Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure

Performance Assessment Strategies

Using engineering performance evaluations to explore design alternatives during the conceptual phase of architectural design helps to understand the relationships between form and performance; and is crucial for developing well-performing final designs. Computer aided conceptual design has the potential to aid the design team in discovering and highlighting these relationships; especially by means of procedural and parametric geometry to support the generation of geometric design, and building performance simulation tools to support performance assessments. However, current tools and methods for computer aided conceptual design in architecture do not explicitly reveal nor allow for backtracking the relationships between performance and geometry of the design. They currently support post-engineering, rather than the early design decisions and the design exploration process. Focusing on large roofs, this research aims at developing a computational design approach to support designers in performance driven explorations. The approach is meant to facilitate the multidisciplinary integration and the learning process of the designer; and not to constrain the process in precompiled procedures or in hard engineering formulations, nor to automatize it by delegating the design creativity to computational procedures. PAS (Performance Assessment Strategies) as a method is the main output of the research. It consists of a framework including guidelines and an extensible library of procedures for parametric modelling. It is structured on three parts. Pre-PAS provides guidelines for a design strategy-definition, toward the parameterization process. Model-PAS provides guidelines, procedures and scripts for building the parametric models. Explore-PAS supports the solutions-assessment based on numeric evaluations and performance simulations, until the identification of a suitable design solution. PAS has been developed based on action research. Several case studies have focused on each step of PAS and on their interrelationships. The relations between the knowledge available in pre-PAS and the challenges of the solution space exploration in explore-PAS have been highlighted. In order to facilitate the explore-PAS phase in case of large solution spaces, the support of genetic algorithms has been investigated and the exiting method ParaGen has been further implemented. Final case studies have focused on the potentials of ParaGen to identify well performing solutions; to extract knowledge during explore-PAS; and to allow interventions of the designer as an alternative to generations driven solely by coded criteria. Both the use of PAS and its recommended future developments are addressed in the thesis

Performance Assessment Strategies:

Using engineering performance evaluations to explore design alternatives during the conceptual phase of architectural design helps to understand the relationships between form and performance; and is crucial for developing well-performing final designs. Computer aided conceptual design has the potential to aid the design team in discovering and highlighting these relationships; especially by means of procedural and parametric geometry to support the generation of geometric design, and building performance simulation tools to support performance assessments. However, current tools and methods for computer aided conceptual design in architecture do not explicitly reveal nor allow for backtracking the relationships between performance and geometry of the design. They currently support post-engineering, rather than the early design decisions and the design exploration process. Focusing on large roofs, this research aims at developing a computational design approach to support designers in performance driven explorations. The approach is meant to facilitate the multidisciplinary integration and the learning process of the designer; and not to constrain the process in precompiled procedures or in hard engineering formulations, nor to automatize it by delegating the design creativity to computational procedures. PAS (Performance Assessment Strategies) as a method is the main output of the research. It consists of a framework including guidelines and an extensible library of procedures for parametric modelling. It is structured on three parts. Pre-PAS provides guidelines for a design strategy-definition, toward the parameterization process. Model-PAS provides guidelines, procedures and scripts for building the parametric models. Explore-PAS supports the solutions-assessment based on numeric evaluations and performance simulations, until the identification of a suitable design solution. PAS has been developed based on action research. Several case studies have focused on each step of PAS and on their interrelationships. The relations between the knowledge available in pre-PAS and the challenges of the solution space exploration in explore-PAS have been highlighted. In order to facilitate the explore-PAS phase in case of large solution spaces, the support of genetic algorithms has been investigated and the exiting method ParaGen has been further implemented. Final case studies have focused on the potentials of ParaGen to identify well performing solutions; to extract knowledge during explore-PAS; and to allow interventions of the designer as an alternative to generations driven solely by coded criteria. Both the use of PAS and its recommended future developments are addressed in the thesis

Performance Assessment Strategies:

Using engineering performance evaluations to explore design alternatives during the conceptual phase of architectural design helps to understand the relationships between form and performance; and is crucial for developing well-performing final designs. Computer aided conceptual design has the potential to aid the design team in discovering and highlighting these relationships; especially by means of procedural and parametric geometry to support the generation of geometric design, and building performance simulation tools to support performance assessments. However, current tools and methods for computer aided conceptual design in architecture do not explicitly reveal nor allow for backtracking the relationships between performance and geometry of the design. They currently support post-engineering, rather than the early design decisions and the design exploration process. Focusing on large roofs, this research aims at developing a computational design approach to support designers in performance driven explorations. The approach is meant to facilitate the multidisciplinary integration and the learning process of the designer; and not to constrain the process in precompiled procedures or in hard engineering formulations, nor to automatize it by delegating the design creativity to computational procedures. PAS (Performance Assessment Strategies) as a method is the main output of the research. It consists of a framework including guidelines and an extensible library of procedures for parametric modelling. It is structured on three parts. Pre-PAS provides guidelines for a design strategy-definition, toward the parameterization process. Model-PAS provides guidelines, procedures and scripts for building the parametric models. Explore-PAS supports the solutions-assessment based on numeric evaluations and performance simulations, until the identification of a suitable design solution. PAS has been developed based on action research. Several case studies have focused on each step of PAS and on their interrelationships. The relations between the knowledge available in pre-PAS and the challenges of the solution space exploration in explore-PAS have been highlighted. In order to facilitate the explore-PAS phase in case of large solution spaces, the support of genetic algorithms has been investigated and the exiting method ParaGen has been further implemented. Final case studies have focused on the potentials of ParaGen to identify well performing solutions; to extract knowledge during explore-PAS; and to allow interventions of the designer as an alternative to generations driven solely by coded criteria. Both the use of PAS and its recommended future developments are addressed in the thesis

Integration + Innovation: Proceedings of the 2019 Building Technology Educators\u27 Society Conference

This volume contains papers, abstracts, and posters from the 2019 Building Technology Educators\u27 Society (BTES) Conference, which focused on Integration and Innovation as the theme. Innovation can begin with conjecture, with a searching for more effective solutions, or with an application to currently unknown or unarticulated needs. Innovation scholarship examines the personal intellectual habits that support new ideas, such as openness and exploratory behavior, as well as the circumstances behind the places in which creativity flourishes, such as support for cross-disciplinary fertilization and access to resources. The 2019 BTES conference explored the role of technology education and curriculum in cultivating these intellectual habits in our students (and ourselves) and in creating the organizational spaces in which the future of practice will be shaped. Sessions shared exemplary proposals of research and pedagogical applications that explore innovative practices and integrative thinking in the academy and profession

Between city and neighborhood : the design of a center for sustainable education and living

This thesis proposes that the ideal place for institutions of environmental learning is between the neighborhood and the city. Through the shaping of urban space, the architect\u27s task is to discover how the built environment can be ecologically conscientious while encouraging environmental stewardship The need for shelter and its diversity are based on human experience, imagination and climatic effects that are specific to place Through the design of a program for a Center for Sustainable Education and Living the thesis explores the tectonic relationship between ephemeral architecture and the permanent conditions of architecture as they respond to natural and human forces that shape the built environment and affirm a sense of place. Architecture is an art form that allows visual, tactile and emotive experiences. Through tectonic expression, the architect is able to reconcile both natural processes and human purpose. Tectonics can be defined as the science or art by which implements, vessels, dwellings or other edifices are constructed both agreeably to the end for which they are designed and in conformity with artistic sentiments and ideas. These processes, in addition to natural land patterns, provide the basis for the shaping of the built environment. Responses to natural and human forces are potential form generators of edifice and place. Building design and placement as a response to site and contextual conditions have potential to affirm a sense of place while demonstrating solutions for local policies of environmental responsibility. Natural as well as man-made patterns of the site and surrounding neighborhood not only inform placement of human intervention but also activities that can be accommodated. By focusing on urban development, the thesis explores opportunities for community sustainability through reclamation of abandoned urban space, social cooperation and affirmation of place. Reclamation and affirmation of place helps revitalize the city by making it more attractive as well as productive for both residents and visitorsSocial cooperation as proposed by the thesis presents new patterns of urban living that repair, enhance and sustain the city in order to create a new urban form and image. The thesis investigation explores design issues pertaining to patterns: urban, structural adaptability, and edification. In addition, the proposed thesis investigates sustainable design based on local conditions of place as opposed to more regional or global scopes. Chattanooga, Tennessee has been selected as the urban site for this thesisThe design investigation provides a means of engaging, informing and inspiring the citizens of Chattanooga to become stewards of their environment. In addition, the design investigation proposes diverse spatial opportunities for local responses to environmental responsibility through design, demonstration, discussion, education and observation of the existing urban context. An investigation of urban patterns both existing and potential is explored as a means to integrate the proposed design into the existing urban infrastructure and context of the neighborhood. The design investigation proposes activities that allow social gathering, participation, demonstration, experimentation and production Each proposed activity generates a spatial condition that provides a comprehensive experience to affirm a sense of place while teaching local practices of environmental stewardship through adaptation of new living patterns. Each proposed activity will generate a spatial condition that provides a comprehensive experience to affirm a sense of place while teaching local practices of environmental stewardship through adaptation of new living patterns

Black HOLISTIC: A RESPONSE TO RESPIRATORY HEALTH AND EQUITY THROUGH K-12 ENVIRONMENTS AND COMMUNITY - BASED DESIGN

The overarching aim of this thesis is to investigate the causes of higher amounts of absenteeism due to asthmatic disease within African American students as it pertains to building-related illness and environmental harms. With this information, design decisions will be made to respond to asthma symptoms amongst students and introduce new outlooks towards health within the communities non-intrusively. Looking at Lakeview Elementary School in Portsmouth, Virginia as a case. This majority African American school sits adjacent to a preexisting landfill that has been capped before construction of the school. This site will act as an example, showing the relationships between asthmatic health and environmental health and ways both can be mitigated through community desig

The design of a seaside hydrotherapy facility in Nelson Mandela Bay, Beachview

This treatise is about the design of a seaside hydrotherapy facility which will treat health conditions through the healing properties of water therapy and nature, as well as improving the wellness of the users. The purpose of this treatise is to understand the architectural aspects involved in a seaside hydrotherapy facility, such as the theoretical, the contextual, spatial, and the physical aspects. The facility will be located in Nelson Mandela Bay at Beachview in a therapeutic setting on the seafront, and will not only provide specialized thalassotherapy, but also give the users the benefit of the mental healing properties of the ocean. The building itself aims to promote healing and relaxation and challenges the designer to make maximum use of these elements. The nature of hydrotherapy facilities requires the provision for recovery, which indicates the setting up of overnight amenities as well as daily access. With this in mind, the relationship between these two groups of users and their connections, are explored. The facility proposes to use design as a way to connect the sea, land and architecture, in order to form an integrated relationship for the beneficial use of the user. An architectural design is proposed which is formed of specific sets of architectural issues that were identified and analysed. The work of professionals and other architectural designs with similar challenges were studied in terms of their particular responses and their relationships were analysed in relation to a seaside hydrotherapy facility