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IEEE International Conference on Robotics and Automation (ICRA)

作者： Johannes Braumann Karl Singline University of Arts and Industrial Design Linz and the Association for Robots in Architecture University of Arts and Industrial Design Linz

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 *** 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 *** 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 production of individualised wood joints: Fabricating an info point structure for the WCTE 21

Robotic production of individualised wood joints: Fabricatin...

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21st International Conference on Computer-Aided Architectural Design Research in Asia: Living Systems and Micro-Utopias: Towards Continuous Designing, CAADRIA 2016

作者： Cokcan, Baris Braumann, Johannes Winter, W. Trautz, Martin RWTH Aachen University Aachen Germany Association of Robots in Architecture Vienna Austria TU Wien Vienna Austria

ISBN: (纸本)9789881902672

Modern modular constructions can consist of highly individualised elements that are produced at nearly the same efficiency as serial manufacturing. This paper focuses on the project "WoodWaves" an Info-Point for the conference World Congress of Timber Engineering, which was designed with this new conception of modularity. The process utilises a robotically operated milling cutter to form blockboard panels out of spruce, which make up the multifunctional information point. The entire object is produced with only sliding dovetail joints. Parametric design methods were developed to automatically adjust each joint to fit the individual conditions. New CAD/CAM interfaces, linking design directly with fabrication, enabled the serial production of 108 different shaped elements with a 6-axis robotic arm. © 2016, The association for Computer-Aided Architectural Design Research in Asia (CAADRIA), Hong Kong.

关键词： Robotics

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Robotic forming : Rapidly generating 3D forms and structures through incremental forming 21

Robotic forming : Rapidly generating 3D forms and structures...

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21st International Conference on Computer-Aided Architectural Design Research in Asia: Living Systems and Micro-Utopias: Towards Continuous Designing, CAADRIA 2016

作者： Lublasser, E. Braumann, J. Goldbach, D. Brell-Cokcan, S. RWTH Aachen University Aachen Germany Association for Robots in Architecture Vienna Austria University for Arts and Design Linz Linz Austria

ISBN: (纸本)9789881902672

The past years have seen significant developments in the area of robotic design interfaces. Building upon visual programming environments, these interfaces now allow the creative industry to define even complex fabrication processes in an easy, accessible way, while providing instant, production-immanent feedback. However, while these software tools greatly speed up the programming of robotic arms, many processes are still inherently slow: Subtractive processes need to remove a large amount of material with comparably small tools, while additive processes are limited by the speed of the extruder and the properties of the extruded material. In this research we present a new method for incrementally shaping transparent polymer materials with a robotic arm, without requiring heat or dies for deepdrawing, thus allowing us to rapidly fabricate individual panels within a minimum of time. © 2016 All rights reserved and published by The association for Computer-Aided Architectural Design Research in Asia.

关键词： Robotic arms

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Robotic production of individualised wood joints - Addition

Robotic production of individualised wood joints - Addition

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2016 World Conference on Timber Engineering, WCTE 2016

作者： Çokcan, Baris Winter, Wolfgang Braumann, Johannes Krobath, Reinhold TRAKO RWTH Aachen Germany Association for Robots in Architecture Austria University of Technology Vienna Austria University of Applied Arts in Vienna Wood Technology Austria

ISBN: (纸本)9783903039001

Wood is one of the most traditional materials in architecture, but has gone through significant developments over the centuries and is now perceived as a high-performance material. Before the industrialisation, wooden constructions were planned and produced by carpenters, acting upon the clients' parameters such as the number of stories, number of rooms and required functions. Most often, the carpenters did their work without plans - all they needed for their work were experience, proficiency and knowledge regarding the traditional joints. Thus, both planning and production happened in real-time on the building site. Using woodworking tools, the joints were fitted "just in time", without relying on additional metal fasteners. [1] During the period of industrialisation modularity and mass production dominated the construction industry. Prefabricated panels became the most relevant construction elements, turning connections into undesirable weak points and establishing steel elements as the preferred method for connecting plates. Later on, framework construction became the second stage of modularity, replacing panels with beams and pillars, while steel plates, screws or bolts were used to connect the single components. All steel elements were standardized to simplify the planning and construction process [4]. In recent decades, contemporary architecture has turned away from this kind of modularity, instead utilizing digital design methods, CAD/CAM planning and flexible manufacturing technologies to enable new and different forms of modularity [3]. The module of this digital period is defined by its capability of combining unique forms and elements with dynamic manufacturing strategies. Thus, modern modular constructions can consist of highly individualized elements that are produced with nearly the same efficiency as serial manufacturing. This paper focuses on the project "Addition" - a Pavilion, which was designed with this new concept of modularity, manufactured aut

关键词： Robotics

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Robotic application of foam concrete onto bare wall elements 33

Robotic application of foam concrete onto bare wall elements

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33rd International Symposium on Automation and Robotics in Construction, ISARC 2016

作者： Lublasser, E. Brüninghaus, J. Vollpracht, A. Hildebrand, L. Brell-Cokcan, S. Chr. for Individualized Production in Architecture RWTH Aachen University Germany Chr. for Environmental Compatibility of Building Materials Institute of Building Materials Research RWTH Aachen University Germany Chr. for Reuse in Architecture RWTH Aachen University Germany Association for Robots in Architecture 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 nor variation of shape. Therefore, we investigate the application of foam concrete onto bare walls of existing buildings to gain a façade 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： Energy efficiency

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

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Procedia CIRP 2016年 44卷 269-274页

作者： Sven Stumm Johannes Braumann Sigrid Brell-Cokcan Individualized Production RWTH Aachen University 52062 Aachen Germany Usg Linz 4040 Linz Austria Association for Robots in Architecture 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.

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

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Visual robot programming - Linking design, simulation, and fabrication

Visual robot programming - Linking design, simulation, and f...

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2014 Symposium on Simulation for architecture and Urban Design, SimAUD 2014, Part of the 2014 Summer Simulation Multiconference, SummerSim 2014

作者： Braumann, Johannes Brell-Cokcan, Sigrid Association for Robots in Architecture Gfrornergasse 6/15 Vienna A-1060 Austria

ISBN: (纸本)9781632662231

In the creative industry, architects and designers have to realize complex, prototypical projects without the profit margins or the economy of scale of other industries. One of the core enablers of such processes are fluid and efficient workflows that allow a maximum of flexibility throughout the design process. However, rather than fully automating the design process, approaches are required that allow quick and intuitive changes of key parameters. Using visual programming tools, architects and designers are now able to create their own virtual simulation environments, where they can change key parameters with the push of a slider, and observe the results on their designs in real time. This research shows approaches how parametric environments can be extended beyond simple design iterations to directly link the design with robotic fabrication. Due to their inherent multifunctionality, robotic arms are of special interest to the creative industry and can profit from the similar versatility of visual programming environments.

关键词： Robot programming

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Conformable eddy current array delivery

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AIP Conference Proceedings 2016年第1期1706卷

作者： Rahul Summan Gareth Pierce Charles Macleod Carmelo Mineo Jonathan Riise Maxim Morozov Gordon Dobie Gary Bolton Angélique Raude Colombe Dalpé Johannes Braumann Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW United Kingdom National Nuclear Laboratory Chadwick House Warrington Road Birchwood Park Warrington WA3 6AE United Kingdom Eddyfi Europe SAS 110 Allée des Lilas Les Fenières Parc Industriel de la Plaine de l’Ain 01150 Saint-Vulbas France Association for Robots in Architecture University for Arts and Design Linz Hauptplatz 8 4010 Linz Austria

The external surface of stainless steel containers used for the interim storage of nuclear material may be subject to Atmospherically Induced Stress Corrosion Cracking (AISCC). The inspection of such containers poses a significant challenge due to the large quantities involved; therefore, automating the inspection process is of considerable interest. This paper reports upon a proof-of-concept project concerning the automated NDT of a set of test containers containing artificially generated AISCCs. An Eddy current array probe with a conformable padded surface from Eddyfi was used as the NDT sensor and end effector on a KUKA KR5 arc HW robot. A kinematically valid cylindrical raster scan path was designed using the KUKA|PRC path planning software. Custom software was then written to interface measurement acquisition from the Eddyfi hardware with the motion control of the robot. Preliminary results and analysis are presented from scanning two canisters.

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Digital and physical tools for industrial robots in architecture: Robotic interaction and interfaces

Digital and physical tools for industrial robots in architec...

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作者： Braumann, Johannes Cokcan, Sigrid-Brell Association for Robots in Architecture United States

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.

关键词： Industrial robots

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Rob | Arch 2012 1

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1000年

作者： Sigrid Brell-Çokcan Johannes Braumann

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