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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Reformat results as: short short into frame detailed detailed into frame

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

_id	ecaade2021_085
id	ecaade2021_085
authors	Apolinarska, Aleksandra Anna, Kuhn, Mathias, Gramazio, Fabio and Kohler, Matthias
year	2021
title	Performance-Driven Design of a Reciprocal Frame Canopy - Timber structure of the FutureTree
doi	https://doi.org/10.52842/conf.ecaade.2021.1.497
source	Stojakovic, V and Tepavcevic, B (eds.), Towards a new, configurable architecture - Proceedings of the 39th eCAADe Conference - Volume 1, University of Novi Sad, Novi Sad, Serbia, 8-10 September 2021, pp. 497-504
summary	This paper presents the design process of a recently built, 107 m2 free-form timber frame canopy. The structure is an irregular, funnel-shaped reciprocal frame resting on a central concrete column, and has been fabricated using a robot-based assembly process. The project addresses several known design and fabrication challenges: modelling of free-form reciprocal frames, complex interrelations between their geometry and structural behaviour, as well as develops custom software tools to represent different models and interface design and structural analysis environments. The performance-driven design is exemplified by studies on the relationship between geometric parameters of the reciprocal frame and the resulting force-flow and flexural stiffness of the structure. The final design is obtained by differentiating geometry and stiffness to reduce deflection and tensile stresses while observing fabrication constraints.The project demonstrates the application of computational design to create customized, performance-driven and robotically fabricated structures, and its successful realization validates the methods under real-life planning and construction conditions.
keywords	Integrated computational design ; Performance-based design ; Reciprocal frames ; Timber structures; Robotic fabrication
series	eCAADe
email
last changed	2022/06/07 07:55

_id	cdrf2021_359
id	cdrf2021_359
authors	Ayoub Lharchi, Mette Ramsgaard Thomsen, and Martin Tamke
year	2021
title	Joint Descriptive Modeling (JDM) for Assembly-Aware Timber Structure Design
doi	https://doi.org/https://doi.org/10.1007/978-981-16-5983-6_33
source	Proceedings of the 2021 DigitalFUTURES The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021)
summary	Joints design is an essential step in the process of designing timber structures. Complex architectural topologies require thorough planning and scheduling, as it is necessary to consider numerous factors such as structural stability, fabrication capabilities, and ease of assembly. This paper introduces a novel approach to timber joints design that embed both fabrication and assembly considerations within the same model to avoid mistakes that might cause delays and further expenses. We developed a workflow that allows us to identify the fundamental data to describe a given joint geometry, machine-independent fabrication procedures, and the assembly sequence. Based on this, we introduce a comprehensive descriptive language called Joint Descriptive Model (JDM) that leverages industry standards to convert a joint into a usable output for both fabrication and assembly simulations. Finally, we suggest a seed of a joint’s library with some common joints.
series	cdrf
email
last changed	2022/09/29 07:53

_id	ecaade2021_205
id	ecaade2021_205
authors	Kunic, Anja, Kramberger, Aljaz and Naboni, Roberto
year	2021
title	Cyber-Physical Robotic Process for Re-Configurable Wood Architecture - Closing the circular loop in wood architecture
doi	https://doi.org/10.52842/conf.ecaade.2021.2.181
source	Stojakovic, V and Tepavcevic, B (eds.), Towards a new, configurable architecture - Proceedings of the 39th eCAADe Conference - Volume 2, University of Novi Sad, Novi Sad, Serbia, 8-10 September 2021, pp. 181-188
summary	The concept of circularity implies that materials, components, systems can be re-utilized to reduce their environmental impact by extending their life-cycle. This paper discusses an approach to circular construction that revolves around transformable wood architecture. What if we can make buildings that can be assembled, disassembled, and re-assembled by robots in infinite circular loops of reconfigurations? To explore this concept, a robotic process is developed to automate the reconfiguration of timber structures, considering the material, geometric and processual challenges involved in the operations. This method entangles establishing a cyber-physical process based on visual and force feedback, the development of wood construction elements suitable for the process, the deployment of design algorithms for semi-autonomous online construction. The paper describes this setup and demonstrates its functionality through a set of experimental prototypes conceived and evaluated in a three-phase collaborative process of assembly-disassembly-reassembly.
keywords	Robotic timber construction; Circular wood architecture; Cyber-physical systems; Robotic timber re-assembly
series	eCAADe
email
last changed	2022/06/07 07:52

_id	acadia23_v3_189
id	acadia23_v3_189
authors	Leung, Pok Yin Victor; Huang, Yijiang
year	2023
title	Task and Motion Planning for Robotic Assembly
source	ACADIA 2023: Habits of the Anthropocene: Scarcity and Abundance in a Post-Material Economy [Volume 3: Proceedings of the 43rd Annual Conference for the Association for Computer Aided Design in Architecture (ACADIA) ISBN 979-8-9891764-1-0]. Denver. 26-28 October 2023. edited by A. Crawford, N. Diniz, R. Beckett, J. Vanucchi, M. Swackhamer 24-32.
summary	When programming robotic assembly processes, it is often necessary to create a sequential list of actions. Some actions are robotic motions (requiring motion trajectory), and some are for controlling external equipment, such as grippers and fastening tools. The act of planning these actions and motion trajectories is called Task Planning and Motion Planning. Existing literature in robotics explored many different planning algorithms for planning a single trajectory to planning a complete sequence of tasks where continuity is maintained [Garrett et al, 2021]. Many application literature focused on the TAMP for service robots, medical robots, and self-driving cars, while there are few examples for architectural applications. For digital fabrication and automated construction, the planning method has to be adapted to the needs of architectural assemblies and the scale of construction [Leung et al, 2021]. Some of the unique challenges are the highly bespoke workpiece and assembly geometry, the large workpiece (e.g., long beams), and a dense collision environment. This three-day hybrid workshop addressed the needs of the architectural robotics community to use industrial robotic arms to assemble highly bespoke objects. The objects do not have any repetitive parts or assembly targets. The workshop leaders shared their experiences using industrial robots to construct large-scale timber structures. One of the most useful techniques is the recently published “Flowchart Planning Method,” where task sequence is planned using a flowchart, and motion trajectories are planned in a second pass [Huang et al, 2021].
series	ACADIA
type	workshop
last changed	2024/04/17 14:00

_id	acadia21_222
id	acadia21_222
authors	Lok, Leslie; Samaniego, Asbiel; Spencer, Lawson
year	2021
title	Timber De-Standardized
doi	https://doi.org/10.52842/conf.acadia.2021.222
source	ACADIA 2021: Realignments: Toward Critical Computation [Proceedings of the 41st Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 979-8-986-08056-7]. Online and Global. 3-6 November 2021. edited by B. Bogosian, K. Dörfler, B. Farahi, J. Garcia del Castillo y López, J. Grant, V. Noel, S. Parascho, and J. Scott. 222-231.
summary	Timber De-Standardized is a framework that salvages irregular and regular shaped tree logs by utilizing a mixed reality (MR) interface for the design, fabrication, and assembly of a structurally viable tree log assembly. The process engages users through a direct, hands-on design approach to iteratively modify and design irregular geometry at full scale within an immersive MR environment without altering the original material. A digital archive of 3D scanned logs are the building elements from which users, designing in the MR environment, can digitally harvest (though slicing) and place the elements into a digitally constructed whole. The constructed whole is structurally analyzed and optimized through recursive feedback loops to preserve the user’s predetermined design. This iterative toggling between the physical and virtual emancipates the use of irregular tree log structures while informing and prioritizing the user’s design intent. To test this approach, a scaled prototype was developed and fabricated in MR. By creating a framework that links a holographic digital design to a physical catalog of material, the interactive workflow provides greater design agency to users as co-creators in processing material parts. This participation enables users to have a direct impact on the design of discretized tree logs that would otherwise have been discarded in standardized manufacturing. This paper presents an approach in which complex tree log structures can be made without the use of robotic fabrication tools. This workflow opens new opportunities for design in which users can freely configure structures with non-standardized elements within an intuitive MR environment.
series	ACADIA
type	paper
email
last changed	2023/10/22 12:06

_id	ecaade2021_284
id	ecaade2021_284
authors	Luis, Orozco, Krtschil, Anna, Wagner, Hans-Jakob, Simon, Bechert, Amtsberg, Felix, Skoury, Lior, Knippers, Jan and Menges, Achim
year	2021
title	Design Methods for Variable Density, Multi-Directional Composite Timber Slab Systems for Multi-Storey Construction
doi	https://doi.org/10.52842/conf.ecaade.2021.1.303
source	Stojakovic, V and Tepavcevic, B (eds.), Towards a new, configurable architecture - Proceedings of the 39th eCAADe Conference - Volume 1, University of Novi Sad, Novi Sad, Serbia, 8-10 September 2021, pp. 303-312
summary	This paper presents an agent-based method for the design of complex timber structures. This method features a multi-level agent simulation, that relies on a feedback loop between agent systems and structural simulations that update the agent environment. Such an approach can usefully be applied for the design of variable density timber slab systems, where material arrangements based on structural, fabrication, and architectural boundary conditions are necessary. Such arrangements can lead to multi-directional spanning slabs that can accept pointwise supports in unique layouts. We discuss the implementation of such a method on the basis of the structural design of a pavilion-scale multi-storey testing setup. The presented method enables a more versatile approach to the design of multi-storey timber buildings, which should increase their applicability to a diverse range of building typologies.
keywords	Agent-Based Modelling; Robotic Timber Construction; Computational Design; Multi-Storey Timber Buildings
series	eCAADe
email
last changed	2022/06/07 07:59

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

_id	caadria2021_143
id	caadria2021_143
authors	Song, Yang, Koeck, Richard and Luo, Shan
year	2021
title	AR Digi-Component - AR-assisted,real-time,immersive design and robotic fabrication workflow for parametric architectural structures
doi	https://doi.org/10.52842/conf.caadria.2021.2.253
source	A. Globa, J. van Ameijde, A. Fingrut, N. Kim, T.T.S. Lo (eds.), PROJECTIONS - Proceedings of the 26th CAADRIA Conference - Volume 2, The Chinese University of Hong Kong and Online, Hong Kong, 29 March - 1 April 2021, pp. 253-262
summary	This research project, entitled AR Digi-Component, tries to digitalize the traditional architectural components and combines Augmented Reality (AR) technologies to explore new possibilities for architectural design and assembly. AR technology and Digitalize components will help to achieve a real-time immersive design and an AR-assisted robotic fabrication process through the augmented environments. As part of the AR Digi-Component project, we created an experimental design prototype in which designers gestures are being identified in AR real-time immersive design process, and a fabrication prototype in which traditional 2D drawings are being replaced by 3D on-site holographic guidance, followed by an assembly process in which robotic operations are being controlled by humans within an AR simulation to enhance the assembly efficiency and safety. In this paper, we are sharing the preliminary research results of such AR-assisted tests, for which we used a UR10 Robotic arm in combination with Microsoft HoloLens as well as in terms of software Rhino, HAL Robotics, FURobot, PX Simulate, and Fologram plugin in Grasshopper, to demonstrate new kind of applications and workflow of AR technology for real-time, immersive design and robotic fabrication.
keywords	Augmented Reality; immersive design; holographic assembly instruction; robotic fabrication; real-time interaction
series	CAADRIA
email
last changed	2022/06/07 07:56

_id	ecaade2021_222
id	ecaade2021_222
authors	Azambuja Varela, Pedro, Sousa, José Pedro and Silva Dias, Joana
year	2021
title	Drawing-to-Factory Process - Using freehand drawing to drive robotic assembly of brick walls
doi	https://doi.org/10.52842/conf.ecaade.2021.1.189
source	Stojakovic, V and Tepavcevic, B (eds.), Towards a new, configurable architecture - Proceedings of the 39th eCAADe Conference - Volume 1, University of Novi Sad, Novi Sad, Serbia, 8-10 September 2021, pp. 189-194
summary	The developments of digital technology applied to architecture in the recent decades has allowed for direct communication from the studio to fabrication. However, this process is typically dependent on complicated computational processes, enlarging the distance from the benefits of the traditional drawing approaches employed by architects. This research intends to explore possibilities of reenacting the drawing as a means of computational generative design which feeds automated systems of construction. By using a Cobot directed by an algorithm which reads a simple drawn curve on paper, an automated brick wall is built, as demonstrated in two exhibitions. This mixed approach allows for technology in architectural design and construction to be more accessible to a wider audience, while blurring the boundaries between concept and materialization.
keywords	robotic assembly; human-robot collaboration; non-standard structures; digital fabrication; computational design; interactive fabrication
series	eCAADe
email
last changed	2022/06/07 07:54

_id	acadia21_270
id	acadia21_270
authors	Dambrosio, Niccolo; Schlopschnat, Christoph; Zechmeister, Christoph; Rinderspacher, Katja; Duque Estrada, Rebeca; Knippers, Jan; Kannenberg, Fabian; Menges, Achim; Gil Peréz, Marta
year	2021
title	Maison Fibre
doi	https://doi.org/10.52842/conf.acadia.2021.270
source	ACADIA 2021: Realignments: Toward Critical Computation [Proceedings of the 41st Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 979-8-986-08056-7]. Online and Global. 3-6 November 2021. edited by B. Bogosian, K. Dörfler, B. Farahi, J. Garcia del Castillo y López, J. Grant, V. Noel, S. Parascho, and J. Scott. 270-279.
summary	This research demonstrates the development of a hybrid FRP-timber wall and slab system for multi-story structures. Bespoke computational tools and robotic fabrication processes allow for adaptive placement of material according to specific local requirements of the structure thus representing a resource-efficient alternative to established modes of construction. This constitutes a departure from pre-digital, material-intensive building methods, based on isotropic materials towards genuinely digital building systems using lightweight, hybrid composite elements. Design and fabrication methods build upon previous research on lightweight fiber structures conducted at the University of Stuttgart and expand it towards inhabitable, multi-story building systems. Interdisciplinary design collaboration based on reciprocal computational feedback allows for the concurrent consideration of architectural, structural, fabrication and material constraints. The robotic coreless filament winding process only uses minimal, modular formwork and allows for the efficient production of morphologically differentiated building components. The research results were demonstrated through Maison Fibre, developed for the 17th Architecture Biennale in Venice. Situated at the Venice Arsenale, the installation is composed of 30 plate like elements and depicts a modular, further extensible scheme. While this first implementation of a hybrid multi-story building system relies on established glass and carbon fiber composites, the methods can be extended towards a wider range of materials ranging from ultra-high-performance mineral fiber systems to renewable natural fibers.
series	ACADIA
type	paper
email
last changed	2023/10/22 12:06

_id	sigradi2021_176
id	sigradi2021_176
authors	Escaleira, Cláudia, Morais, António, Figueiredo, Bruno and Cruz, Paulo
year	2021
title	Reuse of Ceramic Roof Tiles: Enhancing New Functional Design Possibilities Through the Integration of Digital Tools for Simulation, Manufacture and Assembly
source	Gomez, P and Braida, F (eds.), Designing Possibilities - Proceedings of the XXV International Conference of the Ibero-American Society of Digital Graphics (SIGraDi 2021), Online, 8 - 12 November 2021, pp. 1475–1486
summary	The material qualities of ceramic roof tiles have provided new formal interpretations that induced a new functional use—a wall. By disassembling ceramic roof tiles from roofs and assembling them into walls, its circularity potential was enlarged. This paper explores the potential use of ceramic roof tiles, as a single element type, in the definition of wall design systems and patterns of composition that comply with design for manufacture, assembly and disassembly (DfMA-D) requirements, through the development of a shape grammar and implementation through parametric models. The new shape grammar extends the compositional patterns already produced and the redefinition of the connection systems by incorporating DfMA-D requirements into the shape grammar rules sets new combinatorial patterns aligned with European Union goals for building circularity. The parametric models automate the generation of design solutions and extend the design process to the assembly and disassembly stages using robotic fabrication techniques.
keywords	circular building, component reuse, computational design, ceramic roof tiles, robotics in architecture
series	SIGraDi
email
last changed	2022/05/23 12:11

_id	cdrf2021_330
id	cdrf2021_330
authors	Felix Amtsberg, Caitlin Mueller, and Felix Raspall
year	2021
title	Di-terial – Matching Digital Fabrication and Natural Grown Resources for the Development of Resource Efficient Structures
doi	https://doi.org/https://doi.org/10.1007/978-981-16-5983-6_30
source	Proceedings of the 2021 DigitalFUTURES The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021)
summary	The research presented in this paper focusses on the concept of “Diterial” which aims to merge digital design and fabrication technology with natural materials such as bamboo poles and raw timber. It proposes a digital workflow that uses sensing techniques to gain individual material information of natural, unprocessed construction resources and identify their individual strengths and characteristics and therefore its potential in load-carrying structures. This information is then used to develop bespoke designs and fabrication concepts, bridging the gap between unprocessed material and automated fabrication setups. Two case studies, developed to prove this concept, are described and compared. Both cases focused on the development of spatial structures using node-bar combinations of local resources.
series	cdrf
email
last changed	2022/09/29 07:53

_id	caadria2021_210
id	caadria2021_210
authors	Hsiao, Chi-Fu, Lee, Ching-Han, Chun-Yen, Chen and Teng-Wen, Chang
year	2021
title	A Distributed Agents Approach for Design and Fabricating Process Management among Prototyping Practice Environment
doi	https://doi.org/10.52842/conf.caadria.2021.1.593
source	A. Globa, J. van Ameijde, A. Fingrut, N. Kim, T.T.S. Lo (eds.), PROJECTIONS - Proceedings of the 26th CAADRIA Conference - Volume 1, The Chinese University of Hong Kong and Online, Hong Kong, 29 March - 1 April 2021, pp. 593-601
summary	This paper develops a design and fabrication process management platform for prototyping practice environments using a robot operating system (ROS) framework, which we refer to as a fabricating operating service (FOS). The FOS executes a sequence of fabrication workflow that goes from materials handling, positioning, fabrication simulation, executing process to parts assembling. Each work phase is considered a different activity in the execution phase and a compact printed circuit board node to send and receive physical data. These nodes are registered onto an FOS cloud master, which distributes the node-to-node communication and links up the entire sequence of the workflow map. We propose FOS given that its loose, coupled, and distributed computation framework allows the fabrication team to visualize and record data using sharable ROS package structures. The FOS provides the advantage of easily creating additional tools, configurations, and automated scripts, and it increases the fabrication capabilities by simplifying and providing solutions for future robotic-aided fabrication development.
keywords	ROS; prototype; node; fabrication workflow;
series	CAADRIA
email
last changed	2022/06/07 07:51

_id	ijac202119202
id	ijac202119202
authors	Ostrowska-Wawryniuk, Karolina
year	2021
title	Prefabrication 4.0: BIM-aided design of sustainable DIY-oriented houses
source	International Journal of Architectural Computing 2021, Vol. 19 - no. 2, 142–156
summary	In the context of continuous housing shortage, increasing construction standards and rising labour costs, one of the possibilities to address this array of problems is prefabrication directed towards do-it-yourself (DIY) construction methods. This paper presents a prototype tool for aiding the design of DIY-oriented single-family houses with the use of small-element timber prefabrication. The introduced solution uses the potential of BIM technology for adapting a traditionally designed house to the prefabrication requirements and reduction of waste generated in the assembly process. The experimental tool was developed in the Autodesk Revit software. It incorporates custom Dynamo-for-Revit scripts. The experimental tool implemented the user- and technology-specified boundary conditions and converted an input BIM model into a prefabricated alternative. The tool was tested on the design of a two-story single-family house. The results compare the automated optimized panelization with manual approach. The simulation revealed the possibility of the construction waste reduction by at least 50% when comparing to the non-optimized panelization.
keywords	DIY construction, prefabricated house, timber prefabrication, small-panel prefabrication, BIM-aided panelization, Building Information Modelling
series	journal
email
last changed	2024/04/17 14:29

_id	sigradi2021_4
id	sigradi2021_4
authors	Song, Yang, Koeck, Richard and Luo, Shan
year	2021
title	[AR]OBOT: the AR-Assisted Robotic Fabrication System for Parametric Architectural Structures
source	Gomez, P and Braida, F (eds.), Designing Possibilities - Proceedings of the XXV International Conference of the Ibero-American Society of Digital Graphics (SIGraDi 2021), Online, 8 - 12 November 2021, pp. 1115–1126
summary	[AR]OBOT tries to assist the robotic fabrication process for parametric architectural structures with Augmented Reality (AR) technology to explore new possibilities for easy architectural robotic operations. Due to the lack of computer programming skills and the disconnection between design and fabrication, architects are hampered in the robotic operation process. As part of our project, we create a visualization prototype in which robotic and on-site related information is being shown through AR devices overlapping on the physical world; followed by a robotic trajectory planning method in which designers’ gestures are being identified by AR as location nodes and calculated with the obstacle avoidance system; and an operation process in which robots are being controlled by human gestures and interactions with holographic simulation to enhance the robotic fabrication process efficiency and safety. In this paper, we share the preliminary results to demonstrate a new kind of AR-assisted workflow for the architects to perform the robotic fabrication of parametric architectural structures intuitively.
keywords	Augmented Reality, Robotic Fabrication, Human-robot Collaboration
series	SIGraDi
email
last changed	2022/05/23 12:11

_id	ecaade2021_116
id	ecaade2021_116
authors	Zhao, Jiangyang, Lombardi, Davide, Chen, Hanmei and Agkathidis, Asterios
year	2021
title	Reinterpretation of the Dougong Joint by the use of Parametric Tools and Robotic Fabrication Techniques
doi	https://doi.org/10.52842/conf.ecaade.2021.2.233
source	Stojakovic, V and Tepavcevic, B (eds.), Towards a new, configurable architecture - Proceedings of the 39th eCAADe Conference - Volume 2, University of Novi Sad, Novi Sad, Serbia, 8-10 September 2021, pp. 233-242
summary	Traditionally, Chinese architecture was based on the use of timber frameworks as structural system. The Dougong joint is amongst the typical connection typologies, widely applied in the timber heritage buildings in China. Each component of the Dougong (bucket-arch joint) conforms to a strict structural proportion in addition to simple but efficient connection methods between its different components. However, the spread of the structure in modern architecture is limited due to high labour cost. Parametric design and digital fabrication techniques have greatly promoted the development of complex timber structures in recent years, which could be introduced in order to reinterpret the Dougong joint. In continuation of our research on exploring the application of robotic technologies for the fabrication of traditional Chinese timber joints, our paper will investigate the feasibility of the structural logic of the Dougong and how it could be applied in a modern timber framework structure.
keywords	Dougong joint; timber structures; parametric design; robotic fabrication; optimization algorithm; topology optimization
series	eCAADe
email
last changed	2022/06/07 07:57

_id	acadia21_470
id	acadia21_470
authors	£ochnicki, Grzegorz; Kalousdian, Nicolas Kubail; Leder, Samuel; Maierhofer, Mathias; Wood, Dylan; Menges, Achim
year	2021
title	Co-Designing Material-Robot Construction Behaviors
doi	https://doi.org/10.52842/conf.acadia.2021.470
source	ACADIA 2021: Realignments: Toward Critical Computation [Proceedings of the 41st Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 979-8-986-08056-7]. Online and Global. 3-6 November 2021. edited by B. Bogosian, K. Dörfler, B. Farahi, J. Garcia del Castillo y López, J. Grant, V. Noel, S. Parascho, and J. Scott. 470-479.
summary	This paper presents research on designing distributed, robotic construction systems in which robots are taught construction behaviors relative to the elastic bending of natural building materials. Using this behavioral relationship as a driver, the robotic system is developed to deal with the unpredictability of natural materials in construction and further to engage their dynamic characteristics as methods of locomotion and manipulation during the assembly of actively bent structures. Such an approach has the potential to unlock robotic building practice with rapid-renewable materials, whose short crop cycles and small carbon footprints make them particularly important inroads to sustainable construction. The research is conducted through an initial case study in which a mobile robot learns a control policy for elastically bending bamboo bundles into designed configurations using deep reinforcement learning algorithms. This policy is utilized in the process of designing relevant structures, and for the in-situ assembly of these designs. These concepts are further investigated through the co-design and physical prototyping of a mobile robot and the construction of bundled bamboo structures. This research demonstrates a shift from an approach of absolute control and predictability to behavior-based methods of assembly. With this, materials and processes that are often considered too labor-intensive or unpredictable can be reintroduced. This reintroduction leads to new insights in architectural design and construction, where design outcome is uniquely tied to the building material and its assembly logic. This highly material-driven approach sets the stage for developing an effective, sustainable, light-touch method of building using natural materials.
series	ACADIA
type	paper
email
last changed	2023/10/22 12:06

_id	caadria2021_124
id	caadria2021_124
authors	Leung, Pok Yin Victor, Apolinarska, Aleksandra Anna, Tanadini, Davide, Gramazio, Fabio and Kohler, Matthias
year	2021
title	Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps
doi	https://doi.org/10.52842/conf.caadria.2021.1.583
source	A. Globa, J. van Ameijde, A. Fingrut, N. Kim, T.T.S. Lo (eds.), PROJECTIONS - Proceedings of the 26th CAADRIA Conference - Volume 1, The Chinese University of Hong Kong and Online, Hong Kong, 29 March - 1 April 2021, pp. 583-592
summary	This paper presents a novel robotic assembly method for timber structures with integral timber joints, specifically, crossed-half-lap joints. The proposed method uses a set of custom-built, remote-controlled, high-force robotic clamps to operate in collaboration with an industrial robotic arm to overcome challenges of robotic timber joint assembly, such as providing large assembly forces and correcting misalignments. This method enables automatic assembly of non-repetitive and spatially connected timber structures. We developed custom software for modelling, visualization and feasibility-checking for structures compatible with the proposed assembly method. As a proof of concept, we designed and robotically assembled a spatial frame structure (4.8 x 3.0m footprint, 3.4m tall) comprising 40 pieces of 100x100mm profile timber elements.
keywords	Robotic Assembly; Spatial Timber Structure; Wood Joints; Distributed Robots
series	CAADRIA
email
last changed	2022/06/07 07:52

_id	acadia21_258
id	acadia21_258
authors	Augustynowicz, Edyta; Smigielska, Maria; Nikles, Daniel; Wehrle, Thomas; Wagner, Heinz
year	2021
title	Parametric design and multirobotic fabrication of wood facades
doi	https://doi.org/10.52842/conf.acadia.2021.258
source	ACADIA 2021: Realignments: Toward Critical Computation [Proceedings of the 41st Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA) ISBN 979-8-986-08056-7]. Online and Global. 3-6 November 2021. edited by B. Bogosian, K. Dörfler, B. Farahi, J. Garcia del Castillo y López, J. Grant, V. Noel, S. Parascho, and J. Scott. 258-269.
summary	The paper describes the findings of the applied research project by Institute Integrative Design (currently ICDP) HGK FHNW and ERNE AG Holzbau to design and manufacture prefabricated wooden façades in the collaborative design manner between architects and industry. As such, it is an attempt to respond to the current interdisciplinary split in the construction, which blocks innovation and promotes standardized inefficient building solutions. Within this project, we apply three innovations in the industrial setup that result in the integrated design-to-production process of individualized, cost-efficient and well-crafted façades. The collaborative design approach is a method in which architect, engineer and manufacturer start exchange on the early stage of the project during the collaborative design workshops. Digital design and fabrication tools enable architects to generate a large scope of façade variations within production feasibility of the manufacturer and engineers to prepare files for robotic production. Novel multi-robot fabrication processes, developed with the industrial partner, allows for complex façade assembly. This paper introduces the concept of digital craftsmanship, manifested in a mixed fabrication system, which intelligently combines automated and manual production to obtain economic feasibility and highest aesthetic quality. Finally, we describe the design and fabrication of the project demonstrator consisting of four intricate façades on a modular office building, inspired by local traditional solutions, which validate the developed methods and highlight the architectural potential of the presented approach.
series	ACADIA
type	paper
email
last changed	2023/10/22 12:06

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