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©CopyrightbyK.U.LeuvenZondervoorafgaandeschriftelijketoestemmingvanzoweldepromotor(en)alsdeauteur(s)isovernemen,kopiëren,gebruiken of realiseren van deze uitgave of gedeelten ervan verboden. Voor aanvragen tot of informatie i.v.m. hetovernemen en/of gebruik en/of realisatie van gedeelten uit deze publicatie, wend u tot de K.U.Leuven, FaculteitIngenieurswetenschappen –KasteelparkArenberg1,B‐3001Heverlee (België).Telefoon+32‐16‐321350 &Fax.+32‐16‐321988.Voorafgaandeschriftelijketoestemmingvandepromotor(en) iseveneensvereistvoorhetaanwendenvandeinditafstudeerwerk beschreven (originele) methoden, producten, schakelingen en programma’s voor industrieel ofcommercieel nut en voor de inzending van deze publicatie ter deelname aan wetenschappelijke prijzen ofwedstrijden.©CopyrightbyK.U.LeuvenWithoutwrittenpermissionofthepromotorsandtheauthorsitisforbiddentoreproduceoradaptinanyformorbyany means any part of this publication. Requests for obtaining the right to reproduce or utilize parts of thispublication shouldbe addressed toK.U.Leuven, FacultyofEngineering–KasteelparkArenberg1,B‐3001Heverlee(België).Telefoon+32‐16‐321350&Fax.+32‐16‐321988.A written permission of the promotor is also required to use the methods, products, schematics and programsdescribedinthisworkforindustrialorcommercialuse,andforsubmittingthispublicationinscientificcontests.

Preface TheideaforthisresearchcametomewhenIwasfirstintroducedtothenotionofInteractiveArchitecture:anewkindofarchitecture,previouslyunknowntome,butwhichgrabbedmyattention.Variousprojectsinthecurrentlandscapeintriguedmeandcausedmetodivedeeperintothisnewandupcomingfield.Themainfocusformewastogaininsights,informationandtobeabletopassthisontootherstoo.Thisfocussometimesledtoquantityoverquality,whichIamnotashamedtosay.Itistheintentofthisresearchtodrawthebiggerpictureandintroducethisnewskillsettoallwhowanttoknow.Itwasnevertheintentiontolurepeopleintoanarrowmindset,onlytointroducethemtothisnewsandboxwheretheycanplaythemselves.Anotherdifficultyformepersonallywastheabsenceofpreviouslocalresearchandthepossibleprejudicesthatothersmighthavetowardsthisresearch.ThisresearchdidnottakeformasfastasIwouldhavelikedandwasnoteasytocompletebutthesupervisingprofessorswerealwayspositiveandguiding,whichallowedmetokeepongoing.Athanksgoesouttopeoplewhoinspiredme,familyandfriendswhosupportedmeandhelpinghandsthatguidedthisresearchintotherightdirection.

CarloRousseeuw

Tableofcontents

Preface .................................................................................................................................................... iii

Tableofcontents .................................................................................................................................... iv

Abstract ................................................................................................................................................. vii

ListofFigures ....................................................................................................................................... viii

ListofTables ........................................................................................................................................ xiv

Nomenclature ........................................................................................................................................ xv

Chapter1:Introduction ......................................................................................................................... 1

InteractiveArchitecture ................................................................................................................ 1

PhysicalCounterpart ..................................................................................................................... 4

IntelligenceCounterpart ............................................................................................................... 5

PracticalKnowledge ...................................................................................................................... 7

Motivation ...................................................................................................................................... 8

Objectives ....................................................................................................................................... 9

Significance ..................................................................................................................................... 9

Chapter2:Background ........................................................................................................................ 11

2.1EarlierWorks ............................................................................................................................. 11

2.2Literaturestudy ......................................................................................................................... 12

2.2.1Timeline ............................................................................................................................... 15

2.2.2ProjectLocation .................................................................................................................. 16

2.2.3ProjectMechanism ............................................................................................................. 16

2.2.4ProjectTypologies .............................................................................................................. 18

2.2.5ProjectApplicationKinetics............................................................................................... 18

2.2.6ProjectTimespan ................................................................................................................ 19

2.2.7ProjectStructuralbehavior ................................................................................................ 20

2.2.8ProjectIntelligence ............................................................................................................. 21

2.2.9ProjectSensorvalues ......................................................................................................... 21

2.2.10Web‐BasedLiterature ...................................................................................................... 22

Chapter3:Methodology&Results ..................................................................................................... 23

3.0Methodology .............................................................................................................................. 23

3.0.1TheSimulationSoftware,Grasshopper ............................................................................ 23

3.0.2Themicrocontroller,Arduino ............................................................................................ 26

3.1Simulatingdesign ...................................................................................................................... 28

3.1.1Simulations,CaseStudies ................................................................................................... 28

3.1.2NumericalValidation .......................................................................................................... 41

3.1.2.1DefaultScenarioResults ................................................................................................. 42

3.1.2.2ActuatedScenarioResults............................................................................................... 43

3.2Simulatingbehavior .................................................................................................................. 44

3.2.1TheSimulationSoftware .................................................................................................... 44

3.2.2LinkingDataMethods ........................................................................................................ 45

3.2.3Simulations .......................................................................................................................... 46

3.2.4Emotivebehavior ................................................................................................................ 53

3.3DesignIssues .............................................................................................................................. 55

3.3.1Joints .................................................................................................................................... 56

3.3.2.12DJoint ............................................................................................................................. 56

3.3.2.23DJoint ............................................................................................................................. 58

3.2.1Members .............................................................................................................................. 61

3.3.2Cladding ............................................................................................................................... 62

3.3.3Actuatordesign ................................................................................................................... 67

3.3.5PrototypeDesign ................................................................................................................ 74

3.3.5.1Introduction ..................................................................................................................... 74

FlexibleSkin ................................................................................................................................. 74

Biomimicry ................................................................................................................................... 75

3.3.5.2Results .............................................................................................................................. 76

Design ........................................................................................................................................... 76

Polyp ............................................................................................................................................. 78

Truss ............................................................................................................................................. 80

Cladding ........................................................................................................................................ 83

Behavior ....................................................................................................................................... 86

Chapter4:Evaluation&Discussion ................................................................................................... 90

4.1Evaluation&DiscussionSimulatingDesign ............................................................................ 90

4.1.1SimulationCaseStudies ..................................................................................................... 90

4.1.2Numericalvalidation .......................................................................................................... 92

4.2Simulatingbehavior .................................................................................................................. 94

4.3DesignIssues .............................................................................................................................. 96

4.3.1Joints .................................................................................................................................... 96

4.3.2.12DJoint ............................................................................................................................. 96

4.3.2.23DJoint ............................................................................................................................. 97

4.3.3Members .............................................................................................................................. 98

4.3.4Cladding ............................................................................................................................... 99

4.3.5Actuatordesign ................................................................................................................. 100

4.3.6PrototypeDesign .............................................................................................................. 102

Design&Polyp ........................................................................................................................... 102

Truss&Cladding ........................................................................................................................ 104

Behavior ..................................................................................................................................... 106

Chapter5:Conclusion ....................................................................................................................... 108

5.1SimulatingDesign ................................................................................................................ 108

5.2SimulatingBehavior. ........................................................................................................... 110

5.3PracticalIssues .................................................................................................................... 111

5.3.2Cladding ............................................................................................................................. 112

5.3.3ActuatorDesign ................................................................................................................ 113

5.3.4Prototype ........................................................................................................................... 115

Appendices ......................................................................................................................................... 118

AppendixA ..................................................................................................................................... 119

AppendixB ..................................................................................................................................... 123

Bibliography ....................................................................................................................................... 127

FicheMasterproef .......................................................................................................................... 131

AbstractThewayweuseandexperienceobjectsinourdailylivesisconstantlybeingimprovedwithincreasinguser‐interactivity.Fromourcarswhicharefilledwithsensorstoenrichourdrivingexperiencetotheautomatedshadingofourwindowswhichdisappearswhenweneedtogetoutofbedinthemorning.Architecturetodayontheotherhandisstatic,itsstructuralformdoesnotinteractwithitsusersoritschangingenvironmentalfactors.Insteadofshieldingtheinhabitantsfromthesefactors,thesefactorscanberespondedtoandinteractedwithtochangetheinhabitant’sperceptionofthisnewspace,InteractiveArchitecture.Inthedesignofinteractivearchitecturewithstructuralkineticchanges,KineticArchitecture,thesimulationofastructureanditsbehaviorplaysavaluableroleinitsoveralldesignandproduction.Beingabletoconnectawiderangeofsensordatawiththisdesign‐softwarewecrossthebridgenecessaryforcompletelysimulatinginteractivearchitecture,whichinturnhasaneffectonthefinaldesign.RecentdevelopmentsandcommunityeffortsinpluginsfordrawingsoftwarelikeGrasshopperforRhinoceroshavegivenustheseabilities.Everyprojectisuniquebyitsowncontextandusageandthereforeuniquebyitsmeanstointeract.ThisthesissimulatesdifferentexistingstructuresinthecurrentlandscapesandteststhescopeofcurrentsimulationpackagesandtheirusetodesignerswithregardstoKineticArchitecture.AlsotheintelligencewhichcontrolsthisKineticArchitectureandthedifferentkindsofdatastreamsareaddressedtogetherinthecontextofthesimulationsoftware.Besidestheresearchintermsofsimulation,thisthesisalsodiscussespracticalissuesofKineticStructuresinageneralwaybeforebuildingaworkingprototype.ThisresearchwillactasacatalysttoprovidearchitectswiththenecessaryskillsettodevelopanddesigninteractivearchitecturebutalsotoprovideamutualgoalforotherdisciplineslikeroboticsandmaterialengineerstoformandresearchdifferentendproductswithenhanceduserinteractivitywhichcouldbeusedinthisnewbreedofInteractiveArchitecture.

ListofFiguresFigure1:BurbleattheSingaporeBiennale(Haque2006)...............................................................................2

Figure2:InteractiveWall (FestoCorporate2009)..........................................................................................3

Figure3:Tesselate(Lab[au]2010)............................................................................................................................3

Figure4:FabricDome(Hoberman1997)...............................................................................................................4

Figure5:PneumaticMuscle...........................................................................................................................................4

Figure6:VisualizingWifiStrength,Immaterials(Arnalletal.2011)..........................................................5

Figure7:Pixelskin2.0(Orangevoidn.d.).................................................................................................................5

Figure8:Flockofbirds(NationalGeographicn.d.).............................................................................................6

Figure9:HighTechTeamworkofswarmrobots(NationalGeographicn.d.)..........................................6

Figure10:BallJoint,3D‐Print.......................................................................................................................................7

Figure11:StiffCladdingConnection.........................................................................................................................7

Figure12:ErnstingWarehouseGate,SantiagoCalatrava,1983(Tzonis&Lefaivre1997).............11

Figure13:ScaleModel,SantiagoCalatrava(Tzonis&Lefaivre1997).....................................................11

Figure14:InteractiveArchitectureCategorization+Dissertation............................................................14

Figure15:TimeversusBookContents..................................................................................................................15

Figure16:LocationversusBook..............................................................................................................................16

Figure17:MechanismversusBook........................................................................................................................17

Figure18:TypologyCategorization........................................................................................................................18

Figure19:ApplicationCategorization...................................................................................................................19

Figure20:LoadBearingcategorization................................................................................................................20

Figure21:IntelligenceCategorization...................................................................................................................21

Figure22:SensorValuesCategorization..............................................................................................................21

Figure23:InteractiveArchitecturedotorg,Wordle(Glynn2005)..........................................................22

Figure24:Actuators,SpringImplementation.....................................................................................................24

Figure25:Trussmember,SpringImplementation..........................................................................................24

Figure26:KangarooComponentsinGrasshopper...........................................................................................24

Figure27:GrasshopperEnvironment....................................................................................................................25

Figure28:TestingtheArduino,LED‐bar..............................................................................................................26

Figure29:ScalemodelType3(D’EstreeSterk2003).....................................................................................28

Figure30:SimulationActuatedTensegrityType1..........................................................................................29

Figure31:SimulationActuatedTensegrityType2...........................................................................................30

Figure32:SimulationActuatedTensegrityType3..........................................................................................30

Figure33:WhoWhatWhenAir,FlexibleTower(Kilianetal.2006)...........................................................31

Figure34:MuscleTowerII,Hyberbody(Oosterhuis2000).........................................................................31

Figure35:SimulationFlexibleTower....................................................................................................................32

Figure36:TESSEL(Lab[au]2010)..........................................................................................................................33

Figure37:RoboticMembrane(Orangevoidn.d.)..............................................................................................33

Figure38:SimulationRoboticMembrane............................................................................................................34

Figure39:Excerptfromdissertation,ResponsiveActuatedTruss(Merali&Long2009)..............35

Figure40:SimulationActuatedResponsiveTruss...........................................................................................36

Figure41:SimulationKineticCircle........................................................................................................................37

Figure42:ExpandingGeodesicDome(Hoberman1997).............................................................................38

Figure43:StrataModule(AdaptiveBuildingInitiative2006).....................................................................38

Figure44:SimulationoftheExpandingGeodesicDome................................................................................39

Figure45:AddingacolorscaleinGrasshopper.................................................................................................41

Figure46:SimulationGrashopper,5kN,NotActuated,DeformationScale1:1....................................42

Figure47:SimulationANSYS,5kN,NotActuated,DeformationScale1:1..............................................42

Figure48:SimulationGrasshopper,0kN,Actuated,DeformationScale1:1..........................................43

Figure49:SimulationANSYS,0kN,Actuated,DeformationScale1:1.......................................................43

Figure50:ArduinoSend/ReceiveimplementationinGrasshopper.........................................................44

Figure51:ManipulatingandvisualizingSensorDatainGrasshopper.....................................................45

Figure52:Optimization,KineticArchtowardspoint......................................................................................46

Figure53:IRsensorconnectedtotheArduino..................................................................................................47

Figure54:Manipulating&visualizingSensorDatainGrasshopper.........................................................47

Figure55:PushsensitivesensorconnectedtotheArduino.........................................................................48

Figure56:ImplementingSensorData....................................................................................................................48

Figure57:Optimization,KineticArchminimizingstresses..........................................................................49

Figure58:PachubereceiveimplementationinGrasshopper......................................................................51

Figure59:Pachube,Livesensorstreamingandstreaminformation.......................................................51

Figure60:FiducialimplementationinGrasshopper.......................................................................................52

Figure61:Sensors..........................................................................................................................................................53

Figure62:Grasshopper/KinectSensor(AndyPayneetal.2010)..............................................................53

Figure63:Dune4.0Maastunnel(Roosegaarde2011).....................................................................................54

Figure64:Laser‐cuttingandengravingasheetofMDF.................................................................................55

Figure65:2DTurningJoint,witheccentricity...................................................................................................56

Figure66:2DTurningJoint,withouteccentricity.............................................................................................56

Figure67:2DJointUnstable......................................................................................................................................57

Figure68:Intersecting2Djoints,Snap‐Fit...........................................................................................................57

Figure69:ParametricalModelUniversalJoint2...............................................................................................58

Figure70:3D‐printUniversalJoint2.....................................................................................................................58

Figure71:CardboardSpaceframe;RingPass,Delft(Octatube2010).....................................................59

Figure72:ParametricalBallJoint............................................................................................................................59

Figure73:SectionParametricalBallJoint............................................................................................................60

Figure74:3DPrintedBallJoint.................................................................................................................................60

Figure75:3DprintedBallJoint,Section...............................................................................................................60

Figure76:TrussMember............................................................................................................................................61

Figure77:TrussMember............................................................................................................................................61

Figure78:Textilemembrane,Unstretched.........................................................................................................62

Figure79:Textilemembrane,Stretched...............................................................................................................62

Figure80:KineticBox,DefaultScenario...............................................................................................................64

Figure81:KineticBox,Scenario1...........................................................................................................................64

Figure82:KineticBox,Scenario2...........................................................................................................................64

Figure83:ExpansionjointWoodencladding.....................................................................................................65

Figure84:Balljoint(KejiaIndustryn.d.)..............................................................................................................65

Figure85:LivingGlass(TheLivingn.d.)...............................................................................................................66

Figure86:XeromaxEnvelope(FutureCitiesLab2010)................................................................................66

Figure87:Rectangle,DiagonalActuation.............................................................................................................67

Figure88:MuscleWireActuation............................................................................................................................68

Figure89:ScrewLinearActuator............................................................................................................................69

Figure90:CrankshaftLinearActuator..................................................................................................................69

Figure91:Gear‐PinionLinearActuator................................................................................................................69

Figure92:MuscleProject(FestoCorporate2009)...........................................................................................70

Figure93:McKibbenPrinciple(Daerden&Lefebern.d.)..............................................................................70

Figure94:TestSetup.....................................................................................................................................................71

Figure95:McKibbenairmusclesetup....................................................................................................................71

Figure96:3/2AirValveFesto...................................................................................................................................72

Figure97:ArduinoController...................................................................................................................................72

Figure98:Elongation/OriginalLength[%].........................................................................................................73

Figure99:UnderwaterPolyps(NationalGeographicn.d.)...........................................................................75

Figure100:AxonometricViewPrototype............................................................................................................76

Figure101:Prototype,3DSketch............................................................................................................................77

Figure102:ScotchYokeMechanism(Mechanisms101n.d.)......................................................................78

Figure103:PolypActuation,3DSketch................................................................................................................78

Figure104:PolypActuator.........................................................................................................................................79

Figure105:Polyp,Uppernodeconnection..........................................................................................................79

Figure106:2DSimulation,Design1.......................................................................................................................80

Figure107:3Dsimulation,Design1.......................................................................................................................80

Figure110:Trussassembly........................................................................................................................................82

Figure111:LasercutVacuumFormingMolds....................................................................................................83

Figure112:VacuumFormerwithmold................................................................................................................84

Figure113:Vacuumformingresultwithhighmold........................................................................................84

Figure114:Cladding,UpperView...........................................................................................................................85

Figure115:Cladding,LowerView...........................................................................................................................85

Figure116:Built‐InOpto‐Resistor..........................................................................................................................87

Figure117:Built‐InPiezoElement.........................................................................................................................87

Figure118:Built‐inIRSensor...................................................................................................................................87

Figure119:PrototypeSide‐View.............................................................................................................................88

Figuur120:PrototypeSide‐View.............................................................................................................................88

Figure121:PrototypePerspectiveView...............................................................................................................89

Figure122:PrototypeUpperView..........................................................................................................................89

Figure123:SimulationFlexibleTower..................................................................................................................91

Figure124:SimulationoftheExpandingGeodesicDome.............................................................................91

Figure125:SimulationGrasshopper,0kN,Actuated,DeformationScale1:1.......................................93

Figure126:SimulationANSYS,0kN,Actuated,DeformationScale1:1....................................................93

Figure127:Optimizatin,Kineticarchmovingtowardspoints....................................................................94

Figure128:2DTurningJoint,withouteccentricity..........................................................................................96

Figure129:2Dunstablejoint....................................................................................................................................96

Figure130:3D‐printUniversalJoint2...................................................................................................................97

Figure131:3DprintedBallJoint,Section............................................................................................................98

Figure132:TrussMember..........................................................................................................................................98

Figure133:KineticBox,Scenario2.........................................................................................................................99

Figure134:ExpansionjointWoodencladding...................................................................................................99

Figure135:McKibbenairmusclesetup.............................................................................................................100

Figure136:Elongation/OriginalLength[%]...................................................................................................101

Figure137:SketchesPolyp,Design1..................................................................................................................102

Figure138:PolypActuator......................................................................................................................................103

Figure139:PrototypePerspectiveView............................................................................................................103

Figure140:CladdingHinge,Trussmemberconnection.............................................................................104

Figure141:VacuumFormingresultswithhighmold..................................................................................105

Figure142:ArduinopoweredbyUSBand9Vbattery.................................................................................107

Figure143:SimulationGrasshopper,0kN,Actuated,DeformationScale1:1....................................109

Figure144:SimulationANSYS,0kN,Actuated,DeformationScale1:1.................................................109

Figure145:CentralIntelligenceversusSwarmintelligence,Simulation1.........................................110

Figure146:3DprintedMultiplememberBalljoint......................................................................................111

Figure147:KineticBox,Scenario2......................................................................................................................112

Figure148:ExpansionjointWoodencladding................................................................................................112

Figure149:Linearactuators,ShrinkRate.........................................................................................................113

Figure150:Airmuscle,Elongationrate[%]....................................................................................................114

Figure151:Prototype,Perspectiveview...........................................................................................................115

Figure152:PrototypeUpperView.......................................................................................................................116

Figure153:PrototypeSideview...........................................................................................................................116

Figure154:3DTrussSimulation...........................................................................................................................117

ListofTablesTable1:LegendTimeversusBookContents......................................................................................................15

Table2:LegendBooks..................................................................................................................................................16

Table3:ErrorMargin%,Default5kN

Table4:Errormargin%,Default10kN................................................................................................................42

Table5:ErrorMargin%,0kN

Table6:ErrorMargin%,5kN.....................................................................................................................................43

Table7:Intelligent‐versusSwarmBehavior......................................................................................................47

Table8:ComparisonDifferentiterationprocesses..........................................................................................49

Tabel9:LinearActuators,ShrinkRate..................................................................................................................69

Table10:MuscleElongation[%]..............................................................................................................................73

Table11:PolypsBehavioralScheme......................................................................................................................86

Table16:ErrorMargin%,5kN..................................................................................................................................92

Tabel17:Optimizationresultsversusswarmimplementation,Simulation1......................................95

Tabel18:Optimizationresults,Simulation2......................................................................................................95

Tabel19:ShrinkRatesofdifferentactuators...................................................................................................100

Table20:MuscleElongation[%]...........................................................................................................................101

Table22:ErrorMargin%,5kN...............................................................................................................................109

NomenclatureIA InteractiveArchitectureKA KineticArchitectureFE FiniteElementsKDGKineticDesignGroupF ForceE Young’sElasticitymodulusx DisplacementinxDirectiony DisplacementinyDirectionk (Elasticity)StiffnessGH GrasshopperFF FireflyKG Kangaroo

Chapter1:IntroductionInteractiveArchitecture

Architecturetodayismonotoneandstatic.Imaginearchitecturehowevertobealive,tobeabletopartakeinadiscussionwithitsinhabitantsortheenvironmentinwhichithasbeenplaced.Theseinhabitantsandenvironmentalfactors,likesunlightandwind,aredynamic:theyarenotstaticormonotoneandtheydeservetobeacknowledgedandinteractedwith.Whenreactingandinteractingwiththesefactors,architecturechangestheinhabitant’sperceptionofspaceandletsthemliveinsymbiosiswitharchitectureratherthanonlyinhabitingarchitecture.Thisnewkindofarchitecturehastobedynamic,responsiveandinteractive.

“Onewaytobeginexploringthedynamicsisthroughrethinkingarchitecturebeyondconventionalstaticandsingle‐functionspatialdesign.”(Fox&Kemp2009)

Letusforexamplethinkofapavilion,apavilionthatcanchangeitsshellformtoautomaticallyusethebestformforminimizingthedisplacementsorstressesinitsstructure.Apavilionthatcanbraceitselffortheincomingimpactofanearthquakeorapavilionthatbreathes,ventilates,andcatchesrenewableresourcesforitsinhabitantsandtheircurrentactivity.BuckminsterFullerevencoinedthisas“Ephemeralization”(Fox&Kemp2009),beingabletobuildastrongerformwithminimalmaterialusingactivemeasures,similartothehumanbodywhereafixedamountofmusclesandbonescanprovidevariousstancesforvariouspositionsandactions.“Perhapsthemostapplicableresearchtodrawuponindesigningintelligentsystemslies

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hjointstofo

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eintelligencntrolstheacmpragmati

derpragmarietyofdataeasuresWIFeractivesha

manbehaviledhumaniale.Sensorstyetavailabimplementt

ure 6: Visualiz

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unterpartoTheintelligeKA.

ronmentwit

mputationismponentsthreabletodoersthatena

ceofIAisdectuationofticdatatohu

aticdatafallathatistangFIstrengthinadingreacti

iorandemosticdata,whwhichcanableonalargtheminthe

zing Wifi Stren

in 2.0 (Orange

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thoutthecom

sthetermtatareembeoonlyacoupblethebuil

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erials (Arnall e

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able009)

IntintebasTheofdowenvcellinteandCenhumusastcellcoominbut

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etermswardifferentcelwnactuatorsvironment.Plswhichactelligenceisdflocksofb

ntralintelligmanbrain.Wtouseourotheactuatinlsorevenoordinatedacnimalizedfutcollectsthi

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rmintelligenlls.Cellswh,meaningthProjectssuctonthespealsodirectlybirds.

genceistheWhenahairothermusclngenvironmff‐sitedatact.Apracticurther.Thisisdatatoan

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nal Geograph

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hic n.d.)

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elligenceantionourbrainsoryenvireansallofththeentiresructurewheeasuresthefordinglywi

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c n.d.)

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ntlycombinevidualelemex&Kemp20

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chniquesusntrol(CNC)llkeepimprtheproductishoweveri

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hesisare3Dvacuumforngtheupcomingcomponaseatthem

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areabutshompactand/o

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whereanidg,connectinwaybeforeonceptualde

aser‐cuttingthewriter’ssothatthebleforcarryhisresearch

ouldclearlyrenhancethigning.”(Fox

dealkineticgmembers,usingthiskesign.

g,computeropiniontheywilleventyingthecalc.

understandheprojectstx&Kemp20

structureis,actuators,knowledget

numericalhatthesetootuallybeusculatedload

thethey009)

olsedds.

Motivation

“Theuseoftoolswithreal‐timefeedbackforprototypingbehaviorscangreatlyinfluencetheoverallprocessofdesignandhaveaprofoundeffectuponthefinalendproduct.”

(Fox&Kemp2009)

TryingtovisualizeaKAdesign,thedesignerneedsthetoolstosimulate,calculateandanimatethemovementofitsstructure.The2Dor3Ddrawingsoftwarecommonlyusedarenotyetreadytogeneratethisforhim.Theydeliver,justlikeourcurrentperceptionofarchitecture,staticdrawings.Designtoolsforkineticsystemsdoexistinspecializedsoftwarepackages(Fotiadou2007),designedformechanicalengineersandanimatorsinthemediaorentertainmentsector.Theyutilize“skeleton”toolstosimulatetheirdesignbasedonstiffmembersandactuatorsthatbringmovementinthesystem.Butevenwhensoftwarethatcanhandleskeletonanimationisavailablewelackeasy‐to‐usereal‐timecalculationofstressesanddisplacementsinthestructureduringitsanimation.Whatwegaininsimulationofthekineticsweloseinstructuralinsightoftheglobalstructure.Doesthekineticstructureforexampledecreaseitsinternalforcesbymovinginthatspecificstanceordoesitincreasethem?Evenwhentalkingaboutsmallerscalekineticstructureswithoutsimulationtoolsathoroughknowledgeandstructuralinsightisneededtonoticeproblematicpointsintheentirestructure.

“Theintegrationofcomputationaltools,suchas3Dmodelingsoftwareforreal‐timesimulationandactualphysicaltestingintotheprocessofdesigningalsoallowsdesigners

toconfrontandanticipatemanyoftheissuesthatoccurwhenbuildingatfullscale.”(Fox&Kemp2009)

DesigningandconstructingIAalsoinvolvesaspecificskillsetinmicrocontrollers,sensorsandactuatorstomakethedesigncometolife.Thisskillsetisnotpartofthebasiccurriculumofanarchitect.Butwithoutabasicnotionoftheseskills,thearchitectcannotconstructKA.ThesesimulationtoolsandspecificskillsdonotexistbecauseKAexistsbutbecausetheywillcomplementeachothertoproducebetter(andparametrical)KAwhenintroducedinanearlyphaseofdesign.“Whenthetoolsevolvewiththedesign,theheuristicsarefacilitatedbythetools,andnotnecessarilylimitedbytheirparameters.Thedesignprocessesassociatedwithinteractivesystemsdesignareconstantlyevolvingandarefosteredbytheconsequentdevelopment

ofnewtools.”(Fox&Kemp2009)

Objectives

Theaimofthisresearchconsistsofresearchingtoday’ssimulationtoolstosimulatethephysicalcounterpart,researchingthevarioussensorsandactuatorswhilealsolinkingthemtooursimulationandgainingpracticalknowledgeinthisfieldbyaddressingdifferentgeneralsolutionsandconstructingaworkingprototype.Whenresearchingthechosensimulationsoftware,itsworkingrangeisfoundbyimplementingdifferentcase‐studiesanddocumentingwherethesimulationsoftwareexperiencesproblems.ThesimulationsoftwareisalsovalidatedbycomparingitnumericallytoacommonFEsoftwarepackage.Varioussensorsandactuatorsareresearchedtogainpracticalknowledgeonhowtooperateandimplementthembutarealsolinkedtothesimulationsoftwaretotestitsrangeagaininthisaspect.DesignissueswhenphysicallybuildingKAareaddressedusingabottomdownapproachinvolvingdifferentgeneralaspectslikeactuation,claddingandnodes,butalsobybuildingaprototype.

Significance

“Architectsareeagertoembracetechnologythatcanincreaseoptimizationthroughadaptationwithrespectbothtotheenvironmentanduserneeds,yettheymustlearnto

recognizetheinterdisciplinaryneedsthatsuchtechnologieshaveensnared.”(Fox&Kemp2009)

ThisresearchisgoingtoactasacatalysttoinspirenewdesignsorresearchinthemultidisciplinaryfieldofIA.ItwillprovidethenecessaryskillsforarchitectstogetherwithmeanstobeginsimulatinganddesigningKA.ButwillalsoprovidetheconceptofIAintheformofEphmeralizationtostructuralengineerswhocanproducefurthercalculationsandcanthusdeveloplighterandstrongerstructuresusingactivecontrolmeasurements.Engineersstudyingtheindoorbuildingclimatecandevelopstrategiesthatformthebasisforarchitectsandtheirdesignsforinteractivefaçades2.

2InteractiveFacades:Interactivecomponentsembeddedinalargerstructure(façade)interactingwithbuildingphysicsbehaviorandappearance.Theseincludesunlight,temperature,ventilationandalsoappearanceinallkindofforms.

Mechanical,chemicalandelectricalengineerscanalsofindinspirationfornewmechanisms,smartmaterialsorelectronicstoupgradecurrentversionsofIA,likeactuatorsthatarepoweredbythesunortextilemembranesthatcanchangecolorlikeachameleon.Thiscommongoalisthecomplementaryinspirationforbothpartiesfordesigninganddiscoveringnewapplications.EvensocialsciencescanobserveprototypesofIAinasocialcontexttoseewhatkindofimpactithasonhumanandsocialbehavior,whichinreturnformsthebasisforarchitecturalcritiqueandthebranchingoutofIAindifferentdirections.Notonlycantheyobservedirectconfrontationbetweenthebuiltenvironmentandtheirusersbuttheycanalsointerpretthevaststreamofpragmaticandhumanisticdatathatwillsoonbeavailablefromeverycornerofthisnewsentientcity,comprisedofInteractiveArchitecture.

ThearcprocoubeaWaopithaBesIns(Fototear

1EarlierW

econceptofchitectshaveominentfiguupleofkinetamswheretarehouseGainionthatthattime.

sidestheindstituteofTecox1995a)cathenbytheirlierworks.

ure 12: Ernstin

ure 13: Scale M

fKineticArceincorporaureofthemticprojectsthekineticsateandthedhisisdirectl

dependentwchnologywaategorizeddirmechanis

ng Warehous

Model, Santia

chitectureistedKAinthisSantiagowhichcontcouldstillbdesignforthlylinkedto

workofCalaascommissdifferentintm(s)andis

e Gate, Santia

ago Calatrava

sayoungcoheirownoeuCalatrava(tainlinkagebecalculateheMilwauketheabsence

atrava,aressionedarounteractivestrthusagrea

ago Calatrava

a (Tzonis & Lef

oncept.LessuvrebeforeCalatravansystemswitedbyhand.FeeArtMuseeofmoreco

searchground1995.Thructuresthaatwayofcap

a, 1983(Tzonis

faivre 1997)

sthanahan1990.Them.d.).HehasthasetofnForexampleeum.Itistheomplexsimu

pattheMasheKineticDathadbeencpturingmos

s & Lefaivre 1

ndfulofmostdesignedanon‐bearingehisErnstinewriter’sulationtool

ssachusettsesignGroupconceivedustofthe

2.2Literaturestudy

Fromtheearlierworksupto1990therewasstillnolargescaleinterestininteractivearchitecture.ThebackgroundworksofWilliamJ.Mitchell(Mitchelln.d.)weretheonlyonespublisheduntilthe21stcentury.ThesepavedthewayforIAbyintroducingthebiggerpictureregardingthechangingsocialrolesthankstoupcomingphenomenaatthattimesuchastheinternetandthedigitalrealm.Around2000differentarchitectsandarchitecturalfirmsbegantoexperimentwithanddocumentIA:Anewgenerationwhonowhadthemeansandskillstodoso.ThemagazineiAforexamplewaspublishedbyKasOosterhuiswhoisstillthecurrentdirectoroftheHyperbodyworkgroup(Oosterhuis2000)attheTechnicalUniversityofDelft.Thesemagazinesthereforeconsistofmanystudentprojectsandprototypestogetherwithpartsoftheoreticaltheory.Around2009anelaborateworkofMichaelFoxandMilesKemptitled“InteractiveArchitecture”waspublished.MichaelFox,founderoftheKineticDesignGroupatMITcanbeconsideredasthepersonwiththelargesthistoricalexperienceinthefieldandmakesthebook“InteractiveArchitecture”(Fox&Kemp2009)aprominentpieceinthisliteraturestudyaswellastheentirefieldofIAatthemomentofwriting.

ThefollowingbooksregardingIAweretakenintoaccountwhileconductingthisliteraturestudy:

1. W.J.Mitchell,CityofBits,Space,PlaceandtheInfobahn,MITPress,1996,pp.224(Mitchell 1996)

2. W.J.Mitchell,e‐topia,UrbanLife–Butnotasweknowit,MITPress,2000,pp.184(Mitchell 2000)

3. W.J.Mitchell,ME++,TheCyborgSelfandtheNetworkedCity,MITPress2004,pp.259 (Mitchell 2004)

4. K.Oosterhuis;X.Xia,iAn°1–InteractiveArchitecture,JapSamBooks,2007,pp.96(Oosterhuis & Xia 2007)

5. K.Oosterhuis;X.Xia,iAn°2–InteractiveArchitecture,JapSamBooks,2008,pp.112(Oosterhuis & Xia 2008)

6. M.Fox;M.Kemp,InteractiveArchitecture,PrincetonArchitecturalPress,2009,pp.225(Fox & Kemp 2009)

ThefollowingmagazineshavebeenreadbutintheopinionofthewritertheydonotfitinsidethecategoryofKAsincemostoftheprojectsinthesemagazineshavenokineticcounterpartintheirinteractivedesign.Nonethelesstheseprojectsarepartofthecurrentinteractiveprojectlandscapeandformasourceofinspirationandknowledge.

7. K.Oosterhuis;X.Xia,iAn°3–EmotiveStyling,JapSamBooks,2010,pp.128 (Oosterhuis & Xia 2010)

8. LucyBullivant,4Dspace–InteractiveArchitecture,AcademyPress,2005,pp.128 (Bullivant 2005)

9. LucyBullivant,4Dsocial–InteractiveDesignEnvironments,AcademyPress,2007,pp.127(Bullivant 2007)

Figure 14: Interactive Architecture Categorization + Dissertation

The entire written IA landscape has been split up into different categories by the writer. Abstracting their quantity, each of these categories contribute to the domain of IA. Each book has been mapped on its categorization in relationship to the other categories, most fitting for its content in the opinion of the writer. The contents of this dissertation have also been categorized to visualize the content in relationship to the existing landscape. This study also states that simulation tools are still not yet widely documented or actively used. Except for some projects in the magazine iA, KA and IA in general are not simulated in current projects. The majority of the project landscape arise from a practical knowledge and heuristic production methods of building prototypes and scale models. The majority of the projects in the above books have been documented3 and categorized in the following sections. By doing this, the research compares the books based on their vision on the current IA landscape/projects.

3 Appendix A: Project Landscape Raw Data

Background

Theory

Protype

Simulation

Build Projects

osterh

uis, IA

TowasumacctriloveAnoprothe

2.1Timelin

visualizethsroughlydimofthecatecounttheamlogyofW.J.ertogetherwotherremarototypes,meeirwayinto

ure 15: Time v

BackIATSimu

ble 1: Legend T

W.J. M

itchell, C

ity of B

hechangingividedbythegoriesatamountofliteMitchellthewithaboomrkisthesmeaningthatsomespeci

versus Book C

kgroundheoryulationsTime versus B

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itchell, E‐to

rolesofthehewriterintnyonetimeeratureataneoverallbacmofprototyallriseinsithesimulatficworks.

Contents

Book Content

WJMitch

ellE‐to

esecategorietopercentageistherefornyonetimeckgrounddypesandsimimulationptionpackage

W.J. M

itchell, M

esinsidethgesandplotre100%ande.Itisobvioisappearsamulationsinrojectsrathesarerelati

PrototypeRealLife

eIAlandscattedonatimdthuswillnustoseethndtheIAthntheprojecterthanrealivelynewan

esProjects

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uis, IA

apeeachbomeline.Thenottakeintohataftertheheorytakestlandscape.lprojectsanndhavemad

teractive Arch

itecture

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ure 16: Locati

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ble 2: Legend

tegorizingthticeablethachitecturehojectsinWe

eearlierwoominentfiguspectivepie

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sedonacateaforementuebutshowmecolorcod

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esemechanneticstructutegorieswas

Location

on versus Boo

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heexamplestthemagazhasawidersternEurop

orks,ascateureslikeSanchartstells

Mechanism

tegorizationionedprojewingtheirredeisusedfo

attheKDGhtoavoidtherestingbutpoint.

nismsarethures.The“wstoohigh,o

&Xia2007)

&Xia2008)

sfoundinlzineiAmainscope,notpeaswell.

gorizedbytntiagoCalatusthatnew

ninmechanictsareputiespectiveboortherespe

hasmadeanearlierlinkonlyhavea

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literaturepenlydepictsnonlyshowin

theKDG,ortravaandOtwerprojects

ismsmadebintogroupsookinastacectivebooks

nddocumenkagesystemalimitedsco

egoriesasthnotbeendocgtheenorm

InteractivKemp20KineticD1995a)

erbookandnationalworngnational

riginatedfrottoFrei.Altsaremorep

bytheKDGswhileabstrckedcolumnsasthegeog

ntedavarietsorNurnbeopeofusabi

heaforemencumentedsiousamount

veArchitect009)DesignGroup

dgeographicrk.Thebookprojectsbu

omthehomethoughthespresentinqu

atMIT(Foxractingtheirn.Keepingigraphicloca

tyofmechanergscissorslityandapr

ntioned“meincetheamotsofactuato

ture(Fox&

pMatrix(Fo

clocationitkInteractivutconceptua

ecountriessizeoftheiruantity.

x1995b),alrabsoluteinmindtheation.

nisms.Newmechanismredetermin

eans”oftheountoforsavailable

isveal

wermsed

ure 17: Mechaanism versus Book

IntkinmaDynDepincsetDynbutvenEmstruand

AnoKemConsolMuwaSpabaswil

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thebookIntneticalcountajorityofpronamicorEm

ployablestrludemilitartupbutthee

namicsystetwhoarestntilationsys

mbeddedsysuctureanddembedded

ure 18: Typolo

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othercategomp2009),i

ntextualAdaarposition,

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atialoptimizsketballgamlloptimizea

Typologies

teractiveArterpartindojectsfoundmbedded.

ructuresarery,nonmilitendposition

emsaresysttillonlyapiestems,etc.

stemsarelikspace.Itcandstructures

ogy Categoriz

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zationseeksmeisbeingpacousticsan

rchitecture(ifferenttypdintheliter

econceivedtaryandcrisnofthebuil

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nKinetics

socoinedbyeapplication

ncludesstrucityonthesc

ctionsonanrniture.

stooptimizplayedinasndlightingt

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asstructuresisrelieftenldingsisstil

reinteractivgersystem.

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ytheauthonofkinetic

ucturesreaccaleofourb

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eswithasmnts:verykinllstatic.

veandhaveTheseinclu

tformaninerprojectstdeployables

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cale:Positio

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eauthorselacategorizatietypes:Dep

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aphysicalcudesolarsh

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ctiveArchithatisaproj

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ningofmov

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ure 19: Applic

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rectinteractobjectsorpereisalotoitcanevenreoroverhe

mulioverwnditionslikeuctureandwessesandd

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ctbythespstimespanwnnoproject

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vesstimuliliildingcanfomaintainanoshapeofwioccur.

ephenomenerlevels.Thorechangethts.

nisticvaluesitcanadjusngtotheam.

thatdiffereneronatechnannotcoinc

ortantgoalgtochange

peedoftheirwasdirect,itsordesigne

ydocumentethisreasonntime:Dire

ikedaylightorexampleoptimalspaindowssoth

nasuchaschheseinvokethestructure

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ntlevelsofinicalscale.Fcidewithop

ofaninterabetweenhu

rmovementimplyingmiersprototyp

edandtakennthatthewrect,Medium

tlevels,sounchangeitssacefortheohatthespac

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ctivesystemmanneedsa

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nintoaccouriterexpliciandLongti

ndlevelsanskin,thickenccupanttorceisequally

ndpatternsntheappliedformversus

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ycannotalwetheinhabituralbehavi

todayshoulandexternalditions.”(Fox

nodifferensmeanstherggerpicture

untintheitlytakesinttimespans.

ndthepreseningitwherreaditsbooylitandno

orgeologicdloadsontsinternal

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isthesismaattheselevevelsreacttoiscategoriztbeableto

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structuralceractivitylik

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ure 20: Load B

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adeadivisioelscannotbdifferentdaationhowevbeloadbea

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uralcapacitndrain.Thosough.

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behavior

oninvariouseputtogethata,thereforveralsoimpring;struct

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eanstheprovefacadeso

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whichareleroofsormo

bablycombinons.

istancetoenhighloadbe

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nvironmentearingifthe

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mallscale

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ure 21: Intellig

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aminingallpictedinthe

2.9Project

tegorizingthagmaticvaluuesarevalucordingly.Wnsorsarenoswillchang

ure 22: Senso

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gence Catego

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tswenotice

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gmatic

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entral

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actat4‐1.

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2.10Web‐B

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ure 23: Intera

BasedLitera

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aturecanalntainingdif

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esinall

Chapter3:Methodology&Results

3.0Methodology

Beforetalkingaboutthedifferentpackagesofthemethodologythisthesiswillfirstelaborateontheusedsimulationsoftware,Grasshopper,andtheusedArduinomicrocontroller.

3.0.1TheSimulationSoftware,Grasshopper

Researchinsimulationsoftwareledtoagrowingusercommunityinvolvingtheadd‐on“Grasshopper”(Davidsonn.d.)forRhinoceros4SR8.Thegrasshopperadd‐ongivesusavisualcodingenvironmentwhereparametricaldesignisthemaintopic.Rhinocerosisnotdevelopedforskeletonstructuresthough.Thecommunitygroupshavedevelopedpiecesofcode,visualizedas“components”inGrasshopper,whichallowustosimulaterealphysicalbehavior.Afterreadingacomparisonthesisoncommercialskeletontools(Fotiadou2007),togetherwiththedocumentationonRhinocerus+Grasshopper(Davidsonn.d.),Kangaroo(Piker2011b)andFirefly(Andy&Johnson2010),thisresearchhastakenGrasshopperasprimarysimulationtool.Thisismainlybecauseoftheavailablecomponents,FireflyandKangaroo,whichallowustomanipulatedataandsimulatekinetics,thetwobasicneedsinthisIAresearch.Kangarooisaphysicsenginebasedontheuseofaparticle‐springsystem.ForabetterunderstandingofthesystemanditsimplementationwerefertotheKangarooManual(Piker2011c).Butthisbasicallymeansthatinthisthesisstructuralnodeswillbemodeledasparticlesandinterconnectingbeamsortrussmemberswillbemodeledasa“spring”connectionbetweentwoparticles.Thesespringshaveacertainstiffnessdefinedbyfollowingformulasofgeneralstructuralengineering,inaccordancewiththeircompatibleunits:

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1. SimulatingDesignThefirstpackageisacompilationofdifferentcasestudies.TheseinvolvepracticalcaseswhichcanbefoundinthecurrentKAlandscape.Aninformation‐orientatedsamplinghasbeenusedtofinddifferentatypicaldesignstotesttheabilitiesofthesimulationsoftware,Grasshopper.ThispackagewillalsocontainacomparisonstudybetweenGrasshopperandaFiniteElements‐softwarepackage,ANSYS,fornumericalvalidation.

2. SimulatingBehaviorThefollowingpackagewillimplementdifferentlowcost,highlyavailablesensorsinsomeofthepreviouscasestudies.Thisagaintotesttheabilitiesofthesimulationsoftware,Grasshopperandtofindthescopeofitsabilitytolinkthephysicalsensoryenvironmenttothesimulation.Notonlythepragmaticbutalsohumanisticsensorswillbeaddressedhere,togetherwiththenumericaldifferencesofswarmandcentralintelligence.

3. PracticalDesignIssuesInthepracticaldesignpackage,anidealkineticstructurewillbebrokendownintoitsdifferentpartslikecladding,connectingmembers,actuators,etc.Differentgeneralsolutionswillfirstbeanalyzedandproducedinapracticalstudyofbuildingandusing.TheendofthispackagewillcontainaworkingprototypeofaconceptualKAdesign.

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Figure 98: Elongation/Original Length [%]

Table 10: Muscle Elongation [%]

0,00 0,50 1,00 1,50 2,00 2,50 3,00 3,50 4,00 4,50 5,00

Length/ Original length [/]

Air Pressure [bar]

Elongation[/] vs. Air Pressure[bar]

Druk(Bar) 1 kg 2 kg 3 kg 4 kg 5kg

0,00 0,35 2,04 3,73 4,74 5,42

2,00 ‐3,03 ‐2,35 ‐0,66 1,36 2,04

2,50 ‐4,72 ‐4,04 ‐1,68 0,35 0,69

3,00 ‐5,73 ‐5,05 ‐3,36 ‐1,34 ‐0,32

3,50 ‐6,74 ‐5,73 ‐4,38 ‐2,35 ‐1,34

4,00 ‐7,42 ‐7,08 ‐5,73 ‐3,36 ‐2,69

4,50 ‐8,09 ‐7,42 ‐6,74 ‐4,72 ‐3,36

5,00 ‐8,43 ‐7,76 ‐7,42 ‐5,39 ‐4,38

Total Range 8,78 9,80 11,15 10,14 9,80

3.3.5PrototypeDesign

3.3.5.1Introduction

FlexibleSkin

AsasummarizationofpracticalknowledgethisresearchendswiththedesignandcreationofanInteractiveKineticStructure.Thisprototypedoesnotfocusondocumentingthesocialinteractionwiththestructure,henceitssocialaspects,butdocumentsitsdesignprocess,productionprocessandproblematicissues.Theprimeconceptualideabehindtheprototypeisthatofaflexibleskin.Askinwhichisabletodefinearchitecturalspaceonitsown.Askinthatrespondstopragmaticdatasuchassunlight,proximityandtouch.Bydoingsotheinhabitantisnolongershieldedfromtheoutside,passersbyorsunlightbyabrickwallbutperceivesthespaceinaninteractiveway,constantlychangingintime.WhileexistingprototypesinthefieldofIAdonotspecificallymentionthedifferentlevelsofinteractivityinvolvingtimespan,thisresearchdoes.Thisresearchstatesthattherearethreedifferentlevelsofinteractivity:Direct,WeeksandMonths.Mostoftheprojectsinthecurrentlandscapeonlyinvolvedirectinteractivity.Thisprototypeskiniscomprisedofthetwofirstlayersofinteractivity,meaningdirectinteractivitysuchasdaylightentranceandventilationaswellasdefiningitsownbehaviorlikeshynessandaggressivenessbaseduponthesepragmaticvaluessuchasproximityandtouch.Thesecondlayerofinteractivity,meaningthestructurallayerinthiscase,canformitselfintoanoptimalspaceaccordingtominimalinternalstressesorspatialoptimization.Bothlayersareaestheticallywovenintoeachotherunlikeprojectsinthecurrentlandscapewhichmainlyintroduceeitherstructuralordirectinteractivity.Issue3‐8:Anotherfactthatthisresearchspecificallymentionsistheoverallinabilitytoincorporatetwodifferentlevelswhiletheyarelinkedtogetherwithonlyoneactuator.Meaningoneactuatorcannotberesponsiblefortwolevelsofinteractivity.Forexample,ourneedfordaylightandventilationdoesnotcoincidewithourneedforanoptimalstructurewithminimaldisplacements.Thisinsightonlycameafterthepracticalissuesduringtheactuatordesign.

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Behavior

Varioussensorswereimplementedintotheflexibleskin.Piezoelementscapableofmeasuringimpactorshocksweregluedtothecladding,transformingthecladdingtoatouchsensitivesurface.Onelightsensorwasattachedtomeasuredaylightlevels,sothatthepolypscouldrespondaccordingly.Sincethe9nodesoftheprototypelieclosetoeachotherthereisnoneedforinstalling9independentsensors.Howeverinrealitythesearesupposedtobeinstalled.Eachofthepolypsthenreactstoitsspecificsensor,transformingtheflexibleskinintoavisualizationoftheincidentsolarradiation.Finallytwoinfraredsensorswerealsoimplementedonthesurfaceofthecladding,measuringtheproximityofobjectstowardstheskin.Thepolypscanthusreactandinteractwithpassersbyorcouldshyawayfromthemtomaintaininnerspaceprivacy.Thesameprinciplegoesfortheimplementationofmultipleinfraredproximitysensorssothatthepolypswillactmoreautonomouslyandinatagreaterresolution.Asameansofprototypingthepolypsfurthestawayfromeachotherwillbedrivenbyaseparateinfraredsensor.Andthemiddlepolypswillbedrivenbyanaveragedvalueofthe2infraredsensors.Alloftheprogramming7wasdoneinArduinoenvironmentbasedonProcessing.

7 Appendicx B: Behavior Arduino code

Sensor Action Behavior

Light Polyps Open Polyps will catch daylight dispersing it over its structure.

Light Polyps Close Polyps will block daylight to intervene in its inner space.

Touch Polyps Close Polyps will shy away from interested people, opening again over time.

Touch Polyps Open Polyps will be eager to respond to interested people. Conversing with the person in front of it.

Proximity Polyps Close Polyps will shy away from passerby's.

Proximity Polyps Open Polyps will affirm passerby's, luring them closer

Table 11: Polyps Behavioral Scheme

ure 116: Built

ure 117: Built

ure 118: Built

‐In Opto‐Resi

‐In Piezo Elem

‐in IR Sensor

ure 119: Proto

uur 120: Proto

otype Side‐Vi

ure 121: Proto

ure 122: Proto

otype Perspec

otype Upper V

ctive View

Chapter4:Evaluation&Discussion

4.1Evaluation&DiscussionSimulatingDesign

4.1.1SimulationCaseStudies

ThesimulationofkineticbeamstructuresispossiblewiththeGrasshopperenvironment.ThecomponentKangaroousesaspringbasedmodelwherenodesareconsideredasdiscretepointsandbeamsaremodeledasspringswiththeappropriatestiffness.Actuatorsarespringswithadjustablerestlength.Thisresearchhoweverdidnotimplementachangeinspringstiffnessinvolvingactuators.Whentherestlengthofanactuatorchanges,itsstiffnessissupposedtochangeaccordingtothestiffnessformulaE*A/L,whenabstractingtheactuatorasatrussmemberwithconstantcrosssection.Anactuatorcouldalsohaveadifferentstiffnessbehaviorsinceitscrosssectionisnotconstantoveritslength.Furtherresearchcouldanalyzedifferentactuatorsandtheirstiffnessbehavioroveritsstroke,toimplementinGrasshopperasanaccuratestiffnessfunction.Kineticstructuresonlymadeoftrussmembers,actuatorsandanchorpointsfixedintimeandspacecanbeimplemented,whenthebasicskillsetinvolvingGrasshopperandKangarooisavailable.Bendingcanalsobeimplementedontwocoupledlinestosimulatehingednodes.HoweverKangaroolacksthenecessarydocumentationexplainingtheusedunitsasbendingstrength.TheGrasshopperenvironmenttogetherwithKangarooisnotacommercialpackage.Itisalsonotintendedtobeatheoreticalcalculationpackage.ThereforeunderstandingGrasshopperonlyfortheuseofdisplacementcalculationisnotmeantasabasisforfurtherresearch.Thispackagehoweverprovidesthesimulationenvironmentwitheasytousekinematicswheretheusercanhavetotal,visual,controloveritsdesign.FurtherresearchcanhowevertakeadeeperlookintotheexactprogrammingofKangarooandimproveoraddcomponentswherenecessary.

TheguiguistruKanimpandmeisa

emainprobides,meaninidesformthucturescan

ngarooiscoplementatiodshouldproantimesimuanelaborate

ure 123: Simu

ure 124: Simu

blemwhenunganchorphebasisfornnstillnotbe

ontinuouslybonoftherollovetobeabulatingrollieandinaccu

ulation Flexibl

ulation of the

usingKangaointsattachnumerousksimulated.

beingdevelolingguideisigimprovemngguidesbyuratesolutio

e Tower

Expanding Ge

arooisitscuhedtoaspekineticstruc

opedaswesstobeintrodmentinthisyvariablepon.

eodesic Dome

urrentinabicificlineorctures,mean

speak.Ithasducedinthepackage’ssiullforcesto

ilitytointrosurface.Thningaparto

sbeenannounextreleaseimulationcawardsinters

oducerollingheserollingofkinetic

uncedthateofKangaroapacity.Inthrsectingplan

oohenes

4.1.2Numericalvalidation

Kangarooisquiteaccurateforsimulatingnon‐dynamicstructures.Acomparisonstudyindisplacements,comparingKangarooandANSYS,showsthattheaveragederrormarginofKangarooisonly0,1%oftheANSYSresult.Whensimulatingadynamicstructure,meaninganactuatedstructure,Kangarooisnotasaccuratebasedonthecomparisonresults.DisplacementsfoundbyKangaroohaveerrormarginsof316%maximum.HoweverthisdoesnotprovethatKangarooisnotsuitableforthesimulationofKA.InANSYStheactuatorwasmodeledasatrussmemberwithaninitialstrain.InGrasshopperitwasmodeledasaspringwithvariablerestlength.Changingstiffnessandotherfactorscouldplayapartintheseendresults,asdiscussedbefore.Non‐linearanalysisinANSYSandfurtherresearchwouldbeconclusive.SincethedifferenceinresultsaresmallinabsolutevaluethisresearchhoweverstatesthatKangarooisavaluableearlysimulationpackageandwillimproveorjustifyitsresultsinfurtherresearch.

Table 12: Error Margin %, Default 5kN Table 13:Error Margin %, 5kN

Node X Direction Y Direction

1 0,0 0,0

2 0,0 0,1

3 0,1 0,1

4 0,1 0,1

5 0,1 0,1

6 0,0 0,1

7 0,1 0,1

8 0,1 0,1

9 0,1 0,1

10 0,0 0,1

11 0,0 0,0

12 0,0 0,0

13 0,0 0,1

14 0,0 0,1

15 0,0 0,1

16 0,0 0,1

17 0,0 0,1

18 0,0 0,1

19 0,0 0,1

20 0,0 0,1

21 0,0 0,1

22 0,0 0,0

0,0 0,1

Node X Direction Y Direction

1 0,0 0,0

2 ‐105,7 21,3

3 ‐111,2 9,4

4 316,2 ‐2,7

5 247,3 ‐17,4

6 206,7 ‐28,0

7 159,0 ‐33,0

8 128,0 ‐38,1

9 106,4 ‐45,4

10 90,6 ‐59,7

11 0,0 0,0

12 0,0 0,0

13 62,6 30,8

14 70,5 13,4

15 79,0 17,6

16 ‐132,0 ‐18,8

17 ‐120,8 ‐29,1

18 ‐112,2 ‐33,7

19 ‐104,8 ‐39,0

20 ‐97,9 ‐46,9

21 ‐91,4 ‐65,7

22 0,0 0,0

32,8 ‐20,3

WhthecalThiKanwhconTheiterbenbenThesimnotbut

henanalyzineresultsinAculatesneu

isresultiscngaroosimuereasactuanstantofthe

esimulationrativeprocendingmomendingmome

esimulationmulation,metthecaseintstillbeinga

ure 125: Simu

ure 126: Simu

ngtheinternANSYScalcutralorposit

causedbythulatesaspritioninANSYespecificme

nbyKangarossofitssimuentthankstoentwillimply

nbyANSYSweaningnoexreality,whiabletoelong

ulation Grassh

ulation ANSYS

nalstressesulatetensiontiveinterna

ewayactuangwithvariYSisinserteemberisinse

oocanbeseulationengiotheanglewlytwooppos

willkeepthextrastrainwichKangarogateaccord

hopper, 0kN, A

S, 0kN, Actuat

softhediffenintheupplforces.

ationisimpliablerestleedasadifferertedintoth

eenasanonine.Anon‐liwhichthetrsitefixedend

einitialstrawilloccurothosimulatesdingtoitsstif

Actuated, Def

ted, Deformat

erentcalculaperleftcorn

lementedinngthandarrentconstanhesimulatio

‐linearsolutinearsolutiorussmemberdmomentsl

inconstantherthanthebetterbyoniffness.

formation Sca

tion Scale 1:1

ationsitcaner,whereK

eachsimularelativelylantset.Theinnprogram.

tionbecauseonwillprodurshasbeenplikeshownb

duringtheeeinitialstrainlychanging

ale 1:1

nbeseenthaKangaroo

ationsoftwargestiffnessnitialstrain

eoftheuceanappliplacedin.Abelow.

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ingtheArduvironment,smulationofKriablelength

rectlyremapplementedianingpragmtuators.Thisredinnumb

ntralintelligtuatorsbasespectivecelllapagosOpt.

eoptimizatiplacement,cognitionorternallangu

ure 127: Optim

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uinomicrocsensordataKA.Theactuhsofitsactu

ppingthedaintheGrassmaticsensosmethodisbersandthu

genceontheedonacoup.CentralinttimizationS

ionsolvercdistanceorrRDIFreadiuage.

mizatin, Kinet

ontrolleranacanbereaduationoftheuators.Base

atavaluestohopperenvrvaluescannamedSwauscannotb

eotherhandpleofsensortelligencecaolverand/o

anbeusedwrinternalforngscanonly

tic arch movin

ndthecompddirectlyfrekineticstredonthein

othestrokevironmentunbedirectlyarmIntelligeeimplemen

disacoordrvaluesnotanbeimpleorprogramm

whenoptimrces.Humanybeimplem

ng towards po

ponentFirefromtheboaructureisoncomingdata

erangeofthusingtheFirylinkedtotence.Humantedinthea

inatedactutnecessarilymentedusinminginexte

mizingaspenisticdatasmentedbyp

flyIntheGrrdandusednlybasedonatheseleng

heactuatorcreflycomponheactuationnisticdatacabovemetho

ationofalloylinkedtoengeitherthernallangua

cificvaluessuchasskelprogrammin

rasshopperdinthenthedifferegthsvary.

canbeeasilynents.nofdifferencannotbeod.

oftheeachheintegratedageC++and

suchasetonnginan

Besidescentralintelligencebeingmoreaccuratethanswarmintelligence,whichwasfoundinthecomparedresultsofabasicsimulation,theendactuationisalsodependentontheiterativeprocessoftheoptimizationsolver.Thiswasnotvisibleinthefirstsimulation,minimizingthedistancetowardsapoint,butwasinthesecondsimulationwhenminimizingtheinternalforces.

Thisproblemwillalwaysoccurwhenusingevolutionarysolversandtheiriterativeprocess.Howeverresultsshowthatdifferentactuationendresultsgivethesameendvalue.Problemsarelikelytoarisewhenmorecomplexsimulationswillleadtodifferentendresultswithmajordifferencestheendresult.Thereforeoptimizationsolversaretobehandledwithcareandresearchedwhenimplementinginafinaldesign.

Tabel 14: Optimization results versus swarm implementation, Simulation 1

Tabel 15: Optimization results, Simulation 2

Grasshopperisnotonlyinterestingforthesimulationofkinetics,thisfreeandopencodingenvironmentmakeswaytodifferentprotocolsthatcanbeusedincombinationwithupcominghumanisticaswellaspragmaticsensors.Forfurtherdetailsinvolvingsubjectssuchastheemotivelayerandbehaviorwerefertothechaptermethodologyandresultsinquestion.Itisthewriter’sopinionthatGrasshopperprovidesandwillcontinuetoprovideavaluableenvironmentforthesimulationanddesignofInteractiveArchitecture.

Actuator Intelligent 1 Intelligent 2 Intelligent 3 Swarm

1 0 0 0 7,93

2 0 0 0 12,58

3 18 20 8 17,68

4 20 20 20 20,00

5 19 20 19 16,76

6 0 0 0 11,51

7 7 9 3 7,12

8 10 4 0 3,25

9 0 0 0 0,00

CP 0,565594 0,565594 0,565594 0,565692

Difference 0 0 0 9,8E‐05

Actuator Intelligent 1 Intelligent 2 Intelligent 3

1 1 1 1

2 0 0 0

3 ‐3 ‐3 ‐3

4 0 0 0

5 0 0 0

6 0 0 0

7 0 0 0

F*L 0,000033 0,000033 0,000033

IngeasspaispwhWhconintejoinSymNoconareina

3DesignI

3.1Joints

3.2.12DJoi

generalitcasiertobuildaceandallowpossiblewhhenthetruss

hendesigninnnectingpinersectionpontormoveommetricalc

desshouldnnectedinteconnectedakineticstr

ure 128: 2D Tu

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anbestateddthana3Dnwingtheneenatleasttsmembers

ng2Djointsnandtheheoint.Toavooutofthe2Donnections

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dthatmodelnodeconnececessarydegthreemembdonotmove

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By looking at the test results of the McKibben air muscle this research recognizes the fact that the air muscle has a variable elongation rate according to the applied load. There even seems to be a maximum value at 30N. This effect was not examined further but is likely to be caused by different material strengths and properties like strength of the specific braided sleeve and silicone tubing. Additionally parameters such as the wall thickness, length or diameter of the silicone tubing used could lead to these findings. Further research, documentation and examination of material strength should provide conclusive insights.

Figure 136: Elongation/Original Length [%]

Table 17: Muscle Elongation [%]

0,00 0,50 1,00 1,50 2,00 2,50 3,00 3,50 4,00 4,50 5,00

Length/ Original length [/]

Air Pressure [bar]

Elongation[/] vs. Air Pressure[bar]

0,00 0,35 2,04 3,73 4,74 5,42

2,00 ‐3,03 ‐2,35 ‐0,66 1,36 2,04

2,50 ‐4,72 ‐4,04 ‐1,68 0,35 0,69

3,00 ‐5,73 ‐5,05 ‐3,36 ‐1,34 ‐0,32

3,50 ‐6,74 ‐5,73 ‐4,38 ‐2,35 ‐1,34

4,00 ‐7,42 ‐7,08 ‐5,73 ‐3,36 ‐2,69

4,50 ‐8,09 ‐7,42 ‐6,74 ‐4,72 ‐3,36

5,00 ‐8,43 ‐7,76 ‐7,42 ‐5,39 ‐4,38

Total Range 8,78 9,80 11,15 10,14 9,80

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Behavior

BehaviorwasprogrammedusingtheArduinoprogramminglanguage8,whichisbasedonProcessing.Duringdevelopmentandenduseitbecameobviousthatsmoothingmethodshavetobeappliedonincomingsensordata.Pragmaticdatasuchasproximity,deliveredbyanIR(beam)sensor,introduces,thankstothenatureofitssensordesign,aparticularnoiseontothedatastream.Thishastobesmoothedouttoovercometheeffectof“twitching”actuation.Theusedsmoothingfunctionsumsupanamountofmeasurementswithadelayanddividesthembytheiramount.Causingthedatastreamtobeflattenedouttoreducemajorspikes.Theservomotorsused(HextronikHX550)movedinanarbitrarydirectioneverytimetheprogrammingwasuploadedtotheArduinoboard.Thistwitchcausedtheservotomoveoutoftherange,enabledbythemechanism,causingfailureoftheleverconnectingthemotorwiththemechanism.Thishoweverwasovercomewhenmovingtheservotoaknownin‐rangepositionatthetimeofdeclarationintheprogramming.TheusedMotorlibraryusedintheArduinoprogrammingenvironmentisalsoonlyabletoactuate8servomotors.

8 Appendicx B: Behavior Arduino code

WhmoresArdtoaboaproAccactwasnec

henuploadinotorsbeganstartfollowiduinoboardactuateeighardtosucceogramming.

curatemeastuationcouldsonlydelivecessaryspec

ure 142: Ardu

ngthefirsttotwitch.Angtheactuadconnectedhtservomotessfullyactu

surementsofdconsumeueringaboutcificationsw

uino powered

testsoftheAfterfurtherationofthetoaUSBpotors.Anadduateeveryse

ftheenergyupto2000m500mA.Thasabletode

by USB and 9

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oheernoy

Chapter5:ConclusionThisresearchconcludeswiththesummarizationofdifferentresultsandpracticalinsightsinvolvingKineticArchitecture,modelingdesignandbehavior.

5.1SimulatingDesign

KangarooandGrasshopperarerathernewsoftwarepackagesandnotyetfullyincorporatedintheuseofarchitecturedesign.Likestatedintheliteraturestudy,eveninthespecificfieldofInteractiveArchitecture,simulationpackagesarenotwidelyused.SimulationtoolsdonotexistbecauseInteractiveArchitectureexistbutparametricaltoolswhicharecontinuouslydevelopedtogetherwithnewprojectsarenolongerboundtothatspecificdesign.Newtoolsthereforestimulateandpositivelyreinforcenewstructuresduringtheirdesign.InthisresearchacasestudyresearchshowedthatKangaroo,theusedcomponentforsimulatingphysics,isapromisingtool.Whendesigningstructures,whichareanchoredbypoints,Kangarooisabletosimulatekinetics,aprimarydemand.Thebiggestissueinvolvingthiscomponentisthecurrentinabilitytoimplementrollingguidesoranchorpoints.Meaningotherthananchorpointsfixedinspace,Kangarooisnotyetabletoimplementthem.Kangarooisstillbeingdevelopedatthetimeofwritinghoweverandthesecomponentshavebeenannounced.FurtherresearchcouldbethedesignofmultiplecomponentpackagesbasedonaspecificdesigntoimplementandpublishfortheuseinGrasshopper.Involvingaccuracy,itcanbeconcludedthatKangarooisabletoaccuratelysimulatestructuralbehaviorofnon‐actuatedstructures.AveragederrormarginsincomparisontoANSYS,aFiniteElementspackage,areaslowas0,1%.Errormarginsofthecomparisonbetweenactuatedstructureshoweverareashighas316,2%.Thisresearchisnotabletoaccuratelyargumentthislargeerrormargin.ItstateshoweverthatANSYSisnotdesignedtoactuatemembersduringitscalculations.AninitialstrainwasappliedtothebeaminANSYSwhichwastheonlypossiblemethod.ComparedtoKangaroohoweverwhereactuationofabeamisimplementedbyadjustingtherestlengthofthestiffspringdepictingthebeam.

TheANissupac

emethodsoSYSandanuestobefuckageKanga

ble 18: Error M

ure 143: Simu

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5.2SimulatingBehavior.

Besidesbeingabletosimulatekinetics,Grasshopperhastheabilitytointroducereal‐lifesensordatatotheprogrammingenvironmentthankstothecomponentFirefly.Beingabletoimplementthesestreamsofdata,thedesignercanbegintodesigntheintelligencewhichisacrucialpartinthetranslationofdataintoactuationofthekineticstructure.BasictechniqueswhicharealreadyimplementedinGrasshopperaretheremappingfunctionandtheOptimizationsolver,Galapagos.Theremappingfunctionallowstoeasilyremapthevalueinthesensorrangetotheactuationrange.Thesensorrangeisdependentonthespecificsensorandpostprocessing.Theactuationrangeisspecifiedbytheusedactuatordrivingthestructure.Remappingfunctionshoweverleadtoaswarmlikeintelligencenottakingthewholestructureintoaccount.TheGalapagosOptimizationsolverhoweverisabletooptimizeasinglevalue,maximallyorminimally,basedoneveryactuatorlength.Techniqueswhichprovetobevaluableinfurtherdesignsandresearcharepositiontowardsapoint(displacementorattractor)andthesumproductofbeamlengthandinternalforce.Structurescouldbeactuatedtominimizeinternalforcesorminimizedisplacements.Againfurtherimplementationandprogrammingofcomponentsspecificallyforarchitecturaldesignanddatamanipulationisapossibility.Thisresearchalsoremarksthefactthattheoptimizationsolverisanevolutionarytypesolver,meaningeveryiterationprocesswillleadtoanotheractuation.Howeverseeingcomparedresultstheendvalueisalwaysthesame,leadingtoanoptimalactuation,independentfromthechosenactuationvalues.

Figure 145: Central Intelligence versus Swarm intelligence, Simulation 1

Actuator Intelligent 1 Intelligent 2 Intelligent 3 Swarm

1 0 0 0 7,93

2 0 0 0 12,58

3 18 20 8 17,68

4 20 20 20 20,00

5 19 20 19 16,76

6 0 0 0 11,51

7 7 9 3 7,12

8 10 4 0 3,25

9 0 0 0 0,00

CP 0,565594 0,565594 0,565594 0,565692

Difference 0 0 0 9,8E‐05

Thipricurvalcon5.3AvjoinaccdiffA3ballargbeckinWhbuiincoffunsnodmaThiitsdesjoinadj

3PracticalI

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varietyofjoints.Toconccountforeccficulttocon

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isballjointresistancetsign,torecontcouldbeustingthen

ure 146: 3D p

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acknowledgasercuttingctlandscapeceofinspirasign.

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addingisanludeflexibloroughlyresroducesunlultedusingolsorinsigh

ffcladdingledinKineticddinghastouctureoutolandbreak.nelsaswelleractiveSpa

ure 147: Kinet

ure 148: Expa

importantpemembransearchedinlightintospNanogeltetscouldbe

likecomposcArchitectuobeattacheofthecladdFurtherresasinsulatioace.

tic Box, Scena

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itepanelsaure.Howeveedisostatic.ingplanewsearchintoponresearch

ario 2

Wooden claddi

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eractivespaFlexiblememsthatmembhdensityannacomposirresearch.

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ecouldalsoture,thementoftheconnectionssofthesetheviability

5.3.3ActuatorDesign

ActuatorsarethemeansofourKineticArchitecture.Accordingtotheliteraturestudyavarietyofactuators,whichnotevenbecategorizedbecauseoftheirnumbers,areavailable.Allofthesewithdifferentcharacteristicsorlimitingfactors.Thisresearchlookedintomusclewires,rotationalactuatorsandpneumaticallydrivenactuators.MusclewireswereresearchedbutdiscardedfortheuseinKineticArchitecturebecauseoftheirlimitedstrengthandlargedependenceonenvironmentalfactorssuchastemperature.MusclewiresthereforedidnotfitintheuseforKineticArchitecture.Rotationalactuators,inthisresearchsmallservomotors,areavailableindifferentapplications.TotransformtherotationalactuationintolinearactuationforourKineticstructuresdifferentpossibilitiesormechanismsoccur.Thisresearchhasbuilt3differentmechanismswithrotationalactuators:arack‐pinionsystem,acrankshaftmechanismandascrewmechanism.Thisresearchstatesthattheseactuatorsarelimitedbytheiravailabletorque,dependingonthetype,andtheirelongation/shrinkrate(stroke).Sinceactuatorsusedwereofthesametorquestrength,differentshrinkratescouldbecalculatedandcomparedtoeachother.Furtherresearchincooperationwithmechanicalengineerscouldprovidenewinsightsinvolvingactuatorsandtheirbehaviorinrealscaleapplications.

Figure 149: Linear actuators, Shrink Rate

Mechanism Shrink Rate [%]

Crankshaft 23

Gear Pinion 48

Screw 28

Pneumatic muscle 11

ForthisresearchaMcKibbenairmusclewasalsofabricatedtotestitselongationrateversusappliedload.Whenintroducingavariablepressurerangeof0to5barthemusclecontracted.Differenttotalelongationrateswerefound,depictingtheaccuracyofthesetuporotherissuesthatmightinfluencetheendresults.Theseissuesarethestrengthofthebraidedsleeve,acomponentofthemuscle,aswellasthedimensionsofthesiliconetubing.Furtherresearchcouldresearchthisspecificairmuscleordesignandvalidatedifferentnewmechanismsforlinearorrotationalactuation.

Figure 150: Air muscle, Elongation rate [%]

0,00 0,35 2,04 3,73 4,74 5,42

2,00 ‐3,03 ‐2,35 ‐0,66 1,36 2,04

2,50 ‐4,72 ‐4,04 ‐1,68 0,35 0,69

3,00 ‐5,73 ‐5,05 ‐3,36 ‐1,34 ‐0,32

3,50 ‐6,74 ‐5,73 ‐4,38 ‐2,35 ‐1,34

4,00 ‐7,42 ‐7,08 ‐5,73 ‐3,36 ‐2,69

4,50 ‐8,09 ‐7,42 ‐6,74 ‐4,72 ‐3,36

5,00 ‐8,43 ‐7,76 ‐7,42 ‐5,39 ‐4,38

Total Range 8,78 9,80 11,15 10,14 9,80

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Appendices

AppendixA

Plaats

Jaartal

Kinetics

Kinetic

Timespan

ctuato

Sensor

Intellige

mechan

Bearin

itecture

rotatin

Emirates

er 2008

Activity

Embedde

Building

Direct

at node

structu

capacity

itecture

Module

United

States

Spectacu

Design

terior)

Embedde

S‐ interio

Direct

None‐

Physics

Linkage

structu

capacity

itecture

Emergen

Surface

United

States

ciates

Activity

Systems

Building

Direct

Linkage

structu

capacity

itecture

Starlight

Theater

United

States

itects

Activity

Systems

Building

Direct

at node

structu

capacity

itecture

WhoWha

United

States

Activity

Embedde

Building

Direct

Muscles

structu

capacity

itecture

e Skylichts

United

States

Activity

Systems

Building

Direct

c Cilin

structu

capacity

itecture

PixelSkin

United

Kingdom

n,Oran

gevoid 2008

Activity

Systems

Building

Direct

Antago

t structu

capacity

Interactive

itecture

Robotic membrane

United

Kingdom

Anshuman,

gevoid

Activity

Embedded

M‐ B

uilding

Direct

Linkage

structu

capacity

itecture

WHITEvo

Activity

Systems

Building

Direct

c Cilin

Linkage

structu

capacity

itecture

Enviro

United

States

Design

terior)

Systems

S‐ interio

Direct

c Cilin

Postitio

structu

capacity

itecture

Belgiu

Design

terior)

Systems

S‐ interio

Direct

structu

capacity

itecture

Federal

Building

United

States

Morphosi

Activity

Systems

Building

Direct

Linkage

structu

capacity

itecture

Shading

United

Kingdom

Foster+P

ers 2009

Activity

Systems

Building

Direct

Linkage

structu

capacity

itecture

Glass,

Guills

United

States

The Livin

Design

terior)

Embedde

S‐ interio

Direct

Linkage

structu

capacity

itecture

Studio

Activity

Systems

S‐ interio

Direct

Humanist

structu

capacity

itecture

4D Pixel

studios

Activity

Systems

S‐ interio

Direct

linkage

structu

capacity

itecture

Apertu

Frederic

Activity

Systems

S‐ interio

Direct

linkage

structu

capacity

itecture

Grounds

United

States

Philip

Beesley

Activity

Embedde

Building

Direct

Muscles

Linkage

structu

capacity

itecture

Bubbles

United

States

ael Fox

ization

Systems

S‐ interio

Direct

c Both

c structu

capacity

itecture

Dune 4

Sstudios

Activity

Systems

S‐ interio

Direct

Antago

t structu

capacity

number 1

Muscle

Oosterh

ization

Embedde

S‐ interio

Direct

Muscles

c structu

capacity

number 1

Oosterh

ization

Embedde

S‐ interio

Direct

Muscles

Postitio

structu

capacity

number 2

Muscle

Oosterh

ization

Embedde

S‐ interio

Direct

Muscles

Postitio

structu

capacity

number 2

Muscle

Tower 1

Oosterh

Activity

Embedde

Building

Direct

Muscles

structu

capacity

number 2

Muscle

Tower 2

Oosterh

Activity

Embedde

Building

Direct

Muscles

structu

capacity

number 2

Muscle

Oosterh

ization

Embedde

S‐ interio

Direct

Muscles

Postitio

structu

capacity

number 2

Interactiv

e Wall

Festo 2004

Activity

Embedde

S‐ interio

Direct

Muscles

structu

capacity

Design

Plaza &

Fountain

Santiago

Calatrava

Activity

Embedde

Building

Direct

Linkage

structu

capacity

Design

Guided

Activity

e M‐

Building

Direct

Antago

t structu

capacity

Design

Hoberm

United

States

ciates

Activity

Embedde

Building

Direct

Nurnberg

scissors

structu

capacity

Design

Stadium

Activity

Embedde

Building

Direct

Postitio

structu

capacity

Design

Kuwait

Pavilio

Santiago

Calatrava

Activity

Embedde

Building

Direct

at node

structu

capacity

Design

Pavilio

United

States

FTL Happold

Activity

Embedde

Building

Direct

Linkage

structu

capacity

Design

e Schell

United

Kingdom

Felix Pallares

Activity

Embedde

Building

Direct

Nurnberg

scissors

structu

capacity

Design

Kinetic

United

States

ization

Systems

S‐ interio

Direct

Antago

t structu

capacity

Design

Floatin

Pavilio

Switzerla

Santiago

Calatrava

Activity

Embedde

Building

Direct

at node

structu

capacity

Design

Iris Dome

United

States

ciates

Activity

Embedde

Building

Direct

Nurnberg

scissors

structu

capacity

Design

Kinetic

Canopies

France

Activity

Embedde

Building

Direct

Linkage

structu

capacity

Design

Pavilio

United

States

zo 1995

Activity

Embedde

Building

Direct

at node

structu

capacity

AppendixB

#include<Button.h>#include<Servo.h>//Declaration!Servomyservo1;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo2;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo3;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatServomyservo4;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo5;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo6;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatServomyservo7;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedServomyservo8;//createservoobjecttocontrolaservo//amaximumofeightservoobjectscanbecreatedintsensorPinLight=0;intsensorPinIR=2;intsensorPinKnock=5;intsensorPinButton=13;intpos=30;booleanKnocking=false;intcounter=1;ButtonKnop=Button(sensorPinButton,PULLDOWN);

//Initialization!voidsetup(){myservo1.attach(12);//attachestheservoonpin12totheservoobjectmyservo1.write(pos);myservo2.attach(3);//attachestheservoonpin3totheservoobjectmyservo2.write(pos);myservo3.attach(4);//attachestheservoonpin4totheservoobjectmyservo3.write(pos);myservo4.attach(5);//attachestheservoonpin5totheservoobjectmyservo4.write(pos);myservo5.attach(6);//attachestheservoonpin6totheservoobjectmyservo5.write(pos);myservo6.attach(7);//attachestheservoonpin7totheservoobjectmyservo6.write(pos);myservo7.attach(8);//attachestheservoonpin8totheservoobjectmyservo7.write(pos);myservo8.attach(10);//attachestheservoonpin10totheservoobjectmyservo8.write(pos);pinMode(sensorPinLight,INPUT);pinMode(sensorPinIR,INPUT);Serial.begin(9600);//printstitlewithendinglinebreakSerial.println("ProgramStarting");

//Loop!voidloop(){intValueLight=map(irRead(sensorPinLight,10),0,900,30,160);//ValueLight=map(analogRead(sensorPinLight),0,900,30,160);floatdistance=12343.85*pow(irRead(sensorPinIR,10),‐1.15);//floatdistance=12343.85*pow(analogRead(sensorPinIR),‐1.15);//floatdistance=irRead(sensorPinIR,10);intValueIR=map(distance,0,100,30,160);intValueKnock=irRead(sensorPinKnock,10);if(ValueKnock>=50){Knocking=true;}ValueLight=constrain(ValueLight,30,160);ValueIR=constrain(ValueIR,30,160);if(Knop.uniquePress()){counter++;if(counter==3){counter=0;}Serial.println("Program:");Serial.println(counter);}if(counter==0){Serial.println(ValueLight);WriteAll(ValueLight);}if(counter==1){Serial.println(ValueIR);//Serial.println(distance);WriteAll(ValueIR);}if(counter==2){Serial.println(ValueKnock);if(Knocking==true){WriteAll(170);delay(10000);SweepAll(170,30);Knocking=false;}}delay(100);}

intirRead(intreadPin,intamount){inthalfPeriod=13;//oneperiodat38.5khZisaproximately26microsecondsintcycles=amount;//26microseconds*38ismoreorless1millisecondinti;inttotal=0;for(i=0;i<=cycles;i++){intinterval=analogRead(readPin);total=total+interval;delay(halfPeriod);}return(total/cycles);}voidWriteAll(intvalue){myservo1.write(value);//delay(1000);myservo2.write(value);//delay(1000);myservo3.write(value);//delay(1000);myservo4.write(value);//delay(1000);myservo5.write(value);//delay(1000);myservo6.write(value);//delay(1000);myservo7.write(value);//delay(1000);myservo8.write(value);//delay(1000);}voidSweepAll(intstart,inteinde){if(start>einde){for(intvalue=start;value>einde;value‐‐)//goesfrom0degreesto180degrees{//instepsof1degreeWriteAll(value);//tellservotogotopositioninvariable'pos'delay(15);//waits15msfortheservotoreachtheposition}}if(einde>start){for(intvalue=start;value<einde;value++)//goesfrom0degreesto180degrees{//instepsof1degreeWriteAll(value);//tellservotogotopositioninvariable'pos'delay(15);//waits15msfortheservotoreachtheposition}}

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FicheMasterproef

Student:CarloRousseeuwTitel:KinetischeArchitectuur:ModellerenvanontwerpengedragEngelsetitel:KineticArchitecture:ModellingdesignandbehaviorUDC:72ProefschriftvoorgedragentothetbehalenvandegraadvanMasterindeingenieurswetenschappen:Architectuur–BouwtechnischeOptiePromotor(en):Prof.AndrewVandeMoereAssessoren:Prof.LeoVanBroeckBegeleiders:Prof.StefaanBoeykensKorteinhoud:Thewayweuseandexperienceobjectsinourdailylivesisconstantlybeingimprovedwithincreasinguser‐interactivity.Fromourcarswhicharefilledwithsensorstoenrichourdrivingexperiencetotheautomatedshadingofourwindowswhichdisappearswhenweneedtogetoutofbedinthemorning.Architecturetodayontheotherhandisstatic,itsstructuralformdoesnotinteractwithitsusersoritschangingenvironmentalfactors.Insteadofshieldingtheinhabitantsfromthesefactors,thesefactorscanberespondedtoandinteractedwithtochangetheinhabitant’sperceptionofthisnewspace,InteractiveArchitecture.Inthedesignofinteractivearchitecturewithstructuralkineticchanges,KineticArchitecture,thesimulationofastructureanditsbehaviorplaysavaluableroleinitsoveralldesignandproduction.Beingabletoconnectawiderangeofsensordatawiththisdesign‐softwarewecrossthebridgenecessaryforcompletelysimulatinginteractivearchitecture,whichinturnhasaneffectonthefinaldesign.RecentdevelopmentsandcommunityeffortsinpluginsfordrawingsoftwarelikeGrasshopperforRhinoceroshavegivenustheseabilities.

K.U.LeuvenFaculteitIngenieurswetenschappen 2010‐2011

Everyprojectisuniquebyitsowncontextandusageandthereforeuniquebyitsmeanstointeract.ThisthesissimulatesdifferentexistingstructuresinthecurrentlandscapesandteststhescopeofcurrentsimulationpackagesandtheirusetodesignerswithregardstoKineticArchitecture.AlsotheintelligencewhichcontrolsthisKineticArchitectureandthedifferentkindsofdatastreamsareaddressedtogetherinthecontextofthesimulationsoftware.Besidestheresearchintermsofsimulation,thisthesisalsodiscussespracticalissuesofKineticStructuresinageneralwaybeforebuildingaworkingprototype.ThisresearchwillactasacatalysttoprovidearchitectswiththenecessaryskillsettodevelopanddesigninteractivearchitecturebutalsotoprovideamutualgoalforotherdisciplineslikeroboticsandmaterialengineerstoformandresearchdifferentendproductswithenhanceduserinteractivitywhichcouldbeusedinthisnewbreedofInteractiveArchitecture.

kinetic architecture

de inzending

e moere sessor

the promotor

broeck leiders

hitectuur he optie omotor

oeykens ii copyrightbyk

rswetenstbehalein de10

schappethesis vooen

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