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	cf2017_022
id	cf2017_022
authors	Noel, Vernelle A. A.
year	2017
title	From Costuming and Dancing Sculptures to Architecture: The Corporeal and Computational in Design and Fabrication of Lightweight Mobile Structures
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. 22-41.
summary	This paper describes a new approach to designing and fabricating costuming and dancing sculptures and the potential application of this system at the architectural scale. I present a novel design system based on the movement, form, and spatial relation of characters and dancing sculptures in the Trinidad Carnival. I also present a system that produces lightweight mobile structures from 3D printed connections, lightweight rods, and textile. Through a detailed case study, a new dancing sculpture is designed, and a full-scale lightweight mobile structure at the architectural scale is fabricated. Fabrication of the lightweight structure is achieved using Digital Crafting and Crafting Fabrication approaches to wire-bending, which includes the early development of a digital fabrication program for rod elements. This work has potential implications for costuming and dancing sculptures; architecture; computational design; and craft practices.
keywords	Lightweight Architectural Structures, Trinidad Carnival, Corporeal, Dancing Sculptures, Fabrication
series	CAAD Futures
email
last changed	2017/12/01 14:37

_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	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	acadia17_512
id	acadia17_512
authors	Rossi, Andrea; Tessmann, Oliver
year	2017
title	Collaborative Assembly of Digital Materials
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. 512- 521
doi	https://doi.org/10.52842/conf.acadia.2017.512
summary	Current developments in design-to-production workflows aim to allow architects to quickly prototype designs that result from advanced design processes while also embedding the constraints imposed by selected fabrication equipment. However, the enduring physical separation between design space and fabrication space, together with a continuous approach to both design, via NURBs modeling software, and fabrication, through irreversible material processing methods, limit the possibilities to extend the advantages of a “digital” approach (Ward 2010), such as full editability and reversibility, to physical realizations. In response to such issues, this paper proposes a processto allow the concurrent design and fabrication of discrete structures in a collaborative process between human designer and a 6-axis robotic arm. This requires the development of design and materialization procedures for discrete aggregations, including the modeling of assembly constraints, as well as the establishment of a communication platform between human and machine actors. This intends to offer methods to increase the accessibility of discrete design methodologies, as well as to hint at possibilities for overcoming the division between design and manufacturing (Carpo 2011; Bard et al. 2014), thus allowing intuitive design decisions to be integrated directly within assembly processes (Johns 2014).
keywords	material and construction; construction/robotics; smart assembly/construction; generative system
series	ACADIA
email
last changed	2022/06/07 07:56

_id	caadria2017_005
id	caadria2017_005
authors	Xia, Tian, Koh, Jing Lin, Chen, Yutong, Goh, Yi Qian and Dritsas, Stylianos
year	2017
title	Form-finding with Robotics - Fusing Physical Simulation and Digital Fabrication
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. 893-902
doi	https://doi.org/10.52842/conf.caadria.2017.893
summary	We present an experimental digital design and fabrication process investigating the integration of form-finding and industrial robotics. The design process is inspired by classical experiments producing minimal surfaces and tensile structures via physical simulation. The fabrication process resembles thermoforming whereby sheets of PET material are heat treated and while in a malleable state, where the material behaves like stretchable fabric, an industrial articulated robotic arm impresses a form while the sheet is air cooled and its final shape becomes stable and rigid. The three-dimensional plastic sheets are used as molds for glass-reinforced concrete casting. The key aspects of our approach include: (a) Mold-less fabrication: the design of our robotic end-effector can produce a range of free-form geometries without need for complex mold making (b) Reusable and durable artifacts: unlike traditional physical form-finding processes where the derived form is often ephemeral or fragile our process affords the detachment of a rigid artifacts which can be digitized, used as-is or employed in (c) Multi-stage fabrication: as the form-found geometry can be directly used for processes such as casting with excellent results in terms of surface finish. We present the design and development of our system and its deployment for an installation artwork.
keywords	Form-Finding; Digital Fabrication; Architectural Robotics
series	CAADRIA
email
last changed	2022/06/07 07:57

_id	ecaade2017_198
id	ecaade2017_198
authors	Hussein, Hussein, Agkathidis, Asterios and Kronenburg, Robert
year	2017
title	Free-form Transformation Of Spatial Bar Structures - Developing a design framework for kinetic surfaces geometries by utilising parametric tools
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. 747-756
doi	https://doi.org/10.52842/conf.ecaade.2017.1.747
summary	This paper presents a design framework for free-form transformation of kinetic, spatial bar structures using computational design techniques. Spatial bar structures considered as deployable, transformable kinetic structures composed of straight, linear members, assembled in a three-dimensional configuration. They are often utilised in portable, mobile or transformable buildings. Transformable systems of spatial bar structures are mostly based on modification of primitive shapes (e.g. box, sphere, and cylinder). Each system is subdivided into multiple members having the same shape, the so-called kinetic blocks. Some diverse precedents made to develop other forms of transformation of these structures with some issues. This research project will investigate how a free-form transformation of spatial bar systems can be achieved, by redesigning the kinetic block in relation to architectural, technical parameters. In order to develop a physical prototype of the kinetic block, and assess its potential in enabling free-form transformation of a spatial bar system, a design framework incorporating parametric, algorithmic and kinetic design strategies is required. The proposed design workflow consists of three main phases: form-finding, stability validation and actuation.
keywords	Parametric design; Kinetic; transformable; deployable; Free-form; design strategy
series	eCAADe
email
last changed	2022/06/07 07:50

_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_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

_id	acadia21_530
id	acadia21_530
authors	Adel, Arash; Augustynowicz, Edyta; Wehrle, Thomas
year	2021
title	Robotic Timber Construction
source	ACADIA 2021: Realignments: Toward Critical Computation [Proceedings of the 41st Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 979-8-986-08056-7]. Online and Global. 3-6 November 2021. edited by S. Parascho, J. Scott, and K. Dörfler. 530-537.
doi	https://doi.org/10.52842/conf.acadia.2021.530
summary	Several research projects (Gramazio et al. 2014; Willmann et al. 2015; Helm et al. 2017; Adel et al. 2018; Adel Ahmadian 2020) have investigated the use of automated assembly technologies (e.g., industrial robotic arms) for the fabrication of nonstandard timber structures. Building on these projects, we present a novel and transferable process for the robotic fabrication of bespoke timber subassemblies made of off-the-shelf standard timber elements. A nonstandard timber structure (Figure 2), consisting of four bespoke subassemblies: three vertical supports and a Zollinger (Allen 1999) roof structure, acts as the case study for the research and validates the feasibility of the proposed process.
series	ACADIA
type	project
email
last changed	2023/10/22 12:06

_id	acadia17_164
id	acadia17_164
authors	Brugnaro, Giulio; Hanna, Sean
year	2017
title	Adaptive Robotic Training Methods for Subtractive Manufacturing
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. 164-169
doi	https://doi.org/10.52842/conf.acadia.2017.164
summary	This paper presents the initial developments of a method to train an adaptive robotic system for subtractive manufacturing with timber, based on sensor feedback, machine-learning procedures and material explorations. The methods were evaluated in a series of tests where the trained networks were successfully used to predict fabrication parameters for simple cutting operations with chisels and gouges. The results suggest potential benefits for non-standard fabrication methods and a more effective use of material affordances.
keywords	design methods; information processing; construction; robotics; ai & machine learning; digital craft; manual craft
series	ACADIA
email
last changed	2022/06/07 07:52

_id	cf2017_457
id	cf2017_457
authors	Erdine, Elif; Kallegias, Alexandros; Lara Moreira, Angel Fernando; Devadass, Pradeep; Sungur, Alican
year	2017
title	Robot-Aided Fabrication of Interwoven Reinforced Concrete Structures
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, p. 457.
summary	This paper focuses on the realization of three-dimensionally interwoven concrete structures and their design process. The output is part of an ongoing research in developing an innovative strategy for the use of robotics in construction. The robotic fabrication techniques described in this paper are coupled with the computational methods dealing with geometry rationalization and material constraints among others. By revisiting the traditional bar bending techniques, this research aims to develop a novel approach by the reduction of mechanical parts for retaining control over the desired geometrical output. This is achieved by devising a robotic tool-path, developed in KUKA\|prc with Python scripting, where fundamental material properties, including tolerances and spring-back values, are integrated in the bending motion methods via a series of mathematical calculations in accord with physical tests. This research serves to demonstrate that robotic integration while efficient in manufacturing it also retains valid alignment with the architectural design sensibility.
keywords	Robotic fabrication, Robotic bar bending, Concrete composite, Geometry optimization, Polypropylene formwork
series	CAAD Futures
email
last changed	2017/12/01 14:38

_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	ecaade2017_094
id	ecaade2017_094
authors	Jovanovic, Marko, Vucic, Marko, Mitov, Dejan, Tepavèeviæ, Bojan, Stojakovic, Vesna and Bajsanski, Ivana
year	2017
title	Case Specific Robotic Fabrication of Foam Shell 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 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 135-142
doi	https://doi.org/10.52842/conf.ecaade.2017.2.135
summary	Most recent developments in the design of free form shells pursue new approaches in digital fabrication based on material properties and construction-aware design. In this research we proposed an alternative approach based on implementation of expanded polystyrene (EPS), a non-standard material for shells, in the process of industrial robot fabrication that enables fast and precise cutting of building elements. Main motivation for using EPS as a building material was driven by numerous advantages when compared to commonly used materials such as: recycleability, cost-efficiency, high earthquake resistance, durability and short assembly time. We describe case specific fabrication approach based on numerous production constraints (size of the panels, limited robot workspace, in situ conditions) that directly design the process.
keywords	computational design; shell structures; robotic fabrication; hot-wire cutting; multi-robot control
series	eCAADe
email
last changed	2022/06/07 07:52

_id	ecaade2017_056
id	ecaade2017_056
authors	Kontovourkis, Odysseas
year	2017
title	Multi-objective design optimization and robotic fabrication towards sustainable construction - The example of a timber structure in actual scale
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. 337-346
doi	https://doi.org/10.52842/conf.ecaade.2017.1.337
summary	This paper attempts to reconsider the role of advanced tools and their effective implementation in the field of Architecture, Engineering and Construction (AEC) through the concept of sustainable construction. In parallel, the paper aims to discuss and find common ground for communication between industrial and experimental processes guided by sustainable criteria, an area of investigation that is currently in the forefront of the research work conducted in our robotic construction laboratory. Within this frame, an ongoing work into the design, analysis and automated construction of a timber structure in actual scale is exemplified and used as a pilot study for further discussion. Specifically, the structure consists of superimposed layers of timber elements that are robotically cut and assembled together, formulating the overall structural system. In order to achieve a robust, reliable and economically feasible solution and to control the automated construction process, a multi-objective design optimization process using evolutionary principles is applied. Our purpose is to investigate possibilities for sustainable construction considering minimization of cost and material waste, and in parallel, discussing issues related to the environmental impact and the feasibility of solutions to be realized in actual scale.
keywords	Multi-objective optimization; robotic fabrication; cost and material waste minimization; sustainable construction; timber structure
series	eCAADe
email
last changed	2022/06/07 07:51

_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_392
id	acadia17_392
authors	Mesa, Olga; Stavric, Milena; Mhatre, Saurabh; Grinham, Jonathan; Norman, Sarah; Sayegh, Allen; Bechthold, Martin
year	2017
title	Non-Linear Matters: Auxetic Surfaces
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. 392- 403
doi	https://doi.org/10.52842/conf.acadia.2017.392
summary	Auxetic structures exhibiting non-linear buckling are a prevalent research topic in the material sciences due to the ability to tune their reversible actuation, porosity, and negative Poisson’s ratio. However, the research is limited to feature sizes at scales below 10 mm2, and to date, there are no available efficient design and prototyping methods for architectural designers. Our study develops design principles and workflow methods to transform standard materials into auxetic surfaces at an architectural scale. The auxetic behavior is accomplished through buckling and hinging by subtracting from a homogeneous material to create perforated patterns. The form of the perforations, including shape, scale, and spacing, determines the behavior of multiple compliant "hinges" generating novel patterns that include scaling and tweening transformations. An analytical method was introduced to generate hinge designs in four-fold symmetric structures that approximate non-linear buckling. The digital workflow integrates a parametric geometry model with non-linear finite element analysis (FEA) and physical prototypes to rapidly and accurately design and fabricate auxetic materials. A robotic 6-axis waterjet allowed for rapid production while maintaining needed tolerances. Fabrication methods allowed for spatially complex shaping, thus broadening the design scope of transformative auxetic material systems by including graphical and topographical biases. The work culminated in a large-scale fully actuated and digitally controlled installation. It was comprised of auxetic surfaces that displayed different degrees of porosity, contracting and expanding while actuated electromechanically. The results provide a promising application for the rapid design of non-linear auxetic materials at scales complimentary to architectural products.
keywords	material and construction; CAM; prototyping; smart materials; auxetic
series	ACADIA
email
last changed	2022/06/07 07:58

_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	ecaade2017_225
id	ecaade2017_225
authors	Rossi, Andrea and Tessmann, Oliver
year	2017
title	Geometry as Assembly - Integrating design and fabrication with discrete modular units
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. 201-210
doi	https://doi.org/10.52842/conf.ecaade.2017.2.201
summary	This paper proposes a design and fabrication approach based on the conceptualization of architectural formations as spatial assemblies of discrete building blocks to be aggregated through custom robotic procedures. Such strategy attempts to create synergies between different technological methods and to define a new and open design space where discrete design, serial prototyping and robotic assembly can be exploited to create complex reconfigurable structures. With the aim to allow users to explore the field of discrete geometries for architectural application without need for prior programming knowledge, we developed a software framework for representing and designing with discrete elements, different digital fabrication techniques integrated with conventional production processes for serial prototyping of repetitive units, and custom robotic fabrication routines, allowing a direct translation from aggregated geometry to assembly toolpath. Together these methods aim at creating a more direct connection between design and fabrication, relying on the idea of discrete elements assembly and on the parallel between modular design and modularized robot code generation.
keywords	Digital Materials; Robotic Assembly; Discrete Design; Modular Fabrication; Design Tools
series	eCAADe
email
last changed	2022/06/07 07:56

_id	acadia23_v1_220
id	acadia23_v1_220
authors	Ruan, Daniel; Adel, Arash
year	2023
title	Robotic Fabrication of Nail Laminated Timber: A Case Study Exhibition
source	ACADIA 2023: Habits of the Anthropocene: Scarcity and Abundance in a Post-Material Economy [Volume 1: Projects Catalog of the 43rd Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 979-8-9860805-8-1]. Denver. 26-28 October 2023. edited by A. Crawford, N. Diniz, R. Beckett, J. Vanucchi, M. Swackhamer 220-225.
summary	Previous research projects (Adel, Agustynowicz, and Wehrle 2021; Adel Ahmadian 2020; Craney and Adel 2020; Adel et al. 2018; Apolinarska et al. 2016; Helm et al. 2017; Willmann et al. 2015; Oesterle 2009) have explored the use of comprehensive digital design-to-fabrication workflows for the construction of nonstandard timber structures employing robotic assembly technologies. More recently, the Robotically Fabricated Structure (RFS), a bespoke outdoor timber pavilion, demonstrated the potential for highly articulated timber architecture using short timber elements and human-robot collaborative assembly (HRCA) (Adel 2022). In the developed HRCA process, a human operator and a human fabricator work alongside industrial robotic arms in a shared working environment, enabling collaborative fabrication approaches. Building upon this research, we present an exploration adapting HRCA to nail-laminated timber (NLT) fabrication, demonstrated through a case study exhibition (Figures 1 and 2).
series	ACADIA
type	project
email
last changed	2024/04/17 13:58

_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
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last changed	2022/06/07 07:56

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