ‘photocellreading1’, ‘photocellreading2’, and so on. The last part of the code is a constant loop that checks for the temperature and light reading. Depending on the levels of both, different actions are taken. If the temperature is out of the range of the human comfort levels and the light is such that would be caused by direct solar radiation, the motors are told to run until the leaf which is being controlled had reached the ground plane.

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 85. Arduino Code for Pavilion Model

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4.4 INTELLIGENT INTEGRATION 4.4.1 Starting Point The sensors employed in the structure are extremely low maintenance and do not require much energy to operate. This allows for the system to be constantly checking for light and temperature levels at all times throughout the day. Due to the directionality of the rising sun, typically the first side to act is the east strand. The sensors at the base near the edge of the path start reading temperature data as soon as the light sensors acknowledge that direct light is reaching the ground plane. As soon as the temperature starts reaching the upper limits of the typical human comfort levels, the Arduino board sends the message to the motors in the spacers of the east strand to begin feeding the strands through and bending the structure. 4.4.2 Beginning Transformation As the first leaf starts to bend down, the shade spreads under the pavilion, but not yet enough to affect an overall area. As the angle of the sun starts lifting more overhead, eventually the other light sensors will be in direct sunlight and the process will begin for the other sides just as it began on the eastern leaf.

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Fig: 86. Input / Output Diagrams

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4.4.3 Shutoff of First Canopy With the day’s progression and the direct solar radiation now being picked up by the light sensors facing westward, the connection is made and the Arduino system begins its process to relay information up the wires fed inside the hollow tubing strands towards the motors inside the spacers of the next strand. All throughout the day at specific intervals this information stream is being monitored to ensure that the correct conditions are being met by the pavilion. This process continues until the canopy reaches the ground plane or all sensors start reading that low enough temperatures are consistently reported and there is no longer any need for the shade. 4.4.4 Continuing Transformation The western leaf continues its bending as the first canopy reaches the group plane. The shadowed area at the base grows larger, and starts to block off the light sensor at the western side as it reaches across the walkway into the grass strips at the edge. Even with the first canopy at its most open position, all sensors are still constantly checking for any changes in light or temperature in order to make ad-justments.

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Fig: 87. Input / Output Diagrams

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4.4.5 Shutoff of Second Canopy When the sun’s path is lower in the sky, simply activating the two leafs would be plenty to reflect and absorb most of the solar radiation being directed to the site. In Orlando, the summer sun has a nearly vertical angle at the noon peak, and so there is still plenty of light that is able to hit the northern light sensor. This direct radiation keeps temperature high, so the input is still sent to the spacers in the northern strand to start running and bending down the last leaf to be activated. 4.4.6 Complete Ground Shading The overall adjustment is a continuing process that is constantly being evaluated and adjusted to meet the current needs of the ground plane where the occupants are being shaded. The largest change is the fully open leaf configuration, and is only used in the sunniest days of the year. The arrangement is constantly changing as temperatures rise and fall. Throughout the day there typically is no one configuration that is constant.

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Fig: 88. Input / Output Diagrams

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4.5 PAVILION STATES 4.5.1 Closed Canopy State When the canopy panels and strands are fully raised in the upright position, the connected bases allow for a sunny path with a seated area at the base of each of the modules. The degree of shade generated by this particular configuration is limited to a negligible amount, and there is very little interaction between the pavilion and the occupants who are able to simply wander around their bases. This is acceptable because when the modules are in this stage the goal is to be as transparent and allow for as much environmental energy to penetrate as possible. Fig: 89. Front and Top View of Open Pavilion

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Fig: 90. Interior View With Fully Open Pavilion

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4.5.2 Open Canopy State When the canopy panels and strands are fully extended and stretched towards the ground, the occupant is wrapped almost completely. The rigid arms hold the canopy up in tension and allow people to pass from under one module to the next with no trouble. This allows for the place where they meet to act as the peak of an arch. The interior conditions at this stage are a fully controlled environment which regulates exactly the right amount of solar radiation to allow through. This keeps the air temperature under the canopies at a comfort level acceptable to most people.

Fig: 91. Front and Top View of Closed Pavilion

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Fig: 92. Interior View With Fully Closed Pavilion

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CHAPTER FIVE | CONCLUSION

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5.1 CONCLUSION Responsive architecture is still a developing field, and the technology is constantly advancing in order to make this concept become a more common reality. Society is slowly coming to terms and embracing the need for a more sustainable lifestyle, and to achieve this goal all industries will have to learn to be more responsible. The building trade has much of the load to carry to help reduce the rate of energy being consumed.

of sensors and actuators into architecture it meets the goals which it set out to achieve. It is a test of possibilities that could have ended with forty different projects if each one of the prototypal models were chosen to be continued for further expansion and study. The project addresses concerns in the architecture of today and exams where the potentials exist to design more efficient structures and create a new typology.

The concerns raised during the final presentation were not specifically related to the project at this stage. The discussion turned towards issues of copyrighting and getting the project funded for building full sized prototypes. An aspect of the project that should be addressed here is the question of how to supply the small amount of electricity that would be required to power the sensors and other elements of the intelligent system. While these components could easily be plugged into an outlet, they are design in a manner so that they would work with small solar panels attached to batteries to collect and store the energy needed. Because the movement of the pavilion relies on the idea of shading direct solar radiation, it would make sense that the electrical components would rely on fairly regular sunny days to be powered.

Moving forward, this project can be further advanced so that all of the important environmental factors that were discussed could be accounted for in the responsive design. At the moment, this project only measures light and temperature levels. There were still other conditions which can be addressed such as humidity and rain, noise, wind speed, and activity. This simplification was done in order to streamline the design and programming logic in order to be able to be accomplished in the time provided. If it is a true goal to create architecture that responds to the environmental conditions, all of these factors have to be addressed in a way that does not limit its reaction to any given one. However, firstly it is important to figure out the individual systems that are required to interaction with each condition before combining them all together into one project. In this manner, the solar pavilion can be seen as the first part of a series of projects which address different external conditions, eventually resulting in a structure that is

The project still has more development that can be done. As an investigation into the combination

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 93. Travel Containers and Process Models for Presntation

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MASTERS RESEACH PROJECT - SPRING 2015 - TREVOR BOYLE

dynamic enough to combine them all together. This level of progress will be needed if this technology is to be introduced into built works which are inhabited daily. In addition, further development would allow for this project to advance from an outdoor pavilion to a fully enclosed space that can support any function. The idea of a modular construction would be beneficial in this regard to allow for a scalable building than can operate just as efficiently as a one room entity or a large office building. At the moment the pavilion is able to reduce or increase the temperature on a sunny day, which is a valid accomplishment in a hothumid climate such as the one that Florida resides within. However, by becoming a fully-enclosed space it is possible to have a larger scale of control over the internal environment than would be possible with a pavilion. While there are still improvements to be made, this has been a successful exploration into new methods for kinetic architecture with intelligent systems incorporated directly into the structure. Kinetic facades are a great place to start, but if the ability to shape the built environment based on context is desired, eventually it will have to be fully integrated into the entire building system in order to be realized. Fig: 94. Possible Enclosure Configurations

INTELLIGENT SYSTEMS AND FLEXIBLE STRUCTURES FOR A RESPONSIVE ARCHITECTURE

Fig: 95. Ground-Level Views of Possible Configurations

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ANNOTATED BIBLIOGRAPHY Beesley, Philip. Hylozoic Ground: Liminal Responsive Architecture: Philip Beesley. Cambridge, Ont.: Riverside Architectural Press, 2010.

Aside from being used as a source for the precedent studies, Beesley’s book describing his experimential project is useful in the creation of new prototypical installations. The project is more of an art installation than a structural architecture and this limits its impact on building design. However, it does illustrate a successful responsive creation which uses sensors and intelligent systems to adapt to environmental conditions. This source also supplies references to the creation of easy to understand diagramatic and constructional drawings of complex parts and machinary addressing the human condition.

Ching, Francis D.K., and Ian M. Shapiro. Green Building Illustrated. Hoboken, New Jersey: John Wiley & Sons, 2014.

As it is with all of Ching’s works, this book is an excellently illustrated novel of construction techniques. He is partnered with Shapiro to put together a detailed reference of sustainable design practices. It is valuable resource in assembling an investigation of efficient structures. It covers the full spectrum of topics in the present-day understood strategies. The chapters on energy efficiency and indoor qualities are of a particular value to the full spectrum of the sustainable technology in this field.

Clauss, Mathias. Living in Motion: Design and Architecture for Flexible Dwelling. Weil Am Rhein: Vitra Design Museum, 2002. This is a catalogue of exhibitions from the Vitra Design Museum that was edited by Clauss. The publication is a selection of precedents with all ranges of projects. The collected works all focus around the key concepts of adaption as it relates to housing, which includes furniture, modules, tents, walls, and even wearable architecture. The book was used for a source of precedent studies, which includes information on Buckminster Fuller and the Dymaxion projects. The diversity of the scale of the projects allowed for the selection of smaller precedents which can relate to the background to support this research.

Crosbie, Michael J. The Passive Solar Design and Construction Handbook. New York, NY: Wiley, 1998.

While some of the resources used are for overall principles in terms of sustainability, Crosbie’s guide is specifically focused only on solar strategies. This narrowed focus allows for a deeper depth of descriptions of these techniques. Ir is an important tool in the design of building systems which are based on harvesting this solar energy to reduce the reliance on other types of energy which are not renewable. It provides the fundamentals, and goes into direct gain, thermal storage walls, sunspaces, convective loops and materials. Each of these are discussed with situations in which a certain method is preferred and what the science behind each concept is.

Dunn, Nick. Digital Fabrication in Architecture. London, UK: Laurence King, 2012.

Dunn’s book is a narrative of current technological advancements in the creation of building and prototyping. After an initial discussion on the history and current practices of fabrication, the book is divided into categories of “generation,” “integration,” and strategies.” These chapters go into detail on types of digital modelling, ways to translate this into fabrication, and how to design the systems. There is a collection of case studies which relate to each section and explain how the described tool was used in another project. It is a realistic explanation of the complete process that starts with a concept, translating that idea into a digital model, and then actually creating it and putting it all together. Dunn’s book was very useful as a reference for the prototyping of this research project. Much of the project revolved around being able to test scaled models.

Fortmeyer, Russell, and Charles Linn. Kinetic Architecture: Designs for Active Envelopes. Mulgrave, Victoria: The Images Publishing Group Pty Ltd, 2014. Kinetic Architecture is a full-fledged assembly of precedent studies in advanced skin systems. It is a collection of thirty existing buildings which have all designed their own unique structures. While it includes commonly referenced examples from architects such as Mies van der Rohe and Le Corbusier, it also draws from others which have been previously passed over. Each specimen is explored in full length on its design, concept, and construction.

Gjerde, Eric. Origami Tessellations: Awe-Inspiring Geometric Designs. Wellesley, Mass.: K Peters, 2009.

Gjerde’s book is not technically related to architecture in a direct manner. It is strictly an instruction manual on the art of paper folding in repeatable patterns. Although not explicit about its uses outside of origami, this art form has been commonly referenced in architectural practice. The method of transforming a single plane into a spatial object has plenty of applications, and this geometric study was integral towards the design of kinetic envelopes.

Haggard, Kenneth L., and David A. Bainbridge. Passive Solar Architecture Pocket Reference. London, UK: Earthscan, 2009.

The Pocket Reference from the International Solar Energy Society is a basic handbook of conditions and diagrams. As a summation of the basic principles of passive efficient design, it distils the many areas of discussion and illustrates the important ones. This guide is not a full resource for all of the principles in sustainable architecture, but this level of detail is important for the beginning concept phases of architecture.

Jackson, Paul. Folding Techniques for Designers: From Sheet to Form. London, UK: Laurence King Pub., 2011. As an interdisciplinary study, Jackson’s book is a lesson guide in the methods of translating a two dimensional plane into a spatial construct. All of the objects outlined in the text are constructed from a singular sheet of material into structural by products which can take on any form in any dimension. These techniques are useful in the creation and design of flexible and movable skin systems. Due to the fact that they are based in the principle of use with a singular material, the strength and simplicity of the folds transfer into extremely efficient methods of construction.

Jansen, Theo. The Great Pretender. Rotterdam, the Netherlands: 010 Publishers, 2007

Jansen is most notably recognized for his kinetic pieces of art called “Strandbeests.” His constructs are able to absorb the external force of the wind and translate it into motion. They walk on a multitude of legs across soft surfaces, and the manner in which they move is a beautifully simplistic mechanical system. While the nature of Jansen’s works are not directly related to the ideas of this thesis, the approach he used was inspirational to this study. His mobile structures applied an investigation of current mechanical analogs in nature and tested with multiple prototypes. The study of his process and design

Jormakka, Kari. Flying Dutchmen: Motion in Architecture. Basel, Switzerland: Birkhauser Verlag AG, 2002.

Jormakka’s book is a very specifically focused view on flexible architecture. It draws from a few historical references and principles, but the majority of the narrative is based on a few selected examples from contemporary Dutch buildings. Jormakka’s collection was beneficial in the study of the approaches and methods used in kinetic precedents. Since the book only focuses on a small sample of built work, the information goes into the evolution of the design.

Kronenburg, Robert. Flexible: Architecture That Responds to Change. London, UK: Laurence King, 2007.

A thorough collection of relevant precedents is found in Kronenburg’s book. The text is divided into sections, first is a historical understanding of what flexible architecture can be. It then focuses on specific types of motion common in architectural projects and breaks them into categories. These categories are “Adapt,” “transform,” “move,” and “interact.” For the purpose of this study, most precedents will be pulled from the historical precedence and the Transform category, as they are the most relevant. There is a very wide discussion on the history of kinetic architecture, starting with the earliest nomadic structures and continuing on all through until the latest examples of modern times. Included in the documentation is the ever discussed Rietveld- Schröder house, as well as Theo Jansen’s Strandbeests. A very helpful and impactful example for this particular study is the work of Chuck Hoberman, who designed a retractable dome structure that was used for the backdrop of the 2002 Winter Olympic Games.

Moussavi, Farshid, and Daniel Lopez. The Function of Form. Barcelona, Spain: Actar, 2009.

In The Function of Form, spatial design and construction is analysed and divided into categories. Each category is provided examples on general principles and built works of architecture. The characteristics of each way of space making is detailed and examined, and is broken down to their most simple base units. Mossavi’s collaboration is a useful library of spatial forms, and beneficial to the creation and application of new applications of architectural spaces. In any style of building, it is a useful tool in order to understand the conditional effects in horizontal, vertical, and spherical construction.

Pawlyn, Michael. Biomimicry in Architecture. London, UK: Riba Publishing, 2011.

In his book, Pawlyn has covered a wide range of various strategies in design. It begins with a definition of what biomimicry is and how it is applied to architecture. From there, the concept is broken down into efficient structures, material manufacturing, zerowaste systems, water management, thermal control and energy production. While this particular thesis is not directly related to bionics as a design principle, Pawlyn’s book was used for research on new techniques in building smarter structures. The idea of controlling thermal comfort was relevant to this study, and the biological methods were particularly helpful to use as precedents. The methods in which Pawlyn relates plant physiology and movements to building strategies in terms of thermal stabilization was directly relatable to the subject matter of this study.

Oxman, Rivka, and Robert Oxman. “The New Structuralism: Design, Engineering and Architectural Technologies.” Architectural Design, July/August, 2010, 14-23.

The collection of articles in this edition of the Architectural Design journal deals with the emerging strategies and materials for structural and spatial constructions. These articles are a source of information that describe the full process from conceptual design to the research and practice aspects of building new structures as well. In the genesis of dynamic installations, the knoweldge to prototype it and see it all the way through to the end is an important topic not covered in all publications.

Paredes, Cristina, and A. Vidiella. Small Eco Houses: Living Green in Style. New York, NY: Universe Pub., 2010.

This publication was selected a resource for case studies in sustainable design. With a large selection of projects to study, common elements can be extracted. With this data, the common features and best practices can be distilled into a list of requirements. These precedents take the principles described in sustainable resources and apply them in the physical realm. They have already tested the theories, so that allows for this study to skip the steps and reference the proven sampling.

Sayigh, Ali. Sustainability, Energy and Architecture: Case Studies in Realizing Green Buildings. Oxford, UK: Academic Press, 2014. Ali’s book provides more than just an additional selection of precedents in sustainable practices as is collected from other sources. Full analysis and understanding is provided on the practices and approaches in current technology. From there, an in-depth discussion of different projects is included, but more than just a description of the building is given. Instead, any relatable data or studies are included and create a wide breach of information that turns the discussion into more of concepts that are supported by including practical examples.

Schumacher, Michael, Oliver Schaeffer, and Michael-Marcus Vogt. MOVE: Architecture in Motion - Dynamic Components and Elements. Basel, Switzerland: Birkhauser Verlag AG, 2010.

Schumacher, Schaeffer, and Vogt have put together a sampling of an extremely wide range of dynamic and kinetic design projects. Beginning with a description of the initial practices and development that has taken place to lay a foundation for the precedents that are presented within this text. Outside of just the theoretic portion which is provided, there are studies which include sections and detailing of how actual structures have been put together which allow for these movable components in overall project design and implication.

Sheil, Bob. “Protoarchitecture: Between the Analogue and the Digital.” Architectural Design, July/August, 2008, 6-11. Highlighted partially in this journal is a description of Theo Jansen’s moving structures and contributions from Lebbeus Woods. It is a series of articles in which designers test their creations and are able to actualize concepts into physical constructs. This process is a highly developed skill and requires the decision making ability to translate digital information into a real object.

Weinstock, Michael. The Architecture of Emergence: The Evolution of Form in Nature and Civilisation. Chichester, U.K.: Wiley, 2010. Weinstock describes in broad terms how natural systems have evolved and grown through generations. He relates it to architecture through the comparison between building systems and natural ones. His publication is a study of form, which the author explains as the study of change. Overall, this project focuses on architecture which evolves to suit itself to its environment. This requires the study of the process of natural processes and how things have adapted over time to these changes. The kinetic process is a rapid evolution in response to the environment, and the most efficient ways involve methods which have been developed over time though nature.

Zuk, William, and Roger H. Clark. Kinetic Architecture. New York, NY: Van Nostrand Reinhold, 1970.

In his specifically-titled publication Kinetic Architecture, William Zuk begins the argument for a progression towards dynamics in architecture by quoting Charles Darwin’s position that “survival always depends upon the capacity of an object to adapt in a changing environment” and goes on to say that this idea is accurate for architecture. This ideal is a foundation for all endeavors into kinetic designs. Zuk acknowledges the typical description of architecture, and looks forward to predict where the profession will evolve and what new practices will emerge. It is because his book is so advanced for its time that that over forty years after its release the key concepts are still current and valid for the present day of design. Zuk summarizes the genesis of kinetic design from its basis in nature and creatures, and its evolution from simple mechanisms to highly complex machines. In addition to this historical representation, Kinetic Architecture provides a highly diverse range of practical applications in architecture. This provides for context and support for Zuk’s assertion in the beginning of the book regarding the usefulness of kinetics in building design.