
Robotic Fabrication in Architecture, Art and Design 2018
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The book presents research from Rob|Arch 2018, the fourth international conference on robotic fabrication in architecture, art, and design. In capturing the myriad of scientific advances in robotics fabrication that are currently underway - such as collaborative design tools, computerised materials, adaptive sensing and actuation, advanced construction, on-site and cooperative robotics, machine-learning, human-machine interaction, large-scale fabrication and networked workflows, to name but a few - this compendium reveals how robotic fabrication is becoming a driver of scientific innovation, cross-disciplinary fertilization and creative capacity of an unprecedented kind.
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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
- Author Index
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