Therblig to Robot: Action Packages, Robot Motion and Human-Robot Collaboration in Domestic Environments

Industrial robotic arms commonly require specialist knowledge for machine functions. Specifically, training cobots for work sequences is time consuming and complex when task complexity increases, such as through differentiation in tool adaptations or work processes. This research explores robot versatility for a context of domestic environments (such as a kitchen/workshop), where work processes are approached as a hybrid scenario, with setup for integration of a tool variety whereby human-robot teams collaborate. The paper discusses a) novel workflows based on a palette of work tools adopted for robot tooling to translate manual human tasks to human-robot tasks; b) an initial script series for work processes that represents modelling, planning, simulation, and implementation; c) a framework for task division through action sets based on Therbligs that supports users; and d) an empirical evaluation of the approach through a series of user studies. In a post-carbon context, previously autonomous robots are required to become more versatile in terms of productivity, scalability, safety and skill criteria and environmental impact. This research extends beyond traditional kitchens to include workshop and fabrication scenarios characterised by the complexity and variability of task applications, guided by detailed action packages that explore robotic work for modular components or fluid and liquid materials; heat and assembly-based processing; and bridges from food preparation to fabrication and manufacturing tasks

Dialogues on Architecture #6

Dialogues on Architecture, published in various issues of Spool CpA, is a series of dialogues between researchers and practitioners, who are embracing the intellectual model of high technology and are involved in its advancement and application in architecture. Dialog #6 presents discussions risen during an online symposium on challenges of the Architecture, Engineering and Construction (AEC) industry, which is facing a threefold challenge involving the (i) digital transformation of all design and planning processes, (ii) automation of construction processes, and (iii) reconsideration of energy, process, and material use. These challenges involve issues with respect to productivity, scalability, safety, labour skill shift, and environmental impact. Acknowledging that there is a particular urgency in transferring effective solutions from research to building practice to meet significant carbon reduction goals by 2040, the one-day symposium organized as an online event in 2022 , Human-Robot Interaction for Post-Carbon Architecture (HRI4PCA), was an opportunity to make an inventory of current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots

Advancing Sustainable Approaches in Architecture by Means of Design-to-Robotic-Production

The construction sector accounts for about 40% of material-, energy- and process-related carbon dioxide (CO2) emissions , which can be reduced by introducing data-driven Circular Economy (CE) approaches . For instance, Design-to-Robotic-Production (D2RP) methods developed in the Robotic building lab, at Technical University (TU) Delft are embedding data-driven systems into building processes. Their potential to contribute to sustainability through increased material-, process-, and energy-efficiency has been explored in several case studies that are presented in this paper. The assumption is that by using these methods and reclaimed wood to minimize demand for new resources and reduce deforestation along the way, CO2 emissions can be considerably reduced

An interactive simulation of control and coordination strategies for swarms of autonomous construction robots: Towards a post-carbon re-imagining of the interplay between natural and built environments, facilitated by bio-inspired robotic technology

There is an established idea – found in science fiction, architectural studios, and scientific papers alike – of stainable buildings crafted from bio-based materials, colonized by plant and animal life, and blending seamlessly into the natural surroundings. Such buildings might one day be built, maintained and remodelled by swarms of autonomous robots, allowing them to evolve in response to the changing needs of their inhabitants. Inspired by that vision, this paper contributes to the field of swarm intelligence with a focus on robotic construction and human-swarm interaction. Along with a short literature review on robotic building, swarm intelligence and biocompatible building materials, the paper presents an open-source simulation of abstracted termite-like swarm construction. The focus is mainly on human-swarm interaction, specifically how to influence the emergent behaviour of an autonomous swarm in order to elicit a desired outcome while retaining the robustness and adaptability of a self-organized system. The simulator is used to demonstrate a set of four autonomous swarm behaviours that are representative of construction tasks

In-Situ vs. Prefab 3D Printing Considerations for CO2-free Pop-up Architecture

This paper revisits existing pop-up typologies in architecture to identify opportunities for new shelter models to address current housing demands and future habitation requirements on Mars. It presents advancements in design to production methodologies based on computational and robotic techniques to meet current requirements and affordances while integrating sustainable and adaptive functionalities. The main goal is to advance pop-up architecture by developing methods and technologies for rapidly deployable on- and off-Earth habitats while addressing challenges of carbon-free architecture by means of 3D printing. By reviewing state-of-the-art in-situ vs. prefab 3D printing approaches with a particular focus on Human-Robot Interaction (HRI) supported Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods developed at TU Delft material, process, and energy efficiency using locally sourced materials is achieved

Design and Method in Architectural Research: From Objective Quantification to Material Speculation

This issue of SPOOL introduces a new thread: ‘Method and Design’, titled “Design and Method in Architectural Research: From Objective Quantification to Material Speculation”. The issue explores the conventional understanding of method through both theoretical contributions and visual essays. The theoretical contributions discuss methodology, material practice, studio approaches, or design principles. The visual essays are more experimental, allowing for design proposals or artistic expressions that explore specific methods, depict scenarios, or articulate a material logic

On Dreaming Realities: Cultural critique, design speculation and full-scale mock-ups

This essay delves into the installation designed by Hans Hollein for the Künstlerhaus facade in Vienna in 1985. It serves as an illustrative case of material speculation in architecture, particularly regarding the incorporation of ‘historical’ elements in contemporary architectural practice. Through a close reading of this installation, realized in the context of the exhibition ‘Traum und Wirklichkeit, Wien 1870-1930’ (Dream and Reality, Vienna 1870-1930), I discuss how such speculation entails the physical replication of carefully chosen ‘historical’ forms and their reassembly in what would be best described as a ‘fragmentary whole.’ However, the reintegration of historical fragments into the present can manifest in diverse ways. I argue that in the installation that reshaped the facade of the Künstlerhaus, Hollein explored two contrasting modes while tracing the possibilities (and pitfalls) of their synthesis. (image: Drawing by Hans Hollein for the Traum und Wirklichkeit installation. Credit: Architekturzentrum Wien, Collection

Untangling Stakeholder Dynamics in Circularity of the Built Environment: A Comics-Based Approach

Comics are a known method to visually link characters to context through time. This article explores the medium of comics to untangle stakeholder dynamics in the context of a complex theme such as circularity of the built environment. Circularity of the built environment tailors concepts of circular economy to the field of construction and urban development. Relying mostly on optimization strategies, context-specific characteristics such as stakeholder agency and spatial preconditions are often disregarded as resources in the design of circularity projects. This results in one-size-fits all circularity instruments formalized in generic toolboxes. Circularity instruments should additionally engage with stakeholders, recognizing complexity and surfacing the resourcefulness of the territory. This comics series follows the researcher from analysis to design hypothesis, clarifying complexity at hand from the researcher perspective, including stakeholder agendas, spatial conditions, barriers and opportunities. Part of an ongoing action-research project, the self-reflective comics show parts of a researcher’s journey untangling circularity in the built environment in its multiple stakeholder dimensions. It includes data sourced from mixed method research, such as ethnographic fieldwork, semi-structured interviews, and archival research on two Flemish industry parks, Kortrijk-Noord and Leuven-Haasrode. These comics function as a narrative assemblage method for critical analysis, bringing together different data sources, and rendering our research process on circularity contextual and visual. Additionally, the comic allows us to communicate, challenge, and begin to design with (hidden) stakeholder agency

Retrieving landscape: Drawing(s) as key to the development of alternative biographical readings of Nanhai in the Pearl River Delta

This article focuses on two methods employed in the selection, interpretation, and representation of diverse source materials for developing alternative biographies for my ancestral landscape - Nanhai district in the Pearl River Delta in southern China. These biographies aim to approach Nanhai from a long view of continual transformation, as opposed to prevalent readings of the region that focus on the striking spatial contrasts and large-scale developments that have only come about in recent decades.  The chronological reading explores a critical shift in the cosmological understanding of the landscape situated in the 19th century through a selection of historical gazetteer maps, while in the excavational reading the diffuse continuity of the lineage in the present-day landscape of Nanhai is traced. In both methods, the drawing functions as a crucial (research) tool to engage the range of source materials

Artistic Practices as Architectural Research

The potential of implicit architectural knowledge extends beyond the realm of sciences and technology. It is worthwhile to examine its role in art, artistic practices, and artistic knowledge. This article explores several practical examples from art and architecture, spanning the 20th and 21st centuries. These examples shed light on artistic practices that, apart from enhancing designerly qualities and fostering a reflexive approach, may have a significant research impact in architecture. The methods, processes, and topics of these examples are examined, and their potential for critical improvement is highlighted. Particularly, the concept of ‘not-knowing’ is emphasized as a valuable asset for addressing contemporary and future challenges, not limited to architecture