The Islamic Crossed-Arch Domes in Cordoba: Geometry and Structural Analysis of the “Capilla de Villaviciosa”

Crossed-arch domes are a singular type of ribbed vaults. Their characteristic feature is that the ribs that form the vault are intertwined, forming polygons or stars, leaving an empty space in the centre. The earliest known vaults of this type are found in the Great Mosque of Córdoba, built ca. 960 a.C. The type spread through Spain, and the north of Africa in the 10th to the 16th Centuries, and was used by Guarini and Vittone in the 17th and 18th Centuries in Italy. However, it was used only in a few buildings. Though the literature about the structural behaviour of ribbed Gothic vaults is extensive, so far no structural analysis of crossed arch domes has been made. The purpose of this work is, first to show the way to attack such an analysis within the frame of Modern Limit Analysis of Masonry Structures (Heyman 1995), and then to apply the approach to study the stability of the dome of the Capilla de Villaviciosa. The work may give some clues to art and architectural historians to understand better the origin and development of Islamic dome architecture.

On the biomimetic design of agile-robot legs

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

Crossed-arch vaults in late-gothic and early Renaissance vaulting: a problem in building technology transfer

Crossed-arch vaults are a particular type of ribbed vaults. Their main feature is that the ribs that form the vault are intertwined, forming polygons or stars and leaving an empty space in the middle. The firsts appear in Córdoba in the second half of the 10th Century. Afterwards, the type diffused through Spain and North Africa, 11th_13th Centuries. These vaults reappear in Armenia in the 13th Century. In the 14th and 15th Century a few examples are found both in England (Durham, Raby) and Central Europe (Prague, Landshut, Vienna). At about the same time, Leonardo da Vinci produced designs for the Tiburio (Ciborium) of Milan cathedral with a cross-arched structure and proposed tests to assess the strength; he also, made use of the same pattern of vault for Renaissance centralized churches. Eventually, the type can be tracked through the 17th (Guarini) and 18th (Vittone) Centuries, until Spanish post war architecture in the 1940-60s (Moya). Some questions arose, which so far, have not been answered. How was it possible that a particular type of vault had such enormous geographical spread? How was it transmitted from Córdoba to the Caucasus? The matter is one of transfer of knowledge, ideas, and technology; it relates both aesthetics and construction.