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

A semantic web approach for built heritage representation

In a built heritage process, meant as a structured system of activities aimed at the investigation, preservation, and management of architectural heritage, any task accomplished by the several actors involved in it is deeply influenced by the way the knowledge is represented and shared. In the current heritage practice, knowledge representation and management have shown several limitations due to the difficulty of dealing with large amount of extremely heterogeneous data. On this basis, this research aims at extending semantic web approaches and technologies to architectural heritage knowledge management in order to provide an integrated and multidisciplinary representation of the artifact and of the knowledge necessary to support any decision or any intervention and management activity. To this purpose, an ontology-based system, representing the knowledge related to the artifact and its contexts, has been developed through the formalization of domain-specific entities and relationships between them

A semantic-based platform for the digital analysis of architectural heritage

This essay focuses on the fields of architectural documentation and digital representation. We present a research paper concerning the development of an information system at the scale of architecture, taking into account the relationships that can be established between the representation of buildings (shape, dimension, state of conservation, hypothetical restitution) and heterogeneous information about various fields (such as the technical, the documentary or still the historical one). The proposed approach aims to organize multiple representations (and associated information) around a semantic description model with the goal of defining a system for the multi-field analysis of buildings

Sketching space

In this paper, we present a sketch modelling system which we call Stilton. The program resembles a desktop VRML browser, allowing a user to navigate a three-dimensional model in a perspective projection, or panoramic photographs, which the program maps onto the scene as a `floor' and `walls'. We place an imaginary two-dimensional drawing plane in front of the user, and any geometric information that user sketches onto this plane may be reconstructed to form solid objects through an optimization process. We show how the system can be used to reconstruct geometry from panoramic images, or to add new objects to an existing model. While panoramic imaging can greatly assist with some aspects of site familiarization and qualitative assessment of a site, without the addition of some foreground geometry they offer only limited utility in a design context. Therefore, we suggest that the system may be of use in `just-in-time' CAD recovery of complex environments, such as shop floors, or construction sites, by recovering objects through sketched overlays, where other methods such as automatic line-retrieval may be impossible. The result of using the system in this manner is the `sketching of space' - sketching out a volume around the user - and once the geometry has been recovered, the designer is free to quickly sketch design ideas into the newly constructed context, or analyze the space around them. Although end-user trials have not, as yet, been undertaken we believe that this implementation may afford a user-interface that is both accessible and robust, and that the rapid growth of pen-computing devices will further stimulate activity in this area

A virtual environment for the design and simulated construction of prefabricated buildings

The construction industry has acknowledged that its current working practices are in need of substantial improvements in quality and efficiency and has identified that computer modelling techniques and the use of prefabricated components can help reduce times, costs, and minimise defects and problems of on-site construction. This paper describes a virtual environment to support the design and construction processes of buildings from prefabricated components and the simulation of their construction sequence according to a project schedule. The design environment can import a library of 3-D models of prefabricated modules that can be used to interactively design a building. Using Microsoft Project, the construction schedule of the designed building can be altered, with this information feeding back to the construction simulation environment. Within this environment the order of construction can be visualised using virtual machines. Novel aspects of the system are that it provides a single 3-D environment where the user can construct their design with minimal user interaction through automatic constraint recognition and view the real-time simulation of the construction process within the environment. This takes this area of research a step forward from other systems that only allow the planner to view the construction at certain stages, and do not provide an animated view of the construction process

Transferring Unit Cell Based Tissue Scaffold Design to Solid Freeform Fabrication

Designing for the freeform fabrication of heterogeneous tissue scaffold is always a challenge in Computer Aided Tissue Engineering. The difficulties stem from two major sources: 1) limitations in current CAD systems to assembly unit cells as building blocks to form complex tissue scaffolds, and 2) the inability to generate tool paths for freeform fabrication of unit cell assemblies. To overcome these difficulties, we have developed an abstract model based on skeletal representation and associated computational methods to assemble unit cells into an optimized structure. Additionally we have developed a process planning technique based on internal architecture pattern of unit cells to generate tool paths for freeform fabrication of tissue scaffold. By modifying our optimization process, we are able to transfer an optimized design to our fabrication system via our process planning technique.Mechanical Engineerin

Closing the loop of design and analysis: Parametric modelling tools for early decision support

There is a growing need for parametric design software that communicates building performance feedback in early architectural exploration to support decision-making. This paper examines how the circuit of design and analysis process can be closed to provide active and concurrent feedback between architecture and services engineering domains. It presents the structure for an openly customisable design system that couples parametric modelling and energy analysis software to allow designers to assess the performance of early design iterations quickly. Finally, it discusses how user interactions with the system foster information exchanges that facilitate the sharing of design intelligence across disciplines