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	ecaade2017_252
id	ecaade2017_252
authors	Sharif, Shani, Agrawal, Varun and Sweet, Larry
year	2017
title	Adaptive Industrial Robot Control for Designers
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 151-158
doi	https://doi.org/10.52842/conf.ecaade.2017.2.151
summary	In this research, we present a system to allow designers to adaptively control an industrial robot from within a 3D modeling environment, for the purpose of real time feedback with respect to visual imagery of the object as well as robot pose during the fabrication process. Our work uses the Kuka industrial robots due to their capability in fabrication and programmability, and the Rhino 3D modeling software with the Grasshopper plugin which allows for visual programming for designers. A Microsoft Kinect sensor is used to provide visual feedback of the part during the fabrication process. We present the methodology used to develop the system, explaining various design and architecture choices made to allow for easy use of our system, while ensuring our system is open to further extension. We also show qualitative results of the fabrication process performed using our system in order to validate that our proposed system improves the interaction and collaboration between designer and robot when performing the task, in contrast to the iterative process that is generally followed.
keywords	Human-robot collaboration; Robotic fabrication; Adaptive control; Feedback
series	eCAADe
email
last changed	2022/06/07 07:56

_id	cf2017_066
id	cf2017_066
authors	Jenney, Sarah Louise; Petzold, Frank
year	2017
title	Question of Perspective: Information Visualisation in Games and its Possible Application in Planning Communication
source	Gülen Çagdas, Mine Özkar, Leman F. Gül and Ethem Gürer (Eds.) Future Trajectories of Computation in Design [17th International Conference, CAAD Futures 2017, Proceedings / ISBN 978-975-561-482-3] Istanbul, Turkey, July 12-14, 2017, pp. 66-83.
summary	The densification of urban spaces is a major challenge for future cities. With new forms of online consultation, we observe a movement towards open government in urban planning. A stronger participation between a more diverse body of players in a networked environment, is unveiling various discrepancies in the understanding of projects by the different actors in planning, due to access to and the comprehension of planning information. To recognise and utilise the associated capabilities of current transformations, communication between the actors in planning and their sharing of knowledge is vitally important. Information visualisation is an essential form of communication, prompting this explorative paper in considering elements specific to games visualisation and their implications for urban planning. Based on a framework for information visualisation in games it was found that the specifications for actor groups in planning processes mirror the specifications specific to target audience groups in games.
keywords	Gamification, Urban Design, Information Visualisation, Collaborative Design, Public Participation
series	CAAD Futures
email
last changed	2017/12/01 14:37

_id	acadia17_248
id	acadia17_248
authors	Felbrich, Benjamin; Fru?h, Nikolas; Prado, Marshall; Saffarian, Saman; Solly, James; Vasey, Lauren; Knippers, Jan; Menges, Achim
year	2017
title	Multi-Machine Fabrication: An Integrative Design Process Utilising an Autonomous UAV and Industrial Robots for the Fabrication of Long-Span Composite Structures
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 248-259
doi	https://doi.org/10.52842/conf.acadia.2017.248
summary	Fiber composite materials have tremendous potential in architectural applications due to their high strength-to-weight ratio and their ability to be formed into complex shapes. Novel fabrication processes can be based on the unique affordances and characteristics of fiber composites. Because these materials are lightweight and have high tensile strength, a radically different approach to fabrication becomes possible, which combines low-payload yet long-range machines—such as unmanned aerial vehicles (UAV)—with strong, precise, yet limited-reach industrial robots. This collaborative concept enables a scalable fabrication setup for long-span fiber composite construction. This paper describes the integrated design process and design development of a large-scale cantilevering demonstrator, in which the fabrication setup, robotic constraints, material behavior, and structural performance were integrated in an iterative design process.
keywords	material and construction; fabrication; construction; robotics
series	ACADIA
email
last changed	2022/06/07 07:50

_id	acadia17_292
id	acadia17_292
authors	Hurkxkens, Ilmar; Girot, Christophe; Hutter, Marco
year	2017
title	Robotic Landscapes: Developing Computational Design Tools Towards Autonomous Terrain Modeling
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 292-297
doi	https://doi.org/10.52842/conf.acadia.2017.292
summary	Until today, on-site robotic construction processes in landscape architecture have been limited to predefined and controlled environments like road building or mining pits. We are presently developing an autonomous walking excavator that paves the way for new and advanced on-site design strategies. The shift towards robotic construction in terrain modeling and landscape architecture demands an adaptive design approach, where the resulting topology is inherently linked to landscape performance and the local conditions of a site. This paper discusses the computational design tools that may help redefine how design and construction processes can be better adapted to real-time topological and sensory data. This approach will, in due time, revolutionize how designers think, act and play with contemporary landscapes robotically, and reimagine their intrinsic relationship to infrastructure.
keywords	design methods; information processing; fabrication; construction/robotics; form finding
series	ACADIA
email
last changed	2022/06/07 07:50

_id	ecaade2017_122
id	ecaade2017_122
authors	Peralta, Mercedes and Loyola, Mauricio
year	2017
title	Performative Materiality - A DrawBot for Materializing Kinetic Human-Machine Interaction in Architectural Space
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 611-618
doi	https://doi.org/10.52842/conf.ecaade.2017.1.611
summary	This paper presents an exploration of movement as a design material to evidence human-machine interaction in an architectural space. An autonomous robotic vehicle with environmental sensory capabilities interacts kinetically with people by recognizing their emotional states from their body postures. A drawing device installed in the vehicle leaves a trace on the floor as a material testimony to the mutual dynamics. The complex yet surprisingly intuitive choreographic interaction of the machine and its social and physical environment blurs the boundaries between drawing, machine, and performance. In general, the project conceptualizes movement as a design material, drawing as a performative action, and social interaction as a physical force, all of which can be enhanced or mediated by digital technologies to produce results with aesthetic value.
keywords	Human-Machine Interaction; Drawing Machine; Performance Design
series	eCAADe
email
last changed	2022/06/07 08:00

_id	cf2019_009
id	cf2019_009
authors	Veloso, Pedro; Jinmo Rhee and Ramesh Krishnamurti
year	2019
title	Multi-agent space planning: a literature review (2008-2017)
source	Ji-Hyun Lee (Eds.) "Hello, Culture!" [18th International Conference, CAAD Futures 2019, Proceedings / ISBN 978-89-89453-05-5] Daejeon, Korea, pp. 52-74
summary	In this paper we review the research on multi-agent space planning (MASP) during the period of 2008-2017. By MASP, we refer to space planning (SP) methods based on online mobile agents that map local perceptions to actions in the environment, generating spatial representation. We group two precedents and sixteen recent MASP prototypes into three categories: (1) agents as moving spatial units, (2) agents that occupy a space, and (3) agents that partition a space. In order to compare the prototypes, we identify the occurrence of features in terms of representation, objectives, and control procedures. Upon analysis of occurrences and correlations of features in the types, we present gaps and challenges for future MASP research. We point to the limits of current systems to solve spatial conflicts and to incorporate architectural knowledge. Finally, we suggest that behavioral learning offers a promising path for robust and autonomous MASP systems in the architectural domain.
keywords	Space planning; Agent-based modeling; Multi-agent systems; Generative systems
series	CAAD Futures
email
last changed	2019/07/29 14:08

_id	caadria2019_657
id	caadria2019_657
authors	Chen, Zhewen, Zhang, Liming and Yuan, Philip F.
year	2019
title	Innovative Design Approach to Optimized Performance on Large-Scale Robotic 3D-Printed Spatial Structure
source	M. Haeusler, M. A. Schnabel, T. Fukuda (eds.), Intelligent & Informed - Proceedings of the 24th CAADRIA Conference - Volume 2, Victoria University of Wellington, Wellington, New Zealand, 15-18 April 2019, pp. 451-460
doi	https://doi.org/10.52842/conf.caadria.2019.2.451
summary	This paper presents an innovative approach on designing large-scale spatial structure with automated robotic 3D-printing. The incipient design approach mainly focused on optimizing structural efficiency at an early design stage by transform the object into a discrete system, and the elements in this system contains unique structural parameters that corresponding to its topology results of stiffness distribution. Back in 2017, the design team already implemented this concept into an experimental project of Cloud Pavilion in Shanghai, China, and the 3D-printed spatial structure was partitioned into five zones represent different level of structure stiffness and filled with five kinds of unit toolpath accordingly. Through further research, an upgrade version, the project of Cloud Pavilion 2.0 is underway and will be completed in January 2019. A detailed description on innovative printing toolpath design in this project is conducted in this paper and explains how the toolpath shape effects its overall structural stiffness. This paper contributes knowledge on integrated design in the field of robotic 3D-printing and provides an alternative approach on robotic toolpath design combines with the optimized topological results.
keywords	3D-Printing; Robotic Fabrication; Structural Optimization; Discrete System; Toolpath Design
series	CAADRIA
email
last changed	2022/06/07 07:54

_id	ecaade2017_201
id	ecaade2017_201
authors	De Azambuja Varela, Pedro and Sousa, José Pedro
year	2017
title	Fabricating Stereotomy - Variable moulds for cast voussoirs
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 193-200
doi	https://doi.org/10.52842/conf.ecaade.2017.2.193.2
summary	Recent developments in digital design and fabrication tools have led architects and researchers to renew the interest in stereotomy. This interest converges with a growing ecological and economical conscience that matches classic stereotomy raw material needs: compression resistance materials. However, material resources or prefabrication time are still major counterparts for the adoption of this construction system. This paper focuses in exploring techniques that profit from the interdependency between built form and fabrication technique, foraging methodologies that allow for stereotomic block creation with simpler resources. The premise is to explore faster, cheaper, more accessible ways to build stereotomic structures. The technique developed in this research explores alternatives to the traditional cutting of stone by expanding techniques for variable moulds to form solid voussoirs.
keywords	stereotomy; voussoir; mould; variable production; robotic fabrication
series	eCAADe
email
last changed	2022/06/07 07:55

_id	ecaade2017_124
id	ecaade2017_124
authors	Pantazis, Evangelos and Gerber, David
year	2017
title	Emergent order through swarm fluctuations - A framework for exploring self-organizing structures using swarm robotics
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 75-84
doi	https://doi.org/10.52842/conf.ecaade.2017.1.075
summary	In modern architecture, construction processes are based on top down planning, yet in nature but also in vernacular architecture, the shape of shelters/nests is the result of evolutionary material processes which takes place without any global coordination or plan. This work presents a framework for exploring how self-organizing structures can be achieved in a bottom up fashion by implementing a swarm of simple robots(bristle bots). The robots are used as a hardware platform and operate in a modular 2D arena filled with differently shaped passive building blocks. The robots push around blocks and their behaviour can be programmed mechanically by changing the geometry of their body. Through physical experimentation and video analysis the relationships between the properties of the emergent patterns (size, temporal stability) and the geometry of the robot/parts are studied. This work couples a set of agent based design tools with a robust robotic system and a set of analysis tools for generating and actualising emergent 2D structures.
keywords	Multi Agent Systems; Generative Design; Swarm Robotics; Self-organizing patterns
series	eCAADe
email
last changed	2022/06/07 08:00

_id	acadia17_502
id	acadia17_502
authors	Rosenwasser, David; Mantell, Sonya; Sabin, Jenny
year	2017
title	Clay Non-Wovens: Robotic Fabrication and Digital Ceramics
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 502- 511
doi	https://doi.org/10.52842/conf.acadia.2017.502
summary	Clay Non-Wovens develops a new approach for robotic fabrication, applying traditional craft methods and materials to a fundamentally technical and precise fabrication methodology. This paper includes new explorations in robotic fabrication, additive manufacturing, complex patterning, and techniques bound in the arts and crafts. Clay Non-Wovens seeks to develop a system of porous cladding panels that negotiate circumstances of natural daylighting through parameters dealing with textile (woven and non-woven) patterning and line typologies. While additive manufacturing has been built predominantly on the basis of extrusion, technological developments in the field of 3D printing seldom acknowledge the bead or line of such extrusions as more than a nuisance. Blurring of recognizable layers is often seen as progress, but it does away with visible traces of a fabrication process. Historically, however, construction methods in architecture and the building industry have celebrated traces of making ranging from stone cutting to log construction. With growing interest in digital craft within the fields of architecture and design, we seek to reconcile our relationship with the extruded bead and reinterpret it as a fiber and three-dimensional drawing tool. The traditional clay coil is to be reconsidered as a structural fiber rather than a tool for solid construction. Building upon this body of robotically fabricated clay structures required the development of three distinct but connected techniques: 1. construction of a simple end effector for extrusion; 2. development of a clay body and; 3. using computational design tools to develop formwork and toolpath geometries.
keywords	design methods; information processing; fabrication; digital craft; manual craft; prototyping
series	ACADIA
email
last changed	2022/06/07 07:56

_id	maver_118
id	maver_118
authors	Maver, Thomas W.
year	2017
title	Digital Heritage's Development in Architecture
source	Territorio 80 (2017) pp. 44-47
summary	For at least 1000 years humankind represented existing and intended building by simple two-dimensional plans and elevations. In the Renaissance, a new-found capability with pen and paper allowed the representation or perspective geometry. These paper-based perspective views, together with plan and elevations, served architects and their clients for the best part of the next 300 years.
email
last changed	2018/03/20 11:45

_id	ecaade2017_194
id	ecaade2017_194
authors	Michielsen, Dieter, Dalle, Tonia, Usai, Mara, Romero, Rosaura and Pak, Burak
year	2017
title	Learning Participatory Urban Research - Towards a Network of Collective Ingenuity (OURB)
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 551-560
doi	https://doi.org/10.52842/conf.ecaade.2017.1.551
summary	This research was put together by four Master's students from KU Leuven Faculty of Architecture, who are self-motivated to investigate the possibilities of collective methods for designing within the Urban context. This paper is divided into two parts, the first being a scholarly investigation into learning from the collective mentality shift, and movements; discovering the added values of operating immersion/eversion from the virtual worlds to the physical one and analyzing key factors for engaging the public on online communities. Following, the paper brings to light the challenges the future of urban planning faces during today's digital shift and the solutions possible through the introduction of digital platforms as support to urban planning structures. The second part is the complementation of the first, as the research team showcases the findings by testing out the learned concepts and conducting on-field social experiments. The paper concludes with an analysis of the results, and future directions to the research project.
keywords	collaboration; co-creation; collective ingenuity; digital platforms; social engagement
series	eCAADe
email
last changed	2022/06/07 07:58

_id	caadria2017_129
id	caadria2017_129
authors	Patt, Trevor Ryan
year	2017
title	Toward Temporal and Punctual Urban Redevelopment in Dynamic, Informal Contexts - An Adaptive Masterplan Driven by Architectural Interventions Using Multiagent Modeling
source	P. Janssen, P. Loh, A. Raonic, M. A. Schnabel (eds.), Protocols, Flows, and Glitches - Proceedings of the 22nd CAADRIA Conference, Xi'an Jiaotong-Liverpool University, Suzhou, China, 5-8 April 2017, pp. 221-230
doi	https://doi.org/10.52842/conf.caadria.2017.221
summary	This paper presents design research speculating on new planning approaches for informal urban sites that enables coordinated planning to operate within the realm of spontaneous, bottom-up redevelopment. In opposition to the /tabula rasa/ Modernist development, this project reacts to the dynamic metabolism of the village and engages with the rapid turnover of the built environment of the village as a mechanism through which to implement incremental redevelopment. A radical reorientation of the object of masterplanning, this replaces the singular image or document as the guiding authority with a collection of opportunistic adaptations, temporal sequences, and localized procedures. Enabling this approach is a computational approach that analyzes the morphology of the public space network to identify opportunities to address issues in the composition of the village. A multiagent system driven by weighted random walks through the circulation network conducts local analyses of the urban fabric while changes are made and proposes potential modifications to discrete areas. The model simulates the potential for such a planning tool to be used over a long time span and updated with empirically gathered data, having the benefit of flexibility and resilience in the face of the changing and unregulated conditions in the context of informal urbanism.
keywords	generative design; responsive masterplanning; informal urbanism; network analysis; agent-based modeling
series	CAADRIA
email
last changed	2022/06/07 07:59

_id	acadia17_630
id	acadia17_630
authors	Vasanthakumar, Saeran; Saha, Nirvik; Haymaker, John; Shelden, Dennis
year	2017
title	Bibil: A Performance-Based Framework to Determine Built Form Guidelines
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 630- 639
doi	https://doi.org/10.52842/conf.acadia.2017.630
summary	City built-form guidelines act as durable constraints on building design decisions. Such guidelines directly impact energy, comfort and other performance conditions. Existing urban design and planning methods only consider a narrow range of potential design scenarios, with rudimentary performance criteria, resulting in suboptimal urban designs. Bibil is a software plugin for the Rhinoceros3D/Grasshopper3D CAD modeler that addresses this gap through the synthesis of design space exploration methods to help design teams optimize guidelines for environmental and energy performance criteria over the life cycle of the city. Bibil consists of three generative and data management modules. The first module simulates development scenarios from street and block information through time, the second designs appropriate architectural typology, and the third abstracts the typologies into a lightweight analysis model for detailed thermal load and energy simulation. State-of-the-art performance simulation is done via the Ladybug Analysis Tools Grasshopper3D plugin, and further bespoke analysis to explore the resulting design space is achieved with custom Python scripts.This paper first introduces relevant background for automated exploration of urban design guidelines. Then the paper surveys the state-of-the-art in design and performance simulation tools in the urban domain. Next the paper describes the beta version of the tool’s three modules and its application in a built form study to assess urban canyon performance in a major North American city. Bibil enables the exploration of a broader range of potential design scenarios, for a broader range of performance criteria, over a longer period of time.
keywords	design methods; information processing; simulation & optimization; form finding; generative system
series	ACADIA
email
last changed	2022/06/07 07:58

_id	acadia17_382
id	acadia17_382
authors	Melenbrink, Nathan; Kassabian, Paul; Menges, Achim; Werfel, Justin
year	2017
title	Towards Force-aware Robot Collectives for On-site Construction
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 382- 391
doi	https://doi.org/10.52842/conf.acadia.2017.382
summary	Due to the irregular and variable environments in which most construction projects take place, the topic of on-site automation has previously been largely neglected in favor of off-site prefabrication. While prefabrication has certain obvious economic and schedule benefits, a number of potential applications would benefit from a fully autonomous robotic construction system capable of building without human supervision or intervention; for example, building in remote environments, or building structures whose form changes over time. Previous work using a swarm approach to robotic assembly generally neglected to consider forces acting on the structure, which is necessary to guarantee against failure during construction. In this paper we report on key findings for how distributed climbing robots can use local force measurements to assess aspects of global structural state. We then chart out a broader trajectory for the affordances of distributed on-site construction in the built environment and position our contributions within this research agenda. The principles explored in simulation are demonstrated in hardware, including solutions for force-sensing as well as a climbing robot.
keywords	material and construction; physics; construction/robotics; simulation & optimization
series	ACADIA
email
last changed	2022/06/07 07:58

_id	acadia17_482
id	acadia17_482
authors	Penman, Scott
year	2017
title	Toward Computational Play
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 482- 491
doi	https://doi.org/10.52842/conf.acadia.2017.482
summary	The day is not far off when autonomous, artificially intelligent agents will be employed in creative industries such as architecture and design. Artificial intelligence is rapidly becoming ubiquitous, and it has absorbed many capabilities once thought beyond its reach. As such, it is critical that we reflect on the relationship between AI and design. Design is often tasked with pushing the envelope in the quest for novel meaning and experience. Designers can’t always rely upon existing models to judge their work. Operating like this requires a curious and open mind, a willingness to eschew reward and occasionally break the rules, and a desire to explore for the sake of exploring. These behaviors fly in the face of traditional implementations of computation and raise difficult questions about the autonomy and subjectivity of artificially intelligent machines. This paper proposes computational play as a field of research that covers how and why designers roam as freely as they do, what the creative potential of such exploration might be, and how such techniques might responsibly be implemented in computational machines. The work argues that autotelism, defined as internal motivation, is an essential aspect of play and outlines how it can be incorporated in a computational framework. The work also demonstrates a proof-of-concept in the form of an autonomous drawing machine that is able to plot a drawing, view the drawing, and make decisions based on what it sees, bringing computational vision and computational drawing together into a cyclical process that permits the use of autotelic play behavior.
keywords	design methods; information processing; art and technology; computational / artistic cultures
series	ACADIA
email
last changed	2022/06/07 08:00

_id	ecaade2017_089
id	ecaade2017_089
authors	Petrš, Jan, Havelka, Jan, Florián, Miloš and Novák, Jan
year	2017
title	MoleMOD - On Design specification and applications of a self-reconfigurable constructional robotic system
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 159-166
doi	https://doi.org/10.52842/conf.ecaade.2017.2.159
summary	The paper explores the use of in-house developed self-reconfigurable modular robotic system in civil construction activities and investigates a concept where an arbitrary Civil Engineering structure or a daily use industrial product are self-assembled from a number of self-reconfigurable composite blocks. The system extends current range of modular robot systems (mDrs) where autonomous modules self-assemble into a wide variety of forms. However, contrary to conventional mDrs, MoleMOD has not mechatronic actuating parts permanently fixed to each individual module. The MoleMOD actuators are separable and operate inside the modules, tight them together or relocate them to required configuration. It significantly reduces number of expensive mechatronics parts and the environment the actuators operate. Although MoleMOD focuses on architecture, it can take over other mDrs tasks as research and rescue. This paper describes properties, advantages, foreseen applications, and basic design specifications of the second generation prototype.
keywords	Modular robotic systems; Mobile robotic systems; Adaptive architecture; MoleMOD; Smart materials and structures; Multi-robot systems
series	eCAADe
email
last changed	2022/06/07 08:00

_id	ecaade2017_161
id	ecaade2017_161
authors	Pietri, Samuel and Erioli, Alessio
year	2017
title	Fibrous Aerial Robotics - Study of spiderweb strategies for the design of architectural envelopes using swarms of drones and inflatable formworks
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 689-698
doi	https://doi.org/10.52842/conf.ecaade.2017.1.689
summary	This thesis research presents an integrated workflow for the design and fabrication of large-scale architectural envelopes using swarms of drones and inflatable structures as formworks. The work lies at the intersection of architecture, biology and robotics, incorporating generative design with digital fabrication techniques. The proposed approach aims to investigate the tectonic potential of computational systems which encode behavioral strategies inside an agent-based model. It is from local interactions taking place at the micro-scale of complex systems that a new set of architectural tendencies seem to emerge. The authors focused on the strategies developed by colonies of social spiders during the construction of three-dimensional webs. Their communication system and the characteristics of the material structure have been then modelled and translated in a digital environment. A physical fabrication process, in which the simulated agents become drones in a real world environment, was concurrently developed. The goal was to investigate the architectural possibilities given by an autonomous aerial machine depositing fibrous material over inflatable formworks and its potential usefulness in specific sites where overall conditions don't allow traditional construction techniques.
keywords	tectonics; robotics; multi-agent systems; stigmergy; drones; inflatables
series	eCAADe
email
last changed	2022/06/07 08:00

_id	ecaade2017_243
id	ecaade2017_243
authors	Schwartz, Mathew and Zarzycki, Andrzej
year	2017
title	The Effect of Building Materials on LIDAR Measurements
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 269-276
doi	https://doi.org/10.52842/conf.ecaade.2017.2.269
summary	This paper uses a Light Detection and Ranging (LIDAR) device with multiple building materials to provide guidance for developing an autonomous robotics-friendly environment. The results demonstrate various materials that not only provide missing data, such as for clear glass, but also can provide inaccurate data, a dangerous situation in the context of indoor autonomous mobility. Finally, the paper proposes ideas for how designers can compromise between the materials they would like to use while facilitating the necessary information for an autonomous vehicle.
keywords	Smart City; Autonomous Navigation; Indoor Navigation; Personal Mobility
series	eCAADe
email
last changed	2022/06/07 07:57

_id	ecaade2017_054
id	ecaade2017_054
authors	Abramovic, Vasilija, Glynn, Ruairi and Achten, Henri
year	2017
title	ROAMNITURE - Multi-Stable Soft Robotic Structures
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 327-336
doi	https://doi.org/10.52842/conf.ecaade.2017.1.327
summary	The rise in robotics is not only changing fabrication research in architecture but increasingly providing opportunities for animating the materiality of architecture, offering responsive, performative and adaptive design possibilities for the built environment. A fundamental challenge with robotics is its suitability to safe, and comfortable use in proximity to the human body. Here we present the preliminary results of the Roamniture Project, a hybrid approach to developing kinetic architecture based on a combination of rigid and soft body dynamics.
keywords	Kinetic Architecture; Soft Robotics; Soft Architecture; Furniture
series	eCAADe
email
last changed	2022/06/07 07:54

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