Tobias Schwinn

Fibrous structures: An integrative approach to design computation, simulation and fabrication for lightweight, glass and carbon fibre composite structures in architecture based on biomimetic design principles ☆

Abstract In this paper the authors present research into an integrative computational design methodology for the design and robotic implementation of fibre-composite systems. The proposed approach is based on the concurrent and reciprocal integration of biological analysis, material design, structural analysis, and the constraints of robotic filament winding within a coherent computational design process. A particular focus is set on the development of specific tools and solvers for the generation, simulation and optimization of the fibre layout and their feedback into the global morphology of the system. The methodology demonstrates how fibre reinforced composites can be arranged and processed in order to meet the specific requirements of architectural design and building construction. This was further tested through the design and fabrication of a full-scale architectural prototype.

From Nature to Fabrication: Biomimetic Design Principles for the Production of Complex Spatial Structures

In the current paper the authors present a biomimetic design methodology based on the analysis of the Echinoids (sea urchin and sand dollar) and the transfer of its structural morphology into a built full-scale prototype. In the first part, an efficient wood jointing technique for planar sheets of wood through novel robotically fabricated finger-joints is introduced together with an investigation of the biological principles of plate structures and their mechanical features. Subsequently, the identified structural principles are translated and verified with the aid of a Finite Element Model, as well as a generative design system incorporating the rules and constraints of fabrication. The paper concludes with the presentation of a full-scale biomimetic prototype which integrates these morphological and mechanical principles to achieve an efficient and high-performing lightweight structure.

Biomimetic Lightweight Timber Plate Shells: Computational Integration of Robotic Fabrication, Architectural Geometry and Structural Design

The research presented in this paper pursues the development and construction of a robotically fabricated, lightweight timber plate system through a biologically informed, integrative computational design method. In the first part of the paper, the authors give an overview of their approach starting with the description of the biological role model and its technical abstraction, moving on to discuss the computational modelling approach that integrates relevant aspects of biomimetics, robotic fabrication and structural design. As part of the validation of the research, a full-scale, fully enclosed, insulated and waterproof building prototype has been developed and realized: The first building featuring a robotically fabricated primary structure made of beech plywood. Subsequently, the methods and results of a geodetic evaluation of the fabrication process are presented. Finally, as the close collaboration between architects, structural and geodetic engineers, and timber fabricators is integral to the process, the architectural and structural potentials of such integrative design processes are discussed.

Crowdsourced Fabrication

In recent years, extensive research in the HCI literature has explored interactive techniques for digital fabrication. However, little attention in this body of work has examined how to involve and guide human workers in fabricating larger-scale structures. We propose a novel model of crowdsourced fabrication, in which a large number of workers and volunteers are guided through the process of building a pre-designed structure. The process is facilitated by an intelligent construction space capable of guiding individual workers and coordinating the overall build process. More specifically, we explore the use of smartwatches, indoor location sensing, and instrumented construction materials to provide real-time guidance to workers, coordinated by a foreman engine that manages the overall build process. We report on a three day deployment of our system to construct a 12-tall bamboo pavilion with assistance from more than one hundred volunteer workers, and reflect on observations and feedback collected during the exhibit.

Robotically Fabricated Wood Plate Morphologies

Due to their relative affordability and ease of use industrial manipulators aka robots have become increasingly common in the field of architectural experimentation and research. Specifically for timber construction, their higher degrees of kinematic freedom and fabricational flexibility, compared to established and process-specific computer numerically controlled (CNC) wood working machines, allow for new design and fabrication strategies or else the reinterpretation and re-appropriation of existing techniques — both of which offer the potential for novel architectural systems. In the case study presented here an investigation into the transfer of morphological principles of a biological role model (Clypeasteroida) is initiated by the robotic implementation of a newly developed finger-joint fabrication process. In the subsequent biomimetic design process the principles are translated into a generative computational design tool incorporating structural constraints as well as those of robotic fabrication leading to a fullscale built prototype.

Robotic Pouring of Aggregate Structures

Loose, designed macro-scale granulates can be used as architectural material systems. Combined with a digitallycontrolled emitter-head the pouring process can serve as an alternative to known additive manufacturing techniques. The potential of macro-scale granulates lies in their ability to re-configure as well as in being a functionally graded material. Given that these loose granulates merely display probable rather than certain behavior, the use of responsive motion-planning becomes a critical aspect. The research presented here introduces the field of synthetically produced architectural granulates. An overview of the current state of the art of robotically poured granulates is given. Within this context, the proposed robotic pouring process for designed granulates is outlined. The established feedback loop consisting of optical sensing, parametric motion-planning, and robotic actuation is described in detail. In conclusion, an outlook for further research is given.

The Skeleton of the Sand Dollar as a Biological Role Model for Segmented Shells in Building Construction: A Research Review

Concrete double-curved shell constructions have been used in architectural design and building constructions since the beginning of the twentieth century. Although monolithic shells show a high stiffness as their geometry transfers loads through membrane forces, they have been mostly replaced by the more cost-efficient lattice systems. As lattice systems are covered by planar glass or metal panes, they neither reach the structural efficiency of monolithic shells, nor is their architectural elegance reflected in a continuous curvature. The shells of sand dollars’ – highly adapted sea urchins – combine a modular and multi-plated shell with a flexible, curved as well as smooth design of a monolithic construction. The single elements of the sand dollars’ skeleton are connected by calcite protrusions and can be additionally supported by organic fibres. The structural efficiency of the sea urchin’s skeleton and the principles behind them can be used for innovations in engineering sciences and architectural design while, at the same time, they can be used to illustrate the biological adaptations of these ecologically important animals within their environments. The structure of the sand dollar’s shell is investigated using modern as well as established imaging techniques such as x-ray micro-computed tomography (μCT), scanning electron microscopy and various optical imaging techniques. 3D models generated by μCT scans are the basis for Finite Element Analysis of the sand dollar’s shell to identify possible structural principles and to analyse their structural behaviour. The gained insights of the sand dollar’s mechanical properties can then be used for improving the state-of-the-art techniques of engineering sciences and architectural design.

Core-Less Filament Winding

The research presented in this chapter describes novel strategies towards robotic fabrication of geometrically complex fiber reinforced building elements. The research focuses on “core-less” filament winding processes which reduce the need for formwork allowing for the fabrication of individual one off components with differentiated fiber layout. The first part of the chapter introduces the need for advanced fabrication strategies in order to use the full potential of fiber composites anisotropic material behavior and the need for complex geometries in performative lightweight structures. The second part contextualizes the presented work by linking it to relevant contemporary and historical precedent. The main part of the chapter discusses methods developed for the “core-less” filament winding processes, followed by conclusions and outlook towards future potentials.

Performative Architectural Morphology Finger-Joined Plate Structures Integrating Robotic Manufacturing, Biological Principles and Location-Specific Requirements

Performative Architectural Morphology is a notion derived from the term Functional Morphology in biology and describes the capacity of an architectural material system to adapt morphologically to specific internal constraints and external influences and forces. The paper presents a research project that investigates the possibilities and limitations of informing a robotically manufactured finger-joint system with principles derived from biological plate structures, such as sea urchins and sand dollars. Initially, the material system and robotic manufacturing advances are being introduced. Consequently, a performative catalogue is presented, that analyses both the biological system’s basic principles, the respective translation into a more informed manufacturing logic and the consequent architectural implications. The paper concludes to show how this biologically informed material system serves to more specifically respond to a given building environment.

An interactive agent-based framework for materialization-informed architectural design

Concepts of swarm intelligence are becoming increasingly relevant in the field of architectural design. An example is the use of agent-based modeling and simulation methods, which can help manage the complexity of building designs that feature many similar, but geometrically unique elements. Apart from leading to effective solutions and expanding the architectural design space, agent-based design methods can also be employed in integrated planning processes, in which the contributions of various disciplines take place in an integrated loop instead of being executed consecutively. We propose a computational framework for architectural design, in which agents represent building elements and/or joints between building elements. Behavior parameters, behavior weighting, and the environment can be modified in real-time while the agent system is running. Additionally, the designer can interact with individual agents directly, while slowing down or pausing agent movement if so desired. In the resulting design approach, the designer can globally adjust behavior parameters, while retaining local control over details where needed. To facilitate an integrative design process, domain-specific data and the results of external analysis can be included, either directly as input for agent behaviors, or by modifying the environment. We illustrate the potential of this computational framework using the example of the design of plate structures and show how this method can lead to quantifiable results while also attaining aesthetic goals. Furthermore, we provide an outlook toward possible further extensions of agent-based design methods in architecture.