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Flow The Psychology Of Optimal Experience

The institutionalized separation between form, structure and material, deeply embedded in modernist design theory, paralleled by a methodological partitioning between modeling, analysis and fabrication, resulted in geometric-driven form generation. Such prioritization of form over material was carried into the development and design logic of CAD. Today, under the imperatives and growing recognition of the failures and environmental liabilities of this approach, modern design culture is experiencing a shift to material aware design. Inspired by Nature’s strategies where form generation is driven by maximal performance with minimal resources through local material property variation, the research reviews, proposes and develops models and processes for a material-based approach in computationally enabled form-generation. Material-based Design Computation is developed and proposed as a set of computational strategies supporting the integration of form, material and structure by incorporating physical form-finding strategies with digital analysis and fabrication. In this approach, material precedes shape, and it is the structuring of material properties as a function of structural and environmental performance that generates design form. The thesis proposes a unique approach to computationally-enabled form-finding procedures, and experimentally investigates how such processes contribute to novel ways of creating, distributing and depositing material forms. Variable Property Design is investigated as a theoretical and technical framework by which to model, analyze and fabricate objects with graduated properties designed to correspond to multiple and continuously varied functional constraints. The following methods were developed as the enabling mechanisms of Material Computation: Tiling Behavior & Digital Anisotropy, Finite Element Synthesis, and Material Pixels. In order to implement this approach as a fabrication process, a novel fabrication technology, termed Variable Property Rapid Prototyping has been developed, designed and patented. Among the potential contributions is the achievement of a high degree of customization through material heterogeneity as compared to conventional design of components and assemblies. Experimental designs employing suggested theoretical and technical frameworks, methods and techniques are presented, discussed and demonstrated. They support product customization, rapid augmentation and variable property fabrication. Developed as approximations of natural formation processes, these design experiments demonstrate the contribution and the potential future of a new design and research field. Thesis Supervisor: William J. Mitchell Title: Alexander Dreyfoos Professor of Architecture and Media Arts and Sciences Department of Architecture, MIT

Material-based design computation

This paper presents a new computational framework based on Thrust Network Analysis (TNA) for the design of funicular structures. Fast and robust solving algorithms enable the interactive exploration of these constrained structural systems. By giving explicit, bidirectional control over the internal force distribution and overall geometry to the designer, free exploration of these statically highly indeterminate systems is made possible. The equilibrium of funicular compression networks is represented by reciprocal diagrams, which visually express the force dependencies between different parts of the structure. By modifying these diagrams in real-time, the designer is able to explore novel and expressive vaulted geometries that are blurring the difference between shapes associated to typical compression-only forms, obtained e.g. with hanging networks, and freeform surface structures. The power of this framework for design is demonstrated by a user-friendly software implementation, which has been used to de...

/pdf/interactive-vault-design-1tdkn19oxm.pdf

Interactive Vault Design

Robotic manipulation challenges, such as grasping and object manipulation, have been tackled successfully with the help of deep reinforcement learning systems. We give an overview of the recent advances in deep reinforcement learning algorithms for robotic manipulation tasks in this review. We begin by outlining the fundamental ideas of reinforcement learning and the parts of a reinforcement learning system. The many deep reinforcement learning algorithms, such as value-based methods, policy-based methods, and actor–critic approaches, that have been suggested for robotic manipulation tasks are then covered. We also examine the numerous issues that have arisen when applying these algorithms to robotics tasks, as well as the various solutions that have been put forth to deal with these issues. Finally, we highlight several unsolved research issues and talk about possible future directions for the subject.

/pdf/a-survey-on-deep-reinforcement-learning-algorithms-for-1c6fbqeq.pdf

A Survey on Deep Reinforcement Learning Algorithms for Robotic Manipulation

Voxel-based multimaterial jetting additive manufacturing allows fabrication of digital materials (DMs) at the meso-scale (∼1 mm) by controlling the deposition patterns of soft elastomeric and rigid glassy polymers at the voxel-scale (∼90 μm). The digital materials can then be used to create heterogeneous functionally graded material (FGM) structures at the macro-scale (∼10 mm) programmed to behave in a predefined manner. This offers huge potential for design and fabrication of novel and complex bespoke mechanical structures. This paper presents a complete design and manufacturing workflow that simultaneously integrates material design, structural design, and product fabrication of FGM structures based on digital materials. This is enabled by a regression analysis of the experimental data on mechanical performance of the DMs i.e., Young’s modulus, tensile strength and elongation at break. This allows us to express the material behavior simply as a function of the microstructural descriptors (in this case, just volume fraction) without having to understand the underlying microstructural mechanics while simultaneously connecting it to the process parameters. Our proposed design and manufacturing approach is then demonstrated and validated in two series of design exercises to devise complex FGM structures. First, we design, computationally predict and experimentally validate the behavior of prescribed designs of FGM tensile structures with different material gradients. Second, we present a design automation approach for optimal FGM structures. The comparison between the simulations and the experiments with the FGM structures shows that the presented design and fabrication workflow based on our modeling approach for DMs at meso-scale can be effectively used to design and predict the performance of FGMs at macro-scale.

Design and additive manufacture of functionally graded structures based on digital materials

Topological interlocking is a concept developed in material science. Solid modules form a structural system without the use of glue or mortar. Given fixed boundaries the elements constrain each other kinematically. This project seeks to re-conceptualize the system within an architectural framework by embracing computational design, analysis and fabrication tools and procedures. The goal is to develop geometrical differentiated, reversible, force-locked systems and the processes and methods to design and manufacture them. Students of the Architecture and Performative Design Studio (APD) at the Staedelschule Architecture Class (SAC) and the author developed the presented projects. The paper discusses the pedagogical approach of starting a design research studio from a very narrow material system. The research is continued at the School of Architecture of the Royal Institute of Technology (KTH) in Stockholm.

Topological Interlocking Assemblies

Developing from researches on heterogeneous modelling and voxel-based design, as well as on digital materials and discrete assembly, the paper describes current developments of Wasp, a software tool for hierarchical discrete modelling of objects as aggregations of modular parts, with focus on the generation of architectural objects. By conceptualizing the discrete nature of the final objects already within the software, it becomes possible to model heterogenous artefacts composed of basic parts, which are reversibly joined into a complete aggregation. Within such framework, users are provided with different aggregation procedures to select rule sequences producing the desired outcomes, as well as basic utilities for part collisions avoidance, visualization and editing of the produced geometries. To increase control over designed objects, the framework has been extended to include hierarchical modelling with multi-resolution parts, more advanced generation and editing functions for voxel fields, multi-channel scalar fields and global constraints. Overall, the aim of the framework is to allow modelling of objects as aggregations of discrete units with reversible connections, hence allowing the production of architectural entities which could be assembled, disassembled, and reconfigured during their lifecycle.

From Voxels to Parts: Hierarchical Discrete Modeling for Design and Assembly

This book argues for novel strategies to integrate engineering design procedures and structural analysis data into architectural design. Algorithmic procedures that recently migrated into the architectural practice are utilized to improve the interface of both disciplines. Architectural design is predominately conducted as a negotiation process of various factors but often lacks rigor and data structures to link it to quantitative procedures. Numerical structural design on the other hand could act as a role model for handling data and robust optimization but it often lacks the complexity of architectural design. The goal of this research is to bring together robust methods from structural design and complex dependency networks from architectural design processes. The book presents three case studies of tools and methods that are developed to exemplify, analyze and evaluate a collaborative work flow.

Collaborative Design Procedures for Architects and Engineers

Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced Finger Vision sensor was shown capable of generating reliable signals for force estimation, object pose estimation, and slip detection. In this paper, we build upon the Finger Vision design, improving already existing control algorithms, and, more importantly, expanding its range of applicability to more challenging tasks by utilizing raw skin deformation data for control. In contrast to previous approaches that rely on the average deformation of the whole sensor surface, we directly employ local deviations of each spherical marker immersed in the silicone body of the sensor for feedback control and as input to learning tasks. We show that with such input, substances of varying texture and viscosity can be distinguished on the basis of tactile sensations evoked while stirring them. As another application, we learn a mapping between skin deformation and force applied to an object. To demonstrate the full range of capabilities of the proposed controllers, we deploy them in a challenging architectural assembly task that involves inserting a load-bearing element underneath a bendable plate at the point of maximum load.

Building a Library of Tactile Skills Based on FingerVision

This article summarizes a series of interconnected researches exploring the potential of applying topological interlocking methodologies to the field of architectural design and fabrication. Specifically, it describes two concurrent approaches to design with interlocking units: the first relying on parametric design logics and mass-customized fabrication processes and the second implementing discrete combinatorial processes for both design and fabrication using modular units. We first outline the historical background of combinatorial thinking in architectural computing and describe the emergence of computational design and digital fabrication. We further present the recent evolution of a combinatorial design paradigm, which challenges the acquired parametric design methodologies in computational architecture research. We then present our research in the field of topological interlocking, focusing on a parametric design approach. We further describe implications of a shift from parametric to combinatorial design logics in architecture. Finally, we present the transition of the topological interlocking research from parametric to combinational logics. In these three sections, we describe design and fabrication methodologies for both approaches and evaluate the potentials and limitations of both. We present recent work in the development of software for combinatorial design within caad software, and its first application is to design topological interlocking systems. We conclude by outlining the future research directions and possibilities of integration between parametric and combinatorial processes in design, fabrication, and assembly of interlocking systems.

Geometry as Interface: Parametric and Combinatorial Topological Interlocking Assemblies

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