Research on the Impact of Scanning System on Architectural Geometry
Tokyo Advanced Design Studies Department of Architecture The University of Tokyo
2020 Advanced Design Studies Master's Thesis
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Pyaezone Aungsoe
Research on the Impact of Scanning System on Architectural Geometry:
Architectural design and construction through the perspective of scannning/ 3d position finding system
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Master's Thesis
Research on the Impact of Scanning System on Architectural Geometry Architectural Design and Construction through the Perspective of Scanning/ 3d Position Finding System
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This research proposes that scanning and 3d position finding systems are a driver and limitation of architectural geometry output through the way of communication between human, tools and referential systems. It systematizes scanning systems into four categories and rationalize their geometrical output.
Research on the Impact of Scanning System on Architectural Geometry
Pyaezone Aungsoe
Supervising Professor: Yusuke Obuchi Thesis Sub-Advisor: Prof. Jun Sato Prof. Koichi Kato Additional Course Support: Yusuke Komata Shuta Takagi
submitted to the Department of Architecture at the University of Tokyo in partial fulfilment of the requirements for the degree of Master of Engineering in Architecture
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2020 Advanced Design Studies Master's Thesis Research on the Impact of Scanning System on Architectural Geometry: Architectural Deisgn and Construction through the Perspective of Scanning/ 3D Position Finding System
Editors: Pyaezone Aungsoe Book Design: Pyaezone Aungsoe Book Edition Design: Jan Vranovsky Printed in Tokyo, Japan Advanced Design Studies Typeface: F Grotesk by Radim Peško © 2020Obuchi Lab, T
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Department of Architecture Graduate School of Engineering The University of Tokyo Eng. Bldg. 1, Room 415 7
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Bunkyō
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Tokyo 〒 113 Japan www.t-ads.org
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Acknowledgements
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Introduction
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1.1 Background and Motivation
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1.2 Research Objective
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1.3 Thesis Outline
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Literature Review and Research Method
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2.1 Literature Review
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2.2 Research Methodology
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Scanning Tools and Systems
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3.1 Definition of Scanning and 3D Position
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Research on the Impact of Scanning System on Architectural Geometry
Table of Contents
Finding System 3.2 Historical Development of Scanning/ 3D
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Position Finding/ Measurement Tools and
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Systems Analysis and Categorization
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4.1 One-Dimensional Scanning System
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4.2 Two-Dimensional Scanning System
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4.3 Three-Dimensional Scanning System
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4.4 Multi-Dimensional Scanning System
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Conclusion
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5.1 Discussion
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5.2 Future Work
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References
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Image and Illustrations Credits
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I would like to thank everyone who has helped me during my study of architecture. Firstly, I would like to express my deep gratitude to Yusuke Obuchi for giving me invaluable feedback and advice. I am especially grateful to many of my classmates for their constant support and feedback during these two years. I would like to offer my special thanks to course assistants Yusuke Komata and Shuta Takagi for their amazing support.
Research on the Impact of Scanning System on Architectural Geometry
Acknowledgements
Tokyo 2020.
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Page Description
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Research on the Impact of Scanning System on Architectural Geometry
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Introduction
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Introduction
Introduction
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1.1
Background and Motivation William J. Mitchell (2001) stated that “Architects tend
to draw what they can build, and build what they can draw”, implying that the built geometry of a building is a direct result of the architect’s creativity to draw. Complex architectural geometries and forms are gaining popularity in the architectural community during the last quarter of a century. This advent/ change in form/ shape/ geometry of architecture is predominantly studied from the perspective of architect’s imagination and creativity. Moreover, the ability to represent complex shapes in 3D softwares and rise of digital technologies in the architectural design stage are credited as the main reasons for the developments in complex free-form buildings The subject of architecture being regarded as an output of creative minds of architects could have been the result of the separation of design and construction which was first proposed by Leon Battista Alberti’s “De Re Aedificatoria” (On the Art of Building), explained by Joseph Rykwert, an architectural historian (1991). This separation made architects responsible for representation of ideas and skilled craftsmen responsible for the construction of buildings (Llach 2012). Since then, the geometry of a building or design output is predominantly considered as a result of an architect’s im10
agination while the actual making or construction process
architectural geometry. However, the boundary between design and construction has become blurred in recent years with the rise of digital fabrication technologies. Although there have been attempts to correlate geometry and way of making, there is no systematic categorization on making methods and architectural geometry. As a result, any of the complex geometry buildings or structures constructed using advanced 3D softwares and fabrication technologies are categorized into “digital design/ computational design or digital fabrication category” despite the conceptual foundation, ways
Research on the Impact of Scanning System on Architectural Geometry
of a building was not considered as an important aspect of
of making, construction tools etc. are completely different. Moreover, any geometry of the past or current which did not use fabrication technologies are not analysed from this “way of making” point of view. T
analyzed from the perspective of making through digital
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Consequently while complex geometrical output is being fabrication, simple geometries of the past and present are analysed from the viewpoint of visual appearance through architect’s imagination and not from the viewpoint of making. This research tries to fill the gap that exists between the research on simple geometry and complex geometries by analysing geometries in architecture through a common viewpoint of making and construction by using the scanning tools and systems as a systematization tool. This research investigates the advent of architectural geometry from the perspective of scanning and 3d position finding systems used in construction. It analyses how geometry advances from simple Euclidean elements into complex curves and surfaces in 3D space and tries to rationalize the process from the viewpoint of scanning systems.
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Introduction
1.2
Research Objective The research is based in the historical and architectural
context of scanning and 3d positional finding systems. The impact of scanning systems and 3D position fining systems with respect to architectural geometry and form is analysed and discussed. It hypothesizes the concept of scanning systems as a driver and limitation of architectural geometry output. The definition and meaning of measurement, scanning and 3d position finding systems are first defined to clarify the concept and then various types of scanning systems used throughout history are discussed. After that, the hypothesis is tested by analysing different architectural structures throughout history, especially from the 20th Century, as case study projects and categorizing them according to the scanning/ position finding system applied. The objective of thesis is to answer the following research questions: What are the impacts of scanning and position finding technology used in construction on architectural geometry output? What is the relationship between the geometry output and the scanning tools, systems or way of communication between fabricators during the constructing a project? How can we systematize the scanning technology used in architectural construction to categorize their geometry output? In order to classify the architectural geometry with respect to scanning systems, the systems are rationalized and categorized into the following four categories: onedimensional (point) scanning system, two-dimensional (curve) scanning system, three-dimensional (space) scanning system and multi-dimensional scanning system.
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Thesis Outline This thesis is composed of five parts. Chapter 1 presents the background introduction of the
research subject matter, presents the objective and hypothesis of the research and outlines the structure of the thesis. Chapter 2 includes a brief literature review on these types of architectural categorization studied in theory and history of architecture and touches upon the development of geometry in mathematics. It also presents the research methodology of the project. This chapter shows how the hypothesis will be
Research on the Impact of Scanning System on Architectural Geometry
1.3
tested, which criteria will be used and which types of analysis and systems will be employed to prove the hypothesis. Chapter 3 discusses the definitions of scanning and 3d
Then the development of said tools and systems throughout
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tural context and how they relate to measurement systems.
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positioning systems, how they should be defined in architec-
history is discussed. A comprehensive review of different theoretical and practical systems are discussed. Chapter 4 analyse different types of architectural projects throughout history and classify them according to the scanning and 3d position finding system used. It tries to connect the architectural geometry to the scanning tools, systems, communication and ways of making and geometry output. Chapter 5 summarizes the thesis and reflects on the hypothesis and analysis.
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Literature Review and Research Method
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Literature Review and Research Method
Literature Review and Research Method
2.0
2.1
Literature Review
Geometry and Space The notion of shape and form has always had a connection to that of measurement. The word geometry comes from the Ancient Greek word “geo” meaning “earth” and “metron” meaning “measurement”. De Risi (2015, 2) discussed the historical development of geometry throughout history that this definition of classical geometry mainly concerned itself with the computation of lengths, areas and volumes of figures and objects. In Greek, geometry did not rely on any outside reference or system but focused on individual shapes and figures such as triangles, circles. In the era of Plato and Aristotle, it was also regarded that form and shape as the principle characteristics of geometry. Even though there existed a notion of being in a certain location (in the city, on a horse, etc), there is no concept of space as an independent object. Descartes noted that geometrical objects were not entities in itself but parts of the “res extensa” (extended thing) and emphasized their relationship with senses of imagination. This allowed geometrical objects to be regarded not just as entities in their own realms but as rooted inside a larger and indefinite extension, which could be rationalized in a system of coordinates (De Risi, 2015). 16
Research on the Impact of Scanning System on Architectural Geometry
At the end of Renaissance, the notion of geometry is regarded as science of magnitudes or measurements where these magnitudes can be conceptualized as pieces of extended realm. Moreover, the 3 dimensional notion of space with the bodies as the individual references, was also gaining wider acceptance (De Risi, 2015). Several years after the end of Renaissance, the concept of three-dimensional space, where the space is an infinite extension irrespective of any entities or matters that exist inside it, was suggested. The notion of space as a geometry was formalized. The notion of geometry, in modern terms, can be defined as the science of space. This notion of geometry in space was first proposed in Leibniz’s “the analysis situs” and this was the first time space was conceptualized as a geometrical science. However, only in the 19th century was the notion of geometry as the science of space is accepted
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universally. In modern terms, geometry is a science of space,
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position and configurations (DeRisi, 2015). Therefore, the development of geometry as a discipline of mathematics can be summarized as follows: Geometry without Space (Geometry which exists as itself) Geometry in material extension (Geometry which exists with respect to other in a larger extension) Geometry in Space (Geometries existing in 3D space) Fig 2.1 The development of geometry in mathematics
This development of geometry in mathematics is very similar to the development of architectural geometry throughout history and I will elaborate this in this thesis through case studies.
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Literature Review and Research Method
Type and Typology There have been many attempts to categorize architecture according to the visual form/ shape or their usage. The most popular way of categorizing being through Type and Typology. Madrazo (1995, 81) categorized the natures of architectural form based on Vitruvius’ work as a combination of structural Fig 2.2 The three natures of architectural form (adopted from Madrazo 1995)
(functional), geometric (perceptual) and sculptural (ornamental) (Fig.2.2). He further provided a categorization of temples from Roman, gothic, renaissance and modern movements in architecture according to the three criteria described above (Fig.2. 3)(Madrazo 1995, 81).
Fig 2.3 The difference between buildings of different periods according to the three natures of architectural form (adapted from Madrazo 1995)
Madrazo (1995, 113) also argued that until the Greek period, artists and architects’ vision and practice was severely limited by existing tradition. There was no direct intellectual input for the design of a building. Alberti , in his “De Re Aedificatoria”, established the distinction between representation and construction in architecture and his idea of architecture can be regarded as an emphasis on visual identity (Llach 2012). This idea of the architect's attention on visual can be seen in the sketches of Leonardo, who unlike any artist before him, had produced sketches from his imagination which resemble the process of artistic invention (Madrazo 1995, 112). Leonardo’s sketches for the plan of a church can be seen in Fig.2.4. Fig 2.4 The five points of centralized plan of Leonardo (adapted from Madrazo 1995)
Madrazo (1995) stated that this exploration of the plans by Leonardo could be “aiming at discovering all the emergent shapes contained in a particular geometric pattern”. Therefore, it could be generalized that geometry in architecture was a result of the architect's imagination. Many of the studies on architectural geometry follow the similar point of view of architects being the mastermind behind the invention 18
and production of geometry and the resultant architectural
output. New Categorizations There are also new ways of categorizing architectural output according to the characteristics of the projects or the systems/ technologies used, however, these methods are applied to rationalize and categorize new types of architecture emerged during recent years. Mihye An (2016) theorized media architecture and categorized using different atlases. She categorized the media architecture according to: its ability of characterization
Research on the Impact of Scanning System on Architectural Geometry
analysis are based on the visual perspective of the geometry
(borrowing characters from literature to represent media architecture projects), its ability to embody psychological needs and desire (depending on how users interact with the architecture) and its ability to form relationship with people
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(species such as pets, connaisseurs, oracles, ghosts and
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Literature Review and Research Method
2.2
Research Methodology The methodology for this thesis includes defining, cat-
egorization of systems and analysis and categorization of case study projects. Souza (2015) stated that the goal of case studies is “to expand and generalize theories by a process of analytical generalization.� Moreover, he argued that in multiple case studies, the aim was also to generalize the findings to theoretical propositions by testing it under different conditions. Therefore, multiple case studies allow us to analyze whether a proposed hypothesis will maintain its characteristics and results under the same context but on different test subjects. Consequently, to validate the concept of scanning system usage having impact on architectural geometry, the approach of multiple case studies analysis was selected as the main method of research. Since we are mainly concerned with how methods of scanning, the ways of making and communication are related to architectural geometry rather than the architect's role as an artist or draftsman, the main focus of this research will be placed on analyzing the tools, systems, and how people communicate while using these tools.
Fig 2.2 (Left) The research
To be able to identify the architectural geometry output
argues from point of view
from the perspective of scanning and position finding sys-
that the combination of
tems, scanning in architectural context is first defined and
scanning tools, systems and communication methods can
analysis parameters are then defined as follows:
drive and limit architectural geometry
Tools: what kinds of tools are used to build this project, how advanced or primitive are the tools used. Hence, a brief study on the development and usage of scanning/ position finding/ measurement tools throughout history of construction is carried out first. System: How are the described tools used and how are they combined together to produce new ways of scanning and what are the reference systems used for the project. Communication: How do people communicate with each other or with the system of references using the tools while constructing the projects.
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Way of Making: The combination of tools, systems and
making� of the project. Fig 2.2 Tools, systems, communications and their relationship to each other. Together, they comprise the "way of making" of an architectural geometry
Geometry: Being the main analysis object of this thesis, and
Research on the Impact of Scanning System on Architectural Geometry
communication methods together make up the “way of
to systematize both the scanning system and geometry, I have used the analogy of geometry from mathematics which is explained in section 2.1 as a reference for categorization of geometry output. These categories are as follows: T ADS
Geometry without Space (Geometry which exists as itself) Geometry in material extension (Geometry which exists with respect to other in a larger extension) Geometry in Space (Geometries existing in 3D space) After the definition and parameters and factors of analysis are decided, case study projects are determined. For case studies, a number of architectural projects throughout history are chosen. Buildings throughout history: The choice of projects from different eras ensures that the development of technology through time is reflected in the shift in geometrical output. Similar and different structures: To be able to analyse the correlation of how people scan and what type of geometry this particular scanning method produced, and to be able to make a result comparison between the geometries of the same and the different systems, the case studies have to include both similar and widely different shapes of structures.
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Scanning Tools and Systems
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Scanning Tools and Systems
Scanning Tools and Systems
3.0
3.1
Definition of Scanning and 3D Position Finding System To analyse the impact of scanning systems and
technologies on the architectural geometry output, we must first have a clear understanding of what a scanning or position finding system means. The Merriam-Webster dictionary describes “scan” as Fig. 3.1 Scanning requires a reference, depending on the reference, the measurement
“To examine by point-by-point observation or checking”
and data will be different
“To examine systematically (as by passing a beam of radiation over or through) in order to obtain data especially for display or storage” For the context of this thesis, scan will be explained on the basis of the first definition, i.e. “point-by-point observation or checking”. Especially in architectural construction, it can also be translated simply as “finding a point in space”. This concept of “point in space”, in architectural context, could be expanded into “Finding a point in space where a building component has to be/ can be positioned” or “Finding a point in space where a building component is already positioned”. 24
interchangeable in the context of architectural construction. Reference Geometry However, when we define scan, we must first know where the scan is carried out and with respect to what the scan is done. It could be a point in a room, or a point in a building or a point on the table (Fig.3.1). For all these points, the scan is carried out from another fixed point. For the point in the room, Fig 3.2 (Left) Scanning a point from a reference point by measuring direct distance (Right) Scanning a point from a reference point by measuing relative direction and distances
Research on the Impact of Scanning System on Architectural Geometry
In this regard, scanning and position finding can be
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that point might be scanned with respect to a point on a door. For the one in the building, the point might be scanned with respect to the center point of the living room, etc. Therefore, to carry out a scan, that is, to find a point inside a space, a reference must be determined first. Scan as Measurement After the reference is determined, the target point can be scanned using different steps of measurement. All scan operations can be defined by measurement of different types
Fig. 3.3 Scanning of two points to produce a straight line Measurements for (x, y) coordinates with reference to reference point is needed
such as distance/ length, angle, height/ depth, etc. The steps of measurement can vary according to the task we need to carry out after scanning. For instance, fig.3.2 shows two possible ways of scanning a point with respect to another point. The first instance of measuring just the distance of one point from another has little usage in construction setting 25
out or scanning, however, is widely used for self-referential
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measurements to check accuracy. For construction projects assembly, the second instance of measuring (fig.3.2.right) is the main type of scanning used. Since different parts and components must be assembled together to form a geometry, it is necessary not just to find the distance between points, but also to find the relative direction between points or absolute direction of points from one reference point. For example, the scanning of two points might be needed to construct a straight line geometry. (fig.3.3) For this kind of case, a reference plane or system must be used to accurately define a position (x, y) Height Height difference is also another measurement that is needed to complete a scan process. Although it can be
Fig. 3.4 (Left) Scanning by measuring height (Right) In construction, points in 3d space (x, y, z) are measured from one reference point
regarded as another form of distance, height or depth should be differentiated from distance in the context of architectural scanning. For example, in fig(3.4. left), the difference between distance and height between two points is described. As usual, distance itself does not contribute much to the construction assembly process. A combination of distances, or a distance and an angle, together with height value, can accurately define a point in space with coordinates of (x, y, z). Definition Summary of Scanning/ Position Finding System To summarize, a scanning or position finding system is a system to find points in space. To find a specific point in 3 dimensional space, distance measurement, height measurement, angle measurement and a reference from 26
which it is measured are essential.
Historical Development of Scanning/ 3D
Research on the Impact of Scanning System on Architectural Geometry
3.2
Position Finding/ Measurement Tools and Systems This section describes the development of scanning/ position finding systems throughout history. The tools discussed here will mainly be related to architecture and construction industry, however, this section does not provide an exclusive list of all the tools being used or used in the past. 3.2.1
Tools in Egyptian Civilization
Ropes/ Cords Ropes were used as a way to measure distance in Egyptian times. As shown in Fig.3.5, the long rope is tagged at around 10 cubit (18 inches, 457 mm) intervals and frequently used as a surveying tool. Another type of instrument, which is Egyptian Mason’s line, is also made up of a thin cord. This
using a cord can be seen in Fig.3.5.
Fig. 3.5 (Top) Ropes used as measuring tool (Bottom) Measuring a stone block with rope
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be laid (Wright 2009). The measurement of a stone block
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can be stretched to act as a measuring line for the bricks to
Measuring Rod A measuring rod used in Egyptian time can be seen in Fig.3.6. This is a ceremonial cubit rod and it uses measurement of “fingers” by dividing a royal cubit (523 -525 mm) into 28 fingers and uses a fraction system of ½, of a finger
Fig. 3.6 Measuring rod (cubit)
(Monnier et.al 2016) A Frame Level with Plumb Line This instrument is used to check the horizontal level of a component. If the plumb line hanging is coincided with the central index of the horizontal bar, the horizontal level is achieved (Fig.3.7). Seshat
Fig. 3.7 A Frame
Seshat is the name of the Egyptian goddess of writing and time-keeping and she possessed a sign which could have been an equipment used for finding cardinal direction during Egyptian civilization. The sign of seshat can be seen in Fig.3.8. and the way the equipment might have been used to find directions can be seen in Fig.3.9. (Belmonte et al. 2009). By aligning the top part of the instrument along the two stars, Megrez and Phecda, of Ursula Major as these two stars align
Fig. 3.8 Seshat, goddess of writing and timekeeping and her sign
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closely to the North Star, Polaris, the north direction can be
Scanning Tools and Systems
found. Fig. 3.9 Usage of sign of seshat to find north-south cardinal directions
The Sun In ancient societies, there was no clear understanding of cardinal directions such as East or North. Consequently, they used observed natural phenomena such as sunrise and sunset as a reference for time or direction in their life. These ancient cultures used the sun as the main reference point in constructing structures such as observatories and temples. Finding out cardinal directions might also have been an essential aspect of ancient architectural construction. Since searching for direction also includes a necessary step in putting a building together, it will be regarded as a position finding system in the context of this thesis. 3.2.2
Tools in Roman Civilization
Measuring Rod/ The Decempeda The decempeda, meaning ‘ten feet’ in Latin, was a measuring rod with the length of ten Roman feet. Distances were measured by using two rods at the same time with one rod attaching to the end of another rod until the measurement is complete (Shuttleworth 2010). A Frame Square Level The Roman A Frame square levels are shown in Fig.3.10. Their usage and shape are very similar to that used in Egyptian Fig. 3.10 A Frame square levels of Roman 28
time
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The Chorobate is a levelling device used by Roman surveyors and is around 20 feet long. It is made up of a sighting board fitted onto legs (Fig.3.11). The level accuracy can be obtained by checking if the plumb lines and vertical index lines coincide. Moreover, water can be filled inside a water trough to check whether the Chorobate is level or not (Wright
Fig. 3.11 Chorobate
2009). Gromma The Gromma (Fig.3.12) is a right-angle finding tool used in Roman times. It is made up of metal with the main support having a spike which is stuck into the ground and a rotatable
Research on the Impact of Scanning System on Architectural Geometry
Chorobates
part at the top which is used as a sighting device with four arms which are built at right angles to each other. Plumb bobs are hanging from the four arms and the middle of the rotatable part and ensures the intersection of line of sight
Fig. 3.12 A Roman Gromma
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between the bobs and a sighting rod (Wright 2009).
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Dioptra The Dioptra is a tool which was invented since Greek civilization and was in use until the Roman civilization (Gallo 2006). It was used as both an astronomical instrument and as a surveying instrument. Different reconstructions of the dioptra can be seen in Fig.3.13. It can be used for finding perpendicular lines or levelling. Fig. 3.13 A Frame square levels of Roman time
3.2.3
Modern Tools
Tape Measure Tape measure is the most extensively used tool for measuring length, both for short and long distance, in any construction site today (Fig.3.14). This can be said to be a direct predecessor of cords/ measuring rods from Egyptian time
Fig. 3.14 A Tape measure 29
and the measuring rod from Roman time.
Scanning Tools and Systems
String Strings are mostly used today for alignment such as making sure the brick walls which are being laid follow a straight line. Their usage is still the same since the Egyptian times. Plumb bob The plumb bob consists of a weight at the end of a string and used to check the vertical or horizontal level. The tools used in modern times are very similar to those that were used in Egyptian and Roman times. Level (Spirit Level) The spirit level is a device which consists of a sealed glass tube and filled with an alcohol or other liquid that can be used to check whether a surface is level or not (Fig.3.15). Fig. 3.15 A Spirit Level
Although the size of spirit level is small, its application is very similar to chorobate of Roman time. Laser (line) Instead of existing measurement tools such as tape measure or string, laser measurement tools can also be used. Their application and goal is the same, however, the laser tools are more comfortable, easy to use and more precise than existing tools. Moreover, these laser tools can also work as alignment tools instead of strings as seen in Fig.3.16.
Fig. 3.16 Laser alignment tools that can align 90' and 45'
3.2.3
Modern Tools (Advanced)
Laser (Point in Space) Laser point scanning system allows the user to find points in 3d space (x, y, z) relative to itself. This system proposes a huge leap from existing one-dimensional measurement systems by being able to scan in one step without relying 30
on multiple steps used in past systems.
GPS uses satellites to find the location on the earth and is used mainly for large-scale projects. However, it is difficult to use GPS scanning with high accuracy indoors. AR/VR AR markers are increasingly being used these days as a form of position finding tools during construction. This system uses markers to create its own calibration points in a coordinate system and scan other points in 3d space with respect to these calibrated points. It can be used for almost all types of measurement including measuring length, height,
Research on the Impact of Scanning System on Architectural Geometry
GPS
angle or a point (x, y, z) coordinate in 3d space. Summary of Systems and Tools Although the tools and systems used for measurement
time. Current usage of tape measure is a direct descendent
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age is the same as thousands of years ago since Egyptian
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or scanning developed throughout history, their way of us-
from strings/ cords and measuring rods used in Egyptian and Roman times while that of levels and plumb lines were also very similar to A Frame and Plumb bobs used in ancient civilization. It is apparent that the real breakthrough developments are that of 3D laser scanning tools or AR/VR position finding systems where we can scan a point or object in 3D space (x, y, z coordinates).
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Analysis and Categorization
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Analysis and Categorization
Analysis and Categorization
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In this Chapter, the analysis of the selected case study projects is carried out. This chapter is divided into four sections as follows: In section 4.1, four case study projects (indigenous/ primitive structures, Egyptian pyramids, Roman domes and contemporary brick walls) are analysed in detail and they are categorized into one-dimensional scanning system. In section 4.2, four case study projects (Sagrada Familia schools, Atlantida Church, Chapel Lomas De Cuernavaca, Fig. 4.1 Case study, detailed analysis, Definition and Cate-
Seaport Deposit of Montevideo) are analysed in detail and they are categorized into two-dimensional scanning system.
gorization
In section 4.3, three case study projects (Experience Music Project, Fondation Louis Vuitton, Robotically Fabricated Walls) are analysed in detail and they are categorized into three-dimensional scanning system. In section 4.4, three case study projects (TOCA Pavilion, PAFF Pavilion, IBRICK Project) are analysed in detail and they are categorized into multi-dimensional scanning system.
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One-Dimensional Scanning System
4.1.1
Research on the Impact of Scanning System on Architectural Geometry
4.1
Primitive Structures and Indigenous Structures
Primitive Structures The geometries of the oldest type of buildings can be regarded as the simplest form of architectural geometries. Primitive structures such as Nabta Playa, Stonehenge, etc.
circular building can easily be achieved by setting a peg in
Fig. 4.2 Nabta Playa, Circular Plan
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tools they have for scanning. The scanning needed for a
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are mainly circular. This could have been due to the available
the center of the planned area, attaching a rope/cord with its length being the radius of the structure and another peg or marker attached at its end, and then move around the center peg while marking the ground space (Wright 2009, 21). These scanning steps for a simple circular structure is depicted in Fig.4.4. The plan of Nabta Playa (7500 BC) can be seen in Fig.4.2. Nabta Playa is said to be the only stone circle that existed in Egypt. It’s plan is circular. Moreover, it also possesses a certain directional characteristic. It includes 8 standing stones making 4 pairs. This stone circle also used the sun as a reference point for its position and orientation of stones. Each Pair sits around the circumference of the stone circle. Two pairs are in the direction of North-South while another pair is in the direction of rising sun on summer solstice (June 21). Therefore, an observer standing at the middle of the circle will be able to see sunrise between the two stones on June 21. Summer solstice in this area marks the time near the beginning of the rainy season (Malville et.al, 2008). It could be possible that this structure was built with reference to the sun to know the coming of the rainy season in advance.
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The plan of Stonehenge (2500 BC) can be seen in Fig.4.3.
Analysis and Categorization
The plan and construction of Stonehenge is also circular with a number of concentric circles. Although Stonehenge does not show a cardinal North or South directional characteristic, it still has its own directional sense related to its approach. On summer solstice, the sun will rise just above the heelstone of Stonehenge which is located at the approach path (Scherrer, 2018). This reveals that this point of approach or opening was measured accordingly to the movement of the sun at a particular time of the year. The circular plans and the openings of both monuments could have been an indication of the scanning system available to them, which are simple means to mark out a circular plan following a centre point and the sun which is a point on the sky. Indigenous Structures A collection of indigenous structures is shown in Fig.4.5. These structures strictly follow the circular geometry as most of these societies had very few access to advanced Fig. 4.3 Stonehenge, circular plan
construction scanning equipment, making them work with the minimum tool they have, hence, producing simple geometrical forms derived from circular plan. These structures with the circular plan strictly follow the central reference point for the construction of the geometry. The scanning points are all derived from this main central reference point. Different parts of the structure can be said to be built following this one point, hence, its geometry can be considered as the result of “one directional scanning system�. Moreover, the direction of the openings inside the primitive structures also follow a point on the sky, in this case, the sun, as a reference point, which can also be regarded as a
Fig. 4.4 Communication with reference for a circular plan structure
single reference geometry. Consequently, primitive structures and indigenous structures can be categorized into onedimensional (point) scanning system.
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Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
b. Points to be scanned T ADS
c. Center Peg/ Rope/ Marker
c. Rope Length = Radius of plan
c. Marker scanning points
c. Points scanned for circular plan
37
Fig. 4.5 Steps of scanning for a simple circular plan geometry
Analysis and Categorization Fig. 4.6 A Lavuu, a temporary dwelling used by the Sami people of northern Europe
Fig. 4.7 Reconstruction of a peat goahti at Skansen open-air museum, also a dwelling used by Sami People of northern Europe
Fig. 4.8 A Tipi
Fig. 4.9 A Kyrgyz Yurt
38
Research on the Impact of Scanning System on Architectural Geometry
4.1.2
Egyptian Pyramids
The pyramids in Egypt can be regarded as engineering marvels of ancient history. After more than 3000 years, many researchers are still trying to find out the details of how these mega structures were constructed. As a case study for this Fig. 4.10 Giza Pyramids
ADS
will be analysed and explained from the point of scanning
T
thesis, the geometry of a typical Egyptian pyramid building technology used. The steps needed to scan the construction points of a pyramid building can be seen in Fig.4.12. Firstly, the cardinal direction line of north-south is determined by using an equipment called Seshat (Section 2). Then, a point with necessary distance along this north-south line is defined using a measuring rope or measuring rod. Right angles are determined accordingly using 3, 4, 5 triangle method and further points on perpendicular lines are found. A string can be stretched or a line can be drawn between these corners and points needed for the assembly of stone blocks can be determined (Wright 2009, 23). This same process is carried out repeatedly throughout the whole construction to obtain points on other layers. The pyramid is a polyhedron with a rectangular plan orienting along the north-south and east-west axis. The rectangular plans follow the main starting point as a reference and from that point, other points can be scanned subsequently using the new-found point as a reference. Since all scanning points can be derived from the first corner point, this can also be classified as a resultant geometry of one-dimensional (point) scanning system.
Fig. 4.11 Communication with reference for scanning points on a pyramid 39
Analysis and Categorization a. Designed Geometry
b. Points to be scanned
c. Direction determined using specific tools
d. Points measured using tools
e. Rectangular base points found
f. Points scanned using rope alignment
g. Designed Geometry
h. Points scanned using rope alignment for next layers
i. Designed Geometry
j. All points to be scanned
40
Fig. 4.12 Steps of scanning for a pyramid (rectangular geometry)
Research on the Impact of Scanning System on Architectural Geometry
Fig. 4.13 Setting out for a true right pyramid. A line ad is first constructed with a true north direction and with a lenght slighler larger than actual side length of the pyramid (x). Then lines dc, ab, bc are constructed at right angles with same length of ad. Then line A'B', B'C', C'D', D'A' with length x are marked out on line ab, bc, cd, da. These linesare offseted to get the outer perimeter of pyramid AB, BC, CD, DA. The diagonal lines intersect at the center point S of pyramid. T ADS
Fig. 4.14 The plan of the Giza Pyramids. A clear north-south-eastwest orientation can be seen from the master plan.
41
Analysis and Categorization
4.1.3
Roman Domes
The Pantheon of Rome is one of the earliest concrete domed roofs constructed in the world. To build this roof, a wooden formwork which is exactly the same with the roof itself was first erected. The formwork for the dome was termed “centering” formwork and this method is used for Fig. 4.15The interior of the Pantheon in 18th Century, painted by Giovanni Paolo Panini.
building arches, vaults and domes (Wright 2009, 99). The construction of formwork can also be regarded as scanning the points which exist along the edge of the wooden formwork. Therefore, the construction of domes can also be analysed using the concept of scanning points. The steps needed to scan points for the construction of the dome is shown in Fig.4.17. Points on the circular plan are first produced using the center point as a reference. After that, an arc with the same center point as the center is produced. A measuring device such as a rope or measuring rod would be enough to create both the circular plan and the arc. This same arc can be revolved around the main center point to produce the basic formwork for other scanning points. Although the formwork could be a combination of triangular wooden profiles instead of one continuous curve (Wright 2009, 99). However, from the scanning point of view, points on arc can be approximated by points on triangular beams. For a brick dome, bricks can be laid above the formwork at particular points to create the dome geometry. Both the plan and the structure of the dome follows the central point of the circular plan for the construction of the main geometry. All the points are scanned with respect to the
Fig. 4.16 Communication with reference for scanning points on a dome
main central point, and hence, the dome can be categorized as
42
a resultant geometry of “one-dimensional scanning system”.
c. Circular plan determined using a rope
d. Vertical frame determined in same way by using a rope
e. Vertical frames revolved around circular plan
f. Vertical frames revolved around circular plan
g. Guide lines produced by connecting frames
h. Points scanned based on guide lines
T
b. Points to be scanned
Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
ADS 43
Fig. 4.17 Steps of scanning for a dome(circular geometry)
Analysis and Categorization Fig. 4.18 Possible setting out schemes of the Pantheon. 125 AD. (A) shows possible setting out controls marked on the ground while (B) shows a hypothetical scheme of controls points outside the building perimeter so that when the construction is carried out, the marks are not erased. (Wright 2009, Fig 51)
Fig. 4.19 Viollet le Duc’s hypothetical Scheme for flying
Fig. 4.20 An example of centering for masonry of
Centering for the Parhenon Dome
hemispherical dome (20th Century AD)
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Research on the Impact of Scanning System on Architectural Geometry
4.1.4
Contemporary Buildings
Many of the contemporary buildings have simple geometry of rectangular, circular or shapes made up with straight lines and surfaces or surfaces which are produced by extruding a profile curve along a straight line. These shapes can be built T
easily by just scanning points. A contemporary brick wall can be seen in fig.4.21. The
wall building
ADS
Fig. 4.21 A contemporary brick
steps to scan the points necessary to build this wall can be seen in fig.4.23. After the starting point or post is defined, the process includes finding one point in each direction. Two lines perpendicular to each other are necessary to build a rectangular brick wall. To find a straight line, a target point must be scanned. This point can be measured using a simple distance measuring tool such as a tape measure. Perpendicular lines can be set out by using simple angle measurement tools or digital laser tools. After posts are erected at the scanned point which are either perpendicular or at certain defined angles, strings can be stretched between the posts. The points on the strings are the scanning points necessary for construction of the brick wall. Any contemporary building with straight line geometries follow the same rules and process of construction where a point is first defined and other points are successively scanned from this first point. Since the scanning process follows the one corner point for its whole construction, the geometry of a contemporary brick wall can be regarded as a result of "one-dimensional scanning system". Fig. 4.22 Communication with reference for scanning points on a brick wall 45
Analysis and Categorization a. Designed Geometry
b. Points to be scanned
c. Points measured using tools
d. Guiding posts found
e. Guide lines drawn on guiding posts
f. Points scanned using rope alignment
g. Designed Geometry
h. Points scanned using rope alignment for next layers
i. Target Points and Designed Geometry
j. Target Points and Designed Geometry
46
Fig. 4.23 Steps of scanning for a brick wall (straight line geometry)
a triangle with appropriate lengths. Sketch from modern bricklayer's manual. X is the base line and from this base line, a right angle line Y can be found by usinga 3, 4, 5 traigle method
Research on the Impact of Scanning System on Architectural Geometry
Fig. 4.24 Construction of right angle by forming
T ADS
Fig. 4.25 (Left) Traditional modern setting out arrangement. Wood frames are built and a string is stretched between frames and whenever a need arises to mark out a line on the ground or on the built component, building line can be marked at any level by plumbing from the stretched cord. (Right) Usage of solid bricks instead of wooden frames.
Fig. 4.26 Laying a brick wall. Two strings which act as a guidance to get a straight wall can be clearly seen in figure.
47
Analysis and Categorization
4.1.5
Categorization - One Dimensional Scanning System,
Way of Making, and Geometry output According to the case study projects discussed above, we can identify and categorize the one dimensional scanning system and define its effects on architectural geometry as follows. One-Dimensional Scanning System A scanning system, which utilizes a single reference geometry (point) to scan various points in space, can be categorized as a one-dimensional (Point) scanning system. Tools and System Simple one-dimensional measurement tools such as tape measure, measuring rod, etc. have been used for more than 2000 years and the system of usage remains the same throughout history. Communication Fabricating this type of geometry dictates participants to follow one single reference point in a fixed position. People working together to produce the geometry can communicate using this one single point to create other points and geometry. Geometry The geometry of this system acts as an independent entity which exists as itself. whole/ linear/ simple.
The geometries can be classified as
48
Research on the Impact of Scanning System on Architectural Geometry T ADS 49
Fig. 4.27 Systematization of one-dimensional scanning system and its geometry output
Analysis and Categorization
4.2
Two-Dimensional Scanning System
4.2.1
Sagrada Familia Schools
The Sagrada Familia Schools was constructed in 1909 and designed by architect Antoni Gaudi and featured a roof of conoid form. Although the roof possesses a complex-looking curvy surface, the rules to find the points to assemble the bricks for this surface can be regarded as simple. Fig. 4.28 ISagrada Familiar schools designed by Antoni Gaudi
The necessary steps of scanning points for the construction of the conoid roof is shown in Fig.4.30. Firstly, Two curves with the same profile are produced. This production can be done relatively easily with simple measurement tools such as a tape measure and by measuring (x, y) coordinates on a plane. After that the two curves are divided into parts and one is translated along its length. Then, a set of straight lines which connect the points on the curves are produced. Simple strings can be used for this procedure. Dividing this set of lines will generate the target points that need to be scanned. This set of lines and points become a beam system or a guideline for formwork which is to be assembled above. Bricks can be laid above this formwork to produce the masonry roof structure. In this scanning process, two reference curves, despite having the same profile, one curve translated in one direction to produce a non-planar surface, are used to scan all the necessary points of the roof. Since the scanning of points needs to use at least two curves simultaneously with different profiles, the scanning system can be termed “two-dimensional scanning system.�
Fig. 4.29 Communication with reference for scanning points on the roof 50
b. Points to be scanned
Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
T ADS
c. Curves determined using tools
d. Curvues divided into equal parts
e. Guide lines produced from curve points
f. Target points to be scanned
51
Fig. 4.30 Steps of scanning for the sagrada famila school roof
Analysis and Categorization
Fig 4.31 The roof of the Sagrada Familia Schools is a conoid section made up of same profile curves which are offseted from one curve to another
Fig 4.32 Interior View of Sagrada Famila Schools
Fig 4.33 Interior view of Sagrada Familia School. Straight wooden beams and curved masonary structure above can be seen clearly
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Research on the Impact of Scanning System on Architectural Geometry
4.2.2
Atlantida Church
Atlantida Church was built in 1952 in Uruguay and designed by Eladio Dieste. The whole structure of the church, both the walls and the roof, are curved surfaces which are made up of a ruled surface developed by connecting points T
from a straight line to the points on a curve. The steps for scanning the wall of Atlantida Church are shown in Fig.4.36. A straight line section and a curve is
Uruguay designed by Eladio
ADS
Fig. 4.34 Atlantida Church in Dieste.
first produced, which can be achieved by simple distance measuring tools. Then, the curve and the lines are divided into equal parts. These divided points on two curves are connected to form a straight line using ropes or strings. Diving this set of lines will generate necessary points for masons to lay bricks. By following the straight lines profile to lay bricks, the complexlooking curved surface of the wall can be constructed. The reconstruction of this type of wall by South Dakota University can be seen in Fig. 4.39. (Lammers and Fritz 2016). This process also uses two reference curves with different profiles simultaneously to produce a non-planar, ruled surface and scan necessary points. The scanning process needs to use two curves concurrently to find scan points and hence can be categorized as "two-dimensional scanning system." Geometry is not just an independent object such as a square or a circle which exists as itself with its own self as a reference, it has become a larger entity inside the space with itself as a reference.
Fig. 4.35 Communication with reference for the scanning of wall 53
Analysis and Categorization a. Designed Geometry
b. Points to be scanned
c. Curves determined using tools
d. Curvues divided into equal parts
e. Guide lines produced from curve points
f. Target points to be scanned
54
Fig. 4.36 Steps of scanning for the Atlantida Church wall
Research on the Impact of Scanning System on Architectural Geometry
Fig 4.37 Finished Construction
Fig 4.38 Construction of the
of the Church Wall
Church Wall, a Curve profile can
T
be seen above the formwork
ADS
Fig 4.39 The construction of a ruled-surface brick wall by South Dakota University students. This reconstruction is a bit different from the wall of Atlantida Church in that the curvy profile of the wall is at the bottom in this project.
55
Analysis and Categorization
4.2.3
Chapel Lomas De Cuernavaca
The Chapel Lomas De Cuernavaca was designed by Felix Candela and built in 1958 in Cuernavaca, Mexico. The shape of the Church is derived from hyperbolic paraboloids which are cut at three different planes to produce the final form. The form contains a curved roof/wall structure, however, Fig. 4.40 Chapel Lomas De Cuernavaca in Mexico designed by Felix Candela
all the points that needed to construct the structure can be derived from the lines which are derived from two simple lines translated in opposite directions (Mele and Block 2011). The scanning steps for the construction of this project is shown in Figure.4.42. Even though the original plane is a simple rectangular surface, which is modified to become a hyperboloid, the actual construction scanning works from the resultant curves which are generated when the shape is cut with three planes and the original straight lines on the rectangular surface. Scanning the points on the straight lines will give necessary formwork for concrete construction. This scanning process can be said to use two straight lines (curves) as the basic profile. The surface produced from this profile is then distorted to get the necessary shape or it can also be regarded as a surface formed by four profile curves that resulted after cutting the shape with 3 planes. In any case, this scanning process follows the existing curves as references simultaneously to scan the points and hence can be categorized as "two-dimensional scanning system." The geometry of this process exists in a space with itself as a reference.
Fig. 4.41 Communication with reference for the scanning of wall/roof 56
b. Points to be scanned
Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
T ADS
c. Curves determined using tools
d. Curvues divided into equal parts
e. Guide lines produced from curve points
f. Target points to be scanned
57
Fig. 4.42 Steps of scanning for the sagrada famila school roof
Analysis and Categorization Fig 4.43 Construction of Chapel Lomas De Cuernavaca. Straight beam lines as a formwork can be seen in figure despite its overall fomr being a curvy surface.
Fig 4.44 The restaurant
Fig 4.45 Construction of the
L'Oceanografic in Valencia
restaurant L'Oceanografic.
(Spain) was also designed by
Straight lines can be used as
Felix Candela and has a similar
the scaffolds of the structure
shape of hyperbolic paraboloid.
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Research on the Impact of Scanning System on Architectural Geometry
4.2.4
Seaport Deposit of Montevideo
The seaport of Montevideo was designed and built by Eladio Dieste in 1979 and it features the biggest span among all Gaussian Vaults structures with 50 meters in length. Unlike other case study projects in this section, the generation of T
scan points do not emerge from straight lines. The scanning steps for the construction is shown in
Motevideo by Eladio Dieste
ADS
Fig. 4.46Seaport Deposit of
Fig.4.13. The three main profile curves are shown in Fig.4.48. By following the middle main profile curves, a number of curves are produced along the two rail curves as in Fig.4.47. These curves are connected at equal intervals to produce a grid network of curves. The intersection of these grids become the scan points for the structure. Formwork can be constructed following these scan points and bricks can be laid above to produce the required geometry (Melachos et.al. 2019). This scanning process uses three curves as the basic profile where other curves are derived from these 3 curves. By referencing the multiple curves simultaneously, required scan points can be found. Hence, this type of scanning process can be categorized under "two-dimensional scanning system". The geometry can also be regarded as existing inside a space where it becomes the reference itself.
Fig 4.47 Communication with reference for the scanning of roof 59
Analysis and Categorization a. Designed Geometry
b. Points to be scanned
c. Circular plan determined using a rope
d. Vertical frame determined in same way by using a rope
e. Vertical frames revolved around circular plan
f. Vertical frames revolved around circular plan
h. Points scanned based on guide lines
60
Fig. 4.48 Steps of scanning for a Gaussian vault roof
Research on the Impact of Scanning System on Architectural Geometry
Fig 4.49 Formwork with curved profile at the construction site of Seaport Deposit of Motevideo
T ADS
Fig 4.51 Roof of the Structure Fig 4.50 Brick being laid on the roof formwork
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Analysis and Categorization
4.2.5
Categorization - Two Dimensional Scanning System,
Way of Making, and Geometry output According to the case study projects discussed above, we can identify and categorize two-dimensional scanning system and define its effects on architectural geometry as follows. Two-Dimensional Scanning System A scanning system, which utilizes two or more relative reference geometries (curves) to scan various points in space, can be categorized as a two-dimensional (Curve) scanning system. Tools and System Simple one-dimensional measurement tools such as tape measure, measuring rod, etc. are used, however, the measurement is done to produce curve profiles (in x, y plane). Although the tools remain the same, the usage of the system is improved. Communication Fabricating this type of geometry includes following two curves simultaneously. People working together to build the geometry would need to continuously follow the two reference curves to create the geometry. The communication process between workers has to rely on two or more relatively-fixed geometries instead of one point. Geometry The geometry of this system is not a stand-alone geometry which exists as itself anymore, it becomes a set of objects inside a larger system where the objects are still the main reference. The geometry can be classified as complex-looking/ curvy surface/ repeating.
62
Research on the Impact of Scanning System on Architectural Geometry T ADS 63
Fig. 4.52 Systematization of two-dimensional scanning system and its geometry output
Analysis and Categorization
4.3
Three-Dimensional Scanning System
4.3.1
Experience Music Project (EMP)
Experience Music Project (EMP) or Museum of Pop Culture in Seattle was designed by Frank Gehry and was completed in 2000. The building features a free-form shape which resembles a smashed guitar (Seattletimes 2010).
Fig 4.53 Experience Music Project (EMP) or Museum of Pop Culture in Seattle designed by Frank Gehry
The steps for scanning points of a certain part of EMP is shown in Fig.4.55. The points are all in different planes inside the 3d space without following any particular rules or curves. All these points can be scanned using a scanning system which can define and measure an (x, y, z) position in space. Manual measurements such as length, height or angle measurements are not needed anymore, hence, there is no need to follow multiple steps and subsequent reference points to produce the final geometry. Although the scanning points are referenced with respect to one or more single points, these reference points are not locked on to a single position to produce particular geometry. Different reference points can be located anywhere as long as the relationship between the reference points and scanned points is maintained. The ability to produce free-form is due to the ability to move the reference points freely in the space and to be able to scan any points in 3d space. The free-form architecture does not rely on one reference point or multiple curves to produce the scanning points. Instead, the geometry is produced with reference to several points which exist in 3D space and hence, it can be categorized as "three-dimensional scanning system." The geometry becomes an object in an infinite 3D space with other several
Fig. 4.54 Communication with reference geometry for scanning the points on the 64
structure of EMP
points acting as references.
c. Designed structural frame
d. Points to be scanned
e. External references and points to be scanned
f. Part of frame and points to be scanned
g. Points to be scanned
h. Points scanned in 3D point scanner
i. Points scanned using 3D point scanner
j. All points scanned
T
b. Part of Designed Geometry
Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
ADS 65
Fig. 4.55 Steps of scanning for part of a structural frame of EMP
Analysis and Categorization Fig 4.56 Contruction conndition of EMP
Fig 4.57 Facades of EMP features a complex 3D shape which took its inspiration from a smashed guitar
Fig 4.58 Part of the Facade of EMP
Fig 4.59 Part of the Facade of EMP 66
Research on the Impact of Scanning System on Architectural Geometry
4.3.2
Fondation Louis Vuitton
Fondation Louis Vuitton was designed by Frank Gehry and completed in 2014. It is located in Paris. It features twelve glass “sails� which are supported by wooden beams and its structure consists of a combination of white blocks known
the points for them) relies mainly on the 3D position finding system.
Fig. 4.60 Fondation Louis Vuitton in Paris desinged by
ADS
curve geometry, the assembly of the glass sails (scanning
T
as icebergs. Since the glass sails do not follow any particular
Frank Gehry
Steps necessary for scanning points of Fondation Louis Vuitton in Paris is shown in Fig.4.62. Similar to the EMP, despite the points of this project being locked on to one or more reference points, the position of these reference points are not fixed. As long as the relationship between the reference point and the scanned points is maintained and points can be scanned in 3d space, the complex free-form can be produced. Due to its necessity to find points in 3D space for scanning, without relying on any fixed point or curves, this scanning system can be categorized under "three-dimensional scanning system". The geometry for this project can also be classified as objects in an infinite 3D space with several points acting as references.
Fig. 4.61 Communication with reference geometry for scanning of part of the 67
structure of Fondation Louis Vuitton
Analysis and Categorization a. Designed Geometry structural frame
b. Part of structural frame
c. Designed structural frame
d. Points to be scanned
e. Points to be scanned and target geometry
f. Points scanned in 3D space
g. Points scanned in 3D space
h. Points scanned in 3D space
i. Points scanned in 3D space
j. All points scanned
68
Fig. 4.62 Steps of scanning for part of the structure of Fondation Louis Vuitton
Research on the Impact of Scanning System on Architectural Geometry
Fig 4.63 Photo during the construction stage of Fondation Louis Vuitton
T ADS
Fig 4.64 Photo during the construction stage of Fondation Louis Vuitton
Fig 4.65 Photo during the construction stage of Fondation Louis Vuitton Fig 4.66 Photo during the construction stage of Fondation Louis Vuitton
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Analysis and Categorization
4.3.3
Robotically Fabricated Wall
Robots are being used extensively recently for experimental construction projects. Many of these projects include assembling a brick wall. Although some robots such as SAM 100 are used to lay bricks , their aims were to automate and help a bricklayer's work and not to produce a geometry which Fig. 4.67 Kitrvs winery facade in Greece by Gramazio Kohler
is not available through conventional methods (Podkaminer and Peters 2015). However, some of the robotic fabrication projects such as those shown in Fig.4.67, Fig.4.70, Fig.4.72 can also be categorized into three-dimensional scanning system. The scanning steps during the fabrication of a brick wall using robots is shown in Fig.4.69. In this case, the robot becomes the reference point of the scanning system with its arms locating the points to scan. The robot is moving around and hence the reference point is also moving. Since the robot can perceive its own arm’s position in 3d space with respect to its base, which is a reference point, a free-from structure can be realized using robotic arms. Although robots work stand alone while fabricating such kind of brick walls, due to its movement during different stages of construction, we can still consider it as having multiple reference points and scan points in 3D space with respect to each reference point. Consequently, it is reasonable to categorize it under "three-dimensional scanning system" with the geometry being inside an infinite 3D space with several reference points.
Fig. 4.68 Communication with reference for scanning points of a wall 70
Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
b. Points to be scanned
T ADS
c. Robot working area and starting point
d. Robot scanning the target point
e. Robot scanning the target point
f. All points scanned and target geometry
71
Fig. 4.69 Steps of scanning by a robot while fabricating a brick wall
Analysis and Categorization Fig 4.70 Kitrvs winery facade in Greece by Gramazio Kohler
Fig 4.71 Construction of Kitrvs winery facade in Greece by Gramazio Kohler
Fig 4.72 Fabrication of the complex brick wall using robots for the project Chi She in China by Archi Union architects
Fig 4.73 Fabrication stages of the complex brick wall using robots for the project Chi She in China by Archi Union architects
72
Comparison of brick walls for one, two and three-
dimensional scanning systems
Fig. 4.74 Comparison of brick wall geometries that could be proudced by using onedimensional, two-dimensional and three-dimensional scanning systems
Research on the Impact of Scanning System on Architectural Geometry
4.2.4
T ADS
A comparison of brick walls which are produced using one, two and three-dimensional scanning system can be seen in Fig.4.14. A brick wall geometry produced due to one-dimensional scanning system, which can be produced by following one reference scan point, has a simple linear geometry. A curve profile can also be used instead of a straight line and the wall produced by extruding the curve will still be under the category of "one-dimensional scanning system geometry". A brick wall geometry produced due to two-dimensional scanning system, which can be produced by following two reference curves, has a simple complex-looking surface geometry. A brick wall geometry produced due to three-dimensional scanning system, which can be produced by following multi reference scan points, has a complex geometry which represents constant change and movement along its profile.
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Analysis and Categorization
4.3.5
Categorization - Three-Dimensional Scanning
System, Way of Making, and Geometry output According to the case study projects discussed above, we can identify and categorize three dimensional scanning system and define its effects on architectural geometry as follows. Three-Dimensional Scanning System A scanning system, which utilizes multiple non-fixed reference points in 3D space to scan various points in 3D space, can be categorized as a three-dimensional (Space) scanning system. Tools and System The tools used in this type of scanning are completely different from one or two-dimensional tools. Digital tools which can find out the (x, y, z) position of a point are needed for this system. These tools include laser scanning, AR markers, etc. Communication For the fabrication of this type of geometry, even though it relies on many reference points, these points do not need to be in a pre-fixed position. The reference points can move anywhere around the construction site and the required geometry can still be achieved since all scan points are referenced simultaneously to these points which are calibrated inside the 3d world-coordinate. In this reference mechanism, the scanned points do not depend or reference on each other but only on the main reference points. Geometry The geometry of this system is a collection of objects inside 3D space. Unlike geometries of one or two-dimensional systems, it does not reference itself and rely on external references and both the geometry and the reference becomes objects inside infinite 3D space. The geometry can be classified as complex/ fragmented and having a characteristic of moving/ changing.
74
Research on the Impact of Scanning System on Architectural Geometry T ADS 75
Fig. 4.75 Systematization of three-dimensional scanning system and its geometry output
Analysis and Categorization
4.4
Multi-Dimensional Scanning System
4.4.1
TOCA Pavilion
TOCA (Tool Operated Choreographed Architecture) is a pavilion constructed by Digital Fabrication Lab of the University of Tokyo in 2015. In this project, fabricators spray components using a custom-made spraying tool for construction. Fig. 4.76 TOCA Pavilion by TADS at the University of Tokyo
The steps for scanning points for TOCA is shown in Fig.4.78. Firstly, a target geometry is defined and its target points are determined (a and b). The construction is carried out in layers by starting with a start point and end point (red rings, c). Due to human error and discrepancies, the midpoint which is produced and the targeted midpoint are in different locations and these locations are inconsistent for different fabricators (c and d). After scanning the resultant point, structural analysis is done and a new layer of target points are produced which could be different from initial target points. This cycle of making, scanning and producing is repeated until the whole pavilion is constructed. The scanning system for this project includes finding target points in 3d space with respect to multiple reference points. However, the target points are only fixed for the first cycle of fabrication and for subsequent processes, the target points changed due to each fabricators' way of making. Since, the scanning points keep on changing in 3d space with respect to time, this system can be categorized as "multi-dimensional scanning system".
Fig. 4.77 Communication with reference for scanning the points of TOCA Pavilion 76
c. Designed structural frame
d. Points to be scanned
e. External references and points to be scanned
f. Part of frame and points to be scanned
g. Points to be scanned
h. Points scanned in 3D space
i. Points scanned using 3D space
j. All points scanned
T
b. Part of Designed Geometry
Research on the Impact of Scanning System on Architectural Geometry
a. Designed Geometry
ADS 77
Fig. 4.78 Steps of scanning for TOCA Pavilion
Analysis and Categorization a. Designed Geometry structural frame
b. Part of structural frame
c. Designed structural frame
d. Points to be scanned
e. Points to be scanned and target geometry
Fig. 4.78 Steps of scanning for TOCA Pavilion (continued from last page)
Fig 4.79 Construction image of TOCA Pavilion
78
PAFF Pavilion
Research on the Impact of Scanning System on Architectural Geometry
4.4.2
PAFF (Projectile Acoustic Fibre Forest) is a pavilion constructed by Digital Fabrication Lab of the University of Tokyo in 2017. PAFF uses sound instead of visual information for fabrication. The workers are tasked with finding a source
TADS at the University of Tokyo
the point they hear the sound source. The pavilion becomes an expression of how different people perceive sound at different
ADS
Fig. 4.80 PAFF Pavilion by
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of sound within the 3D space and shoot fibrous materials into
points in space. The scanning steps for the fabrication is shown in Fig.4.82. Although the initial designed geometry has target scan points as shown in (b), the real target points are different depending on how the workers aim at the sound in 3d space to produce the initial designed geometry (c and d). Moreover, the real points the workers shoot are also displaced due to human errors (e). After one cycle of shooting is completed, new sets of target scan points are emerged for another cycle of shooting (f). This cycle of shooting, checking and producing new scan points are carried out until the final geometry is obtained (h). The scanning system uses different reference points and target scan points for different parts of the pavilion depending on the personal ability of each worker. Even though the scanned points are points in 3D space, these points and the reference points keep changing throughout the whole process and hence, this project can be regarded as using "multi-dimensional scanning system". Since it relies on real time scanning and producing points, the geometry does not Fig. 4.81 Communication with reference for
just exist in 3D space but also different according to the time.
scanning of PAFF Pavilion 79
Analysis and Categorization a. Designed Geometry
b. Points to be scanned
c. Circular plan determined using a rope
d. Vertical frame determined in same way by using a rope
e. Vertical frames revolved around circular plan
f. Vertical frames revolved around circular plan
g. Guide lines produced by connecting frames
h. Points scanned based on guide lines
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Fig. 4.82 Steps of scanning for PAFF Pavilion
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Fig 4.83 PAFF Pavilion
Fig 4.84 PAFF Pavilion
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Fig 4.85 PAFF Pavilion
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Analysis and Categorization
4.4.5
Categorization - Multi-Dimensional Scanning
System, Way of Making, and Geometry output According to the case study projects discussed above, we can identify and categorize multi-dimensional scanning system and define its effects on architectural geometry as follows. Multi-Dimensional Scanning System A scanning system, which utilizes multiple non-fixed reference points in 3D space to scan various target points in space which are changing with respect to time or person, can be categorized as a multi-dimensional scanning system. Tools and System The tools used in this type of scanning are completely different from one or two-dimensional tools but the same as the three-dimensional system. Digital tools which can find out the (x, y, z) position of a point are needed for this system. These tools include laser scanning, AR markers, etc. Communication For the fabrication of this type of geometry, not only the reference points or geometries, but also the target scan points are not fixed at a predetermined location and keep on changing throughout the construction period. The scan points, despite relying on the main reference points and aimed to produce a target geometry, is different depending on the fabricator or the point of fabrication in time. Geometry The geometry of this system is a collection of objects in 3D space which are changing with respect to time. The geometry can be classified as complex/ fragmented and having a characteristic of moving/ changing as in threedimensional system. In addition, it has properties such as imperfection/ randomness/ growth as its design process can be regarded as a bottom-up approach.
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Fig. 4.86 Systematization of multi-dimensional scanning system and its geometry output
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Conclusion
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Conclusion
Conclusion
5.0
5.1
Discussion What are the impacts of scanning and position finding
technology used in construction on architectural geometry output? What is the relationship between the geometry output Fig 5.1 his thesis examined the relationship between Tools, Systems, Communication and Geometry and
and the scanning tools, systems or way of communication between fabricators during the constructing a project?
proposed that a combination of tools, systems and communication is a driver for architectural geometry
The thesis tries to answer the first two research questions by analysing a collection of 13 case study projects from the primitive and indigenous structures to recent pavilion projects built within the last five years. By analysing the details of scanning tools, systems and processes used in these projects and by identifying the communication processes between human and reference objects, we identified the impact of these tools and their relationship with the geometry output. How can we systematize the scanning technology used in architectural construction to categorize their geometry output? Based on the analysis done above, we further systematize the scanning technology into four different categories: one-dimensional (point) scanning system, two-dimensional
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(curve) scanning system, three-dimensional (space) scan-
the systematization of technology, we categorized the geometry output under the four scanning systems. 5.2
Future Work The limit of this thesis lies in its isolation from other
disciplines related to architecture. Despite its aim of analysis through one common viewpoint of scanning technology, the geometry output of each system has a relationship to other forms of architectural inquiries. For instance, the geometry output of the two-dimensional scanning system can be regarded as directly related to structural performance and form-finding technologies. These geometries could also be considered as a result of structural design. Moreover, the geometry of three-dimensional scanning system could also be categorized from the viewpoint of 3D digital design programs. Both of these conditions, structural performance and digital design capabilities could also be regarded as tools in architecture domains and these tools can be considered as "creative" tools for architecture. A future work could analyse the architectural geometry output from a combination of different tools including creative tools and making/ fabrication tools.
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ning system and multi-dimensional scanning system. After
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Fig.3.13
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