Cyber-Physical Wood Fabrication Platform

Research Project 4-1 (RP 4-1)

IntCDC Research Project 4-1 – Cyber-Physical Wood Fabrication Platform
CYBER‐PHYSICAL FABRICATION PLATFORM FOR WOOD BUILDING SYSTEM UTILISING HUMAN-MACHINE COLLABORATIONS INCLUDING IMMERSIVE ANALYTICS FOR AUGMENTED REALITY

This research project aims to develop a semi-autonomous, off- and on-site, cyber-physical fabrication platform for a genuinely digital wood building system. It will address prevailing obstacles in timber construction, such as low levels of automation (LoA) and transport limitations, by utilising the concept of a modular, transportable and extendable fabrication platform supported by Human-Robot Collaboration (HRC) and custom Human-Machine Interfaces (HMIs).

The requirements for this fabrication platform will be determined through continuous feedback from the building system development (Research Project RP 3-1). The fabrication platform will take into account construction site conditions, machine processing, human-machine interaction and the resulting safety considerations, and will be linked to the development of the cyber-physical construction system (Research Project RP 8-1). The project will develop methods that enable the planning of continuous process interactions, comprehensive fabrication workflows, and the coordination between the geometric design of building parts (formulated as task descriptions) and their manufacturing conditions (formulated as feature descriptions).

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. Daniel Weiskopf and Prof. Dr. Michael Sedlmair
Visualization Research Center (VISUS), University of Stuttgart

TEAM

Dr.-Ing. Armin Lechler (ISW)
Dr. Felix Amtsberg (ICD)
Benjamin Kaiser (ISW)
Dr.-Ing. Tobias Schwinn (ICD)
Aimée Sousa Calepso (VISUS)
Hans Jakob Wagner (ICD)

PEER-REVIEWED PUBLICATIONS

  1. 2024

    1. Kannenberg, F., Zechmeister, C., Gil Pérez, M., Guo, Y., Yang, X., Forster, D., Hügle, S., Mindermann, P., Abdelaal, M., Balangé, L., Schwieger, V., Weiskopf, D., Gresser, G. T., Middendorf, P., Bischoff, M., Knippers, J., & Menges, A. (2024). Toward reciprocal feedback between computational design, engineering, and fabrication to co-design coreless filament-wound structures. Journal of Computational Design and Engineering, 11(3), Article 3. https://doi.org/10.1093/jcde/qwae048
    2. Opgenorth, N., Cheng, T., Lauer, P. R. A., Stark, T., Tahouni, Y., Treml, S., Göbel, M., Kiesewetter, L., Schlopschnat, C., Zorn, M. B., Yang, X., Amtsberg, F., Wagner, H. J., Wood, D., Sawodny, O., Wortmann, T., & Menges, A. (2024). Multi-scalar computational fabrication and construction of bio-based building envelopes – the livMatS biomimetic shell. Fabricate 2024: Creating Resourceful Futures, 22–31. https://doi.org/10.2307/jj.11374766.7
    3. Pathmanathan, N., Rau, T., Yang, X., Calepso, A. S., Amtsberg, F., Menges, A., Sedlmair, M., & Kurzhals, K. (2024). Eyes on the Task: Gaze Analysis of Situated Visualization for Collaborative Tasks. 2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR), 785–795. https://doi.org/10.1109/VR58804.2024.00098
    4. Skoury, L., Treml, S., Opgenorth, N., Amtsberg, F., Wagner, H. J., Menges, A., & Wortmann, T. (2024). Towards data-informed co-design in digital fabrication. Automation in Construction, 158, 105229. https://doi.org/10.1016/j.autcon.2023.105229
    5. Wortmeier, A.-K., Calepso, A. S., Kropp, C., Sedlmair, M., & Weiskopf, D. (2024). Configuring augmented reality users: analysing YouTube commercials to understand industry expectations. Behaviour & Information Technology, 43(2), Article 2. https://doi.org/10.1080/0144929X.2022.2163693
    6. Yang, X., Amtsberg, F., Sedlmair, M., & Menges, A. (2024). Challenges and potential for human–robot collaboration in timber prefabrication. Automation in Construction, 160, 105333. https://doi.org/10.1016/j.autcon.2024.105333

  2. 2023

    1. Amtsberg, F., Yang, X., Skoury, L., Sousa Calepso, A., Sedlmair, M., Wortmann, T., & Menges, A. (2023). Multi-Actor Fabrication for Digital Timber Construction. ECAADe Proceedings. https://doi.org/10.52842/conf.ecaade.2023.1.417
    2. Bossecker, E., Calepso, A. S., Kaiser, B., Verl, A., & Sedlmair, M. (2023). A Virtual Reality Simulator for Timber Fabrication Tasks Using Industrial Robotic Arms. Proceedings of Mensch Und Computer 2023, 568–570. https://doi.org/10.1145/3603555.3609316
    3. Calepso, A. S., Fleck, P., Schmalstieg, D., & Sedlmair, M. (2023). Exploring Augmented Reality for Situated Analytics with Many Movable Physical Referents. VRST ’23. https://doi.org/10.1145/3611659.3615700
    4. Kaiser, B., & Verl, A. (2023). Co-Design of Structural Timber Components Through Automated Model Generation for Manufacturing Simulation of Reconfigurable Manufacturing Systems. 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 1–6. https://doi.org/10.1109/M2VIP58386.2023.10413396
    5. Pathmanathan, N., Öney, S., Becher, M., Sedlmair, M., Weiskopf, D., & Kurzhals, K. (2023). Been There, Seen That: Visualization of Movement and 3D Eye Tracking Data from Real-World Environments. Computer Graphics Forum, 42(3), Article 3. https://doi.org/10.1111/cgf.14838
    6. Sherkat, S., Skoury, L., Wortmann, A., & Wortmann, T. (2023). Artificial Intelligence Automated Task Planning for Fabrication. In K. Dörfler, J. Knippers, A. Menges, S. Parascho, H. Pottmann, & T. Wortmann (Eds.), Advances in Architectural Geometry 2023 (pp. 249--260). De Gruyter. https://doi.org/doi:10.1515/9783111162683-019
    7. Yang, X., Sousa Calepso, A., Amtsberg, F., Menges, A., & Sedlmair, M. (2023). Usability Evaluation of an Augmented Reality System for Collaborative Fabrication between Multiple Humans and Industrial Robots. Proceedings of the 2023 ACM Symposium on Spatial User Interaction, 1–10. https://doi.org/10.1145/3607822.3614528
    8. Öney, S., Pathmanathan, N., Becher, M., Sedlmair, M., Weiskopf, D., & Kurzhals, K. (2023). Visual Gaze Labeling for Augmented Reality Studies. Computer Graphics Forum, 42(3), Article 3. https://doi.org/10.1111/cgf.14837

  3. 2022

    1. 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
    2. 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
    3. 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
    4. 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
    5. 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
    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
    7. 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.
    8. Skoury, L., Amtsberg, F., Yang, X., Wagner, H. J., Menges, A., & Wortmann, T. (2022). A Framework for Managing Data in Multi-actor Fabrication Processes. In C. Gengnagel, O. Baverel, G. Betti, M. Popescu, M. R. Thomsen, & J. Wurm (Eds.), Towards Radical Regeneration (pp. 601–615). Springer International Publishing. https://doi.org/10.1007/978-3-031-13249-0_47
    9. 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.
    10. 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
    11. 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

  4. 2021

    1. 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
    2. 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
    3. 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. Gašparík, 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
    4. 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
    5. 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
    6. 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

  5. 2020

    1. 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), 438–451. https://doi.org/10.1109/ISMAR50242.2020.00069
    2. 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.
    3. 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
    4. 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
    5. 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
    6. 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).

OTHER PUBLICATIONS

  1. 2022

    1. Wagner, H. J. (2022). Digitale Fabrikation: Was bringt uns die Zukunft? In 2. Internationaler Kongress Holzbau: Technik+Wirtschaft (HTW) (pp. 91--102). FORUM HOLZBAU.

DATA SETS

  1. 2022

    1. Abdelaal, M., Schiele, N. D., Angerbauer, K., Kurzhals, K., Sedlmair, M., & Weiskopf, D. (2022). Supplemental Materials for: Comparative Evaluation of Bipartite, Node-Link, and Matrix-Based Network Representations. DaRUS. https://doi.org/10.18419/DARUS-3100
    2. 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

  2. 2021

    1. Kaiser, B. (2021). Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks. https://doi.org/10.18419/darus-2126

    

To the top of the page