0400-gabriel ivorra morell - dynamic systems

7/28/2019 0400-Gabriel Ivorra Morell - Dynamic Systems

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Declaration:Emergent Technologies & Design

2010-2011

Gabriel Ivorra Morell (MSc)

DYNAMIC SYSTEMSresponsive, adaptive, kinetic

Mike WeinstockGeorge Jeronimidis

16-09-2011

I certify that this piece of work is entirely our own and that any quota-tion or paraphrase from the published or unpublished work of others

is duly acknowledged.


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Contents


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04. RESEARCH DEVELOPMENT

04.1. DIGITAL ALGORITHM04.1.1. Grasshopper Experimentation04.1.2. Component Breakdown04.1.3. Design Parameters

04.1.3.1. Surface Boundaries04.1.3.2. Surface Divisions04.1.3.3. Surface Extrusion04.1.3.4. Actuators Placement04.1.3.5. Actuators Distribution04.1.3.6. Anchor Points04.1.3.7. Material Resistance

04.2. DIGITAL AND PHYSICAL COM-PARISON

04.3. ENVIRONMENTAL RESPONSE04.3.1. Unit Adaptability04.3.2. Data Processing

05. DESIGN APPLICATION

05.1. DIFFERENT APPLICATIONS05.2. BRIDGE APPLICATION

05.2.1. Power Source05.2.2. Material Analysis05.2.3. Structural Analysis

05.2.4. Foundation05.2.5. Fabrication & Assembly

06. CONCLUSION; learning, limitation, andfurther exploration (M.Arch)

07. APPENDIX

07.1. APPENDIX 01

Digital and Physical Comparison. Other

Confgurations

07.2. APPENDIX 02 Different Applications. Other Applications

08. BIBLIOGRAPHY

00. ABSTRACT

01. DOMAIN

01.1. INTRODUCTION01.2. CASE STUDIES

01.2.1. FUNCTIONAL RESPONSES01.2.1.1. Gary Chang

Hong Kong Apartment01.2.1.2. Dominique Perrault

Olympic Tennis Center01.2.1.3. Heatherwick Studio. Rolling Bridge01.2.1.4. Hans Kupelwieser and Werkraum

Wien. Lakeside Stage

01.2.2. ENVIRONMENTAL RESPONSES01.2.2.1. Chuck Hoberman_Audiencia

Provincial

01.2.2.2. Jean Nouvel_Institut du MondeArabe01.2.2.3. Andrew Payne_

Shape Memory Alloy Panel System01.2.2.4. Achim Menges and Steffen Reichert

_Responsive Surface Structure

01.3. EVALUATION AND CONCLUSION

02. METHODS

02.1. INTRODUCTION02.2. METHODS AND TECHNIQUES

02.2.1. Folding02.2.2. Open-Source Robotic

02.2.3. Hybrid System

02.3. CONCLUSION AND PROPOSEDMETHODS

03. PRELIMINARY EXPLORATIONS

03.1. KINEMATIC: space and volume

03.1.1. Origami Patterns

03.2. KINETIC: surface control03.2.1. Global Control03.2.2. Local Control03.2.3. Assembly And Scale Change03.2.4. Actuator Types

03.3. ENVIRONMENTAL RESPONSE03.3.1. Environmental Readings

03.3.2. Responsive Types


Abstract Domain

Methods

ProposedMethods

Research

DesignExploration

Application

Development


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The growing interest of responsive system as new form of design drivesour interest to explore its variables and limitations. As a response tooverpopulation in cities and limited land boundaries, our proposal is todevelop a system that minimizes land use by constantly adapting its

volume to various functions and activities within a single structure thatotherwise would result in buildings being unoccupied for large periodsof time. In addition, the system will also be constantly adjusting its sur-face to different space qualities by reading changes in the environmentsuch as; wind, sun, temperature, or humidity level.In order to ease assembly processes and reduce fabrication cost, weaim for a standardized component based system. A single componentwill be aggregated to form a surface which will then be exposed todifferent possible congurations. Local and global behaviour can beengineered through different distribution of joint systems (kinematic)and actuators (kinetic). This distribution sets a hierarchy which then islinked together as one controllable robotic system.

The tness criteria for the design development is dened by the scaleof the component which informs the structural integrity; the duration ofthe movement which informs the forces needed; and the ratio of thekinetic and static elements which inform the programmatic functions

and control points.This system will be tested through a series of digital and physical pro-totypes. Instead of any particular design proposal, several architecturalapplications will be suggested. In the near future, further explorationwill be dedicated for an architectural design proposal in a larger scale.Effectively, the objective of this dissertation is to develop a dynam-ic system capable of shape change enabling several congurationsthrough the aggregation of a single component. Collective reading fromdifferent parameters within the system will result in Emergent Behav-iour.


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01. DOMAIN

01.1. INTRODUCTION

01.2. CASE STUDIES

01.2.1. FUNCTIONAL RESPONSES

01.2.1.1. Gary Chang_Hong Kong Apartment01.2.1.2. Dominique Perrault_Olympic Tennis Center01.2.1.3. Heatherwick Studio_Rolling Bridge01.2.1.4. Hans Kupelwieser and Werkraum Wien _ Lakeside Stage

01.2.2. ENVIRONMENTAL RESPONSES01.2.2.1. Chuck Hoberman_Audiencia Provincial01.2.2.2. Jean Nouvel_Institut du Monde Arabe01.2.2.3. Andrew Payne_Shape Memory Alloy Panel System

01.2.2.4. Achim Menges and Steffen Reichert _ Responsive Surface Structure



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10 01. DOMAIN


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1101.1. Introduction

Introduction

In general, responsive architecture is dened as the type that trans-

forms its elements in response to specic conditions. These conditionsare read and transferred to different types of triggers/actuators whichmay vary depending on different purposes of the transformations. Peo-ple have attempted in designing kinetic architecture that responds todifferent programs, climate changes, and aesthetical reasons. How-ever, no one has attempted to develop a system that responds to vari-ours parameters. This investigation will test the limits and versatility ofa responsive system that aims to respond to multiple parameters.


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12 01. DOMAIN


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1301.2. Case Studies

Case Studies

Current built projects are being investigated in regards to responsive

systems embeded within architecture. In this sub-chapter, two majorcategories of responsive systems will be studied more in depth. Therst category covers kinetic system that transform their shape andvolume in response to different programmatic functions. The secondcategory covers shape change within architecture responding to theimmediate climatic condition. The rst category deals with permanentstructures while the second category corresponds to temporary struc-tures.


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14 01. DOMAIN

Fig. 1.01 Fig. 1.02

Functional Responses

This rst category is to explore architecture that transforms its geom -

etry based on different programmatic functions. These projects uti-lize simple and conventional mechanisms to slide and rotate objectsthrough the use of hinges, gears, pulleys and compound systems.Small scale projects are actuated manually while larger scale projectsuse the application of controlled actuators; such as pneumatic pumps,hydraulics, and etc. As a result, these simple systems give the pos-sibility to make a monolithic entrance, turn indoor to outdoor, increasesquare meters, provide shelter, etc. In general, projects in this categoryperform in longer time scale (less aggressive) and stand permanentlyas a structure.

Gary Chang_Hong Kong Apartment

Due to the limited space in Hong Kong, 32 sqm apartments becomesthe average size for two-bedroom apartments. Local architect GaryChang manages to design and renovate his open studio apartment to atransformable 24 rooms apartment with specic different functions andlayouts. This was made possible by using simple mechanisms such assliding walls that reveal rooms and fold down tables and chairs in orderto maximize space. These conguration types can be changed manu-ally based on ones needs and desires.


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Fig. 1.01Different plan congurations in GaryChangs apartment[Ref. Illustrative:1.01]

Fig. 1.02Sliding walls inside Gary Changsapartment

[Ref. Illustrative:1.02]

Fig. 1.03Hydraulics and railing system on theroof of Olympic Tennis Center, Madrid[Ref. Illustrative:1.03]

Fig. 1.0427 Different roof congurations forOlympic Tennis Center, Madrid[Ref. Illustrative:1.04]

Fig. 1.03 Fig. 1.04

Dominique Perrault_Olympic Tennis Center

In Madrid, Spain, Dominique Perrault designed an Olympic TennisCenter that is 80,000 sqm and holds up to 20,000 seating. This facilityhas 3 main courts that can later be changed to different conguratios.In turn, hosting different activities such as; tennis courts, political ral-lies, fashion shows, and music concerts. Different congurations aremade possible by simple movements of the roof structure. Each courthas its own mechanically operated roof structure. The roof system ismounted with hydraulic mechanisms for vertical tilting; coupled withhorizontal displacement resulting into three possible congurations percourt. In total, 27 different congurations can be achieved for differentspatial qualities. These range from indoor, semi outdoor, and outdoorspaces.


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16 01. DOMAIN

200130000 Fig. 1.05

Heatherwick Studio_Rolling Bridge

In the canal inlet in Paddington Basin, London, Heatherwick Studiohas designed a standard pedestrian bridge, however, it curls up everyFriday during lunch time in order to allow boats to pass by. The bridgespans 12.75 m. and is built from eight components fabricated from steeland timber. Each component is equipped with a pair of hydraulic cylin-ders powered by hydraulic pumps. When the hydraulics are engaged,the top railing reduces its length forcing the bridge to curl up toward thedirection of the x foundation point.

The bridge was constructed in 2004 and Thomas Heatherwick and washonoured with the British Structural Steel Award for this innovative so-lution in the following year.


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Fig. 1.05Heatherwick Studio Rolling Bridge.Operation sequence[Ref. Illustrative:1.05]

Fig. 1.06Hans Kupelwieser & Werkraum WiesLakeside Stage. Operation sequence[Ref. Illustrative:1.06]

030000

045 060 Fig. 1.06

Hans Kupelwieser & Werkraum Wien_Lakeside Stage

Another project that takes advantage of hydraulic power mechanismsis Lakeside Stage by the artist Hans Kupelwieser who teamed up withan engineering ofce Werkraaum Wien. Just like Heatherwick Studio,this team coupled hydraulics with pumps, however, utilizing a differentapplication.

Pivot points are located between hydraulic dampers and a water tankcontrolled drainage system. Water from the lake is pumped up to thetank, the weight of the water then counteracts the hydraulic system andresults in tilting a 13m x 13m timber and steel structure for a seatingarea. In the full upward position, this seating area functions as a shelterand acoustic shell. When the shelter is not needed, then the process

can be reversed. Then, by draining the water from the tank, the roofstructure slowly tilts down into a seating area.


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18 01. DOMAIN

6:00 AM

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14:00 PM

7:00 AM

11:00 AM

15:00 PM

8:00 AM

12:00 PM

16:00 PM

9:00 AM

13:00 PM

17:00 PM

Fig. 1.09Fig. 1.08

Fig. 1.07

Environmental Responses

The second category covers projects which respond to climatic andenvironmental conditions. Most mechanism types utilize swivel androtation movements within a xed axis. Environmental responsive sys-tems are usually not self supported and depend on a primary structuralsystem. This type of system works best as a facade system, roof shad-ing device or canopy. In general, projects in this category perform in adaily basis.

Chuck Hoberman_Audiencia Provincial

Using the StrataTM shading system (colaboration venture from ABI,Adaptive Building Initiative, involving both Hoberman and Buro Hapold),Hoberman populates Audiencia Provincials central circular atrium inorder to minimize solar gain while allowing natural daylight to inltratethe space.

The roof surface is populated with series of hexagonal cells which cov-er the triangular structural grid. When retracted, these cells disappearinto the structures prole. 01


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Fig. 1.07Hexagonal shading cell detail forChuck Hobermans Audiencia Provin-cial, Madrid[Ref. Illustrative:1.07]

Fig. 1.08Shading scheme for the central atriumin Chuck Hobermans Audiencia Pro-vincial, Madrid


Fig. 1.09Central atrium in Chuck HobermansAudiencia Provincial, Madrid[Ref. Illustrative:1.09]

Fig. 1.10Close-up faade system of Jean Nou-vels Institut du Monde Arabe[Ref. Illustrative:1.10]

01http://www.hoberman.com

02http://en.wikipedia.org/wiki/Arab_

World_Institute

Fig. 1.10

Jean Nouvel_Institut du Monde Arabe

Facing a large public square that opens out toward the le de la Citand Notre Dame, Jean Nouvel installed a responsive facade on theArab World Institute building in Paris. The glass storefront is equippedwith metallic screen. This geometrical pattern opens and closes and iscontrolled by 240 motors. This screen act as brise soleil to control lightentering the building and creates shadows in the interior space. Thisfacade is responding to the solar value and readjust its opening on anhourly basis.

This type of system regulates solar gain through the use of screens; acommonly used in Islamic Architecture. This building envelops a mu-seum, library, auditorium, restaurant, and ofces. 02


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20 01. DOMAIN

Wire Temperature: 70o

Wire Temperature: 90o Fig. 1.12Fig. 1.11

Andrew Payne_SMA Panel System

For his research, Andrew Payne developed a system that uses shapememory alloy for a facade system. The intention was to design a heatsensitive facade that is energy independent. This was done though theuse of custom calibrated SMA (Shape Memory Alloy) wires. SMA per-form as both sensors and actuators. It expands in room temperatureand shrinks when it is heated. The sensitivity and expansion can becalibrated through multiple use and letting it memorize the transforma-tion. This material property is called the hysteresis. Due to this charac-teristic, SMA is its own processing device.

Heat can be generated from electric current. Any type of censors canbe connected to a processor which will then send electric current toactivate SMA wires. On and off switch can also replace censors. 03


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Fig. 1.11Panels performance under differenttemperatures. Andrew Paynes SMAPanel System[Ref. Illustrative:1.11]

Fig. 1.12Andrew Paynes SMA Panel Systeminstallation[Ref. Illustrative:1.12]

Fig. 1.13Achim Menges and Steffen ReichertsResponsive Surface Structure. Initialand nal stages images[Ref. Illustrative:1.13]

03http://fab.cba.mit.edu/classes/

MIT/863.10/people/andy.payne/Asst9.

html04

http://www.achimmenges.net/?p=4411

018

000

018

000

Fig. 1.13

Achim Menges_Responsive Surface Structure

This research is to explore the possibility of changing the dimension ofwood by responding to the relative humidity in the environment. Theaim is to develop surface that adapt and change its porosity to allowcross veltilation without the need to use mechanical control devices.

Full scale protoype was constructed and tested for its performity. Theresposive result varies overtime from component to component acrossthe surface. 04


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22 01. DOMAIN

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Evaluation

Conclusion

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2301.3. Evaluation and Conclusion

Evaluation And Conclusion

From the case studies, we learned that time scale is an important fac-tor for the different responsive types. Environmental response has

to response and adapt quickly as the environment changes. On theother side, programmatic adaptability does not need to response asaggresively and due to its scale, this system might need more time torespond.

Heatherwicks Bridge perform and changed its function in two minutes.A canopy shelter using Achim Menges system will need to performfaster when it rains otherwise it will defeat the purpose of having ashelter.

In Paris, Jean Nouvels facade has not been functioning as it was de-signed to. Heatherwicks bridge is still performing its transformationevery Friday during lunchtime. A system that response more regularly

should have simpler mechanism.

In a material system; such as Achim Menges surface structure andAndrew Paynes SMA panels, the system responses differently over-

time. A complex mechanism like Jean Nouvels facade also fails intime. What would then be an effective and efcient way of developinga responsive system?


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Methods

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02. METHODS

02.1. INTRODUCTION

02.2. METHODS AND TECHNIQUES02.2.1. FOLDING02.2.2. OPEN-SOURCE ROBOTIC02.2.3. HYBRID SYSTEM

02.3. CONCLUSION AND PROPOSED METHODS

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26 02. METHODS

The relation between the external forces and theirkinematic variables is popularly known as kinetics.

() We examine the external mechanical agenciesthat cause the motion.()The motion of a rigid body

consists of rigid translations as well as rotations. Eachof these kinematic variables will now have to be re-

lated to their respective kinetic variables. The kineticquantities associated with translations are forces and

the kinetic quantities associated with rotations aremoments or torques.

Rao, Lakshminarasimhan, Sethuraman & Sivakumar,

Engineering Mechanics: Statics and Dynamics (2003), p. 175

2702 1 Introduction


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2702.1. Introduction

Introduction

There are two branches in physics that will be explored separately inthis early stage.

Kinematic is a branch that studies different movement of body parts inrelationship to its joints without considering the external forces that areneeded to activate the movement.

Kinetic is a wider branch in a sense that this branch is concerned withnot only the motion of bodies but also the forces needed to cause mo-tion. In the case of architecture, kinetic can become very complicated.Computerized software and hardware will then need to be synchro-nized to achieve this goal. This synchronisation will result in a systemcommonly known as the robotic system.

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Tristan DEstree Sterk, The Ofce

for Robotic Architectural Media & Bu-reau for responsive architecture is

a small technology ofceinterestedinrethinking the art of construction

alongside the emergence of respon-sive systems. Our work focuses upon

the use of structural shape changeand its role in altering the way that

buildings use energy.

http://www.orambra.com/

Folding

As a generative process, folding architecture is an experimental sys-tem. The relationship between each crease, fold, score, and cut givean innite possibilities for form and function. Origami is the traditionalJapanese form of paper art. This basic system is only using mountainfolds (fold up) and valley folds (fold down). When origami changes to alarger scale, folding is no longer applicable. We then use rigid sheetsand hinges. In this case, it is not required for the structure to start as aat surface. This branch of origami is called rigid origami. Above (g

2.01) is an example of such project by Sabin+Jones Labstudio namedDeployability.

Open-Source Software And Hardware

Robotic system is one that combines computational data acquisitionand mechanical system. The objective for using this system is to use

Fig. 2.01

Methods and Techniques

There are different methods and techniques to develop responsive ar-chitecture. According to Nicholas Negroponte;

responsive architecture is the natural product of the integration of com-puting power into built spaces and structures, and that better perform-

ing, more rational buildings are the result. Negroponte also extendsthis mixture to include the concepts of recognition, intention, contextualvariation, and meaning into computing and its successful (ubiquitous)integration into architecture. 05

2902.2. Methods and Techniques


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Fig. 2.01Sabin+Jones, LabstudiosDeployability.


Fig. 2.02Tristan DEstree Sterks ActuatedTensegrity[Ref. Illustrative: 2.02]

Fig. 2.03Jordi Trucos PARA-site[Ref. Illustrative: 2.03]

05http://en.wikipedia.org/wiki/Respon-

sive_architecture06

http://en.wikipedia.org/wiki/Open-source_hardware

Fig. 2.03Fig. 2.02

hardware such as sensors that read different environmental conditions

such as; humidity level, temperature level, sun exposure, movement/torque sensor, pressure sensor, ex sensor, etc. These accurate read -ings will be the parameters for actuating certain mechanics in the kinet-ic system. Software and micro chip serve as the bridge that connectsthese two end parts of the robotic system. In order to develop roboticsystems more economical and reachable to the general community,we apply open source software and hardware such as; Grasshopper,Kangaroo, Geometry Gym, Karamba, Arduino, Firey, etc.

Open-source software/hardware is liberally licensed to grant the rightof users to use, study, change, and improve its design through theavailability of its source code. This approach has gained both momen-tum and acceptance as the potential benets have been increasingly

recognized by both individuals and corporations.02

Hybrid System

A Hybrid system is the integration of two or more different systemswhich otherwise have not been previously used within a single system.In his book PARA-Site (g 2.03), Jordi Truco explains the collective useof material intelligence, digital tectonics, and reading the environment.In the rest state, the material has no structural capacity, however, whenin a pretension form through geometric formation the material worksas a structural membrane supporting its own weight. Pretensioning thematerial changes its property and helps to store some energy whichcan later be used in correlation with various mechanical actuators. Asa result, the exchange communication between the material, sensors,and actuators creates a dynamic hybrid system with emergence be-haviour.

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Fig. 2.04System Closed[Ref. Illustrative:2.04]

Fig. 2.05System Deployed[Ref. Illustrative: 2.05]

Fig. 2.06Opportunity for Environmental Re-sponsive Sub-System[Ref. Illustrative: 2.06]

Fig. 2.07Sub-System Deployment[Ref. Illustrative: 2.07]

Fig. 2.07

Fig. 2.06

Fig. 2.05

Fig. 2.04

Proposed

Methods

02

Evaluation And Proposed Method

The System BranchingThis diagram explains the methods and techniques that will be ap-

plied though out in order to achieve a Responsive Kinetic System. Aspreviously noted, there are two different categories that will be exam-ined. First, a Structural Responsive System capable of shape changein response to various functional needs. Second, an EnvironmentalResponsive System that transforms based on several environmentalconditions. These two categories are studied simultaneously on sepa-rate explorations. Eventually, these two systems will merge as collec-tive behaviour; performing and complimenting each other as one com-pound system.Here are the denition of each branch in the system:

System CoreStructural System: the primary system in which performance is basedon the structural integrity as a whole.

Program Adaptive: transformation taking place due to the change infunctions.

Envelope System: a secondary system capable of surface change.Climate Responsive: surface transformation interacting to the envi-ronment.

Elements within the SystemSystem: groups of interacting cells working together to perform a cer-tain task.Component: different element units gives this cell a certain behaviour.Element:given number of units that dene a cell component.Connection Types: hardware types joining one element to the nextand responding to kinetic behaviour.Scale: different scale explorations to better understand forces requiredto activate the system.System Deployment: deploying the system with respect to structuralintegrity and different programmatic functions.

3102.3. Conclusion and Proposed Methods


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SYSTEM

STRUCTURAL SYSTEM

ARDUINO KARAMBA

SENSORSENVIRONMENTAL

INPUTS

DESIGN DECISIONS

DATAPROCESSING

ELEMENTSWITHINTHESYSTEM

SYSTEMCORE

SCALE

PROGRAM

ECOTEC

FIREFLY GECO

SYSTEM DEPLOYMENT

controlled pace global reaction

COMPONENT DEPLOYMENT

immediate local reaction

PROGRAM ADAPTIVE

CONNECTIONTYPE

CONNECTIONTYPE

ENVELOPE SYSTEM

CLIMATE RESPONSIVE

Group of interacting

cells working to per-

form a certain task

SYSTEM

Different element

units gives this cell a

certain behaviour

COMPONENT

Given number of units

that dene a compo-

nent

ELEMENT

KINETIC APPLICATION ENVIRONMENTAL DATA

GRASSHOPPER+

KANGAROO

Component Deployment: activating component elements in respectto environmental changes.

Programs: different programmatic functions are to be the based on thedesign making decisions for both system and component deployment.Kinetic Application: applying different actuator types to activate thesystem.Environmental Data: Inputs for a Responsive System. For instance,letting light in when it becomes too dark, closing or opening fenestra-tion systems when it is too hot, or when it is too humid.

Data Processing(the use of open source software/hardware):Grasshopper: graphical algorithm for generative modelling.Firefy: toolset dedicated to bridging the gap between Grasshopperto Arduino, micro-controller. It also allows for data ow from digital tophysical environments close to real-time.Geometry Gym: bridging Grasshopper to Oasys GSA; a structural en-gineering analysis software.

Karamba: nite element analysis module within Grasshopper and fullyparametrizable.

Ecotect: a software enabling the rendering and simulation of a build-ings performance within the context of its environment.Geco: bridging Grasshopper to Ecotect.Arduino: open source hardware platform allowing the creation of in-teractive systems.Sensors: hardware that read environmental conditions and translate tdata to engage actuators. Some smart materials have the properties tofunction as both sensors and actuators.Environmental Input: environmental factors; such as wind, heat, hu-midity, and temperature data that can be collected and used as aninput for data processing.

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03. PRELIMINARY EXPLORATIONS

03.1. KINEMATIC: space and volume03.1.1. Origami Patterns

03.2. KINETIC: surface control03.2.1. Global Control03.2.2. Local Control03.2.3. Assembly And Scale Change03.2.4. Actuator Types

03.3. ENVIRONMENTAL RESPONSE03.3.1. Environmental Readings03.3.2. Responsive Types


34 03. PRELIMINARY EXPLORATIONS


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03.2.1. Global ControlMechanism exploration to achieved global transformation

03.2.2. Local ControlActuators exploration to achieved local control

03.2.3. Assembly And Scale Change

Fabricating the pattern with rigid material and different joints

03.1.1. Origami PatternsComparison of different origami patterns

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46

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03.1. KINEMATIC: space and volume 36

4203.2. KINETIC: surface control

Preliminary Explorations

Fig. 3.02

Fig. 3.01

Introduction

The objective of this chapter is to explore methods and techniques thatwe have mentioned in the previous chapters in respect to the domainand the abstract of the research.Kinematic systems will be explored through the means of origami; theJapanese art of paper folding. This is explored with the intention ofachieving different ways of deploying a system through origami pat-terns.

As a kinetic exploration, control behaviour is explored. Global controltriggers movement as a whole while local control triggers componentswithin a system that can be controlled independently to each other.

Environmental response is the robotic study where data from the physi-

cal environment is read, transferred to a digital model, processed, andtransferred back again to the physical environment.

3503. Introduction


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SYSTEM

ARDUINO KARAMBA

SENSORS

DATAPROCESSING


SYSTEMCO

RE

FIREFLY

Group of interacting

cells working to per-

form a certain task.

SYSTEM

KINETIC APPLICATION

STRUCTURAL SYSTEM

SYSTEM DEPLOYMENT

controlled pace global reaction

PROGRAM ADAPTIVE



Fig. 3.03

Opportunity for EnvironmentalResponsive Sub-System[Ref. Illustrative: 3.03]


System Core

Structural System: the primary system in which perform based on thestructural integrity of a whole.Program Adaptive: transformation in which happens due to thechange in functions.

Elements within the System

System: groups of interacting cells working together to perform a cer-tain task.System Deployment: deploying the system in respect to structuralintegrity and in response to different functions.Kinetic Application: applying different actuators to activate he sys-tem.

Data Processing(the use of open source software/hardware):

Grasshopper: graphical algorithm for generative modelling.Firefy: toolset dedicated to bridging the gap between Grasshopper toArduino, micro-controller. It also allow data ow from digital to physicalworld in almost real-time.Geometry Gym: bridging between grasshopper to Oasys GSA, astructural engineering design and analysis software.Karamba: nite element analysis module within Grasshopper and fullyparametrizable.Arduino: open source electronic prototyping platform allowing to cre-ate interactive electronic object.Sensors: hardwares that read environmental condition and translatethat to data to activate actuators. Some smart materials has the proper-ties to function as both sensors and actuators.

GRASSHOPPER+

KANGAROO



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x10

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Fig. 3.05

Fig. 3.06

Fig. 3.07

Pattern 1. Grid VsVariables

Pattern 2. Multiple Vs

Pattern 3. Vs variations

Fig. 3.05 - Fig. 3.08Patterns 1-4. V-patterns[Ref. Illustratives: 3.05 to 3.08]

Fig. 3.09 - Fig. 3.10Patterns 5-6. Modular patterns[Ref. Illustratives: 3.09 to 3.10]

KINEMATIC: space and volume

Origami

To explore the folding technique, we began with origami, the Japaneseart of folding paper. Different cuts and folds from different patterns al-low for various types of deployability. As explored, different patterns re-sult in different forms, volumes, and directionality. Twelve patterns arethen analysed based on each of their expansion ratio, control points,number of joints, expansion directions, volume created, and repetition/modulation of the patterns.Three patterns are chosen from twelve explorations. These are thennarrowed down to two patterns and tested with rig id origami techniqueswhere rigid planar sheets are used in combination with joint systems.

V-patterns

V patterns are one of the most simple folding techniques. The simplicityof this pattern can be seen from two characteristics. The rst character-istic is the number of folding lines intersecting each other. The secondcharacteristic is the symmetrical repetition of ridges and valleys foldingfrom intersection points to adjacent points.

In the V patterns, we can see that all intersection points have four linesthat are coming in/out from these points and all of these lines are re-peating themselves with the exception of Pattern 3.

Pattern 4 (g. 3.08) is very time consuming because there are partsthat needs to be glued together on its faces. These parts are codedwith a gray shade.

As a result, these type of patterns are very linear and only result in

3703.1 KINEMATIC: Space & Volume


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L

#

Fig. 3.09

Fig. 3.10

x7

L

L

#

Fig. 3.08

Pattern 4. V pleats

Pattern 5. Modular pleats

Variables

Pattern 6. Modular pleats_square

#

L

L

Key

X&Y axesindependence

ExpansionRatio

VolumeCreated

ControlPoints

Modulation ofPattern

Number ofJoints

Mountain Valley

surface expansion. This means that in fully closed position, it can becompacted to almost a line. And when it is fully open, it forms a surfacenot a volume. When it is forced to create a volume, each surface pan-els begin to twist and deform (g. 3.06).

V patterns have a high ratio of expansion and expand in correspond-ence to both x and y axis.

Modular patterns

Knowing the strategy within simple patterns, we now move onto morecomplex patterns. Modular patterns are usually asymmetrical; how-ever, the patterns consist of smaller modular components that can be

repeated on the surface.

Unlike V Patterns, Modular patterns can be deployed to form differentvolumes while remaining as a surface when retracted. Due to its trian-gularity, twisting and deformation is not visible at this scale.

Modular patterns have a smaller ratio of expansion in the X and Y axis,however, they make up for it due to their greater volumetric expansion.From experimenting with the paper model, it seems that these pat-terns have the potential to control expansion independently from eachothers axis.



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x10

L

L

#

x2

x4

L

L

#

L

L

#

Pattern 8. Modular pleats_triangle variations

Pattern 7. Modular pleats_triangle

Pattern 9. Complex Surfaces

Fig. 3.13

Fig. 3.11

Fig. 3.12

Variables

Fig. 3.11 - Fig. 3.12Patterns 7-8. Modular patterns[Ref. Illustratives:3.11 to 3.12]

Fig. 3.13 - Fig. 3.16Patterns 9-12. Complex Surfaces[Ref. Illustratives:3.13 to 3.16]

3903.1 KINEMATIC: Space & Volume


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x5

x4

x1,5

#

L

L

Key

X&Y axesindependence

ExpansionRatio

VolumeCreated

ControlPoints

Modulation ofPattern

Number ofJoints




Mountain Valley

Fig. 3.14

Fig. 3.15

Fig. 3.16

L

L

#

L

L

#

L

L

#

Complex Patterns

The third type of patterns are the complex patterns which can be con-sidered as difcult patterns when folding due to the variety of repetitionfrom ridges and valleys from one point its immediate neighbour. Oncefolded, the transformation of the surface is more difcult to control andto predict.

After exploring different patterns in this category, Pattern 9 (g. 3.13)becomes the most interesting due to the intricacy of the surface andthe volume that it creates. Starting by holding the two sides, we can ex-pand the surface by pulling it apart and at the same time create surfacecurvature on the other two sides.



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&

E

valuation

S

election

03.1

Evaluation & Selection

From all of these pattern explorations, we selected three patterns forfurther investigation. These patterns are 1 (g 3.17), 6 (g 3.19), and

7 (g 3.21).

Using the concept of rigid origami, paper folding is replaced by rigidsurface panels and joints for greater force resistance and structuralintegrity. To test this, larger scale models are required.

PATTERN 1This pattern was chosen due to its simplicity and modularity, all parts

were constructed out of the same geometry elements. Less number oflines in each intersection also means that it requires less joints for as-sembly. Based on the paper model studies, we conrm the patternsexpansion ratio, directions, and controllability from assembling MDFprototypes.

Positive aspects:Easy and quick assembly line and great expansion ratio.

Negative aspects:The relation between the X-Y axes limits the possibilities in the controlof the surface as the growth in one side means the growth in the otherone.

4103.1.2. KINEMATIC: Space & Volume_Evaluation


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(a) (b) (c)

(a) (b) (c)

(a) (b) (c)

Fig. 3.17Selected pattern 1. Grid Vs, paper[Ref. Illustrative: 3.17]

Fig. 3.18Pattern 1, MDF model. (a) at pattern,(b) partially open, (c) closed pattern

[Ref. Illustrative: 3.18]Fig. 3.19Selected pattern 6, paper. Modularpleats _ squares[Ref. Illustrative: 3.19]

Fig. 3.20Pattern 6, MDF model. (a) open pat-tern, (b) partially open, (c) closed pat-tern[Ref. Illustrative: 3.20]

Fig. 3.21Selected pattern 7, paper. Modularpleats _ triangles[Ref. Illustrative: 3.20]

Fig. 3.22

Pattern 7, MDF model. (a) open pat-tern, (b) partially open, (c) closed pat-tern[Ref. Illustrative: 3.22]

Fig. 3.17 Fig. 3.18

Fig. 3.21 Fig. 3.22

Fig. 3.19 Fig. 3.20

Pattern 6. Modular_square

Pattern 7. Modular_triangle

Pattern 1. Grid Vs

PATTERN 6This pattern was chosen due to its expendability, control points, modu-

larity, and the ability to create volume. From our previous hypothesis,it is important to check the expansion depending on X axis and Y axis.Because this surface transforms from a surface to a volume, we canconclude that it exhibits high potential to generate architectural spaces.

Positive aspects:Independent control on each direction resulting in more form possibili-ties.

Negative aspects:To control local displacement, 4 actuators per component are needed.Non-triangulated elements increase the possibility of non-planar ele-ments.

PATTERN 7Pattern 6 and pattern 7 share the same characteristics. However, this

pattern is made completely out of triangulated element pieces.

Positive aspects:Triangulated element provide structural integrity assuring that all ele-ments are planar.3 actuators are needed per component.

Negative aspects:Due to their triangulation, actuators move simultaneously resulting in aglobal control.Global control only results in dome-like structure.



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Fig. 3.28

Fig. 3.27

Fig. 3.26

Fig. 3.25

Fig. 3.24

Fig. 3.23

(a)

(a)

(a)

(a)

(a)

(a)

(b)

(b)

(b)

(b)

(b)

(b)

Fig. 3.23Diagrams of surface along rails, Con-guration 1. (a) plan when surfaceis deployed (b) plan when surface isclosed[Ref. Illustrative:3.23]

Fig. 3.24Model of surface along rails, Congu -ration 1. (a) plan when surface is de-ployed (b) front elevation[Ref. Illustrative:3.24]

Fig. 3.25Diagrams of surface along rails, Con-guration 2. (a) plan when surfaceis deployed (b) plan when surface isclosed[Ref. Illustrative:3.25]


Fig. 3.27Diagrams of surface along rails, Con-

guration 3. (a) plan when surfaceis deployed (b) plan when surface isclosed[Ref. Illustrative:3.27]


KINETIC: actuators and control

In a kinetic system, there are two main ways of controlling motion; onebeing local control and another one being global control. In global con-

trol, movement or displacement is dened by a single processor. As aresult, several congurations and movements may be achieved. Forinstance, if an element is designed to move along the X, Y, and Z axis,it is more likely to do so within same formation every time it is activated.Therefore, the sequence of motion would not be adaptable to othersequences under different conditions.On the contrary, systems with local control are most likely to have mul-tiple processors and actuators. This means that each processor actsas a parameter that is uniquely designed and engineered to respond toone particular condition. When assembled together, different parame-ters will behave as one collective behaviour. This characteristic makesa system versatile and able to adapt to several different conditions.

Global control - railing system

One of the ways in which we address global control is by deploying afoldable surface by means of a railing system. In this case, we inves-tigate 3 different conguration types (see g. 3.24, 3.26, and 3.28).Here, it is imperative to address the fact that we must understand thebehaviour of such foldable surface/pattern in order to design any railingsystem. In other words, the railing system is an output derived from thebehaviour in which a pattern folds and unfolds.

In addition, the purpose of these exercises is to demonstrate that dif-ferent volumes can be achieved from a single pattern type. This is ac-complished by controlling the percentage of aperture from one fold tothe next. In this fashion, three successful congurations were achievedby running parallel rails along the longer edges of the surface. In turn,

being able to achieve large surface areas.

4303.2 KINETIC: Surface Control


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OUTPUTINPUT1 action 2 effects

MECHANISM

TRANSLATION GEAR 1

GEAR 2

GEAR 3 GEAR 4

GEAR SYSTEM

TRANSLATION

+ROTATION

translation

translation

rotati

on

translatio

n

Fig. 3.31

(e)(d)(c)(b)(a)

Fig. 3.30Fig. 3.29

Fig. 3.29Strategic diagram. From 1 input (ac-tion) into 2 outputs (effects)[Ref. Illustrative:3.29]

Fig. 3.30Gear system experiment for globalcontrol[Ref. Illustrative:3.30]

Fig. 3.31Different volumetric congurations byglobal control (a) -135o, (b) -90o (c) 0o

(d) +90o (e) +135o


Global control - gear system

A gear system was also explored in order to achieve global controlover the deployment of a folding surface (see g. 3.29). A gear sys-tem is simply dened by translation and rotation. It is composed of asingle arm which allows for 90 degrees of rotation and also attachedto a ange which allows for translation along the x-axis. The struc-ture supporting the gear system is composed by two anges parallel toeach other and a rail type at the ground. In this fashion, we are able toachieve global control and maximum volume deployment by stretchingand rotating any foldable surface; on one end being xed to a angeand on the other to a kinetic system.

Both of these models (the railing and gear systems) successfully en-able global control not only allowing maximum volume deployment, but

also allow different conguration types from a single folding pattern/surface. However, they do not allow for multiple congurations outsidetheir own boundaries. In addition, this type of global control focuseson its own structural frame, and not on the folding pattern itself. Eventhough a successful system, we will move forward aiming to controldeployment types from within folding surfaces. In this case, we areaiming to focus on controlling a foldable surface from a local level pointof view.



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Fig. 3.32

Fig. 3.34

Fig. 3.35

KINETIC: surface control

open actuatorsemi-open actuatorclosed actuator

horizontal actuatorsclosed open

verticalactuators

open

closed

Fig. 3.33

Fig. 3.32The variation in the pattern come as aresult of the combination of the localmovement in each component. (a) allcomponents are equally activated, (b)gradient in one direction, (c) gradientin 2 directions, (d) all the componentsare equally closed[Ref. Illustrative:3.32]

Fig. 3.339 different component geometries ob-tained by the combination of 3 stagesin the actuators: open, semi-open andclosed[Ref. Illustrative:3.33]

Fig. 3.34In a larger scale, different patternsgenerated by the local control of thecomponents[Ref. Illustrative:3.34]

Fig. 3.35Sections of the surface when activatedin 3 different ways. Curvature change[Ref. Illustrative:3.34]

(a)

(a)

(b)

(b)

(c)

(c)

(d)

Local control

Through digital and physical model explorations, we prove that pattern06 (see g. 3.19 page 41) becomes the most successful for independ-ent control. Diagrams on the left hand side show how this pattern canbe expanded on certain areas which become independent from theirneighbouring areas within the surface. Diagrams on the right hand sideshow how the surface behaves three-dimensionally.

Local control - digital exploration

In order to gain local control, we begin by testing a foldable surface interms of its components (see g. 3.33). At rst, these components arestudied as a two-dimensional surface which begins to change shape,not only from its components but also from its own boundaries (see.g. 3.32 and 3.34). This shape change is possible by controlling theaperture percentage from one component to the next. In return, beingable to expand or contract the surface in some areas more than others.However, it is important to make note that there is always a sequenceor a pattern that follows depending on which component becomes ac-tuated before the others, and also depending on the location of thiscomponent within the surface area. In other words, there is a relation-ship between expanding or contracting depending on the aperture se-quence from one component to the next.


Actuation control exploration


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Fig. 3.38

Fig. 3.37

Fig. 3.36

(c)

(c)

(c)

(b)

(b)

(b)

(a)

(a)

(a)

Fig. 3.34Sections of the surface when activatedin 3 different ways. Curvature change[Ref. Illustrative:3.34]

Fig. 3.36Pattern 6 (page 41). Curvatureachieved by the activation of horizon-tal actuators. (a) front elevation, (b)side elevation, (c) plan view[Ref. Illustrative:3.36]

Fig. 3.37Pattern 6 (page 41). Curvatureachieved by the activation of verticalactuators. (a) front elevation, (b) side

elevation, (c) plan view[Ref. Illustrative:3.37]

Fig. 3.38Pattern 6 (page 41). Curvatureachieved by the activation of bothhorizontal + Vertical actuators. (a) allopen, front elevation, (b) all closed,front elevation, (c) all closed, plan view[Ref. Illustrative:3.38]

Local control - digital exploration

Furthermore, the same pattern is briey studied along a cross section(see. g 3.35). From this exercise, we are able to examine differentcurvature types depending on the degree of aperture from each com-ponent. This enables us to begin generating volume and envelopingspaces as needed by controlling local movement within the respectivecomponents.

Local control - physical model

In parallel to digital explorations, we built a prototype from MDF pan-els. This model consists of two components originated from the samepattern examined in the previous digital exercise (see g. 3.36, 3.37,3.38). Each component is a combination of eight triangular piecesand one square geometry. Every element is attached by brass hingeswhich allowing every pair of elements to rotate selectively, and ena-bling a slight curvature form one component to the next. In essence, itallows us to enclose space depending on the number of componentspopulating a surface.

After digital and physical model explorations, we consider these ex-ercises as a success in terms of being able to not only control localmovement from a component scale, but also in terms of being able to

create volume and enclose space.



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Fig. 3.39Assembly line of pattern 01.Material: MDF 3mmJoints: Reinforced tape 20mm(a) 36 identic units, (b) taped in pairswith reinforced tape, (c) 18 pairs ofunits, (d) taped in 9 clusters of mir-

rored pairs with reinforced tape, (e)9 clusters of 4 units, (f) nal resultingpattern. Dimensions of the at surface:90cm x 100cm[Ref. Illustrative: 3.39]

Fig. 3.40Actuation direction of the differentclusters of units[Ref. Illustrative: 3.40]

Fig. 3.39

Fig. 3.40

(a)

(b)

(c)

(d)

(e)

(f)

36 units

x 18 x 9

18 clustersof 2 units

9 clustersof 4 units

x 9x 18

Assembly and scale change

Proceeding from successful digital and physical model exercises, ourgoal here is to explore three different fabrication and assembly tech-niques. These are tested using a rigid origami method. Origami can beconsidered rigid origami when it utilizes rigid surfaces along side withjoints. No folding is involved within this technique.

Even though, we are now capable of local control, our next experimentactivates a pattern from a global scale. However, our aim is to test anassembly method, which joins component elements through a tapingtechnique.



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Fig. 3.41Stage 1. Pattern is completely aton the ground. To start activating it,the mountains (red lines) have to bepushed up simultaneously. Thick redarrows show big amount of force re-quired to start activating the surface[Ref. Illustrative: 3.41]

Fig. 3.42Stage 2. Instant after stage 1 when allthe mountains are slightly pushed up.Thinner red arrows sow less amount offorce required[Ref. Illustrative: 3.42]

Fig. 3.43Operation sequence_pattern 01. Xand Y axes are dependent as we cansee in the pictures; (a) initial at stage:width: 90cm x length: 100cm, (b) 80cmx 98cm, (c) 70cm x 95,7cm, (d) 60cm x93,5cm, (e) 50cm x 91,40cm, (f) 40cmx 89,25, (g) 30cm x 87cm, (20cm x85cm[Ref. Illustrative: 3.43]

Stage 1: Flat Stage 2: Folded

Fig. 3.41Fig. 3.42

Fig. 3.43

(a) (b) (c) (d)

(e) (f) (g) (h)

MDF pattern 01

The rst study model is assembled from a strategy where all elementsshare the same geometry. In turn, due to the simplicity of the pattern,the assembly process becomes simple and time efcient. 3mm MDF isused for the rigid surface panels, and 20mm reinforce tape is used asa joint type connecting one piece to the next.

Once this pattern was assembled, one of the most important factorslearned was the amount of force required to activate it. For instance,when the pattern was laying at on the ground, it became almost im-possible to fold up. Each element along the surface edges required anequal amount of force in order to engage it as a kinetic surface. There-fore, becoming even more difcult when being handled by only 3 peo-ple not being able to exert an even amount of force through out the

surface.

However, just past the initial kinetic mode, there was a quantiable de-crease in the amount of force required for the surface pattern to keepon contracting. This displacement occurs along the z-axis and x-axissimultaneously (see. g 3.41 and 3.43). From this exercise, we canconclude that once the surface becomes kinetic, it must never comeback to 0 curvature and it must remain at number greater than zero inorder to minimize the amount of force required for actuation.



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Fig. 3.44

(b) (d) (f)x 72 x 36 x 16

(a) (c) (e)72 clustersof 2 units

18 squareunits

18 squareunits

144 triangularunits

+ +

Fig. 3.45

18 squareunits

+36 clustersof 4 units

x 16 x 4x 18

Fig. 3.44Assembly line of pattern 06.Material: MDF 3mmJoints: Reinforced tape 20mm(a) 18 squared units + 144 triangularunits, (b) taping triangles in pairs toform 72 squares, (c) 18 squared units+ 72 pairs of triangular units, (d) tapingthe pairs of triangles mirrored with thetape on the other side of the surfaceto get 36 clusters of 4 triangular units,(e) 18 squared units + 36 clusters of4 triangular units, (f) taping these 36clusters mirrored and with the tape on

the same side of the surface result-ing in 16 squares of 8 triangular units.The nal surface when at is 150cmx 150cm[Ref. Illustrative: 3.44]



In order to ease the assembly process, we join component elements bytaping them together. In this case, we utilize a 20mm reinforced tape.The tape is in turn replacing a rotational movement that otherwisewould be possible by a hinging system.

However, what becomes important is the sequence in which thesepieces are group together to ease the assembly process. Each compo-nent is divided into 8 triangular pieces (see g. 3.45). In this case, theyare grouped into components and assembled as such.

Then, a component takes the shape of a square, and it is taped alongits centre from two edges perpendicular to each other (see g. 3.44 f).Then, the component is ipped and the remaining pieces are taped ina similar fashion.

Each pair of elements (see g. 3.45) is able to rotate 180 degrees. Fourpair of elements make up a component (see g. 3.45). This componenttype is then made up of four ridges and four valleys in the shape of tri-angles. As a component these triangular pairs are capable of expand-ing and contracting independently from its neighboured pairs.

The rotational freedom from one element pair allows for local controlwithin a component. Therefore, gaining local control over an entire sur-face area.



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Fig. 3.46Stage 1. Pattern is completely aton the ground. To start activating it,the mountains (red lines) have to bepushed up simultaneously. Thick redarrows show big amount of force re-quired to start activating the surface[Ref. Illustrative: 3.46]

Fig. 3.47Stage 2. Instant after stage 1 when allthe mountains are slightly pushed up.Thinner red arrows sow less amount of

force required[Ref. Illustrative: 3.47]

Fig. 3.48Images of the surface. (a) image dur-ing the difcult process of folding thesurface starting from at where mostof the joinst failed (b) surface fullyfolded[Ref. Illustrative: 3.48]

Stage 1: Flat Stage 2: Folded

Fig. 3.46Fig. 3.47

Fig. 3.48

(a) (b)

MDF pattern 06Based on our exercises thus far, we apply our most successful patterndesign into the making of this prototype (see g. 3.19 page 41). There -fore, once again, allowing us to gain local control over a single surface.

In contrast to the previous model, this prototype requires only one moregeometrical element type than its successor. However, it still remainsfairly simple with only two different geometrical shapes; one squareand one triangle. Here, the same materials are also used; a 3mm MDFas the rigid surface and a 20mm reinforce tape as the joint.

As simple as this component is in its geometrical shape, and as easy itis to assemble, it only has one disadvantage. This disadvantage comesin terms of fabrication time. Due to the great number of elements thatmake up a single component which in turn must be multiplied in order

to populate a surface, then, fabrication time becomes very consuming.(see g. 3.44)

It is also important to note, that as in the previous study model, thisprototype must never be set at. In return,this will decrease the amount

of force required needed in order to engage its kinetic phase.

Although, it works fairly well under tensile forces, it fails rather quicklyunder compression and torsion. Therefore, it is important to note thatthis technique is only applied for study models; these can only be keptfor a short period of time.



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Fig. 3.49

(b) (d) (f)x 72 x 36 x 16

(a) (c) (e)72 clustersof 2 units

18 squareunits

18 squareunits

144 triangularunits

+ +

Fig. 3.50

18 squareunits

+36 clustersof 4 units

x 16 x 4x 18

Fig. 3.49Assembly line of pattern 06.Material: MDF 3mmJoints: Brass Hinges. 15mm(a) 18 squared units + 144 triangularunits, (b) hinging triangles in pairs toform 72 squares, (c) 18 squared units+ 72 pairs of triangular units, (d) hing-ing the pairs of triangles mirrored withthe hinges on the other side of thesurface to get 36 clusters of 4 trian-gular units, (e) 18 squared units + 36clusters of 4 triangular units, (f) hingingthese 36 clusters mirrored and with thehinges on the same side of the surfaceresulting in 16 squares of 8 triangularunits. The nal surface when at is110cm x 120cm[Ref. Illustrative: 3.49]



The geometry of this component is identical to the preceding prototype(see Fig. 3.50). In terms of its kinetic properties, it also behaves thesame. However, in terms of assemblage, it is slightly different. In thiscase, we replace the reinforced tape, by brass hinges in order to resista compression force when joining one element to the next (see Fig.3.49).

In addition, the global geometry achieved in this model (see Fig. 3.53)is more complex than the one of its predecessor (see Fig. 3.48a). Inthis prototype, we are able to design space and form. Although, it doesnot have an Architectural application, what qualies this prototype as asuccess lies in that we are able to control shape change at a local level.Another factor that makes this component a success is that we are

able to achieve a variety of form and space from two basic geometricalshapes (a square and a triangle).


The nal shape achieved is a dome like structure. In order to accom -plish this shape, its components must be activated in sequence; eitherfrom the centre down to is edges or from the edges up to the centre.However, the most efcient way, is to actuate the components startingfrom the centre down to the edges.

Fabrication time:3 hrs. (laser cutting)9 hrs. (h inging elements together)Total fabrication time: 12 hrs.

Assembly line:For number of elements, cluster and components

(see Fig. 3.49a through 3.49f)



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Stage 2: UnfoldedStage 1: Folded

(a) (b) (c) (d)

(e) (f) (g) (h)

Fig. 3.51Fig. 3.52

Fig. 3.53

Fig. 3.51Stage 1. Pattern is completely folded.[Ref. Illustrative: 3.51]

Fig. 3.52Stage 2. Pattern is being activated byunfolding its components one by oneand locking them in to their position[Ref. Illustrative: 3.52]

Fig. 3.53Images of sequence of the activationof the surface. (a) only one componentis activated, (b) three components areactivated, (c) four components areactivated, (d) ve components are ac-tivated, (e) six components are activat-ed, (f) eight components are activated,(g) ten components are activated, (h)all components are activated[Ref. Illustrative: 3.53]

MDF pattern 06 + brass hinges

In this model, we briey look at the mechanical elements which actuateevery component. In this case, we are able to open and close everycomponent to its desired aperture state by using MDF beam like ele-ments that otherwise would be replaced by linear actuators.

The components that make up a system constantly adapt to displace-ment forces in order to avoid failure in terms of torsion, tension andcompression.These actuators will be addressed in depth in page 52.

The materials used in this model are; a 3mm MDF as surface panelsand brass hinges as the hardware connecting one element to the next.surface: 1,10cm x 1,20cm

time: 12 hour (faster assembly process due to previous experience)


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Thrust max. push (N): 250038BC-TS-5811

Turnbuckles


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Self lock max. push (N): 2500Thrust max. pull (N): 2500Self lock max. pull (N): 2500Typical speed no load (mm/s): manualTypical speed max. load (mm/s): manualStroke range (mm): 171-235Steps (mm): -

Thrust max. push (N): 300Self lock max. push (N): 300Thrust max. pull (N): 300Self lock max. pull (N): 300Typical speed no load (mm/s): 5,5Typical speed max. load (mm/s): 4,5Stroke range (mm): 1-500Steps (mm): -

Thrust max. push (N): 7363Self lock max. push (N): 7363Thrust max. pull (N): 7363Self lock max. pull (N): 7363Typical speed no load (mm/s): 7,4Typical speed max. load (mm/s): 6,8Stroke range (mm): 10-2000Steps (mm): -

Thrust max. push (N): 2500Self lock max. push (N): 2500Thrust max. pull (N): 2500Self lock max. pull (N): 2500Typical speed no load (mm/s): manualTypical speed max. load (mm/s): manualStroke range (mm): 171-235Steps (mm): -

DSNU 20-25

38BC-RS-5811

DSNUP, ISO 6431

Pneumatic Cylinders DSNU/20

Fig. 3.54Jaw toggle & Swage 38BC-TS-5811_Blair Corporation[Ref. Illustrative:3.54]

Fig. 3.55Rod & Swage 38BC-RS-5811_BlairCorporation[Ref. Illustrative:3.55]

Fig. 3.56Standard cylinder DSNU 20-25_FES-TO[Ref. Illustrative:3.56]

Fig. 3.57Standard cylinder DSNUP ISO 6431_

FESTO[Ref. Illustrative:3.57]

Fig. 3.54

Fig. 3.56

Fig. 3.55

Fig. 3.57

Mechanical Actuators

In this category, we study different mechanical actuators such as; turnbuckles, pneumatic cylinders, pneumatic air muscles and electric linearactuators. The specications for each actuator type provide us withinformation regarding the push/pull power, speed, and distance rangefor each type.

According to our previous physical experiments, we can conclude thatall actuators need to resist both tensile and compressive forces.

Referring to the appropriate specications from each actuator, we areable to conclude that the least desirable type is the pneumatic air mus-cle (see Fig. 3.60 - 3.61) as it only works either on tension or compres-sion, but never under both forces simultaneously.

Turnbuckles (see Fig. 3.54 - 3.55) need to be activated manually and

their length can be adjusted accordingly. However, this type of actuator

works under both compression and tension.

Pneumatic cylinders (see Fig 3.56 - 3.57) are activated by allowingpressurized air to one of the chambers in order to extend or compresstheir length. In addition, electric liner actuators (see Fig. 3.58 - 3.59)are essentially motors that rotate on a threaded rod that allows itself toslide in and out; extending and reducing its length. Both of these typeare capable of working under compression and tension.


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Memory alloy wire

Thrust max. push (N): -Self lock max. push (N): -Thrust max. pull (N): 40Self lock max. pull (N): -Stroke range (%): 4Steps (mm): -Starting temperature (): 70Max. opening temperature (): 90

ActuatorsFig. 3.62 Fig. 3.63

Phase Changing Actuators

In this chapter, we will dene three types of Phase Changing Actuators

from the Smart Materials category. The rst one is a Memory AlloyWire, the second one is a Hydro-gel, and the third one is a wax actua-tor.

Memory Alloy wires become kinetic in response to heat and electricity(see Fig. 3.62). They will either respond by expanding or contracting.However, what makes them unique is their ability for memory shapechange.

In this fashion, Memory Alloys come in two categories:a) 1 - way alloy.b) 2 - way alloy.

One way alloys expand and contract responding to heat or electricity.

This alloy type can be calibrated to respond to various temperatures as

per application, and it has the ability of shape change up to 4 percentof its length.

Two way alloys, display exactly the same characteristics as One wayalloys, however, they exhibit one extra property in terms of kinetic be-haviour. Two way alloys can be calibrated not only to expand and con-tract in response to environmental inputs, but can also be calibrated toremember a secondary shape. (see Fig. 3.62)

In general, memory alloys only work under tension. They are capableof pulling, however, when it comes to pushing, they will return to theiroriginal shape, but they will never exert any force during the process.In this case, a primary system must be integrated. This can becomean issue, under systems responding to lateral forces such as wind or


Wax linear actuators

Thrust max. push (N): 500Self lock max. push (N): 500

Giga vent


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Polymer gel

Se oc a pus ( ) 500Thrust max. pull (N): -Self lock max. pull (N): -Stroke range (mm): 0-300Steps (mm): -Starting temperature (): 17-25Max. opening temperature (): 30-32

Thrust max. push (N): 200Self lock max. push (N): 200Thrust max. pull (N): -Self lock max. pull (N): -Stroke range (mm): 0-450Steps (mm): -Starting temperature (): 17-25Max. opening temperature (): 30-32

Optivent

Fig. 3.62Memory Alloy wire


Fig. 3.63Alloy Muscle prototype[Ref. Illustrative:3.63]

Fig. 3.64Giga vent_ J. Orbesen Teknik ApS[Ref. Illustrative:3.64]

Fig. 3.65Optivent_J. Orbesen Teknik ApS[Ref. Illustrative:3.65]

Fig. 3.66Sequence of the reaction of the poly-mer gel with water[Ref. Illustrative:3.66]

Fig. 3.64 Fig. 3.65

Fig. 3.66

Thrust max. push (N): 300Self lock max. push (N): 300Thrust max. pull (N): -Self lock max. pull (N): -Typical speed no load (mm/s): 4,2Typical speed max. load (mm/s): 3,0Stroke range (mm): 150-210Steps (mm): -

20 mm

earthquakes. Never the less, memory alloys are 100% energy efcient,

they can be engineered or calibrated to respond to various tempera-ture inputs, and they have had great success within small architecturalbuilding types.

The second category of Smart Materials comes in the form of a pow-der. In this case, this material responds to water (see Fig. 3.66). Oncethis material interacts with water, its volume increases; therefore exert-ing a pushing force. This powder based material, however, it requiresa unique casing type that would move simultaneously to the expansionrate of the powder. Then, the geometry of the casing becomes the out-put for displacement.

The third category denes a wax actuator material (see Fig. 3.65) re -

sponding to heat. This type has been widely used in green houses.

Just like the hydro-gel, this wax actuator requires a casing which com-

monly comes in the form of hydraulics.

Phase Changing Actuators are extremely promising due to the interac-tion of their natural properties in respect to the environment. In otherwords, they do not need an external power source to engage or interactwith the natural environment. These materials are also known as,smartmaterials. Some of which can even be engineered or calibrated in or-der to respond to unique environmental inputs. However, Smart Mate-rials are still in their early stages of development, and at this point, theyare mostly applied to small scale designs. In architectural terms, thisdesign type mainly comes as a secondary system within a building de-sign. These may be building facades, roof canopies or art installations.


Preliminary Explorations


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Fig. 3.03Opportunity for Environmental Re-sponsive Sub-System[Ref. Illustrative: 3.03]


Fig. 3.04

Fig. 3.03

03.3.1. Environmental ReadingsEnvironmental responses through sensors and microchip

03.3.2. Responsive TypesDifferent options for environmental responses

58

60

62

03.3. ENVIRONMENTAL RESPONSE

5903.3 Environmental Response

SYSTEMSYST


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ARDUINO

SENSORS

DATAPRO

CESSING


TEMCOR

E

ECOTEC

FIREFLY GECO

COMPONENT DEPLOYMENTimmediate local reaction

CONNECTIONTYPE

ENVELOPE SYSTEM

CLIMATE RESPONSIVE

Different element

units gives this cell a

certain behaviour

COMPONENT

Given number of units

that dene a compo-

nent

ELEMENT

KINETIC APPLICATION ENVIRONMENTAL DATA

System Core

Envelope System: system in which perform as a secondary to thestructural system.

Climate Responsive: transformation in which happens due to thechange of climate/environment.

Elements within the System

Component: different element units gives this cell a certain behav-iour.Element:given number of units that dene a cell component.Connection Types: different connection types for different systemsthat will have different material resistances.Component Deployment: deploying parts of the component in re-spect to climate and environmental changes.Kinetic Application: applying different actuators to activate he sys-

tem.

Environmental Data: environmental data that can be considered andused as an input to transform the system. Let light in when it is toodark, close the openings when it is too hot, or create ventilation whenit is too humid.

Data Processing(the use of open source software/hardware):

Grasshopper: graphical algorithm for generative modelling.Firefy: toolset dedicated to bridging the gap between Grasshopper toArduino, micro-controller. It also allow data ow from digital to physicalworld in almost real-time.Ecotect: a software that is able to render and simulate a buildingsperformance within the context of its environment.Geco: bridging between Grasshopper to Ecotect.Arduino: open source electronic prototyping platform allowing to cre-ate interactive electronic object.Sensors: hardwares that read environmental condition and translate

that to data to activate actuators. Some smart materials has the proper-ties to function as both sensors and actuators.

GRASSHOPPER+

KANGAROO



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Rhino Preview Firey/Grasshopper Arduino Board Light Sensor LED ComponentServo

Fig. 3.71

Environmental readings

To start with environmental exploration, we looked up different waysof readings and translating environment data. For this exploration, wemake use of various tools and open source software/hardware. These

tools include light sensors, red LEDs, servo motors, and Arduino mi-croprocessors in combination with open-source software such as; Fire-y and Grasshopper.

We then devised a kinematic prototype capable of transformation. Toactivate this, data input needs to be translated to data output that willthen be fed as an input for the hardware system. This is a linear pro-cess. The rst step is for light sensor to read the light value in theenvironment (average light sensor give values between 0-1023). Thisvalue needs to be then converted to a value from 0-255 for LED valueor 0-180 for the angular value of a common servo. Once this data isconverted in the software, it is transferred to the hardware via Arduinomicroprocessor. Arduino converts a set of translated data to a set of

different electrical currents that then activate the hardware.


STIMULI EFFECT


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Fig. 3.73

Fig. 3.72

Fig. 3.71Devices used to read environmentaldata and make the Responsive Com-ponent react accordingly[Ref. Illustrative: 3.71]

Fig. 3.72Sequence diagram[Ref. Illustrative: 3.72]

Fig. 3.73Images of the physical/digital ex-periment. The prototype responds tochanges in the environmental condi-tions that are collected by the lightresistor emulating the performance ofa sunower. With light the prototypeopens to collect it and when dark itcloses. (a) with the light on, the pro-totype is open, (b) prototype is closingwith the absence of light. At the sametime, red LED light is lit up, (c) closedprototype, (d) prototype starting toopen when light is turned back on, (eto h) the prototype continues interact-ing with the changes of light not onlyby opening and closing its aps com-pletely when the light is on or off butalso partially by adjusting the degreeof the opening when the amount oflight varies[Ref. Illustrative: 3.73]

(a)

(e)

(b)

(f)

(c)

(g)

(d)

(h)

05b. GH MODELActivates the digital

prototype

01. LIGHT SENSORDetects light changes

02. ARDUINOBOARD

Collects data

05a. SERVO

Activates physicalprototype based onthe input current04. ARDUINO BOARD

Translates instruction toelectrical current

03. FIREFLY/GRASS-HOPPER

Translates data into aset of instructions

STIMULI EFFECT

In this case, we set the a range and a parameter for the servo to ac-tivate as a light value reaching a particular limit. This system must bere-calibrated when it is moved from one place to another in order to

improve the reading from the existing light condition.At the end of the servo, a kinematic component is installed, which un-der the bright light, the component will stay open on a triangular shape.Then, as the light value decreases, the component begins to close upforming a pyramid-like geometry that adjusts itself depending on theamount of light received. It is also capable of moving midway basedon the light reading and the angular limits that is assign to the servo.The speed of the opening and closing process can be adjusted. Timedelays can also be programmed into the microprocessor. The processcan also be reversed as the component closes responding to a highervalue of light.

Data from Firey and Grasshopper, can also be linked to Rhino3D .Furthermore, based on the complexity of the data processing, we cansee the physical simulation via digital representation close to real time.

This also means that data processors can process and are capable ofcontrolling data at any location, while hardware devices are being as-sembled and located somewhere else. The same digital algorithm anddata processing can also be reused on systems distributed around theglobe.


01 Folds Opening 0o 30o 60o 90o


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02 Shutters Opening

03 Rotating Opening

0o

0% opening

30o

39% opening

60o

79% opening

90o

92% opening

0o

0% opening

30o

46% opening

60o

83% opening

90o

97.5% opening

0o

0% opening

30o

17% opening

60o

63% opening

90o

100% opening

0% opening 11% opening 46% opening 92% openingFig. 3.74

Fig. 3.75

Fig. 3.76

Fig. 3.77

Responsive types

Knowing the limits and different applications of Arduino, we continue toexplore different possibilities for digital prototype that would respond toseveral environmental conditions by changing surface porosity.

Eight of these different mechanical systems are designed based on theactuation of simple motors. Rotational movement from a motor can betranslated to push, pull, and rotate. Different experimentations are car-ried out by using rigid and exible elements.

As it is a secondary unit that depends on the main structural performa-tive system (origami), it is required for this unit to be adjustable andadaptable to its primary system. Therefore, several properties needto be adjusted such as; the overall geometry, movement range and

mechanical complexity.


04 Aperture Opening0o 30o 60o 90o


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05 Membrane Opening0o

0% opening

30o

29% opening

60o

63% opening

90o

78% opening

0o

0% opening

30o

13% opening

60o

24% opening

90o

28% opening

0o

0% opening

30o

52% opening

60o

96% opening

90o

112% opening

0% opening 12% opening 24% opening 31% opening

Fig. 3.74Responsive type: Folds Opening[Ref. Illustrative: 3.74]

Fig. 3.75Responsive type: Shutters Opening[Ref. Illustrative: 3.75]

Fig. 3.76Responsive type: Shutters Opening[Ref. Illustrative: 3.76]

Fig. 3.77Responsive type: Rotating Opening[Ref. Illustrative: 3.77

Fig. 3.78Responsive type: Aperture Opening[Ref. Illustrative: 3.78]

Fig. 3.79Responsive type: Membrane Openingtype one[Ref. Illustrative: 3.79]

Fig. 3.80Responsive type: Membrane Openingtype two[Ref. Illustrative: 3.80]

Fig. 3.81Responsive type: Membrane Openingtype three[Ref. Illustrative: 3.81]

Fig. 3.78

Fig. 3.79

Fig. 3.80

Fig. 3.81

These are unique unit types showing different opening congurations.

The rst three units (g. 3.57, 3.58, 3.59) are using simple mecha-nisms like conventional widow shutters. This units require more spaceoutside its bounding box (imaginary minimum box that is enclosed theoverall object) for the range of its movement.

Unit 4 has a simple division of the overall square shape. Division linescan be pulled from each corner to the centre. This can be translated todivision of any irregular shape. Actuating these panels is as simple asrotating a single side attached to a frame of each triangular element inthe unit.

Unit 5 (g. 3.61) is more successful in terms of the space it requires for

movement. All elements rotate on its own axis, therefore, there is noextra space is needed other than its own bounding box.

Unit 6 (g. 3.62), 7 (g. 3.63), and 8 (g. 3.64) are developed usingexible membrane like elements. This membrane also has a stretchfactor that allows it to return to i ts original form and shape. This asks forprecision in measuring and calibrating the stretch factor and the forcepower from the mechanical actuator/motor.

In conclusion, due to the evaluation mentioned above, we choose unit4 (g. 3.60) for further development in terms of adaptability. This unitwill be discussed in Chapter 4.



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&

Evaluation

Co

nclusion

03

Evaluation and Conclusion

We would like to end this chapter by summarizing and concluding ourlearnings for further research development (chapter 5).

After experimenting different patterns in different scales and materials,we chose pattern 6 (g 3.10) due to its simplicity, modulari ty, and differ-ent spatial and volumetric possibilities. For further physical model ex-plorations, we continue to make use of MDF panels and brass hingesdue to their performative value.

Different physical models and assembling processes made us realizethe need to break down the system into components in order to designseveral congurations. At the same time we learned that different pa -rameters will increase the adaptability factor within the system.

6503.4 Evaluation & Conclusion


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The intention of increasing the versatility of the system drove us to testdifferent parameters in within a digital algorithm. Parameters that willbe explored are extrusion heights, component divisions of the overallsurface, different actuator locations, and different anchor points.

By comparing global and local control, we see more opportunities with-in local control providing different spatial and volumetric congurations.However, to control patterns at a local level, we see the need to workwith actuator types capable of resisting tensile and compressive forces.

Arduino performs well in reading and translating data sets. This mi-croprocessor can be very useful when calibrating and synchronizingmultiple hardware systems; such as sensors and actuators. In additionto Arduino, we will explore additional open source software/hardware

in order to bridge multiple software; such as Rhino3D, Grasshopper,Karamba, Geco, GSA, Geometry Gym, etc.

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Deve

lopment

Research

04

67


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04. RESEARCH DEVELOPMENT

04.1. DIGITAL ALGORITHM04.1.1. GRASSHOPPER EXPERIMENTATION04.1.2. COMPONENT BREAKDOWN04.1.3. DESIGN PARAMETERS

04.1.3.1. Surface Boundaries04.1.3.2. Surface Divisions04.1.3.3. Surface Extrusion04.1.3.4. Actuators Placement04.1.3.5. Actuators Distribution04.1.3.6. Anchor Points04.1.3.7. Material Resistance

04.2. DIGITAL AND PHYSICAL COMPARISON

04.3. ENVIRONMENTAL RESPONSE04.3.1. UNIT ADAPTABILITY04.3.2. DATA PROCESSING

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6904. Introduction

SYSTEM


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GRASSHOPPER+

KANGAROO

DATAPRO

CESSING

ELEMENTSWITHIN

THESYSTEM

CORE

ECOTEC

GECO

Introduction

Continuing from our preliminary explorations in Chapter 3; in retrospectto the system method diagram, we focus on three points for these ex-plorations. The study of digital algorithm is to answer the questions;

how to fold and control the volume in Grasshopper, what are the dif-ferent parameters that increases the systems adaptability, and howaccurate is the system when tested in the physical world.

Once the primary and the structural system is dened digitally, we willre-visit the secondary branch into the system responding to environ-mental factors; a well dened environmental responsive unit needs tobe further developed to adapt to the primary system. For experimentalpurposes, we apply Ecotect to retrieve environmental data and trans-late the data in Grasshopper so that it is usable to be integrated backinto the system. Geco will be needed to bridge the two different soft-ware; Grasshopper and Ecotect.

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Top ActuatorsBottom Actuators

(a)

(a)

(b)

(b)

Flat and pre-folded exploration

In this study, the pattern is drawn in Rhino3D and activated with Kan-

garoo in Grasshopper. In order for this simulation to run, some partsof the system are set as meshes and curves. In Kangaroo, curves aredivided in two different categories. One set of curves are to remain andmaintain their length. The other set of curves change the dimensionof their length based on demand. This set behaves as linear actuators.

Proceeding from the last physical experimentation, we began our stud-ies by testing two different techniques. The rst technique is a at andunfolded pattern (g. 4.01), and the second technique begins once thepattern is fully closed (g. 4.02). In both techniques, two types of actua-tors are being used. When the pattern is fully closed, the surface has athickness and begins to show volume. With this volume generated, weapply actuators at the top and bottom layers of this surface volume (g.

4.02a). Relating back to its own pattern, the same actuator types are

Digital algorithm

Before we began de

0400-gabriel ivorra morell - dynamic systems

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