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	ecaade2023_403
id	ecaade2023_403
authors	Breseghello, Luca, Talaei, Ardeshir, Florenzano, Daniele and Naboni, Roberto
year	2023
title	Shape-Env - Camera-enhanced robotic terrain-shaping for complex 3D concrete printing
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 539–548
doi	https://doi.org/10.52842/conf.ecaade.2023.1.539
summary	Accounting for over 40% of global waste, the construction industry needs innovative approaches to reduce its environmental impact. Excavation soil is currently considered waste and disposed of in landfills, accounting for about five times household waste and being the most significant source by volume. However, 80% of the extracted soil from construction sites is estimated to be uncontaminated and could be reused. In parallel, 3D printing of concrete structures with non-standard geometry is still limited by complicated processes, which are challenging to upscale and be used for on-site construction scenarios. This project proactively explores terrain as a resource for automated construction, specifically using unprocessed soil as a reconfigurable moulding material for on-site 3D printing of geometrically complex concrete elements. To do so, a novel robotic process was developed and tested in a laboratory environment, combining high-precision robotic earthwork and 3D printing aided by camera vision to account for the unpredictable behaviour of soil with unknown composition and properties. The method was tested on a proof-of-concept experiment where concrete shell panels of topological complexity were successfully realised, extending the available design space for large-scale 3DCP with a reconfigurable, sustainable and low-cost approach.
keywords	Robotic Earthwork, Conformal Printing, 3D Concrete Printing, 3D Scanning
series	eCAADe
email
last changed	2023/12/10 10:49

_id	acadia23_v2_174
id	acadia23_v2_174
authors	Dayyem Khan, Muhammad; Varadharajan, Tharanesh; A Keller, Zachary; Aghaei Meibodi, Mania
year	2023
title	BioMatters: The Robotic 3D-Printed Biodegradable Wood-Based Formwork for Cast-in-place Concrete Structures
source	ACADIA 2023: Habits of the Anthropocene: Scarcity and Abundance in a Post-Material Economy [Volume 2: Proceedings of the 43rd Annual Conference for the Association for Computer Aided Design in Architecture (ACADIA) ISBN 979-8-9891764-0-3]. Denver. 26-28 October 2023. edited by A. Crawford, N. Diniz, R. Beckett, J. Vanucchi, M. Swackhamer 174-183.
summary	‘BioMatters’ explores methods of creating wood-based material for 3D Printing freeform concrete formwork. The concrete industry is widely acknowledged as a significant contributor to waste, pollution, and resource consumption. Typical concrete formwork, which constitutes 40% of the overall expenses in concrete construction, is a significant source of waste. Recent 3D printing advancements in concrete formwork offer increased design flexibility, significantly reduced concrete consumption, minimal material waste, and improved productivity. This research project represents a pioneering advancement in 3D printing formwork by investigating robotic 3D printing methods with wood-based materials that are fully biodegradable, reusable, and recyclable. The paper presents a novel method of coupling robotic 3D printing of wood-based material with incremental set-on-demand concrete casting to create zero-waste, freeform concrete structures. Here, the concrete takes its shape from the 3D-printed wood formwork and, at the same time, concrete stabilizes the 3D printed wood to prevent its deformation on a larger scale. Once the concrete is cured, the formwork is removed and is fully recycled by grinding and rehydrating the material with water, thus creating a nearly zero-waste formwork solution. The method is investigated involving the design and fabrication of a pair of 1.8-meter-high structural columns. This project focuses on utilizing the material from previous 3D printed formwork for each subsequent column, to evaluate the reusability of the material. The project explores various aspects, including sequential rebar integration, the correlation between the geometric properties of the 3D printed formwork, and the rheology hydrostatic pressure of the concrete mix in relation to material design.
series	ACADIA
type	paper
email
last changed	2024/12/20 09:12

_id	ecaade2023_209
id	ecaade2023_209
authors	Salem, Islam, Abdelmohsen, Sherif and Mansour, Yasser
year	2023
title	Coupling Non-planar Robotic Clay Deposition with Multipoint Forming to Optimize the Manufacturing of Double Curved Façade Panels
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 499–508
doi	https://doi.org/10.52842/conf.ecaade.2023.1.499
summary	Architects working on complex building geometries continually seek innovative processes to allow for feasible and cost-effective construction. The mass customization of double curved building façade panels has been specifically challenging regarding surface continuity, panel accuracy and waste reduction. With advanced digital design and fabrication tools, architectural firms such as ZHA, Gehry Technologies, and Atelier Jean Nouvel have been pushing the limits to achieve enhanced building envelope manufacturing solutions. Current research in materially-informed design-to-robotic production (D2RP) explores the impact of robotic fabrication on enhancing production practices. Several panel manufacturing methods have been proposed such as stretch bending, die forming, hydroforming, single and multipoint forming, the most successful being hybrid methods like multipoint stretch forming. In developing countries, the challenge of utilizing such materials and tools is amplified. In this paper, we introduce a method that couples the non-planar robotic deposition of clay as a material characterized by its longevity, reduced heat transfer, low cost, low maintenance lightweight and local abundance, with multipoint forming to optimize the manufacturing of double curved façade panels in hot arid climates. A 6-axis robotic arm was used to produce multiple functionally double-curved panels by depositing clay in a non-planar fashion and normal to the surface of a multipoint forming machine that was designed and manufactured using 3D printed movable actuators to create adaptive molds. A workflow was developed using Grasshopper for develop a streamlined coupling between the rapid code for the robotic simulation and depositing, and the multipoint forming synchronized actuator movement per clay panel, based on a given full building façade geometry. The resulting double-curved facade panels were optimized structurally, materially, and spatially, and were shown to significantly reduce material waste with low environmental impact and accelerated rate of double-curved panel production.
keywords	Clay 3D Printing, Robotic Fabrication, Multipoint Forming, Robotic Material Deposition, Mass Customization, Double Curved Façade Panels, Adaptive Molds
series	eCAADe
email
last changed	2023/12/10 10:49

_id	ijac202321301
id	ijac202321301
authors	Bedarf, Patrick; Anna Szabo; Enrico Scoccimarro; Benjamin Dillenburger
year	2023
title	Foamwork: Challenges and strategies in using mineral foam 3D printing for a lightweight composite concrete slab
source	International Journal of Architectural Computing 2023, Vol. 21 - no. 3, 388–403
summary	This paper presents an innovative design and fabrication workflow for a lightweight composite slab prototype that combines mineral foam 3D printing (F3DP) and concrete casting. Non-standardized concrete elements that are geometrically optimized for resource efficiency often result in complex shapes that are difficult to manufacture. This paper extends the research in earlier studies, showing that F3DP can address this challenge. F3DP is used to construct 24 stay-in-place formwork elements for a lightweight, resource-efficient ribbed concrete element with a 2 × 1.3 m footprint. This advancement highlights the improved robotic F3DP setup, computational design techniques for geometry and print path generation, and strategies to achieve near-netshape fabrication. The resulting prototype shows how complex geometries that were previously costprohibitive can be produced efficiently. Discussing the findings, challenges, and future improvements offers useful perspectives and supports the development of this resourceful and sustainable construction technique.
keywords	robotic 3D printing, mineral foam, stay-in-place formwork, concrete composite, SDG12 responsible consumption and production
series	journal
last changed	2024/04/17 14:30

_id	caadria2023_62
id	caadria2023_62
authors	Huang, Shuyi, Xu, Weiguo and Yin, Yudong
year	2023
title	Improving the Overhang of 3D-printed Concrete Shells by Wrinkle Structures
source	Immanuel Koh, Dagmar Reinhardt, Mohammed Makki, Mona Khakhar, Nic Bao (eds.), HUMAN-CENTRIC - Proceedings of the 28th CAADRIA Conference, Ahmedabad, 18-24 March 2023, pp. 301–310
doi	https://doi.org/10.52842/conf.caadria.2023.2.301
summary	The labour shortage is impacting the construction industry globally, and 3D concrete printing (3DCP) technology is considered a solution for such an issue by using robots instead of manpower in building construction. However, due to the unstable mechanical properties of the fresh-state concrete, current 3DCP building forms exclude a massive number of options, one of them being the overhang shape. Therefore, this paper introduces bionic wrinkles to improve the overhang of 3DCP shell prototypes and demonstrates the feasibility of this idea through three groups of buckling simulations. This study proves that surface wrinkles can improve the in-process mechanical properties as well as the overhang capacity of shell structures. In the best scenario, the original design which only reached 30° overhang can be promoted to 77.5°. Besides, the applications of all wrinkle types are robust.
keywords	3D concrete printing, bio-designs, overhang structure, self-supporting printing, fresh-state concrete, surface wrinkle
series	CAADRIA
email
last changed	2023/06/15 23:14

_id	acadia23_v3_179
id	acadia23_v3_179
authors	Jabi, Wassim; Leon, David Andres; Alymani, Abdulrahman; Behzad, Selda Pourali; Salamoun, Michelle
year	2023
title	Exploring Building Topology Through Graph Machine Learning
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	Graph theory offers a powerful method for analyzing complex networks and relationships. When combined with machine learning, graph theory can provide valuable insights into the data generated by 3D models. This workshop integrated advanced spatial modeling and analysis with artificial intelligence, highlighting the importance of technological advancements in shaping the future of architecture and design. It introduced participants to novel workflows that link parametric 3D modeling with concepts of topology, graph theory, and graph machine learning. We used Topologicpy, an advanced spatial modeling and analysis software library designed for Architecture, Engineering, and Construction, paired with DGL, a powerful machine learning library that provides tools for implementing and optimizing graph neural networks (Figure 1). In essence, this process blends cutting-edge technologies and architectural principles that will shape the future of design. Participants learned how to use these workflows to convert 3D models into graphs, analyze their properties, and perform classification and regression tasks. Participants also explored how to create synthetic datasets based on generative and parametric workflows, and build and optimize graph neural networks for specific tasks.
series	ACADIA
type	workshop
last changed	2024/04/17 14:00

_id	ecaade2023_246
id	ecaade2023_246
authors	Massin, Peter, Körner, Andreas, Colletti, Marjan, Gasser, Georg, Uitz, Theresa and Bauer, Kilian
year	2023
title	Postdigital Natures: Digital-material hybrids for robotic 3D printing of architectural elements
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 509–518
doi	https://doi.org/10.52842/conf.ecaade.2023.1.509
summary	Since what is often referred to as the 'digital revolution' in architecture, novel materials and digital tools have significantly altered architectural ecologies. The paper compares two case study projects as part of ongoing research. Examining overlaps between the natural, the virtual, and the built environments, it explores a variety of overlaps, continuities, and interfaces. Each project operates on the threshold of what is conventionally considered the 'natural' and the 'artificial' in material, shape, and experience contexts. Informed by theory, the projects establish nuanced interfaces between the digital and the material. Both projects were fabricated using robotic 3D printing with a variety of materials. The paper describes and compares them concerning sustainability and provides an overview of the different spatial concepts of the two projects.
keywords	Postdigital Architecture, Robotic 3D Printing, Sustainable Materials, Project, Hybrid Environments
series	eCAADe
email
last changed	2023/12/10 10:49

_id	ecaade2023_130
id	ecaade2023_130
authors	Nas, Mehmet Oguz and Gönenç Sorguç, Arzu
year	2023
title	4D Printing of Hygroscopic Wood Based Actuators for Climate Responsive Skin
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 439–448
doi	https://doi.org/10.52842/conf.ecaade.2023.1.439
summary	Adaptive building systems aim to enhance user comfort and reduce energy consumption in buildings. However, sensing the environment and generating relevant motion requires complex systems. The high costs associated with the installation, maintenance, and energy consumption of traditional systems hinder their widespread adoption. A more efficient alternative can be found in nature by harnessing the intrinsic properties of materials. Recent studies inspired by pinecones showed that wood bilayers with different swelling and shrinking ratios can passively shape change in response to environmental humidity. The morphing direction is determined by fiber orientation, which can be controlled by extrusion-based 3D printers. The existing literature highlights several challenges in utilizing hygroscopic wood actuators for climate-responsive building skins, including the predictability of motion, response speed, and scalability. Hence, this research investigates the design space at both mesostructural and macrostructural levels for controlled, scaleable motion. To this end, a series of experiments were conducted in a controlled environment to observe the actuation dynamics. The experiments explored design parameters including thickness, porosity, bilayer ratio, layer orientation, and 3D printing parameters such as layer thickness and printing order. Collected data were utilized to construct a model that can predict the actuation and find the configuration for the required motion. Two implementations of this model are proposed. While the first design makes use of combined actuators for motion amplification, the latter employs pre-stressed bistability to control the timing of motion. Both designs were tested at scales of 1/2 and 1 to 1, using a wood-based filament and wood veneer as actuators, respectively. The results demonstrate that the use of multiple joined actuators significantly increases the actuation speed. Moreover, it is shown that the humidity level required to trigger the shape-shifts can be tuned thanks to the pre-stressed bistable structures. This is promising in terms of adaptability to diverse climates and enhancement of energy efficiency in buildings.
keywords	4D Printing Wood, Biomimicry, Hygroscopic Actuators, Pre-stressed Bistability, Climate-Responsive, Responsive Architecture
series	eCAADe
email
last changed	2023/12/10 10:49

_id	ascaad2023_077
id	ascaad2023_077
authors	Tabassum, Nusrat; Duarte, Jose; Nazarian, Shadi
year	2023
title	Advancing 3D Concrete Printing for Affordable Housing: A Shape Grammar-Based Approach to Print Spanning Roof Structures
source	C+++: Computation, Culture, and Context – Proceedings of the 11th International Conference of the Arab Society for Computation in Architecture, Art and Design (ASCAAD), University of Petra, Amman, Jordan [Hybrid Conference] 7-9 November 2023, pp. 344-364.
summary	3D concrete printing (3DCP) technology is expected to address the construction industry's inefficiency, lack of skilled labor, and safety concerns, while tackling the housing shortage due to global population growth. Current applications in academia and industry have mainly focused on fabricating wall elements, which do not fulfill the potential of this technology to fully automate the construction process, including enclosures. In concrete construction, formwork is an essential part that fundamentally influences labor needs, quality, time, and cost. Many building components, such as walls, beams, columns, and prefabricated blocks, have been successfully printed without formwork using various additive manufacturing (AM) techniques for 3DCP. However, due to a 60-degree printing angle restriction when using a horizontal slicing technique and a corbelling printing method, to print spanning structures without formwork remains a challenge. Most state-of-the-art studies in 3DCP have focused on developing strategies to fabricate formwork, rather than developing new techniques for printing them without formwork. This research aims to leverage the power of shape grammar to overcome the challenges of printing spanning roof structures in 3DCP. By drawing inspiration from historical structures, we propose a multi-directional printing approach, integrating corbelling, radial, and inclined slicing techniques for toolpath design. Our objective is to establish shape grammar rules to break down enclosures into printable patches, design corresponding toolpaths using various slicing techniques, and validate the effectiveness of this approach by physically fabricating a prototype. To achieve this objective, an algorithm, incorporating shape grammar rules and numerical modelling software, to optimize the 3D concrete printing process for spanning roof structures was developed. Through this generative design system, designers can efficiently generate diverse and sustainable roof designs, specifically tailored for affordable housing solutions.
series	ASCAAD
email
last changed	2024/02/13 14:40

_id	acadia23_v2_54
id	acadia23_v2_54
authors	Bedarf, Patrick; Jeoffroy, Etienne; Dillenburger, Benjamin
year	2023
title	Airlements: A Lightweight and Insulating Monolithic Wall System made with Foam 3D Printing
source	ACADIA 2023: Habits of the Anthropocene: Scarcity and Abundance in a Post-Material Economy [Volume 2: Proceedings of the 43rd Annual Conference for the Association for Computer Aided Design in Architecture (ACADIA) ISBN 979-8-9891764-0-3]. Denver. 26-28 October 2023. edited by A. Crawford, N. Diniz, R. Beckett, J. Vanucchi, M. Swackhamer 54-60.
summary	oam 3D printing investigates additive manufacturing of porous construction materials for novel lightweight and insulating building components. It leverages the opportunities of automated, moldless fabrication that can reduce waste, hazardous labor, and costs for material-efficient, geometrically-optimized, and previously cost-prohibitive structures. Moreover, the thermal resistance of porous materials addresses the insulation perfor- mance of building elements and can help to reduce the operational energy consumption of buildings. Airlements is the largest demonstrator produced in this research using cement-free, geopolymer-based mineral foams made from industrial waste. The two-meter-tall struc- ture composed of four stacked segments explores the advantages of lightweight manual assembly for monolithic non-structural walls. A finish made from cement-free spray plaster completes the facade system. This paper presents the advancements in the robotic 3D-printing setup, the demonstrator design and fabrication, and discusses the advantages and challenges of this novel method. In light of the gaining popularity of large-scale 3D printing, particularly with concrete, this study contributes to the body of work with alternative materials that can improve the sustainability and building physics performance of innovative building elements.
series	ACADIA
type	paper
email
last changed	2024/12/20 09:12

_id	caadria2023_365
id	caadria2023_365
authors	Chen, Wei-Ting, Sunny Anthraper, Liya, Skevaki, Eleni, Reiter, Lex and Anton, Ana
year	2023
title	Imprinting Concrete Graded Transparency in 3D Concrete Printing Walls
source	Immanuel Koh, Dagmar Reinhardt, Mohammed Makki, Mona Khakhar, Nic Bao (eds.), HUMAN-CENTRIC - Proceedings of the 28th CAADRIA Conference, Ahmedabad, 18-24 March 2023, pp. 169–178
doi	https://doi.org/10.52842/conf.caadria.2023.2.169
summary	Robotic fabrication technologies enable customisation and automation for the construction industry. Specifically, 3D Concrete Printing (3DCP) has advanced rapidly in recent years with innovations in robotics, material science, and large-scale application. While 3D printed walls take up most of the applications of the technology at an architectural scale, the design and fabrication methods based on multi-materiality are limited. This paper presents a method for the creation of walls with graded transparency by embedding glass rods in between the printed concrete layers. To achieve this, a computational design tool was developed to explore the distribution of transparent rods within the opaque mass of concrete. Furthermore, the designs are tested with two fabrication methods based on human-robot collaboration and multi-robot fabrication processes by simultaneously 3D printing concrete and placing the rods. The presented results and identified challenges outline the potential of multi-material additive manufacturing methods for architectural applications materialised either through human-robot collaboration or as a multi-robotic fabrication process.
keywords	3D Concrete Printing, Human-Robot Collaboration, Transparent Concrete Wall, Pick-and-Place robot, Print and Place
series	CAADRIA
email
last changed	2023/06/15 23:14

_id	sigradi2023_437
id	sigradi2023_437
authors	Hernández Vargas, José
year	2023
title	Spatially Graded Modeling: An Integrated Workflow For 3D Concrete Printing
source	García Amen, F, Goni Fitipaldo, A L and Armagno Gentile, Á (eds.), Accelerated Landscapes - Proceedings of the XXVII International Conference of the Ibero-American Society of Digital Graphics (SIGraDi 2023), Punta del Este, Maldonado, Uruguay, 29 November - 1 December 2023, pp. 361–372
summary	While 3D concrete printing (3DCP) has surged in popularity, methods to harness its design potential remain largely underdeveloped. Existing design-to-manufacture workflows most commonly restrict the design to the overall geometry and a set of print parameters that may fall outside of the scope of the designer. This study presents a novel approach to integrate design and manufacturing by an integrated design-to-manufacture workflow that allows the gradation of the wall thickness along the printed part, which can be independently manipulated using established computer graphic techniques like texture projection and mesh coloring. The effectiveness of this workflow is demonstrated through the fabrication of a test body featuring a customized surface pattern. This approach aims to extend the design scope for 3DCP, enabling the addition and editing of surface patterns without geometry or code manipulation.
keywords	Robotic fabrication, 3D concrete printing, Variable filament width, Design for manufacturing, Print path design
series	SIGraDi
email
last changed	2024/03/08 14:07

_id	ecaade2023_149
id	ecaade2023_149
authors	Martínez Alarcón, Camila and Svilans, Tom
year	2023
title	3D-Printing Bioplastics onto Textiles
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 449–458
doi	https://doi.org/10.52842/conf.ecaade.2023.1.449
summary	Previous research has focused on material composites created between textiles and 3d printed materials such as Thermoplastic Polyurethane (TPU), Polylactic Acid (PLA), and other common materials for additive manufacturing. However, research has also focused on the creation and different use of biomaterials such as bioplastics. The combination of biopolymers with additives and plasticizers can give remarkably comparable results to conventional plastics, giving possibilities to create material composites with a lower environmental impact. This research proposes a material composite created from the combination of a bioplastic, which fulfils the necessary parameters for AM, and a textile that can achieve a desired adhesion to the print but also can perform as expected, assessing this material through a list of parameters to determine the correct combination. The understanding of the workflow and performance of such material hybrid is crucial since there is a difference between the levels of contraction of the different materials, which allows curvature and complex shapes to be formed but also to be a self-supporting composite. The project presents the robotic set-up necessary for the material tests, as well as the required material parameters and the results of physical experimentation. Finally, it speculates about the architectural potential of the composite system through a series of physical prototypes.
keywords	Bioplastic, biopolymers, additive manufacturing, textiles, material composites
series	eCAADe
email
last changed	2023/12/10 10:49

_id	ecaade2023_353
id	ecaade2023_353
authors	van Son, Nicholas and Prado, Marshall
year	2023
title	Hybrid Thermoplastic-Composite Building Components
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 621–630
doi	https://doi.org/10.52842/conf.ecaade.2023.1.621
summary	The development of additive manufacturing (AM) technology has unlocked new geometric and material potentials for architecture and construction. While large-scale implementation of AM continues to be a popular research topic, the majority of projects are restricted to traditional planar layer-based printing methods. Furthermore, many modern large-scale 3D printing machines rely on heavy cementitious material, which further limits the benefits which can be gained from additive processes. These traditional printing methods restrict construction to mainly vertical walls with roof structures and overhangs posing major challenges. Robotic fabrication and materials research present opportunities for effective and efficient applications of AM in architecture. The following research takes place over several phases and explores fabrication strategies which combine AM and fiber composites to produce lightweight building components. (1) The first phase tests the material capabilities of a reinforced AM system, including the production and testing of several hybrid material systems. An emphasis is placed on sustainable alternatives to traditional concretes and polymers. (2) The second phase develops, tests, and refines hybrid material fabrication processes, which include printing on complex formwork and composite substrates. (3) Phase three includes material investigations, manufacturing processes, and geometric iterations to determine the compatibility of various recycled thermoplastics and textile/film membranes. Custom and adaptable robotic AM techniques take advantage of 9 axis fabrication to 3D print material efficient, non-planar, and geometrically differentiated components. (4) The final phase further explores and develops the geometric potential of the developed fabrication processes and material systems. Numerous building components are 3D printed and tested for structural capabilities. These components are assembled into a full-scale demonstrator which explores various architectural potentials of the system including cantilevering structures, roof systems, multi-material assemblies, joint logics, enclosure systems, and scalar limitations. This project showcases the potential for lightweight composite reinforced additive manufacturing processes for large-scale architectural applications.
keywords	Robotic Fabrication, Additive Manufacturing, Composites, Hybrid Materials, Recycled Materials, Lightweight Structures
series	eCAADe
email
last changed	2023/12/10 10:49

_id	caadria2023_311
id	caadria2023_311
authors	Wu, Hao, Gu, Sijia, Gao, Xiaofan, Luo, Jiaxiang and F. Yuan*, Philip
year	2023
title	Extrusion-to-Masoning: Robotic 3D Concrete Printing of Concrete Shells As Building Floor System
source	Immanuel Koh, Dagmar Reinhardt, Mohammed Makki, Mona Khakhar, Nic Bao (eds.), HUMAN-CENTRIC - Proceedings of the 28th CAADRIA Conference, Ahmedabad, 18-24 March 2023, pp. 139–148
doi	https://doi.org/10.52842/conf.caadria.2023.2.139
summary	Efficient floor systems can reduce the carbon footprint of building industry by reducing material, thereby responding to the UN Sustainable Development Goals (SDGs). Tile vault, a kind of masonry shell structure in history, can provide inspiration for extrusion-based 3D concrete printing. In this research, an “Extrusion-to-Masoning” perspective is proposed to evaluate, analysis, and simulate 3DCP. The variable-width filaments of 3DCP can be interpreted as variable-width bricks. The staggering pattern between different layers is studied. Three concrete shells with different layer-staggering patterns are printed and quantitative structural testing experiments are carried out. Then a totally printed floor slab prototype is designed and fabricated at the basis of one of the shells.
keywords	3d concrete printing, tile vault, concrete shell, efficient floor slab, extrusion-to-masoning
series	CAADRIA
email
last changed	2023/06/15 23:14

_id	ascaad2023_061
id	ascaad2023_061
authors	Yabanigul, Meryem; Özer, Derya
year	2023
title	A Systematic Review of Robotic 3D Concrete Printing
source	C+++: Computation, Culture, and Context – Proceedings of the 11th International Conference of the Arab Society for Computation in Architecture, Art and Design (ASCAAD), University of Petra, Amman, Jordan [Hybrid Conference] 7-9 November 2023, pp. 750-766.
summary	This systematic review examines the patterns, themes, and trends in the field of robotic 3D concrete printing. The methodology entails a comprehensive search and screening of relevant literature from databases Scopus and Cumincad. Through a stringent screening process based on specific inclusion criteria, resulting in a final dataset of research papers. The results are analyzed by network visualization techniques and keyword co-occurrence analysis with the data visualization tool VOSviewer. The network visualization enables insights into the literature structure and identifies research themes and emerging trends. The results emphasize integrating technological developments, optimizing the printing process, investigating concrete materials and their performance, and focusing on sustainability in 3D concrete printing. This review contributes to the comprehension of the current status and advances in robotic 3D concrete printing.
series	ASCAAD
email
last changed	2024/02/13 14:40

_id	acadia23_v1_214
id	acadia23_v1_214
authors	Yu, Lei; Zheng, Xi; Liu, Zhe
year	2023
title	Reversed 3D Printing with Robotic Technology for Structure Nodes
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 214-219.
summary	This research focuses on the creation of complex structure nodes using a reversed robotic 3D printing technique (Figure 1 and 2), specifically utilizing FDM (Fused Deposition Modeling) technology. Traditional 3D printing involves building objects layer by layer on a stationary platform. Robotic 3D printing employs a similar method, with a plastic extruder as the end effector of a 6-axis robot. Compared to a conventional 3-axis 3D printer, a robotic 3D printer offers greater flexibility due to its inverse kinematics. For example, a 6-axis robot can directly build models on curved surfaces with varying layer thicknesses based on the geometry. However, when it comes to creating structure nodes with branches splitting in different directions, both work modes have certain drawbacks:
series	ACADIA
type	project
email
last changed	2024/04/17 13:58

_id	ecaade2023_317
id	ecaade2023_317
authors	Zamani, Alireza, Mohseni, Alale and Bertug Çapunaman, Özgüç
year	2023
title	Reconfigurable Formwork System for Vision-Informed Conformal Robotic 3D Printing
source	Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 387–396
doi	https://doi.org/10.52842/conf.ecaade.2023.1.387
summary	Robotic additive manufacturing has garnered significant research and development interest due to its transformative potential in architecture, engineering, and construction as a cost-effective, material-efficient, and energy-saving fabrication method. However, despite its potential, conventional approaches heavily depend on meticulously optimized work environments, as robotic arms possess limited information regarding their immediate surroundings (Bechthold, 2010; Bechthold & King, 2013). Furthermore, such approaches are often restricted to planar build surfaces and slicing algorithms due to computational and physical practicality, which consequently limits the feasibility of robotic solutions in scenarios involving complex geometries and materials. Building on previous work (Çapunaman et al., 2022), this research investigates conformal 3D printing of clay using a 6 degrees-of-freedom robot arm and a vision-based sensing framework on parametrically reconfigurable tensile hyperbolic paraboloid (hypar) formwork. In this paper, we present the implementation details of the formwork system, share findings from preliminary testing of the proposed workflow, and demonstrate application feasibility through a design exercise that aims to fabricate unique components for a poly-hypar surface structure. The formwork system also offers parametric control over generating complex, non-planar tensile surfaces to be printed on. Within the scope of this workflow, the vision-based sensing framework is employed to generate a digital twin informing iterative tuning of the formwork geometry and conformal toolpath planning on scanned geometries. Additionally, we utilized the augmented fabrication framework to observe and analyze deformations in the printed clay body that occurs during air drying. The proposed workflow, in conjunction with the vision-based sensing framework and the reconfigurable formwork, aims to minimize time and material waste in custom formwork fabrication and printing support materials for complex geometric panels and shell structures.
keywords	Robotic Fabrication, Conformal 3D Printing, Additive Manufacturing, Computer-Vision, Reconfigurable Formwork
series	eCAADe
email
last changed	2023/12/10 10:49

_id	ascaad2023_042
id	ascaad2023_042
authors	Žigmundová, Viktória; Suchánková, Kateøina; Stretavská, Antónia; Míèa, Jakub; Rayne, Taylor; Tsikoliya, Shota ; ,
year	2023
title	Additive Manufacturing of Mycelium Composites for Sustainable Landscape Architecture
source	C+++: Computation, Culture, and Context – Proceedings of the 11th International Conference of the Arab Society for Computation in Architecture, Art and Design (ASCAAD), University of Petra, Amman, Jordan [Hybrid Conference] 7-9 November 2023, pp. 863-877.
summary	This study explores the potential of mycelium composites as a sustainable and eco-friendly material for landscape architecture in the context of today's global climate and environmental crisis. Mycelium, the vegetative part of fungi, has shown promising properties such as acoustic and thermal insulation, biodegradability, and environmental performance (Vasatko et al., 2022). The central remit of this research is in proposing bespoke computational and robotic fabrication methods and workflows for investigating the performance of mycelial materials and observing their properties and growth response. Taken together, the topic of this paper is to illustrate the application and composition of such fabrication techniques as an integrated multi-material system, capable of combining the complex, organic relationships between clay, lignocellulosic substrate, and fungi with a focus on the potential of such composite materials for implementation within the built environment. Outlined here are the processes and procedures essential to this multi-material fabrication framework, including a detailed account of a series of substrate material mixtures and printed clay scaffold geometries, both of which exhibit properties informed by the material synthesis and fabrication process. We foremost propose the strategic mixing of different substrate types to be 3D printed with clay as a strategy for probing the optimization of mycelial overgrowth and binding to the 3D printed geometries. Subsequently, we proceed in detailing the study’s approach and process of 3D printing the mixtures of recycled material, drying the geometry, and sterilizing the final design once inoculated with the mycelium. Ultimately, we motivate this research in pursuit of further understanding of mycelium's material and mycoremediation capacities in service of more environmentally responsive and responsible architectural applications.
series	ASCAAD
email
last changed	2024/02/13 14:34

_id	acadia23_v1_166
id	acadia23_v1_166
authors	Chamorro Martin, Eduardo; Burry, Mark; Marengo, Mathilde
year	2023
title	High-performance Spatial Composite 3D Printing
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 166-171.
summary	This project explores the advantages of employing continuum material topology optimization in a 3D non-standard lattice structure through fiber additive manufacturing processes (Figure 1). Additive manufacturing (AM) has gained rapid adoption in architecture, engineering, and construction (AEC). However, existing optimization techniques often overlook the mechanical anisotropy of AM processes, resulting in suboptimal structural properties, with a focus on layer-by-layer or planar processes. Materials, processes, and techniques considering anisotropy behavior (Kwon et al. 2018) could enhance structural performance (Xie 2022). Research on 3D printing materials with high anisotropy is limited (Eichenhofer et al. 2017), but it holds potential benefits (Liu et al. 2018). Spatial lattices, such as space frames, maximize structural efficiency by enhancing flexural rigidity and load-bearing capacity using minimal material (Woods et al. 2016). From a structural design perspective, specific non-standard lattice geometries offer great potential for reducing material usage, leading to lightweight load-bearing structures (Shelton 2017). The flexibility and freedom of shape inherent to AM offers the possibility to create aggregated continuous truss-like elements with custom topologies.
series	ACADIA
type	project
email
last changed	2024/04/17 13:58

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