2019 - 2023 [ innovative design portfolio ] YO-CHENG LEE contents NUBIAN VAULTED SLABS
P.2 - P.3
ROTARY PRINTING
P.4 - P.5
PARAMETRIC CLAY DEFORMATION
P.6 - P.7
REAL TIME VISUAL GRIPPING
P.8
DYNAMIC MOLDING
P.9
KINMEN OCEAN ART FESTIVAL - LIFE AFTER WAR
P.10
an innovative architectural designer with a strong foundation in computational design, has been delving into the potential of materials and digital fabrication methods since his undergraduate studies. a graduate of feng-chia university, he has actively contributed to various large-scale 3d printing projects at roso coop , utilizing recyclable materials. recently, yo-cheng lee completed his master's thesis at eth-zurich, focusing on 3d concrete printing. his research explored the feasibility of printing concrete slabs on inclined planes, a pioneering approach with practical applications in real-world architectural design.
CONTACT : email : jerry0983039312@gmail.com phone : +41796079782 phone : +886983039312
Concrete is the most extensively used material in construction and produces significant carbon emissions and formwork waste, especially slab elements. This thesis explores a horizontal 3D concrete printing method to reduce the negative impact. The proposed fabrication method, inspired by Nubian vaults, focuses on compression-only structures, slicing with inclined planes and using an angled end effector. The experimental process consists of five steps: (1) geometric design, (2) physics simulation, (3) toolpath generation, (4) printability check and structural analysis, and (5) fabrication. After a series of experiments, the goal of this thesis is to identify the geometric factors, the toolpath factors and explore the further potential of this method in architectural applications.
[ NUBIAN VAULTED SLABS ]
location : eth-zurich project : t3-master thesis duration : 3 months project leader : doc.ana anton, doc.andrei jipa (dbt), doc.lukas gebhard (csbd) project member : yo-cheng lee , huang-su contribution : material exploration / design development / fabrication / diagra -m drwaing
STATE OF THE ART & METHODOLOGY
1. Geometry design
2. Physics simulation
3. Toolpath generation 4. Printability check & Structural analysis
5. Fabrication
# PETG 3D printing
# Concrete 3D printing
ENHANCING THE PRINTABILITY & GEOMETRIC PARAMETERS Base geometry
Slicing methods (including slicing angle)
Height-width ratio
Length of toolpath
height
length
width 75 cm 150 cm
Functional ornament
Layer spacing
tangent
Tangent
height
Multi vault
length
# Functional ornament
# Printability check
increasing contact area between layers
start
92.84 cm
1.44 cm
37.65 cm
0.43 cm
hooking to previous layers
end
2D Ornament
3D Ornament
Original print path
Layer length
Layer spacing
PRINTABILITY & ORNAMENT EXPLORATION
P.2
ARCHITECTURAL DEMONSTRATOR Casting Process
Concrete
Slab with 4 columns
Principle stress lines
Simplified stress lines
Optimized for printability
Segmentation
Base geometry
Functional ornamentation
20 cm 10 cm
Hook 2 layers
Reinforcement
20 cm
Hook 1 layer
162.5 cm 230 cm
16 cm (H-W ratio: 0.3)
Nubian formwork
17 cm (H-W ratio: 0.3)
162.5 cm
Reduce 20 % of concrete usage
OUTLOOK
P.3
This mini project delves into the material properties of 3D printing with PLA extrusion, fostering an understanding and development of fabrication-aware design strategies. Inspired by Randy Deutsch's perspective — "The best architects and engineers build their own tools - that's the design profession's new reality" — we embark on constructing our custom setup. This setup, designed to print on a roller, strives to achieve three primary goals in 3D printing: reducing material usage, enhancing freedom in the printing process, and exploring an innovative method as an alternative to traditional 3D printing techniques.
[ ROTARY PRINTING ]
location : eth-zurich project : t1-mini project duration : 5 weeks project leader : petrus aejmelaeus-lindstrom , victor leung , simon driffieon , ananya kango , muslima rafikova project member : yo-cheng lee , chen-ming jiang , adam anouar , lihin weera contribution : material exploration / design development / fabrication / diagra -m drwaing
STATE OF THE ART
“The best architects and engineers build their own tools – that’s the design profession’s new reality.” Randy Deutsch - Superusers.
Less Material
More Freedom
Alternative Method
METHODOLOGY
UR robot
Roller Grasshopper
Stepper
Extruder
VS code
Microstep driver
Arduino Mega
Arduino IDE
Arduino Uno
Stepper
TXT
PATTERN EXPLORATION
P.4
EXPERIMENTS
SLICING METHODS EXPLORATION
First slicing method
Second slicing method
Third slicing method
Fourth slicing method
FIRST SLICING METHOD
Projecting curves on geometry
Seam aligned
Contour lines
Split in 4 pieces
FOURTH SLICING METHOD
P.5
With clay, a traditional material that has been used in art or craft for centuries, the crafting method is limited to handwork. Nowadays, through the advancement of science and technology, robotic arms provide a revolutionary method of crafting. They could create a technologically advanced environment that is more precisely and variably . A design focus is to maximize the value of robots when they are used in clay manufacturing. The geometry of forming can only be applied to certain types of clay by analyzing the traditional artwork of clay. The goal is to liberate the geometry of shaping and create a new continuously shaping method by using a robotic arm and parametric tool.
[ PARAMETRIC CLAY DEFORMATION ] location : fenchia university - roso coop project : 2020 innovative design duration : 1 month advertiser : peng-xiu tong , prof.yu-ting sheng team member : yo-cheng lee contribution : material exploration / design development / tool development / robot trajectory planning / diagram drawing
STATE OF THE ART THE GEOMETRY DEFORMATION METHOD
TRADITION VS NEW TYPE OF SHAPING TRADITIONAL CLAY TYPE ANALYZING
MIDDLE PATTERN CONSTRAINS BY SHAPE (TRADITIONAL)
DIVIDING CONTROL POINTS FROM CIRCLE
INNOVATION CLAY TYPE ANALYZING
FREE TRANSFORMATION PATTERN (NEW)
EXTRUSION THE SURFACE VS TRIMING THE SURFACE
+0
To accommodate a variety of types of geometry transformation, I divide each point of geometry from circle to triangle to make each side of points controllable. And discover two different shaping techniques: extrusion and trimming. Both methods have been tested, and the final decision is extrusion.
+8
begin
+7
+6
extrusion
end
+5
begin
+4
+3
trim
end
METHODOLOGY TOOL EXPERIMENTS 01
In the second experiment, hydraulic pressure was used as shaping power. However, the power is difficult to control from four directions, and the tube connecting to the syringe is prone to leakage. Clay that is shaped by this method isn't precise, but it provides a new idea in the follow-up design process.
TOOL EXPERIMENTS 02
DETAILS
The initial tool experiment used 3D printers to create a core that can transform into a variety of shapes by controlling each side of the joints. However, the joints that haven't been fixed are challenging to control and the framework is too thin to use.
single joint
octagon
octagon
DEFORMATION ANALYZE
RESULT
heptagon
clay
inner force
origin
outcome
section 0
section 1
section 2
section 4
outer force
ANGLE & HEIGHT TRANSFORMATION
double joint
hexagon
hexagon
pentagon
components
framework
stick
components
gasket
cap
triple joint
quadrilateral
quadrilateral
triangle
syringe
tube
gasket
lock
frame
add height
TOOL DEVELOPMENT core
base prototype
add stick height
double the framework
double the framework
loft & join together
motomove ( 1 )
retracked +0.4 cm
motomove ( 4 )
retracked +0.9 cm
motomove ( 7 )
retracked +1.4 cm
motomove ( 10 )
retracked +1.9 cm
motomove ( 13 )
retracked +2.4 cm
final form
power
cylinder as power
change to stepper motor
stablize gear direction
fixed the movement of stick
change fixed method
stablize the motor
arduino & motor
en-
pul-
dir-
vcc gnd
a+ a-
Stepper motor and gear are controlled by an Arduino board that can provide parametric transformation. The core movement can be programmed in Arduino and creates many types of transformations.
b+ b-
en+(6)
pul+(7) dir+(8)
5v
110v
P.6
TOOL DEVELOPMENT
[ SIDE VIEW ] HOLLOW CLAY COLUMN
ALUMINUM TUBE
3D PRINTED STAND
BASE
TOOL EXPERIMENT 02
TOOL EXPERIMENT 03
FINAL TOOL
POWER SUPPLY
RESULT & OUTLOOK test 01
test 02
test 03
test 04
CLAY TYPE : BLACK SHADOW THICKNESS : 7MM MOISTURE CONDITION : DRY HARDNESS CONDITION : HARD
CLAY TYPE : BLACK SHADOW THICKNESS : 10MM MOISTURE CONDITION : MEDIUM HARDNESS CONDITION : HARD
CLAY TYPE : NO.31 THICKNESS : 10MM MOISTURE CONDITION : WET HARDNESS CONDITION : SOFT
CLAY TYPE : NO.31 THICKNESS : 13MM MOISTURE CONDITION : EXTRA WET HARDNESS CONDITION : EXTRA SOFT
TYPE 01
TYPE 02
TYPE 03
TYPE 04
STABLE 4 SIDE DEFORMATION
DIFFERNT DEFORMATION ON EACH HEIGHT
DIFFERNT DEFORMATION ON EACH HEIGHT & 4 SIDE
FREE FORM DEFORMATION ON EACH HEIGHT & 4 SIDE
4 variations of experiments using different types of clay & changing moisture, hardness condition. The final experiment reached the short-term goal. However, the ultimate goal is to create more free-form deformation by implementing this method.
P.7
The construction industry is heading towards "smart construction" in the future in order to achieve construction automation. The goal of this study is to investigate the possibility of upgrading the bricklaying process in the construction industry. In an age of manpower shortage, automated systems will be developed to replace human labor. This is in line with the SDGs of industry, innovation infrastructure, and responsible consumption and production. Reducing unnecessary procedures and lengthy labor is one of the issues of the construction labor shortage, so it is a part of construction development. Hence, the purpose of this project is to combine AI visual object recognition with intelligent grasping of the robotic arm.
[ REAL TIME VISUAL GRIPPING ]
location : fenchia university - roso coop project : interdisciplinary graduation design duration : 2 months advertiser : prof.yu-ting sheng , fei-fan song , yi-siang yan , shi-ting liang team member : yo-cheng lee , chan-chi chang , jhe-ming lee , wen-hong lin contribution : design development / tool development / robot trajectory planning / diagram drawing
[ OVERALL PROCEDURE ]
REALTIME CAMERA
[ SEMANTIC SEGMENTATION ]
MATLAB
REPLENISH BRICKS
camera
labtop
labtop
kr6
UDP CONNECTION
FINISH GRIPPING
GRIPPING
GRASSHOPPER DEEPLAB V3
[ REALTIME VISUAL GRIPPING SYSTEM ] [ KR6 MOVING POSITIONS ] robotic arm ( kr6 ) tool ( penumatic gripper ) realtime camera ( c920 )
target brick boundary 1 layer target brick boundary
environment boundary ( 60*100 cm)
virtual boundary
[ set up ] 15 cm
P1
P3
P2
P4
total amount : 6 bricks
[ type 2 ] i/o : off P1
i/o : on P2
P1
i/o : off P3
P4
P3
[ TARGET TCP ]
target brick boundary
[ type 1 ]
[ gripping ]
2 layers
[ METHOD TO GET TCP ] [ gripping ]
center point
vector points
get tcp
[ PROCEDURE TIME ] realtime camera
matlab
[ done ]
grasshopper 0 ( min )
70 ( min )
140 ( min )
[ EXPERIMENTS]
INITIAL SETUP
TYPE 1
TYPE 2
PROCESSING
PROCESSING
GOAL
P.8
[ DYNAMIC MOLDING ]
Dynamic Molding Workshop proposed a state-of-the-art digital manufacturing system. Utiliz- ing robotic arm to control and match the reality to fit the shape of the dynamic mold. The traditional curved template is difficult to form quickly and accu- rately, and it needs to consume a lot of manufactur- ing costs, thus limiting the design possibilities. Based on the development of TACO robot software, it can communicate with external devices in real time. Then reposition and correct the surface by Hololens and infrared distance measurement to create a coupling between real and virtual models to form a digital twin model. Further simulate the com- position and manufacture through the robotic print- ing system. location : fenchia university - roso coop project : 2020 workshop duration : 1 week advertiser : prof.yu-ting sheng , prof.shih-yuan wang team member : yu-cheng chi, yen-fen chan, yun-tse yang, joseph wu, han lin, guan-hua li, yu-hsuan chiu, chung-chieh cheng, hung-wen lu, chia-wei kang, tsung-han tsai, shian-jyun chen, ching-yun tseng, yo-cheng lee, chun-yu lo, e-shin chiu, wei-jen huang, kai-hsin yeh , macoto chi contribution : material exploration / computational design / fabrication
P.9
The installation aims to show the resilience in the rebirth of Kinmen. We use transparent plastic PETG to 3-D print out the image of flowers blooming in the land of Kinmen and spread them on the beach as if the seeds of hope are planted into the soil of history. During the day, the flowers dazzle in reflected sunlight; then, at night, they shimmer in the afterglow of special lighting effects. Alternating between day and night, shining and glimmering, the cycle symbolizes the transience of life and the new hope that each day brings.
[ KIMEN OCEAN ART FESTIVAL - LIFE AFTER WAR ]
location : fenchia university - roso coop project : kinmen art festival duration : 6 months project leader : prof.yu-ting sheng , prof.shih-yuan wang , wei-ze hong , fei-fan song team member : chan-chi chang , yo-cheng lee , wei-lun xie , chang-jin lee , zhong-jie zheng contribution : student assistant ( material exploration / development / fabrication )
P.10