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ii

©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.

iii

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

CarloRousseeuw

iv

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

v

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

vi

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

vii

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

viii

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

ix

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

x

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

xi

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

xii



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

xiii

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

xiv

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

xv

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

1

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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7

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8

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)

9

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.

10

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

C

2.1

ThearcprocoubeaWaopithaBesIns(Fototear

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econceptofchitectshaveominentfiguupleofkinetamswheretarehouseGainionthatthattime.

sidestheindstituteofTecox1995a)cathenbytheirlierworks.

ure 12: Ernstin

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sthanahan1990.Them.d.).HehasthasetofnForexampleeum.Itistheomplexsimu

pattheMasheKineticDathadbeencpturingmos

s & Lefaivre 1

ndfulofmostdesignedanon‐bearingehisErnstinewriter’sulationtool

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1997)

11

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12

2.2Literaturestudy

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

13

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)

14

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

K. O

osterh

uis, IA

nr3

2.2

TowasumacctriloveAnoprothe

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ure 15: Time v

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itchell, C

ity of B

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Contents

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itchell, M

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ure 16: Locati

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ble 2: Legend

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eearlierwoominentfiguspectivepie

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gorizedbytntiagoCalatusthatnew

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ismsmadebintogroupsookinastacectivebooks

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egoriesasthnotbeendocgtheenorm

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erbookandnationalworngnational

riginatedfrottoFrei.Altsaremorep

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ntedavarietsorNurnbeopeofusabi

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veArchitect009)DesignGroup

dgeographicrk.Thebookprojectsbu

omthehomethoughthespresentinqu

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tyofmechanergscissorslityandapr

ntioned“meincetheamotsofactuato

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17

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todayshoulandexternalditions.”(Fox

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ndthepreseningitwherreaditsbooylitandno

orgeologicdloadsontsinternal

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23

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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nearactuatoferentwaytriablerestletuatorthatcustableslidtlikeinreatuatorands

ure 24: Actuat

ure 25: Truss

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edinagswithaespecifictionwillhavgleactuator,gthofthehislookingf

24

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25

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0.2Themic

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27

Totacklethesubjectspokenofintheintroductionithasbeenbrokendownintothreepackages:

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.

3.1

3.1

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ure 46: Simula

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ble 3: Error Ma

ode X Dire

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

ltScenario

enarioisthacalculatedidswereapp

ation Grashop

ation ANSYS,

argin %, Defa

ection Y D

0,0

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0,1

0,1

0,1

0,0

0,1

0,1

0,1

0,0

0,0

0,0

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0,0

0,0

0,0

0,0

0,0

0,0

0,0

0,0

0,0

0,0

oResults

atofnoactusplacementliedtotheu

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5kN, Not Act

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Direction

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uationanditsandinternuppernodes

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Tab

N

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mation Scale

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Node X Dir

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

alidatetheGnanormals

Scale 1:1

1:1

argin %, Defa

rection Y Di

0,0

0,1

0,1

0,1

0,2

0,0

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0,1

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Grasshoppesituation.5k

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0,0

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0,1

0,1

0,1

0,1

0,1

0,0

0,1

42

rkN

3.1

Theandkin

Figu

Figu

Tab

No

1.2.2Actuat

eactuatedsdapply0kNneticsrespec

ure 48: Simula

ure 49: Simula

ble 5:Error Ma

de X Dire

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

tedScenar

scenariowilNand5kNloctivelytoget

ation Grassho

ation ANSYS,

argin %, 0kN

ection Y Dire

0,0

‐106,4

‐111,8

317,3

247,8

206,8

158,8

127,6

106,0

90,1

0,0

0,0

63,0

70,9

79,3

‐132,1

‐120,8

‐112,0

‐104,6

‐97,7

‐91,0

0,0

32,8

ioResults

llshortenthoadsontheutherwithap

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0kN, Actuate

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0,0

21,6

9,5

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‐59,2

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13,6

17,7

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‐33,6

‐38,9

‐46,7

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0,0

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he4thverticuppernodeppliedloads

Actuated, Defo

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Tab

No

altrussmemesforvalidas.

ormation Scal

on Scale 1:1

le 6:Error Ma

ode X Dire

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

mbertohalftingthekin

e 1:1

rgin %, 5kN

ection Y Dire

0,0

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316,2

247,3

206,7

159,0

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90,6

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62,6

70,5

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fofitslengtneticsandth

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13,4

17,6

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0,0

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43

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44

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Figure 98: Elongation/Original Length [%]

Table 10: Muscle Elongation [%]

0,92

0,94

0,96

0,98

1,00

1,02

1,04

1,06

1,08

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]

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1kg

2kg

3kg

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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

74

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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86

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

Figu

Figu

Figu

ure 116: Built

ure 117: Built

ure 118: Built

‐In Opto‐Resi

‐In Piezo Elem

‐in IR Sensor

stor

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ure 119: Proto

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otype Side‐Vi

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ure 122: Proto

otype Perspec

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ctive View

View

89

90

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

Figu

Figu

emainprobides,meaninidesformthucturescan

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ure 123: Simu

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91

g

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92

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

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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

4.3

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[%]

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101

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 [%]

0,92

0,94

0,96

0,98

1,00

1,02

1,04

1,06

1,08

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]

1kg

2kg

3kg

5kg

4kg


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

0,50

1,00

1,50

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

4.3

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106

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

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henuploadinotorsbeganstartfollowiduinoboardactuateeighardtosucceogramming.

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107

oheernoy

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108

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.

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110

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

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112

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113

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

114

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

0,50

1,00

1,50

2,00 ‐3,03 ‐2,35 ‐0,66 1,36 2,04

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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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118

Appendices

119

AppendixA

Boek

Naam

Plaats

Arch

itect

Jaartal

on

Kinetics

Kinetic

motio

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Scale

Timespan

WaysA

ctuato

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m

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David

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Ben

ding

Motor

Both

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at node

structu

ral

capacity

Arch

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ery

Module

United

States

Spectacu

lar

2008

Design

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Physics

Linkage

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capacity

Arch

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United

States

Asso

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2008

Activity

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atic

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Linkage

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Starlight

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United

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Gang

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2003

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121

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structu

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capacity

IA

number 2

Muscle

Tower 1

Neth

erlan

ds

Oosterh

ui

s

2007

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Muscles

Pragm

atic

Head

Truss

structu

ral

capacity

IA

number 2

Muscle

Tower 2

Neth

erlan

ds

Oosterh

ui

s

2008

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Muscles

Pragm

atic

Head

Truss

structu

ral

capacity

IA

number 2

Muscle

Space

Neth

erlan

ds

Oosterh

ui

s

2007

Optim

ization

Embedde

d

S‐ interio

r

Direct

Muscles

Pragm

atic

Swarm

Postitio

ni

ng

structu

ral

capacity

IA

number 2

Interactiv

e Wall

Neth

erlan

ds

Festo 2004

Activity

Clim

ate)

Embedde

d

S‐ interio

r

Direct

Muscles

Pragm

atic

Head

Truss

structu

ral

capacity

Design

Group

Plaza &

Fountain

Spain

Santiago

Calatrava

1995

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Linkage

structu

ral

capacity

Design

Group

Guided

Mast

Germ

any

Otto

Frei

1976

Activity

Clim

ate)

Dep

loyab

l

e M‐

Building

Direct

Pragm

atic

Head

Antago

nis

t structu

ral

capacity

Design

Group

Hoberm

a

n Sp

here

United

States

Asso

ciates

1998

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Nurnberg

scissors

structu

ral

capacity

Design

Group

Hoech

st

Stadium

Germ

any

Otto

Frei

1976

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Postitio

ni

ng

structu

ral

capacity

122

Design

Group

Kuwait

Pavilio

n

Spain

Santiago

Calatrava

1992

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Ben

ding

at node

structu

ral

capacity

Design

Group

Music

Pavilio

n

United

States

FTL Happold

1997

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Linkage

structu

ral

capacity

Design

Group

Dep

loyab

l

e Schell

United

Kingdom

Felix Pallares

1992

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Nurnberg

scissors

structu

ral

capacity

Design

Group

Kinetic

Wall

United

States

Group

MIT

2004

Optim

ization

Dynam

ic

Systems

S‐ interio

r

Direct

Pragm

atic

Head

Antago

nis

t structu

ral

capacity

Design

Group

Floatin

g

Pavilio

n

Switzerla

nd

Santiago

Calatrava

1995

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Ben

ding

at node

structu

ral

capacity

Design

Group

Iris Dome

United

States

Asso

ciates

1998

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Nurnberg

scissors

structu

ral

capacity

Design

Group

Kinetic

Canopies

France

Otto

Frei

1976

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Linkage

structu

ral

capacity

Design

Group

IBM

Pavilio

n

United

States

Pian

o

Ren

zo 1995

Activity

Clim

ate)

Embedde

d

M‐

Building

Direct

Pragm

atic

Head

Ben

ding

at node

structu

ral

capacity

123

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);

124

//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");

125

//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);}

126

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}}

127

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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

132

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

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