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IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR)

作者： Braumann, Johannes Gollob, Emanuel Bastan, Amir UfG Linz Creat Robot Linz Austria Assoc Robots Architecture Paris France

ISBN: (纸本)9781665484022

Today, robotic arms are widely used in industry and increasingly being adopted by small enterprises and startups where they perform tasks beyond the concept of mass fabrication that these machines were developed for. Facilitating the use of industrial robots through new, domain-specific interfaces is essential for fostering these applications. Augmented reality (AR) has got the potential to more closely connect the digital aspects of robot programming with the physical aspects of materiality and the synchronization of these workspaces. We present approaches that go beyond existing AR solutions, primarily using research-oriented or collaborative robots, towards integrating AR with large-scale industrial robots and their comparably dated software architecture. By integrating these strategies into a visual programming environment, they can be made available to people with domain-specific expertise but little programming knowledge, thus fostering innovation and digitization in these fields.

关键词： augmented reality robotic fabrication human-robot interaction

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Towards Real-Time Interaction with Industrial robots in the Creative Industries

Towards Real-Time Interaction with Industrial Robots in the ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Braumann, Johannes Singline, Karl Univ Arts & Ind Design Linz Creat Robot Linz Austria Assoc Robots Architecture Graz Austria

ISBN: (纸本)9781728190778

This research provides an overview of the challenges towards realizing interactive (near) real-time control of industrial robots within the context of creative industries. Within this field, there an increasing interest in the use of industrial robots for non-standard fabrication, building upon accessible, flow-based visual programming environments. Where robotics middleware is focused on communication, these software tools focus primarily on computational geometry within design software, with the goal of enabling mass-customization and individualization by linking parametric design with toolpath generation and robot simulation. Realizing interactive processes within such environments is challenging, as they form directed dataflows minimizing opportunities for recursive applications and are limited to non-real-time capable operating systems. A series of realized projects is presented that benefits from the advanced geometrical methods provided by the creative industries' flow-based programming, while at the same time implementing strategies that enable cyclical dataflows and interaction. Novel software interfaces have allowed for fluent interaction with existing robot technologies, even from non-real-time capable environments.

关键词： Industries Fabrication Visualization Service robots Operating systems Conferences Programming

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Robotic application of foam concrete onto bare wall elements - Analysis, concept and robotic experiments

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AUTOMATION IN CONSTRUCTION 2018年 89卷 299-306页

作者： Lublasser, E. Adams, T. Vollpracht, A. Brell-Cokcan, S. Rhein Westfal TH Aachen Chair Individualized Prod Architecture Aachen Germany Rhein Westfal TH Aachen Inst Bldg Mat Res Aachen Germany Assoc Robots Architecture Vienna Austria

In the course of frequently altering energy saving regulations, numerous buildings have to be comprehensively refurbished to meet the rising energy-efficiency standards in order to protect the global environment and to save resources. However, available materials as well as adaptable design concepts for additional energy-saving insulation layers are not yet convincing in terms of their long term recyclability or variation of shape. Therefore, we investigate the application of foam concrete onto bare walls of existing buildings to gain a facade finish which is highly insulating, easily recyclable and at the same time promises to be individually designable due to the properties of the raw material mixture. To ensure controllable as well as reproducible application and to react to changing working methods in architecture and construction, the research focuses on the automatized application of foam concrete using a robotic setup. We analyzed manual application strategies of foam concrete, considering parameters of handcraft, used tools as well as the reaction on varying material characteristics during application. Based on the analysis results, we present a concept for the robotic application of foam concrete, including suggestions regarding end effectors, robot programming and surface design planning.

关键词： Insulation Foam concrete Robotic application Automated process Surface design

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On-Site Robotic Construction Assistance for Assembly Using A-Priori Knowledge and Human-Robot Collaboration 25th

On-Site Robotic Construction Assistance for Assembly Using A...

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25th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Stumm, Sven Braumann, Johannes von Hilchen, Martin Brell-Cokcan, Sigrid Rhein Westfal TH Aachen Chair Individualized Prod Architecture Aachen Germany Assoc Robots Architecture Vienna Austria UfG Linz Linz Austria

ISBN: (纸本)9783319490588;9783319490571

The programming of industrial robots is commonly static and optimized for a clearly defined surrounding. Service robotics on the other hand focuses on working in dynamic and completely unknown environments. Within construction, robotics needs to be able to adapt within dynamic and unstructured environments. However a lot of information is already available from the planning phase. Currently this information is often not used directly or efficiently on the construction site. Using force torque sensors as well as human-robot collaboration in the form of haptic programming we want to enable intuitive on-site robot programming, handle material tolerances of components and detect differences between design and reality to achieve satisfactory quality in assembly tasks.

关键词： Parametric robot control Haptic programming Construction robotics Human robot collaboration Wood fabrication

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Human-Machine Interaction for Intuitive Programming of Assembly Tasks in Construction 6th

Human-Machine Interaction for Intuitive Programming of Assem...

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6th CIRP Conference on Assembly Technologies and Systems (CATS)

作者： Stumm, Sven Braumann, Johannes Brell-Cokcan, Sigrid Rhein Westfal TH Aachen Individualized Prod D-52062 Aachen Germany Usg Linz A-4040 Linz Austria Assoc Robots Architecture A-1060 Vienna Austria

A variety of robot programming techniques exists ranging from constraint based over skill based programming to learning by demonstration. In order to extend their applicability propose to join some of these approaches. We therefore combine visual CAD based programming with skill based programming through demonstration. This constitutes the basis of the outlines strategy. We then employ human feedback through hand gestures for incremental parameter modification. We propose this approach in order to potentially lower times to production for new products and allow efficient use of robotics in low lot-sizes especially in the context of assembly for construction. (C) 2016 The Authors. Published by Elsevier B.V.

关键词： Robot programming Skill based programming Visual programming CAD based programming Gesture recognition Construction

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DIGITAL AND PHYSICAL COMPUTING FOR INDUSTRIAL robots IN architecture Interfacing Arduino with industrial robots

DIGITAL AND PHYSICAL COMPUTING FOR INDUSTRIAL ROBOTS IN ARCH...

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17th International Conference on Computer-Aided Architectural Design Research in Asia (CAADRIA)

作者： Brauman, Johanes Brell-Cokcan, Sigrid TU Vienna Assoc Robots Architecture Vienna Austria

ISBN: (纸本)9789881902634

Customisation is one of the most important topics in architecture, as architects generally work on individual prototypes instead of mass-produced designs. By using customised design and fabrication tools, architects are able to individually respond to challenges, instead of relying on universal software tools. This paper proposes new software components for interfacing industrial robots with physical computing microcontrollers, thereby allowing the customisation of physical tools for industrial robots. By pairing physical computing with rapid prototyping, architects are able to design and prototype individual fabrication processes for industrial robots.

关键词： Industrial robots physical computing interfaces rapid prototyping computer aided manufacturing

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Digital and Physical Tools for Industrial robots in architecture: Robotic Interaction and Interfaces

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INTERNATIONAL JOURNAL OF ARCHITECTURAL COMPUTING 2012年第4期10卷 541-554页

作者： Braumann, Johannes Cokcan, Sigrid-Brell Assoc Robots Architecture Aalborg Denmark

The development of digital and physical tools is highly dependent on interfaces, which define the terms of interaction both between humans and machines, as well as between machines and other machines. This research explores how new, advanced human machine interfaces, that are built upon concepts established by entertainment electronics can enhance the interaction between users and complex, kinematic machines. Similarly, physical computing greatly innovates machine-machine interaction, as it allows designers to easily customize microcontroller boards and to embed them into complex systems, where they drive actuators and interact with other machines such as industrial robots. These approaches are especially relevant in the creative industry, where customized soft-and hardware is now enabling innovative and highly effective fabrication strategies that have the potential to compete with high-tech industry applications.

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