Self-organizing, -adaptive, and hybrid robotic control in architectural technology

Mary Katherine Heinrich

Self-organizing, -adaptive, and hybrid robotic control in architectural technology

Publikation: Bog / Antologi / Afhandling / Rapport › Ph.d.-afhandling

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Abstract

Robotisk styring af bygningsautomatisering og bygningstilpasning repræsenterer et nyt forskningsområde, der spænder over applikationer inden for flere sektorer. Integreret mekatronik eller intelligente byggesystemer kan føole og respondere på komplekse systemer som klima, bydynamik eller brugerdynamik,mens byggepladserrobotter kan fungere i stærkt ustrukturerede omgivelser. I sådan kompleks eller meget stokastiske forhold, vil visse opgaver være til gavn for selvorganiseret eller selvadaptiv robot kontrol og kommunikation, som kan tilbyde attraktive funktioner som robusthed under betingelsermed høoj usikkerhed. At designe og konstruere med selvorganiseret kontrol har hidtil ikke været et tema i arkitektonisk forskning. Fordi disse teknologier naturligt involverer nondeterministisk adfærd eller en række tilfældige begivenheder, vil deres anvendelse kræve nye tilgange fra de nuværende dominerende arkitektvirksomheder, ingeniøorvirksomhed og aktøorer i byggesektor, der hovedsageligt er afhænger af forudbestemte resultater. Denne afhandling udvikler tilgange til design og implementering af arkitektonisk teknologi der bruger selvorganiserende eller selvadaptiv robotstyring, inkluderende hybridsystemer. Den undersøoger metoder til styring af sådanne konstruerede systemer i simulering og realitetsopsætninger ved hjælp af metoder fra evolutionær robotteknologi, machine learning, interaktiv evolution og videnskab omkring komplekse systemer. Udviklingen af afhandlingen foregår inden for rammerne af et biohybrid robotprojekt, som udforsker et samarbejde om beslutningstagning mellem planter, robotter og menneskelige brugere. Inden for det bredere felt i arkitektur bidrager afhandlingen til nøogleemner inden for biohybrider, selvorganisering, analyse af komplekse systemer, high-levelmål for low-level kontrol og inkorporering af menneskelig vurdering inden for realtidstilpasning. De enkelte undersøogelser er indbyrdes afhængige som mekanismer inden for en postulerende “selv-byggende” egenskabsramme, der omfatter selvorganiserende-, adaptive- og hybrid robotkontrol inden for både byggevirksomhed og indlejret mekatronik i bygninger og infrastruktur.

Originalsprog	Engelsk

Forlag	Det Kongelige Danske Kunstakademis Skoler for Arkitektur, Design og Konservering
Antal sider	250
Status	Udgivet - 2019

Kunstnerisk udviklingsvirksomhed (KUV)

Nej

Citationsformater

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title = "Self-organizing, -adaptive, and hybrid robotic control in architectural technology",

abstract = "Robotic control for construction automation and building adaptation represents a quickly developing field of research, spanning applications in several sectors. Embedded mechatronics or smart building systems may sense and respond to complex systems such as climate, city dynamics, or occupancy dynamics, while on-site construction robots may operate in strongly unstructured environments. In such complex or highly stochastic conditions, certain tasks stand to benefit from self-organized or self-adaptive robotic control and communication, which can offer attractive features like robustness in uncertain conditions. The process of designing for and constructing with self-organized control has thus far been underexplored in architectural research. As these technologies inherently involve nondeterministic behaviors, or some degree of random events, their use will require new approaches from those currently dominant in architecture, engineering, and construction sectors, which largely depend on predetermined outcomes. This thesis develops approaches for design and implementation of architectural technology that uses self-organizing or self-adaptive robotic control, inclusive of hybrid systems. It investigates methods for steering such engineered systems in simulation and reality setups, using approaches from evolutionary robotics, machine learning, interactive evolution, and complex systems science. Development of the thesis proceeds within the context of a bio-hybrid robotics project, which explores collaborative decision-making between plants, robots, and human occupants. Within the broader field of architecture, the thesis contributes to key topics of bio-hybrids, self-organization, complex systems analysis, high-level objectives for low-level control, and the incorporation of human judgment within real-time adaptation. The individual studies are interdependently related as mechanisms within a posited “self-building” framework, which encompasses self-organizing, -adaptive, and hybrid robotic control within both construction automation and embeddedmechatronics in buildings and infrastructure.",

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