Encoded Matter / AA DRL / Workshop 2

ENCODED MATTER

Workshop 2 | ROBERT STUART SMITH

ANDREAS Y. KYRIAKOU CHIARA LEONZIO GEORGIA TSOLI

ROBERT STUART-SMITH STUDIO WORKSHOP 2

Architectural Association School of Architecture AADRL Design Research Lab

London

December 2014

INDEX 03

INDEX

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WORKSHOP BRIEF

07 09 12 16 18 22 24

SINGLE AGENT BEHAVIOUR FAMILY 1 FAMILY 2 FAMILY 3 FAMILY 4 FAMILY 5 FAMILY 6

27 28 32 36 38 40 42

MULTIPLE AGENTS BEHAVIOUR FAMILY 7 FAMILY 8 FAMILY 9 FAMILY 10 FAMILY 11 FAMILY 12

45 46 52

CNC PRINTING CNC PARAMETERS TESTS CNC PARAMETERS TEST - FAMILY 7

55 56 59 60 68 76

REAL TIME PRINTING CNC - PROCESSING FEEDBACK LOOP CNC - ARDUINO - SENSOR ASSEMBLAGE CNC REALTIME MILLING - FAMILY 1.04 CNC REALTIME MILLING - FAMILY 2.04 CNC REALTIME MILLING - FAMILY 6.01

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W O RKSHOP BRIEF The brief of the workshop is to deal with computational shapes that can live by their own rules, make their own decisions and have a kind of an independent behavior. In particular, the workshop introduces and is occupied by the development of the code of autonomous agent behavior in Processing programming language.

The term autonomous agent generally refers to an entity that makes its own choices about how to act in its environment without any influence from a leader or global plan.

Furthermore, a second goal is the idea and implementation of “Real-Time Feedback Loop�. Using a computational unit, a CNC milling machine and a sensor that can read and send data (input / output), it is possible to influence the behavior of the computational agent and the physical machine in realtime process.

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SI N G LE A GEN T BEH A V IO U R

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F AMI L Y 1 1 .0 1

1 .0 2

1 .0 3

1 .0 4

1 .0 5

BOUNCE NAVBEHAVIOURS MAXVEL

10 100, 10, 10 30

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F AMI L Y 2 2 .0 1

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

1 1 0 50, 10, 10

make2DRotVector type == 1 type == 2 trailtype1Count > 5

vel, 1.0, 1.0 make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

1 1 0 50, 10, 10

make2DRotVector type == 1 type == 2 trailtype1Count > 5

vel, 1.0, 1.0 make2DRotVector (acc, 100.0, 1000.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

1 1 0 50, 10, 10

make2DRotVector type == 1 type == 2 trailtype1Count > 5

vel, 1.0, 1.0 make2DRotVector (acc, 100.0, -100.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

1 1 0 0, 0,01, 0,2

make2DRotVector type == 1 type == 2 trailtype1Count > 5

vel, 1.0, 1.0 make2DRotVector (acc, 100.0, -100.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

2 .0 2

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

2 .0 3

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

2 .0 4

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

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F AMI L Y 3 3 .0 1

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

1 1 0 0.5, 0.1, 0.1, 0.2

type == 1 type == 2 trailtype1Count > 5

rot = make2DRotVector(acc, 1, -1) rot = make2DRotVector(acc, -1, -100.0) rot = make2DRotVector(acc, -100.0, -1000.0)

1 1 0 0.5, 0.1, 0.1, 0.2

type == 1 type == 2 trailtype1Count > 5

rot = make2DRotVector(acc, 1, -1) rot = make2DRotVector(acc, -1, -100.0) rot = make2DRotVector(acc, -100.0, -1000.0)

1 1 0 0.5, 0.5, 0.1, 0.2

type == 1 type == 2 trailtype1Count > 5

rot = make2DRotVector(acc, 1, -1) rot = make2DRotVector(acc, -1, -100.0) rot = make2DRotVector(acc, -100.0, -1000.0)

3 .0 2

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

3 .0 3

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

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F AMI L Y 4 4.0 1

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

1 1 0 0.5, 0.1, 0.5, 0.5

type == 1 type == 2 trailtype1Count > 5

make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 100.0)

1 1 0 0.5, 0.3, 0.5, 0.5

type == 1 type == 2 trailtype1Count > 5

rot = make2DRotVector(acc, 0.5, 1000) rot = make2DRotVector(acc, 0.1, 1000) rot = make2DRotVector(acc, 0.1, 1000)

1 1 0 0.2, 0.1, 0.5, 1

type == 1 type == 2 trailtype1Count > 5

rot = make2DRotVector(acc, 0.5, 1000) rot = make2DRotVector(acc, 0.1, 1000) rot = make2DRotVector(acc, 0.1, 1000)

1 1 0 0.2, 0.5, 0.5, 0.5

type == 1 type == 2 trailtype1Count > 5

rot = make2DRotVector(acc, 10, 1000) rot = make2DRotVector(acc, 0.1, 1000) rot = make2DRotVector(acc, 0.1, 1000)

4.0 2

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

4.0 3

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

4.0 4

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS NavBehaviours

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F AMI L Y 5 5 .0 1

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS make2DRotVector

1 1 0 vel, 1.0, 1.0

type == 1 type == 2 trailtype1Count > 5

make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

1 1 0 vel, 1.0, 1.0

type == 1 type == 2 trailtype1Count > 5

make2DRotVector (acc, 100.0, 1000.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

5 .0 2

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS make2DRotVector

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F AMI L Y 6 6 .0 1

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS make2DRotVector

1 1 0 vel, 1.0, 1.0

type == 1 type == 2 trailtype1Count > 5

make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

1 1 0 vel, 1.0, 1.0

type == 1 type == 2 trailtype1Count > 5

make2DRotVector (acc, 100.0, 1000.0) make2DRotVector (acc, 100.0, 100.0) make2DRotVector (acc, 100.0, 150.0)

6 .0 2

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS make2DRotVector

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MULT IP LE A GEN T BEH A V IO U R

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F AMI L Y 7 7 .0 1

BOOLEAN IMAGETOGGLE SEEKIMAGE SEEKIMAGE SEEKIMAGE

true “red“,2,3 “blue“,2,2 “green“,2,3

7 .0 2

BOOLEAN IMAGETOGGLE SEEKIMAGE

true “red“,2,3

7 .0 3

BOOLEAN IMAGETOGGLE SEEKIMAGE

true “blue“,2,2

7 .0 4

BOOLEAN IMAGETOGGLE SEEKIMAGE

true “green“,2,3

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F AMI L Y 8 8 .0 1

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS RANGE OF VISION

20 2 0 200

8 .0 2

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS RANGE OF VISION

20 2 4 200

8 .0 3

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS RANGE OF VISION

30 2 + 1 W/ DELAY 4 + 2 DYN 190

8 .0 4

NUM OF AGENTS INITIAL GROUPS OF AGENTS NUM OF ATTRACTORS RANGE OF VISION

30 2 + 1 W/ DELAY 4 + 2 DYN 190

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F AMI L Y 9 9 .0 1

NUM OF AGENTS LOCAL ROTATION NUM OF ATTRACTORS MAXVEL (type1)

1 (vel, 10, 3) 10 5

9 .0 2

NUM OF AGENTS LOCAL ROTATION NUM OF ATTRACTORS MAXVEL (type1)

1 (vel, 5, 3) 16 (grid) 5

SEEK ATTRACTOR NAVBEHAVIOURS VEC3DWANDER

attScale=10; range=rangeOfVis*3 wander scale=1; aligntotrailscale=10; attracttrailscale=0.05; separation scale=1 wanderR=16; wanderD=4; change=60.25

SEEK ATTRACTOR NAVBEHAVIOURS VEC3DWANDER

attScale=10; range=rangeOfVis*3 wander scale=1; aligntotrailscale=10; attracttrailscale=0.05; separation scale=1 wanderR=16; wanderD=4; change=60.25

9 .0 3

NUM OF AGENTS LOCAL ROTATION NUM OF ATTRACTORS MAXVEL (type1)

1 (vel, 10, 3) 10 5

9 .0 4

NUM OF AGENTS LOCAL ROTATION NUM OF ATTRACTORS MAXVEL (type1)

1 (vel, 5, 3) 16 (grid) 5

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F AMI L Y 10 1 0 .0 1

TYPE VELOCITY WANDERSCALE

2 4.0, 3.0, 2.9 1.0

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

2.0 2.0 2.0

1 2 2 0.5

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

10 10 10

1 3.0 0.0

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

1.6 10.0 4.0

1 0 .0 2

TYPE SEEDS VELOCITY WANDERSCALE

1 0 .0 3

TYPE VELOCITY WANDERSCALE

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F AMI L Y 11 1 1 .0 1

TYPE VELOCITY WANDERSCALE

2 3.0 0.1

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

1 1 2

1 1 .0 2

TYPE VELOCITY WANDERSCALE

2 3.0 0

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

1.0 1.0 1.6

1 1 .0 3

TYPE VELOCITY WANDERSCALE

2 2 0.5

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

10 10 10

2 2.0, 3.0 0.1

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

10 10 10

1 1 .0 4

TYPE VELOCITY WANDERSCALE

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F AMI L Y 12 1 2 .0 1

TYPE VELOCITY WANDERSCALE AGENTS IN DRAW [UPDATING

2 3.0 0 IN EVERY FRAME]

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

1.0 1.0 1.6

1 2 .0 2

TYPE VELOCITY WANDERSCALE

3 3.0, 8.0, 10.0 0.5

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

10 1 2

1 3.0 0.0

ALIGNTOTRAILSCALE ATTRACTTRAILSCALE SEPARATION SCALE

1.6 10.0 10.0

1 2 .0 3

TYPE VELOCITY WANDERSCALE

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CN C P R IN T IN G

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C N C PARAMETERS TESTS

Te s t 01 material: hight density blue foam thickness: 50 mm width: 300 mm height: 300 mm Roughing roughing tool: End Mill 3mm milling time: 15’

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Roughing / Fi nishing roughing tool: End Mill 3mm milling time: 15’ fi nishing tool: V-Bit 3.2mm, 150°illing 􀆟 me:

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Te s t 02 material: hight density blue foam thickness: 50 mm width: 300 mm height: 300 mm cutting tool: 3 mm roughing (end mill 3mm)

3 mm finishing (ball nose 3mm)

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C N C PARAMETERS TESTS

material: hight density yellow foam thickness: 50 mm width: 500 mm height: 700 mm Roughing roughing tool: End Mill 3mm milling time: 60’

F a mil y 11. 03

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C N C PARAMETERS TESTS

material: hight density yellow foam thickness: 50 mm width: 500 mm height: 700 mm Roughing roughing tool: End Mill 3mm milling time: 40’

F a mil y 9. 03

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C N C PARAMETERS TEST - FA M ILY 7

fa m i ly 7 . 0 1 _ A

fa m i ly 7 . 0 1 _ B

A material: hight density blue foam

thickness: 50 mm width: 300 mm hight: 300 mm cutting tool: roughing, end mill 6 mm cutting time: 10’

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B material: hight density blue foam

thickness: 50 mm width: 300 mm hight: 300 mm cutting tool: roughing, end mill 6 mm

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fa m i ly 7 . 0 1 _ C

fa m i ly 7 . 0 1 _ D

C material: hight density blue foam

thickness: 50 mm width: 300 mm hight: 300 mm cutting tool: roughing, end mill 6 mm

finishing, ball nose 3 mm cutting time roughing: 10’ cutting time finishing: 55’ Workshop II - Encoded Matter

D material: hight density blue foam

thickness: 50 mm width: 300 mm hight: 300 mm cutting tool: roughing, end mill 3 mm

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REA L T IM E P R IN T IN G

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C N C - PROCESSING FEEDBACK LO O P

Arduino

Light Sensor

CNC

SERIAL Reader Bridge Writer JavaPrinting SERIAL

The Workshop aims to realise a real-time printing starting from a code. The computational approach leads to a generative code that starts the close loop of the real time printing. The generative design process brings information to the CNC machine that, thanks to a sensor and Arduino, starts to generate its own surface pattern. The data input becomes data output in a close potentially neverending process.

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C N C - ARDUINO - SENSOR ASSEM B LA GE

Arduino

Light Sensor

Drill bits [3mm.6mm]

LED board

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C N C REALTI M E MILLING - FAM ILY 1 .04

CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis Sensor Value Range of Vision

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Bouncing Border - Error

CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 6mm Sensor Value Z axis Sensor Value Range of Vision

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RULES I Sensor input changes the Wander behavior of the Agent

End Mill 6mm Drill Bit

End Mill 3mm Drill Bit

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C N C REAL TIME MILLING - FA M ILY 1 .04

Real Time agent simulation [CNC data as an input to processing]

Real time process in CNC machine

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Final model

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C N C REALTI M E MILLING - FAM ILY 1 .04

CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis Sensor Value WanderScale Sensor Value AligntoTrail

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CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis

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RULES I Sensor input changes the Wander behavior and the Align to Trail of the Agent

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Real Time agent simulation [CNC data as an input to processing]

Real time process in CNC machine

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Final model

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C N C REALTI M E MILLING - FAM ILY 2.04 Real Time agent simulation [CNC data as an input to processing]

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C N C REALTI M E MILLING - FAM ILY 2.04

Real Time agent simulation [CNC data as an input to processing]

Real time process in CNC machine

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C N C REALTI M E MILLING - FAM ILY 2.04

CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis Sensor Value [+] X axis Sensor Value [+] Y axis CNC _Z min = -2000 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis Sensor Value [+] X axis Sensor Value [+] Y axis

CNC _Z min = -1000 CNC _Zmax = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis Sensor Value [+] X axis Sensor Value [3*] Y axis

CNC _Z min = -2000 CNC _Z max = +1000 Cutting Tool_ End Mill 6mm Sensor Value Z axis

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CNC _Z min = -1500 CNC _Zmax = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis

Bouncing Border - Error

CNC _Z MIN = -2000 CNC _Z MIN = +1000 Cutting Tool_ End Mill 6mm Sensor Value Z axis Sensor Value [+] Y axis

Bouncing Border Failure

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C N C REALTI M E MILLING - FAM ILY 2.04

RULES I Sensor input changes the position of the Agent

End Mill 6mm Drill Bit

End Mill 3mm Drill Bit

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C N C REALTI M E MILLING - FAM ILY 6.01

CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis Sensor Value Agent Type

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CNC _Z min = -1500 CNC _Z max = +1000 Cutting Tool_ End Mill 3mm Sensor Value Z axis

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RULES I Sensor input changes the type of the Agent

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C N C REALTI M E MILLING - FAM ILY 6.01

Initial Setup

Real time process in CNC machine

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F U R THE R I NVESTIGATION As s u m i ng no pri or knowledge of the de s i g n , n o p re d e fi n e d b e h a v i o r d ri v e n b y t h e agent (processing simulations), w e i n tro d u ce th e i n i ti a l ru le s to th e ma c h i ne [and the material]. The code i n th i s ca s e tra n s la te s th e i n p u t th e s e n s or gets from the cnc operations a n d s e ts th e n e w v a lu e .

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Architectural Association School of Architecture, London December 2014