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	ecaadesigradi2019_200
id	ecaadesigradi2019_200
authors	Ghandi, Mona
year	2019
title	Cyber-Physical Emotive Spaces: Human Cyborg, Data, and Biofeedback Emotive Interaction with Compassionate Spaces
doi	https://doi.org/10.52842/conf.ecaade.2019.2.655
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 655-664
summary	This paper aims to link human's emotions and cognition to the built environment to improve the user's mental health and well-being. It focuses on cyber-physical adaptive spaces that can respond to the user's physiological and psychological needs based on their biological and neurological data. Through artificial intelligence and affective computing, this paper seeks to create user-oriented spaces that can learn from occupant's behavioral patterns in real-time, reduce user's anxiety and depression, enhance environmental quality, and promote more flexible human-centered designs for people with mental/physical disabilities. To achieve its objectives, this research integrates tangible computing devices/interfaces, robotic self-adjusting structures, interactive systems of control, programmable materials, human behavior, and a sensory network. Through embedded responsiveness and material intelligence, the goal is to blur the lines between the physical, digital, and biological spheres and create cyber-physical spaces that can "feel" and be controlled by the user's mind and feelings.
keywords	AI for Design and Built Environment; Cyber-Physical Spaces; Artificial Emotional Intelligence; Human-Computer Interaction; Affective Computing; Mental Health and Well-Being; Interactive and Responsive Built Environments;
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:51

_id	acadia19_654
id	acadia19_654
authors	Maierhofer, Mathias; Soana, Valentina; Yablonina, Maria; Erazo, Seiichi Suzuki; Körner, Axel; Knippers, Jan; Menges, Achim
year	2019
title	Self-Choreographing Network
doi	https://doi.org/10.52842/conf.acadia.2019.654
source	ACADIA 19:UBIQUITY AND AUTONOMY [Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-59179-7] (The University of Texas at Austin School of Architecture, Austin, Texas 21-26 October, 2019) pp. 654-663
summary	The aim of this research is to challenge the prevalent separation between (digital) design and (physical) operation processes of adaptive and interactive architectural systems. The linearity of these processes implies predetermined material or kinetic behaviors, limiting performances to those that are predictable and safe. This is particularly restricting with regard to compliant or flexible material systems, which exhibit significant kinetic and thus adaptive potential, but behave in ways that are difficult to fully predict in advance. In this paper we present a hybrid approach: a real-time, interactive design and operation process that enables the (material) system to be self-aware, fully utilizing and exploring its kinetic design space for adaptive purposes. The proposed approach is based on the interaction of compliant materials with embedded robotic agents, at the interface between digital and physical. This is demonstrated in the form of a room-scale spatial architectural robot, comprising networks of linear elastic components augmented with robotic joints capable of sensing and two axis actuation. The system features both a physical instance and a corresponding digital twin that continuously augments physical performances based on simulation feedback informed by sensor data from the robotic joints. With this setup, spatial adaptation and reconfiguration can be designed in real-time, based on an openended and cyber-physical negotiation between numerical, robotic, material, and human behaviors, in the context of a physically deployed structure and its occupants.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:59

_id	ecaadesigradi2019_488
id	ecaadesigradi2019_488
authors	Naboni, Roberto and Kunic, Anja
year	2019
title	A computational framework for the design and robotic manufacturing of complex wood structures
doi	https://doi.org/10.52842/conf.ecaade.2019.3.189
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 3, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 189-196
summary	The emerging paradigm of Industry 4.0 is rapidly expanding in the AEC sector, where emergent technologies are offering new possibilities. The use of collaborative robots is enabling processes of advanced fabrication, where humans and robots coexist and collaborate towards the co-creation of new building processes. This paper focuses on setting a conceptual framework and a computational workflow for the design and assembly of a novel type of engineered wood structures. The aim is advancing timber construction through complex tectonic configurations, which are informed by logics of robotic assembly, topology and material optimization, and combinatorial design. Starting from the conceptualization of robotic layered manufacturing for timber structures, this work presents the development of a digital twin applied to the voxel-based design of complex timber structures.
keywords	Digital Materials; Robotic Assembly; Wood structures; Voxel-based design; Topology Optimization
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:59

_id	ecaadesigradi2019_605
id	ecaadesigradi2019_605
authors	Andrade Zandavali, Bárbara and Jiménez García, Manuel
year	2019
title	Automated Brick Pattern Generator for Robotic Assembly using Machine Learning and Images
doi	https://doi.org/10.52842/conf.ecaade.2019.3.217
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 3, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 217-226
summary	Brickwork is the oldest construction method still in use. Digital technologies, in turn, enabled new methods of representation and automation for bricklaying. While automation explored different approaches, representation was limited to declarative methods, as parametric filling algorithms. Alternatively, this work proposes a framework for automated brickwork using a machine learning model based on image-to-image translation (Conditional Generative Adversarial Networks). The framework consists of creating a dataset, training a model for each bond, and converting the output images into vectorial data for robotic assembly. Criteria such as: reaching wall boundary accuracy, avoidance of unsupported bricks, and brick's position accuracy were individually evaluated for each bond. The results demonstrate that the proposed framework fulfils boundary filling and respects overall bonding structural rules. Size accuracy demonstrated inferior performance for the scale tested. The association of this method with 'self-calibrating' robots could overcome this problem and be easily implemented for on-site.
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:54

_id	ecaadesigradi2019_408
id	ecaadesigradi2019_408
authors	Lohse, Theresa and Werner, Liss C.
year	2019
title	Semi-flexible Additive Manufacturing Materials for Modularization Purposes - A modular assembly proposal for a foam edge-based spatial framework
doi	https://doi.org/10.52842/conf.ecaade.2019.1.463
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 1, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 463-470
summary	This paper introduces a series of design and fabrication tests directed towards the use of bendable 3D printing materials in order to simplify a foam bubble-based geometry as a frame structure for modular assembly. The aspiration to reference a spittlebug's bubble cocoon in nature for a light installation in the urban context was integrated into a computational workflow conditioning light-weight, material-, and cost savings along with assembly-simplicity. Firstly, before elaborating on the project motivation and background in foam structures and applications of 3D-printed thermoplastic polyurethane (TPU) material, this paper describes the physical nature of bubble foams in its relevant aspects. Subsequently this is implemented into the parametric design process for an optimized foam structure with Grasshopper clarifying the need for flexible materials to enhance modular feasibility. Following, the additive manufacturing iterations of the digitally designed node components with TPU are presented and evaluated. Finally, after the test assembly of both components is depicted, this paper assesses the divergence between natural foams and the case study structure with respect to self-organizing behavior.
keywords	digital fabrication; 3D Printing; TPU flexibility ; modularity; optimization
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:59

_id	ecaadesigradi2019_368
id	ecaadesigradi2019_368
authors	Sheng, Yu-Ting, Wang, Shih-Yuan, Li, Mofei, Chiu, Yu-Hung, Lu, Yi-Heng, Tu, Chun-Man and Shih, Yi-Chu
year	2019
title	Spatial Glass Bonds - Computation and fabrication system of complex glass structure
doi	https://doi.org/10.52842/conf.ecaade.2019.2.251
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 251-258
summary	This paper introduces an adaptive robotic spatial aggregation system for the development of an intricate self-supporting glass structure. Rather than using discrete and standardized building elements in the design and fabrication process, this research focuses on utilizing a non-arbitrary shape as an aggregated material for autonomous robotic assembly. More specifically, this paper presents an adaptive robotic fabrication pipeline that measures the size of hollow glass balls (inaccurate materials) as fabrication units to aggregate the entire glass structure. Ultraviolet (UV) curing adhesive is used as the bond between each glass element. Thus, through the live robotic programming as well as various combinations of spherical glass objects and UV curing adhesives/devices, the entire glass structure is self-supported. The project is aimed not only at the development of algorithms and a robotic fabrication system, but also the exploration of the aesthetics of glass materials. In other words, this project investigates a flexible and adaptable framework in response to live sensor data for the design and fabrication of nonstandard spatial structures aggregated out of discrete spherical glass elements, and it further explores glass material aesthetic and perception of architecture.
keywords	Robotic Fabrication; Computational Design; Digital Craft
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:56

_id	ecaadesigradi2019_387
id	ecaadesigradi2019_387
authors	Wibranek, Bastian, Belousov, Boris, Sadybakasov, Alymbek, Peters, Jan and Tessmann, Oliver
year	2019
title	Interactive Structure - Robotic Repositioning of Vertical Elements in Man-Machine Collaborative Assembly through Vision-Based Tactile Sensing
doi	https://doi.org/10.52842/conf.ecaade.2019.2.705
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 705-713
summary	The research presented in this paper explores a novel tactile sensor technology for architectural assembly tasks. In order to enable robots to interact both with humans and building elements, several robot control strategies had to be implemented. Therefore, we developed a communication interface between the architectural design environment, a tactile sensor and robot controllers. In particular, by combining tactile feedback with real-time gripper and robot control algorithms, we demonstrate grasp adaptation, object shape and texture estimation, slip and contact detection, force and torque estimation. We investigated the integration of robotic control strategies for human-robot interaction and developed an assembly task in which the robot had to place vertical elements underneath a deformed slab. Finally, the proposed tactile feedback controllers and learned skills are combined together to demonstrate applicability and utility of tactile sensing in collaborative human-robot architectural assembly tasks. Users were able to hand over building elements to the robot or guide the robot through the interaction with building elements. Ultimately this research aims to offer the possibility for anyone to interact with built structures through robotic augmentation.
keywords	Interactive Structure; Robotics; Tactile Sensing; Man-Machine Collaboration
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:57

_id	acadia19_258
id	acadia19_258
authors	Bar-Sinai, Karen Lee; Shaked, Tom; Sprecher, Aaron
year	2019
title	Informing Grounds
doi	https://doi.org/10.52842/conf.acadia.2019.258
source	ACADIA 19:UBIQUITY AND AUTONOMY [Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-59179-7] (The University of Texas at Austin School of Architecture, Austin, Texas 21-26 October, 2019) pp. 258-265
summary	Advancements in robotic fabrication are enabling on-site construction in increasingly larger scales. In this paper, we argue that as autonomous tools encounter the territorial scale, they open new ways to embed information into it. To define the new practice, this paper introduces a protocol combining a theoretical framework and an iterative process titled Informing Grounds. This protocol mediates and supports the exchange of knowledge between a digital and a physical environment and is applicable to a variety of materials with uncertain characteristics in a robotic manufacturing scenario. The process is applied on soil and demonstrated through a recent design-to-fabrication workshop that focused on simulating digital groundscaping of distant lunar grounds employing robotic sand-forming. The first stage is ‘sampling’—observing the physical domain both as an initial step as well as a step between the forming cycles to update the virtual model. The second stage is ‘streaming’—the generation of information derived from the digital model and its projection onto the physical realm. The third stage is ‘transforming’—the shaping of the sand medium through a physical gesture. The workshop outcomes serve as the basis for discussion regarding the challenges posed by applying autonomous robotic tools on materials with uncertain behavior at a large-scale.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:54

_id	acadia19_156
id	acadia19_156
authors	Dahy, Hanaa; Baszyñski, Piotr; Petrš, Jan
year	2019
title	Experimental Biocomposite Pavilion
doi	https://doi.org/10.52842/conf.acadia.2019.156
source	ACADIA 19:UBIQUITY AND AUTONOMY [Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-59179-7] (The University of Texas at Austin School of Architecture, Austin, Texas 21-26 October, 2019) pp. 156-165
summary	Excessive use of aggregate materials and metals in construction should be balanced by increasing use of construction materials from annually renewable resources based on natural lignocellulosic fibers. Parametric design tools gave here a possibility of using an alternative newly developed biocomposite material, for realization of complex geometries. Contemporary digital fabrication tools have enabled precise manufacturing possibilities and sophisticated geometry-making to take place that helped in obtaining high structural behavior of the overall global geometry of the discussed project. This paper presents a process of realizing an experimental structure made from Natural Fiber-Reinforced Polymers (NFRP)- also referred to as biocomposites, which were synthesized from lignocellulosic flexible core reinforced by 3D-veneer layers in a closed-moulding vacuum-assisted process. The biocomposite sandwich panels parameters were developed and defined before the final properties were imbedded in the parametric model. This paper showcases the multi-disciplinarity work between architects, structural engineers and material developers. It allowed the architects to work on the material development themselves and enabled to apply a new created design philosophy by the first author, namely applying ‘Materials as a Design-Tool’. The erected biocomposite segmented shell construction allowed a 1:1 validation for the whole design process, material development and the digital fabrication processes applied. The whole development has been reached after merging an ongoing industrial research project results with academic education at the school of architecture in Stuttgart-Germany.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:56

_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	caadria2019_478
id	caadria2019_478
authors	Fingrut, Adam, Crolla, Kristof and Lau, Darwin
year	2019
title	Automation Complexity - Brick By Brick
doi	https://doi.org/10.52842/conf.caadria.2019.1.093
source	M. Haeusler, M. A. Schnabel, T. Fukuda (eds.), Intelligent & Informed - Proceedings of the 24th CAADRIA Conference - Volume 1, Victoria University of Wellington, Wellington, New Zealand, 15-18 April 2019, pp. 93-102
summary	This paper discusses the assembly of brick structures with a Cable Driven Parallel Robot (CDPR). Explored is the impact of using computational design tools and the deployment of robotic equipment for the creation of an expanded architectural design space, based on the limits of material and equipment in place of a skilled labor force.
keywords	Cable-Robot; Construction Automation; Digital Fabrication; Construction Complexity; Non-Standard Architecture
series	CAADRIA
email
last changed	2022/06/07 07:50

_id	ecaade2024_4
id	ecaade2024_4
authors	Irodotou, Louiza; Gkatzogiannis, Stefanos; Phocas, Marios C.; Tryfonos, George; Christoforou, Eftychios G.
year	2024
title	Application of a Vertical Effective Crank–Slider Approach in Reconfigurable Buildings through Computer-Aided Algorithmic Modelling
doi	https://doi.org/10.52842/conf.ecaade.2024.1.421
source	Kontovourkis, O, Phocas, MC and Wurzer, G (eds.), Data-Driven Intelligence - Proceedings of the 42nd Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2024), Nicosia, 11-13 September 2024, Volume 1, pp. 421–430
summary	Elementary robotics mechanisms based on the effective crank–slider and four–bar kinematics methods have been applied in the past to develop architectural concepts of reconfigurable structures of planar rigid-bar linkages (Phocas et al., 2020; Phocas et al., 2019). The applications referred to planar structural systems interconnected in parallel to provide reconfigurable buildings with rectangular plan section. In enabling structural reconfigurability attributes within the spatial circular section buildings domain, a vertical setup of the basic crank–slider mechanism is proposed in the current paper. The kinematics mechanism is integrated on a column placed at the middle of an axisymmetric circular shaped spatial linkage structure. The definition of target case shapes of the structure is based on a series of numerical geometric analyses that consider certain architectural and construction criteria (i.e., number of structural members, length, system height, span, erectability etc.), as well as structural objectives (i.e., structural behavior improvement against predominant environmental actions) aiming to meet diverse operational requirements and lightweight construction. Computer-aided algorithmic modelling is used to analyze the system's kinematics, in order to provide a solid foundation and enable rapid adaptation for mechanisms that exhibit controlled reconfigurations. The analysis demonstrates the implementation of digital parametric design tools for the investigation of the kinematics of the system at a preliminary design stage, in avoiding thus time-demanding numerical analysis processes. The design process may further provide enhanced interdisciplinary performance-based design outcomes.
keywords	Reconfigurable Structures, Spatial Linkage Structures, Kinematics, Parametric Associative Design
series	eCAADe
email
last changed	2024/11/17 22:05

_id	acadia19_500
id	acadia19_500
authors	Larsen, Niels Martin; Anders Kruse Aagaard
year	2019
title	Exploring Natural Wood
doi	https://doi.org/10.52842/conf.acadia.2019.500
source	ACADIA 19:UBIQUITY AND AUTONOMY [Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-59179-7] (The University of Texas at Austin School of Architecture, Austin, Texas 21-26 October, 2019) pp. 500-509
summary	By investigating methods for using computation and digital manufacturing technologies to integrate material properties with architectural design tools, the research in this paper aims at revealing new potentials for the use of wood in architecture. Through an explorative approach, material particularities and fabrication methods are explored and combined into new workflows and architectural expressions. The research looks into different properties and capacities of wood, but the main part of the experimentation revolves around crooked oak logs. Due to their irregularities, these logs are normally discarded. However, through the methods suggested in this research, they are instead matched with unique processing informed by their divergence. The research presents a workflow for handling the discrete shapes of sawlogs in a system that both involve the collecting of material, scanning/digitization, handling of a stockpile, computer analysis, design, and robotic manufacturing. The workflow includes multiple custom-made solutions for handling the complex and different shapes and data of wood logs in a highly digitized machining and fabrication environment. The suggested method is established through investigations of wood as a natural material, studies of the production lines in the current wood industry, and experimentation in our in-house laboratory facilities. This up-cycling of discarded wood supply establishes a non-standard workflow that utilizes non-standard material stock and leads to a critical articulation of today’s linear material economy. The research thereby gives an example of how the natural forms and properties of sawlogs can be directly used to generate new structures and spatial conditions.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:52

_id	acadia19_470
id	acadia19_470
authors	Meyboom, AnnaLisa; Correa, David; Krieg, Oliver David
year	2019
title	Stressed Skin Wood Surface Structure
doi	https://doi.org/10.52842/conf.acadia.2019.470
source	ACADIA 19:UBIQUITY AND AUTONOMY [Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-59179-7] (The University of Texas at Austin School of Architecture, Austin, Texas 21-26 October, 2019) pp. 470-477
summary	Innovation in parametric design and robotic fabrication is in reciprocal relationship with the investigation of new structural types that facilitated by this technology. The stressed skin structure has historically been used to create lightweight curved structures, mainly in engineering applications such as naval vessels, aircraft, and space shuttles. Stressed skin structures were first referred to by Fairbairn in 1849. In England, the first use of the structure was in the Mosquito night bomber of World War II. In the United States, stressed skin structures were used at the same time, when the Wright Patterson Air Force Base designed and fabricated the Vultee BT-15 fuselage using fiberglass-reinforced polyester as the face material and both glass-fabric honeycomb and balsa wood core. With the renewed interest in wood as a structural building material, due to its sustainable characteristics, new potentials for the use of stressed skin structures made from wood on building scales are emerging. The authors present a material informed system that is characterized by its adaptability to freeform curvature on exterior surfaces. A stressed skin system can employ thinner materials that can be bent in their elastic bending range and then fixed into place, leading to the ability to be architecturally malleable, structurally highly efficient, as well as easily buildable. The interstitial space can also be used for services. Advanced digital fabrication and robotic manufacturing methods further enhance this capability by enabling precisely fabricated tolerances and embedded assembly instructions; these are essential to fabricate complex, multi-component forms. Through a prototypical installation, the authors demonstrate and discuss the technology of the stressed skin structure in wood considering current digital design and fabrication technologies.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:58

_id	caadria2019_173
id	caadria2019_173
authors	Ng, Jonathan Ming-En, Ho, Samuel Yu De, Ng, Truman Wei Cheng, Soh, Jia Ying and Dritsas, Stylianos
year	2019
title	Fabrication of Ultra-Lightweight Parametric Glass Fiber Reinforced Shell Assemblies
doi	https://doi.org/10.52842/conf.caadria.2019.1.013
source	M. Haeusler, M. A. Schnabel, T. Fukuda (eds.), Intelligent & Informed - Proceedings of the 24th CAADRIA Conference - Volume 1, Victoria University of Wellington, Wellington, New Zealand, 15-18 April 2019, pp. 13-22
summary	We present an experimental form-finding technique for ultra-thin glass fiber reinforced concrete components and assemblies. The objective is to challenge conventional concrete use in construction, often perceived as a massive and compressive structural material. Instead, we targeted production of fine shell assemblies principally operating in tension. To achieve thin profile components, we use a compliant molding technique where premixed GFRC is cast in polyethylene bags. Subsequently, a robotic arm system pins the bags on a substrate plate and the setup is inverted whereby gravity induces a curvature to components while concrete cures. Use of parametric modeling, computer simulation and statistical experimental methods allowed us to understand the behavior of the material process and translate computationally modeled designs into physical artifacts. We discuss the opportunity for digital fabrication methods to fuse with traditional form-finding techniques, contrast the use of computational modeling techniques and present a series of prototypes created through our process.
keywords	Digital Fabrication; Glass Fibre Reinforced Concrete; Form-Finding
series	CAADRIA
email
last changed	2022/06/07 07:58

_id	ecaadesigradi2019_355
id	ecaadesigradi2019_355
authors	Poustinchi, Ebrahim
year	2019
title	Oriole Beta - A Parametric Solution for Robotic Motion Design Using Animation
doi	https://doi.org/10.52842/conf.ecaade.2019.2.227
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 227-234
summary	This paper presents a project-based research study using the beta version of Oriole-a custom-made animation-based plug-in for grasshopper 3D visual programming environment, to develop robotic motion/controlling solutions. Oriole, as a parametric tool, makes it possible for designers/users to "design"-instead of generating, the motions of the robot based on the notion of keyframing and time-based animation. Through the use of Oriole, users can simulate-and ultimately develop robotic motions/performances in more intuitive ways. This unique feature enables users with minor or no programming background to create robotic solutions using Oriole as a software/plugin Bridge.Using Rhinoceros 3D as a digital modeling platform in conjunction with Grasshopper 3D and its robotic simulation platforms, Oriole can develop controlling strategies for different industrial robots such as KUKA, ABB, and Universal Robots. Oriole enables designers to create a precise interaction between the robot, its spatial "performance" and the physical environment, through animation and keyframing to "design" robotic interactions and movements as frames of animation instead of segments of a curve "path."
keywords	Robotics; Software Development; Animation; Parametric Design; Design
series	eCAADeSIGraDi
email
last changed	2022/06/07 08:00

_id	cf2019_018
id	cf2019_018
authors	Poustinchi, Ebrahim
year	2019
title	Oriole A Parametric Solution for Animation-Based Robotic Motion Design
source	Ji-Hyun Lee (Eds.) "Hello, Culture!" [18th International Conference, CAAD Futures 2019, Proceedings / ISBN 978-89-89453-05-5] Daejeon, Korea, p. 132
summary	This paper presents a project-based research study using Oriole—a custom-made plug-in for robotic motion control solutions in grasshopper 3D visual programming environment. Oriole is a parametric tool that enables users/designers to design robotic motion-paths, based on the notion of keyframing and animation. Using Oriole, designers are able to simulate—and ultimately develop robotic movements in more intuitive free-form ways. Using Rhino 3D as a digital modeling platform and Grasshopper 3D and its robotic simulation platforms for different industrial robots such as KUKA, ABB, and Universal, Oriole enables designers to create a precise interaction between the robot, its spatial “performance” and the physical environment through animation.
keywords	Robotics, Parametric Design, Human-Computer Interaction
series	CAAD Futures
email
last changed	2019/07/29 14:08

_id	ecaadesigradi2019_280
id	ecaadesigradi2019_280
authors	Rossi, Gabriella and Nicholas, Paul
year	2019
title	Haptic Learning - Towards Neural-Network-based adaptive Cobot Path-Planning for unstructured spaces
doi	https://doi.org/10.52842/conf.ecaade.2019.2.201
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 201-210
summary	Collaborative Robots, or Cobots, bring new possibilities for human-machine interaction within the fabrication process, allowing each actor to contribute with their specific capabilities. However creative interaction brings unexpected changes, obstacles, complexities and non-linearities which are encountered in real time and cannot be predicted in advance. This paper presents an experimental methodology for robotic path planning using Machine Learning. The focus of this methodology is obstacle avoidance. A neural network is deployed, providing a relationship between the robot's pose and its surroundings, thus allowing for motion planning and obstacle avoidance, directly integrated within the design environment. The method is demonstrated through a series of case-studies. The method combines haptic teaching with machine learning to create a task specific dataset, giving the robot the ability to adapt to obstacles without being explicitly programmed at every instruction. This opens the door to shifting to robotic applications for construction in unstructured environments, where adapting to the singularities of the workspace, its occupants and activities presents an important computational hurdle today.
keywords	Architectural Robotics; Neural Networks; Path Planning; Digital Fabrication; Artificial Intelligence; Data
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:56

_id	acadia20_148p
id	acadia20_148p
authors	Vansice, Kyle; Attraya, Rahul; Culligan, Ryan; Johnson, Benton; Sondergaard, Asbjorn; Peters, Nate
year	2020
title	Stereoform Slab
source	ACADIA 2020: Distributed Proximities / Volume II: Projects [Proceedings of the 40th Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-95253-6]. Online and Global. 24-30 October 2020. edited by M. Yablonina, A. Marcus, S. Doyle, M. del Campo, V. Ago, B. Slocum. 148-153
summary	Stereoform Slab is both a pavilion and a prototype - an exhibition for the 2019 Chicago Architectural Biennial. It is an experiment in how digital form-finding and robotics can be leveraged to rethink the future of concrete construction. Stereoform Slab examines the role of one of the most ubiquitous horizontal elements in the city - the concrete slab, also the most common element in contemporary construction. Using smarter forming systems - in this case, a ruled-surface-derived, robotic hotwire process - the Stereoform Slab prototype proved that the amount of material used and waste generated could be minimized without increasing construction complexity, by about 20% over a conventional system. Stereoform also extends the conventional concrete span (column spacing), specifically in Chicago, from 30’ to 45’. In developing a concrete forming system that affords added flexibility without increasing construction costs, it is possible to reduce embodied carbon significantly. The method allows reducing carbon in buildings that aren’t typically the subject of advanced architectural design or rigorous optimization – conventional buildings that compose a majority of our built environment, and its respective contributions to global carbon emissions. Stereoform is the result of a multi-objective design optimization process. Optimal materialization, according to the compressive/tensile physics present in beam design, was balanced against the fabrication constraints of a singularly ruled-surface, which enables fast form-making using robotic hotwire cutting. SOM and Autodesk collaborated to mirror the approach developed to optimize Stereoform slab as a pavilion, to the building scale, using the multi-objective optimization platform Refinery. Project Refinery allowed the team to create a hyper-responsive system design that could adapt to any number of varying programmatic conditions and loading patterns. The development of this approach is a crucial step in making optimization techniques flexible enough to balance the number of competing parameters in the design process available and accessible to a broader design audience within architecture and engineering.
series	ACADIA
type	project
email
last changed	2021/10/26 08:03

_id	ecaadesigradi2019_360
id	ecaadesigradi2019_360
authors	Wei, Likai, Ta, La, Li, Liang, Han, Yang, Feng, Yingying, Wang, Xin and Xu, Zhen
year	2019
title	RAF: Robot Aware Fabrication - Hand-motion Augmented Robotic Fabrication Workflow and Case Study
doi	https://doi.org/10.52842/conf.ecaade.2019.2.241
source	Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 241-250
summary	Fabricating process with robotic awareness and creativity makes architect able to explore the new boundary between digital and material world. Although parametric and generative design method make diverse processing of materials possible for robots, it's still necessary to establish a new design-fabrication framework, where we could simultaneously deal with designers, robots, data, sensor technology and material natural characters. In order to develop a softer system without gap between preset program and robot's varying environments, this paper attempts to establish an environment-computer-robot workflow and transform traditional robotic fabrication from linear to more tangible and suitable for architects' and designers' intuitive motion and gesture. RAF (Robotic Aware Fabrication), a concept of real-time external enhancement fabrication is proposed, and a new workflow of HARF (Hand-motion Augmented Robotic Fabrication) is developed, where motion sensor captures designer's hand-motion, filter algorithm recognizes the intention and update the preset program, robotic controller and RSI (Robotic Sensor Interface) adjusts robot's TCP (Tool Center Point) path in real time. With HARF workflow, two case studies of Hand-motion robotic dance and Free-form concrete wall are made.
keywords	RAF; HARF; Hand-motion Sensor; Styrofoam Mold; Concrete Wall; RSI
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:58

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