Robotic Fabrication in Architecture, Art and Design 2018

Name: Robotic Fabrication in Architecture, Art and Design 2018 | Foreword by Sigrid Brell-Çokcan and Johannes Braumann, Association for Robots in Architecture
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Foreword by Sigrid Brell-Çokcan and Johannes Braumann, Association for Robots in Architecture

Jan Willmann Philippe Block Marco Hutter Kendra Byrne Tim Schork(Editor)

Springer (Publisher)

Published on 25. August 2018

XXII, 503 pages

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978-3-319-92294-2 (ISBN)

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Content

Intro
Foreword by the Association for Robots in Architecture
Preface
New Scientific Frontiers
Closing the Loop
Content and Contributions
Workshop Activities
Beyond Boundaries
Acknowledgments
Paper Committee
Contents
Design and Simulation
Image Classification for Robotic Plastering with Convolutional Neural Network
Abstract
1 Motivation
2 Methodology
2.1 Apparatus Setup
2.2 Data Set
2.3 Image Classification Methods
3 Training Results
3.1 Transfer Learning
3.2 Our Model
3.3 Method Comparison
4 Testing Implementations Scenarios
4.1 Image Surveying Methods
4.2 User Interface/Interaction
5 Conclusions and Next Steps
References
Designing Natural Wood Log Structures with Stochastic Assembly and Deep Learning
Abstract
1 Introduction
2 Related Works
3 Method - Part I: Stochastic Assembly
3.1 Design Modeling
3.2 End-Effectors, Scanning and Reconstruction
3.3 Stochastic Assembly
4 Method - Part II: Position Suggestion with Convolutional Neural Networks (CNNs)
4.1 Data Collections
4.2 Position Suggestion with Regression Model
4.3 Position Suggestion with Classification Model
5 Experiment: Generative Design Using Robotic Assembly
5.1 Combining the Classification Model and Evolutionary Computing
5.2 Controlling Robotic Assembly with the Regression Model
6 Conclusion
Acknowledgements
References
Mockup Method: Heuristic Architectural Fragments as Central Models in Architectural Design
Abstract
1 Introduction
2 Related Work
3 Digital Collaboration
4 Architectural Fragments as Central Models
5 Case Study: The Design-Fabrication of Insulated Concrete Tilt-Up Walls
5.1 Structural Loading
5.2 Casting Concrete - Center of Mass/Tilt up Operations
5.3 Thermal Performance
6 Standards
7 Holistic Design
8 Discussion
Acknowledgements
References
Haptic Programming
Abstract
1 Introduction
2 Design to Construction
3 Haptic Interaction Primitives
4 Adaptation for Future Task Execution
5 Synopsis and Future Work
References
Towards Automatic Path Planning for Robotically Assembled Spatial Structures
Abstract
1 Introduction
2 Path Planning Software Interface and Integration of Collision-Free Robot Path Generation into Computational Design
3 Experiment 1: Post-rationalization of Spatial Metal Structures Using Sequential Robot Path Search
4 Experiment 2: Post-rationalization of Spatial Timber Frame Structures Using Parallel Path Search
5 Experiment 3: Fabrication-Aware Design of Spatial Structures
6 Conclusion
Acknowledgements
References
Communication Landscapes
Abstract
1 Introduction
1.1 Aim
1.2 Natural Interfaces for Fabrication
1.3 Robotic Hotwire Cutting
2 Methodology
2.1 Installation Set-Up
2.2 Voice-Controlled Modelling
2.3 Custom User Interface (CUI)
2.4 Real-Time Data Broadcasting
3 Robotic Hotwire Cutting
4 Panel Clustering and Installation Assembly
5 Results
6 Conclusion and Outlook
References
Towards Visual Feedback Loops for Robot-Controlled Additive Manufacturing
Abstract
1 Introduction
2 Methodology
2.1 Robot Eye-to-Extruder Calibration
2.2 Deposited Material Segmentation via Image Processing
2.3 Deposited Material Occupancy Mapping
3 Experiment Setup
3.1 Physical Hardware Setup
3.2 Software
3.3 Measurement Test Using Generated Map
4 Results
5 Discussions and Conclusions
References
Function Representation for Robotic 3D Printed Concrete
Abstract
1 Introduction
1.1 Compressive Skeletal Structures and 3D Printing
1.2 Contributions and Outline
2 Related Work
2.1 3D Printing and Implicit Shape Representation
2.2 Implicit Modelling
2.3 Skeleton Based Implicit Modelling and Function Representation
2.4 Medical Imaging and Layered Printing
2.5 Previous Work
3 Processing of Funicular Networks for Concrete Printing
3.1 3D Skeletons and Initial Value Formulation of Front Propagation
3.2 Primitive Field Functions and Operations
3.3 Processing Nodes
4 Robotic 3D Printing
4.1 Path Planning
4.2 Results
5 Future Work
6 Conclusions
References
Material and Processes
Thermally Informed Robotic Topologies: Profile-3D-Printing for the Robotic Construction of Concrete Panels, Thermally Tuned Through High Resolution Surface Geometry
Abstract
1 Introduction
1.1 High Performance Building Component Design and Advanced Manufacturing
1.2 Additive Manufacturing for Construction
2 Methodology
2.1 Mix Design
2.2 Component Design and Simulation
2.3 Fabrication Approach
3 Results
3.1 Workcell Development
3.2 Panel Test Series 1: Testing for Process Constraints
3.3 Panel Test Series 2: Demonstration of Tooled Deposition Geometry Space
4 Conclusion
References
Hold Up: Machine Delay in Architectural Design
Abstract
1 Introduction
2 The Productive Delay: Stockhausen and Pollock
3 Being Real-Time
4 The Concept of Machine Delay
5 Pointillistic Time-Based Deposition
5.1 Delaying the Machine
5.2 Designing the Mix
5.3 Finding Materiality
6 The Architectural Design Possibilities of Dripping
6.1 Constructive
6.2 Aesthetic
7 Outlook: Deferring the End
Acknowledgements
References
Concrete Fabrication by Digitally Controlled Injection
Abstract
1 Introduction
1.1 Chemical Reaction Between Ordinary Portland Cement and Aluminium
1.2 Density Modulation
1.3 Concrete Fabrication
2 Background
2.1 Material Studies
2.2 Software and Hardware
2.3 Fabrication and Prototyping
3 Conclusion
Acknowledgments
Reference
Towards the Development of Fabrication Machine Species for Filament Materials
Abstract
1 Introduction
2 Background
3 Methods
3.1 Demonstrator 01
3.2 Demonstrator 02
3.3 Demonstrator 03
4 Results and Reflection
5 Outlook
References
Spatial Print Trajectory
Abstract
1 Introduction
2 Background Review
3 Overview of the Experiment
3.1 Experimental Setup
3.2 Procedures
3.3 Impact of Spatial Print Paths on the Anchor, Drag and Pull Maneuver
3.4 Impact of Incremental Print Speed/Extrusion Rate on the Anchor, Drag and Pull Maneuver
3.5 Modular Return-Loop Prototypes
4 Results
4.1 Print Time, Density, and Structural Integrity
4.2 Predictability
4.3 Discrepancy in Digital Print Path and the Actual Print
4.4 Nozzle Diameter Scalability
5 Conclusions and Outlook
Acknowledgments
References
An Additive and Subtractive Process for Manufacturing with Natural Composites
Abstract
1 Introduction
2 Material Design
3 Fabrication System
4 Process Parameters
5 Process Fusion
6 Geometric Modeling
7 Fabrication and Evaluation
8 Conclusions
References
Hard + Soft: Robotic Needle Felting for Nonwoven Textiles
Abstract
1 Introduction
2 Robotic Felting
3 Research, Development, and Implementation
3.1 Nonwoven Textiles
3.2 Process Tooling
3.3 Design Parameters
4 Case Studies
4.1 Shiplap
4.2 Shingle
4.3 Quilt
4.4 Stiffen
5 Conclusions
Acknowledgments
References
Construction and Structure
SCRIM - Sparse Concrete Reinforcement in Meshworks
Abstract
1 Introduction
1.1 Context and Motivation
1.2 Scope
2 State-of-the-Art
3 Methodology and Experimental Setups
3.1 Process Setup
3.2 Cementitious Material Setup
3.3 Setup for Experiment 1 - Testing the SCRIM Concept
3.4 Setup for Experiment 2: Scaling up
4 Results
4.1 Experiment 1
4.2 Experiment 2
5 Discussion and Further Work
5.1 Contributions and Implications
5.2 Limits
5.3 Further Work
6 Conclusion
Acknowledgements
References
Versatile Robotic Wood Processing Based on Analysis of Parts Processing of Japanese Traditional Wooden Buildings
Abstract
1 Introduction
2 Related Work
3 Robot Tools and Toolpath Generation
3.1 Carpentry Tools and Part Shapes in Japanese Traditional Wooden Buildings
3.2 Robot Tools
3.3 Parts Processing System
4 Experiments: Roof Corner of Five-Storied Pagoda of Japanese Traditional Wooden Building
5 Discussion
6 Conclusion
Acknowledgments
References
Form Finding of Nexorades Using the Translations Method
Abstract
1 Introduction
2 Geometry of Shell-Nexorade Hybrids
3 Design Workflow and Fabrication: Integrated Approach
3.1 Integrated Design Workflow
3.2 Designing for Flexibility and Modularity
3.3 Operations and Component Geometry Fitting
4 Discussion
4.1 Structural Benefits of Shell-Nexorade Hybrids
4.2 On-Site Assembly
5 Conclusion
References
Sub-Additive 3D Printing of Optimized Double Curved Concrete Lattice Structures
Abstract
1 Intro and Context
2 Methodology
2.1 General Principle and Curvature Conventions
2.2 Testing Parameters of Sub-Additive Printing
3 Structural Optimization and Workflow Strategy
3.1 Tool Path, G-Code, and KRL
3.2 Structural Optimization
4 Results
4.1 Concrete 3D Printing of Arch Structures (Gantry Printing)
4.2 Concrete 3D Printing of Tri-Arch Structures (Robotic Platform)
4.3 Sub-additive Process Advantages
5 Future Investigations
6 Conclusion
Acknowledgements
References
Investigations on Potentials of Robotic Band-Saw Cutting in Complex Wood Structures
Abstract
1 Introduction
2 Methods and Tools
2.1 Tools
2.2 Research Method
3 Wood Pavilion 1: Design and Fabrication of Complex Wood Structure with Plane Curved Beams
3.1 Fabrication-Oriented Structural Design
3.2 Raw Beams Production
3.3 Robotic Fabrication
3.4 Assembly On-Site
3.5 Research Evaluation
4 Wood Pavilion 2: Design and Fabrication of Complex Wood Structure with Space Curved Beams
4.1 Structure Design
4.2 Raw Beams Production
4.3 Digital Fabrication
4.4 Assembly On-Site
4.5 Research Evaluation
5 Conclusion and Discussion
Acknowledgments
References
Direct Deposition of Jammed Architectural Structures
Abstract
1 Introduction
2 Three Methods of Direct Deposition Fabrication
2.1 Closed Mould Direct Deposition
2.2 Open Mould Direct Deposition
2.3 Mould-Free Direct Deposition
3 Robotic Fabrication and Computational Design
4 Prototypical Construction Experiments
4.1 Experiment 1
4.2 Experiment 2
5 Conclusions and Future Challenges
Acknowledgments
References
Control and Fabrication
FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms
Abstract
1 Introduction
2 Design Software for Swarm Fabrication
3 Swarm Fabricators
4 Physical Realization of a Swarm Fabricated Structure
5 Conclusion and Future Work
Acknowledgments
References
InFormed Ceramics: Multi-axis Clay 3D Printing on Freeform Molds
Abstract
1 Introduction
1.1 Ceramics in Architecture
1.2 Previous Works
1.3 Project "InFormed Ceramics"
2 Material Studies and Robotic Tooling for Clay Extrusion
2.1 Material Selection
2.2 Development of Clay Extruder
3 Fabrication Methodology and Application
3.1 Freeform Mold
3.2 Robotic Multi-axis Clay Deposition
3.3 Application
3.4 Post-processing and On-site Installation
4 Conclusion and Future Development
Acknowledgements
References
Altered Behaviour: The Performative Nature of Manufacture Chainsaw Choreographies + Bandsaw Manoeuvres
Abstract
1 Introduction
1.1 The Foundry
1.2 Material Library
2 Altering the Behaviour of Tools
2.1 Act 1: The Chainsaw, Act 2: The Bandsaw
2.2 Robot Language and Logistics
3 Performative Nature of Manufacturing
4 Conclusion
References
Cyber Physical Macro Material as a UAV [re]Configurable Architectural System
Abstract
1 Introduction
2 Context
3 State-of-the-Art
4 Methods
4.1 Material
4.2 UAV Builder
4.3 Communication and Programming
4.4 System Tests
5 Proposed System Behaviors
5.1 Responsive Behavior
5.2 Interactive Behavior
5.3 Learning Behaviors
6 Discussion
6.1 System Potentials
6.2 Further Development
7 Conclusion and Outlook
References
Adaptive Robotic Carving
Abstract
1 Introduction
2 Context
3 Robotic Training Methods
3.1 Training Tools
3.2 Design to Fabrication Workflows
4 Experiments and Results Discussion
5 Conclusions
Acknowledgments
References
Multimode Robotic Materialization
Abstract
1 Introduction
2 Multimode Robotic Production Methods
2.1 Subtractive-Subtractive
2.2 Subtractive-Additive
3 Design to Fabrication Workflow and Prototyping
3.1 Digital to Physical Materialization Procedure
3.2 Robotic Production Simulation and Toolpath Strategy
3.3 Prototyping Test of Multi-materiality: Soft Silicone and Hard Polystyrene Foam
4 Conclusion and Future Works
Acknowledgments
References
Digital Composites: Robotic 3D Printing of Continuous Carbon Fiber-Reinforced Plastics for Functionally-Graded Building Components
Abstract
1 Introduction
1.1 Background
1.2 State-of-the-Art
2 Free CFRP Fabrication
3 Questions
4 Approach
4.1 Fabrication Process
4.2 Fabrication-Aware Computational Design Tool
5 Results
6 Discussion and Outlook
7 Conclusion
Acknowledgements
References
Robotic Extrusion of Architectural Structures with Nonstandard Topology
Abstract
1 Introduction
1.1 Complexity and Topology
1.2 Topology in Robotic Extrusion
1.3 Research Aim
2 Automatic Motion Planning System
2.1 Step 1: Ground Structure Topology Optimization
2.2 Step 1: Other Topology-Generating Methods
2.3 Steps 2 and 3: Assembly Sequence and Motion Planning with Choreo
2.4 Step 4: Post-processing and Robotic Extrusion
3 Case Studies
3.1 Topology Optimized Vault
3.2 3D Voronoi
3.3 Mars Habitat Design
4 Conclusions
References
On-Site Robotics for Sustainable Construction
Abstract
1 Introduction
1.1 Background
1.2 Motivations
2 Cable Robotics for On-Site 3D Printing
2.1 Transporting and Reconfiguring a Cable Robot
2.2 Support Structure Design
2.3 Material and Extrusion Technology
3 Drone Scanning
3.1 Monitoring Solutions
3.2 Results
3.3 Next Challenges
4 Human-Machine Interface
4.1 CNC Control
4.2 On-Site Quality Control
4.3 Cable Robot as a Precise Crane
4.4 Conclusions
5 Conclusion
Acknowledgments
References
Application and Practice
Tailored Structures, Robotic Sewing of Wooden Shells
Abstract
1 Introduction
2 Background
2.1 Garment Design and Patterning in Architecture
2.2 Patterning Techniques in Wood and Architecture
2.3 Sewing Wood
2.4 Adaptive Robotics
2.5 State-of-the-Art
3 Methodology
3.1 Patterning Design
3.2 Wood Forming: Species Bending Radii and Bending Tests
3.3 Microscopic Behavior of Fibers Through Puncture
3.4 Tension Load Test
3.5 Digital Design Techniques
3.6 Fabrication Process Overview
3.7 Connection Design and Sensing
3.8 3D Scanning
3.9 Robotic System Integration
3.10 System Integration
4 Results and Discussion
4.1 Patterning and Forming
4.2 Sewing
4.3 Adaptive and Automated Robotic Sewing Workflow
4.4 Demonstrators
5 Conclusion
Acknowledgements
References
Dynamic Robotic Slip-Form Casting and Eco-Friendly Building Façade Design
Abstract
1 Introduction
2 Background
3 Modification of Dynamic Robotic Casting
3.1 Fabrication Pipeline
3.2 Material and Formula Composition
4 Design Process Driven by Data Flow
4.1 Computational and Interactive Design
4.2 Data Flow from Design to Fabrication
5 Scenario of Eco-Friendly Building Design and Fabrication
5.1 Smart Shading Component
5.2 Eco-Friendly Concrete Screen
5.3 Lighting Planning
6 Conclusions
Acknowledgments
References
Ceramic Constellation | Robotically Printed Brick Specials
Abstract
1 Background
1.1 Challenges and Opportunities
1.2 The Brick Special
2 Objectives
3 Methodology
3.1 Generating Specificity
3.2 Digital Fabrication Strategy
3.3 Feedbacks and Inputs
4 Pavilion Fabrication and Assembly
5 Conclusion
5.1 Performance and Logistics
5.2 Material Feedback and Computation
5.3 Framework for Certification
Acknowledgments
References
Robotic Fabrication of Bespoke Timber Frame Modules
Abstract
1 Introduction
2 Techniques
2.1 Timber Frame Construction System
2.2 Computational Design
2.3 Experimental Setup
2.4 Experiments
3 Conclusion
Acknowledgements
References
Large-Scale Additive Manufacturing of Ultra-High-Performance Concrete of Integrated Formwork for Truss-Shaped Pillars
Abstract
1 Introduction
2 Design for Additive Manufacturing
3 Concrete Formwork 3D Printing
4 Pillar in Aix-en-Provence, France
4.1 Context
4.2 Design
4.3 Manufacturing
5 Conclusions and Outlook
References
Realization of Topology Optimized Concrete Structures Using Robotic Abrasive Wire-Cutting of Expanded Polystyrene Formwork
Abstract
1 Background
1.1 Motivation
1.2 Hypothesis
2 Formwork Manufacturing
2.1 State-of-the-Art
3 Prototype Design
3.1 Rationalization
3.2 Formwork System
3.3 Robotic Production
3.4 Formwork Assembly and Casting
4 Conclusions
5 Discussion and Further Work
5.1 Further Work
References
The Brick Labyrinth
Abstract
1 Introduction
2 Design Research
2.1 Design Brief and Explorations
2.2 Final Design
3 Computational Setup
3.1 Computational Design
3.2 Structural Stability Analysis
3.3 Robotic Fabrication Simulation and Online Robot Control
4 Robotic Fabrication
4.1 Robotic Setup
4.2 Sequencing
5 Conclusion and Outlook
Acknowledgments
References
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Robotic Fabrication in Architecture, Art and Design 2018

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