Cumincad : CUMINCAD Papers : Search Results

CumInCAD is a Cumulative Index about publications in Computer Aided Architectural Design
supported by the sibling associations ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD and CAAD futures

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_id	acadia16_214
id	acadia16_214
authors	Schwartz, Mathew
year	2016
title	Use of a Low-Cost Humanoid for Tiling as a Study in On-Site Fabrication: Techniques and Methods
doi	https://doi.org/10.52842/conf.acadia.2016.214
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 214-223
summary	Since the time architecture and construction began embracing robotics, the pre-fab movement has grown rapidly. As the possibilities for new design and fabrication emerge from creativity and need, the application and use of new robotic technologies becomes vital. This movement has been largely focused on the deployment of industrial-type robots used in the (automobile) manufacturing industry for decades, as well as trying to apply these technologies into off-site building construction. Beyond the pre-fab (off-site) conditions, on-site fabrication offers a valuable next step to implement new construction methods and reduce human work-related injuries. The main challenge in introducing on-site robotic fabrication/construction is the difficulty in calibrating robot navigation (localization) in an unstructured and constantly changing environment. Additionally, advances in robotic technology, similar to the revolution of at-home 3D printing, shift the ownership of modes of production from large industrial entities to individuals, allowing for greater levels of design and construction customization. This paper demonstrates a low-cost humanoid robot as highly customizable technology for floor tiling. A novel end-effector design to pick up tiles was developed, along with a localization system that can be applied to a wide variety of robots.
keywords	humanoid robot, digital fabricaiton, sensate systems
series	ACADIA
type	paper
email
last changed	2022/06/07 07:56

_id	sigradi2016_484
id	sigradi2016_484
authors	Shahmiri, Fereshteh; Gentry, Russell
year	2016
title	A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction
source	SIGraDi 2016 [Proceedings of the 20th Conference of the Iberoamerican Society of Digital Graphics - ISBN: 978-956-7051-86-1] Argentina, Buenos Aires 9 - 11 November 2016, pp.914-920
summary	Serial, aerial and solid-linked parallel robots are unable to handle large payloads in building-scale workspaces for on-site applications and are thus best suited for automated fabrication in plant settings. In contrast, Cable Suspended Parallel Robots or CSPRs are able to handle large loads and traverse great distances as required on building construction sites. This paper reviews the existing literature and practice to bridge the gap between our understanding of CSPRs and their applicability to building-scale tasks such as full-scale concrete printing and building façade installation. The research identifies key activities in CSPRs fabrication workflows. Using a comparative approach, the paper investigates five CSPR variants and assesses the performance characteristics. A simple kinematic model of each CSPR is developed and implemented as a Rhino/Grasshopper script to aid in the performance assessment of each system. The paper concludes with a ranking of CSPR systems and their likely applicability to full-scale implementation on a construction site.
keywords	Cable Suspended Parallel Robots; CSPR; Automation; AEC
series	SIGRADI
email
last changed	2021/03/28 19:59

_id	acadia16_164
id	acadia16_164
authors	Braumann, Johannes; Stumm, Sven; Brell-Cokcan, Sigrid
year	2016
title	Towards New Robotic Design Tools: Using Collaborative Robots within the Creative Industry
doi	https://doi.org/10.52842/conf.acadia.2016.164
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 164-173
summary	This research documents our initial experiences of using a new type of collaborative, industrial robot in the area of architecture, design, and construction. The KUKA LBR-iiwa differs from common robotic configurations in that it uses seven axes with integrated force-torque sensors and can be programmed in the Java programming language. Its force-sensitivity makes it safe to interact with, but also enables entirely new applications that use hand-guiding and utilize the force-sensors to compensate for high tolerances on building sites, similar to how we manually approach assembly tasks. Especially for the creative industry, the Java programming opens up completely new applications that would have previously required complex bus systems or industrial data interfaces. We will present a series of realized projects that showcase some of the potential of this new type of collaborative, safe robot, and discuss the advantages and limitations of the robotic system.
keywords	material tolerances, individualized production, iiwa, assembly, visual robot programming, collaborative robots
series	ACADIA
type	paper
email
last changed	2022/06/07 07:54

_id	acadia16_382
id	acadia16_382
authors	Lopez, Deborah; Charbel, Hadin; Obuchi, Yusuke; Sato, Jun; Igarashi, Takeo; Takami, Yosuke; Kiuchi, Toshikatsu
year	2016
title	Human Touch in Digital Fabrication
doi	https://doi.org/10.52842/conf.acadia.2016.382
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 382-393
summary	Human capabilities in architecture-scaled fabrication have the potential of being a driving force in both design and construction processes. However, while intuitive and flexible, humans are still often seen as being relatively slow, weak, and lacking the exacting precision necessary for structurally stable large-scale outputs—thus, hands-on involvement in on-site fabrication is typically kept at a minimum. Moreover, with increasingly advanced computational tools and robots in architectural contexts, the perfection and speed of production cannot be rivaled. Yet, these methods are generally non-engaging and do not necessarily require a skilled labor workforce, bringing to question the role of the craftsman in the digital age. This paper was developed with the focus of leveraging human adaptability and tendencies in the design and fabrication process, while using computational tools as a means of support. The presented setup consists of (i) a networked scanning and application of human movements and human on-site positioning, (ii) a lightweight and fast-drying extruded composite material, (iii) a handheld “smart” tool, and (iv) a structurally optimized generative form via an iterative feedback system. By redistributing the roles and interactions of humans and machines, the hybridized method makes use of the inherently intuitive yet imprecise qualities of humans, while maximizing the precision and optimization capabilities afforded by computational tools—thus incorporating what is traditionally seen as “human error” into a dynamically engaging and evolving design and fabrication process. The interdisciplinary approach was realized through the collaboration of structural engineering, architecture, and computer science laboratories.
keywords	human computer interaction and design, craft in design, tool streams and tool building, cognate streams, sensate systems
series	ACADIA
type	paper
email
last changed	2022/06/07 07:59

_id	sigradi2016_801
id	sigradi2016_801
authors	Matson, Carrie Wendt; Sweet, Kevin
year	2016
title	Simplified for Resilience: A parametric investigation into a bespoke joint system for bamboo
source	SIGraDi 2016 [Proceedings of the 20th Conference of the Iberoamerican Society of Digital Graphics - ISBN: 978-956-7051-86-1] Argentina, Buenos Aires 9 - 11 November 2016, pp.405-411
summary	Research reveals that most of the structural failures in a natural disaster are related to improper construction assembly methodologies related to human errors. This paper aims to reduce human errors in the building process by taking advantage of computational tools, and using a renewable building material. The research investigates the creation of a novel structural system for bamboo that is able to be repaired, replaced, altered, and easily assembled to restore any damaged building structure. Bamboo is an organic product with diameters that are irregular and unpredictable. The inconsistency in this natural product requires an adaptable construction methodology that responds to its organic nature. A customised joint system is created using parametric software that quickly adapts to the irregularity of the bamboo and are then fabricated using additive printing techniques. The parametric software gives unlimited control of the joint system based on the programmed relationships between the differentiations of each unique bamboo connection. Fabricating each unique joint gives a secure connection at each intersection facilitating an adaptable architecture, whilst reducing construction waste. This paper introduces the groundwork for the implementation of “on-site” manufacturing of a framework joint system. The manufacturing utilises the power and performance of a parametric platform with the technology of bespoke three-dimensionally printed joints – a flexible system that can respond to organic materials and natural external conditions
keywords	Parametric design; Three-dimensional printing; Bamboo construction
series	SIGRADI
email
last changed	2021/03/28 19:58

_id	acadia16_98
id	acadia16_98
authors	Smith, Shane Ida; Lasch, Chris
year	2016
title	Machine Learning Integration for Adaptive Building Envelopes: An Experimental Framework for Intelligent Adaptive Control
doi	https://doi.org/10.52842/conf.acadia.2016.098
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 98-105
summary	This paper describes the development of an Intelligent Adaptive Control (IAC) framework that uses machine learning to integrate responsive passive conditioning at the envelope into a building’s comprehensive conventional environmental control system. Initial results show that by leveraging adaptive computational control to orchestrate the building’s mechanical and passive systems together, there exists a demonstrably greater potential to maximize energy efficiency than can be gained by focusing on either system individually, while the addition of more passive conditioning strategies significantly increase human comfort, health and wellness building-wide. Implicitly, this project suggests that, given the development and ever increasing adoption of building automation systems, a significant new site for computational design in architecture is expanding within the post-occupancy operation of a building, in contrast to architects’ traditional focus on the building’s initial design. Through the development of an experimental framework that includes physical material testing linked to computational simulation, this project begins to describe a set of tools and procedures by which architects might better conceptualize, visualize, and experiment with the design of adaptive building envelopes. This process allows designers to ultimately engage in the opportunities presented by active systems that govern the daily interactions between a building, its inhabitants, and their environment long after construction is completed. Adaptive material assemblies at the envelope are given special attention since it is here that a building’s performance and urban expression are most closely intertwined.
keywords	model predictive control, reinforcement learning, energy performance, adaptive envelope, sensate systems
series	ACADIA
type	paper
email
last changed	2022/06/07 07:56

_id	acadia16_298
id	acadia16_298
authors	Yu, Lei; Huang, Yijiang; Zhongyuan, Liu; Xiao, Sai; Liu, Ligang; Song, Guoxian; Wang, Yanxin
year	2016
title	Highly Informed Robotic 3D Printed Polygon Mesh: A Nobel Strategy of 3D Spatial Printing
doi	https://doi.org/10.52842/conf.acadia.2016.298
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 298-307
summary	Though robotic 3D printing technology is currently undergoing rapid development, most of the research and experiments are still based on a bottom up layering process. This paper addresses long term research into a robotic 3D printed polygon mesh whose struts are directly built up and joined together as rapidly generated physical wireframes. This paper presents a novel “multi-threaded” robotic extruder, as well as a technical strategy to create a “printable” polygon mesh that is collision-free during robotic operation. Compared to standard 3D printing, architectural applications demand much larger dimensions at human scale, geometrically lower resolution and faster production speed. Taking these features into consideration, 3D printed frameworks have huge potential in the building industry by combining robot arm technology together with FDM 3D printing technology. Currently, this methodology of rapid prototyping could potentially be applied on pre-fabricated building components, especially ones with uniform parabolic features. Owing to the mechanical features of the robot arm, the most crucial challenge of this research is the consistency of non-stop automated control. Here, an algorithm is employed not only to predict and solve problems, but also to optimize for a highly efficient construction process in coordination of the robotic 3D printing system. Since every stroke of the wireframe contains many parameters and calculations in order to reflect its native organization and structure, this robotic 3D printing process requires processing an intensive amount of data in the back stage.
keywords	interdisciplinary design, craft in design computation, digital fabrication
series	ACADIA
type	paper
email
last changed	2022/06/07 07:57

_id	acadia16_196
id	acadia16_196
authors	Yuan, Philip F.; Chai, Hua; Yan, Chao; Zhou, Jin Jiang
year	2016
title	Robotic Fabrication of Structural Performance-based Timber Gridshell in Large-Scale Building Scenario
doi	https://doi.org/10.52842/conf.acadia.2016.196
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp 196-205
summary	This paper investigates the potential of a digital geometry system to integrate structural performance-based design and robotic fabrication in the scenario of building a large-scale non-uniform timber shell. It argues that a synthesis of multi-objective optimization, design and construction phases is required in the realization of timber shell construction in architecture practice in order to fulfill the demands of building regulation. Confronting the structural challenge of the non-uniform shell, a digital geometry system correlates all the three phases by translating geometrical information between them. First, a series of structural simulations and experimentations with different objectives are executed to inform the particular shape and tectonic details of each shell component based on its local condition in the geometrical system. Then, controlled by the geometrical system, a hybrid process of different digital fabrication technologies, including a customized robotic timber mill, is established to enable the manufacture of the heterogeneous shell components. Ultimately, the Timber Structure Enterprise Pavilion as the demonstration and evaluation of this method is fabricated and assembled on site through a notational system to indicate the applicability of this research in practical scenarios.
keywords	robotic fabrication, geometrical information modeling, simulation and design optimization, big data
series	ACADIA
type	paper
email
last changed	2022/06/07 07:57

_id	acadia16_54
id	acadia16_54
authors	Andreen, David; Jenning, Petra; Napp, Nils; Petersen, Kirstin
year	2016
title	Emergent Structures Assembled by Large Swarms of Simple Robots
doi	https://doi.org/10.52842/conf.acadia.2016.054
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 54-61
summary	Traditional architecture relies on construction processes that require careful planning and strictly defined outcomes at every stage; yet in nature, millions of relatively simple social insects collectively build large complex nests without any global coordination or blueprint. Here, we present a testbed designed to explore how emergent structures can be assembled using swarms of active robots manipulating passive building blocks in two dimensions. The robot swarm is based on the toy “bristlebot”; a simple vibrating motor mounted on top of bristles to propel the body forward. Since shape largely determines the details of physical interactions, the robot behavior is altered by carefully designing its geometry instead of uploading a digital program. Through this mechanical programming, we plan to investigate how to tune emergent structural properties such as the size and temporal stability of assemblies. Alongside a physical testbed with 200 robots, this work involves comprehensive simulation and analysis tools. This simple, reliable platform will help provide better insight on how to coordinate large swarms of robots to construct functional structures.
keywords	emergent structures, mechanical intelligence, swarm robotics
series	ACADIA
type	paper
email
last changed	2022/06/07 07:54

_id	acadia16_154
id	acadia16_154
authors	Brugnaro, Giulio; Baharlou, Ehsan; Vasey, Lauren; Menges, Achim
year	2016
title	Robotic Softness: An Adaptive Robotic Fabrication Process for Woven Structures
doi	https://doi.org/10.52842/conf.acadia.2016.154
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 154-163
summary	This paper investigates the potential of behavioral construction strategies for architectural production through the design and robotic fabrication of three-dimensional woven structures inspired by the behavioral fabrication logic used by the weaverbird during the construction of its nest. Initial research development led to the design of an adaptive robotic fabrication framework composed of an online agent-based system, a custom weaving end-effector and a coordinated sensing strategy utilizing 3D scanning.The outcome of the behavioral weaving process could not be predetermined a priori in a digital model, but rather emerged out of the negotiation among design intentions, fabrication constraints, performance criteria, material behaviors and specific site conditions. The key components of the system and their role in the fabrication process are presented both theoretically and technically, while the project serves as a case study of a robotic production method envisioned as a soft system: a flexible and adaptable framework in which the moment of design unfolds simultaneously with fabrication, informed by a constant flow of sensory information.
keywords	soft systems, agent-based systems, robotic fabrication, sensate systems
series	ACADIA
type	paper
email
last changed	2022/06/07 07:54

_id	ecaade2016_079
id	ecaade2016_079
authors	Cheng, Chi-Li and Hou, June-Hao
year	2016
title	Biomimetic Robotic Construction Process - An approach for adapting mass irregular-shaped natural materials
doi	https://doi.org/10.52842/conf.ecaade.2016.1.133
source	Herneoja, Aulikki; Toni Österlund and Piia Markkanen (eds.), Complexity & Simplicity - Proceedings of the 34th eCAADe Conference - Volume 1, University of Oulu, Oulu, Finland, 22-26 August 2016, pp. 133-142
summary	Beaver dams are formed by two main processes. One is that beavers select proper woods for constructing. The other one is that streams aggregate those woods to be assembled. Using this approach to construction structure is suitable for natural environment. In this paper, we attempt to develop a construction process which is suitable for all-terrain construction robot in the future. This construction process is inspired by beavers' construction behavior in nature. Beavers select proper sticks to make the structure stable. We predict that particular properties of sticks contribute gravity-driven assembly of wood structure. Thus, we implement the system with machine learning to find proper properties of sticks to improve selection mechanism of construction process. During this construction process, 3D scanner on robotic arm scans and recognizes sticks on terrain, and then robot will select proper sticks and place them. After placement, the system will scan and record the results for learning mechanism.
wos	WOS:000402063700015
keywords	Biomimetic Design; Machine Learning; Natural Material; Point Cloud Analysis; Robotic Fabrication
series	eCAADe
email
last changed	2022/06/07 07:55

_id	ecaade2023_138
id	ecaade2023_138
authors	Crolla, Kristof and Wong, Nichol
year	2023
title	Catenary Wooden Roof Structures: Precedent knowledge for future algorithmic design and construction optimisation
doi	https://doi.org/10.52842/conf.ecaade.2023.1.611
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 611–620
summary	The timber industry is expanding, including construction wood product applications such as glue-laminated wood products (R. Sikkema et al., 2023). To boost further utilisation of engineered wood products in architecture, further development and optimisation of related tectonic systems is required. Integration of digital design technologies in this endeavour presents opportunities for a more performative and spatially diverse architecture production, even in construction contexts typified by limited means and/or resources. This paper reports on historic precedent case study research that informs an ongoing larger study focussing on novel algorithmic methods for the design and production of lightweight, large-span, catenary glulam roof structures. Given their structural operation in full tension, catenary-based roof structures substantially reduce material needs when compared with those relying on straight beams (Wong and Crolla, 2019). Yet, the manufacture of their non-standard geometries typically requires costly bespoke hardware setups, having resulted in recent projects trending away from the more spatially engaging geometric experiments of the second half of the 20th century. The study hypothesis that the evolutionary design optimisation of this tectonic system has the potential to re-open and expand its practically available design solution space. This paper covers the review of a range of built projects employing catenary glulam roof system, starting from seminal historic precedents like the Festival Hall for the Swiss National Exhibition EXPO 1964 (A. Lozeron, Swiss, 1964) and the Wilkhahn Pavilions (Frei Otto, Germany, 1987), to contemporary examples, including the Grandview Heights Aquatic Centre (HCMA Architecture + Design, Canada, 2016). It analysis their structural concept, geometric and spatial complexity, fabrication and assembly protocols, applied construction detailing solutions, and more, with as aim to identify methods, tools, techniques, and construction details that can be taken forward in future research aimed at minimising construction complexity. Findings from this precedent study form the basis for the evolutionary-algorithmic design and construction method development that is part of the larger study. By expanding the tectonic system’s practically applicable architecture design solution space and facilitating architects’ access to a low-tech producible, spatially versatile, lightweight, eco-friendly, wooden roof structure typology, this study contributes to environmentally sustainable building.
keywords	Precedent Studies, Light-weight architecture, Timber shell, Catenary, Algorithmic Optimisation, Glue-laminated timber
series	eCAADe
email
last changed	2023/12/10 10:49

_id	acadia16_106
id	acadia16_106
authors	Das, Subhajit; Day, Colin; Hauck, John; Haymaker, John; Davis, Diana
year	2016
title	Space Plan Generator: Rapid Generationn & Evaluation of Floor Plan Design Options to Inform Decision Making
doi	https://doi.org/10.52842/conf.acadia.2016.106
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 106-115
summary	Design exploration in architectural space planning is often constrained by tight deadlines and a need to apply necessary expertise at the right time. We hypothesize that a system that can computationally generate vast numbers of design options, respect project constraints, and analyze for client goals, can assist the design team and client to make better decisions. This paper explains a research venture built from insights into space planning from senior planners, architects, and experts in the field, coupled with algorithms for evolutionary systems and computational geometry, to develop an automated computational framework that enables rapid generation and analysis of space plan layouts. The system described below automatically generates hundreds of design options from inputs typically provided by an architect, including a site outline and program document with desired spaces, areas, quantities, and adjacencies to be satisfied. We envision that this workflow can clarify project goals early in the design process, save time, enable better resource allocation, and assist key stakeholders to make informed decisions and deliver better designs. Further, the system is tested on a case study healthcare design project with set goals and objectives.
keywords	healthcare spaces, facility layout design, design optimization, decision making, binary data tree structure, generative design, automated space plans
series	ACADIA
type	paper
email
last changed	2022/06/07 07:55

_id	ecaade2016_164
id	ecaade2016_164
authors	Dobiesz, Sebastian and Grajper, Anna
year	2016
title	Animating the Static. Case Study of The Project "Urbanimals" - Enhancing play in the cities through an augmented and interactive environment
doi	https://doi.org/10.52842/conf.ecaade.2016.1.691
source	Herneoja, Aulikki; Toni Österlund and Piia Markkanen (eds.), Complexity & Simplicity - Proceedings of the 34th eCAADe Conference - Volume 1, University of Oulu, Oulu, Finland, 22-26 August 2016, pp. 691-700
summary	This article delineates the process of developing the project "Urbanimals" - an interactive installation designed and realised in Bristol, UK, in 2015. As the case study research, it draws attention to the difficulties in designing interactive structures in urban spaces - from an architects' idea to a construction stage. There are four areas that are being investigated: (1) Modelling interactions, (2) Negotiating locations and logistics, (3) Developing hardware and (4) Performing the on-site observations. The project draws from the idea of Smart City (SC) as the concept of the urban environment with a certain level of responsiveness through implementing a technology-driven matter that expands city offer perceivable, but gentle and not hindering way. It highlights the possible applications of projection technology and the utilisation of the 3D modelling software which provides complex tools for creating animations, movements and interactions with future users. The article gives clues how to design more engaging interactions and how to deal with implementing them in public realm.
wos	WOS:000402063700074
keywords	Smart Cities; Interactive Architecture; public realm; art installations
series	eCAADe
email
last changed	2022/06/07 07:55

_id	cdrf2023_526
id	cdrf2023_526
authors	Eric Peterson, Bhavleen Kaur
year	2023
title	Printing Compound-Curved Sandwich Structures with Robotic Multi-Bias Additive Manufacturing
doi	https://doi.org/https://doi.org/10.1007/978-981-99-8405-3_44
source	Proceedings of the 2023 DigitalFUTURES The 5st International Conference on Computational Design and Robotic Fabrication (CDRF 2023)
summary	A research team at Florida International University Robotics and Digital Fabrication Lab has developed a novel method for 3d-printing curved open grid core sandwich structures using a thermoplastic extruder mounted on a robotic arm. This print-on-print additive manufacturing (AM) method relies on the 3d modeling software Rhinoceros and its parametric software plugin Grasshopper with Kuka-Parametric Robotic Control (Kuka-PRC) to convert NURBS surfaces into multi-bias additive manufacturing (MBAM) toolpaths. While several high-profile projects including the University of Stuttgart ICD/ITKE Research Pavilions 2014–15 and 2016–17, ETH-Digital Building Technologies project Levis Ergon Chair 2018, and 3D printed chair using Robotic Hybrid Manufacturing at Institute of Advanced Architecture of Catalonia (IAAC) 2019, have previously demonstrated the feasibility of 3d printing with either MBAM or sandwich structures, this method for printing Compound-Curved Sandwich Structures with Robotic MBAM combines these methods offering the possibility to significantly reduce the weight of spanning or cantilevered surfaces by incorporating the structural logic of open grid-core sandwiches with MBAM toolpath printing. Often built with fiber reinforced plastics (FRP), sandwich structures are a common solution for thin wall construction of compound curved surfaces that require a high strength-to-weight ratio with applications including aerospace, wind energy, marine, automotive, transportation infrastructure, architecture, furniture, and sports equipment manufacturing. Typical practices for producing sandwich structures are labor intensive, involving a multi-stage process including (1) the design and fabrication of a mould, (2) the application of a surface substrate such as FRP, (3) the manual application of a light-weight grid-core material, and (4) application of a second surface substrate to complete the sandwich. There are several shortcomings to this moulded manufacturing method that affect both the formal outcome and the manufacturing process: moulds are often costly and labor intensive to build, formal geometric freedom is limited by the minimum draft angles required for successful removal from the mould, and customization and refinement of product lines can be limited by the need for moulds. While the most common material for this construction method is FRP, our proof-of-concept experiments relied on low-cost thermoplastic using a specially configured pellet extruder. While the method proved feasible for small representative examples there remain significant challenges to the successful deployment of this manufacturing method at larger scales that can only be addressed with additional research. The digital workflow includes the following steps: (1) Create a 3D digital model of the base surface in Rhino, (2) Generate toolpaths for laminar printing in Grasshopper by converting surfaces into lists of oriented points, (3) Generate the structural grid-core using the same process, (4) Orient the robot to align in the direction of the substructure geometric planes, (5) Print the grid core using MBAM toolpaths, (6) Repeat step 1 and 2 for printing the outer surface with appropriate adjustments to the extruder orientation. During the design and printing process, we encountered several challenges including selecting geometry suitable for testing, extruder orientation, calibration of the hot end and extrusion/movement speeds, and deviation between the computer model and the physical object on the build platen. Physical models varied from their digital counterparts by several millimeters due to material deformation in the extrusion and cooling process. Real-time deviation verification studies will likely improve the workflow in future studies.
series	cdrf
email
last changed	2024/05/29 14:04

_id	acadia16_12
id	acadia16_12
authors	Gerber, David Jason; Pantazis, Evangelos
year	2016
title	A Multi-Agent System for Facade Design: A design methodology for Design Exploration, Analysis and Simulated Robotic Fabrication
doi	https://doi.org/10.52842/conf.acadia.2016.012
source	ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 12-23
summary	For contemporary design practices, there still remains a disconnect between design tools used for early stage design exploration and performance analysis, and those used for fabrication and construction of complex tectonic architectural systems. The research brings forward downstream fabrication constraints into the up-stream design exploration and design decision making. This paper addresses the issues of developing an integrated digital design work-flow and details a research framework for the incorporation of environmental performance into a robotic fabrication for early stage design exploration and generation of intricate and complex alternative façade designs. The method allows the user to import a design surface, define design parameters, set a number of environmental performance objectives, and then simulate and select a robotic construction strategy. Based on these inputs, design alternatives are generated and evaluated in terms of their performance criteria in consideration of their robotically simulated constructability. In order to validate the proposed framework, an experimental case study of office building façade designs that are generatively created from a multi-agent system for design methodology is design explored and evaluated. Initial results define a heuristic function for improving simulated robotic constructability and illustrate the functionality of our prototype. Project limitations and future research steps are then discussed.
keywords	generative design, multi-objective design optimization, robotic fabrication, simulation, design performance, design decision making
series	ACADIA
type	paper
email
last changed	2022/06/07 07:51

_id	ascaad2016_042
id	ascaad2016_042
authors	Goud, Srushti
year	2016
title	Parametrizing Indian Karnata-Dravida Temple Using Geometry
source	Parametricism Vs. Materialism: Evolution of Digital Technologies for Development [8th ASCAAD Conference Proceedings ISBN 978-0-9955691-0-2] London (United Kingdom) 7-8 November 2016, pp. 409-420
summary	The Karnata-Dravida temple tradition flourished and evolved for 700 years. The evolution of the typology was demonstrated through the structure. However, as the Shastras or ancient texts proclaim, the underlying principles of geometry remain unchanged. Geometry and the unchanging principles of construction made the architects experiment with form, material and ornamentation. Geometry does not only mean shapes or two dimensional diagrams but it is a rule to amalgamate all the elements to form a dynamic form of a temple. The paper validates the use of geometry through an evolving sequence of Karnata-Dravida temples with the help of an analytical model created using the grasshopper software. The components of the model are based on the geometric rule (the basis for parametrizing) and parameters of the algorithm – plan forms, organizational compositions, vimana or superstructure composition – which result in a geometry. Even though building science is an old tradition, the use of computational procedures reveals the predictable nature of temples in the Dravidian clan and enables the analysis of existing temples, development of new possibilities or evolution of interpreted forms. Hence, enriching the existing understandings of previous scholarships in the field of temple architecture with an entirely new system of interpretation. In the age of technology where analytics plays a crucial role in almost all sectors, ancient temple architecture in India unfortunately falls behind when it comes to computational methods of restoration or reconstruction. This research questions the applicability of computational technology as a facilitator in preserving or reconstructing existing temples while maintaining its creative liberty.
series	ASCAAD
email
last changed	2017/05/25 13:33

_id	ecaade2016_162
id	ecaade2016_162
authors	Heinrich, Mary Katherine and Ayres, Phil
year	2016
title	Using the Phase Space to Design Complexity - Design Methodology for Distributed Control of Architectural Robotic Elements
doi	https://doi.org/10.52842/conf.ecaade.2016.1.413
source	Herneoja, Aulikki; Toni Österlund and Piia Markkanen (eds.), Complexity & Simplicity - Proceedings of the 34th eCAADe Conference - Volume 1, University of Oulu, Oulu, Finland, 22-26 August 2016, pp. 413-422
summary	Architecture that is responsive, adaptive, or interactive can contain active architectural elements or robotic sensor-actuator systems. The consideration of architectural robotic elements that utilize distributed control and distributed communication allows for self-organization, emergence, and evolution on site in real-time. The potential complexity of behaviors in such architectural robotic systems requires design methodology able to encompass a range of possible outcomes, rather than a single solution. We present an approach of adopting an aspect of complexity science and applying it to the realm of computational design in architecture, specifically by considering the phase space and related concepts. We consider the scale and predictability of certain design characteristics, and originate the concept of a formation space extension to the phase space, for design to deal directly with materializations left by robot swarms or elements, rather than robots' internal states. We detail a case study examination of design methodology using the formation space concept for assessment and decision-making in the design of active architectural artifacts.
wos	WOS:000402063700046
keywords	phase space; complexity; attractor; distributed control
series	eCAADe
email
last changed	2022/06/07 07:49

_id	ecaade2016_038
id	ecaade2016_038
authors	Lee, Jongwook, Min, Aram and Lee, Jihyun
year	2016
title	An Intuitive Heritage Education System for Learning Architectural Structures and Styles - Focusing on the historical Korean architectures
doi	https://doi.org/10.52842/conf.ecaade.2016.2.529
source	Herneoja, Aulikki; Toni Österlund and Piia Markkanen (eds.), Complexity & Simplicity - Proceedings of the 34th eCAADe Conference - Volume 2, University of Oulu, Oulu, Finland, 22-26 August 2016, pp. 529-537
summary	Although national and international attention toward the cultural heritage is on a rise, there is a lack of public attention toward cultural heritage sites. One of the main problems is the lack of interaction and the visualization of cultural heritage on the sites. Especially Korean historical architectures are structurally complex and are not easily understood by common people. To improve the public awareness of architectural heritages, we propose a model-based diagnosis system to educate the visitors and tourists. The system is designed to guide the users to model an appropriate architecture in accordance with the era, location, and the usage. For the system, we built a robust set of cases based on the ontological structure we designed especially for architectural heritage education. It basically enables users to reconstruct buildings intuitively in six steps from bottom to top. A system evaluation was conducted on the affective, cognitive, operative aspect of the system at a heritage site. The results show well in terms of cognitive aspect but was evaluated poorly in terms of the operative aspect.
wos	WOS:000402064400053
keywords	Historical Korean architecture; JESS rule engine; heritage education system
series	eCAADe
email
last changed	2022/06/07 07:52

_id	sigradi2016_602
id	sigradi2016_602
authors	Mattos, Erica Azevedo da Costa e; Silva, Diego Fagundes da
year	2016
title	Módulos Eletrônicos Interativos: Cibernética e Indeterminaç?o para a Exploraç?o e Aprendizagem em Design [Interactive Electronic Modules: Cybernetics and Uncertainties for Exploration and Learning in Design]
source	SIGraDi 2016 [Proceedings of the 20th Conference of the Iberoamerican Society of Digital Graphics - ISBN: 978-956-7051-86-1] Argentina, Buenos Aires 9 - 11 November 2016, pp.782-789
summary	This paper discusses the ongoing development process of an electronic experimentation and learning open system composed by discrete modular units. Our aim is to create an expandable tool capable of support architecture students with the development of notions about electronic systems, digital interactions and the incorporation of uncertainties in design. The theoretical framework of the research is here presented - discussing design, ethics, Second-Order Cybernetics and knowledge construction theories. Also, precedent work on construction kits are introduced for critical analysis and comparison. We concluded our paper with a possible application in an actual educational setting.
keywords	Design; Second-Order Cybernetics; Learning Processes; Modules; Electronic Building Blocks
series	SIGRADI
email
last changed	2021/03/28 19:58

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