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Integrative Computational Design and Construction for Architecture (T3.0)
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Research Projects
RP 4-2 – Cyber-Physical Fabrication Platform: Fluid Fabrication

Cyber-Physical Fabrication Platform: Fluid Fabrication

Research Project 4-2 (RP 4-2)

Weiße Schrift

CYBER‐PHYSICAL FABRICATION PLATFORM: FLUID FABRICATION – EXTENDING THE ADAPTIVITY OF ISLAND-BASED FABRICATION AND THE DESIGN-TO-FABRICATION RECIPROCITY THROUGH MULTI-UNIT COLLABORATION

This research project aims to develop a cyber-physical on- and offsite prefabrication platform for the IntCDC wood building system. It will address prevailing obstacles in timber construction such as low levels of automation (LoA) and transportation limitations, as well as the challenge of digital production in project-based design contexts by utilizing the concept of a modular, reconfigurable, transportable, and extendable fabrication platform supported by Human-Robot Collaboration (HRC) and custom Human-Machine Interfaces (HMIs). This project (RP 4-2) aims to expand the semi-autonomous cyber-physical prefabrication platform developed in phase one (RP 4-1) regarding the three key aspects of workpiece logistics, human-machine collaboration, and, ultimately, higher level cyber-physical fabrication and construction integration. The goal is to extend the platform's fabrication-design space for co-design, as well as to increase its flexibility and capacity. In the first phase, the focus of phase one was on developing flexibly arrangeable robotic fabrication modules, incorporating augmented reality supported human craft, and their evaluation in a practical use case. In RP 4-2, this setup will now be extended to connect multiple fabrication modules and potentially other systems through flexible transport modules in the form of an autonomous mobile robot (AMR) that connects the fabrication modules. This integrated workpiece handling is an important constituent for a project-based fabrication design space extension for the prefabrication of multi-story timber-building systems. It can be configured to work autonomously, in pre-existing fabrication setups off- and onsite, and will connect various fabrication modules in RP 4, RP 8, RP 16, and RP 26-1 among others. RP 4-2 further aims to intensify human-robot collaboration in the prefabrication from one robotic system and one human to multi-unit collaboration. The new challenge will be to lower the entry-level for fabrication control of human craft using Augmented Reality (AR) technology in such more complex setups. To that end, investigating the use of multimodal interaction will extend human skill sets. Distinct models of these autonomous and collaborative skills will extend the capacities of the Cyber-physical prefabrication platform developed in RP 4-1. Multi-level feedback throughout the design and fabrication solution space aims to establish a continuous feedback loop connecting the initial design phase down to online adaptation of the fabrication process. The new developments will be tested with the prefabrication of the building system developed in RP 3-1 and RP 3-2. In this way, RP 4-2 also aims to lay the foundation for a fully integrated cyber-physical prefabrication and construction process.

PRINCIPAL INVESTIGATORS

Prof. Achim Menges
Institute for Computational Design and Construction (ICD), University of Stuttgart
Prof. Dr.-Ing. Alexander Verl
Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart
Prof. Dr. Michael Sedlmair
Visualization Research Center (VISUS), University of Stuttgart

TEAM

Dr.-Ing. Armin Lechler (ISW)
Dr. Felix Amtsberg (ICD)
Tim Stark (ICD)
Benjamin Kaiser (ISW)
Aimée Sousa Calepso (VISUS)
Hans-Jakob Wagner (ICD)
Xiliu Yang (ICD)

PEER-REVIEWED PUBLICATIONS

2023
1. Wortmeier, A.-K., Calepso, A. S., Kropp, C., Sedlmair, M., & Weiskopf, D. (2023). Configuring augmented reality users: analysing YouTube commercials to understand industry expectations. Behaviour & Information Technology, 0(0), Article 0. https://doi.org/10.1080/0144929X.2022.2163693
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  @article{doi:10.1080/0144929X.2022.2163693, abstract = {Commercial videos are often used to familiarise potential buyers and users with new technologies and their possibilities. In addition, presenting visions of future applications is a way to configure users and define social worlds of technology use. We analyse 30 YouTube videos featuring augmented reality (AR) devices in industrial manufacturing and construction, to explore how these commercial videos situate AR technology and future users by showcasing techno-euphoric promises and imagined use cases. With a video analysis based on Grounded Theory and Situational Analysis, we untangle the promises of AR for manufacturing and construction work; second, we present two prevailing configurations of AR users: ‘experts in situ’ and ‘smart dummies’; and third, we discuss how YouTube videos put forward developmental expectations. In addition, we identify discrepancies between expectations and foreseeable requirements in construction work. Finally, our research could contribute to a more holistic understanding of workplaces and socially robust AR applications. }, author = {Wortmeier, Ann-Kathrin and Calepso, Aimée Sousa and Kropp, Cordula and Sedlmair, Michael and Weiskopf, Daniel}, doi = {10.1080/0144929X.2022.2163693}, eprint = {https://doi.org/10.1080/0144929X.2022.2163693}, journal = {Behaviour \& Information Technology}, month = {01}, number = 0, pages = {1-16}, publisher = {Taylor & Francis}, title = {Configuring augmented reality users: analysing YouTube commercials to understand industry expectations}, url = {https://doi.org/10.1080/0144929X.2022.2163693 }, volume = 0, year = 2023 }
2022
1. Yang, X., Amtsberg, F., Skoury, L., Wagner, H. J., & Menges, A. (2022). Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality. CAADRIA Proceedings. https://doi.org/10.52842/conf.caadria.2022.2.141
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  @inproceedings{yang2022vizor, author = {Yang, Xiliu and Amtsberg, Felix and Skoury, Lior and Wagner, Hans Jakob and Menges, Achim}, booktitle = {{CAADRIA} proceedings}, doi = {10.52842/conf.caadria.2022.2.141}, publisher = {{CAADRIA}}, title = {Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality}, url = {https://doi.org/10.52842%2Fconf.caadria.2022.2.141}, year = 2022 }
2. Wolf, M., Kaiser, B., Hügle, S., Verl, A., & Middendorf, P. (2022). Data Model for Adaptive Robotic Construction in Architecture. Procedia CIRP, 107, 1035–1040. https://doi.org/10.1016/j.procir.2022.05.104
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  @inproceedings{wolf2022model, author = {Wolf, Martin and Kaiser, Benjamin and Hügle, Sebastian and Verl, Alexander and Middendorf, Peter}, doi = {10.1016/j.procir.2022.05.104}, journal = {Procedia CIRP}, pages = {1035-1040}, publisher = {Elsevier BV}, title = {Data Model for Adaptive Robotic Construction in Architecture}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.104}, volume = 107, year = 2022 }
3. Sousa Calepso, A., Hube, N., Berenguel Senn, N., Brandt, V., & Sedlmair, M. (2022). cARdLearner: Using expressive Virtual Agents when learning vocabulary in Augmented Reality. ACM.
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  @preprint{sousacalepso2022cardlearner, abstract = {Augmented reality (AR) has a diverse range of applications, including language teaching. When studying a foreign language, one of the biggest challenges learners face is memorizing new vocabulary. While augmented holograms are a promising means of supporting this memorization process, few studies have explored their potential in the language learning context. We demonstrate the possibility of using flashcard along with an expressive holographic agent on vocabulary learning. Users scan a flashcard and play an animation that is connected with an emotion related to the word they are seeing. Our goal is to propose an alternative to the traditional use of flashcards, and also introduce another way of using AR in the association process.}, author = {Sousa Calepso, Aimée and Hube, Natalie and Berenguel Senn, Noah and Brandt, Vincent and Sedlmair, Michael}, publisher = {ACM}, title = {cARdLearner: Using expressive Virtual Agents when learning vocabulary in Augmented Reality}, year = 2022 }
4. Skoury, L., Amtsberg, F., Yang, X., Wagner, H. J., Menges, A., & Wortmann, T. (2022). A Framework for Managing Data in Multi-actor Fabrication Processes (C. Gengnagel, O. Baverel, G. Betti, M. Popescu, M. R. Thomsen, & J. Wurm, Eds.).
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  @conference{skoury2022framework, author = {Skoury, Lior and Amtsberg, Felix and Yang, Xiliu and Wagner, Hans Jakob and Menges, Achim and Wortmann, Thomas}, editor = {Gengnagel, Christoph and Baverel, Olivier and Betti, Giovanni and Popescu, Mariana and Thomsen, Mette Ramsgaard and Wurm, Jan}, title = {A Framework for Managing Data in Multi-actor Fabrication Processes}, year = 2022 }
5. Kaiser, B., Wolf, M., & Verl, A. (2022). Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction. ISR Europe 2022; 54th International Symposium on Robotics, 1–7.
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  @inproceedings{9861808, author = {Kaiser, Benjamin and Wolf, Martin and Verl, Alexander}, booktitle = {ISR Europe 2022; 54th International Symposium on Robotics}, pages = {1-7}, title = {Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction}, year = 2022 }
6. Fleck, P., Sousa Calepso, A., Hubenschmid, S., Sedlmair, M., & Schmalstieg, D. (2022). RagRug: A Toolkit for Situated Analytics. IEEE Transactions on Visualization and Computer Graphics. https://doi.org/10.1109/TVCG.2022.3157058
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  @article{Fleck2022-03-07RagRu-56856, abstract = {We present RagRug, an open-source toolkit for situated analytics. The abilities of RagRug go beyond previous immersive analytics toolkits by focusing on specific requirements emerging when using augmented reality (AR) rather than virtual reality. RagRug combines state of the art visual encoding capabilities with a comprehensive physical-virtual model, which lets application developers systematically describe the physical objects in the real world and their role in AR. We connect AR visualization with data streams from the Internet of Things using distributed dataflow. To this aim, we use reactive programming patterns so that visualizations become context-aware, i.e., they adapt to events coming in from the environment. The resulting authoring system is low-code; it emphasises describing the physical and the virtual world and the dataflow between the elements contained therein. We describe the technical design and implementation of RagRug, and report on five example applications illustrating the toolkit's abilities. }, author = {Fleck, Philipp and Sousa Calepso, Aimée and Hubenschmid, Sebastian and Sedlmair, Michael and Schmalstieg, Dieter}, doi = {10.1109/TVCG.2022.3157058}, issn = {1077-2626}, journal = {IEEE Transactions on Visualization and Computer Graphics}, title = {RagRug: A Toolkit for Situated Analytics}, url = {https://pubmed.ncbi.nlm.nih.gov/35254986/}, year = 2022 }
7. Chai, H., Guo, Z., Wagner, H. J., Stark, T., Menges, A., & Yuan, P. F. (2022). In-Situ Robotic Fabrication of Spatial Glulam Structures. Proceedings of the 27th CAADRIA Conference, Sydney, 9-15 April 2022, 2, 41--50. https://doi.org/10.52842/conf.caadria.2022.2.041
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  @inproceedings{Chai2022, abstract = {While current approaches in timber construction stress the advantages of off-site prefabrication, glued laminated timber(glulam) structures is limited to the constraints of standardized, prefabricated mostly linear elements, which also lends itself only to building typologies that offer an increased level of standardization and regularity. The design freedom of timber structures is incomparable to that of reinforced concrete structures, which mostly gains from the in-situ fabrication process. An in-situ robotic timber fabrication platform allows the on-site construction of glulam structures with highly differentiated networks of beams composed of robotically assembled discrete linear elements. Based on the possibilities of such mobile robotic fabrication process, this paper explores novel architectural typologies of spatial glulam structures. The research is conducted from several aspects including joint tectonics, design method, and robotic fabrication process. A large-scale pavilion is designed and fabricated to verify the feasibility of the proposed system. This research could provide a novel mode of in-situ robotic timber fabrication and corresponding glulam structure system for timber construction.}, author = {Chai, Hua and Guo, Zhixian and Wagner, Hans Jakob and Stark, Tim and Menges, Achim and Yuan, Philip F}, booktitle = {Proceedings of the 27th CAADRIA Conference, Sydney, 9-15 April 2022}, doi = {10.52842/conf.caadria.2022.2.041}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/2002_MOBILE_ROBOT/2112_CAADRIA_Spatial_Glulam/caadria2022_245.pdf:pdf}, pages = {41--50}, title = {{In-Situ Robotic Fabrication of Spatial Glulam Structures}}, url = {http://papers.cumincad.org/cgi-bin/works/paper/caadria2022_245}, volume = 2, year = 2022 }
8. Achberger, A., Heyen, F., Vidackovic, K., & Sedlmair, M. (2022). Touching data with PropellerHand. Journal of Visualization. https://doi.org/10.1007/s12650-022-00859-2
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  @article{achberger2022touching, abstract = {Immersive analytics often takes place in virtual environments which promise the users immersion. To fulfill this promise, sensory feedback, such as haptics, is an important component, which is however not well supported yet. Existing haptic devices are often expensive, stationary, or occupy the user’s hand, preventing them from grasping objects or using a controller. We propose PropellerHand, an ungrounded hand-mounted haptic device with two rotatable propellers, that allows exerting forces on the hand without obstructing hand use. PropellerHand is able to simulate feedback such as weight and torque by generating thrust up to 11 N in 2-DOF and a torque of 1.87 Nm in 2-DOF. Its design builds on our experience from quantitative and qualitative experiments with different form factors and parts. We evaluated our prototype through a qualitative user study in various VR scenarios that required participants to manipulate virtual objects in different ways, while changing between torques and directional forces. Results show that PropellerHand improves users’ immersion in virtual reality. Additionally, we conducted a second user study in the field of immersive visualization to investigate the potential benefits of PropellerHand there.}, author = {Achberger, Alexander and Heyen, Frank and Vidackovic, Kresimir and Sedlmair, Michael}, doi = {10.1007/s12650-022-00859-2}, journal = {Journal of Visualization}, title = {Touching data with PropellerHand}, url = {https://doi.org/10.1007/s12650-022-00859-2}, year = 2022 }
9. Achberger, A., Arulrajah, P., Sedlmair, M., & Vidackovic, K. (2022). STROE: An Ungrounded String-Based Weight Simulation Device. IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 112–120. https://doi.org/10.1109/VR51125.2022.00029
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  @inproceedings{9756818, author = {Achberger, Alexander and Arulrajah, Pirathipan and Sedlmair, Michael and Vidackovic, Kresimir}, booktitle = {IEEE Conference on Virtual Reality and 3D User Interfaces (VR)}, doi = {10.1109/VR51125.2022.00029}, pages = {112-120}, title = {STROE: An Ungrounded String-Based Weight Simulation Device}, year = 2022 }
10. Abdelaal, M., Amtsberg, F., Becher, M., Estrada, R. D., Kannenberg, F., Calepso, A. S., Wagner, H. J., Reina, G., Sedlmair, M., Menges, A., & Weiskopf, D. (2022). Visualization for Architecture, Engineering, and Construction: Shaping the Future of Our Built World. IEEE Computer Graphics and Applications, 42(2), Article 2. https://doi.org/10.1109/MCG.2022.3149837
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  @article{9709159, abstract = {Our built world is one of the most important factors for a livable future, accounting for massive impact on resource and energy use, as well as climate change, but also the social and economic aspects that come with population growth. The architecture, engineering, and construction industry is facing the challenge that it needs to substantially increase its productivity, let alone the quality of buildings of the future. In this article, we discuss these challenges in more detail, focusing on how digitization can facilitate this transformation of the industry, and link them to opportunities for visualization and augmented reality research. We illustrate solution strategies for advanced building systems based on wood and fiber.}, author = {Abdelaal, Moataz and Amtsberg, Felix and Becher, Michael and Estrada, Rebeca Duque and Kannenberg, Fabian and Calepso, Aimée Sousa and Wagner, Hans Jakob and Reina, Guido and Sedlmair, Michael and Menges, Achim and Weiskopf, Daniel}, doi = {10.1109/MCG.2022.3149837}, issn = {1558-1756}, journal = {IEEE Computer Graphics and Applications}, month = {03}, number = 2, pages = {10-20}, title = {Visualization for Architecture, Engineering, and Construction: Shaping the Future of Our Built World}, volume = 42, year = 2022 }
2021
1. Qi, Y., Zhong, R., Kaiser, B., Tahouni, Y., Wagner, H. J., Verl, A., & Menges, A. (2021). Augmented Accuracy: A Human-Machine Integrated Adaptive Fabrication Workflow for Bamboo. In V. Stojakovic & B. Tepavcevic (Eds.), Proceedings of the 39th eCAADe Conference (Vol. 1, pp. 345--354). Cumincad. http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_169
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  @inproceedings{Qi2021, abstract = {Despite being sustainable, strong and lightweight, naturally grown bamboo poles are currently used in restricted building typologies. This is due to the large tolerances in the built structures, which is caused by the variations in the dimensions and geometry ofnatural material as well as the manual, uninformed and imprecise assembly methods. In previous work, we introduced an adaptive fabrication method for bamboo structures that can monitor the fabrication process and compensate for deviations between built and designed form. As a proofofconcept, the method is suitable for small scale bamboo structures in 2D- or simple 3D configuration. This paper extends the previous method by integrating the adaptation strategies into a cohesive fabrication and assembly workflow for large scale complex bamboo structures. To enable that, a more effective sensor localization method, adaptation algorithm, connection and assembly system, as well as web-based user interface are developed. The effectiveness ofthe proposed methods is demonstrated through the fabrication of a pavilion scale branching bamboo structure that complies with intended geometric boundary conditions. Even though the material has substantial geometrical variations, the final structure shows small geometric deviations and a successful interface with the prefabricated roofelements. Our work shows how vernacular materials and processes can be digitally augmented in order to reliably produce building structures, hence enabling their usage in modern applications to a larger extent.}, address = {Novi Sad}, author = {Qi, Yue and Zhong, Ruqing and Kaiser, Benjamin and Tahouni, Yasaman and Wagner, Hans Jakob and Verl, Alexander and Menges, Achim}, booktitle = {Proceedings of the 39th eCAADe Conference}, editor = {Stojakovic, V and Tepavcevic, B}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_ECAADE_AUGMENTED_ACCURACY.pdf:pdf}, pages = {345--354}, publisher = {Cumincad}, title = {Augmented Accuracy: A Human-Machine Integrated Adaptive Fabrication Workflow for Bamboo}, url = {http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_169}, volume = 1, year = 2021 }
2. Orozco, L., Krtschil, A., Wagner, H. J., Bechert, S., Amtsberg, F., Skoury, L., Knippers, J., & Menges, A. (2021). Design Methods for Variable Density, Multi-Directional Composite Timber Slab Systems for Multi-Storey. In V. Stojakovic & B. Tepavcevic (Eds.), Proceedings of the 39th eCAADe Conference (Vol. 1, pp. 303--312). Cumincad. http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_284
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  @inproceedings{Orozco2021, abstract = {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.}, address = {Novi Sad}, author = {Orozco, Luis and Krtschil, Anna and Wagner, Hans Jakob and Bechert, Simon and Amtsberg, Felix and Skoury, Lior and Knippers, Jan and Menges, Achim}, booktitle = {Proceedings of the 39th eCAADe Conference}, editor = {Stojakovic, V and Tepavcevic, B}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_ECAADE_METHODS_SLAB_DESIGN.pdf:pdf}, pages = {303--312}, publisher = {Cumincad}, title = {Design Methods for Variable Density, Multi-Directional Composite Timber Slab Systems for Multi-Storey}, url = {http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_284}, volume = 1, year = 2021 }
3. Ellwein, C., Reichle, A., Herschel, M., & Verl, A. (2021). Integrative data processing for cyber-physical off-site and on-site construction promoting co-design. Procedia CIRP, 100, 451–456. https://doi.org/10.1016/j.procir.2021.05.103
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  @article{Ellwein_2021, abstract = {The term co-design describes a collaborative design process, usually across the boundaries of individual areas. A major aspect, and often an obstacle in the implementation of the co-design approach, is the establishment of a centralized data management system. In the past, the data management concept has been approached from different perspectives. Current approaches usually are oriented along the process chain and thus reflect a unidirectional flow of information. Neither the information feedback nor the reaction to adjustments in upstream model steps is supported, which makes continuous collaboration more difficult and at best reduces the co-design approach for continuous data usage. This paper addresses these weaknesses while outlining an integrative data processing concept enabling co-design between the domains of construction and industrial prefabrication. Geometrical information generated during architectural design and construction planning is reused for the production of components, manufacturing-related design adjustments are transferred back into the domain of construction. Changes throughout the entire process are centrally recorded. To ensure independence from the software tools used and to consider their great diversity, data exchange is largely based on standards, namely industry foundation classes and the standard for the exchange of product model data. In order to counteract the sequential processing according to a waterfall model and to support the co-design approach, the industrial prefabrication toolchain, consisting of computer-aided manufacturing software and downstream postprocessors, is largely automated, so that reprocessing of a workpiece for minor geometric adjustments no longer requires any interaction of the production planner.}, author = {Ellwein, Carsten and Reichle, Alexander and Herschel, Melanie and Verl, Alexander}, doi = {10.1016/j.procir.2021.05.103}, journal = {Procedia CIRP}, note = {31st CIRP Design Conference 2021 (CIRP Design 2021)}, pages = {451-456}, publisher = {Elsevier {BV}}, title = {Integrative data processing for cyber-physical off-site and on-site construction promoting co-design}, url = {https://www.sciencedirect.com/science/article/pii/S2212827121005746}, volume = 100, year = 2021 }
4. Amtsberg, F., Yang, X., Skoury, L., Wagner, H.-J., & Menges, A. (2021). iHRC: An AR-based interface for intuitive, interactive and coordinated task sharing between humans and robots in building construction. In C. Feng, T. Linner, I. Brilakis, D. Castro, P.-H. Chen, Y. Cho, J. Du, S. Ergan, B. Garcia de Soto, J. Gaparík, F. Habbal, A. Hammad, K. Iturralde, T. Bock, S. Kwon, Z. Lafhaj, N. Li, C.-J. Liang, B. Mantha, … Z. Zhu (Eds.), Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC) (pp. 25–32). International Association for Automation and Robotics in Construction (IAARC). https://doi.org/10.22260/ISARC2021/0006
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  @inproceedings{amtsberg2021arbased, author = {Amtsberg, Felix and Yang, Xiliu and Skoury, Lior and Wagner, Hans-Jakob and Menges, Achim}, booktitle = {Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)}, doi = {https://doi.org/10.22260/ISARC2021/0006}, editor = {Feng, Chen and Linner, Thomas and Brilakis, Ioannis and Castro, Daniel and Chen, Po-Han and Cho, Yong and Du, Jing and Ergan, Semiha and Garcia de Soto, Borja and Gašparík, Jozef and Habbal, Firas and Hammad, Amin and Iturralde, Kepa and Bock, Thomas and Kwon, Soonwook and Lafhaj, Zoubeir and Li, Nan and Liang, Ci-Jyun and Mantha, Bharadwaj and Ng, Ming Shan and Hall, Daniel and Pan, Mi and Pan, Wei and Rahimian, Farzad and Raphael, Benny and Sattineni, Anoop and Schlette, Christian and Shabtai, Isaac and Shen, Xuesong and Tang, Pingbo and Teizer, Jochen and Turkan, Yelda and Valero, Enrique and Zhu, Zhenhua}, eventdate = {02.11.2021-04.11.2021}, eventtitle = {38th International Symposium on Automation and Robotics in Construction (ISARC)}, isbn = {978-952-69524-1-3}, issn = {2413-5844}, language = {english}, month = {11}, pages = {25-32}, publisher = {International Association for Automation and Robotics in Construction (IAARC)}, title = {iHRC: An AR-based interface for intuitive, interactive and coordinated task sharing between humans and robots in building construction}, year = 2021 }
5. Achberger, A., Heyen, F., Vidackovic, K., & Sedlmair, M. (2021). PropellerHand: A Hand-Mounted, Propeller-Based Force Feedback Device. International Symposium on Visual Information Communication and Interaction (VINCI), 4:1--4:8. https://doi.org/10.1145/3481549.3481563
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  @inproceedings{achberger2021vinci, abstract = {Immersive analytics is a fast growing field that is often applied in virtual reality (VR). VR environments often lack immersion due to missing sensory feedback when interacting with data. Existing haptic devices are often expensive, stationary, or occupy the user’s hand, preventing them from grasping objects or using a controller. We propose PropellerHand, an ungrounded hand-mounted haptic device with two rotatable propellers, that allows exerting forces on the hand without obstructing hand use. PropellerHand is able to simulate feedback such as weight and torque by generating thrust up to 11 N in 2-DOF and a torque of 1.87 Nm in 2-DOF. Its design builds on our experience from quantitative and qualitative experiments with different form factors and parts. We evaluated our final version through a qualitative user study in various VR scenarios that required participants to manipulate virtual objects in different ways, while changing between torques and directional forces. Results show that PropellerHand improves users’ immersion in virtual reality.}, author = {Achberger, Alexander and Heyen, Frank and Vidackovic, Kresimir and Sedlmair, Michael}, booktitle = {International Symposium on Visual Information Communication and Interaction (VINCI)}, doi = {10.1145/3481549.3481563}, pages = {4:1--4:8}, publisher = {ACM}, title = {PropellerHand: {A} Hand-Mounted, Propeller-Based Force Feedback Device}, url = {https://doi.org/10.1145/3481549.3481563}, year = 2021 }
6. Achberger, A., Aust, F., Pohlandt, D., Vidackovic, K., & Sedlmair, M. (2021). STRIVE: String-Based Force Feedback for Automotive Engineering. ACM Symposium on User Interface Software and Technology (UIST), 841--853. https://doi.org/10.1145/3472749.3474790
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  @inproceedings{achberger2021uist, abstract = {The large potential of force feedback devices for interacting in Virtual Reality (VR) has been illustrated in a plethora of research prototypes. Yet, these devices are still rarely used in practice and it remains an open challenge how to move this research into practice. To that end, we contribute a participatory design study on the use of haptic feedback devices in the automotive industry. Based on a 10-month observing process with 13 engineers, we developed STRIVE, a string-based haptic feedback device. In addition to the design of STRIVE, this process led to a set of requirements for introducing haptic devices into industrial settings, which center around a need for flexibility regarding forces, comfort, and mobility. We evaluated STRIVE with 16 engineers in five different day-to-day automotive VR use cases. The main results show an increased level of trust and perceived safety as well as further challenges towards moving haptics research into practice.}, author = {Achberger, Alexander and Aust, Fabian and Pohlandt, Daniel and Vidackovic, Kresimir and Sedlmair, Michael}, booktitle = {ACM Symposium on User Interface Software and Technology (UIST)}, doi = {10.1145/3472749.3474790}, pages = {841--853}, title = {{STRIVE}: String-Based Force Feedback for Automotive Engineering}, url = {https://doi.org/10.1145/3472749.3474790}, year = 2021 }
2020
1. Weiß, M., Angerbauer, K., Voit, A., Schwarzl, M., Sedlmair, M., & Mayer, S. (2020). Revisited: Comparison of Empirical Methods to Evaluate Visualizations Supporting Crafting and Assembly Purposes. IEEE Trans. Visualization and Computer Graphics (TVCG, Proc. InfoVis 2020).
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  @article{weiss2021revisit, author = {Weiß, Maximilian and Angerbauer, Katrin and Voit, Alexandra and Schwarzl, Magdalena and Sedlmair, Michael and Mayer, Sven}, journal = {IEEE Trans. Visualization and Computer Graphics (TVCG, Proc. InfoVis 2020)}, note = {Accepted for publication}, title = {Revisited: Comparison of Empirical Methods to Evaluate Visualizations Supporting Crafting and Assembly Purposes}, year = 2020 }
2. Wagner, H. J., Chai, H., Guo, Z., Menges, A., & Yuan, P. F. (2020). Towards an On-site Fabrication System for Bespoke , Unlimited and Monolithic Timber Slabs. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Las Vegas, NV, USA (Virtual) - Workshop on Construction and Architecture Robotics, 2020. https://doi.org/10.13140/RG.2.2.14098.68802
  - BibTeX
  BibTeX
  @inproceedings{Wagner2020b, abstract = {We present the concept- and contextualization of a robotic fabrication system for bespoke, monolithic wood slabs for multi-story building structures. Timber Construction is seen as the most promising technology for the sustainable development of continuously growing urban areas around the world, resulting in increasing legislative support. Although employing high levels of automation in prefabrication, wood building systems and construction techniques are currently hardly competitive outside of modular construction paradigms – restricting the material's use in the majority of building typologies. In many projects, the use of concrete is still preferred, as slabs can be poured into monolithic slabs of various geometries and steel reinforcement can be freely arranged according to structural requirements. In order to allow engineered wood structures to be used across all building types, we propose a co-designed wood construction system. A respective robotic fabrication platform can be employed in two on-site fabrication scenarios. In both cases the mobile robot moves relative to a preinstalled wood-panel surface that serves as semi-controlled environment and is incrementally reinforced through iterative placement of wood laths using nail-press gluing. This results in multi-directional, bespoke timber slabs of unlimited dimensions and continuous stiffness gradients.}, address = {Las Vegas, NV (Virtual)}, author = {Wagner, Hans Jakob and Chai, Hua and Guo, Zhixian and Menges, Achim and Yuan, Philip F}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Las Vegas, NV, USA (Virtual) - Workshop on Construction and Architecture Robotics}, doi = {10.13140/RG.2.2.14098.68802}, eventdate = {29.10.2020}, eventtitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Workshop on Construction and Architecture Robotics}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2020_IEEE_MOBILE_PLATFORM.pdf:pdf}, isbn = {978-1-7281-6211-9}, publisher = {IEEE/RSJ}, title = {{Towards an On-site Fabrication System for Bespoke , Unlimited and Monolithic Timber Slabs}}, url = {http://ras.papercept.net/images/temp/IROS/files/3672.pdf}, venue = {Las Vegas, NV, USA (Virtual)}, volume = 2020, year = 2020 }
3. Wagner, H. J., Alvarez, M., Kyjanek, O., Bhiri, Z., Buck, M., & Menges, A. (2020). Flexible and transportable robotic timber construction platform – TIM. Automation in Construction, 120, Article 120. https://doi.org/10.1016/j.autcon.2020.103400
  - BibTeX
  BibTeX
  @article{Wagner, abstract = {This paper presents a new approach to robotic fabrication in the building industry through the conceptualization, development and evaluation of a largescale, transportable and flexible robotic timber construction platform – named TIM. Novel solutions are necessary to make robotic fabrication technologies more accessible for timber construction companies. The developed robotic system is location independent and reconfigurable. It can be rapidly integrated into existing fabrication environments of typical carpentries on a per-project basis. This allows the exploitation of emerging synergies between conventional craft and specialized automation technologies and benefits both quality and productivity of the trade. We portrait how the platform enabled the effective robotic prefabrication of a complex segmented wood shell structure and discuss the fabrication system based on critical performance parameters. Further research is needed to disentangle the mutual dependencies of building-systems and respective automation technologies.}, author = {Wagner, Hans Jakob and Alvarez, Martin and Kyjanek, Ondrej and Bhiri, Zied and Buck, Matthias and Menges, Achim}, doi = {https://doi.org/10.1016/j.autcon.2020.103400}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1906_TIM/1906_AUTCON_TIM/20200127_AUTCON_TIM.pdf:pdf;:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1906_TIM/1906_AUTCON_TIM/PROOF/pagination_AUTCON_103400.pdf:pdf}, journal = {Automation in Construction}, language = {English}, month = {12}, number = 120, pages = {1-17}, title = {{Flexible and transportable robotic timber construction platform – TIM}}, url = {https://www.sciencedirect.com/science/article/pii/S0926580520309808}, year = 2020 }
4. Wagner, H. J., Alvarez, M., Groenewolt, A., & Menges, A. (2020). Towards digital automation flexibility in large-scale timber construction: integrative robotic prefabrication and co-design of the BUGA Wood Pavilion. Construction Robotics. https://doi.org/10.1007/s41693-020-00038-5
  - BibTeX
  BibTeX
  @article{Wagner2020, abstract = {This paper discusses the digital automation workflows and co-design methods that made possible the comprehensive robotic prefabrication of the BUGA Wood Pavilion as a large-scale production case study of robotic timber construction. Latest research in architectural robotics often focuses on the advancement of sin- gular aspects of integrated digital fabrication and computational design tech- niques. Few researchers discuss how a multitude of different robotic processes can come together into seamless, collaborative robotic fabrication workflows and how a high level of interaction within larger teams of computational design and robotic fabrication experts can be achieved. It will be increasingly important to discuss suitable methods for the management of robotics and computational de- sign in construction for the successful implementation of robotic fabrication sys- tems in the context of the industry. We present here how a co-design approach enabled the organization of computational design decisions in reciprocal feedback with the fabrication planning, simulation and robotic code generation. We demonstrate how this approach can implement direct and curated reciprocal feed- back between all planning domains that paves the way for fast-paced integrative project development. Furthermore, we discuss how the modularization of computational routines simplify the management and computational control of complex robotic construction efforts on a per-project basis and open the door for the flexible reutilization of developed digital technologies across projects and building systems.}, author = {Wagner, Hans Jakob and Alvarez, Martin and Groenewolt, Abel and Menges, Achim}, doi = {10.1007/s41693-020-00038-5}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/03_PhD/Reading/REVISION_CORO_Automation_Flexibility_clean.pdf:pdf}, journal = {Construction Robotics}, title = {{Towards digital automation flexibility in large-scale timber construction: integrative robotic prefabrication and co-design of the BUGA Wood Pavilion}}, year = 2020 }
5. Qi, Y., Zhong, R., Kaiser, B., Nguyen, L., Wagner, H. J., Verl, A., & Menges, A. (2020). Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures. In P. F. Yuan, J. Yao, C. Yan, X. Wang, & N. Leach (Eds.), Proceedings of the 2020 DigitalFUTURES. Springer Nature Switzerland AG.
  - BibTeX
  BibTeX
  @inproceedings{Qi, abstract = {This paper presents and investigates a cyber-physical fabrication workflow, which can respond to the deviations between built- and designed form in real-time with vision augmentation. We apply this method for large scale structures built from natural bamboo poles. Raw bamboo poles obtain evolutionarily optimized fibrous layouts ideally suitable for lightweight and sustainable building construction. Nevertheless, their intrinsically imprecise geometries pose a challenge for reliable, automated construction processes. Despite recent digital advancements, building with bamboo poles is still a labor-intensive task and restricted to building typologies where accuracy is of minor importance. The integration of structural bamboo poles with other building layers is often limited by tolerance issues at the interfaces, especially for large scale structures where deviations accumulate incrementally. To address these challenges, an adaptive fabrication process is developed, in which existing deviations can be compensated by changing the geometry of subsequent joints to iteratively correct the pose of further elements. A vision-based sensing system is employed to three-dimensionally scan the bamboo elements before and during construction. Computer vision algorithms are used to process and interpret the sensory data. The updated conditions are streamed to the computational model which computes tailor-made bending stiff joint geometries that can then be directly fabricated on-the-fly. In this paper, we contextualize our research and investigate the performance domains of the proposed workflow.}, author = {Qi, Yue and Zhong, Ruqing and Kaiser, Benjamin and Nguyen, Long and Wagner, Hans Jakob and Verl, Alexander and Menges, Achim}, booktitle = {Proceedings of the 2020 DigitalFUTURES}, editor = {Yuan, P. F. and Yao, J. and Yan, C. and Wang, X. and Leach, N.}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/2006_VISUAL_SEMANTICS/2005_CDRF_Tongji_2020/20200624_Submission_2/Submission/Working with Uncertainties_An Adaptive Fabrication Workflow for Bamboo Structures_0624.pdf:pdf}, publisher = {Springer Nature Switzerland AG}, title = {{Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures}}, year = 2020 }
6. Merino, L., Schwarzl, M., Kraus, M., Sedlmair, M., Schmalstieg, D., & Weiskopf, D. (2020). Evaluating Mixed and Augmented Reality: A Systematic Literature Review (2009 -- 2019). IEEE International Symposium on Mixed and Augmented Reality (ISMAR).
  - BibTeX
  BibTeX
  @inproceedings{merino2020ismar, author = {Merino, Leonel and Schwarzl, Magdalena and Kraus, Matthias and Sedlmair, Michael and Schmalstieg, Dieter and Weiskopf, Daniel}, booktitle = {IEEE International Symposium on Mixed and Augmented Reality (ISMAR)}, note = {Accepted for publication}, title = {Evaluating Mixed and Augmented Reality: A Systematic Literature Review (2009 -- 2019)}, year = 2020 }

OHTER PUBLICATIONS

2022
1. Chai, H., Wagner, H. J., Guo, Z., Qi, Y., Menges, A., & Yuan, P. F. (2022). Computational design and on-site mobile robotic construction of an adaptive reinforcement beam network for cross-laminated timber slab panels. Automation in Construction, 142(August), Article August. https://doi.org/10.1016/j.autcon.2022.104536
  - BibTeX
  BibTeX
  @article{Chai2022, abstract = {Timber slabs design is currently limited to grid layouts derived from prefabricated rectangular panels. The lack of adaptability of timber slabs to accommodate multiple span directions makes it difficult to compete with reinforced concrete slabs constructed on site. This paper describes an adaptive slab system composed of thin Cross-Laminated Timber (CLT) panels and robot-fabricated beam networks for reinforcement. The beam network was developed through intricate negotiation of structural optimization and fabrication constraints, which can adapt to changes in slab span and directions. A mobile robot platform that allows for on-site assembly of timber sticks into continuous beam networks was developed. The robot platform and slab system were tested with a case study pavilion. The co-design of the robot platform and the slab system fills the gap in on-site robotic timber construction and expands the design freedom of timber buildings.}, author = {Chai, Hua and Wagner, Hans Jakob and Guo, Zhixian and Qi, Yue and Menges, Achim and Yuan, Philip F.}, doi = {10.1016/j.autcon.2022.104536}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/03_PhD/Reading/1-s2.0-S0926580522004071-main (1).pdf:pdf}, issn = {09265805}, journal = {Automation in Construction}, month = {10}, number = {August}, pages = 104536, publisher = {Elsevier B.V.}, title = {{Computational design and on-site mobile robotic construction of an adaptive reinforcement beam network for cross-laminated timber slab panels}}, url = {https://doi.org/10.1016/j.autcon.2022.104536 https://linkinghub.elsevier.com/retrieve/pii/S0926580522004071}, volume = 142, year = 2022 }
2. Wagner, H. J. (2022). Digitale Fabrikation: Was bringt uns die Zukunft? In 2. Internationaler Kongress Holzbau: Technik+Wirtschaft (HTW) (pp. 91--102). FORUM HOLZBAU.
  - BibTeX
  BibTeX
  @incollection{Wagner2022, address = {Memmingen}, author = {Wagner, Hans Jakob}, booktitle = {2. Internationaler Kongress Holzbau: Technik+Wirtschaft (HTW)}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/PUBLICATION_COLLECTION/2022_FORUM_HBW_Wagner.pdf:pdf}, isbn = {978-3-906226-43-9}, pages = {91--102}, publisher = {FORUM HOLZBAU}, title = {{Digitale Fabrikation: Was bringt uns die Zukunft?}}, year = 2022 }

DATA SETS

2022
1. Wortmeier, A.-K., Calepso, A. S., Kropp, C., Sedlmair, M., & Weiskopf, D. (2022). Replication Data for BauHCI Video Analysis. DaRUS. https://doi.org/10.18419/darus-2117
  - BibTeX
  BibTeX
  @dataset{darus-2117_2022, author = {Wortmeier, Ann-Kathrin and Calepso, Aimée Sousa and Kropp, Cordula and Sedlmair, Michael and Weiskopf, Daniel}, doi = {10.18419/darus-2117}, publisher = {DaRUS}, title = {Replication Data for BauHCI Video Analysis}, unf = {UNF:6:+IiMCK3MFfuUzdi5tz/L/g==}, url = {https://doi.org/10.18419/darus-2117}, version = {V1}, year = 2022 }

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Cyber-Physical Fabrication Platform: Fluid Fabrication

CYBER‐PHYSICAL FABRICATION PLATFORM: FLUID FABRICATION – EXTENDING THE ADAPTIVITY OF ISLAND-BASED FABRICATION AND THE DESIGN-TO-FABRICATION RECIPROCITY THROUGH MULTI-UNIT COLLABORATION

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