dynamic systems; responsive, adaptive, kinetic

Emergent Technologies & Design2010-2011

Gabriel Ivorra Morell (MSc) Cesar Martínez (MArch)

Sebastian Partowidjojo (MArch)

DYNAMIC SYSTEMSresponsive, adaptive, kinetic

2

Disc

laim

er

3

Programme:

Term:

Student’s name:

Tittle:

Course tutors:

Submission date:

Declaration:Emergent Technologies & Design

2010-2011

Gabriel Ivorra Morell (MSc)

DYNAMIC SYSTEMSresponsive, adaptive, kinetic

Mike Weinstock George 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“I certify that this piece of work is entirely our own and that any quota-tion or paraphrase from the published or unpublished work of others is duly acknowledged.”

4

Tabl

e of

Co

nten

ts

5

04. RESEARCH DEVELOPMENT

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

04.1.3.1. Surface Boundaries 04.1.3.2. Surface Divisions 04.1.3.3. Surface Extrusion 04.1.3.4. Actuators Placement 04.1.3.5. Actuators Distribution 04.1.3.6. Anchor Points

04.1.3.7. 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 Analysis 05.2.3. Structural Analysis05.2.4. Foundation05.2.5. Fabrication & Assembly

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

07. APPENDIX

07.1. APPENDIX 01 Digital and Physical Comparison. Other Configurations

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 Provincial01.2.2.2. Jean Nouvel_Institut du Monde Arabe01.2.2.3. 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 Robotic02.2.3. Hybrid System

02.3. CONCLUSION AND PROPOSED METHODS

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 Readings03.3.2. Responsive Types


Abstract Domain

Methods

ProposedMethods

Research

DesignExplorationApplication

Development

6

Abstr

act

00

7

The growing interest of responsive system as new form of design drives our interest to explore its variables and limitations. As a response to overpopulation in cities and limited land boundaries, our proposal is to develop a system that minimizes land use by constantly adapting its volume to various functions and activities within a single structure that otherwise would result in buildings being unoccupied for large periods of time. In addition, the system will also be constantly adjusting its sur-face to different space qualities by reading changes in the environment such as; wind, sun, temperature, or humidity level. In order to ease assembly processes and reduce fabrication cost, we aim for a standardized component based system. A single component will be aggregated to form a surface which will then be exposed to different possible configurations. Local and global behaviour can be engineered through different distribution of joint systems (kinematic) and actuators (kinetic). This distribution sets a hierarchy which then is linked together as one controllable robotic system.

The fitness criteria for the design development is defined by the scale of the component which informs the structural integrity; the duration of the movement which informs the forces needed; and the ratio of the kinetic 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 architectural applications will be suggested. In the near future, further exploration will 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 configurations through the aggregation of a single component. Collective reading from different parameters within the system will result in Emergent Behav-iour.

8

Dom

ain

01

9

01. DOMAIN

01.1. INTRODUCTION

01.2. 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 Provincial01.2.2.2. Jean Nouvel_Institut du Monde Arabe01.2.2.3. Andrew Payne_Shape Memory Alloy Panel System01.2.2.4. Achim Menges and Steffen Reichert _ Responsive Surface Structure


10 01. DOMAIN

1101.1. Introduction

IntroductionIn general, responsive architecture is defined as the type that trans-forms its elements in response to specific conditions. These conditions are read and transferred to different types of triggers/actuators which may vary depending on different purposes of the transformations. Peo-ple have attempted in designing kinetic architecture that responds to different 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 of a responsive system that aims to respond to multiple parameters.

12 01. DOMAIN

1301.2. Case Studies

Case StudiesCurrent built projects are being investigated in regards to responsive systems embeded within architecture. In this sub-chapter, two major categories of responsive systems will be studied more in depth. The first category covers kinetic system that transform their shape and volume in response to different programmatic functions. The second category covers shape change within architecture responding to the immediate climatic condition. The first category deals with permanent structures while the second category corresponds to temporary struc-tures.

14 01. DOMAIN

Fig. 1.01 Fig. 1.02

Functional ResponsesThis first 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 objects through the use of hinges, gears, pulleys and compound systems. Small scale projects are actuated manually while larger scale projects use 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, increase square meters, provide shelter, etc. In general, projects in this category perform in longer time scale (less aggressive) and stand permanently as a structure.

Gary Chang_Hong Kong Apartment

Due to the limited space in Hong Kong, 32 sqm apartments becomes the average size for two-bedroom apartments. Local architect Gary Chang manages to design and renovate his open studio apartment to a transformable 24 rooms apartment with specific different functions and layouts. This was made possible by using simple mechanisms such as sliding walls that reveal rooms and fold down tables and chairs in order to maximize space. These configuration types can be changed manu-ally based on one’s needs and desires.


Fig. 1.01Different plan configurations in Gary Chang’s apartment [Ref. Illustrative:1.01]

Fig. 1.02Sliding walls inside Gary Chang’s apartment[Ref. Illustrative:1.02]

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

Fig. 1.0427 Different roof configurations for Olympic 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 Tennis Center that is 80,000 sqm and holds up to 20,000 seating. This facility has 3 main courts that can later be changed to different configuratios. In turn, hosting different activities such as; tennis courts, political ral-lies, fashion shows, and music concerts. Different configurations are made possible by simple movements of the roof structure. Each court has its own mechanically operated roof structure. The roof system is mounted with hydraulic mechanisms for vertical tilting; coupled with horizontal displacement resulting into three possible configurations per court. In total, 27 different configurations can be achieved for different spatial qualities. These range from indoor, semi outdoor, and outdoor spaces.

16 01. DOMAIN

2’00”1’30”0’00” Fig. 1.05

Heatherwick Studio_Rolling Bridge

In the canal inlet in Paddington Basin, London, Heatherwick Studio has designed a standard pedestrian bridge, however, it curls up every Friday during lunch time in order to allow boats to pass by. The bridge spans 12.75 m. and is built from eight components fabricated from steel and 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 the direction of the fix foundation point.

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


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

Fig. 1.06Hans Kupelwieser & Werkraum Wie’s Lakeside Stage. Operation sequence[Ref. Illustrative:1.06]

0’30”0’00”

0’45” 0’60” Fig. 1.06

Hans Kupelwieser & Werkraum Wien_Lakeside Stage

Another project that takes advantage of hydraulic power mechanisms is Lakeside Stage by the artist Hans Kupelwieser who teamed up with an engineering office Werkraaum Wien. Just like Heatherwick Studio, this team coupled hydraulics with pumps, however, utilizing a different application.

Pivot points are located between hydraulic dampers and a water tank controlled drainage system. Water from the lake is pumped up to the tank, the weight of the water then counteracts the hydraulic system and results in tilting a 13m x 13m timber and steel structure for a seating area. In the full upward position, this seating area functions as a shelter and acoustic shell. When the shelter is not needed, then the process can be reversed. Then, by draining the water from the tank, the roof structure slowly tilts down into a seating area.

18 01. DOMAIN

6:00 AM

10:00 AM

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 ResponsesThe second category covers projects which respond to climatic and environmental conditions. Most mechanism types utilize swivel and rotation movements within a fixed axis. Environmental responsive sys-tems are usually not self supported and depend on a primary structural system. This type of system works best as a facade system, roof shad-ing device or canopy. In general, projects in this category perform in a daily 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 Provincial’s central circular atrium in order to minimize solar gain while allowing natural daylight to infiltrate the space.

The roof surface is populated with series of hexagonal cells which cov-er the triangular structural grid. When retracted, these cells disappear into the structure’s profile. 01


Fig. 1.07Hexagonal shading cell detail for Chuck Hoberman’s Audiencia Provin-cial, Madrid [Ref. Illustrative:1.07]

Fig. 1.08Shading scheme for the central atrium in Chuck Hoberman’s Audiencia Pro-vincial, Madrid[Ref. Illustrative:1.08]

Fig. 1.09Central atrium in Chuck Hoberman’s Audiencia Provincial, Madrid[Ref. Illustrative:1.09]

Fig. 1.10Close-up façade system of Jean Nou-vel’s Institut du Monde Arabe[Ref. Illustrative:1.10]

01 http://www.hoberman.com

02 http://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 Île de la Cité and Notre Dame, Jean Nouvel installed a responsive facade on the Arab World Institute building in Paris. The glass storefront is equipped with metallic screen. This geometrical pattern opens and closes and is controlled by 240 motors. This screen act as brise soleil to control light entering the building and creates shadows in the interior space. This facade is responding to the solar value and readjust its opening on an hourly basis.

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

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 shape memory alloy for a facade system. The intention was to design a heat sensitive facade that is energy independent. This was done though the use of custom calibrated SMA (Shape Memory Alloy) wires. SMA per-form as both sensors and actuators. It expands in room temperature and shrinks when it is heated. The sensitivity and expansion can be calibrated 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 can be connected to a processor which will then send electric current to activate SMA wires. On and off switch can also replace censors.03


Fig. 1.11Panel’s performance under different temperatures. Andrew Payne’s SMA Panel System[Ref. Illustrative:1.11]

Fig. 1.12Andrew Payne’s SMA Panel System installation[Ref. Illustrative:1.12]

Fig. 1.13Achim Menges and Steffen Reichert’s Responsive Surface Structure. Initial and final stages’ images[Ref. Illustrative:1.13]

03 http://fab.cba.mit.edu/classes/MIT/863.10/people/andy.payne/Asst9.html04 http://www.achimmenges.net/?p=4411

0’18”

0’00”

0’18”

0’00”

Fig. 1.13

Achim Menges_Responsive Surface Structure

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

Full scale protoype was constructed and tested for its performity. The resposive result varies overtime from component to component across the surface. 04

22 01. DOMAIN

&Ev

alua

tion

Conc

lusio

n

01

2301.3. Evaluation and Conclusion

Evaluation And ConclusionFrom 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 the other side, programmatic adaptability does not need to response as aggresively and due to its scale, this system might need more time to respond.

Heatherwick’s Bridge perform and changed its function in two minutes. A canopy shelter using Achim Menges’ system will need to perform faster when it rains otherwise it will defeat the purpose of having a shelter.

In Paris, Jean Nouvel’s facade has not been functioning as it was de-signed to. Heatherwick’s bridge is still performing its transformation every Friday during lunchtime. A system that response more regularly should have simpler mechanism.

In a material system; such as Achim Menges’ surface structure and Andrew Payne’s SMA panels, the system responses differently over-time. A complex mechanism like Jean Nouvel’s facade also fails in time. What would then be an effective and efficient way of developing a responsive system?

24

Met

hods

02

25

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

26 02. METHODS

“The relation between the external forces and their kinematic variables is popularly known as kinetics. (…) We examine the external mechanical agencies that cause the motion.(…)The motion of a rigid body consists of rigid translations as well as rotations. Each of these kinematic variables will now have to be re-lated to their respective kinetic variables. The kinetic quantities associated with translations are forces and the kinetic quantities associated with rotations are moments or torques.”

Rao, Lakshminarasimhan, Sethuraman & Sivakumar, Engineering Mechanics: Statics and Dynamics (2003), p. 175

2702.1. Introduction

IntroductionThere are two branches in physics that will be explored separately in this early stage.

Kinematic is a branch that studies different movement of body parts in relationship to its joints without considering the external forces that are needed to activate the movement.

Kinetic is a wider branch in a sense that this branch is concerned with not 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 system commonly known as the robotic system.

28 02. METHODS

“Tristan D’Estree Sterk, The Office for Robotic Architectural Media & Bu-reau for responsive architecture is a small technology officeinterested inrethinking the art of construction alongside the emergence of respon-sive systems. Our work focuses upon the use of structural shape change and 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 give an infinite possibilities for form and function. Origami is the traditional Japanese form of paper art. This basic system is only using mountain folds (fold up) and valley folds (fold down). When origami changes to a larger scale, folding is no longer applicable. We then use rigid sheets and hinges. In this case, it is not required for the structure to start as a flat surface. This branch of origami is called “rigid origami”. Above (fig 2.01) is an example of such project by Sabin+Jones Labstudio named “Deployability”.

Open-Source Software And Hardware

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

Fig. 2.01

Methods and TechniquesThere 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 extends this mixture to include the concepts of recognition, intention, contextual variation, and meaning into computing and its successful (ubiquitous) integration into architecture.” 05

2902.2. Methods and Techniques

Fig. 2.01Sabin+Jones, Labstudio’s “Deployability”.[Ref. Illustrative:2.01]

Fig. 2.02Tristan D’Estree Sterk’s Actuated Tensegrity[Ref. Illustrative: 2.02]

Fig. 2.03Jordi Truco’s PARA-site[Ref. Illustrative: 2.03]

05 http://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, flex 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 connects these two end parts of the robotic system. In order to develop robotic systems more economical and reachable to the general community, we apply open source software and hardware such as; Grasshopper, Kangaroo, Geometry Gym, Karamba, Arduino, Firefly, etc.

Open-source software/hardware is “liberally licensed to grant the right of users to use, study, change, and improve its design through the availability of its source code. This approach has gained both momen-tum and acceptance as the potential benefits have been increasingly recognized by both individuals and corporations.” 02

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

30 02. METHODS

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

Prop

osed

Met

hods

02

Evaluation And Proposed MethodThe System BranchingThis diagram explains the methods and techniques that will be ap-plied though out in order to achieve a “Responsive Kinetic System”. As previously noted, there are two different categories that will be exam-ined. First, a Structural Responsive System capable of shape change in response to various functional needs. Second, an Environmental Responsive System that transforms based on several environmental conditions. 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 definition of each branch in the system:

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

Program Adaptive: transformation taking place due to the change in functions.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 define a cell component.Connection Types: hardware types joining one element to the next and responding to kinetic behaviour. Scale: different scale explorations to better understand forces required to activate the system.System Deployment: deploying the system with respect to structural integrity and different programmatic functions.

3102.3. Conclusion and Proposed Methods

SYSTEM

STRUCTURAL SYSTEM

ARDUINO KARAMBA

SENSORSENVIRONMENTAL

INPUTS

DESIGN DECISIONS

DA

TA P

RO

CE

SS

ING

ELE

ME

NTS

WITH

IN TH

E S

YS

TEM

SY

STE

M C

OR

E

SCALE

PROGRAM

ECOTEC

FIREFLY GECO

SYSTEM DEPLOYMENTcontrolled pace global reaction

COMPONENT DEPLOYMENTimmediate local reaction

PROGRAM ADAPTIVE

CONNECTION TYPE

CONNECTION TYPE

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 define a compo-

nent

ELEMENT

KINETIC APPLICATION ENVIRONMENTAL DATA

GRASSHOPPER+

KANGAROO

Component Deployment: activating component elements in respect to environmental changes.Programs: different programmatic functions are to be the based on the design making decisions for both system and component deployment.Kinetic Application: applying different actuator types to activate the system.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.Firefly: toolset dedicated to bridging the gap between Grasshopper to Arduino, micro-controller. It also allows for data flow from digital to physical environments close to real-time.Geometry Gym: bridging Grasshopper to Oasys GSA; a structural en-gineering analysis software.

Karamba: finite element analysis module within Grasshopper and fully parametrizable.Ecotect: a software enabling the rendering and simulation of a build-ing’s 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 t data to engage actuators. Some smart materials have the properties to function 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 an input for data processing.

32

Expl

orat

ions

03

33

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

03.3.1. Environmental Readings Environmental responses through sensors and microchip

03.3.2. Responsive TypesDifferent options for environmental responses

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

36

42

46

44

03.1. KINEMATIC: space and volume 36

42

58

03.2. KINETIC: surface control

60

62

03.3. ENVIRONMENTAL RESPONSE

Preliminary Explorations

Fig. 3.04

Fig. 3.03

Fig. 3.02

Fig. 3.01

Introduction

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

As a kinetic exploration, control behaviour is explored. Global control triggers movement as a whole while local control triggers components within 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, and transferred back again to the physical environment.

3503. Introduction

SYSTEM

ARDUINO KARAMBA

SENSORS

DA

TA P

RO

CE

SS

ING

ELE

ME

NTS

WITH

IN TH

E S

YS

TEM

SY

STE

M C

OR

E

ECOTEC

FIREFLY GECO


CONNECTION TYPE

CONNECTION TYPE

ENVELOPE SYSTEM

CLIMATE RESPONSIVE

Group of interacting cells working to per-form a certain task.

SYSTEM


certain behaviour

COMPONENT


nent

ELEMENT


STRUCTURAL SYSTEM


PROGRAM ADAPTIVE



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


System Core

Structural System: the primary system in which perform based on the structural integrity of a whole.Program Adaptive: transformation in which happens due to the change 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 structural integrity 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.Firefly: toolset dedicated to bridging the gap between Grasshopper to Arduino, micro-controller. It also allow data flow from digital to physical world in almost real-time.Geometry Gym: bridging between grasshopper to Oasys GSA, a structural engineering design and analysis software.Karamba: finite element analysis module within Grasshopper and fully parametrizable.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


x10

x6

x6L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

Fig. 3.05

Fig. 3.06

Fig. 3.07

Pattern 1. Grid V’sVariables

Pattern 2. Multiple V’s

Pattern 3. V’s 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 volumeOrigami To explore the folding technique, we began with origami, the Japanese art 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 are then 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 then narrowed down to two patterns and tested with rigid origami techniques where rigid planar sheets are used in combination with joint systems.

V-patterns

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

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

Pattern 4 (fig. 3.08) is very time consuming because there are parts that needs to be glued together on its faces. These parts are coded with a gray shade.

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

3703.1 KINEMATIC: Space & Volume

x5

x2L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

Fig. 3.09

Fig. 3.10

x7

L

L’

#

≠

≠L

L’

#

≠

≠

Fig. 3.08

Pattern 4. V pleats

Pattern 5. Modular pleats

Variables

Pattern 6. Modular pleats_square

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

Key

X&Y axes independence

Expansion Ratio

Volume Created

Control Points

Modulation of Pattern

Number of Joints

Mountain Valley

surface expansion. This means that in fully closed position, it can be compacted to almost a line. And when it is fully open, it forms a surface not a volume. When it is forced to create a volume, each surface pan-els begin to twist and deform (fig. 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 more complex 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 different volumes 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 each other’s axis.


x10

L

L’

#

≠

≠L

L’

#

≠

≠

x2

x4

L

L’

#

≠

≠

L

L’

#

≠

≠

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

x5

x4

x1,5

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

Key

X&Y axes independence

Expansion Ratio

Volume Created

Control Points

Modulation of Pattern

Number of Joints




Mountain Valley

Fig. 3.14

Fig. 3.15

Fig. 3.16

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

L

L’

#

≠

≠

Complex Patterns

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

After exploring different patterns in this category, Pattern 9 (fig. 3.13) becomes the most interesting due to the intricacy of the surface and the 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 surface curvature on the other two sides.


&Ev

alua

tion

Sele

ctio

n

03.1

Evaluation & SelectionFrom all of these pattern explorations, we selected three patterns for further investigation. These patterns are 1 (fig 3.17), 6 (fig 3.19), and 7 (fig 3.21).

Using the concept of rigid origami, paper folding is replaced by rigid surface panels and joints for greater force resistance and structural integrity. 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 of lines in each intersection also means that it requires less joints for as-sembly. Based on the paper model studies, we confirm the pattern’s expansion ratio, directions, and controllability from assembling MDF prototypes.

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 control of the surface as the growth in one side means the growth in the other one.

4103.1.2. KINEMATIC: Space & Volume_Evaluation

(a) (b) (c)

(a) (b) (c)

(a) (b) (c)

Fig. 3.17Selected pattern 1. Grid V’s, paper[Ref. Illustrative: 3.17]

Fig. 3.18Pattern 1, MDF model. (a) flat pattern, (b) partially open, (c) closed pattern[Ref. Illustrative: 3.18]

Fig. 3.19Selected pattern 6, paper. Modular pleats _ 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. Modular pleats _ triangles[Ref. Illustrative: 3.20]

Fig. 3.22Pattern 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 V’s

PATTERN 6 This 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 can conclude 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 7 Pattern 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 a global control.Global control only results in dome-like structure.


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-figuration 1. (a) plan when surface is deployed (b) plan when surface is closed[Ref. Illustrative:3.23]

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





KINETIC: actuators and controlIn a kinetic system, there are two main ways of controlling motion; one being local control and another one being global control. In global con-trol, movement or displacement is defined by a single processor. As a result, several configurations and movements may be achieved. For instance, 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 other sequences 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 acts as a parameter that is uniquely designed and engineered to respond to one particular condition. When assembled together, different parame-ters will behave as one collective behaviour. This characteristic makes a 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 a foldable surface by means of a railing system. In this case, we inves-tigate 3 different configuration types (see fig. 3.24, 3.26, and 3.28). Here, it is imperative to address the fact that we must understand the behaviour of such foldable surface/pattern in order to design any railing system. In other words, the railing system is an output derived from the behaviour 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 to the next. In this fashion, three successful configurations were achieved by running parallel rails along the longer edges of the surface. In turn, being able to achieve large surface areas.

4303.2 KINETIC: Surface Control

OUTPUTINPUT1 action 2 effects

MECHANISM

TRANSLATION GEAR 1

GEAR 2

GEAR 3 GEAR 4

GEAR SYSTEM

TRANSLATION+

ROTATION

translation

translation

rota

tion

translation

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 global control[Ref. Illustrative:3.30]

Fig. 3.31Different volumetric configurations by global control (a) -135o, (b) -90o (c) 0o

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

[Ref. Illustrative:3.31]

Global control - gear system

A gear system was also explored in order to achieve global control over the deployment of a folding surface (see fig. 3.29). A gear sys-tem is simply defined by translation and rotation. It is composed of a single arm which allows for 90 degrees of rotation and also attached to a flange which allows for translation along the x-axis. The struc-ture supporting the gear system is composed by two flanges parallel to each other and a rail type at the ground. In this fashion, we are able to achieve global control and maximum volume deployment by stretching and rotating any foldable surface; on one end being fixed to a flange and 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 configuration types from a single folding pattern/surface. However, they do not allow for multiple configurations outside their own boundaries. In addition, this type of global control focuses on its own structural frame, and not on the folding pattern itself. Even though a successful system, we will move forward aiming to control deployment types from within folding surfaces. In this case, we are aiming to focus on controlling a foldable surface from a local level point of view.


Fig. 3.32

Fig. 3.34

Fig. 3.35

KINETIC: surface control

open actuatorsemi-open actuatorclosed actuator

horizontal actuatorsclosed open

verti

cal a

ctua

tors

open

clos

ed

Fig. 3.33

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

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

Fig. 3.34In a larger scale, different patterns generated by the local control of the components[Ref. Illustrative:3.34]

Fig. 3.35Sections of the surface when activated in 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 pattern 06 (see fig. 3.19 page 41) becomes the most successful for independ-ent control. Diagrams on the left hand side show how this pattern can be expanded on certain areas which become independent from their neighbouring areas within the surface. Diagrams on the right hand side show how the surface behaves three-dimensionally.

Local control - digital exploration

In order to gain local control, we begin by testing a foldable surface in terms of its components (see fig. 3.33). At first, these components are studied as a two-dimensional surface which begins to change shape, not only from its components but also from its own boundaries (see. fig. 3.32 and 3.34). This shape change is possible by controlling the aperture percentage from one component to the next. In return, being able to expand or contract the surface in some areas more than others. However, it is important to make note that there is always a sequence or a pattern that follows depending on which component becomes ac-tuated before the others, and also depending on the location of this component 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

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 activated in 3 different ways. Curvature change[Ref. Illustrative:3.34]

Fig. 3.36Pattern 6 (page 41). Curvature achieved 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). Curvature achieved by the activation of vertical actuators. (a) front elevation, (b) side elevation, (c) plan view[Ref. Illustrative:3.37]

Fig. 3.38Pattern 6 (page 41). Curvature achieved by the activation of both horizontal + Vertical actuators. (a) all open, 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 briefly studied along a cross section (see. fig 3.35). From this exercise, we are able to examine different curvature types depending on the degree of aperture from each com-ponent. This enables us to begin generating volume and enveloping spaces as needed by controlling local movement within the respective components.

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 same pattern examined in the previous digital exercise (see fig. 3.36, 3.37, 3.38). Each component is a combination of eight triangular pieces and one square geometry. Every element is attached by brass hinges which allowing every pair of elements to rotate selectively, and ena-bling a slight curvature form one component to the next. In essence, it allows us to enclose space depending on the number of components populating 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 local movement from a component scale, but also in terms of being able to create volume and enclose space.


Fig. 3.39Assembly line of pattern 01.Material: MDF 3mmJoints: Reinforced tape 20mm(a) 36 identic units, (b) taped in pairs with reinforced tape, (c) 18 pairs of units, (d) taped in 9 clusters of mir-rored pairs with reinforced tape, (e) 9 clusters of 4 units, (f) final resulting pattern. Dimensions of the flat surface: 90cm x 100cm[Ref. Illustrative: 3.39]

Fig. 3.40Actuation direction of the different clusters 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 clusters of 2 units

9 clusters of 4 units

x 9x 18

Assembly and scale change

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

Even though, we are now capable of local control, our next experiment activates a pattern from a global scale. However, our aim is to test an assembly method, which joins component elements through a taping technique.


Fig. 3.41Stage 1. Pattern is completely flat on the ground. To start activating it, the mountains (red lines) have to be pushed up simultaneously. Thick red arrows 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 all the mountains are slightly pushed up. Thinner red arrows sow less amount of force required[Ref. Illustrative: 3.42]

Fig. 3.43Operation sequence_pattern 01. X and Y axes are dependent as we can see in the pictures; (a) initial flat stage: width: 90cm x length: 100cm, (b) 80cm x 98cm, (c) 70cm x 95,7cm, (d) 60cm x 93,5cm, (e) 50cm x 91,40cm, (f) 40cm x 89,25, (g) 30cm x 87cm, (20cm x 85cm[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 first study model is assembled from a strategy where all elements share the same geometry. In turn, due to the simplicity of the pattern, the assembly process becomes simple and time efficient. 3mm MDF is used for the rigid surface panels, and 20mm reinforce tape is used as a joint type connecting one piece to the next.

Once this pattern was assembled, one of the most important factors learned was the amount of force required to activate it. For instance, when the pattern was laying flat 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 difficult 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 quantifiable de-crease in the amount of force required for the surface pattern to keep on contracting. This displacement occurs along the z-axis and x-axis simultaneously (see. fig 3.41 and 3.43). From this exercise, we can conclude that once the surface becomes kinetic, it must never come back to “0” curvature and it must remain at number greater than zero in order to minimize the amount of force required for actuation.


Fig. 3.44(b) (d) (f)x 72 x 36 x 16

(a) (c) (e)72 clusters of 2 units

18 square units

18 square units

144 triangular units

+ +

Fig. 3.45

18 square units

+36 clusters of 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 triangular units, (b) taping triangles in pairs to form 72 squares, (c) 18 squared units + 72 pairs of triangular units, (d) taping the pairs of triangles mirrored with the tape on the other side of the surface to get 36 clusters of 4 triangular units, (e) 18 squared units + 36 clusters of 4 triangular units, (f) taping these 36 clusters mirrored and with the tape on the same side of the surface result-ing in 16 squares of 8 triangular units. The final surface when flat is 150cm x 150cm[Ref. Illustrative: 3.44]



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

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

Then, a component takes the shape of a square, and it is taped along its centre from two edges perpendicular to each other (see fig. 3.44 f). Then, the component is flipped and the remaining pieces are taped in a similar fashion.

Each pair of elements (see fig. 3.45) is able to rotate 180 degrees. Four pair of elements make up a component (see fig. 3.45). This component type 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 control within a component. Therefore, gaining local control over an entire sur-face area.


Fig. 3.46Stage 1. Pattern is completely flat on the ground. To start activating it, the mountains (red lines) have to be pushed up simultaneously. Thick red arrows 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 all the 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 difficult process of folding the surface starting from flat where most of the joinst failed (b) surface fully folded [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 pattern design into the making of this prototype (see fig. 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 more geometrical element type than its successor. However, it still remains fairly simple with only two different geometrical shapes; one square and one triangle. Here, the same materials are also used; a 3mm MDF as the rigid surface and a 20mm reinforce tape as the joint.

As simple as this component is in its geometrical shape, and as easy it is to assemble, it only has one disadvantage. This disadvantage comes in terms of fabrication time. Due to the great number of elements that make up a single component which in turn must be multiplied in order to populate a surface, then, fabrication time becomes very consuming. (see fig. 3.44)

It is also important to note, that as in the previous study model, this prototype must never be set flat. 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 quickly under compression and torsion. Therefore, it is important to note that this technique is only applied for study models; these can only be kept for a short period of time.


Fig. 3.49(b) (d) (f)x 72 x 36 x 16

(a) (c) (e)72 clusters of 2 units

18 square units

18 square units

144 triangular units

+ +

Fig. 3.50

18 square units

+36 clusters of 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 triangular units, (b) hinging triangles in pairs to form 72 squares, (c) 18 squared units + 72 pairs of triangular units, (d) hing-ing the pairs of triangles mirrored with the hinges on the other side of the surface to get 36 clusters of 4 trian-gular units, (e) 18 squared units + 36 clusters of 4 triangular units, (f) hinging these 36 clusters mirrored and with the hinges on the same side of the surface resulting in 16 squares of 8 triangular units. The final surface when flat is 110cm 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 the same. However, in terms of assemblage, it is slightly different. In this case, we replace the reinforced tape, by brass hinges in order to resist a 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). In this prototype, we are able to design space and form. Although, it does not have an Architectural application, what qualifies this prototype as a success 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 geometrical shapes (a square and a triangle).


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

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

Assembly line:For number of elements, cluster and components(see Fig. 3.49a through 3.49f)


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 by unfolding its components one by one and locking them in to their position[Ref. Illustrative: 3.52]

Fig. 3.53Images of sequence of the activation of the surface. (a) only one component is activated, (b) three components are activated, (c) four components are activated, (d) five 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 briefly look at the mechanical elements which actuate every component. In this case, we are able to open and close every component 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 and compression.These actuators will be addressed in depth in page 52.

The materials used in this model are; a 3mm MDF as surface panels and brass hinges as the hardware connecting one element to the next.surface: 1,10cm x 1,20cmtime: 12 hour (faster assembly process due to previous experience)


Actuator TypesThere are two common actuator types that have been widely developed by mechanical engineers, space engineers, architects, installation art-ists and toy designers. The product of such actuators varies from small product design such as mechanical toys and medical equipment, to medium size designs for canopies and facades. Actuators have also been applied to larger scale structures such as stadium roofs, movable bridges and outer space machinery. Based on our investigation, we classify actuators into two major catego-ries; Mechanical actuators and Phase Changing Actuators. Moreover, depending on their performative need; these are capable to withstand forces under tension, compression, or a combination of both.

Through out the fabrication from physical prototype, and the study of their kinetic behaviour, we are able to recognize the forces required in terms of structural integrity. In this case, we are aiming to introduce linear actuators not only for kinematic behaviour, but also as structural

components. Therefore, for the purpose of these exercises, we will rely on actuators resisting both tension and compression forces. In turn maintaining continuous equilibrium within the system.

In respect to kinetic behaviour, every component in the system is equipped with two pairs of actuators. One pair running along the x-axis (horizontal displacement) and a second pair running along the y-axis (vertical displacement). Both acting under tension and compression. Their application pushes the component apart for surface expansion and also pulls the component closer to itself for surface compression.

In this chapter, we study Mechanical Linear Actuators and Phase Changing Actuators.


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): -

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): -

38BC-TS-5811

DSNU 20-25

38BC-RS-5811

DSNUP, ISO 6431

Turnbuckles

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_Blair Corporation[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; turn buckles, pneumatic cylinders, pneumatic air muscles and electric linear actuators. The specifications for each actuator type provide us with information regarding the push/pull power, speed, and distance range for each type.

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

Referring to the appropriate specifications from each actuator, we are able 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 allowing pressurized air to one of the chambers in order to extend or compress their length. In addition, electric liner actuators (see Fig. 3.58 - 3.59) are essentially motors that rotate on a threaded rod that allows itself to slide in and out; extending and reducing its length. Both of these type are capable of working under compression and tension.


Thrust max. push (N): 3500Self lock max. push (N): 2000Thrust max. pull (N): 3500Self lock max. pull (N): 2000Typical speed no load (mm/s): 6,7Typical speed max. load (mm/s): 4,7Stroke range (mm): 100-400Steps (mm): 50

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): -


Thrust max. push (N): 6000Self lock max. push (N): 3000Thrust max. pull (N): 6000Self lock max. pull (N): 3000Typical speed no load (mm/s): 8,7Typical speed max. load (mm/s): 5,5Stroke range (mm): 100-400Steps (mm): 50

LA28

Ø 20 mm

LA30

Ø 30 mm

Electric Linear Actuators

Pneumatic Muscle Actuators

Fig. 3.58LA28 Electric Linear Actuator_LINAK Group [Ref. Illustrative:3.58]

Fig. 3.59LA30 Electric Linear Actuator_LINAK Group[Ref. Illustrative:3.59]

Fig. 3.60Relaxed pneumatic air muscle_ Shad-ow Robot Company[Ref. Illustrative:3.60]

Fig. 3.61Activated pneumatic air muscle_Shad-ow Robot Company[Ref. Illustrative:3.61]

Fig. 3.58

Fig. 3.60

Fig. 3.59

Fig. 3.61


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 define three types of Phase Changing Actuators from the Smart Material’s category. The first one is a Memory Alloy Wire, 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 shape change.

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 percent of its length.

Two way alloys, display exactly the same characteristics as One way alloys, 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 to remember a secondary shape. (see Fig. 3.62)

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


Wax linear actuators

Polymer gel

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

Giga vent

Optivent

Fig. 3.62Memory Alloy wire[Ref. Illustrative:4.62]

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


Ø 20 mm

earthquakes. Never the less, memory alloys are 100% energy efficient, they can be engineered or calibrated to respond to various tempera-ture inputs, and they have had great success within small architectural building 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). Once this material interacts with water, its volume increases; therefore exert-ing a pushing force. This powder based material, however, it requires a unique casing type that would move simultaneously to the expansion rate of the powder. Then, the geometry of the casing becomes the out-put for displacement.

The third category defines 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 other words, they do not need an external power source to engage or interact with the natural environment. These materials are also known as,smart materials. 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, they are mostly applied to small scale designs. In architectural terms, this design type mainly comes as a secondary system within a building de-sign. These may be building facades, roof canopies or art installations.




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


Fig. 3.04

Fig. 3.03

Fig. 3.02

Fig. 3.01

Preliminary Explorations

03.3.1. Environmental Readings Environmental responses through sensors and microchip

03.3.2. Responsive TypesDifferent options for environmental responses

03.2.1. Global Control Mechanism 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

36

42

46

44

03.1. KINEMATIC: space and volume 36

42

58

03.2. KINETIC: surface control

60

62

03.3. ENVIRONMENTAL RESPONSE

5903.3 Environmental Response

SYSTEM

ARDUINO KARAMBA

SENSORS

DA

TA P

RO

CE

SS

ING

ELE

ME

NTS

WITH

IN TH

E S

YS

TEM

SY

STE

M C

OR

E

ECOTEC

FIREFLY GECO


CONNECTION TYPE

CONNECTION TYPE

ENVELOPE SYSTEM

CLIMATE RESPONSIVE


SYSTEM


certain behaviour

COMPONENT


nent

ELEMENT


STRUCTURAL SYSTEM


PROGRAM ADAPTIVE

System Core

Envelope System: system in which perform as a secondary to the structural system.Climate Responsive: transformation in which happens due to the change of climate/environment.

Elements within the System

Component: different element units gives this cell a certain behav-iour. Element: given number of units that define a cell component.Connection Types: different connection types for different systems that 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 and used as an input to transform the system. Let light in when it is too dark, close the openings when it is too hot, or create ventilation when it is too humid.

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

Grasshopper: graphical algorithm for generative modelling.Firefly: toolset dedicated to bridging the gap between Grasshopper to Arduino, micro-controller. It also allow data flow from digital to physical world in almost real-time.Ecotect: a software that is able to render and simulate a building’s performance 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


Rhino Preview Firefly/Grasshopper Arduino Board Light Sensor LED ComponentServo

Fig. 3.71

Environmental readingsTo start with environmental exploration, we looked up different ways of readings and translating environment data. For this exploration, we make use of various tools and open source software/hardware. These tools include light sensors, red LED’s, servo motors, and Arduino mi-croprocessors in combination with open-source software such as; Fire-fly and Grasshopper.

We then devised a kinematic prototype capable of transformation. To activate this, data input needs to be translated to data output that will then be fed as an input for the hardware system. This is a linear pro-cess. The first step is for light sensor to read the light value in the environment (average light sensor give values between 0-1023). This value needs to be then converted to a value from 0-255 for LED value or 0-180 for the angular value of a common servo. Once this data is converted in the software, it is transferred to the hardware via Arduino microprocessor. Arduino converts a set of translated data to a set of different electrical currents that then activate the hardware.


Fig. 3.73

Fig. 3.72

Fig. 3.71Devices used to read environmental data 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 to changes in the environmental condi-tions that are collected by the light resistor emulating the performance of a sunflower. With light the prototype opens to collect it and when dark it closes. (a) with the light on, the pro-totype is open, (b) prototype is closing with the absence of light. At the same time, red LED light is lit up, (c) closed prototype, (d) prototype starting to open when light is turned back on, (e to h) the prototype continues interact-ing with the changes of light not only by opening and closing its flaps com-pletely when the light is on or off but also partially by adjusting the degree of the opening when the amount of light 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. ARDUINO BOARD

Collects data

05a. SERVOActivates physical

prototype based on the input current04. ARDUINO BOARD

Translates instruction to electrical current

03. FIREFLY/GRASS-HOPPER

Translates data into a set 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 be re-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 up forming a pyramid-like geometry that adjusts itself depending on the amount of light received. It is also capable of moving midway based on the light reading and the angular limits that is assign to the servo. The speed of the opening and closing process can be adjusted. Time delays can also be programmed into the microprocessor. The process can also be reversed as the component closes responding to a higher value of light.

Data from Firefly and Grasshopper, can also be linked to Rhino3D . Furthermore, based on the complexity of the data processing, we can see the physical simulation via digital representation close to real time. This also means that data processors can process and are capable of controlling data at any location, while hardware devices are being as-sembled and located somewhere else. The same digital algorithm and data processing can also be reused on systems distributed around the globe.


01 Folds Opening

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

0o

0% opening

30o

11% opening

60o

46% opening

90o

92% openingFig. 3.74

Fig. 3.75

Fig. 3.76

Fig. 3.77

Responsive typesKnowing the limits and different applications of Arduino, we continue to explore different possibilities for digital prototype that would respond to several environmental conditions by changing surface porosity.

Eight of these different mechanical systems are designed based on the actuation of simple motors. Rotational movement from a motor can be translated to push, pull, and rotate. Different experimentations are car-ried out by using rigid and flexible 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 and adaptable to its primary system. Therefore, several properties need to be adjusted such as; the overall geometry, movement range and mechanical complexity.


04 Aperture Opening

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

0o

0% opening

30o

12% opening

60o

24% opening

90o

31% opening

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

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

Fig. 3.76 Responsive 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. 3.79 Responsive type: Membrane Opening type one[Ref. Illustrative: 3.79]

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

Fig. 3.81Responsive type: Membrane Opening type 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 configurations. The first three units (fig. 3.57, 3.58, 3.59) are using simple mecha-nisms like conventional widow shutters. This units require more space outside its bounding box (imaginary minimum box that is enclosed the overall object) for the range of its movement.

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

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

movement. All elements rotate on its own axis, therefore, there is no extra space is needed other than its own bounding box.

Unit 6 (fig. 3.62), 7 (fig. 3.63), and 8 (fig. 3.64) are developed using flexible membrane like elements. This membrane also has a stretch factor that allows it to return to its original form and shape. This asks for precision in measuring and calibrating the stretch factor and the force power from the mechanical actuator/motor.

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


&Ev

alua

tion

Conc

lusio

n

03

Evaluation and ConclusionWe would like to end this chapter by summarizing and concluding our learnings for further research development (chapter 5).

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

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

6503.4 Evaluation & Conclusion

The intention of increasing the versatility of the system drove us to test different parameters in within a digital algorithm. Parameters that will be explored are extrusion heights, component divisions of the overall surface, 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 configurations. However, to control patterns at a local level, we see the need to work with 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 synchronizing multiple hardware systems; such as sensors and actuators. In addition to 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.

66

Deve

lopm

ent

Rese

arch

04

67

04. RESEARCH DEVELOPMENT

04.1. DIGITAL ALGORITHM04.1.1. GRASSHOPPER EXPERIMENTATION04.1.2. COMPONENT BREAKDOWN04.1.3. DESIGN PARAMETERS 04.1.3.1. Surface Boundaries 04.1.3.2. Surface Divisions 04.1.3.3. Surface Extrusion 04.1.3.4. Actuators Placement 04.1.3.5. Actuators Distribution 04.1.3.6. Anchor Points

04.1.3.7. Material Resistance

04.2. DIGITAL AND PHYSICAL COMPARISON

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

68 04. RESEARCH DEVELOPMENT

6904. Introduction

SYSTEM

GRASSHOPPER+

KANGAROO

ARDUINO KARAMBA

SENSORS

DA

TA P

RO

CE

SS

ING

ELE

ME

NTS

WITH

IN TH

E S

YS

TEM

SY

STE

M C

OR

E

ECOTEC

FIREFLY GECO


CONNECTION TYPE

CONNECTION TYPE

ENVELOPE SYSTEM

CLIMATE RESPONSIVE


SYSTEM


certain behaviour

COMPONENT


nent

ELEMENT


STRUCTURAL SYSTEM


PROGRAM ADAPTIVE

IntroductionContinuing from our preliminary explorations in Chapter 3; in retrospect to 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 system’s adaptability, and how accurate is the system when tested in the physical world.

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


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 parts of the system are set as meshes and curves. In Kangaroo, curves are divided in two different categories. One set of curves are to remain and maintain their length. The other set of curves change the dimension of 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 first technique is a flat and unfolded pattern (fig. 4.01), and the second technique begins once the pattern is fully closed (fig. 4.02). In both techniques, two types of actua-tors are being used. When the pattern is fully closed, the surface has a thickness and begins to show volume. With this volume generated, we apply actuators at the top and bottom layers of this surface volume (fig. 4.02a). Relating back to its own pattern, the same actuator types are

Digital algorithmBefore we began developing a digital algorithm, we recall the rigid ori-gami model explored in the previous chapter. Due to inertia, it was dif-ficult to fold the pattern when it was at “0” curvature (flat). Once folding takes place, it was much easier to continue the folding to a complete closed position.

And from the assembly process, it was noted that breaking down the system through the repetition of its component resulting into the pos-sibility for surface growth.

For digital algorithm, the following computer aided programs were uti-lized; Rhinoceros, Grasshopper, kangaroo, and Karamba. Rhinoceros is the main software platform utilized, which within its own interface, it enables other software types such as Grasshopper; a plug-in for par-ametric versatility, Kangaroo; as a physics engine, and Karamba for structural analysis. These different plug-ins were imperative into the digital algorithm design.

7104.1. Digital Algorithm

Fig. 4.01

Fig. 4.02

Fig. 4.01Grasshopper simulation starting from flat surface[Ref. Illustrative:4.01]

Fig. 4.02Grasshopper simulation starting from folded surface[Ref. Illustrative:4.02]

(c)

(c)

(d)

(d)

applied to the flat surface (fig. 4.01a).

The diagrams on far left (a) show the starting position for two different techniques. As the diagrams continue to sequence (b), the top actua-tor is activated. Actuators keep on expanding into diagram (c). In the last sequence (d), the bottom actuators are activated. From this, we can see clearly that the pre-folded pattern allows for better control in comparison to the flat/un-folded pattern. After several tries, technique 1 (fig. 4.01) gives different results for every iteration. On the other hand, technique 2 (fig. 4.02) proves to be more stable due to constant results in every iteration.

From both digital and physical exploration, we can now conclude that pre-folded surfaces result into better controlled systems.


Fig. 4.03

Fig. 4.05Fig. 4.04

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

Component Breakdown

The Grasshopper experimentation lead us to the hypothesis that the development of this system must begin from a pre-folded surface or closed position. Keeping this in mind, it is only reasonable to break-down this pattern into smaller additive components to generate a sur-face. This component is assembled from different elements. Breaking the pattern down into components will help us to organize the assem-bly process when it comes to production and fabrication time.

Using the same pattern, we break it down into two different component types; for component 1 (see fig. 4.05) and for component 2 (see fig. 4.08). The diagrams above, (see fig. 4.03 and fig. 4.06), show different sequences for the behaviour of each component type once actuators are engaged.

Both component types can now be repeated as two dimensional arrays


Fig. 4.06

Fig. 4.08Fig. 4.07

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

Fig. 4.03Option 1 for component within the surface. (a) Actuators 100% closed, (b) Actuators 35% open, (c) Actuators 65% open, (d) Actuators 100% open [Ref. Illustrative: 4.03]

Fig. 4.04Exploded perspective of the compo-nent (option 1) and its elements [Ref. Illustrative: 4.04]

Fig. 4.05Location of the component within the surface (option 1)[Ref. Illustrative: 4.05]

Fig. 4.06Option 2 for component within the surface. (a) Actuators 100% closed, (b) Actuators 35% open, (c) Actuators 65% open, (d) Actuators 100% open[Ref. Illustrative: 4.06]

Fig. 4.07Exploded perspective of the compo-nent (option 2) and its elements [Ref. Illustrative: 4.07]

Fig. 4.08Location of the component within the surface (option 2)[Ref. Illustrative: 4.08]

Top ActuatorsBottom Actuators

to create surfaces. However, when it is applied digitally, component 2 (see Fig. 4.07) proves to be more efficient and practical due to its sym-metrical property.

Both component types will be tested in the physical world to measure the efficiency in assembly time and effort. In the mean time, we will continue using component 2 for further advancement in the digital al-gorithm.


Design ParametersWhen defining the component types, there are different parameters that can be considered to make the system adaptable to different spa-tial conditions. Some of these parameters are boundary lines, surface divisions, extrusion heights, anchor points, and different locations for actuators.

Different parameters are meant to add more control to the system. For instance; different anchor points can be adjusted to fit the site condi-tions while surface divisions can be increased or decreased to gener-ate smoother surface curvatures. Extrusion heights can increase struc-tural stability if longer spans were needed.

In this section, seven different parameters will be further discussed.


Parameter 1. Case 1

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators:

A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D05. Pattern Locator: True True True True06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000 Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 2,5 / 1 / 1

Actuators: 4 / 2,5 / 1 / 1

Actuators: 8 / 5 / 1 / 1

Actuators: 8 / 5 / 1 / 1

Actuators: 15 / 8 / 1 / 1

Actuators: 15 / 8 / 1 / 1

Parameter 1. Case 2

01. Boundaries: 4 Straight lines non-orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

*1 Activating the surface means to change the length of the actuator in-side the grasshopper using kangaroo plug-in.

*2 UV value is a two dimensional coor-dinate set on a surface.

Boundaries

Having developed a successful component, we are now able to dis-tribute it onto any surface responding to the particulars of most any architectural design. This surface is defined by four lines that make up a closed surface. Since the base component has four boundary lines, it is important to also use four boundary lines for the new surface ap-plication. This is the only restriction within the system. Once the com-ponent is changed to a triangular, hexagonal or octagonal shape, the application surface must be changed to the same number of lines. If this restriction is satisfied, we are then able to distribute the component onto any surface. The first experiment (case 1) evolves by utilizing the geometry of a square. The component is now able to be populated and activated* as desired*1. With a square boundary and equal divisions of UV*2 values, all components which make up the surface are identical (see case 1d).


Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 2,5 / 1 / 1

Actuators: 4 / 2,5 / 1 / 1

Actuators: 8 / 5 / 1 / 1

Actuators: 8 / 5 / 1 / 1

Actuators: 15 / 8 / 1 / 1

Actuators: 15 / 8 / 1 / 1

Parameter 1. Case 3

01. Boundaries: 4 Straight lines non-orthogonal non-planar (double curved)02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 1. Case 4

01. Boundaries: 3 Straight lines 1 Curved line non-orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

In Case 2, we test a non-orthogonal boundary. Two adjacent points are distorted and moved closer to create a triangular like surface (but still consist of four boundary lines). In turn, once actuators are acti-vated, the surface performs as desired. However, since the surface has more than two boundary lengths, the components are not identical from each other (see case 2d). This means that each of the panels are distinct from each other; therefore, assembly time will increase.

Moving on to the third experiment (case 3), a square boundary is drawn; however, two of the cross opposite points are lifted in the z direction. Then, the surface output becomes a doubly curved surface. Keep in mind that the boundary lines still remain straight lines. Once activated, the surface still perform as expected.

Further experimentations from different boundary types make us aware of one more restriction. In case 4, the surface is defined by three straight lines and one curved line. Once the surface is divided into smaller UV values, it automatically converts the curved lines into smaller straight lines based on the number of UV values. These smaller straight lines convert the number of the boundary lines to more than four lines (which is the required number of boundary lines). Once activated, the system is still able to perform. However, when the actuator increases its length, the lines brake and the system fails (case 4d).


Parameter 2. Case 1

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 3 x 303. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 2. Case 2


Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

*1 UV value is a two dimensional coor-dinate set on a surface.

*2 Box Morph is a Grasshopper tool

Surface Divisions

Once a surface is generated, the next parameter is to give the surface a UV*1 value. This UV value outputs a number of divisions and the scale of the component . A uniform value is set as a default height. In this case, a value of 20 units is assigned to the height.

The combination of UV values and default heights create small indi-vidual boxes onto the surface. A bounding box is then created around the original component. With a Box Morph*2, the bounding box (includ-ing the original component) is then stretched to fit these small division boxes. This is the process that it takes for the component to populate any surface. Four tests are explored using different UV values, however, with the same expansion rate of its actuators. Actuators are activated at 1x, 4x, 8x, and 10x. These numbers are the multiplication length of the


Parameter 2. Case 3


Parameter 2. Case 4


Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

actuators that increase their length by 1, 4, 8, and 10 times the original length.

Dividing the surface into different UV values will result in different ge-ometry configurations once the system is activated. When UV values increases; the components become smaller along with the respective actuators. This means that the multiplication length can not be as large as larger components (smaller UV value).

In cases 1 and 2, the surface is divided into equal values of U and V. Comparing the two cases, we see that larger UV values correspond to more curvature and smoother dome-like geometries. At the same time, larger UV values result in more usable spaces inside the system’s structure. Larger UV values means more actuators needed. However, smaller divisions may result in smaller distributed loads due to smaller

elements.

On cases 3 and 4, we see that larger UV values start to collide with each other (case 3c, 3d, 4c and 4d). One hypothesis is that the ex-panded length of the actuators can not be longer than the extrusion of the surface. This theory will be kept in mind and be constantly re-evaluated during further parameter exploration.


Parameter 3. Case 1


Parameter 3. Case 2


(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Surface Extrusion

In regards to the parameter for Surface Division, a default height of 20 units is set for all surfaces. In this parameter study, we attempt to control the heights of all four corner points on each surface. This is to test the system’s performance when each points have different extru-sion heights.

To achieved this, there are two options of extruding points. The first option is to extrude the points along the z-axis. The second option is to average the vectors of each point’s normal and extrude points along the average vector. Four different extrusions are being tested using z axis as the direction of the extrusion. The first test (case 1) is extruding all four points uni-formly like it was done in the previous parameter. Case 2 is done by extruding two adjacent points with a value of 10 units


Parameter 3. Case 3


Parameter 3. Case 4


(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

and the two opposing points with 30 units. Up to step c, the system re-mains true to its logic. However, the system begins to break along the two lower extrusions in step d. This justifies that the previous theory is still valid. The expanded actuators on the lower edge are larger than the extrusion; therefore the system fails.

Case 3 is tested by extruding two diagonal points with a value of 10 units, while the other two points are extruded with a value of 40 units. Case 4 is the last test and each one of the points are extruded by dif-ferent values ( 10, 20, 30, and 40 unit). Both of these models are suc-cessful prototypes.

From the previous parameter exploration, we know that smaller com-ponents result in smoother surface curvature. From this parameter experimentation, we can also conclude that smaller/lower extrusion

heights can also result in more surface curvature (refer to cases 1 and 3). Case 1 shows an even distribution of surface curvature while, case 3 shows an uneven distribution of surface curvature.


Parameter 4. Case 1

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D05. Pattern Locator: True True True True06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 4. Case 2


Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 1 / 1 / 1

Actuators: 1 / 4 / 1 / 1

Actuators: 8 / 1 / 1 / 1

Actuators: 1 / 8 / 1 / 1

Actuators: 10 / 1 / 1 / 1

Actuators: 1 / 10 / 1 / 1

Actuators Placement

In order for the system to transform and adapt to new shapes and form, actuators need to be added. The number of different actuators types gives different control of the system’s form. As it is shown in fig 4.02, two sets of different actuators are placed into a system compo-nent. One set of actuators are located on the upper layer of the surface volume and another set is located on the lower layer of the surface volume. Each set of actuators is composed of two different actuator types; horizontal (TH – top horizontal and BH – bottom horizontal) and vertical (TV – top vertical and BV – bottom vertical). Two actuators sets will form the surface in the positive and negative direction of curvature. For a simple four sided surface, TH will generate a tunnel like structure along the y-axis (case 1). Activating TV will generate the same struc-ture, but in the perpendicular direction (case 2).


Parameter 4. Case 3


Parameter 4. Case 4


Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1,25 / 1,25

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1,5 / 1,5

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 2 / 2

When both TH and TV are activated, the surface will transform to a dome-like form (case 3).

To increase surface area, all four actuators can be activated propor-tionally. Case 4 shows how the square meter of the surface increased from step a to step c. The number of expansion represents the multi-plicity of the original actuators length. In case 4d, BH has the value of 2x, in this case, this means that 2x BH is larger than 10xTV; therefore surfaces curve in the negative direction (bowl like form).

Because one actuator is completely independent from the others, the combination of different values in four actuators makes it possible to obtain multiple transformations from a single surface.


Parameter 5. Case 1


Parameter 5. Case 2

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True False True False06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators Distribution

In order to avoid redundancy, energy waste, and production spend-ing; we strategically remove actuators depending on their kinetic be-haviour. These will be replaced by springs. Due to its stored potential energy, we expect that springs will aid to initiate the movement from adjacent actuators. However, in these four cases; springs have not yet been implemented.

The distribution of these actuators can be controlled by setting up pat-tern toggles which can be set to true/false. Then, different patterns are generated by changing the division number and four toggle combina-tions.

Case 1 pertains to the distribution and engagement of actuators on all components.


Parameter 5. Case 3

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: False False True False06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 5. Case 4

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True False False False06. Anchor Points: 1 corner point07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Case 2 utilizes the following pattern combinations: true/false/true/false. It is the closest combination to achieve the similar shape and volume as the original true/true/true/true combination. If we pay close attention to case 2d, the end corner starts to close-in on itself. This happens because of the lack of actuators in this corner. Special restriction might need to be applied for edges and corner conditions.

Once the number of removed actuators is greater than the placed ac-tuators, the system does not work properly as it collides onto itself as in cases 3 and 4. Spring replacement may be the solution to this prob-lem. This will need to be tested on further explorations.


Parameter 6. Case 1

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: Along one side07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 6. Case 2

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: 2 opposing sides07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1,5 / 1,5

Actuators: 8 / 8 / 1,5 / 1,5

Anchor Points

In correlation with actuators, anchor points also put restriction in the system’s transformation. In a given generic surface, four cases are ex-ecuted with different fix or anchor points.

Case 1 utilizes points along one side of the surface volume for anchor points.

Case 2 utilizes all points along two opposing sides of the surface vol-ume for anchor points. It is shown here that the result is a tunnel like shape.

Case 3 utilizes all points along two perpendicular sides of the surface volume for anchor points.


Parameter 6. Case 3

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: 2 perpendicular sides07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 6. Case 4

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D 05. Pattern Locator: True True True True06. Anchor Points: Along the diagonal07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1,5 / 1,5

Actuators: 8 / 8 / 1,5 / 1,5

Case 4 utilizes all points along a diagonal centre of the surface volume for anchor points.

Zooming in on the component, actuators are located at corners of each squared element. Due to their location, once the geometry becomes kinetic, it takes forces from all corners. These forces make the geom-etry to twist and rotate. In turn, causing the system to collide into itself (case 4c and 4d). This concludes that the placement of anchor points is important to allow for a certain degree of rotational displacement.

In addition to the previously mentioned parameters, anchor points also have the role of forming different surfaces as shown in cases 1, 2, 3, and 4. When edges are not restricted to anchor points, the surface curves up in the negative direction (case 4).


Parameter 7. Case 1

01. Boundaries: 4 Straight lines Orthogonal Coplanar02. Divisions: 5 x 503. Extrusion: Point 1: 20 unit Point 2: 20 unit Point 3: 20 unit Point 4: 20 unit04. Activated Actuators: A / B / C / D Upper: Horizontal: A Vertical: B Lower: Horizontal: C Vertical: D05. Pattern Locator: True True True True06. Anchor Points: Along one side07. System Resistance [0-1000]: Component: 1000 Actuator: 1000

Parameter 7. Case 2


(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Material Resistance

There is a set value that regulates resistance within the system. This value is a range from 0 to 1000. A value within this range is assign to components and actuators. In addition, different resistance values will result in different deformation of the component elements. Higher component resistance means stronger or thicker material, while higher actuator resistance means stronger and more powerful actuators.

Each triangle in the above diagrams represents one element in the system for each respective sequence process.

As in previous exercises, four test cases are executed. Case 1 and 4 are tested with an equal value of component’s and actuator’s resist-ance. These result in slight material deformations.

Once a components’ resistance value is set to smaller values than ac-


Parameter 7. Case 3


Parameter 7. Case 4


(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

Actuators: 1 / 1 / 1 / 1

Actuators: 1 / 1 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 4 / 4 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 8 / 8 / 1 / 1

Actuators: 10 / 10 / 1 / 1

Actuators: 10 / 10 / 1 / 1

tuators’ resistance, the material will deform exponentially and the sys-tem will fail (case 3). In order to achieve the least material deformation, a component’s resistance must be greater than the actuators’ resist-ance. This is shown in case 2.

However, in digital models the activation of the system becomes con-siderably slow due to the low value actuator resistance vs. the high value of material resistance. This logic can be applied to physical mod-els by controlling the power and speed within actuators in response to material weight.


Fig. 4.09Configuration 01. Closed Stage. Ac-tuators length (cm); [Horizontal x Verti-cal]: 2,5 x 2,5[Ref. Illustrative:4.09]

Fig. 4.10Configuration 02. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 9,5[Ref. Illustrative:4.10]




In this chapter, we introduce a catalogue of ten different configurations (see Fig. 4.09 - 4.19). These have been generated digitally, however, have also been tested through physical models (see Pg. 28 - 37). Each configuration depends on an “x” number of kinetic components. In turn, generating shape change depending on the aperture percentage from one component to the next. Also, shape change depends on the se-quence in which these components begin to open. This action is then controlled by linear actuators located at the top of each component.

The sequence in which these actuators are engaged becomes a criti-cal factor for shape change. The following configurations apply 4 se-quence types for engagement:

1. Displacement along y-axis 2. Displacement along x-axis and y-axis 3. Radial Displacement along x-axis 4. Radial Displacement from a centre point

Digital and Physical ComparisonWe concluded the last origami experimentation with the production of prototypes through a folding pattern technique. The materials used in this model are; 3mm MDF panels, and reinforced tape as a method for joining one element to the next. To continue this exploration, a more advanced prototype version was developed. Once again, utilizing 3mm MDF panels, however, hinges are now introduced as joints, and MDF beam like elements are also introduce to simulate the kinetic move-ment of linear actuators. One set of actuators is set at the upper part of each component. These are horizontal and vertical actuators whose length can be adjusted to create different shell forms.

(see Pg. 92)(see Pg. 94)(see Pg. 96)(see Pg. 98)

9104.2. Digital and Physical Comparison




Fig. 4.17Configuration 09. Actuators length (cm); gradient 01[Ref. Illustrative:4.17]


Fig. 4.09 Fig. 4.10 Fig. 4.11 Fig. 4.12 Fig. 4.13


Configuration 01

Configuration 06

Configuration 02

Configuration 07

Configuration 03

Configuration 08

Configuration 04

Configuration 09

Configuration 05

Configuration 10

In this chapter, we have selected four configuration types, however, the rest of them have been attached to the appendix for further information. In this case, the selection process constituted of two factors:

a) Aperture percentage. b) Spatial / Volume condition.

In terms of aperture percentage, we have selected the configurations which allow the most displacement along the x-axis and y-axis. In ad-dition, these are the configurations which allow the most flexible se-quence actuation between components; therefore, resulting in an in-teractive system.

In terms of Spatial and Volume conditions, we not only study the dis-placement along the x and y axis, but also along the z-axis. This last parameter is measured in terms of maximizing volume and area; de-

pending on the type of space needed and on the sequence in which actuators are being engaged.

The configurations that will be reviewed in this chapter are the follow-ing: 01, 05, 06 and 08 (marked in red. The rest of the configurations that were tested can be seen in Appendix 01).


70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

8.7

64.2

74.7

67.4

74.5

12° 8°

8.7

1.7

5.8

5.8

12° 8°

9.2

11.8

R67.4

R64.9

R67.4

R64.9

27.0

33.5

33.230.3

24.1

33.5

30.3 33.3

69.1

75.8

8.7

64.2

74.7

67.4

74.5

12°8°

8.7

1.7

5.8

5.8

12°8°

9.2

11.8

R67.4

R64.9

R67.4

R64.9

27.0

33.5

33.2 30.3

24.1

33.5

30.333.3

69.1

75.8

Direction of opening

2.5 cm Actuators9.5 cm Actuators

Configuration 02Actuators length: 2.5 x 9.5

Closed StageActuators length: 2.5 x 2.5

Open StageActuators length: 2.5 x 9.5

2.5 cm Actuators

Fig. 4.19 Fig. 4.20

(a) (a)

(b) (b)

Configuration 02

This experiment directly links, compares and contrasts the results from the digital model to the results from the physical model. We analyse results in terms of fabrication, actuator sequence engagement, kinetic behaviour, and shape change.

In terms of fabrication, we are able to accurately extract two-dimen-sional elements directly from the three-dimensional model (see fig. 4.19-a), which enable the assembly for the physical prototypes. This is due to the simple geometry of the component; a combination of 8 trian-gular pieces and a single square, however, simple the component, it is extremely flexible and it allows for an array of configuration types. As a result, the accuracy between digital and physical models is nearly iden-tical. However, it is relevant to note that minor discrepancies between the two models are due to human error and due to the fact that within the digital model, we fail to take in consideration the hardware material

thickness that joins one element to the next. In this case, brass hinges (see fig. 4.22-c). Also, there is the absence of material thickness in the digital model, which must be taken into account before building assembly. Otherwise, there are discrepancies that may increase ex-ponentially when it comes to the rotational motion of paired elements within every component.

Once the model has been assembled (see fig. 4.22-a), we are able to study the sequence between actuators (see fig. 4.20-b) that in turn generate volume. In this prototype, the actuators are engaged along the y-axis. Although, they must always be engaged in sequence, this is not to say that this sequence has to take place in a predetermined or-der. However, the order of sequence in which these actuators become engaged is crucial in order to minimize the force required for kinetic movement between components. In this fashion, actuator types may


8.7

64.2

74.7

67.4

74.5

12° 8°

8.7

1.7

5.8

5.8

12° 8°

9.2

11.8

R67.4

R64.9

R67.4

R64.9

27.0

33.5

33.230.3

24.1

33.5

30.3 33.3

69.1

75.8

8.7

64.2

74.7

67.4

74.5

12°8°

8.71.7

5.8

5.8

12°8°

9.2

11.8

R67.4

R64.9

R67.4R

64.9

27.0

33.5

33.230.3

24.1 33.5

30.333.3

69.1

75.8

8.7

64.2

74.7

67.4

74.5

12° 8°

8.7

1.7

5.8

5.8

12° 8°

9.2

11.8

R67.4

R64.9

R67.4

R64.9

27.0

33.5

33.230.3

24.1

33.5

30.3 33.3

69.1

75.8

Digital Model Physical Model

Fig. 4.21 Fig. 4.22

(a)

act.1

act.2

act.3

(a)

(b) (b)

(c) (c)

Fig. 4.19Closed Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 2,5. (a) perspective, (b) plan view showing ac-tuator’s location[Ref. Illustrative:4.19]

Fig. 4.20Open Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 9,5. (a) perspective, (b) plan view showing actuator’s location and direction of opening[Ref. Illustrative:4.20]

Fig. 4.21Simulation with Grasshopper and Kan-garoo. (a) plan view, (b) front eleva-tion, (c) side elevation[Ref. Illustrative:4.21]

Fig. 4.22Physical model. (a) plan view, (b) front elevation, (c) side elevation[Ref. Illustrative:4.22]

Configuration 02 (2,5x9,5) DIGITAL PHYSICAL

Length (cm) 75,8 82

Width (cm) 69,1 71,5

Height (interior) (cm) 11,8 17

Height (exterior) (cm) 33,5 31,5

Volume (dm3) 136,9

Area (cm2) 5237,78Area (cm ) 5237,78

Max. Radius of Curvature (cm) 67,4

be purchased and calibrated according to how much force they are required to exert and withstand.

Another factor studied from comparing the digital and physical models is their kinetic behaviour. The main difference between them is in rela-tion to anchoring points within the digital model which in the physical world; they play the role of a foundation type. In turn, these anchor points become static in the digital model, while in the physical proto-type, we allow their displacement to allow interaction depending on the forces exerted at the time of kinetic movement between components. This freedom slightly increases the overall curvature in the geometry. On the contrary, their volume is nearly identical. In addition, the lack of gravity and self weight within the digital model also makes a difference. However, this is a structural issue analysed more in detail in chapter 5.


70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

20° 12°

12°20°

64.6

78.1

63.3

78.7

8.13.2

13.9

17.2

3.2

13.9

12.1

8.4

R60.5

R62.6R62.6

R60.5

38.433.4

38.433.4

38.1

78.7

65.2






2.5 cm Actuators

Fig. 4.23 Fig. 4.24

(a) (a)

(b) (b)

Configuration 03

Previously, in configuration 02 (see page 93), we analysed the results from the digital and physical models in terms of fabrication, actuator sequence engagement, kinetic behaviour, and shape change. How-ever, since the analysis of this configuration in terms of fabrication is nearly identical to the previous one, we will omit to a certain extent to address the discrepancies of this issue between the two model types; digital and physical. However, we will focus on this model’s actuator sequence type, in relation to kinetic behaviour and shape change.

In this case, the most radical difference takes place in the sequence in which actuators are engaged (see fig 4.24b). In turn, having a direct relationship to shape change. Here, the overall displacement of the fi-nal shape change occurs along the x-axis and y-axis. In comparison to the previous configuration, the actuator length in this model is greater. Therefore, they require a greater force as they are engaged into a ki-

netic mode. This means that the stress distribution along the entire structure becomes greater, the torque between components increases, and when it comes to shape change, these forces become apparent as each component begins to twist and rotate influencing the final shape change.

Then, in terms of shape change, the main difference between digital and physical models is due the lack of anchoring points (foundation) in the physical model.

By observing this shape change, we are able to conclude that depend-ing on the starting point of the sequence between actuators, there is a domino effect that begins to elevate one component higher from the next as stress increases and actuators are being engaged into se-quence. (see fig. 4.26c). However, this action allows us to understand


20° 12°

12°20°

64.6

78.1

63.3

78.7

8.13.2

13.9

17.2

3.2

13.9

12.1

8.4

R60.5

R62.6R62.6

R60.5

38.433.4

38.433.4

38.1

78.7

65.2

20°12°

12°20°

64.6

78.1

63.3

78.7

8.13.2

13.9

17.2

3.2

13.9

12.1

8.4

R60.5

R62.6

R62.6

R60.5

38.433.4

38.433.4

38.1

78.7

65.2

Fig. 4.25 Fig. 4.26

(a) (a)

(b) (b)

(c) (c)


Fig. 4.24Open Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x12,0. (a) perspective, (b) plan view showing actuator’s location and direction of opening[Ref. Illustrative:4.24]



act.1

act.2

act.3


Length (cm) 78,8 87

Width (cm) 65,2 69


Height (exterior) (cm) 38,1 38

Volume (dm3) 143,2

Area (cm2) 5137,76Area (cm ) 5137,76


the distribution of stress, not only along the entire structure but also per component. Since the difference of forces between these components is much greater than in the previous configuration; their interaction can be mapped as a structural behaviour study and we can begin to calibrate each component in greater detail. This structural behaviour would cover the forces exerted from one actuator to the next, however, at this point, this information would have to be developed in the near future, as we will keep on focusing on kinetic behaviour and shape change.


70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

77.5

92.2

79.4

95.9

10.2

12.9

10.1

12.94.7

4.6

4.6

4.7

R61.4

R61.9

R65.6 R71.8

R61.9

R61.4

R71.8R65.6

41.2 41.2

82.0

96.3





Fig. 4.27 Fig. 4.28

(a) (a)

(b) (b)

9.5 cm Actuators12.0 cm Actuators2.5 cm Actuators

Configuration 06

As in the previous model, here, we will only focus on kinetic behaviour based on the sequence in which actuators are being engaged, and on the importance of anchor points (foundation) in terms of shape change.

This model utilizes a different actuation type than the two previous ex-periments. Thus far, we have only engaged one type of actuator, and so far their displacement orientation has been restricted along the y-ax-is. However, every component has been equipped with two pairs of ac-tuators. One pair capable of displacement along the x-axis (horizontal), and a second pair capable of displacement along the y-axis (vertical).

This experiment results in the activation of vertical and horizontal linear actuators (see fig 4.28b). Their displacement occurs along a horizon-tal axis which results into a radial shape change. This shape change generates a dome like structure, which tends to maximize its volume in

both x and y axis.

Out of its two predecessors, and in terms of shape change, this physi-cal model is the one that comes the closest to its digital version. In this instance, we can conclude that this similarity is mainly due to the even distribution or sequence in which actuators are being engaged. Then, in contrast two the two previous models; here, all component elements become anchored to the ground.


77.5

92.2

79.4

95.9

10.2

12.9

10.1

12.94.7

4.6

4.6

4.7

R61.4

R61.9

R65.6 R71.8

R61.9

R61.4

R71.8R65.6

41.2 41.2

82.0

96.3

77.5

92.2

79.4

95.9

10.2

12.9

10.1

12.94.7

4.6

4.6

4.7 R61.4

R61.9

R65.6

R71.8

R61.9

R61.4

R71.8

R65.6

41.241.2

82.0

96.3

77.5

92.2

79.4

95.9

10.2

12.9

10.1

12.94.7

4.6

4.6

4.7

R61.4

R61.9

R65.6 R71.8

R61.9

R61.4

R71.8R65.6

41.2 41.2

82.0

96.3

Fig. 4.29 Fig. 4.30

(a)(a)

(b)

(b)

(c) (c)





act.3

act.1

act.2


Length (cm) 96,3 104

Width (cm) 82 68



Volume (dm3) 177,4

Area (cm2) 7896,6Area (cm ) 7896,6



70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

94.9

81.0

6.6

4.1

3.7

6.6

3.7

R101.0

R65.3

83.8

101.7

80.8

97.5

6.0

11.1

12.1

14.3Closed StageActuators length: 2.5 x 2.5

Open StageActuators length: gradient 02

Configuration 10Actuators length: gradient 02

4.5 cm Actuators

12.0 cm Actuators

2.5 cm Actuators

9.5 cm Actuators


2.5 cm Actuators

Fig. 4.31 Fig. 4.32

(a) (a)

(b) (b)

Configuration 10

This particular model undergoes the most significant shape change. In this case, all actuators are set to different lengths. Therefore, being the prototype with the largest floor area and volume. The final geometry still is a dome like structure, however, its deployment pattern differs from all previous models in that it radiates out from a central point (see fig. 4.32b). Otherwise, we are able to conclude that all characteristics from configuration 06 (see page 96) apply to this model.

This is also an influential example of local control. Here, we are able to manipulate the system locally in both digital and physical models. This manipulation is possible through a gradient value from a series of actuator’s expansions.


94.9

81.0

6.6

4.1

3.7

6.6

3.7

R101.0

R65.3

83.8

101.7

80.8

97.5

6.0

11.1

12.1

14.3

94.9

81.0

6.6

4.1

3.7

6.6

3.7

R101.0

R65.3

83.8

101.7

80.8

97.5

6.0

11.1

12.1

14.3

94.9

81.0

6.6

4.1

3.7

6.6

3.7

R101.0

R65.3

83.8

101.7

80.8

97.5

6.0

11.1

12.1

14.3

Fig. 4.33 Fig. 4.34

(a)

(a)

(b) (b)

(c) (c)


Fig. 4.32Open Stage. Actuators length (cm); [Horizontal x Vertical]: gradient. (a) perspective, (b) plan view showing actuator’s location and direction of opening[Ref. Illustrative:4.32]



act.2act.7

act.1act.4

act.5act.11

act.9act.10

act.3act.8

act.6act.12

Configuration 10 (gradient 02) DIGITAL PHYSICAL

Length (cm) 94,9 90

Width (cm) 81 78,5



Volume (dm3) 164,5

Area (cm2) 7686,9Area (cm ) 7686,9



Configuration 01

Configuration 02

Configuration 05

Configuration 04

Configuration 08

Configuration 03

Configuration 09

Configuration 07

Configuration 10

Configuration 06

15.320.0

48.1

90.6

47.8

94.6

48.8

19.2

14.8

8.9

8.9

26.419.2

35°

19°

19°

35°

R58.3R55.8

R55.8 R58.3

47.1

42.442.4

48.1

48.1

94.6

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

77.5

92.2

79.4

95.9

10.2

12.9

10.1

12.94.7

4.6

4.6

4.7

R61.4

R61.9

R65.6 R71.8

R61.9

R61.4

R71.8R65.6

41.2 41.2

82.0

96.3

6.6

17.6

41.7

12.7

94.0

R69.7

23°

12°

23°

12°

R69.3

92.1

10.915.6

51.7

47.8

12.712.7

10.937.5 41.7

R69.3R69.7

50.1

93.7

Opening direction

&Ev

alua

tion

Conc

lusio

n

04.2

Evaluation and ConclusionThe material covered in this chapter addressed kinetic behaviour in relation to linear actuators, shape change, and volume change. In ad-dition, we addressed the interaction from the digital model into the fab-rication and assembly of four physical prototypes.

In respect to kinetic behaviour, shape change took place through lin-ear actuators and volume change depended on the length engaged by each actuator. From the previous explorations, we are able to conclude that the sequence in which actuators are activated is imperative to the final shape change. Four sequence types were explored in this chap-ter. The first two sequences produced rectangular like geometries, and their actuators were deployed along the x-axis and y-axis. It is also important to recall that every component within each configuration is equipped this 2 pairs of actuators. The fist pair running along the x-axis

and the second pair running along the y-axis. In this case, it is impor-tant to note that in configurations 02 and 03 (see images above), only one pair of actuators was activated; these being deployed along the y-axis. In contrast, the following two configurations generated a dome like geometry. In configuration 06, actuators were deployed along the x-axis. In turn, geometrical deployment taking shape as a radial pat-tern. Furthermore, In configuration 10, both horizontal and vertical ac-tuators were engaged and also resulting in a radial pattern.

In terms of the interaction between the digital model and physical pro-totypes, we can conclude that we are successfully able to make the transition between the computer model to the fabrication of the system. However, we must note that prior to the assembly process, small modi-fications must be taken into account due to the lack of material thick-ness within the digital model and due to the fact that hardware joins

10104.2. Digital and Physical Comparison_Evaluation

Fig. 4.40% Interior vs Exterior volume in Con-figuration 02. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 9,5[Ref. Illustrative:4.40]







7,7%

24,0%24,7% 31,4%27,5%

23,9%

30,3%

23,1%23,0% 22,7%




Fig. 4.38% Interior vs Exterior volume in Con-figuration 09. Actuators length (cm); gradient 01[Ref. Illustrative:4.38]

Fig. 4.39% Interior vs Exterior volume in Con-figuration 10. Actuators length (cm); gradient 02[Ref. Illustrative:4.39]

Configuration 01

Configuration 06Configuration 02 Configuration 07Configuration 03

Configuration 08

Configuration 04

Configuration 09Configuration 05 Configuration 10

such as, brass hinges are not considered into the digital model.

Also, in the digital model, we are able to simulate a foundation type (anchor points) for every prototype. However, we are not able to simulate gravity, nor material weight. Therefore, encountering minor discrepancies between the digital model and physical prototypes. In respect to anchor points, we built every physical prototype without a foundation type. Therefore, allowing all components to freely interact with one another. The lack of anchor points however, allows us to ad-dress stress distribution along each configuration. In turn, being able to calibrate each actuator depending on the forces exerted needed for shape change.

10304.3. Environmental Response

Environmental ResponseFrom all the different parameters explored above, we understand that the secondary environmental responsive system will need to be para-metrically adjusted to the primary system.

Based on preliminary explorations, we choose unit 4 (fig 3.60) to be further explored and fitted to the primary system. Different parameters will be set for the unit 04 along with various environmental inputs to test the system.


Fig. 4.45Responsive Component. Control of different parameters:

(a) 01. Frame x side: 150 mm02. Frame y side: 150 mm 03. Frame thickness: 3 mm04. Diagonal thickness: 0 mm05. Frame width: 10 mm06. Diagonal width: 0 mm

(b)01. Frame x side: 150 mm02. Frame y side: 150 mm 03. Frame thickness: 6 mm04. Diagonal thickness: 0 mm05. Frame width: 10 mm06. Diagonal width: 0 mm

(c)01. Frame x side: 150 mm02. Frame y side: 150 mm 03. Frame thickness: 6 mm04. Diagonal thickness: 0 mm05. Frame width: 20 mm06. Diagonal width: 0 mm

(d)01. Frame x side: 150 mm02. Frame y side: 150 mm 03. Frame thickness: 6 mm04. Diagonal thickness: 6 mm05. Frame width: 12 mm06. Diagonal width: 12 mm

(e)01. Frame x side: 150 mm02. Frame y side: 150 mm 03. Frame thickness: 6 mm04. Diagonal thickness: 1 mm05. Frame width: 12 mm06. Diagonal width: 12 mm

(f)01. Frame x side: 150 mm02. Frame y side: 150 mm 03. Frame thickness: 3 mm04. Diagonal thickness: 15 mm05. Frame width: 12 mm06. Diagonal width: 12 mm[Ref. Illustrative: 4.45]

Fig. 4.46 Responsive Component adopting different shapes by changing the 4 corners that delimit its boundary [Ref. Illustrative: 3.46] Fig. 4.45

(f)(e)

(d)(c)

(b)(a)

Responsive Component VariablesContinuing with Responsive Types (chapter 03.3.2.), we further devel-oped a Responsive unit number 04 (Rotating Opening fig. 3.77 page 62) to increase its versatility in adapting to the primary system. Utilizing grasshopper, we add different parameters to the unit shown above in order to be able to control all the different elements that make up the component.

This enable us to change the frame thickness, diagonal thickness, frame width, and diagonal width. This variation will help stabilize and increase the component stiffness for the primary system according to the results in the test of the Parameter 7 (System Resistance. page 88).

On the right hand side, the unit is tested to fit different geometries with different boundary conditions. This is important to ensure that the Responsive Component is able to perform correctly even when the boundaries are not orthogonal. As we could see in pages 76-77 de-


Fig. 4.46

pending on the boundaries and divisions of the pattern, we will have surfaces composed by identical elements, or on the contrary, surfaces with an infinite variety of elements.

The tests in fig. 4.46 show the versatility of the Responsive Component and its shape adaptation to any different boundary condition perform-ing successfully by opening and closing its flaps for light and wind con-trol. Even when the boundary is defined by a triangular surface (where one of the corner points is eliminated) the algorithm is able to reshape this component and define the new geometries for its fabrication.


N

Wh/m2

1100+

1100+

920830740

650560

470380290200

Fig. 4.39

Fig. 4.50

Fig. 4.48

Fig. 4.49

(c)(b)(a)

Fig. 4.47Conceptual diagrams. Differentiation throughout the surface as a response to environmental changes. (a) All the Responsive Components are closed, (b) Gradient 1, (2) Gradient 2[Ref. Illustrative: 4.47]

Fig. 4.48Solar Analysis on the location of the Responsive Components of the sur-face. Grasshopper_Geco_Ecotect. Plan view[Ref. Illustrative: 4.48]

Fig. 4.49Solar Analysis on the location of the Responsive Components of the sur-face. Grasshopper_Geco_Ecotect. West elevation[Ref. Illustrative: 4.49]

Fig. 4.50Solar Analysis on the location of the Responsive Components of the sur-face. Grasshopper_Geco_Ecotect. South elevation[Ref. Illustrative: 4.50]

Data ProcessingThis environmental responsive unit can now be added to the primary system. Through the application of Ecotect Analysis, we can digitally study the weather pattern and sun path. In this exploration, we test the system in a tropical environment such as India. Sun values are taken between 14.00 to 18.00.

Linking this back to grasshopper, these values can be translated to rotational angles between 0-90 degree (the angle of the openings). Each panel will reacting to different environmental inputs based on form and North orientation. This results in different opening angles for each panel. Extracting from what we learned in the first light sensor prototype (page 60), the system can be relocated and Ecotect will simulate the sun path and UV values for any given country. The opening gradation will then need to be re-calibrated according to the new environmental data.


Fig. 4.53Fig. 4.51

Fig. 4.52

Fig. 4.51Components response to the Solar Analysis on the surface. Grasshop-per_Geco_Ecotect. Plan view[Ref. Illustrative: 4.51]

Fig. 4.52Components response to the Solar Analysis on the surface. Grasshop-per_Geco_Ecotect. West elevation[Ref. Illustrative: 4.52]

Fig. 4.53Components response to the Solar Analysis on the surface. Grasshop-per_Geco_Ecotect. South elevation[Ref. Illustrative: 4.53]


&Ev

alua

tion

Conc

lusio

ns

04

Evaluation and ConclusionIn this chapter, we have examined a component distribution type and several parameter inputs into the design for an algorithm resulting into a parametric system; capable of shape change, responding to various programmatic functions, and adapting to several climatic conditions.

Using a defined digital algorithm and understanding its specific restric-tions; a component can be populated to different surface types capable of adapting to different programmatic functions.

As previously investigated, a system digitally designed will face several challenges such as; fabrication, assembly and structural inputs once it is built into the physical environment. Different aspects play the role of additional parameters into the algorithm design. In addition, an envi-ronmental responsive system has now been integrated as part of the

10904. Evaluation and Conclusion

primary system as a factor for generating space. (see pg. 106 - 107)

The goal for the following chapter is to investigate the system as whole. Here, a specific programmatic function will be applied in relation to kinematic behaviour. Furthermore, the proposed design will be evalu-ated structurally in regards to different materials and their respective properties. Chapter 5 will also cover power source in terms of kinetic behaviour, as well as assembly techniques of different elements.

110

Deve

lopm

ent

Desig

n

05

111

05. DESIGN APPLICATION

05.1. DIFFERENT APPLICATIONS

05.2. BRIDGE APPLICATION

05.2.1. POWER SOURCE05.2.2. MATERIAL ANALYSIS 05.2.3. STRUCTURAL ANALYSIS05.2.4. FOUNDATION05.2.5. FABRICATION & ASSEMBLY

112 05. DESIGN APPLICATION

Different applicationsUsing the digital parameters defined in pages 75-85, and their spe-cific limitations, a component can be aggregated to different types of surfaces with different functions and be transformed to serve differ-ent set of functions. As previously investigated, a system that can be done digitally will find different challenges and might perform differently when it is being realized in the physical world. Different aspect such as fabrication, assembly and structural integrity can be a limitation. Three different simple, yet specific design applications are tested with the system to validate its adaptability. Each will specifically serve one purpose and try to solve a single technical problem. Functional change will be developed with more investigation and tests in this chapter while other aspecst like porosity and volume change can be seen in Appen-dix 02.

11305.1. Different Applications

Application 01Functional Change application focuses on the adaptation of two spe-cific functions. In the starting position, the structure performs as a con-ventional pedestrian bridge connecting Point A to Point B. When the top actuators are activated, this linear bridge curves upwards and al-lows different kind of activities under the structure (more explanation in the following pages). In this specific case, the pedestrian bridge is placed over a canal which will then let any means of water transporta-tion to go under and across the bridge.

Application 02 (Appendix 02)Porosity Performance application is for a canopy that changes its form and surface porosity based on the climatic condition. The system is suspended with cables from nearby structures. The location where cables are attached to the system becomes the anchor points. Sus-pended anchor points provide more flexibility for the transformation of the surface.

For this application , bottom actuators (both BH and BV as seen in Ap-pendix 02) will reshape the surface to create shade and shelter. At the same time, different actuators are needed to open and close centre apertures to create different porosity for better air flow.

Application 03 (Appendix 02)The Volume Change application number three is a cantilevered can-opy for a cafe or other functional purposes. Using a weight sensor on the ground platform, we can estimate the number of people under the shade. As this number increases and reaches a given limit, the surface expands its geometry and allows more people to have activities under the shade. For this configuration, all four actuators need to be activated. When it is fully extended, the two corners of the canopy touch the ground for additional support while one side remain attach to the wall. For more stability, the side that is attached to the wall is extruded higher than the side that touch the ground.


bascule bridge folding bridge curlig bridge vertical lift bridge table bridge

retractable bridge rolling bascule bridge submersible bridge tilt bridge swing bridge

Retractable bridge Rolling bascule bridge Submersible bridge

Bascule bridge Folding bridge Curling bridge






retractable bridge rolling bascule bridge submersible bridge tilt bridge swing bridgeBridge ApplicationThere are several types of movable bridges. Some interesting exam-ples are the bascule bridge, the folding bridge, the curling bridge, the vertical-lift bridge, the table bridge, the retractable bridge, the rolling bascule bridge, the submersible bridge, the tilt bridge, and the swing bridge, as shown on fig. 5.01.

The curling and rolling bridge designed by Heatherwick Studio, in Lon-don, uses hydraulic cylinders that can be expanded in order to change its railing geometry hence curling the bridge letting a boat pass by. Using a similar concept, we propose a new type of movable bridge; The Expandable Bridge. The bridge expands on one side and forces the geometry to curve upwards thus generating sufficient space for a boat to pass.

11505.2. Bridge Application





Tilt bridge Swing bridge

Vertical lift bridge Table bridge



EXPANDABLE BRIDGE

Fig. 5.01Different solutions for movable bridges[Ref. Illustrative:5.01]

Fig. 5.02Proposed application for a movable bridge[Ref. Illustrative:5.02]

Fig. 5.01 Fig. 5.02







In order for the system to perform as needed, the type of actuators and the power source are an important aspect. Our proposal uses only one actuator type; the Top Vertical actuator, as seen in page 82. During the development of the system, several sources of energy such as sun, wind, and water where evaluated.


Fig. 5.06

(a)

(c)

(b)

(d)

Power SourceWater weight

Power SourceIn order to make the system more efficient, a natural source of energy is used and converted to power the actuators that activate the bridge. Since the bridge is above water, water becomes the constant energy source in comparison to sun and wind. In the cases of water locks, water is moved constantly as it is being used to transport boats from a higher level to a lower level and vice versa. This potential energy can be used to generate usable power such as electricity and pressure. To generate enough electric power, water needs to flow at a constant rate. The electric power that is generated needs to be stored into a bat-tery system so it can be used at any time. Our system needs a direct use and conversion of the potential energy stored in the water, there-fore, this idea is quickly put aside. The second idea is to use the volume of the water as weight to coun-teract and lift the structure. Window hinges are used as actuators be-tween the components in the direction of the span. Conventional win-


(a)

Power SourcePneumatic Air Bags

Air bags

Pipes

Floater

Canister

Fig. 5.07 Fig. 5.08(b)

Fig. 5.06Bridge actuator using window hinge. (a) actuator closed, (b) weight of the water pulls down actuators to open, (c) actuators stay open, (d) actuators close after boat passes by.[Ref. Illustrative:5.06]

Fig. 5.07Bridge actuator using air bags. (a) closed stage, (b) as water raises, air is pumped to the air bags.[Ref. Illustrative:5.07]

Fig. 5.08Pneumatic bag actuator[Ref. Illustrative:5.08]

dow hinge has three pivot points. As two points on the wall side are getting closer, the third point on the window side is getting farther away hence creating a wider opening. The weight of the water will pull these two points closer to each other while pushing the third point farther away to expand the gap between the component and the bridge up-ward. (fig. 5.03) The third idea is to create pressure pumps with the rising and lowering of the water level. To do this, airtight pipes or canister are installed in the lock. The bottom side is capped with a floater that pushes air up and down according to water level. The top of the canister is connected to air hoses/pipes that will transfer the pressurized air to airbags in be-tween the components in the direction of the span. (fig. 5.04)

Presto lift, a company that specializes in pumps, has a product that uses pneumatic air bags as actuators to tilt table tops for heavy duty lifting. (fig. 5.07)

In all three different power generator types, time scale is an important aspect for the system. The bridge has to be fully curved up before the locks are filled and lower back down as water is released from the lock to let pedestrian walk across. Keeping this in mind, pneumatic air bags are the most adequate solution for the system. Bags will be filled when water lock is filled and emptied out as the lock releases water.


0’00’’

Position 1. Closed Mode

Fig. 5.03

Bridge Sequence

This bridge application is specially oriented to medium size locks in a urban area where the spam required is not too big due to the structural limitations that the system still might have.

As the time that the average locks we have been looking at in London take to be filled up is around 3 and 5 minutes, the system would take the same time to expand simultaneously with the water and provide enough height for the boat.

Fig. 5.03 shows Position 1 (closed mode). The water level is low and the boat needs to use the lock to go up. There is no need of more height for the boat when the water level is in this stage so the bridge is horizontal and people can walk from one side of the lock to the other.


1’30’’ 3’00’’

Fig. 5.03Position 1. Time: 0’00’’[Ref. Illustrative:5.03]

Fig. 5.04The structure is being activated to adopt position 2. Time: 1’30’’[Ref. Illustrative:5.04]

Fig. 5.05Position 2Time: 3’00’’[Ref. Illustrative:5.05]

Position 2. Open ModeDuring the process

Fig. 5.05Fig. 5.04

Fig. 5.04 represents a stage in between position 1 and position 2. The lock is being filled up with water and the bridge starts expanding. Con-sequently the bridge is not walkable any more until it goes back to position 1.

Finally in fig. 5.05 the level of the water is in the maximum height and the boat has reached to its destination. The bridge is fully open and the boat can cross underneath it.


5.90

2.50

7.80

0.85

0.50 0.55

0.55

1.10

0.55

0.50 0.55

0.55

1.10

0.55

1.05

1.80

0.90

1.70

0.85

1.65

5.90

2.50

7.80

0.85

0.50 0.55

0.55

1.10

0.55

0.50 0.55

0.55

1.10

0.55

1.05

1.80

0.90

1.70

0.85

1.65

5.90

2.50

7.80

0.85

0.50 0.55

0.55

1.10

0.55

0.50 0.55

0.55

1.10

0.55

1.05

1.80

0.90

1.70

0.85

1.65

Position 1.Longitudinal Elevation

Position 1.Transversal Elevation

Position 1.Plan

Fig. 5.39

Bridge Specification

The bridge is made with 24 equal components of 90 cm by 85 cm. This was made so in order to ensure sufficient area for people to step on each component comfortable but yet small enough so that it can reach the required curvature.

Because of the fact that the only direction of expansion needed for the bridge is the perpendicular to its span, only vertical top actuators are activated (see fig. 5.39). Horizontal Top actuators and Horizontal + Vertical Bottom actuators are not needed and therefore their joints are not hinges but static connections.


5.90

2.50

7.80

0.85

0.50 0.55

0.55

1.10

0.55

0.50 0.55

0.55

1.10

0.55

1.05

1.80

0.90

1.70

0.85

1.65

5.90

2.50

7.80

0.85

0.50 0.55

0.55

1.10

0.55

0.50 0.55

0.55

1.10

0.55

1.05

1.80

0.90

1.70

0.85

1.65

5.90

2.50

7.80

0.85

0.50 0.55

0.55

1.10

0.55

0.50 0.55

0.55

1.10

0.55

1.05

1.80

0.90

1.70

0.85

1.65

Used Actuators

Position 2.Longitudinal Elevation

Position 2.Transversal Elevation

Position 2.Plan

Fig. 5.39Bridge dimensions in Position 1 [Ref. Illustrative:5.39]

Fig. 5.40Bridge dimensions in Position 2. Actuators location [Ref. Illustrative:5.40]

Fig. 5.39


Component 10cm

Top Actuator 10cm

Bottom Actuator 10cm

MEMBER DEPTH

Component 10cm

Top Actuator 10cm


MEMBER TYPE

MEMBER TYPE

MEMBER DEPTH

Fig. 5.09

Fig. 5.11

Fig. 5.10 Fig. 5.12

steel aluminum wood

0.072071 0.074367 0.109991

10

20

max. displacement (m)

stru

ctur

al m

embe

r dep

th (

cm)

6 m

.sp

an

1.5 m.

width

MATERIAL INVESTIGATION Steel, Aluminium, Wood

Displacement in Steel “0” curvature

Displacement in Steel “max” curvature

Deformation under gravity


F1 = Gravity

Max. Displacement

Max. Displacement

F1 = Gravity

Material AnalysisKaramba is a finite element analysis module within Grasshopper and fully parametrizable.

“Karamba is a work in progress. Although being tested thoroughly it probably contains errors – therefore no guarantee can be given that Karamba computes correct results. Use of Karamba is entirely at your own risk. Please read the licence agreement that comes with Karamba in case of further questions.”

In regards to structural performance, we have broken down our inves-tigation into two main categories. The first category compares steel, aluminium and wood, and the second category singles out the most efficient material for further study.

The following studies make use of Karamba. This tool becomes essen-tial as it allows for a constant study of structural performance through-out the design evolution. In this case, the bridge design is analysed at


Component 10cm

Top Actuator 10cm


MEMBER TYPE MEMBER DEPTH

Component 10cm

Top Actuator 10cm



Component 10cm

Top Actuator 10cm



Component 10cm

Top Actuator 10cm



Deformation under gravity Deformation under gravity

07 karamba_manual_0.9.06.pdf (http://twl.uni-ak.ac.at/karamba/)

Fig. 5.13 Fig. 5.15

Fig. 5.14 Fig. 5.16

Displacement in Aluminum “0” curvature Displacement in Wood “0” curvature

Displacement in Aluminium “max” curvature Displacement in Wood “max” curvature


Max. Displacement Max. Displacement


F1 = Gravity F1 = Gravity


Fig. 5.09Geometry of the bridge[Ref. Illustrative:5.09]

Fig. 5.10Maximum displacements of the strc-ture for different materials [Ref. Illustrative:5.10]

Fig. 5.11Displacement of the structure in Steel_position 1[Ref. Illustrative:5.11]

Fig. 5.12Displacement of the structure in Steel_position 2[Ref. Illustrative:5.12]

Fig. 5.13Displacement of the structure in Aluminum_position 1[Ref. Illustrative:5.13]

Fig. 5.14Displacement of the structure in Wood_position 1[Ref. Illustrative:5.14]

Fig. 5.15Displacement of the structure in Aluminum_position 2[Ref. Illustrative:5.15]

Fig. 5.16Displacement of the structure in Wood_position 2[Ref. Illustrative:5.16]

two stages; first as a pedestrian bridge at “0” curvature and second, as it becomes kinetic at its “maximum” curvature which allows passage to the boats in the canal.

Thus far, our investigation only covers structural integrity under grav-ity loads. However, we are able to analyse structural displacement in order to compare and contrast 3 main materials based on their profile depth. In this instance, we are testing steel (fig 5.14), aluminium (5.16), and wood (fig 5.18).

Effectively, the structure of the proposed bridge is divided into 2 groups. The primary structure constituting of a truss system, and the secondary structure divided into two sets of linear actuators; one at the bottom of the truss frame and another one located at the top of truss respectively (see fig. 5.57 pg 154).

Then, the goal in this exercise is to analyse all structural components

with respect to material depth (height) and material thickness. In this case, identical material properties have been applied to the truss sys-tem (primary structure) and both sets of linear actuators (secondary structure). Three different materials (steel, aluminium, wood) are test-ed and evaluated against each other.

For these tests, the inputs taken into consideration are gravity and the material’s self weight. Under these loads, we considered the Material Displacement as the main method for evaluation. Simply, we compare and contrast the results between steel, aluminium and wood, and pro-ceed with the material displaying the least Material Displacement.

In this case, we will proceed our investigation with Steel.

Results for Steel (see Fig. 5.11, 5.12).Results for Aluminium (see Fig. 5.13, 5.14).Results for Wood (see Fig. 5.15, 5.16).


F1 = Gravity

Primary Frame (depth)

Top Actuator (depth)

Bottom Actuator (depth)

STRUCTURAL COMPONENT DEPTH BY TYPE

10cm.

10cm.

10cm.

Type A Type B Type C Type D Type E

10cm.

8cm.

8cm.

10cm.

5cm.

8cm.

10cm.

8cm.

5cm.

10cm.

5cm.

5cm.

F1 = Gravity

Structural ComponentTYPE A (see Fig. 5.18)

Structural ComponentTYPE A (see Fig. 5.18)

Primary Frame

Top Actuator

Bottom Actuator

Fig. 5.19

Fig. 5.20

Displacement in “0” curvature

Displacement in “max” curvature



Max. Displacement

Max. Displacement

STRUCTURAL PERFORMANCE INVESTIGATION Steel

Fig. 5.17

Fig. 5.18

Structural AnalysisIt is imperative to mention that the structural studies carried out in these exercises entail a none kinetic structure. Further analysis is required to test the properties from Air Bag Actuators in relation to the proposed kinematic structure. (see Pg. 117. fig 5.08)

Continuing from the previous structural analysis, we move forward with the application of steel as the main structural material.

However, the goal in this exercise is to break down all structural com-ponents (see Fig. 5.17), and analyse their interaction with respect to the structural design as a whole. Simultaneously, this analysis is car-ried out in relation to different material depths (height) and material thickness for each component within the structural frame.

In other words, the aim is to generate an adequate combination of structural elements exhibiting different characteristics depending on the forces exerted from one element to the next.



Structural Component Structural ComponentTYPE B (see Fig. 5.18) TYPE C (see Fig. 5.18)

Structural Component Structural ComponentTYPE B (see Fig. 5.18) TYPE C (see Fig. 5.18)



Fig. 5.21 Fig. 5.23

Fig. 5.22 Fig. 5.24

Displacement in “0” curvature Displacement in “0” curvature

Displacement in “max” curvature Displacement in “max” curvature




Fig. 5.17Identification of the members within the system[Ref. Illustrative:5.17]

Fig. 5.18Structural component types for the different tests[Ref. Illustrative:5.18]

Fig. 5.19Displacement diagram for the struc-ture in Steel when the depths of the members are as Type A_position 1[Ref. Illustrative:5.19]

Fig. 5.20Displacement diagram for the struc-ture in Steel when the depths of the members are as Type A_position 2 [Ref. Illustrative:5.20]

Fig. 5.21Displacement of the structure in Steel when the depths of the members are as Type B_position 1 [Ref. Illustrative:5.21]

Fig. 5.22Displacement of the structure in Steel when the depths of the members are as Type C_position 1 [Ref. Illustrative:5.22]

Fig. 5.23Displacement of the structure in Steel when the depths of the members are as Type B_position 2 [Ref. Illustrative:5.23]

Fig. 5.24Displacement of the structure in Steel when the depths of the members are as Type C_position 2 [Ref. Illustrative:5.24]

After several iterations (see Fig. 5.18), the best combination found was when lower and bottom actuator share the same material properties.

For further exploration, Galapagos; an evolutionary computing soft-ware may be used as a solver to finding different thickness combina-tion of members to get the smallest displacement in relation to the total weight of the structure.


F1 = Gravity

F1 = GravityF1 = Gravity

F1 = Gravity

Structural ComponentStructural ComponentTYPE E (see Fig. 5.18)TYPE D (see Fig. 5.18)

Structural ComponentStructural ComponentTYPE E (see Fig. 5.18)TYPE D (see Fig. 5.18)

Displacement in “0” curvatureDisplacement in “0” curvature

Displacement in “max” curvatureDisplacement in “max” curvature

Deformation under gravityDeformation under gravity

Deformation under gravityDeformation under gravity

Max. DisplacementMax. Displacement

Max. DisplacementMax. Displacement

Fig. 5.27

Fig. 5.28

Fig. 5.25

Fig. 5.26


stru

ctur

al m

embe

r dep

th b

y T

ype

max. displacement (m.)

Type A

.072071 .078627 .096695.086424 .104166

Type B

Type C

Type D

Type E

stru

ctur

al m

embe

r dep

th b

y T

ype

max. displacement (m.)

Type A

.195124 .208262 .225224.222358 .241619

Type B

Type C

Type D

Type E

.072071

.078627

.096695

.086424

.104166

6 m.

span

max

. dis

plac

emen

t (m

.)

type A

type B

type C

type D

type E

type A

type B

type C

type D

type E

.072071

.78627

.086424

.096695

.104166

span (m)

4 m.

.195124

.208262

.225224

.222358

.241619

6 m.

span

max

. dis

plac

emen

t (m

.)

.072071

.78627

.086424

.096695

.104166

span (m)

4 m.

The graphs shown above compare and contrast max. displacement with respect the span and structural member depth within the bridge design.

Max. displacement at “0” curvature

Max. displacement at “0” curvature

Fig. 5.31

Fig. 5.32

Fig. 5.29

Fig. 5.30

Fig. 5.25Displacement diagram for the struc-ture in Steel when the depths of the members are as Type D_position 1[Ref. Illustrative:5.25]

Fig. 5.26Displacement diagram for the struc-ture in Steel when the depths of the members are as Type E_position 1[Ref. Illustrative:5.26]

Fig. 5.27Displacement diagram for the struc-ture in Steel when the depths of the members are as Type D_position 2 [Ref. Illustrative:5.27]

Fig. 5.28Displacement diagram for the struc-ture in Steel when the depths of the members are as Type E_position 2[Ref. Illustrative:5.28]

Fig. 5.29Compariton of max. displacement among types A to E_position 1 [Ref. Illustrative:5.29]

Fig. 5.30Displacement diagram for the struc-ture in Steel when the depths of the members are as Type C_position 1 [Ref. Illustrative:5.30]

Fig. 5.31Compariton of max. displacement among types A to E_position 2 [Ref. Illustrative:5.31]

Fig. 5.32Displacement diagram for the struc-ture in Steel when the depths of the members are as Type C_position 2 [Ref. Illustrative:5.32]


ROTATION AXIS:

X Axis = XR

Y Axis = YR

Z Axis = ZR

XR

ZR

YR

Z

X

Y

X

TRANSLATION AXIS:

X Axis = XT

Y Axis = YT

Z Axis = ZTXT

ZT

YT

Z

X

Y

X

At JointDOF = YR

COMPONENT DOF TYPES

At hinges = XR

At ground = ZT

steel rod onto hinge

steel rod onto hinge

steel plate

anchor bolts

concrete pedestal

steel clip

steel plate

anchor bolts

concrete pedestal

steel clip

steel plate

anchor bolts

concrete pedestal

steel clip

Component / Element Degrees Of Freedom (DOF)

PROFILE VIEW

FRONT VIEW

PLAN VIEW

Fig. 5.33 Fig. 5.34

FoundationIn mechanics, Kinematics and Degrees of Freedom complement each other. On one hand, Kinematics refers to the study of motion over time, and on the other, Degrees of Freedom (DOF) refer to the application of a coordinate system (x,y,z) not only to describe motion, but also for the production of and understanding of movable machines. Degrees of Freedom are then divided into two categories, “Rotation and Translation”, each one of them corresponding to their own axis and subdivided into 3 movement types. In our case, we utilize this concept in order to understand and cata-logue the various types of geometry displacement within the proposed kinetic system, mainly for the design of hinges and joint types depend-ing on different location or position of the anchor points on the system. Points on the lower corners need different degrees of freedom than the top corner.


At JointDOF = XR

At JointDOF = XR

At JointDOF = XR

At JointDOF = XR

Element Pair DOF Types

At hinges = XR

At ground = ZT

SINGLE ELEMENT DOF TYPES

At hinges = XR

At ground = ZT

steel plate

joint to pivot

gusset plate

anchor bolts

steel plate

joint to pivot

gusset plate

anchor bolts

steel clip

steel clip

steel plate

joint to pivot

gusset plate

anchor bolts

steel clip

steel plate

joint to pivotsteel clip

conc. pedestal

steel tube

joint to pivotat steel tube

steel clip

conc. pedestal

joint to pivotat steel tube

steel clip

conc. pedestal

PROFILE VIEW PROFILE VIEW

FRONT VIEW FRONT VIEW

PLAN VIEW PLAN VIEW

Fig. 5.36Fig. 5.35

Fig. 5.33Rotation and translation axes for the Degrees of Freedom (DOF)[Ref. Illustrative:5.33]

Fig. 5.34Anchor Points. TYPE A[Ref. Illustrative:5.34]

Fig. 5.35Anchor Points. TYPE B[Ref. Illustrative:5.35]

Fig. 5.36Anchor Points. TYPE C[Ref. Illustrative:5.36]

With this technique, we have broken down a single component into 3 combination types. The first one refers to the component itself, while the other two types correspond to the coupling of two elements hinged together, and one last type corresponding to a single element. The component type is the most versatile unit, allowing for both trans-lation and rotation axis. It is simply divided into 4 elements hinged to-gether capable of rotating at an “x,y,z-axis”. However, enabling a total displacement of 6 degrees of freedom due to the joint at ground level, allowing for a translation movement in the z-axis, and also due to linear actuators at each pair of elements allowing for translation at x-y axis. The second type corresponds to two elements hinged together allow-ing 4 degrees of freedom. One degree of rotation in the Y-axis, and another rotational degree of freedom in the X-axis, which as a result of coupling the two, we gain two new degrees of freedom as a translation movement in X and Y axis.

The last type degree of freedom is simply a single element hinged at the ground allowing translation in the X-axis.


Bridge Foundation Degrees Of Freedom (DOF)

Front View

Profile View

Gusset Plate

Anchor Bolts

Steel Plate

Gusset Plate

Anchor Bolts

Steel PlateMechanical ArmDOF = XR

Linear ActuatorDOF = YT

Mechanical ArmDOF = XR


Gusset Plate

Anchor Bolts

Steel Plate

Mechanical ArmDOF = XR


Truss JointDOF = XR

Truss JointDOF = YT

NOTE: mechanical arm at foundationresponding to linear actuators at bridge

Linear Actuator incompression & tension

Truss Member

DOF = YT

DOF = XR

PLAN VIEW FRONT VIEW

PROFILE VIEW

Fig. 5.37Fig. 5.37 (a)

Fig. 5.37Truss Diagram[Ref. Illustrative:5.37]

Fig. 5.38Detail of plates for the foundation of the bridge. (a) Profile view, (b) Plan view, (c) Front view[Ref. Illustrative:5.38]

Foundation

All points of foundation are diagrammed with six degree of freedom. These are three degree of rotations and three degree of translations; each to the x, y, and z axis. Different foundation types will be need-ed based on different location or position of the points on the system. Points on the lower corners of the system might need different degrees of freedom than the top corners or the middle sections of the system.

Fig. 5.37 (b) Fig. 5.37 (c)


T1.Step 1

T1.Step 5

T1.Step 2

T1.Step 6

T1.Step 3

T1.Step 7

T1.Step 4

T1.Step 8

Fig. 5.41

Fabrication and Assembly Based on the digital exploration, we realized that assembly process can be simplified by breaking the system down into repetitions of the same component. Five elements made up a component. These unique elements are planar and no special chamfer or bevel edges are need-ed. Parts fabrication is a simple and straight forward process while as-sembly is very labour intensive. Each element parts are connected to one and another by hinges.

In a place like California, fabrication process can be relatively cheap and fast due to the advance technologies such as digital fabrication. However, in a small village in India, fabrication process might be more expensive in relation to construction process due to less expensive labour.In the process of making 1:5 scale model, we test two assembly tech-niques. Both techniques can be managed with its own pros and cons.

T1:


T2.Step 1

T2.Step 5

T2.Step 2

T2.Step 6

T2.Step 3

T2.Step 7

T2.Step 4

T2.Step 8

Fig. 5.41Assembly process as defined in T1[Ref. Illustrative:5.41]

Fig. 5.42Assembly process as defined in T2[Ref. Illustrative:5.42]Fig. 5.42

With this assembly process, parts can be pre-assembled to step 5 for flat packaging. Parts from step 4 and step 5 are the only parts that need to be transported to the site for final assembly. With the 1:5 scale model, this arrangement create difficult to reach spaces and angles for the final assembly. Depending on the access to the site and the ease of cargo transportation, this assembly process requires larger dimension for the flat pack of step 5.

T2: With this assembly process, parts can be pre-assembled to step 4 for flat packaging. Parts from step 1 and step 4 are the only parts that need to be transported to the site for final assembly. With the 1:5 scale model, it is easier to construct the final assembly. Depending on the access to the site and the ease of cargo transportation, this assembly process requires smaller dimension for the flat pack of step 4.

Constructing a 1:5 scale model on a desk is a challenge; however, constructing the final assembly of a bridge on site is a different process that needs to be studied with further research.


Fig. 5.43

(a)

(d)

(g)

(b)

(e)

(h)

(c)

(f)

(i)


Fig. 5.43Physical model. Sequence of different captures of the transition between position 1 and position 2[Ref. Illustrative:5.43]

Fig. 5.44Physical model[Ref. Illustrative:5.44]

Fig. 5.44

136

Conc

lusio

ns

06

Evaluation & ConclusionLooking back at the original objectives of this research we can see that there were three main points that have been targeted and achieved successfully.

1.- A single structure that has the capability to adapt its volume and functions has been developed. The three different applications show, that the system is able to to be used for different functional purposes. The system is functionally adaptable, able to increase its volume and area and it is structurally stable. (Design Development, chapter 05.1)

2.- Furthermore, it is a system that has the capability to adjust its sur-face porosity in order to achieve different spatial qualities in response to various environmental conditions. This was digitally explored by using Ecotect, Geco and Arduino. This software package allows for environmental data gathering providing solar values for each element and processing instructions as a kinetic response for surface change. (Preliminary Explorations, chapter 03.3 and Research Development, chapter 04.3.4.1)

3.- Finally, we have developed a component based system utilizing a minimum number of elements for populating a surface. However, the

number of unique elements depends on the design application and complexity of any specific project. For instance, the generic surfaces tested during Research Development (chapter 04.2) require only 2 dif-ferent geometry types. On the contrary, the number of elements need-ed for each component into the bridge design are 5 unique elements (chapter 05.2.5). In essence, orthogonal surfaces within our system allow for only a few number of unique elements as an advantage into fabrication and assembly time.

Starting from basic origami patterns, and the study of their geometrical principles, we are able to develop an algorithm with seven different parameters that allows a component based system to adapt to various programmatic functions and to respond to various environmental con-ditions. (Research Development, chapter 04.1)

With the previously defined parameters, the system becomes an adaptable and responsive space frame structure. Once components are distributed on a surface, their interaction is a collective behaviour acting as a single entity, which is able to to exhibit both isotropic and anisotropic properties.

137

Further Exploration

Despite these successful explorations, we think that there are certain aspects within the system that still need further exploration. The dif-ference between local and global transformation is an issue that we have discussed in chapter 03.2, chapter 04.2 and also briefly in chapter 04.3.3.5. This can be explored more in depth and precision into design proposals at larger scales. If local transformation can be achieved, how many different configura-tions can a structure have? And how many functions can this geometry host? How does this affect the actuators? The differentiation and combination of local and global movement goes along side with the different function and the duration of the movement. Transformation due to function changes can happen in a longer period of time while transformation due to environmental changes needs to respond immediately.

Further investigation is needed with respect to structural integrity; this may be accomplished by testing multiple structural algorithms such as; Strand 7, GSA or ANSYS.

Another aspect to be studied is the direct equation that relates the ma-terial stiffness with the system resistance (Parameter 7, chapter 04.1). Until now we have been able to determine the structural requirements for every element within the system and we have proven that we can visualise the deformation that every element undergoes during the opening-closing process. Simultaneously we have developed the el-ement in a way in which we can increase or decrease the material thickness according to the structural requirements of the element itself (page 104). From now on we need to find the link between the mate-rial stiffness and the system resistance value (explained in page 88) to redistribute the amount of material in the element therefore optimizing its structural performance.

Simple planar cuts reduce the fabrication time and cost but increases the assembly cost due to the labour intensive of installing hinges. Dif-ferent fabrication techniques should be explored to reduce labour time in assembly. Can joints and hinges be integrated to the design of the elements?

138

Appe

ndix

07

139

07. APPENDIX

07.1. APPENDIX 01. Digital and Physical Comparison _ Other Configurations

07.2. APPENDIX 02. Different Applications _ Other Applications

140 07. APPENDIX

Appendix 01Fig. 7.01Configuration 01. Closed Stage. Ac-tuators length (cm); [Horizontal x Verti-cal]: 2,5 x 2,5[Ref. Illustrative:7.01]





Digital and Physical ComparisonIn Appendix 01 we will include the totality of the tests and different con-figurations that were done for the Research Development (chapter 4) in terms of Digital and Physical behaviour comparison.

Note that not only the examples explained in Chapter 4 (Configura-tions 2, 3, 6 and 10) are the ones that influenced the conclusions of the chapter (pages 108 -109) but also the ones included in this Appendix 01.

14107.1. APPENDIX 01. Digital and Physical Comparison_Other Configurations








Configuration 01

Configuration 06

Configuration 02

Configuration 07

Configuration 03

Configuration 08

Configuration 04

Configuration 09

Configuration 05

Configuration 10

142 07. APPENDIX

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

2.5 cm Actuators




6.6

17.6

41.7

12.7

94.0

R69.7

23°

12°

23°

12°

R69.3

92.1

10.915.6

51.7

47.8

12.712.7

10.937.5 41.7

R69.3R69.7

50.1

93.7



Configuration 04

This experiment directly links, compares and contrasts the results from the digital model to the results from the physical model. We analyse results in terms of fabrication, actuator sequence engagement, kinetic behaviour, and shape change.

In terms of fabrication, we are able to accurately extract two-dimen-sional elements directly from the three-dimensional model, which en-able the assembly for the physical prototype. This is due to the simple geometry of the component; a combination of 8 triangular pieces and a single square, however, simple the component, it is extremely flexible and it allows for an array of configuration types. As a result, the accu-racy between digital and physical models is nearly identical. However, it is relevant to note that minor discrepancies between the two models are due to human error and due to the fact that within the digital model, we fail to take in consideration the hardware material thickness that

joins one element to the next. In this case, brass hinges. Also, there is the absence of material thickness in the digital model, which must be taken into account before building assembly. Otherwise, there are discrepancies that may increase exponentially when it comes to the rotational motion of paired elements within every component.

Once the model has been assembled, we are able to study the se-quence between actuators that in turn generate volume. In this proto-type, the actuators are engaged along the y-axis. Although, there must always be engaged in sequence, this is not to say that this sequence has to take place in a predetermined order. However, the order of se-quence in which these actuators become engaged is crucial in order to minimize the force required for kinetic movement between compo-nents. In this fashion, actuator types may be purchased and calibrated according to how much force they are required to exert and withstand.

Fig. 7.11 Fig. 7.12

(a) (a)

(b) (b)


6.6

17.6

41.7

12.7

94.0

R69.7

23°

12°

23°

12°

R69.3

92.1

10.915.6

51.7

47.8

12.712.7

10.937.5 41.7

R69.3R69.7

50.1

93.7

6.6

17.6

41.7

12.7

94.0

R69.7

23°

12°

23°

12°

R69.3

92.1

10.915.6

51.7

47.8

12.712.7

10.937.5

41.7

R69.3

R69.7

50.1

93.7

6.6

17.6

41.7

12.7

94.0

R69.7

23°

12°

23°

12°

R69.3

92.1

10.915.6

51.7

47.8

12.712.7

10.937.5 41.7

R69.3R69.7

50.1

93.7

Conf. 04 (9,5x2,5) DIGITAL PHYSICAL

Length (cm) 93,7 82

Width (cm) 50,1 71,5



Volume (dm3) 137,9

Area (cm2) 4694,37Area (cm ) 4694,37


Another factor studied from comparing the digital and physical models is their kinetic behaviour. The main difference between them is in rela-tion to anchoring points within the digital model which in the physical world; they play the role of a foundation type. In turn, these anchor points become static in the digital model, while in the physical proto-type, we allow their displacement to allow interaction depending on the forces exerted at the time of kinetic movement between component. This freedom slightly increases the overall curvature in the geometry. On the contrary, their volume is nearly identical. In addition, the lack of gravity and self weight within the digital model also makes a difference.

Fig. 7.13 Fig. 7.14





(a)

(a)

(b)

(b)

(c)(c)

144 07. APPENDIX

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

2.5 cm Actuators




9.5 cm Actuators


70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

Configuration 05

This particular configuration undergoes the most homogeneous space change. In this case, all actuators are set to equal lengths. Therefore, being the prototype with the largest floor area and volume. The final geometry still is a dome like structure, however, its deployment pattern differs from all previous models in that it radiates out from a central point. Otherwise, we are able to conclude that all characteristics from previous configurations apply to this one.

Fig. 7.15 Fig. 7.16

(a) (a)

(b) (b)


96.4

76.2

96.5

77.17.8

3.0

5.7

12.4

3.0

11.4

R65.4

R69.3

R67.1

R69.7 R65.4

R67.1

R69.3

R69.7

39.0

39.0

16.2

39.0

78.5

95.9

96.4

76.2

96.5

77.17.8

3.0

5.7

12.4

3.0

11.4

R65.4

R69.3

R67.1

R69.7 R65.4

R67.1

R69.3

R69.7

39.0

39.0

16.2

39.0

78.5

95.9

96.4

76.2

96.5

77.17.8

3.0

5.7

12.4

3.0

11.4

R65.4

R69.3

R67.1

R69.7

R65.4

R67.1

R69.3

R69.7

39.0

39.0

16.2

39.0

78.5

95.9


Length (cm) 95,9 95

Width (cm) 78,5 78


Height (exterior) (cm) 39 30

Volume (dm3) 161,4

Area (cm2) 7528,15Area (cm ) 7528,15


Fig. 7.17 Fig. 7.18





(a)(a)

(b)(b)

(c) (c)

146 07. APPENDIX

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

2.5 cm Actuators




15.320.0

48.1

90.6

47.8

94.6

48.8

19.2

14.8

8.9

8.9

26.419.2

35°

19°

19°

35°

R58.3R55.8

R55.8 R58.3

47.1

42.442.4

48.1

48.1

94.6

15.320.0

48.1

90.6

47.8

94.6

48.8

19.2

14.8

8.9

8.9

26.419.2

35°

19°

19°

35°

R58.3R55.8

R55.8 R58.3

47.1

42.442.4

48.1

48.1

94.6



Configuration 07

Previously, in configuration 02 (see page 93), we analysed the results from the digital and physical models in terms of fabrication, actuator se-quence engagement, kinetic behaviour, and shape change. However, since the analysis of this configuration in terms of fabrication is nearly identical to the previous one, we will omit to a certain extent to address the discrepancies of this issue between the two model types; digital and physical. However,we will focus on this model’s actuator sequence type, in relation to kinetic behaviour and shape change.

In this case, the most radical difference takes place in the sequence in which actuators are engaged. In turn, having a direct relationship to shape change. In this case, the overall displacement of the final shape change occurs along the x-axis and y-axis. In comparison to the previous configuration, the actuator length in this model is greater. Therefore, they require a greater force as they are engaged into a ki-

netic mode. This means that the stress distribution along the entire structure becomes greater, the torque between components increases, and when it comes to shape change, these forces become apparent as each component begins to twist and rotate influencing the final shape change.

Then, in terms of shape change, the main difference between digital and physical models is due the lack of anchoring points (foundation) in the physical model.

By observing this shape change, we are able to conclude that depend-ing on the starting point of the sequence between actuators, there is a domino effect that begins to elevate one component to the next higher from the ground as stress increases as actuators are being en-gaged in sequence. However, this action allows us to understand the

Fig. 7.19 Fig. 7.20

(a) (a)

(b) (b)


15.320.0

48.1

90.6

47.8

94.6

48.8

19.2

14.8

8.9

8.9

26.419.2

35°

19°

19°

35°

R58.3R55.8

R55.8 R58.3

47.1

42.442.4

48.1

48.1

94.6

15.320.0

48.1

90.6

47.8

94.6

48.8

19.2

14.8

8.9

8.9

26.419.2

35°

19°

19°

35°

R58.3

R55.8

R55.8

R58.3

47.1 42.442.448.1

48.1

94.6

15.320.0

48.1

90.6

47.8

94.6

48.8

19.2

14.8

8.9

8.9

26.419.2

35°

19°

19°

35°

R58.3R55.8

R55.8 R58.3

47.1

42.442.4

48.1

48.1

94.6


Length (cm) 94,6 72

Width (cm) 80,5 68



Volume (dm3) 160,2

Area (cm2) 7615,3Area (cm ) 7615,3


distribution of stress, not only along the entire structure but also per component. Since the difference of forces between these components is much greater than in the previous configuration; their interaction can be mapped as a structural behaviour study and we can begin to calibrate each component in greater detail. This structural behaviour would cover the forces exerted from one actuator to the next, however, at this point, this information that would have to be developed in the near future, as we will keep on focusing on kinetic behaviour and shape change.

Fig. 7.21 Fig. 7.22





(a)

(a)

(b)(b)

(c)(c)

148 07. APPENDIX

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

2.5 cm Actuators





12.0 cm Actuators

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

Configuration 08


Fig. 7.23 Fig. 7.24

(a) (a)

(b) (b)


80.1

99.5

78.2

94.9

3.1

15.2

6.7

14.4

9.2

R70.5

R56.0

R59.4 R59.7

R70.5

R56.0

R59.7R59.4

42.742.7

81.9

100.0

80.1

99.5

78.2

94.9

3.1

15.2

6.7

14.4

9.2

R70.5R

56.0

R59.4

R59.7

R70.5

R56.0

R59.7

R59.4

42.742.7

81.9

100.0

80.1

99.5

78.2

94.9

3.1

15.2

6.7

14.4

9.2

R70.5

R56.0

R59.4 R59.7

R70.5

R56.0

R59.7R59.4

42.742.7

81.9

100.0


Length (cm) 100 92

Width (cm) 81,9 80



Volume (dm3) 182,1

Area (cm2) 8190Area (cm ) 8190


Fig. 7.25 Fig. 7.26


Fig. 7.24Open Stage. Actuators length (cm); [Horizontal x Vertical]: 12,0 x 12,0. (a) perspective, (b) plan view show-ing actuator’s location and direction of opening[Ref. Illustrative:7.24]



(a)(a)

(b)(b)

(c)(c)

150 07. APPENDIX

70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

2.5 cm Actuators


Open StageActuators length: gradient 01


70.9

53.9

70.9

53.8

24.5

24.1

70.9

53.8

R363.5

R362.4

R355.1

R403.9

62.4

97.7

3.6

2.3

R81.1

R68.3

R77.0R57.1

9.6

9.5

6.4

R68.3

R81.1

79.879.8

99.2

Configuration 09Actuators length: gradient 01



Configuration 09


Fig. 7.27 Fig. 7.28

(a) (a)

(b) (b)


62.4

97.7

3.6

2.3

R81.1

R68.3

R77.0R57.1

9.6

9.5

6.4

R68.3

R81.1

79.8 79.8

99.2

62.4

97.7

3.6

2.3

R81.1

R68.3

R77.0

R57.1

9.6

9.5

6.4

R68.3

R81.1

79.879.8

99.2

62.4

97.7

3.6

2.3

R81.1

R68.3

R77.0R57.1

9.6

9.5

6.4

R68.3

R81.1

79.8 79.8

99.2

Configuration 09 (gradient 01) DIGITAL PHYSICAL

Length (cm) 97,7 84

Width (cm) 62,4 76

Height (interior) (cm) 9,6 8,5


Volume (dm3) 166,2

Area (cm2) 6096,48Area (cm ) 6096,48

Max. Radius of Curvature (cm) 77

Fig. 7.29 Fig. 7.30


Fig. 7.28Open Stage. Actuators length (cm); [Horizontal x Vertical]: gradient 01. (a) perspective, (b) plan view show-ing actuator’s location and direction of opening[Ref. Illustrative:7.28]



(a)(a)

(b)(b)

(c)

(c)

152 05. DESIGN DEVELOPMENT

Appendix 02 Different applicationsAs said before in the introduction of the Design Application (chapter 5, page 112), three different simple yet specific design applications are tested with the system to validate its adaptability. Each of them will specifically serve to one purpose and try to solve a single techni-cal problem. In this Appendix 02 we show two different applications that explore aspects like porosity, environmental response and volume change.

15307.2. APPENDIX 02. Different Applications_Other Applications


0:00


Application 2:

Surface Deformation and Environmental Performance

This application is for a canopy that changes its form and surface po-rosity based on the climatic condition. The system is suspended with cables from nearby structures or other natural elements like trees. The location where cables are attached to the system becomes the anchor points. Suspended anchor points provide more flexibility for the trans-formation of the surface as the boundaries are not constrained and each component has the freedom to expand in all directions.

For this application , bottom actuators (both Bottom horizontal and Bot-tom Vertical) will reshape the surface to create shade and shelter. At the same time, different actuators located in the planar squared sur-faces of the surface open and close centre apertures to create differ-entiated porosity according to the environmental conditions for a more comfortable space underneath. This Responsive Component was al-ready explained in the Preliminary Explorations (chapter 3, pages 58-

Fig. 7.31


0:30 1:00

During the process Position 2. Open Mode

Fig. 7.31Application 2. Position 1.[Ref. Illustrative: 7.31]

Fig. 7.32Application 2. The canopy is being activated to adopt position 2.[Ref. Illustrative: 7.32]

Fig. 7.33Application 2. Stage 2.[Ref. Illustrative:7.33]

Fig. 7.33Fig. 7.32

63) and in the Research Development (chapter 4, pages 102-107).

Fig. 7.31 shows the system completely horizontal as all the actuators that control the surface shape are completely closed and locked. How-ever the Responsive Components (squared surfaces) perform accord-ing to the environmental conditions.

Fig. 7.32 represents an instant in between the closed position (stage 1) and the open position (stage 2). The bottom actuators are activated and therefore the surface starts curving in a concave shape. The Responsive Components read the new conditions in each surface and readjust their opening degree accordingly to this new position.

Finally, in the closed position (stage 2, fig. 7.33) the bottom actuators open completely and the surface reaches its maximum curvature. The Responsive Components continue readjusting their opening to gener-ate the desired conditions underneath.


0:00

Fig. 7.34

Application 3:

Surface change

Application number three is a cantilevered canopy for a cafe or other functional purposes that require a different area depending in seasons or people attendance. By using a weight sensor on the ground plat-form, the number of people under the surface can be estimated. As this number increases and reaches a given limit, the surface expands its geometry and allows more people to have activities under the shade. For this configuration, all four actuators need to be activated simultane-ously. When it is fully extended, the two corners of the canopy touch the ground for additional support while one side remain attached to the wall. For more stability, the side that is attached to the wall is extruded higher than the side that touch the ground.



Fig. 7.34Application 1. Position 1[Ref. Illustrative: 7.34]

Fig. 7.35Application 1. The canopy is being activated to adopt position 2[Ref. Illustrative:7.35]

Fig. 7.36Application 1. Stage 2[Ref. Illustrative:7.36]

Fig. 7.36Fig. 7.35

0:45 1:30

During the process Position 2. Open Mode

158

Bibl

iogr

aphy

08

BibliographyBooks

Agkathidis, Asterios. Modular structures in design and architecture. English language ed. Amsterdam: Bispublishers, 2009.

Agkathidis, Asterios, Johan Bettum, Markus Hudert, and Harald Kloft. Digital manufacturing in design and architecture. Amsterdam: BIS publishers, 2010.

Brownell, Blaine Erickson. Transmaterial 3 a catalog of materials that redefine our physical environment. New York, N.Y.: Princeton Architectural Press, 2010.

Fox, Michael, and Miles Kemp. Interactive architecture. New York: Princeton Architectural Press, 2009.

Hensel, Michael, and Achim Menges. Morpho-ecologies. London: Architectural Association, 2008/2006.

Iwamoto, Lisa. Digital fabrications: architectural and material techniques. New York: Princeton Architectural Press, 2009.

159

Articles

Sterk, Tristan. ‘Building Upon Negroponte: A Hybridized Model Of Control Suit-able For Responsive Architecture’ eCAADe 21, p.406-414. Austria. 2003.

Sterk, Tristan. ‘Shape Control In Responsive Architectural Structures – Current Reasons & Challenges’ 4th World Conference on Structural Control and Moni-toring. The School of Interactive Arts & Technology, Simon Fraser University, Canada. 2006.

Sterk, Tristan. ‘Using Actuated Tensegrity Structures to Produce A Responsive Architecture’ ACADIA 22: Connecting Crossroads of Digital Discourse, p.84-93. The School of The Art Institute of Chicago, USA. 2003.

Jackson, Paul. Folding Techniques for Designers: from sheet to form. London: Laurence King Pub., 2011.

Jansen, Theo, and Johannes Niemeijer. The Great pretender: Works of art by Theo Jansen.. Rotterdam: Uitgeverij 010, 2007.

Kronenburg, Robert. Flexible: architecture that responds to change. London: Laurence King, 2007.

LeCuyer, Annette, Stefan Lehnert, Ian Liddell, and Ben Morris. ETFE: Tech-nology and Design. 1. ed. Basel: BirkhaÌˆuser, 2008.

Lim, Joseph. Bio-structural analogues in architecture. Amsterdam: BIS Pub-lishers, 2009.

Lim, Joseph. Eccentric structures in architecture. Amsterdam: BIS Publishers, 2010.

Schumacher, Michael, Oliver Schaeffer, and Michael Vogt. Move: architecture in motion : dynamic components and elements. Boston,MA: Birkhaeuser,2010

Truco, Jordi. PARA-Site:Time Based Formations Through Material Inteligence. Barcelona, Spain: ELISAVA, 2011.

Vyzoviti, Sophia. Folding architecture: spatial, structural and organizational diagrams. Corte Madera, Calif.: Gingko Press, 2004.

Vyzoviti, Sophia. Supersurfaces: folding as a method of generating forms for architecture, products and fashion. Corte Madera, Calif.: Gingko Press, 2006.

160 08. BIBLIOGRAPHY

Illustrative referencesFig. 1.01Different plan configurations in Gary Chang’s apartmentRetrieved from: http://www.edge.hk.com/en/index.php

Fig. 1.02Sliding walls inside Gary Chang’s apartmentRetrieved from: http://www.edge.hk.com/en/index.php

Fig. 1.03Mechanical actuators and railing system on the rooftop of Dominique Perrault’s Olympic Tennis Center_MadridRetrieved from: Dominique Perrault Architecture España ©Georges Fessy/DPA ADGAP y los dos esquemas © DPA ADGAP

Fig. 1.0427 Different configurations of the roofs in Dominique Perrault’s Olympic Tennis Center_MadridRetrieved from: Dominique Perrault Architecture España

161

Fig. 1.05Heatherwick Studio’ Rolling Bridge operation sequenceRetrieved from: http://www.heatherwick.com/

Fig. 1.06Hans Kupelwieser & Werkraum Wie’s Lakeside Stage operation sequenceRetrieved from: http://www.werkraumwien.at/index.php/recent.html

Fig. 1.07Hexagonal shading cell detail for Chuck Hoberman’s Audiencia Provincial, Ma-dridRetrieved from: http://www.hoberman.com

Fig. 1.08Shading scheme for the central atrium in Chuck Hoberman’s Audiencia Pro-vincial, MadridRetrieved from: http://www.hoberman.com

Fig. 1.09Central atrium in Chuck Hoberman’s Audiencia Provincial, MadridRetrieved from: http://www.hoberman.com

Fig. 1.10Close-up façade system of Jean Nouvel’s Institut du Monde ArabeRetrieved from: http://aclearglimmer.wordpress.com20110423arab-world-in-stitute

Fig. 1.11Panel’s reaction under different temperature. Andrew Payne’s SMA Panel Sys-temRetrieved from: http://www.arch.columbia.edu/imagegallary/gallery/sfmoma-gsapp-alumni-reception-alumni-images

Fig. 1.12Andrew Payne’s SMA Panel SystemRetrieved from: http://dinneratmidnight.wordpress.compage3

Fig. 1.13Achim Menges and Steffen Reichert’s Responsive Surface StructureRetrieved from: http://www.achimmenges.net/?cat=236

Fig. 2.01Sabin+Jones, Labstudio’s “Deployability”Retrieved from: http://www.sabin-jones.com/special%20projects_Surface%20Design.html

Fig. 2.02Tristan D’Estree Sterk’s Actuated TensegrityRetrieved from: http://www.orambra.com/

Fig. 2.03Jordi Truco’s PARA-siteRetrieved from: http://ma-s-lab.blogspot.com/

Fig. 2.04System ClosedNote: These diagrams have specifically been done for this research

Fig. 2.05System DeployedNote: These diagrams have specifically been done for this research

Fig. 2.06Opportunity for Environmental Responsive Sub-SystemNote: These diagrams have specifically been done for this research

Fig. 2.07

Sub-System DeploymentNote: These diagrams have specifically been done for this research




Fig. 3.04Sub-System DeploymentNote: These diagrams have specifically been done for this research

Fig. 3.05 - Fig. 3.08Patterns 1-4. V-patternsNote: These pictures have been taken by us during the exploration exercises

Fig. 3.09 - Fig. 3.10Patterns 5-6. Modular patternsNote: These pictures have been taken by us during the exploration exercises

Fig. 3.11 - Fig. 3.12Patterns 7-8. Modular patternsNote: These pictures have been taken by us during the exploration exercises

Fig. 3.13 - Fig. 3.16Patterns 9-12. Complex SurfacesNote: These pictures have been taken by us during the exploration exercises

Fig. 3.17Selected pattern 1. Grid V’sNote: These pictures have been taken by us during the exploration exercises

Fig. 3.18Pattern 1, model. Note: These pictures and the prototype showed in them have specifically been done and taken by us during the exploration exercises

Fig. 3.19Selected pattern 6. Modular pleats _ squareNote: These pictures have been taken by us during the exploration exercises


Fig. 3.21Selected pattern 7. Modular pleats _ triangleNote: These pictures have been taken by us during the exploration exercises


Fig. 3.23Diagrams of surface along rails, Configuration 1. Note: These diagrams have specifically been done for this research


Fig. 3.24Model of surface along rails, Configuration 1Note: These pictures have been taken by us during the exploration exercises

Fig. 3.25Diagrams of surface along rails, Configuration 2Note: These diagrams have specifically been done for this research

Fig. 3.26Model of surface along rails, Configuration 2Note: These pictures have been taken by us during the exploration exercises

Fig. 3.27Diagrams of surface along rails, Configuration 3Note: These diagrams have specifically been done for this research

Fig. 3.28Model of surface along rails, Configuration 3Note: These pictures have been taken by us during the exploration exercisesFig. 3.29Strategic diagram of translation of 1 input (action) into 2 outputs (effects)Note: This diagram has specifically been done by us for this research

Fig. 3.30Gear system experiment for global controlNote: This diagram has specifically been done by us for this research

Fig. 3.31Different volumetric configurations by global control (a) -135o, (b) -90o (c) 0o

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

Note: These pictures and the prototype showed in them have specifically been done and taken by us during the exploration exercises

Fig. 3.32Note: This diagram has specifically been done by us for this research




Fig. 3.36Pattern 6. Actuation of horizontal actuatorsNote: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 3.37Pattern 6. Actuation of vertical actuatorsNote: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 3.38Pattern 6. Actuation of both horizontal and vertical actuatorsNote: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 3.39Assembly line of pattern 01.Note: These diagrams have specifically been done by us for this research

Fig. 3.40Actuation direction of the different clusters of unitsNote: These diagrams have specifically been done by us for this research

Fig. 3.41Stage 1. Pattern is completely flat on the ground. To start activating it, the mountains (red lines) have to be pushed up simultaneouslyNote: This diagram has specifically been done by us for this research

Fig. 3.42Stage 2. Instant after stage 1 when all the mountains are slightly pushed up. Note: This diagram has specifically been done by us for this research

Fig. 3.43Operation sequence_pattern 01Note: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 3.44Assembly line of pattern 06Note: These diagrams have specifically been done by us for this research

Fig. 3.45Actuation direction of the different clusters of unitsNote: These diagrams have specifically been done by us for this research

Fig. 3.46Stage 1. Pattern is completely flat on the ground. To start activating it, the mountains (red lines) have to be pushed up simultaneouslyNote: This diagram has specifically been done by us for this research

Fig. 3.47Stage 2. Instant after stage 1 when all the mountains are slightly pushed up. Note: This diagram has specifically been done by us for this research

Fig. 3.48Images of the surfaceNote: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 3.49Assembly line of pattern 06Note: These diagrams have specifically been done by us for this research

Fig. 3.50Actuation direction of the different clusters of unitsNote: This diagram has specifically been done by us for this research

Fig. 3.51Stage 1. Pattern is completely folded. Note: This diagram has specifically been done by us for this research

Fig. 3.52Stage 2. Pattern is being activated by unfolding its components one by one and locking them in to their positionNote: This diagram has specifically been done by us for this research

Fig. 3.53Images of the sequence of the activation of the surface. (a) only one compo-nent is activated, (b) three components are activated, (c) four components are activated, (d) five components are activated, (e) six components are activated, (f) eight components are activated, (g) ten components are activated, (h) all components are activatedNote: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 3.54Jaw toggle & Swage 38BC-TS-5811_Blair CorporationRetrieved from: http://www.blairwirerope.com/

163

Fig. 3.55Rod & Swage 38BC-RS-5811_Blair CorporationRetrieved from: http://www.blairwirerope.com/

Fig. 3.56Standard cylinder DSNU 20-25_FESTORetrieved from: http://www.festo.com/net/startpage/

Fig. 3.57Standard cylinder DSNUP ISO 6431_FESTORetrieved from: http://www.festo.com/net/startpage/

Fig. 3.58LA28 Electric Linear Actuator_LINAK Group Retrieved from: http://www.linak.com/

Fig. 3.59LA30 Electric Linear Actuator_LINAK GroupRetrieved from: http://www.linak.com/

Fig. 3.60Relaxed pneumatic air muscle_ Shadow Robot CompanyRetrieved from: http://www.shadowrobot.com/

Fig. 3.61Activated pneumatic air muscle_Shadow Robot CompanyRetrieved from: http://www.shadowrobot.com/

Fig. 3.62Memory Alloy wireRetrieved from: http://en.wikipedia.org/wiki/Shape-memory_alloy

Fig. 3.63Alloy Muscle prototypeRetrieved from: https://sites.google.com/site/artificialmuscle/ann-try

Fig. 3.64Giga vent_ J. Orbesen Teknik ApSRetrieved from: http://shop.greenhouse-vent-opener.com/shop/frontpage.html

Fig. 3.65Optivent_J. Orbesen Teknik ApSRetrieved from: http://shop.greenhouse-vent-opener.com/shop/frontpage.html

Fig. 3.66Sequence of the reaction of the polymer gel with waterRetrieved from: http://www.mindsetsonline.co.uk/product_info.php?cPath= 18_ 177&products_id=1404




Fig. 3.70Sub-System DeploymentNote: These diagrams have specifically been done for this research

Fig. 3.71Devices used to read environmental data and actuate in consequence

Note: This picture and experiment have specifically been done and taken by us during the exploration exercises

Fig. 3.72Sequence diagramNote: This diagram has specifically been done by us for this research

Fig. 3.73Images of the physical/digital experimentNote: This pictures are extracted from the video of the experiment that has specifically been recorded by us during the exploration exercises

Fig. 3.74 Responsive type: Folds OpeningNote: These diagrams have specifically been done by us for this research

Fig. 3.75 Responsive type: Shutters OpeningNote: These diagrams have specifically been done by us for this research

Fig. 3.76Responsive type: Shutters OpeningNote: These diagrams have specifically been done by us for this research

Fig. 3.77 Responsive type: Rotating OpeningNote: These diagrams have specifically been done by us for this research

Fig. 3.78 Responsive type: Aperture OpeningNote: These diagrams have specifically been done by us for this research

Fig. 3.79 Responsive type: Membrane Opening type oneNote: These diagrams have specifically been done by us for this research

Fig. 3.80 Responsive type: Membrane Opening type twoNote: These diagrams have specifically been done by us for this research

Fig. 3.81 Responsive type: Membrane Opening type threeNote: These diagrams have specifically been done by us for this research

Fig. 4.01Note: These images have been generated by for this research

Fig. 4.02Note: These images have been generated by for this research

Fig. 4.03Option 1 for component within the surface. (a) Actuators 100% closed, (b) Ac-tuators 35% open, (c) Actuators 65% open, (d) Actuators 100% open Note: These drawings have specifically been done by us for this research

Fig. 4.04Exploded perspective of the component (option 1) and its elements Note: This drawing has specifically been done by us for this research

Fig. 4.05Location of the component within the surface (option 1)Note: This drawing has specifically been done by us for this research

Fig. 4.06Option 2 for component within the surface. (a) Actuators 100% closed, (b) Ac-tuators 35% open, (c) Actuators 65% open, (d) Actuators 100% openNote: These drawings have specifically been done by us for this research


Fig. 4.07Exploded perspective of the component (option 2) and its elements Note: This drawing has specifically been done by us for this research

Fig. 4.08Location of the component within the surface (option 2)Note: This drawing has specifically been done by us for this research

Fig. 4.09Configuration 01. Closed Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 2,5Note: This drawing has specifically been done by us for this research

Fig. 4.10Configuration 02. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 9,5Note: This drawing has specifically been done by us for this research

Fig. 4.11Configuration 03. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 12,0Note: This drawing has specifically been done by us for this research]






Fig. 4.17Configuration 09. Actuators length (cm); gradient 01Note: This drawing has specifically been done by us for this research


Fig. 4.19Closed Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 2,5. (a) per-spective, (b) plan view showing actuator’s locationNote: These digital simulations have been produced by us during this research

Fig. 4.20Open Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 9,5. (a) per-spective, (b) plan view showing actuator’s location and direction of openingNote: These digital simulations have been produced by us during this research

Fig. 4.21Simulation with Grasshopper and Kangaroo. (a) plan view, (b) front elevation, (c) side elevationNote: These digital simulations have been produced by us during this research

Fig. 4.22Physical model. (a) plan view, (b) front elevation, (c) side elevation

Note: These pictures and prototype have specifically been done and taken by us during the exploration exercises

Fig. 4.23Closed Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 2,5Note: These digital simulations have been produced by us during this research

Fig. 4.24Open Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x12,0Note: These digital simulations have been produced by us during this research

Fig. 4.25Simulation with Grasshopper and KangarooNote: These digital simulations have been produced by us during this research

Fig. 4.26Physical modelNote: These pictures and prototype have specifically been done and taken by us during the exploration exercises


Fig. 4.28Open Stage. Actuators length (cm); [Horizontal x Vertical]: 9,5 x 12,0Note: These digital simulations have been produced by us during this research




Fig. 4.32Open Stage. Actuators length (cm); [Horizontal x Vertical]: gradientNote: These digital simulations have been produced by us during this research



Fig. 4.35% Interior vs Exterior volume in Configuration 01. Actuators length (cm); [Hori-zontal x Vertical]: 2,5 x 2,5Note: These digital simulations have been produced by us during this research



165

Fig. 4.38% Interior vs Exterior volume in Configuration 09. Actuators length (cm); gradi-ent 01Note: These digital simulations have been produced by us during this research

Fig. 4.39% Interior vs Exterior volume in Configuration 10. Actuators length (cm); gradi-ent 02Note: These digital simulations have been produced by us during this research






Fig. 4.45Responsive Component. Control of different parameters:Note: These digital simulations have been produced by us during this research

Fig. 4.46 Responsive Component adopting different shapes by changing the 4 corners that delimit its boundary. Note: These digital simulations have been produced by us during this research

Fig. 4.47Conceptual diagrams. Differentiation throughout the surface as a response to environmental changesNote: These digital simulations have been produced by us during this research]

Fig. 4.48Solar Analysis on the location of the Responsive Components of the surface. Grasshopper_Geco_Ecotect. Plan viewNote: These digital simulations have been produced by us during this research

Fig. 4.49Solar Analysis on the location of the Responsive Components of the surface. Grasshopper_Geco_Ecotect. West elevationNote: These digital simulations have been produced by us during this research

Fig. 4.50Solar Analysis on the location of the Responsive Components of the surface. Grasshopper_Geco_Ecotect. South elevationNote: These digital simulations have been produced by us during this research

Fig. 4.51Components response to the Solar Analysis on the surface. Grasshopper_Geco_Ecotect. Plan view

Note: These digital simulations have been produced by us during this research

Fig. 4.52Components response to the Solar Analysis on the surface. Grasshopper_Geco_Ecotect. West elevationNote: These digital simulations have been produced by us during this research

Fig. 4.53Components response to the Solar Analysis on the surface. Grasshopper_Geco_Ecotect. South elevationNote: These digital simulations have been produced by us during this research

Fig. 5.01Different solutions for movable bridgesNote: These diagrams have been edited by us from the ones retrieved from: http://en.wikipedia.org/wiki/Movable_bridge

Fig. 5.02Proposed application for a movable bridgeNote: This diagram has specifically been done for this research

Fig. 5.03Position 1. Time: 0’00’’Note: These diagrams have specifically been done for this research

Fig. 5.04The structure is being activated to adopt position 2. Time: 1’30’’Note: These diagrams have specifically been done for this research

Fig. 5.05Position 2Time: 3’00’’Note: These diagrams have specifically been done for this research

Fig. 5.06Activation of the system with the weight of water by pulling the structure upNote: These diagrams have specifically been done for this research

Fig. 5.07Pneumatic bag actuatorRetrieved from: http://www.prestolifts.com/

Fig. 5.08Activation of the system by air pumps that inflate air-bag actuators. (a) low water level: closed stage, (b) high water level: Open stageNote: These diagrams have specifically been done for this research

Fig. 5.09Geometry of the bridgeNote: These digital simulations have been produced by us during this research

Fig. 5.10Maximum displacements of the strcture for different materials Note: These digital simulations have been produced by us during this research

Fig. 5.11Displacement of the structure in Steel_position 1Note: These digital simulations have been produced by us during this research

Fig. 5.12Displacement of the structure in Steel_position 2Note: These digital simulations have been produced by us during this re-search

Fig. 5.13


Displacement of the structure in Aluminum_position 1Note: These digital simulations have been produced by us during this research

Fig. 5.14Displacement of the structure in Wood_position 1Note: These digital simulations have been produced by us during this research

Fig. 5.15Displacement of the structure in Aluminum_position 2Note: These digital simulations have been produced by us during this research

Fig. 5.16Displacement of the structure in Wood_position 2Note: These digital simulations have been produced by us during this research

Fig. 5.17Identification of the members within the systemNote: These digital simulations have been produced by us during this research

Fig. 5.18Structural component types for the different testsNote: These digital simulations have been produced by us during this research

Fig. 5.19Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type A_position 1Note: These digital simulations have been produced by us during this research

Fig. 5.20Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type A_position 2 Note: These digital simulations have been produced by us during this research

Fig. 5.21Displacement of the structure in Steel when the depths of the members are as Type B_position 1 Note: These digital simulations have been produced by us during this research

Fig. 5.22Displacement of the structure in Steel when the depths of the members are as Type C_position 1 Note: These digital simulations have been produced by us during this research

Fig. 5.23Displacement of the structure in Steel when the depths of the members are as Type B_position 2 Note: These digital simulations have been produced by us during this research

Fig. 5.24Displacement of the structure in Steel when the depths of the members are as Type C_position 2 Note: These digital simulations have been produced by us during this research

Fig. 5.25Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type D_position 1Note: These digital simulations have been produced by us during this research

Fig. 5.26Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type E_position 1Note: These digital simulations have been produced by us during this research

Fig. 5.27Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type D_position 2 Note: These digital simulations have been produced by us during this research

Fig. 5.28Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type E_position 2Note: These digital simulations have been produced by us during this research

Fig. 5.29Compariton of max. displacement among types A to E_position 1 Note: These digital simulations have been produced by us during this research

Fig. 5.30Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type C_position 1 Note: These digital simulations have been produced by us during this research

Fig. 5.31Compariton of max. displacement among types A to E_position 2 Note: These digital simulations have been produced by us during this research

Fig. 5.32Displacement diagram for the structure in Steel when the depths of the mem-bers are as Type C_position 2 Note: These digital simulations have been produced by us during this research

Fig. 5.33Rotation and translation axes for the Degrees of Freedom (DOF)Note: These diagrams have been produced by us during this research

Fig. 5.34Anchor Points. TYPE ANote: These diagrams have been produced by us during this research

Fig. 5.35Anchor Points. TYPE BNote: These diagrams have been produced by us during this research

Fig. 5.36Anchor Points. TYPE CNote: These diagrams have been produced by us during this research

Fig. 5.37Diagram Truss Note: These diagrams have been produced by us during this research

Fig. 5.38Detail of plates for the foundation of the bridgeNote: These diagrams have been produced by us during this research

Fig. 5.39Bridge dimensions in Position 1 Note: These diagrams have been produced by us during this research

Fig. 5.40Bridge dimensions in Position 2 Note: These diagrams have been produced by us during this research

Fig. 5.41Assembly process as defined in T1Note: These images have been taken by us

Fig. 5.42Assembly process as defined in T2Note: These images have been taken by us

Fig. 5.43Physical model. Different captures of the transition between position 1 and position 2

167

Fig. 7.01Configuration 01. Closed Stage. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 2,5Note: This drawing has specifically been done by us for this research


Fig. 7.03Configuration 03. Actuators length (cm); [Horizontal x Vertical]: 2,5 x 12,0Note: This drawing has specifically been done by us for this research]














Fig. 7.17Simulation with Grasshopper and Kangaroo

Note: These digital simulations have been produced by us during this research











Fig. 7.31Application 2. Position 1Note: These diagrams have specifically been done for this research

Fig. 7.32Application 2. The canopy is being activated to adopt position 2Note: These diagrams have specifically been done for this research

Fig. 7.33Application 2. Stage 2Note: These diagrams have specifically been done for this research

Fig. 7.34Application 1. Position 1Note: These diagrams have specifically been done for this research

Fig. 7.35Application 1. The canopy is being activated to adopt position 2Note: These diagrams have specifically been done for this research

Fig. 7.36Application 1. Stage 2Note: These diagrams have specifically been done for this research

dynamic systems; responsive, adaptive, kinetic

Documents

surface control03

surface boundaries

responsive system

responsive surface structure01

surface divisions

surface extrusion

environmental responses01

responsive types03