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	acadia19_510
id	acadia19_510
authors	Leder, Samuel; Weber, Ramon; Wood, Dylan; Bucklin, Oliver; Menges, Achim
year	2019
title	Distributed Robotic Timber Construction
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
doi	https://doi.org/10.52842/conf.acadia.2019.510
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	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
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
doi	https://doi.org/10.52842/conf.ecaade.2019.3.189
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
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
doi	https://doi.org/10.52842/conf.ecaade.2019.2.211
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
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
doi	https://doi.org/10.52842/conf.acadia.2019.478
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	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
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
doi	https://doi.org/10.52842/conf.ecaade.2019.3.217
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
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
doi	https://doi.org/10.52842/conf.acadia.2019.258
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	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	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
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
doi	https://doi.org/10.52842/conf.caadria.2019.1.023
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
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
doi	https://doi.org/10.52842/conf.ecaade.2019.1.195
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
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
doi	https://doi.org/10.52842/conf.caadria.2019.1.163
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
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
doi	https://doi.org/10.52842/conf.ecaade.2019.3.171
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	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	caadria2019_636
id	caadria2019_636
authors	Engholt, Jon and Pigram, Dave
year	2019
title	Tailored Flexibility - Reinforcing concrete fabric formwork with 3D printed plastics
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
doi	https://doi.org/10.52842/conf.caadria.2019.1.053
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
source	Proceedings of the 2023 DigitalFUTURES The 5st International Conference on Computational Design and Robotic Fabrication (CDRF 2023)
doi	https://doi.org/https://doi.org/10.1007/978-981-99-8405-3_44
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
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
doi	https://doi.org/10.52842/conf.ecaade.2019.2.183
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

_id	caadria2019_478
id	caadria2019_478
authors	Fingrut, Adam, Crolla, Kristof and Lau, Darwin
year	2019
title	Automation Complexity - Brick By Brick
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
doi	https://doi.org/10.52842/conf.caadria.2019.1.093
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	acadia19_40
id	acadia19_40
authors	Garcia del Castillo y López, Jose Luis
year	2019
title	Robot Ex Machina
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. 40-49
doi	https://doi.org/10.52842/conf.acadia.2019.040
summary	Industrial robotic arms are increasingly present in digital fabrication workflows due to their robustness, degrees of freedom, and potentially large scale. However, the range of possibilities they provide is limited by their typical software control paradigms, specifically offline programming. This model requires all the robotic instructions to be pre-defined before execution, a possibility only affordable in highly predictable environments. But in the context of architecture, design and art, it can hardly accommodate more complex forms of control, such as responding to material feedback, adapting to changing conditions on a construction site, or on-the-fly decision-making. We present Robot Ex Machina, an open-source computational framework of software tools for real-time robot programming and control. The contribution of this framework is a paradigm shift in robot programming models, systematically providing a platform to enable real-time interaction and control of mechanical actuators. Furthermore, it fosters programming styles that are reactive to, rather than prescriptive about, the state of the robot. We argue that this model is, compared to traditional offline programming, beneficial for creative individuals, as its concurrent nature and immediate feedback provide a deeper and richer set of possibilities, facilitates experimentation, flow of thought, and creative inquiry. In this paper, we introduce the framework, and discuss the unifying model around which all its tools are designed. Three case studies are presented, showcasing how the framework provides richer interaction models and novel outcomes in digital making. We conclude by discussing current limitations of the model and future work.
series	ACADIA
type	normal paper
email
last changed	2022/06/07 07:51

_id	ecaadesigradi2019_502
id	ecaadesigradi2019_502
authors	Gozen, Efe
year	2019
title	A Framework for a Five-Axis Stylus for Design Fabrication
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. 215-220
doi	https://doi.org/10.52842/conf.ecaade.2019.1.215
summary	This paper proposes a new workflow between design and fabrication phases through the introduction of a novel framework centered around a stylus that is tracked in real-time for five-axis by a single RGB-D camera. Often misconceived as a linear process, urgent reinterpretation of design and fabrication tools is discussed briefly. Similar to how industrial robots have become an enabler for fabrication process in the field of architecture and construction, the necessity for providing a similar tool that would reform the "design" process is underlined. A generic stylus is proposed with interchangeable operations which allows for intuitive, non-obstructive grasp of the user serves as the physical avatar that transform into a virtual representation of a fabrication tool mounted on a six-axis industrial robot arm. User interaction with the apparatus is simulated for the user, and the user is notified of any errors as the interaction is translated for motion planning of a KUKA KR20-3 industrial robot.
keywords	Human-Computer Interaction; CAD / CAM; Robotic Motion Control
series	eCAADeSIGraDi
email
last changed	2022/06/07 07:51

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