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In-Situ vs. Prefab 3D Printing Considerations for CO2-free Pop-up Architecture 无二氧化碳弹出式建筑的原位与预制 3D 打印注意事项
Q4 Engineering Pub Date : 2024-07-20 DOI: 10.47982/spool.2024.1.05
Atousa Aslaminezhad, A. Hidding, Henriette Bier, Giuseppe Calabrese
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.
本文重新审视了现有的弹出式建筑类型,以确定新的庇护所模式的机会,从而满足当前的住房需求和未来在火星上的居住要求。它介绍了基于计算和机器人技术的设计到生产方法的进步,以满足当前的要求和承受能力,同时集成可持续和适应性功能。主要目标是通过开发可快速部署的地球内外栖息地的方法和技术,推进弹出式建筑的发展,同时通过三维打印技术应对无碳建筑的挑战。通过回顾最先进的原位与预制三维打印方法,特别关注代尔夫特理工大学开发的人机交互(HRI)支持的设计到机器人生产、组装和操作(D2RPA&O)方法,利用当地材料实现材料、工艺和能源效率。
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引用次数: 0
Human-Robot Interaction for Carbon-free Architecture 无碳建筑的人机互动
Q4 Engineering Pub Date : 2024-07-20 DOI: 10.47982/spool.2024.1.00
Henriette Bier, Mirco Becker, Jan Philipp Drude
The Spool CpA #6 issue on Human-Robot Interaction for Carbon-free Architecture reviews 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 and attempts to answer questions about (i) the fundamental framing of post-carbon autonomous construction, (ii) the interdependencies between machines, humans, and materials, and (iii) the different imple-mentation timeframes ranging from continuous transformation to leapfrogging.
Spool CpA 第 6 期 "无碳建筑中的人机交互 "回顾了当前自主建筑和建筑中人机交互的趋势。它旨在肯定和/或挑战建筑机器人领域的研究议程,并试图回答以下问题:(i) 后碳自主建筑的基本框架;(ii) 机器、人类和材料之间的相互依存关系;(iii) 从持续转型到跨越式发展的不同实施时间框架。
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引用次数: 0
Advancing Sustainable Approaches in Architecture by Means of Design-to-Robotic-Production 通过 "从设计到机器人生产 "推进建筑的可持续方法
Q4 Engineering Pub Date : 2024-07-20 DOI: 10.47982/spool.2024.1.04
Henriette Bier, A. Hidding, Casper Van Engelenburg, Tarique Ali
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.
在与材料、能源和工艺相关的二氧化碳(CO2)排放量中,建筑行业约占 40%,而引入数据驱动的循环经济(CE)方法可以减少这些排放量。例如,代尔夫特理工大学(TU)机器人建筑实验室开发的 "从设计到机器人生产"(D2RP)方法正在将数据驱动系统嵌入建筑流程。通过提高材料、工艺和能源效率,这些方法在促进可持续发展方面的潜力已在本文介绍的几个案例研究中得到了探讨。我们的假设是,通过使用这些方法和再生木材,最大限度地减少对新资源的需求,同时减少对森林的砍伐,从而大大减少二氧化碳的排放。
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引用次数: 0
The migrating walls 迁徙的城墙
Q4 Engineering Pub Date : 2024-07-20 DOI: 10.47982/spool.2024.1.02
Victor Sardenberg, Andrea Kondziela, Antonin Brünner, Youssef Daadoush, Hendrik Wiese, Mirco Becker
This paper presents a comparison of different workflows for mobile robotic fabrication using modular building blocks. Different localization, locomotion, and interlocking building systems strategies are tested and compared. The work is influenced by related research into ecosystems of building parts, design software, and builder robots to digitize the construction work. For localization, it compares LIDARs, reacTIVision, and ArUco markers. As a mobile platform, a MIR100 robot platform, a 3.3 m linear axis, and a manual trolly are used. Interlocking components such as wood slates, custom-made bricks, and interlocking wood building blocks are used. The research is in the field of collective robotic construction (CRC) using bespoke robots designed in tandem with specific discrete building blocks.
本文比较了使用模块化积木进行移动机器人制造的不同工作流程。对不同的定位、运动和联锁建筑系统策略进行了测试和比较。这项工作受到对建筑部件生态系统、设计软件和建筑机器人的相关研究的影响,以实现建筑工作的数字化。在定位方面,对激光雷达、reacTIVision 和 ArUco 标识进行了比较。作为移动平台,使用了 MIR100 机器人平台、3.3 米直线轴和手动手推车。使用的连锁部件包括木板、定制砖块和连锁木制积木。该研究属于集体机器人建筑(CRC)领域,使用的是与特定离散积木配套设计的定制机器人。
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引用次数: 0
An interactive simulation of control and coordination strategies for swarms of autonomous construction robots 交互式模拟自主建筑机器人群的控制和协调策略
Q4 Engineering Pub Date : 2024-07-20 DOI: 10.47982/spool.2024.1.01
Jordan H Boyle
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.
在科幻小说、建筑工作室和科学论文中,都有这样一种既定的想法,即由生物基材料制成的可染色建筑,由植物和动物定居,并与周围的自然环境完美融合。有朝一日,这样的建筑可能会由成群的自主机器人建造、维护和改造,使它们能够根据居民不断变化的需求而进化。受到这一愿景的启发,本文以机器人建筑和人机交互为重点,为蜂群智能领域做出了贡献。在对机器人建筑、蜂群智能和生物兼容建筑材料进行简短的文献综述的同时,本文还介绍了抽象白蚁群建筑的开源模拟。重点主要放在人与蜂群的互动上,特别是如何影响自主蜂群的突发行为,以获得理想的结果,同时保持自组织系统的稳健性和适应性。该模拟器用于演示具有代表性的四种自主蜂群行为。
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引用次数: 0
Dialogues on Architecture #6 建筑对话 #6
Q4 Engineering Pub Date : 2024-07-20 DOI: 10.47982/spool.2024.1.06
Henriette Bier, Mirco Becker
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.
Spool CpA》各期发表的《建筑对话》是研究人员和从业人员之间的系列对话,他们接受高科技的知识模式,并参与其在建筑领域的进步和应用。对话 #6 介绍了在线研讨会上就建筑、工程和施工(AEC)行业面临的挑战进行的讨论,该行业正面临着三方面的挑战,包括:(i) 所有设计和规划流程的数字化转型;(ii) 施工流程的自动化;(iii) 重新考虑能源、流程和材料的使用。这些挑战涉及生产率、可扩展性、安全性、劳动力技能转移和环境影响等问题。认识到将有效的解决方案从研究转移到建筑实践以实现到 2040 年的重大碳减排目标尤为紧迫,2022 年举办的为期一天的在线研讨会 "后碳建筑中的人机交互(HRI4PCA)"提供了一个机会,以盘点当前建筑中的自主建造和人机交互趋势。其目的是确认和/或挑战建筑机器人领域的研究议程。
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引用次数: 0
Therblig to Robot Therblig 至机器人
Q4 Engineering Pub Date : 2024-07-01 DOI: 10.47982/spool.2024.1.03
Dagmar Reinhardt, Lynn Masuda
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.
工业机械臂通常需要专业知识来实现机器功能。具体来说,当任务复杂性增加时,例如工具适应性或工作流程的差异化,训练机器人的工作序列既耗时又复杂。本研究探讨了机器人在家庭环境(如厨房/车间)中的多功能性,在这种环境中,工作流程被视为一种混合场景,并设置了多种工具集成,从而实现人类与机器人团队的协作。本文讨论了 a) 基于机器人工具所采用的工作工具调色板的新型工作流程,以将人类手动任务转化为人类-机器人任务;b) 代表建模、规划、模拟和实施的工作流程初始脚本系列;c) 基于 Therbligs 的行动集的任务分工框架,为用户提供支持;d) 通过一系列用户研究对该方法进行实证评估。在后碳时代背景下,以前的自主机器人需要在生产率、可扩展性、安全和技能标准以及环境影响方面变得更加全面。这项研究超越了传统的厨房,将以任务应用的复杂性和多变性为特征的车间和制造场景纳入其中,并以详细的行动包为指导,探索机器人在模块化组件或流体和液体材料方面的工作;以热和装配为基础的加工;以及从食品准备到制造和生产任务的衔接。
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引用次数: 0
Untangling Stakeholder Dynamics in Circularity of the Built Environment 解开建筑环境循环中利益相关者的动态关系
Q4 Engineering Pub Date : 2023-12-24 DOI: 10.47982/spool.2023.1.05
Ellen Verbiest, Julie Marin, Bruno De Meulder, A. Vande Moere
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.
漫画是一种众所周知的将人物与时间背景直观联系起来的方法。本文以建筑环境的循环性这一复杂的主题为背景,探讨如何利用漫画这一媒介来解开利益相关者的动态关系。建筑环境的循环性将循环经济的概念应用于建筑和城市发展领域。在循环项目的设计中,主要依靠优化策略,而忽视了具体环境的特点,如利益相关者的作用和空间前提条件。这导致通用工具箱中的循环利用工具千篇一律。此外,循环利用工具还应与利益相关者合作,认识到复杂性并展现地域的资源性。本系列漫画跟随研究人员从分析到设计假设的整个过程,从研究人员的角度阐明当前的复杂性,包括利益相关者的议程、空间条件、障碍和机遇。作为一个正在进行的行动研究项目的一部分,这些自我反思的漫画展示了研究人员从多个利益相关者的维度解开建筑环境中的循环性的部分历程。漫画中的数据来源于混合方法研究,如人种学实地调查、半结构式访谈以及对两个佛兰德工业园区(科特赖克-诺德和鲁汶-哈斯罗德)的档案研究。这些漫画作为批判性分析的叙事组合方法,汇集了不同的数据来源,使我们对循环性的研究过程具有情境性和可视性。此外,漫画还允许我们与利益相关者进行交流、提出质疑并开始设计(隐藏的)利益相关者机构。
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引用次数: 0
On File and As Files 在文件上和作为文件
Q4 Engineering Pub Date : 2023-12-24 DOI: 10.47982/spool.2023.1.02
Heidi Svenningsen Kajita, Katie Lloyd Thomas
In this paper, we piece together threads of communicative processes between residents, architects, and other parties, as found in the lists and letters of the archive of the Byker Redevelopment in Newcastle Upon Tyne (1968-83). Documents that are usually discarded or neglected by architectural researchers - from a stack of various papers documenting residents’ lists of complaints, evaluative papers such as an audit report, and architects’ memos, to a resident’s letter of complaint - enable us to reconstruct, first, how a mainstream practice collected and filed residents’ experiences and understanding of their homes, and second, how, through the circulation of those papers in action as files, residents’ notes were also embedded in the design process.
在本文中,我们将从泰恩河畔纽卡斯尔拜克重建项目(1968-1983 年)档案中的清单和信件中,拼凑出居民、建筑师和其他各方之间沟通过程的线索。这些通常被建筑研究人员丢弃或忽视的文件--从一叠记录居民投诉清单的各种文件、审计报告等评估文件、建筑师备忘录到一封居民投诉信--使我们能够重建:第一,主流实践如何收集和归档居民的经验和对其住宅的理解;第二,通过这些文件作为档案的流通,居民的笔记如何也被嵌入到设计过程中。
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引用次数: 0
Design against Extinction at New York University 纽约大学设计对抗灭绝
Q4 Engineering Pub Date : 2023-12-24 DOI: 10.47982/spool.2023.1.08
P. Anker, Mitchell Joachim
This article reviews the eco-social design work of students at the Gallatin School of Individualized Studies at New York University over the last decade. Environmental justice movements and the effects of global warming pose significant challenges to the architecture of dwellings, landscapes, and urban design communities. In response, students have placed socially and ecologically sensitive projects at the center of their design education. The justifiable moral outrage of our students has prompted us and them to rethink the methods by which we teach and imagine social environmentalism from the perspective of equity, inclusion, and the biosphere.
本文回顾了纽约大学加勒廷个性化研究学院的学生们在过去十年中进行的生态社会设计工作。环境正义运动和全球变暖的影响对住宅建筑、景观和城市设计社区提出了重大挑战。为此,学生们将对社会和生态敏感的项目作为设计教育的中心。学生们理所当然的道德愤怒促使我们和他们重新思考我们的教学方法,并从公平、包容和生物圈的角度来想象社会环保主义。
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引用次数: 0
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