Tensegrity and Recurrent Neural Networks: Towards an Ecological Model of Postural Coordination

Tensegrity systems have been proposed as both the medium of haptic perception and the functional architecture of motor coordination in animals. However, a full working model integrating those two aspects with some form of neural implementation is still lacking. A basic two-dimensional cross-tensegrity plant is designed and its mechanics simulated. The plant is coupled to a Recurrent Neural Network (RNN). The model’s task is to maintain postural balance against gravity despite the intrinsically unstable configuration of the plant. The RNN takes only proprioceptive input about the springs’ lengths and rate of length change and outputs minimum lengths for each spring which modulates their interaction with the plant’s inertial kinetics. Four artificial agents are evolved to coordinate the patterns of spring contractions in order to maintain dynamic equilibrium. A first study assesses quiet standing performance and reveals coordinative patterns between the tensegrity rods akin to humans’ strategy of anti-phase hip-ankle relative phase. The agents show a mixture of periodic and aperiodic trajectories of their Center of Mass. Moreover, the agents seem to tune to the anticipatory “time-to-balance” quantity in order to maintain their movements within a region of reversibility. A second study perturbs the systems with mechanical platform shifts and sensorimotor degradation. The agents’ response to the mechanical perturbation is robust. Dimensionality analysis of the RNNs’ unit activations reveals a pattern of degree of freedom recruitment after perturbation. In the degradation sub-study, different levels of noise are added to the RNN inputs and different levels of weakening gain are applied to the forces generated by the springs to mimic haptic degradation and muscular weakening in elderly humans. As expected, the systems perform less well, falling earlier than without the insults. However, the same systems re-evolved again under the degraded conditions see significant functional recovery. Overall, the dissertation supports the plausibility of RNN cum tensegrity models of haptics-guided postural coordination in humans

Spatial Aspects of Metaphors for Information: Implications for Polycentric System Design

This dissertation presents three innovations that suggest an alternative approach to structuring information systems: a multidimensional heuristic workspace, a resonance metaphor for information, and a question-centered approach to structuring information relations. Motivated by the need for space to establish a question-centered learning environment, a heuristic workspace has been designed. Both the question-centered approach to information system design and the workspace have been conceived with the resonance metaphor in mind. This research stemmed from a set of questions aimed at learning how spatial concepts and related factors including geography may play a role in information sharing and public information access. In early stages of this work these concepts and relationships were explored through qualitative analysis of interviews centered on local small group and community users of geospatial data. Evaluation of the interviews led to the conclusion that spatial concepts are pervasive in our language, and they apply equally to phenomena that would be considered physical and geographic as they do to cognitive and social domains. Rather than deriving metaphorically from the physical world to the human, spatial concepts are native to all dimensions of human life. This revised view of the metaphors of space was accompanied by a critical evaluation of the prevailing metaphors for information processes, the conduit and pathway metaphors, which led to the emergence of an alternative, resonance metaphor. Whereas the dominant metaphors emphasized information as object and the movement of objects and people through networks and other limitless information spaces, the resonance metaphor suggests the existence of multiple centers in dynamic proximity relationships. This pointed toward the creation of a space for autonomous problem solving that might be related to other spaces through proximity relationships. It is suggested that a spatial approach involving discrete, discontinuous structures may serve as an alternative to approaches involving movement and transportation. The federation of multiple autonomous problem-solving spaces, toward goals such as establishing communities of questioners, has become an objective of this work. Future work will aim at accomplishing this federation, most likely by means of the IS0 Topic Maps standard or similar semantic networking strategies

Fabricate 2014

FABRICATE is an international peer reviewed conference that takes place every three years with a supporting publication on the theme of Digital Fabrication. Discussing the progressive integration of digital design with manufacturing processes, and its impact on design and making in the 21st century, FABRICATE brings together pioneers in design and making within architecture, construction, engineering, manufacturing, materials technology and computation. Discussion on key themes includes: how digital fabrication technologies are enabling new creative and construction opportunities from component to building scales, the difficult gap that exists between digital modelling and its realisation, material performance and manipulation, off-site and on-site construction, interdisciplinary education, economic and sustainable contexts. FABRICATE features cutting-edge built work from both academia and practice, making it a unique event that attracts delegates from all over the worl

Authentic alignment : toward an Interpretative Phenomenological Analysis (IPA) informed model of the learning environment in health professions education

It is well established that the goals of education can only be achieved through the constructive alignment of instruction, learning and assessment. There is a gap in research interpreting the lived experiences of stakeholders within the UK learning environment toward understanding the real impact – authenticity – of curricular alignment. This investigation uses a critical realist framework to explore the emergent quality of authenticity as a function of alignment.This project deals broadly with alignment of anatomy pedagogy within UK undergraduate medical education. The thread of alignment is woven through four aims: 1) to understand the alignment of anatomy within the medical curriculum via the relationships of its stakeholders; 2) to explore the apparent complexity of the learning environment (LE); 3) to generate a critical evaluation of the methodology, Interpretative Phenomenological Analysis as an approach appropriate for realist research in the complex fields of medical and health professions education; 4) to propose a functional, authentic model of the learning environment.Findings indicate that the complexity and uncertainty inherent in the LE can be reflected in spatiotemporal models. Findings meet the thesis aims, suggesting: 1) the alignment of anatomy within the medical curriculum is complex and forms a multiplicity of perspectives; 2) this complexity is ripe for phenomenological exploration; 3) IPA is particularly suitable for realist research exploring complexity in HPE; 4) Authentic Alignment theory offers a spatiotemporal model of the complex HPE learning environment:the T-icosa

Authentic Alignment: Toward an Interpretative Phenomenological Analysis (IPA) informed model of the learning environment in health professions education

It is well established that the goals of education can only be achieved through the constructive alignment of instruction, learning and assessment. There is a gap in research interpreting the lived experiences of stakeholders within the UK learning environment toward understanding the real impact – authenticity – of curricular alignment. This investigation uses a critical realist framework to explore the emergent quality of authenticity as a function of alignment. This project deals broadly with alignment of anatomy pedagogy within UK undergraduate medical education. The thread of alignment is woven through four aims: 1) to understand the alignment of anatomy within the medical curriculum via the relationships of its stakeholders; 2) to explore the apparent complexity of the learning environment (LE); 3) to generate a critical evaluation of the methodology, Interpretative Phenomenological Analysis as an approach appropriate for realist research in the complex fields of medical and health professions education; 4) to propose a functional, authentic model of the learning environment. Findings indicate that the complexity and uncertainty inherent in the LE can be reflected in spatiotemporal models. Findings meet the thesis aims, suggesting: 1) the alignment of anatomy within the medical curriculum is complex and forms a multiplicity of perspectives; 2) this complexity is ripe for phenomenological exploration; 3) IPA is particularly suitable for realist research exploring complexity in HPE; 4) Authentic Alignment theory offers a spatiotemporal model of the complex HPE learning environment: the T-icosa

Growing cybernetic ears: transduction and performativity in the analogue and digital what have you

At a time when digital technologies have become ubiquitous in music making, and where the majority of research into music technology happens at the computational ‘cutting edge’, this practice-based PhD explores analogue technologies deemed, in the main, obsolete, anachronistic, or as quaint nostalgic throwbacks, and asks how a combination of technological, historical and practice-based research, focused through commitment to artistic outputs in the domain of music technology, might shed new light on the terms analogue and digital, and on the nature of the analogue-digital relationship. Underlying much contemporary enthusiasm for ‘the digital’ are progress narratives that rely on both a succession logic (old analogue technology gets replaced by new digital technology) and an assumption of isomorphism (the digital technology does all the same things as the replaced technology, though often with ‘enhanced’ affordances). This thesis questions such assumptions along historical, philosophical and practice-based trajectories. Key to these research trajectories is the trans-discipline cybernetics, in particular the second-order cybernetics of Gordon Pask, whose self-designation ‘philosophical mechanic’ indicates the importance he placed on a cyclical, mutually accommodating thinking-designing-making. Pask presented a powerful practical methodology for the examination and creation of dynamical systems in flux, systems that evolve as a result of participant interaction, systems that can be seen to manifest self-organisation. Second-order cybernetics puts the emphasis on processes in interaction rather than positing pre-existing objects (including concepts) in a world ‘out there’. Cybernetics helps us to explore systems whose complexity and interdependence precludes the separation out into constituent parts, systems where control is shared across multiple mutually interacting dimensions, and where the observer is a committed participant whose actions, interests and biases cannot be divorced from the interactions therein. Two other key concepts are: (1) transduction, which relates energy, information, patterns of growth, or other dynamical processes across media or between domains; (2) performativity, an interventional act that brings forth a world. Transduction is essential to an understanding of recording studio processes and practices: the microphone, signal processing and recording itself all rely on transduction. When viewed from a performative perspective, actions such as recording are found to be carried out very differently when the final stage of transduction is discrete (the case with the now ubiquitous digital audio workstation) or continuous (such as recording to tape). This difference is primarily due to the hyper-plasticity of digital audio, a taking of sound ‘out of time’. Rather than seeing this as an evolution of ‘precursor’ analogue technologies, as most accounts have it, this thesis takes the perspective that this is a difference in kind, rather than one of degree, and explores that difference with a particular focus on emergent and intertwined cultural, embodied and technological systems, rather than on end products. The second half of the thesis presents the compositional practice, ranging from experimental work on tape music composition and installation, through a series of modular synthesis live performances, to tape-based recording of pop music. The physical, gestural engagement with the resistant materiality of these technologies emphasises a very different cognitive engagement with processes of composition and production to that which happens with supposed ‘successor’ digital technologies; assumptions of isomorphism, buttressed by skeuomorphic emulation, tend to occlude this cognitive distinction. This thesis is offered as an act of cybernetic musicking – resolutely practical in orientation, with a wide-ranging, trans-disciplinary theoretical framework, and with the emphasis not on things but on ongoing processes in complex interaction with a world in constant becoming

Designing parametric matter:Exploring adaptive material scale self-assembly through tuneable environments

3D designs can be created using generative processes, which can be transformed and adapted almost infinitely if they remain within their digital design software. For example, it is easy to alter a 3D object's colour, size, transparency, topology and geometry by adjusting values associated with those attributes. Significantly, these design processes can be seen as morphogenetic, where form is grown out of bottom-up logic’s and processes. However, when the designs created using these processes are fabricated using traditional manufacturing processes and materials they lose all of these abilities. For example, even the basic ability to change a shapes' size or colour is lost. This is partly because the relationships that govern the changes of a digital design are no longer present once fabricated. The motivating aim is: how can structures be grown and adapted throughout the fabrication processes using programmable self-assembly? In comparison the highly desirable attribute of physical adaptation and change is universally present within animals and biological processes. Various biological organisms and their systems (muscular or skeletal) can continually adapt to the world around them to meet changing demands across different ranges of time and to varying degrees. For example, a cuttlefish changes its skin colour and texture almost immediately to hide from predators. Muscles grow in response to exercise, and over longer time periods bones remodel and heal when broken, meaning biological structures can adapt to become more efficient at meeting regularly imposed demands. Emerging research is rethinking how digital designs are fabricated and the materials they are made from, leading to physically responsive and reconfigurable structures. This research establishes an interdisciplinary and novel methodology for building towards an adaptive design and fabrication system when utilising material scale computation process (e.g. self-assembly) within the fabrication process, which are guided by stimuli. In this context, adaption is the ability of a physical design (shape, pattern) to change its local material and or global properties, such as: shape, composition, texture and volume. Any changes to these properties are not predefined or constrained to set limits when subjected to environmental stimulus, (temperature, pH, magnetism, electrical current). Here, the stimulus is the fabrication mechanisms, which are governed and monitored by digital design tools. In doing so digital design tools will guide processes of material scale self-assembly and the resultant physical properties. The fabrication system is created through multiple experiments based on various material processes and platforms, from paint and additives, to ink diffusion and the mineral accretion process. A research through design methodology is used to develop the experiments, although the experiments by nature are explorative and incremental. Collectively they are a mixture of analogue and digital explorations, which establish principles and a method of how to grow physical designs, which can adapt based on digital augmentations by guiding material scale self-assembly. The results demonstrate that it is possible to grow physical 2D and 3D designs (shapes and patterns) that could have their properties tuned and adapted by creating tuneable environments to guide the mineral accretion process. Meaning, the desirable and dynamic traits of digital computational designs can be leveraged and extended the as they are made physical. Tuneable environments are developed and defined thought the series experiments within this thesis. Tuneable environments are not restricted to the mineral accretion process, as it is demonstrated how they can manipulate ink cloud patterns (liquid diffusion), which are less constrained in comparison to the mineral accretion process. This is possible due to the use of support mediums that dissipate energy and also contrast materially (they do not diffuse). Combining contrasting conditions (support mediums, resultant material effects) with the idea of tuneable environments reveals how: 1) material growth and properties can be monitored and 2) the possibilities of growing 3D designs using material scale self-assembly, which is not confined to a scaffold framework. The results and methodology highlight how tuneable environments can be applied to advance other areas of emerging research, such as altering environmental conditions during methods of additive manufacturing, such as, suspended deposition, rapid liquid printing, computed axial lithography or even some strategies of bioprinting. During the process, deposited materials and global properties could adapt because of changing conditions. Going further and combining it with the idea of contrasting mediums, this could lead to new types 3D holographic displays, which are grown and not restricted to scaffold frameworks. The results also point towards a potential future where buildings and infrastructure are part of a material ecosystem, which can share resources to meet fluctuating demands, such as, solar shading, traffic congestion, live loading

Designing parametric matter:Exploring adaptive self-assembly through tuneable environments

3D digital models can be created using generative processes, which can be transformed and adapted almost infinitely if they remain within their digital design software. For example, it is easy to alter a 3D structure’s/object's colour, size, geometry and topology by adjusting values associated with those attributes. However, when these digital models are fabricated using traditional, highly deterministic fabrication processes, where form is imposed upon materials, the physical structure typically loses all of these adaptive abilities. These reduced physical abilities are primarily a result of how design representations are fabricated and if they can maintain relationships with the physical counterpart/materials post-fabrication. If relationships between design representations and physical materials are removed it can lead to redundancy and significant material waste as the material make-up of a physical structure can’t accommodate fluctuating design demands (e.g. aesthetics, structural, programmatic). This raises the question: how can structures be grown and adapted throughout fabrication processes using programmable self-assembly? This research explores and documents the development of an adaptive design and fabrication system through a series of ‘material probes’, which begin to address this aim. The series of material probes have been carried out using research through design as an approach, which enables an exploration and highlights challenges, developments and reflections of the design process as well as, the potentials of rethinking design and fabrication processes and their relationships with materials. Importantly, the material probes engage with material computation (e.g. self-assembly/autonomous-assembly) and demonstrate that various patterns, shapes and structures can have various material properties (e.g. volume, composition, texture, shape) tuned and adapted throughout the fabrication process by inducing stimuli (e.g. temperature, magnetism, electrical current) and altering parameters of stimuli (e.g. duration, magnitude, location). As a result, the structures created can tune and adapt their material properties across length scales and time scales. These adaptive capacities are enabled by creating what is termed ‘tuneable environments. Significantly, tuneable environments fundamentally rethink design and fabrication processes and their relationships with materials, since inducing stimuli and controlling their parameters can be used as an approach to creating programmable self-assembly. Consequently, the material platforms’ units of matter do not have to have pre-design properties (e.g. geometries, interfaces) This research points towards future potentials of structures that can physically evolve and lead to the decarbonising of urban contexts where they could behave like ‘living material eco-systems’, and resources are shared to meet fluctuating demands through passive means