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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	acadia19_510
id	acadia19_510
authors	Leder, Samuel; Weber, Ramon; Wood, Dylan; Bucklin, Oliver; Menges, Achim
year	2019
title	Distributed Robotic Timber Construction
doi	https://doi.org/10.52842/conf.acadia.2019.510
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. 510-519
summary	Advances in computational design and robotic building methods have the potential to enable architects to author more sustainable, efficient, and geometrically varied systems that shape our built environment. To fully harness this potential, the inherent relationship of design and building processes requires a fundamental shift in the way we design and how we build. High degree of customization in architectural projects and constantly changing conditions of construction environments pose significant challenges for the implementation of automated construction machines. Beyond traditional, human-inspired, industrial robotic building methods, we present a distributed robotic system where the robotic builders are designed in direct relationship with the material and architecture they assemble. Modular, collaborative, single axis robots are designed to utilize standardized timber struts as a basic building material, and as a part of their locomotion system, to create large-scale timber structures with high degrees of differentiation. The decentralized, multi-robot system uses a larger number of simple machines that collaborate in teams to work in parallel on varying tasks such as material transport, placement, and fixing. The research explores related architectural and robotic typologies to create timber structures with novel aesthetics and performances.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:52

_id	acadia20_176p
id	acadia20_176p
authors	Lok, Leslie; Zivkovic, Sasa
year	2020
title	Ashen Cabin
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. 176-181
summary	Ashen Cabin, designed by HANNAH, is a small building 3D-printed from concrete and clothed in a robotically fabricated envelope made of irregular ash wood logs. From the ground up, digital design and fabrication technologies are intrinsic to the making of this architectural prototype, facilitating fundamentally new material methods, tectonic articulations, forms of construction, and architectural design languages. Ashen Cabin challenges preconceived notions about material standards in wood. The cabin utilizes wood infested by the Emerald Ash Borer (EAB) for its envelope, which, unfortunately, is widely considered as ‘waste’. At present, the invasive EAB threatens to eradicate most of the 8.7 billion ash trees in North America (USDA, 2019). Due to their challenging geometries, most infested ash trees cannot be processed by regular sawmills and are therefore regarded as unsuitable for construction. Infested and dying ash trees form an enormous and untapped material resource for sustainable wood construction. By implementing high precision 3D scanning and robotic fabrication, the project upcycles Emerald-Ash-Borer-infested ‘waste wood’ into an abundantly available, affordable, and morbidly sustainable building material for the Anthropocene. Using a KUKA KR200/2 with a custom 5hp band saw end effector at the Cornell Robotic Construction Laboratory (RCL), the research team can saw irregular tree logs into naturally curved boards of various and varying thicknesses. The boards are arrayed into interlocking SIP façade panels, and by adjusting the thickness of the bandsaw cut, the robotically carved timber boards can be assembled as complex single curvature surfaces or double-curvature surfaces. The undulating wooden surfaces accentuate the building’s program and yet remain reminiscent of the natural log geometry which they are derived from. The curvature of the wood is strategically deployed to highlight moments of architectural importance such as windows, entrances, roofs, canopies, or provide additional programmatic opportunities such as integrated shelving, desk space, or storage.
series	ACADIA
type	project
email
last changed	2021/10/26 08:08

_id	acadia20_202p
id	acadia20_202p
authors	Battaglia, Christopher A.; Verian, Kho; Miller, Martin F.
year	2020
title	DE:Stress Pavilion
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. 202-207
summary	Print-Cast Concrete investigates concrete 3D printing utilizing robotically fabricated recyclable green sand molds for the fabrication of thin shell architecture. The presented process expedites the production of doubly curved concrete geometries by replacing traditional formwork casting or horizontal corbeling with spatial concrete arching by developing a three-dimensional extrusion path for deposition. Creating robust non-zero Gaussian curvature in concrete, this method increases fabrication speed for mass customized elements eliminating two-part mold casting by combining robotic 3D printing and extrusion casting. Through the casting component of this method, concrete 3D prints have greater resolution along the edge condition resulting in tighter assembly tolerances between multiple aggregated components. Print-Cast Concrete was developed to produce a full-scale architectural installation commissioned for Exhibit Columbus 2019. The concrete 3D printed compression shell spanned 12 meters in length, 5 meters in width, and 3 meters in height and consisted of 110 bespoke panels ranging in weight of 45 kg to 160 kg per panel. Geometrical constraints were determined by the bounding box of compressed sand mold blanks and tooling parameters of both CNC milling and concrete extrusion. Using this construction method, the project was able to be assembled and disassembled within the timeframe of the temporary outdoor exhibit, produce <1% of waste mortar material in fabrication, and utilize 60% less material to construct than cast-in-place construction. Using the sand mold to contain geometric edge conditions, the Print-Cast technique allows for precise aggregation tolerances. To increase the pavilions resistance to shear forces, interlocking nesting geometries are integrated into each edge condition of the panels with .785 radians of the undercut. Over extruding strategically during the printing process casts the undulating surface with accuracy. When nested together, the edge condition informs both the construction logic of the panel’s placement and orientation for the concrete panelized shell.
series	ACADIA
type	project
email
last changed	2021/10/26 08:08

_id	acadia20_192p
id	acadia20_192p
authors	Doyle, Shelby; Hunt, Erin
year	2020
title	Melting 2.0
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. 192-197
summary	This project presents computational design and fabrication methods for locating standard steel reinforcement within 3D printed water-soluble PVA (polyvinyl alcohol) molds to create non-standard concrete columns. Previous methods from “Melting: Augmenting Concrete Columns with Water Soluble 3D Printed Formwork” and “Dissolvable 3D Printed Formwork: Exploring Additive Manufacturing for Reinforced Concrete” (Doyle & Hunt 2019) were adapted for larger-scale construction, including the introduction of new hardware, development of custom programming strategies, and updated digital fabrication techniques. Initial research plans included 3D printing continuous PVA formwork with a KUKA Agilus Kr10 R1100 industrial robotic arm. However, COVID-19 university campus closures led to fabrication shifting to the author’s home, and this phase instead relied upon a LulzBot TAZ 6 (build volume of 280 mm x 280 mm x 250 mm) with an HS+ (Hardened Steel) tool head (1.2 mm nozzle diameter). Two methods were developed for this project phase: new 3D printing hardware and custom GCode production. The methods were then evaluated in the fabrication of three non-standard columns designed around five standard reinforcement bars (3/8-inch diameter): Woven, Twisted, Aperture. Each test column was eight inches in diameter (the same size as a standard Sonotube concrete form) and 4 feet tall, approximately half the height of an architecturally scaled 8-foot-tall column. Each column’s form was generated from combining these diameter and height restrictions with the constraints of standard reinforcement placement and minimum concrete coverage. The formwork was then printed, assembled, cast, and then submerged in water to dissolve the molds to reveal the cast concrete. This mold dissolving process limits the applicable scale for the work as it transitions from the research lab to the construction site. Therefore, the final column was placed outside with its mold intact to explore if humidity and water alone can dissolve the PVA formwork in lieu of submersion.
series	ACADIA
type	project
email
last changed	2021/10/26 08:08

_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_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_294
id	ecaadesigradi2019_294
authors	Reinhardt, Dagmar
year	2019
title	Design Robotics - Towards human-robot timber module assembly
doi	https://doi.org/10.52842/conf.ecaade.2019.2.211
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. 211-216
summary	This paper presents research into an ecosystem of human-robot collaborative manufacturing of timber modules that can respond to diverse environmental conditions through construction tolerances. It discusses the design and robotic workflow for two case studies with unskilled participants in an academic context, for the production of non-standard spatial and structural scaled prototypes that develop new systems for thinking and making architecture.
keywords	design robotics; timber assembly; human-robot collaboration
series	eCAADeSIGraDi
email
last changed	2022/06/07 08:00

_id	acadia19_478
id	acadia19_478
authors	Vercruysse, Emmanuel
year	2019
title	Autonomous Architectural Operations
doi	https://doi.org/10.52842/conf.acadia.2019.478
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. 478-489
summary	The research set out in this paper investigates the conception, testing, and implementation of an advanced and bespoke workflow. By hybridizing a diverse set of technologies and processes, an innovative fabrication strategy was developed that combines large scale glue-laminated timber frames with a robotic band-saw application. The design strategy was influenced by a number of key preoccupations: exploring the relationship between drawing and making, evenly distributing analogue and digital technologies, and advancing alternatives modes of architectural practice. The project regards intuitive design processes as an important driver and looked to apply digital tools lightly, aiming to precisely embed them within established timber fabrication processes. This workflow was tested through the design and fabrication of a timber skeleton that provides the structural system for a library building at Hooke Park and acts as an articulated armature supporting the library’s envelope and accommodates its internal workings. Through the production of the sculptural skeleton, the project challenges conventions of existing methodologies and ultimately brings about a morphologic innovation in timber construction through the closed geometry glulam component.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:58

_id	caadria2019_406
id	caadria2019_406
authors	Fitriawijaya, Adam, Hsin-Hsuan, Tsai and Taysheng, jeng
year	2019
title	A Blockchain Approach to Supply Chain Management in a BIM-Enabled Environment
doi	https://doi.org/10.52842/conf.caadria.2019.2.411
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. 411-420
summary	The blockchain is a distributed ledger managed by a peer to peer network that stores all transaction records. The distributed ledger technology offers new possibilities, promising to ensure that data is secure, decentralized and incomparable. In the Architecture, Engineering, Construction (AEC) industry, Building Information Modeling (BIM) has quickly become a standard platform where all parties work together on a single and shared model for collaboration. The issues of Supply Chain Management (SCM) within BIM can be identified in BIM maturity level, based on PAS1193 that developed through Common Data Environment (CDE). The research strategy is to make model and simulation of SCM using BIM and create CDE to become decentralized and integrate the blockchain technology. The smart contract system validates every material and configuration of components within the model from the design stage until the operation stage. Traceability and auditability through an immutable historic eventually be more visible and allow real-time tracking of a material to a construction site providing a history from the origin.
keywords	Blockchain; BIM; Supply Chain
series	CAADRIA
email
last changed	2022/06/07 07:51

_id	acadia20_142p
id	acadia20_142p
authors	Kilian, Axel
year	2020
title	The Flexing Room
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. 142-147
summary	Robotics has been largely confined to the object category with fewer examples at the scale of buildings. Robotic buildings present unique challenges in communicating intent to the enclosed user. Precedent work in architectural robotics explored the performative dimension, the playful and interactive qualities, and the cognitive challenges of AI systems interacting with people in architecture. The Flexing Room robotic skeleton was installed at MIT at its full designed height for the first time and tested for two weeks in the summer of 2019. The approximately 13-foot-tall structure is comprised of 36 pneumatic actuators and an active bend fiberglass structure. The full height allowed for a wide range of postures the structure could take. Acoustic monitoring through Piezo pickup mics was added that allowed for basic rhythmic responses of the structure to people tapping or otherwise triggering the vibration sensors. Data streams were collected synchronously from Kinect skeleton tracking, piezo pickup mics, camera streams, and posture data. The emphasis in this test period was first to establish reliable hardware operations at full scale and second to record correlated data streams of the sensors installed in the structure together with the actuation triggers and the human poses of the inhabitant. The full-scale installation of hardware was successful and proved the feasibility of the structural and actuation approach previously tested on a one-level setup. The range of postures was increased and more transparent for the occupant. The perception of the structure as space was also improved as the system reached regular ceiling height and formed a clearer architectural scale enclosure. The ambition of communicating through architectural postures has not been achieved yet, but promising directions emerged from the test and data collection
series	ACADIA
type	project
email
last changed	2021/10/26 08:03

_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	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	caadria2019_190
id	caadria2019_190
authors	Chan, Zion and Crolla, Kristof
year	2019
title	Simplifying Doubly Curved Concrete - Post-Digital Expansion of Concrete's Construction Solution Space
doi	https://doi.org/10.52842/conf.caadria.2019.1.023
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. 23-32
summary	This action research project develops a novel conceptual method for non-standardised concrete construction component fabrication and tests its validity through a speculative design project. The paper questions the practical, procedural and economic drivers behind the design and construction of geometrically complex concrete architecture. It proposes an alternative, simple and economical fabrication method for doubly curved concrete centred on the robotic manufacturing of casting moulds through 5-axis hotwire foam cutting for the making of doubly-curved fiber-reinforced concrete (FRC) panels. These panels are used as light-weight sacrificial formwork for in-situ concrete casting. The methodology's opportunity space is tested, evaluated and discussed through a conceptual architectural design project proposal that operates as demonstrator. The paper concludes by addressing the advantages of a design-and-build architecture delivery setup, the potential from using computational technology to adapt conventional design and construction procedures and the expanded role within the design and construction process this gives to architects.
keywords	Doubly Curved Concrete; Robotic Manufacture; Post-Digital Architecture; Design and Build; Casting Mould Making
series	CAADRIA
email
last changed	2022/06/07 07:56

_id	ecaadesigradi2019_288
id	ecaadesigradi2019_288
authors	da Silva Lopes Vieira, Thomaz and Schulz, Jens-Uwe
year	2019
title	Design Method Aided by MABS and Cloud Computing - Framework integrating: construction techniques, materials, and fabrication
doi	https://doi.org/10.52842/conf.ecaade.2019.1.195
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. 195-205
summary	This paper presents a novel method based in Multi-Agent Based Simulation (MABS), Cloud Computing, and the combination of big data analytics and IoT. The method performs in two layers: it assists designers with information coming from previews of projects and surroundings, and, it automates some procedures according to parameters and interactions between agents. The first part of this paper briefly describes the state of the art and challenges of the real estate market. The second chapter highlight gaps and future challenges in design practice, and in the third chapter, it introduces the method. To conclude, in the last part, this concept is analyzed through a pilot project under development in our institution.
keywords	Computational design; Multi-Agent-Based system; Robotic fabrication; Cyber-Physical Systems; Big Data; Internet of Things
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:56

_id	caadria2019_453
id	caadria2019_453
authors	Dai, Rushi, Kerber, Ethan and Brell-Cokcan, Sigrid
year	2019
title	Robot Assisted Assembly of Steel Structures - Optimization and Automation of Plasma Cutting and Assembly
doi	https://doi.org/10.52842/conf.caadria.2019.1.163
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. 163-172
summary	The digitization of the construction industry integrates innovations in design and fabrication to achieve increased efficiency and performance. This paper details the development of a process for optimizing and automating the design and production of branching steel structures including the use of robotic construction, evolutionary optimization of path planning and the creation of an automatic height control robotic end effector.
keywords	digitalization; optimization; automation; steel structures; plasma cutting
series	CAADRIA
email
last changed	2022/06/07 07:56

_id	ecaadesigradi2019_376
id	ecaadesigradi2019_376
authors	Das, Avishek, Worre Foged, Isak, Jensen, Mads Brath and Hansson, Michael Natapon
year	2019
title	Collaborative Robotic Masonry and Early Stage Fatigue Prediction
doi	https://doi.org/10.52842/conf.ecaade.2019.3.171
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. 171-178
summary	The nature of craft has often been dictated by the type and nature of the tool. The authors intend to establish a new relationship between a mechanically articulated tool and a human through the development a symbiotic relationship between them. This study attempts to develop and deploy a framework for collaborative robotic masonry involving one mason and one industrial robotic arm. This study aims to study the harmful posture and muscular stress developed during the construction work and involve a robotic arm to aid the mason to reduce the cumulative damage to one's body. Through utilization of RGBD sensors and surface electromyography procedure the study develops a framework that distributes the task between the mason and robot. The kinematics and electromyography detects the fatigue and harmful postures and activates the robot to collaborate with the mason in the process.
keywords	interactive robotic fabrication; human robot collaboration; fatigue and pose estimation; masonry
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:56

_id	caadria2019_636
id	caadria2019_636
authors	Engholt, Jon and Pigram, Dave
year	2019
title	Tailored Flexibility - Reinforcing concrete fabric formwork with 3D printed plastics
doi	https://doi.org/10.52842/conf.caadria.2019.1.053
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. 53-62
summary	The tailored flexibility project seeks to develop a construction system that combines flexible formwork with robotic 3D plastic printing resulting in novel approaches that expand the ranges of both techniques. Combining 3D printing and flexible formwork does not necessarily suggest a unified design space and the development depends on thorough interrogation and critical assessment of the physical intelligence that emerges between digital design, manufacturing processes and structural integrity. This paper describes the initial prototyping of compound material behaviour in formwork and concrete, following the implicit rationales revealed through iterations and variations of physical experimentation. Such iterative feedback from physical prototyping informs and facilitates a discussion of the relationship between the manufacturing process and the design tool: How does the ultimate function as concrete shuttering transform the 3D printing process and how does this transformation conversely affect the shuttering design? How does a hierarchy of involved processes emerge and which composite opportunities do the initial results suggest as a further development into a coherent construction system?
keywords	concrete; flexible formwork; 3D printing; robotic fabrication
series	CAADRIA
email
last changed	2022/06/07 07:55

_id	cf2019_056
id	cf2019_056
authors	Erdine, Elif ; Asli Aydin, Cemal Koray Bingol, Gamze Gunduz, Alvaro Lopez Rodriguez and Milad Showkatbakhsh
year	2019
title	Robot-Aided Fabrication of Materially Efficient Complex Concrete Assemblies
source	Ji-Hyun Lee (Eds.) "Hello, Culture!" [18th International Conference, CAAD Futures 2019, Proceedings / ISBN 978-89-89453-05-5] Daejeon, Korea, pp. 454-472
summary	This paper presents a novel approach for the materially efficient production of doubly-curved Expanded Polystyrene (EPS) form-work for insitu concrete construction and a novel application of a patented Glass Reinforced Concrete (GRC) technology. Research objectives focus on the development of complex form-work generation and concrete application via advanced computational and robotic methods. While it is viable to produce form-work with complex geometries with advanced digital and robotic fabrication tools, a key consideration area is the reduction of form-work waste material. The research agenda explores methods of associating architectural, spatial, and structural criteria with a material-informed holistic approach. The digital and physical investigations are founded on Robotic Hot-Wire Cutting (RHWC). The geometrical and physical principles of RHWC are transformed into design inputs, whereby digital and physical tests inform each other simultaneously. Correlations are set between form-work waste optimization with the geometrical freedom and constraints of hot-wire cutting via computational methods.
keywords	Robotic fabrication, Robotic hot-wire cutting (RHWC), Glassreinforced concrete (GRC), Waste optimization, EPS form-work
series	CAAD Futures
email
last changed	2019/07/29 14:18

_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	ecaadesigradi2019_116
id	ecaadesigradi2019_116
authors	Fernando, Shayani
year	2019
title	Collaborative Crafting of Interlocking Structures in Stereotomic Practice
doi	https://doi.org/10.52842/conf.ecaade.2019.2.183
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. 183-190
summary	Situated within the art of cutting solids (stereotomy) and the evolution of machine tools; this research will investigate subtractive fabrication in relation to robotic carving of stone structures. The advancement of the industrial revolutions in the mid to late 19th century saw the rise of new building techniques and materials which were primarily based on structural steel construction. The modern aesthetic of the time further diminished the place of traditional stonework and ornamentation in modern structures within the building arts. This paper will focus on the design and fabrication of three sculptural dry-stone modular prototypes investigating interlocking self-supporting structures in stone. Examining the value of robotic technologies in the design and construction process in relation to collaborative crafting of the hand and machine. Accommodating for material tolerances which are a major factor in this research. Interrogating the value of robotic crafting with material implications and exploring the role of the artisan in machine crafted architectural components.
keywords	Collaborative; Crafting; Interlocking; Structures; Robotic Fabrication; Digital Stone
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:50

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