CumInCAD is a Cumulative Index about publications in Computer Aided Architectural Design
supported by the sibling associations ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD and CAAD futures

PDF papers
id acadia17_324
authors Kilian, Axel; Sabourin, François
year 2017
title Embodied Computation – An Actuated Active Bending Tower: Using Simulation-Model-Free Sensor Guided Search To Reach Posture Goals
source ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 324- 329
summary The concept of Embodied Computation is to leverage the combination of abstract computational and material artifact as a method for exploration in the design process. A common approach for the integration of the two realms is to use computational simulation based on the geometric form of the artifact for the prediction of material behavior. This leads to the integration of a geometric model abstraction of the physical artifact into the control software of the actuated device and can produce deviations between the state of the physical construct and the computational state. Here an alternative approach of a soft, actuated, active bending structure is explored. Six fluidic actuators are combined with a six degree of freedom (DOF) sensor for posture feedback. Instead of relying on simulated kinematics to reach a particular posture, the sensor-enabled posture feedback guides a simplex search algorithm to find combinations of pressures in the six actuators that minimize the combined tilting angles for the goal of a level tower top. Rather than simulating the structure computationally, the model is shifted to one of feedback and control, and the structure operates as a physical equation solver returning an x-y-z tilting angle for every set of actuation pressures. Therefore the computational model of the search process is independent of the physical configuration of the structure itself and robust to changes in the environment or the structure itself. This has the future potential for more robust control of non-determined structures and constructs with heterogeneous DOF common in architecture where modeling behavior is difficult.
keywords material and construction; smart buildings
series ACADIA
full text file.pdf (1,911,805 bytes)
references Content-type: text/plain
Details Citation Select
100%; open Bier, Henriette (2011) Find in CUMINCAD Robotic Environments , Proceedings of the 28th International Symposium on Automation and Robotics in Construction, 863–868. Seoul, Korea: ISARC

100%; open Bier, Henriette (2014) Find in CUMINCAD Robotic Building(s) , Next Generation Building 1: 83–92. doi:10.7564/14-NGBJ8

100%; open Brooks, Rodney A. (1991) Find in CUMINCAD Intelligence Without Representation , Artificial Intelligence 47 (1991), 139–159

100%; open Gajamohan, Mohanarajah, Michael Merz, Igor Thommen, and Raffaello D’Andrea (2012) Find in CUMINCAD The Cubli: A Cube That Can Jump Up and Balance , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Vilamoura, Portugal: IROS

100%; open Gershenfeld, Neil (2011) Find in CUMINCAD The Nature of Mathematical Modelling , Cambridge, UK: Cambridge University Press

100%; open Gross, Mark D., and Keith Evan Green (2012) Find in CUMINCAD Architectural Robotics, Inevitably , Interactions 19 (1): 28–33

100%; open Kilian, Axel, Philippe Block, Peter Schmitt, and John Snavely (2006) Find in CUMINCAD Developing a Language for Actuated Structures , Adaptables Conference. Eindhoven, Netherlands

100%; open Kilian, Axel (2007) Find in CUMINCAD The Question of the Underlying Model and its Impact on Design , Models: 306090 Books, Volume 11, edited by Emily Abruzzo, Eric Ellingsen, and Jonathan D. Solomon. 208–13. New York: Models

100%; open Nelder, John A., R. Mead (1965) Find in CUMINCAD A Simplex Method for Function Minimization , The Computer Journal 7 (4): 308–313

100%; open Richter, Jonas N., Binyamin Hochner, and Michael J. Kuba (2015) Find in CUMINCAD Octopus Arm Movements Under Constrained Conditions: Adaptation, Modification and Plasticity of Motor Primitives , The Journal of Experimental Biology 218: 1069–1076. doi:10.1242/jeb.115915

100%; open Senatore, Gennaro (2016) Find in CUMINCAD Adaptive Building Structures , Ph.D. diss., UCL

100%; open Sterk, Tristan d’Estrée (2003) Find in CUMINCAD Using Actuated Tensegrity Structures to Produce a Responsive Architecture , Connecting: Crossroads of Digital Discourse, Proceedings of the 2003 Annual Conference of the Association for Computer Aided Design in Architecture, edited by Kevin Klinger, 85-93. Indianapolis, IN: ACADIA

last changed 2017/10/17 09:12
pick and add to favorite papersHOMELOGIN (you are user _anon_407874 from group guest) CUMINCAD Papers Powered by SciX Open Publishing Services 1.002