"Medium" Portfolio

“ Medium ” Portfolio Joseph Wu

Selected works 2019-2021

RobotCube This research focuses on examining the interaction between the machine and spatial perception. We are concerned about whether there are possibilities for a new correlation among the space, machine and image. This research combines the large-scale robotic arm with the interactive image, and give full play to the technological and art potential of dynamic projection to create the sensory experiencing combining the virtuality and the reality.

This research is devoted to the field of spatial sensing and human-machine cooperation, and combines the generative art, robot interaction, and real-time 3D mapping. Meanwhile, this research adopts motion and automation as an innovational medium for further development. The works are created through improvisation, enabling the performer and audiences to coexist.

Robotic Solution Cooperative (ROSOCoop) - Fall 2020 Professional Work Adviser: Prof. Yu-Ting Sheng and Shih-Yuan Wang Project Leader: Joseph Wu Group Member: Che-Wei Lin, Tiger Lin, Peng-Hsiu Tung Contribution: image production / robot trajectory planning / real-time mapping / design development / diagram drawing

Master

tx ty tz

Slave

rz ry rx

I.K Solver Analysis Robotic Mapping System

controller

The traditional projection mapping has its limitations. The projected

custom cube

objects must be rigid and stable.

This research developed dynamic projection mapping technology to capture moving cubes installed on the robotic arm. After calibration, the

10%

tcp real-time communication

cubes can coincide with our visual

trajectory control

perception. The Robot movement is

dynamic projection mapping

projector calibration

(sev

collaborated

enth

-axi

with

the

projected

image to express art feelings and

s) li

nea

r mo

tion

create the visual effect that com-

trac

ks

bined virtuality and reality.

Images of this performance are created through the derivative design approach to express the idea that art should be an integration between the natural totem and the technology of the era. Therefore, the algorithm process are integrated into images.

Modern technologies, such as computational design and robot movements, are combined to create a brand-new art experience.

Euler Angle Transformation Grasshopper to Touchdesigner

Z Transform Order : Scale Rotate Translate Rotate Order : Rx Ry Rz

Y Z

3

5

tx = ptx ty = pty tz = ptz

B Y

X Y

4

2

1

3

4

6

rz = prz+90 ry = pry rx = prx

Z X

1

Y

5

4 2

6 1

5

1

2

5

3

2

3

4

5

2

6

X

3

6

6

4

1

N The Euler Angle Transformation Mechanism is used to transform the six-axis point location of TCP on Grasshopper into the six-axis coordinate on Touch Designer so that both the software terminal can achieve synchronization.

Receiving TCP in Real-Time

controller

10%

euler angle transformation

tcp real-time communication

dynamic projection mapping

The TCP/IP is used for sending and receiving information over a TCP/IP connection between two remotely

located

computers.

This performance captures the real-time TCP data from KUKA Controller to touchdesigner to achieve

real-time

projection

mapping.

Virtual image plane

Projector Calibration Projector calibration enabled the projected image to match with

Object plane

the movement trajectory of the cube. We observe the projected image to infer the actual lens position, making the virtual and real closer to zero error.

Rail of the linear motorized stage

Collapse Project This research focuses on the interaction between humans and images. Utilize projection as the medium to create an interactive experience combining virtual and reality. Also, study how to involve the audience in the performance. The final results stages in the annual exhibition of the Institute of Architecture of NYCU. This

performance

focuses

on

spatial

perception

and

human-computer collaboration, combining Generative art, Body Movement, and Mapping. Meanwhile, utilize the sensor to capture the observer's gestures and body movements, making the work interactive in real-time, allowing the coexistence of the performer and the viewer.

NYCU ProjectProject Exhibition - Spring 2021 Group Work Adviser: Prof. Shih-Yuan Wang Group Member: Joseph Wu, Che-Wei Lin Contribution: image production / mapping / human-comptuter interaction / design development / diagram drawing

Interactive Mapping System Reconstruct

the

architecture

image to show the interweaving between media and space in a

touchdesigner

combination of simulated reality.

The dynamic image presents the diachronic

changes

of

the

space. By combining the body of the visitor and the image, it gives immediate

feedback

on

Signal Communication

Mapping Column

the

impact on perception.

Architectural drawing is not only to investigate the feasibility of

Human-Computer Interaction

the construction but also to produce new video texts. The meaning of the image exists in architecture and the process of its performance.

Kinect Motion Sensing & Calibration

Projection Calibration & Mapping

Medium X light This research is based on the premise of the 3D printing methodology, which incorporates the discussion of the immaterial (light) and the material (transparent Polylactic Acid). Through testing various parameters that enable light to contain inside the medium and also control the refraction of light and the path of the light. This research proposes a new method to revise light trajectories and reflection and also create a unique light atmosphere.

Under process, model an adapter that holds the PLA plastic gun and mounts it to the flange of the robotic arm, operating different control variables such as density, layer height, printing path, and different light sources, to analyze light imaging under different conditions. Thus, integrate these conclusions to generate individual light performance.

As for the main goal in the next stage,we not only want to create pattern or alphabet but a space or atmosphere which affects people’s emotion or vision in a more directly way.

Feng Chia University School of Architecture - Spring 2019 Acadamic Work - Design Studio Adviser: Prof. Yu-Ting Sheng and Shih-Yuan Wang Team: Joseph Wu, Han Lin, Tsung-Han Tsai Contribution: material exploration / robot trajectory planning / end effector design / design development / diagram drawing

Concept

Pattern

Refraction Process

A.

Printing Pattern

Spacial Atmosphere

Material

Light Source

Design

Light Refraction

Screen

Imaging

Point Source Line Source Divergent Source Parallel Source

Robotic printing 3D printing Epoxy casting

Lineaer bending Moiré pattern Irregular waving

Two-dimensional plane Three-dimensional object Three-dimensional space

Light resource Focal length Distance

Polylactic Acid

printing pattern light gathering

B.

Spacial Atmosphere

Light Source Point Source Line Source Divergent Source Parallel Source

Pattern

Infill Pattern

light [Acid]

( refraction )

Design Robotic printing 3D printing Epoxy casting

Observer

Refraction Imaging

Two-dimensional plane Three-dimensional object Three-dimensional space

Opaque part of the object is used as the imaging part

Retention of Marginal Ray

Property

Value

Technical Name

Polylactic Acid (PLA)

Chemical Formula

(C3H4O2)n

Melt Temperature

PLLA: 157 - 170 °C

SLASH TYPE

CONCENTRIC

OCTAHEDRON

size: 100mm*100mm*2mm speed: 20 mm/s infill: 100%

size: 100mm*100mm*2mm speed: 20 mm/s infill: 100%

size: 100mm*100mm*2mm speed: 20 mm/s 50% infill:

TRIANGULAR size: speed: infill:

100mm*100mm*2mm 20 mm/s 50%

CROSS TYPE

HEXAGON

size: speed: infill:

size: speed: infill:

100mm*100mm*2mm 20 mm/s 50%

100mm*100mm*2mm 20 mm/s 30%

Single Light

Single Light

Single Light

Single Light

Single Light

Single Light

Mulitiple Light

Multiple Light

Multiple Light

Multiple Light

Multiple Light

Multiple Light

Curvature Theory

Control Variables Different Method

Radius of Curvature Comparison

Layer Height PATTERN

LAYER HEIGHT

PRINTING PATTERN (1)SLASH TYPE (2)CONCENTRIC

0.05MM/1MM

Speed

Printing Thickness

INFILL PATTERN (1)OCTAHEDRON (2)CROSS TYPE (3)TRIANGULAR (4)HEXAGON

Printing Speed

Small Radius High Curvature Low Radius Low Curvature

CURVATURE

THICKNESS

(1)FLAT SURFACE

0.5MM/1MM/2MM

(2)RANDOM CURVE (2)SIN CURVE

POLY SURFACE

size: 80mm*80mm*1mm speed: 60 mm/s Infill: 100%

size: 80mm*80mm*1mm speed: 60 mm/s infill: 100%

CONVEX LENS-A size: speed: infill:

50mm*50mm*2mm 20 mm/s 100%

CONVEX LENS-B

CONVEX LENS-C

size: speed: infill:

size: speed: infill:

50mm*50mm*2mm 50 mm/s 100%

50mm*50mm*2mm 80 mm/s 100%

a dome. In essence, the radius of curvature tells us how curved a curve is . The

TRANSPARENT

30%/50%/80%

POLY SURFACE

The Radius of Curvature is a number that is used to determine the “flatness” of

COLOR

DENSITY

POLY SURFACE size: 80mm*80mm*0.5mm speed: 60 mm/s Infill: 100%

larger the dome, the less curve, the flatter the concrete.

60° 45°

Single Light

Single Light

Single Light

Multiple Light

Multiple Light

Multiple Light

30° 15°

PLA Extruder Contral Variable

Mulitiple Light

Multiple Light

Multiple Light

Curvature Section 0.65V 5.00V

EXTRUDING SPEED

AIR COOLING TUBE

HEATING CHAMBER TEMPERATURE

0.65V-5.00V

PATTERN TEXTURE

Perpendicular

Imaging

The texture of the pattern is perpendicular to the imagery

190°C

200°C

210°C

220°C

H CHM TEMP : 205°C H GUN TEMP : 2

BUBBLE

EXTR SPEED : 5.00 V

AIR COOL TUBE *2 COOL FANS

PRINTING SPEED

Positive correlation

Transparency

PRG SPEED : 5.0 %

The faster the printing speed, the worse the light transmittance

TRANSPARENCY

PROGRAMING SPEED MAX : 2 M/S

COOLING FAN

focuses

on

the

effects of light performance causing reservation

EVENNESS

1%-100%

research

by reflection, refraction, and light

180°C-220°C

180°C

This

TANGENT SLOPE

Positive correlation

Image Curvature

The positive and negative slope of the tangent affects the direction of the imaging

HEAT GUN TEMPERATURE

through

fabricating

transparent PLA (Polylactic Acid).

Based on several control variables, we aim to control light imaging.

Research the control variables (pattern, thickness, density, layer height, curvature and color) by using FDM 3D printer. We aim to discover the physical

1-9

LAYER HEIGHT

Interval

Light band Dark band

The interval material affects the image of the light band and dark band

factor which infects the light’s refraction and reflection that creates astonishing light pattern.

2

1

3

4

Curvature

5

y=A*sin(2π), π=180°

Wave crest value

6

7

8

10

9

11

Curvature

RefractionXCurvature

A=wave crest y=A*sin(2π)

y=A*sin(2π)

y=A*sin(2π)

A=1

A=2

A=3

y=A*sin(2π)

A=4

y=A*sin(2π)

A=5

Various Points 1

Reflection/

y=A*sin(2π)

y=A*sin(2π)

y=A*sin(2π)

Reflection/

y=A*sin(2π)

2

3

4

5

6

7

8

9

10

11

Reflection/

y=A*sin(2π)

1

2

3

4

5

6

7

8

9

10

y=4*sin(2π)

11

y=4*sin(2π) θ1 =75°

θ2 = 65°

θ3 = 45°

θ3 θ2

θ1

A=6

A=7

A=8

A=9

A=10

θ1

θ2

θ3

Curvature

Layer HeightXDouble-slit interference

POINT FOUR Reflection/

Reflection/

Reflection/

Reflection/

Reflection/

In astronomy, a light curve is a graph of light intensity of a celestial object or region, as a function of time. The light is usually in a particular frequency interval or band. Light curves can

Impact of Layer Height Layer Height

be periodic, as in the case of eclipsing binaries, cepheid variables, other periodic variables, and transiting extrasolar planets, or aperiodic, like the light curve of a nova, a cataclysmic varable star, a supernova or a microlensing event or binary as observed during occultation events.

The study of the light curve, together with other observations, can yield considerable information about the physical process that produces it or constrain the physical theories about it.

y=4*sin(2π)

1

2

3

As for the main goal in the next stage,we Spool holder 2.0 Filament

Reflection

Refraction

Refraction

Refraction

bet but a space or atmosphere which affects people’s emotion or vision in a

Reflection

9

8

7

100mm

6

4滾滾長江東逝水 3

5

80mm

50mm

2

Flange adapter

Spool holder 1.0

1

30mm

Hot wind gun Filament extruder

4

5

Structure board

Curvature

6

Hot end

Air compressor Hot wind fan Reflection

PLA nozzle

Refraction

Refraction

Imaging Are

8

9

We decided to develop a printing system utilizing a welding plastic machine, comBy experience various types of transparent PLA (Polylactic Acid) to get the most suitable parameters for this printing system. Summarize the parameters of fabricating methods and the light imaging

Circle Curve 7

more directly way.

bined with a 6-axis industrial robotic arm.

Various Radius Curve

Refraction

not only want to create pattern or alpha-

210

Rail

while embody the unique light effects

0.65V

205

10%

under this fabricate system.

Laser pen Pen holder Refraction

Reflection

Heater temperature

Rail connector -vertical Rail connector -horizontal

Refraction

Refraction

Reflection

Voltage adjustment of extrusion speed

Program path speed

Experiment Curve Puzzle

Speed Control

Centre Temperature Control / Wind Temperature Control Filament Holder

Cooling System

one l+one mirror c

one c

one c

one c

KUKA KR90 R3100

Filament

Printing Area

Extrusion

one 45° l

one mirror c

one mirror c

one mirror c

Printing Broad

POINT ONE

Object Refraction 31.20°

38.50°

Reflection Light

53.21°

Normal

75.02°

Tangent

In stage one, our experience allows us to obtain the rules in refraction and reflection. The result enables us to control the light as playing puzzle.By seperating alphabet into curves,it makes it possible to image any pattern which is create by curves.

1.54 =

sinθ1 sinθ2

=

sin75.02° sin53.21°

=

sin38.50° sin31.20°

Reflection y=4*sin(2π)

Testing Model 2D Z offset variable

OFFSET 4MM

OFFSET 2MM program speed: filament speed: temperature: cooling fan: nozzle fan: hot wind: size:

level 4.86 5% 205ºc No Yes level 2 level 2

program speed: filament speed: temperature: cooling fan: nozzle fan: hot wind: size:

OFFSET 6MM level 4.86 5% 205ºc No Yes level 2 level 2

program speed: filament speed: temperature: cooling fan: nozzle fan: hot wind: size:

level 4.86 5% 205ºc No Yes level 2 level 2

HOLLOW TYPE

ENGRAVE TYPE-A

ENGRAVE TYPE-B

layer height: size: speed: infill:

layer height: size: speed: engrave: infill:

layer height: size: speed: engrave: infill:

0.05mm 50mm*100mm*2mm 10 mm/s 100%

0.05mm 50mm*100mm*2mm 10 mm/s 50% 100%

0.05mm 50mm*100mm*2mm 10 mm/s 100% 100%

8 sec 6 sec 4 sec 2 sec

WAIT TIME

Dome Model

33mm 100mm

300mm * 150mm * 150mm

A.

B.

A.

B.

A.

B.

A.

B.

PRESSURE

Bright band Dark band Bright band

[01]

[02]

Dark band Bright band Dark band Bright band

RAISING PATH We utilize different printing methods in the printing process so that the [03]

light will be cast on materials to achieve different effects. The light can

[04]

stay in the materials for refraction and reflection. Different changes of 2mm

light and shadow can influence the perception of humans, and create composite materials and a unique light atmosphere. In the future,

6mm

[05]

[06]

PRINTING PATH

these test parameters can be applied to architectural element fabrication process so that “a brick” can include special light effect.

In the final design, we enlarged the scale to a level that humans can perceive. On this basis, the parameters of these control variables can be further integrated to create a special lighting atmosphere. We include the movement of '"rotation" into the final design process. If the light source is projected in a fixed direction, we will find that during the rotation, the position of the projected light source will form a constantly changing curve, and will

experience

spatial

changes

between light and shadow.

The value of this case is to extend the material to the discussion of spatial perception. At the same time, the operation method is based on the integration of materials, robot trajectory planning, and speed.

Tube In Construction In this research, we focus on the potential structural performance between metal bending and interlocking joint. We are interested in the high degree of freedom and continuity of metal bending. Proper use of composite materials can also give full play to the advantages of materials. Materials can be converted into different forms through processing.

We explore whether the material geometrics can bring more possibilities for design through joints and forms. There is a connection between material geometrics and the structure.

Based on Daniel Widrig’s interlocking structure research, we focus on the potential of it to apply to the metal bending assembly mechanism. Further, explore the mutual complementation of hybrid materials and implement it for the final fabrication.

The advantage of the linear bending in the degree of freedom is very helpful to the integration process of composite materials. The iron can be bent into a U shape easily to meet the bottom-up design process. At the final stage, we focus on the performance between these two materials for on-site construction. We discover that the interlocking joint can help with positioning, and the elasticity of metal bending make timely adjustment onsite more possible.

Feng Chia University School of Architecture - Spring 2020 Acadamic Work - Undergraduate Thesis Adviser: Wei-Hsiang Tseng Team: Joseph Wu, Chun Yu Lo Contribution: material exploration / fabrication / design development / diagram drawing

滾滾長江東逝水

Material

Metal Bending

Metal Tube Selection

Analysis and Advantages

Weight

(a)

Flexibility

Light

Rebound

High

On-Site Adjustment

High

UnrollSrf

Utilize Hardware to lock

Perspective

Freedom of Line

Nut

High

Screw Angle bar

(b)

Heavy

Low

Low

Tube

High

Continuous Bending

Cut the material and connect it with hardware, which is quite laborious. (a)

12.7mm

11mm

10.2mm

11.45mm

(b)

(c)

12.7mm

12.7mm

Welding Point

(a)

11.45mm

12.7mm

(b)

10.2mm

Tube

12.7mm

(c)

11mm

12.7mm

{ Span / Limitation / System }

This design explores the correlation between hybrid materials, material processing, material geometrics, and material characteristics. In our

Material Processing

Hybrid Material

6cm 30 cm

20 cm

30 cm

6 cm

opinion, the potential of linear materials has not yet been much investigated. The joining is usually

3cm

Tube Bending

Metal + Wood

through screws, welding, and gimbal joints. This can improve the efficiency of various repetitions

The longer the of the linear rod, the lower stability of the metal tube.

and structural reasonability. But the top-down thinking has limited the material properties.

Find out the geometry that matches the material characteristics to apply into design.

The value of metal bending: The joints and corners are usually connected via hinge joints, lap joints, welding, etc. The structural joints are usually unstable and become the vulnerable parts of the system. The traditional metal connection calls for the use of an arc machine to cut the round corner via welding or using screws to

Material Geometry

Material Properties

Interlock

1:1 Fabricate

achieve connection. The whole process is rather time-and energy-consuming. For us, the value of metal bending lies in that the whole object is changing part to whole, and the corner is not the vulnerable point in the structure. Meanwhile, this approach is relatively simple and stable.

The longer the overhang, the higher percentage of the damage to the metal tube.

Axis

Angle

Length

Prototype

Machine Tool

Initial Study

Bending Machine and Joint Study

[ Type A ]

[ Type B ]

[ Front View ]

[ Front View ]

90°

[ Type C ]

60°

45°

[ Type D ] 90° 30°

15°

[ Front View ]

[ Front View ]

Prototype

54.75°

35.25°

38.75°

Aggregation

[ Type A + Type A ]

[ Type A + Type B ]

[ Type A + Type C ]

[ Type A + Type D ]

A

Mould Component Restriction Mould Component

Based on the previous research on interlocking structures, we focus on the possibility that such inter-

Plan

Elevation

locks are used in building assembly mechanisms. Interlocking is a kind of structural behavior that can

[ Type B + Type B ]

[ Type B + Type C ]

[ Type B + Type D ]

[ Type C + Type D ]

b

be kept together geometrically.

A : By staggering elements on each ring, the structure can be more stable.

B : Reduce the length of each element in the vertical direction to reduce damage.

There

is

a

direct

connection

between geometry and structure.

The limitation of the tool causes the mold to be round, which also affects the development of the interlocking joint.

In the early stage of the experiment, metal bending characteristics such as resilience and stress are tested. We use the self-made bending machine to bend iron bars. Through repeated combinations and connections of "a unit type", these combinations can form a complex structure.

In the first phase of the test, we tried to use face-to-face connecting logic as our joint system for the metal tube, so that the components can be connected in multiple directions and shaped as a diverse outlook. However, the experimental results found that in the structural system, the metal pipes cannot be connected by the surface connection method. It must be thought of by the systematic joint method.

Vertical Element Prototype Study

[ Vertical connection 01 ]

[ Vertical connection 02 ]

[ Vertical connection 03 ]

[ Vertical connection 04 ]

[ Vertical connection 05 ]

[ 1:1 Fabrication ]

Horizontal Element

Prototype Study

We attempt to verify the results of previous research in a constructive way.

We tried to introduce two kinds of materials into the basic elements of the building, namely pillars, floors, and stairs. Through a series of model studies, we try to make the material the most simplified and lightweight. And conforms to the logic of spatial composition.

Define Architectural Type Top view

Column

Specifically, this design research explains the unique design and manufacturing process and opens up a new way to achieve architectural

Support Top view

free-forms. Hence, to examine this study direction, this research conducts an experimental project, Metal Tube Bending, by applying the characteristics of metal tubes and wood joints. Based on the research of Daniel Widrig (SNP) interlocking structure. We focus on studying the potential of interlocking structure applied in the metal tube bending

Slab

assembly mechanism. In addition, the project focuses not only on how materials help each other, but also apply this system in large scale by fabricating architectural elements, such as column, stairs, slab on a human scale.

Top view

Stairs

Fabrication System

Driller

From equipment to material

Positioning the correct position relationship between the joint and the material through the drilling position of the drilling machine.

Tube Material

1:1 Fabrication CNC Milling

Mould Equipment

Element Screw

Straightener The precision of CNC machine allow us to explore the relationship between the traditional wooden structure and the interlocking joint.

Joint Material

Material Chosing There are many options for joint materials. The interlock joint method requires precise material size. CNC can face diverse designs with the same efficiency. It is a relatively accurate in the current processing method.

The traditional connection mode features the connection of cross-sections, but this

Bending

Bending Machine Metal bending machine could process linear metal materials to 2D and 3D.

Complementary Process Bending and Interlocking behaviour

is inconsistent with the metal’s tensile characteristics.

According to metal’s

characteristics, metal should be connect-

B

Tension Force

Why Interlock Joint is needed:

ed via mutual pulling (the contact area increases) to be more in line with composite materials’ characteristics. But quadrangle can't form a stable mutually tensile

connection. Therefore,

wood

Joint

joints based on geometric characteristics

Screw This research we chosen materials which are not

can help extend the original characteris-

so thick. These materials are light-weighted, weak

tics of metal materials.

in structural strength, and high in the elasticity coefficient. This makes it hard to accurately control the bending angle. Though, manual bending process will still inevitably cause some mistakes inaccurate sampling. Materials with a high elasticity coefficient can be adjusted in time on site. This can ensure timely adjustment of the bending angle

C

and joint position, which is beneficial to the

Why Linearity of Metal is needed:

construction process. Meanwhile, it can facilitate the connection of geometrically enclosed structures.

Tube Bending

Compared with standard architectural materials (such as the plywood or wood frame), linear characteristics of metals can provide a higher degree of geometric freedom so that the system can easily meet different design needs. This is particularly important to the integrated design process of com-

Substitution

posite materials.

Architectural Element Testify the construction logic

[ Prototype - Stairs ]

[ Prototype - Collumn ]

Framework structure

Slab design

Vertical support

Vertical support Fixed horizontal component Steps Avoid structure buckling

Fixed outside ring Bottom layer design

[ FRONT VIEW ]

[ RIGHT VIEW ]

[ RIGHT VIEW ]

Hexagon ring

Slab design

Vertical support Vertical support

[ FRONT VIEW ]

Vertical support Fixed outside ring

Avoid foot buckling The bone

Bottom layer design

Mobile Plastering Robot In response to the digital era, the production model has been transformed from mass production to mass customization. In the era when the architectural manpower is lacking, we hope constructive robots can be introduced to the construction site so that the architecture industry can head towards intelligent construction. According to this, our team proposes a cutting-edge system that utilizes a constructive robot to finish wall plastering in space without any limitations.

This research integrates materials, devices and robot plastering, ranging from the material testing, discharging of materials, and robot trajectory generation to the end effector design and machine vision. The process calls for a close collaboration of various parameters, and rigorous test of the discharging speed and plastering angle to achieve the plastering process.

Robotic Solution Cooperative (ROSOCoop) - Fall 2020 Professional Work Adviser: Prof. Yu-Ting Sheng and Shih-Yuan Wang Project Leader: Peng-Hsiu Tung Group Member: Joseph Wu, Tiger Lin, Che-Wei Lin, Yu-Hsuan Pang Contribution: material testing / end effector design / fabrication / design development / diagram drawing

System Development From Digital to equipment

Robotic Arm Machine Vision

Motor Control EXTRUDING SPEED

The cement plastering

Digital

environment is

PROGRAMING SPEED

detrimental to the human health. Com-

Equipment Screw

TEMPERATURE

paratively, the robot cement plastering

Concrete Mixer

brush can work for a long time, while also ensuring the plastering quality. With the

End Effector

advent of Industry 4.0, we hope that robot plastering process can overcome onsite limitations, and improve the working environment for today’s construction industry.

Trajectory Planning

Era II

Era III

Era IV

Era V

OpenCV

Plastering Procedure From Digital to equipment

MassProduction

BatchProduction

MassCustomization

Machine replaces traditional handwork

Manual machine

Diversified and non-standardized goods and services

Standardization

Customization

Limited types

Assembly line production

Repetitive production with high efficiency

Diversification

No complete pipeline through manual delivery

Variable production

Automated

(ii)

(iii)

Gap between design and manufacturing

Computer integration

Move to the ready position

Form follows fabrication The process from design to manufacturing is stepwise and specialized

(i)

Intelligent Manufacturing

Slow and unable to adapt to market requirements

Discrete production

Mobile Vehicle

Camera Detection

Depth Camera Detection

Trajectory Planning

Supply Chain Management

(iv)

Automated

(v)

(vi)

Fabrication follows form Standardization 90％ +

Standardization 80％ +

Craftmanship 10％

Craftmanship 20％

Concrete Discharge

Robot Plastering

Cleaning tools and evaluation

Robot End Effector Plastering Tool Design

TACO

10%

0.65V

Aluminum plate

Grasshopper path speed

Program path speed

Grouting machine extrusion speed

Flange face

Final照片大圖

Swivel feeding Cement mortar Feeder

Connectors

Cement outlet Aluminum extrusion supporter

Plastering tool

Plastering Movement

Future Prospect

Trajectory Planning

As for the main goal in the next stage,we

Technological breakthrough

not only want to complete the machine

Obstacle detection system

Machine Learning

plastering process, we also want to make

The system makes use of the machine vision system to quickly establish a flat basic plane, and establishes the cement plastering sequence. We plan to increase the use of machine vision so that it can detect obstacles and solve problems automatically

We plan to record these data images using machine learning. Big data technology can be used to learn the plastering quality, and record the current environmental status.

all the steps to be intelligent.

In the future, the machinery arm can be installed on the automatic vehicle, and upper-air escalator to achieve more efficient and larger-scale plastering. It is hoped that a set of big data system can be set up, which detects the wall flatness through photo recording. The big data technology can be used to learn the plastering quality, and record the current envi-

Camera Database

Machine Learning

Automatic refuelling system

Wide range plastering system

We plan to develop a more complete system to allow cement trucks to fill automatically. And automatically adjust to the current climate environment.

This research uses the small-scale action cement truck and connects the discharging port with the pipe on the end effector so that the cement and plastering movement can be collaborated. We plan to add elevators and tracks to this system to increase the working area.

Cement Refuelling

Electric Lift Table

Robot TCP Plaster Area X Axis Y Axis

Plastering detail and TCP movement

Z Axis

ronmental status. In this way, the material ratio and plastering speed can be adjusted according to the working conditions automatically.

Robot-Controlled Camera The workshop utilizes the IIWA Lady, a human-machine collaborative robot, to explore the spatial perception experience extended by the virtual space and create unique animation effects. This design uses Unreal Engine to create virtual scenes. It also utilizes TACO IIWA software to collaborate with robots, exchanges information with Unreal Engine in real-time.

Eventually, control the rendering effects of its virtual cameras and animations.

In detail, this study developed a custom interface between the ROSOCoop robots and Unreal Engine. Utilize the robot as an intuitive input device for real-time control of virtual cameras within the Unreal Engine scene. It controlled not only camera position/rotation but also focal length, speed, etc.

Unreal Engine Robot-Controlled Camera Workshop SCI-ARC, ROSOCoop, FCU, NYCU, IDF - Summer 2021 Adviser: Prof. Alexin Marfin, Yu-Ting Sheng and Shih-Yuan Wang Team Member:

Han Lin, Chung-Chieh Cheng, Eric Chen, Lee-Yo Chen,

Xiao-Tian Yu, Hsiang-Ting Chien, Tsung-Han Tsai, Ting-Chia Chen, Kuo-Feng Wei, Kang-Chia Wei, Hung-Wen Lu, Zhao-Wei Liu, Joseph Wu, Shih-Kai Fan, Chun-Yu Lo, Ting-Xuan Jiang, Hung-Cheng Chun, Yung-Chi Liu, Yu-Sheng Liu

Dynamic Molding Dynamic

Molding

Workshop

proposed

a

state-of-the-art digital manufacturing system. Utilizing 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 accurately, and it needs to consume a lot of manufacturing 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 composition and manufacture through the robotic printing system.

ROSOCoop Workshop - Spring 2020 Team:

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-Chen Lee, Chun-Yu Lo, E-Shin Chiu, Wei-Jen Huang, Kai-Hsin Yeh

Contribution: material exploration / computational design / fabrication

AAVS Osaka The appearance of the pavilion that comes from the unique law of proportions between components and the overall structure holds a very deep sig¬nificance in today's society. Furthermore, as the craftsman¬ship of constructing these pavilions was passed from era to era, aspects such as the law of proportions have been further improved on in conjunction with technological advancement. This workshop provides the opportunity to guess how the future of design will unfold by reconsidering how people, technology and tools are connected after we have a gained insight about traditional wood framework craftsmanship from a new perspective.

Roof is an essential part of the image skyline of the traditional city, and add the mass and the weight that the religious godas were designed to be looked from far away, the roof silhouette describes the proportion and the general design intentions of the building.

Traditional Japanese architecture is based on the notion of proportion, function and beauty. The repetition of structual elements creates an hipnotic and beautiful architectural language that has became the esential of the structure.

RULED SURFACE Following the rotation of the reciprocal structure, the roof expands between the main structural members of the pagoda: the rafters, creating a ruled surface. The ruled surface is solved with a of the main structural members.

Roof and tower structure are independent from each other so the design, fabrication and assembly of the roof could happen in paralel.

PROCESS Process was driven by material and assembly constrains. To accomodate the varying lenghts of Hinoki panels, primary members were extended by usact as a secondary structure to the roof, supporting primary members and lock-

JOINERY DETAILS

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AAVS Workshop - Spring 2019 Team:

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Bader AlShawaf, Frederick Gorsten Schunemann, Siyu Shen, Qian

Sha, Xiaolu Yang, Natalie Lee, Taku Saito, Davide Tanadini, Lu Guo, Menghe Guo, Sujal Kodamadanchirayil Suresh,

Ricardo Valbuena, You Wei Yen, Yu

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Primary Roof Members

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Secondary Roof Members

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Tension Ring

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Compresion Ring

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Rafters

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Cheng Chi, Mykola Tsyharin, Thomas Essex-Plath, Joseph Wu, Bernardo Cossio, Moe Kitagaki, Svenja Feles, Viorela Bogatu, Manuel Suárez, Taiki Kiguchi, Shota Enda, Rei Yamamoto, Yasemin Sahiner, Reo Oshiyama, Hiroya Inage

Contribution: material exploration / computational design / fabrication

The main topic of the workshop was to understand the relationship between the traditional japanese architecture and techniques from a modern perspective, both conceptually and in terms of tools and processes.

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