H.H. Bier
info
Please Note
<p>This page displays the records of the person named above and is not linked to a unique person identifier. This record may need to be merged to a profile.</p>
69 records found
1
Conference paper
(2026)
-
Henriette Bier, Micah Prendergast, Arwin Hidding, Antonia Sattler, Dagmar Reinhardt, Charlotte Firth
The European Space Agency (ESA) funded project, Rhizome, implemented at Technical University (TU) Delft, Netherlands in collaboration with industrial partner, Vertico, focuses on the development of extraterrestrial habitats constructed from robotically printed components that are assembled into larger structures using a swarm of rovers. The habitat has an integrated greenhouse that relies among others on robotic planting. The developed Computer Vision (CV)- and Human–Robot Interaction (HRI)-supported approach implemented in collaboration with the University of Sydney (U Sydney) and the University of New South Wales (UNSW), Australia, facilitates the planting. It aims at minimizing use of human resources. Furthermore, it contributes to sustainability by (a) increasing efficiency, with robots planting seedlings faster and with greater precision than humans and by (b) improving resource utilization, with robots accurately planting seedlings at optimal spacing and depth to minimize use of water, nutrients, etc. The developed robotic approach relies on a mobile robotic system equipped with an anthropomorphic robotic hand based on soft-robotics technology, able to interact with the surrounding environment, objects, and humans. For planting, the robotic hand uses 2 Degrees of Freedom (DOF) to open and close and a camera mounted to the side of the robotic arm to capture the working area. By detecting the position and directional vector of the individual seedlings, the robotic hand is automatically positioned and suitably aligned for the seedling pickup. While a predefined automated pick-and-place code determines the planting positions, the human assists the robotic hand with gently grabbing and releasing the seedling. This approach aims to adapt robots to human interactions over time by improving their performance and responsiveness using reinforcement or imitation learning in due time. The overall goal is to advance sustainable development of habitats with integrated greenhouses through robotic technology transfer from on- to off-Earth applications and vice versa.
...
The European Space Agency (ESA) funded project, Rhizome, implemented at Technical University (TU) Delft, Netherlands in collaboration with industrial partner, Vertico, focuses on the development of extraterrestrial habitats constructed from robotically printed components that are assembled into larger structures using a swarm of rovers. The habitat has an integrated greenhouse that relies among others on robotic planting. The developed Computer Vision (CV)- and Human–Robot Interaction (HRI)-supported approach implemented in collaboration with the University of Sydney (U Sydney) and the University of New South Wales (UNSW), Australia, facilitates the planting. It aims at minimizing use of human resources. Furthermore, it contributes to sustainability by (a) increasing efficiency, with robots planting seedlings faster and with greater precision than humans and by (b) improving resource utilization, with robots accurately planting seedlings at optimal spacing and depth to minimize use of water, nutrients, etc. The developed robotic approach relies on a mobile robotic system equipped with an anthropomorphic robotic hand based on soft-robotics technology, able to interact with the surrounding environment, objects, and humans. For planting, the robotic hand uses 2 Degrees of Freedom (DOF) to open and close and a camera mounted to the side of the robotic arm to capture the working area. By detecting the position and directional vector of the individual seedlings, the robotic hand is automatically positioned and suitably aligned for the seedling pickup. While a predefined automated pick-and-place code determines the planting positions, the human assists the robotic hand with gently grabbing and releasing the seedling. This approach aims to adapt robots to human interactions over time by improving their performance and responsiveness using reinforcement or imitation learning in due time. The overall goal is to advance sustainable development of habitats with integrated greenhouses through robotic technology transfer from on- to off-Earth applications and vice versa.
Constructing Martian habitats presents significant challenges due to the harsh environmental conditions and limited resources available. In the presented study, a robotic assembly method has been developed that incorporates K-means clustering for task allocation and topological interlocking. The topological interlocking of Voronoi-based components provides an internally force-locked system, which facilitates both the robotic assembly process and the structural stability of the habitat. The clustering is leveraged for production planning objectives, including resource allocation and scheduling operations for assembling components. This method addresses assembly challenges of nonuniform components and facilitates the stacking of prefabricated 3D-printed Voronoi-based components using mobile robots. Experimental tests show that the proposed approach is practical and scalable, offering a feasible solution for autonomous Martian habitat construction. It contributes to laying the groundwork for sustainable autonomous construction systems.
...
Constructing Martian habitats presents significant challenges due to the harsh environmental conditions and limited resources available. In the presented study, a robotic assembly method has been developed that incorporates K-means clustering for task allocation and topological interlocking. The topological interlocking of Voronoi-based components provides an internally force-locked system, which facilitates both the robotic assembly process and the structural stability of the habitat. The clustering is leveraged for production planning objectives, including resource allocation and scheduling operations for assembling components. This method addresses assembly challenges of nonuniform components and facilitates the stacking of prefabricated 3D-printed Voronoi-based components using mobile robots. Experimental tests show that the proposed approach is practical and scalable, offering a feasible solution for autonomous Martian habitat construction. It contributes to laying the groundwork for sustainable autonomous construction systems.
This paper presents a comparative study on environmental impacts in terms of carbon dioxide (CO2) emission from circular concrete construction. From full preservation to demolition, buildings are retained, components are reutilized, and materials are reprocessed into new products. However, doing so often requires new material, equipment deployment, and energy consumption. Hence, the presented research evaluates CO2 emissions related to these various circular approaches to identify the lowest CO2 strategy for decarbonization. By comparing building components such as columns constructed by different circular means, in this case, reutilization and reprocessing, the study investigates the energy and materials at the component scale, which informs the redeployment of multi-lifecycle building construction.
...
This paper presents a comparative study on environmental impacts in terms of carbon dioxide (CO2) emission from circular concrete construction. From full preservation to demolition, buildings are retained, components are reutilized, and materials are reprocessed into new products. However, doing so often requires new material, equipment deployment, and energy consumption. Hence, the presented research evaluates CO2 emissions related to these various circular approaches to identify the lowest CO2 strategy for decarbonization. By comparing building components such as columns constructed by different circular means, in this case, reutilization and reprocessing, the study investigates the energy and materials at the component scale, which informs the redeployment of multi-lifecycle building construction.
Journal article
(2026)
-
A.J. Hidding, H.H. Bier, L. Peternel, A.J. Becoy, F.A.P. Romio, G. Calabrese
As part of TU Delft Rhizome 2.0 and Moonshot projects, focusing on the development of extraterrestrial habitats in lava tubes, the robotic mapping of an analogue lava tube in Sicily has been studied with the future goal of assessing its suitability for building construction. The main objective of the research was to survey a lava tube and acquire a novel dataset for future research, while also analyzing the collected data to evaluate possible future lava tube exploration scenarios for the Moon and Mars. This paper presents the robotic mapping conducted in Grotta di Monte Intraleo, detailing the implementation and outlining challenges and insights, leading to the new dataset. Various mapping and data collection methods, including robotic mapping using LiDAR, was explored. The overall strategy relies on multi-technique scanning to enhance redundancy and ensure comprehensive data acquisition, that is providing a robust foundation for future robotic exploration and habitat planning.
...
As part of TU Delft Rhizome 2.0 and Moonshot projects, focusing on the development of extraterrestrial habitats in lava tubes, the robotic mapping of an analogue lava tube in Sicily has been studied with the future goal of assessing its suitability for building construction. The main objective of the research was to survey a lava tube and acquire a novel dataset for future research, while also analyzing the collected data to evaluate possible future lava tube exploration scenarios for the Moon and Mars. This paper presents the robotic mapping conducted in Grotta di Monte Intraleo, detailing the implementation and outlining challenges and insights, leading to the new dataset. Various mapping and data collection methods, including robotic mapping using LiDAR, was explored. The overall strategy relies on multi-technique scanning to enhance redundancy and ensure comprehensive data acquisition, that is providing a robust foundation for future robotic exploration and habitat planning.
When designing and constructing habitats on Mars, one of the main challenges is the extreme environment, which lacks a breathable atmosphere and atmospheric pressure, and is characterized by extreme temperature fluctuations and high radiation levels. The habitat is situated within a lava tube, providing natural shielding from radiation, micrometeoroids, and extreme temperature fluctuations. This challenge is addressed in TU Delft’s Rhizome 2.0 project by integrating a Life Support System (LSS) into the envelope of a Martian habitat to maintain the necessary environmental conditions for human survival. The research explores the integration of the LSS into the approximately 1.5-m-thick building envelope that is constructed from prefabricated 3D-printed Voronoi-based components that interlock and are assembled on-site by a swarm of rovers and human assistance where needed. The integration is implemented by structurally analyzing the envelope to generate a point cloud of stress data. Based on the stress concentrations and LSS conduit path lengths, a single objective optimizer determines the shortest routes for the LSS conduits while avoiding high stress concentrations. This results in a structurally optimized building envelope with strategically incorporated branching negative spaces that accommodate the LSS infrastructure.
...
When designing and constructing habitats on Mars, one of the main challenges is the extreme environment, which lacks a breathable atmosphere and atmospheric pressure, and is characterized by extreme temperature fluctuations and high radiation levels. The habitat is situated within a lava tube, providing natural shielding from radiation, micrometeoroids, and extreme temperature fluctuations. This challenge is addressed in TU Delft’s Rhizome 2.0 project by integrating a Life Support System (LSS) into the envelope of a Martian habitat to maintain the necessary environmental conditions for human survival. The research explores the integration of the LSS into the approximately 1.5-m-thick building envelope that is constructed from prefabricated 3D-printed Voronoi-based components that interlock and are assembled on-site by a swarm of rovers and human assistance where needed. The integration is implemented by structurally analyzing the envelope to generate a point cloud of stress data. Based on the stress concentrations and LSS conduit path lengths, a single objective optimizer determines the shortest routes for the LSS conduits while avoiding high stress concentrations. This results in a structurally optimized building envelope with strategically incorporated branching negative spaces that accommodate the LSS infrastructure.
Rhizome 1.0 and 2.0 are European Space Agency (ESA) co-funded projects that have been implemented with a team from the Architecture, Mechanical Engineering, and Aerospace Engineering Faculties, TU Delft, and various industrial partners. The focus is on the development of a Martian habitat using 3D-printed components and in situ resource utilization. This paper presents a new multi-modal method developed for the collaborative assembly of building components with the support of Computer Vision (CV) and Human-Robot Interaction (HRI) using compliant robotic collaborative manipulators. The building components are Voronoi-based and are fabricated using Design-to-Robotic-Production and -Assembly (D2RP&A). During the collaborative assembly, the robot uses CV to detect the fabricated component and generate autonomous actions to perform the pick-and-place movement. Between the autonomous robot actions, HRI is used by the human to physically guide the robot when grasping and positioning. To evaluate the proposed method, lab experiments were conducted using robotically milled mock-up components from Styrofoam, which were assembled with a collaborative robotic arm. The results indicate that robots can assist humans during the assembly process to implement tasks that are beyond their physical abilities, while robots benefit from human cognitive capabilities during more complex actions.
...
Rhizome 1.0 and 2.0 are European Space Agency (ESA) co-funded projects that have been implemented with a team from the Architecture, Mechanical Engineering, and Aerospace Engineering Faculties, TU Delft, and various industrial partners. The focus is on the development of a Martian habitat using 3D-printed components and in situ resource utilization. This paper presents a new multi-modal method developed for the collaborative assembly of building components with the support of Computer Vision (CV) and Human-Robot Interaction (HRI) using compliant robotic collaborative manipulators. The building components are Voronoi-based and are fabricated using Design-to-Robotic-Production and -Assembly (D2RP&A). During the collaborative assembly, the robot uses CV to detect the fabricated component and generate autonomous actions to perform the pick-and-place movement. Between the autonomous robot actions, HRI is used by the human to physically guide the robot when grasping and positioning. To evaluate the proposed method, lab experiments were conducted using robotically milled mock-up components from Styrofoam, which were assembled with a collaborative robotic arm. The results indicate that robots can assist humans during the assembly process to implement tasks that are beyond their physical abilities, while robots benefit from human cognitive capabilities during more complex actions.
Building pop-up habitats in extreme weather conditions such as deserts requires preliminary contextual, i.e., site studies. Since the site’s condition is constantly changing due to sand relocation induced by wind, a rapid mapping solution is proposed. This is implemented by generating a 3D mesh model of the site with the help of a visual workflow and advanced computational design methods to implement in-situ 3D printing of habitats. This paper presents an integrated approach utilizing Computer Vision (CV), Deep Learning (DL), and generative design tools like Grasshopper. By harnessing the potential of Convolutional Neural Networks (CNNs), a robust framework is developed to recognize complex desert terrain features, independent of solar orientation and camera positioning. The methodology employs a state-of-the-art CNN customized for detecting features in desert settings. This is further enhanced by using Grasshopper to systematically generate a diverse dataset that enriches the model’s learning process. The resulting model efficiently extracts precise 3D meshes from 2D images, optimizing site mapping and integrating habitat printing workflows. This automated approach offers an effective solution for habitat construction in challenging environments, showcasing real-time processing.
...
Building pop-up habitats in extreme weather conditions such as deserts requires preliminary contextual, i.e., site studies. Since the site’s condition is constantly changing due to sand relocation induced by wind, a rapid mapping solution is proposed. This is implemented by generating a 3D mesh model of the site with the help of a visual workflow and advanced computational design methods to implement in-situ 3D printing of habitats. This paper presents an integrated approach utilizing Computer Vision (CV), Deep Learning (DL), and generative design tools like Grasshopper. By harnessing the potential of Convolutional Neural Networks (CNNs), a robust framework is developed to recognize complex desert terrain features, independent of solar orientation and camera positioning. The methodology employs a state-of-the-art CNN customized for detecting features in desert settings. This is further enhanced by using Grasshopper to systematically generate a diverse dataset that enriches the model’s learning process. The resulting model efficiently extracts precise 3D meshes from 2D images, optimizing site mapping and integrating habitat printing workflows. This automated approach offers an effective solution for habitat construction in challenging environments, showcasing real-time processing.
Constructing a Martian habitat presents significant challenges due to extreme temperature variations and a low-density and -pressure atmosphere. To address these challenges a habitat constructed from prefabricated, interlocking Voronoi-based components that are assembled by human-robot collaboration has been explored in the Rhizome projects at TU Delft. In this paper, we propose a combined robot motion planning and learning method that can optimize human involvement in assembly tasks in on-site construction. The proposed hybrid approach exploits motion planning to create motion trajectories for aspects of the task where robot autonomy is capable of solving the problem on its own using sensors and intelligence. When the task becomes too difficult for existing planning capabilities, the human can step in and teach motion trajectories via kinaesthetic demonstration using Dynamic Movement Primitives (DMPs). The trajectories are then executed on the low level by an impedance controller to handle the physical interaction with the environment during the assembly. The decision-making process is managed by a behavior tree.
...
Constructing a Martian habitat presents significant challenges due to extreme temperature variations and a low-density and -pressure atmosphere. To address these challenges a habitat constructed from prefabricated, interlocking Voronoi-based components that are assembled by human-robot collaboration has been explored in the Rhizome projects at TU Delft. In this paper, we propose a combined robot motion planning and learning method that can optimize human involvement in assembly tasks in on-site construction. The proposed hybrid approach exploits motion planning to create motion trajectories for aspects of the task where robot autonomy is capable of solving the problem on its own using sensors and intelligence. When the task becomes too difficult for existing planning capabilities, the human can step in and teach motion trajectories via kinaesthetic demonstration using Dynamic Movement Primitives (DMPs). The trajectories are then executed on the low level by an impedance controller to handle the physical interaction with the environment during the assembly. The decision-making process is managed by a behavior tree.
The construction industry faces persistent productivity shortfalls and rising carbon dioxide emissions, which drives a shift toward the use of low-carbon materials and higher degrees of automation. Timber, a renewable and carbon-sequestering material, becomes especially compelling when combined with robotic fabrication. Although rapid advances have been implemented in the last decade, research and practice remain fragmented, and systematic evaluations of technological readiness are scarce. This gap is addressed in this review through critical literature synthesis of robotic timber construction, combining bibliometric analysis with a comparative evaluation of twelve representative case studies from 2020 to 2025. Computational and robotic tools are mapped across the design to fabrication pipeline, and emerging advancements are identified such as digital twins, real-time adaptive workflows, and machine learning driven fabrication, alongside discrete and circular strategies. Barriers to scale up are also assessed, including mid-level technology readiness, regulatory and safety obligations for human–robot interaction, evidence on cost and productivity, and workforce training needs. By clarifying the current level of robotization and specifying both research gaps and industrial prerequisites, this study provides a structured foundation for the next phase of development. It helps scholars by consolidating methods and metrics for rigorous evaluation, and it helps practitioners by highlighting pathways to scalable, certifiable, and circular deployment that align cost, safety, and training requirements.
...
The construction industry faces persistent productivity shortfalls and rising carbon dioxide emissions, which drives a shift toward the use of low-carbon materials and higher degrees of automation. Timber, a renewable and carbon-sequestering material, becomes especially compelling when combined with robotic fabrication. Although rapid advances have been implemented in the last decade, research and practice remain fragmented, and systematic evaluations of technological readiness are scarce. This gap is addressed in this review through critical literature synthesis of robotic timber construction, combining bibliometric analysis with a comparative evaluation of twelve representative case studies from 2020 to 2025. Computational and robotic tools are mapped across the design to fabrication pipeline, and emerging advancements are identified such as digital twins, real-time adaptive workflows, and machine learning driven fabrication, alongside discrete and circular strategies. Barriers to scale up are also assessed, including mid-level technology readiness, regulatory and safety obligations for human–robot interaction, evidence on cost and productivity, and workforce training needs. By clarifying the current level of robotization and specifying both research gaps and industrial prerequisites, this study provides a structured foundation for the next phase of development. It helps scholars by consolidating methods and metrics for rigorous evaluation, and it helps practitioners by highlighting pathways to scalable, certifiable, and circular deployment that align cost, safety, and training requirements.
Advancements in 3D printing technology facilitate the implementation of innovative building processes. When combined with circular approaches in particular the use of recycled materials, significant reduction of environmental impact is expected. This paper presents an investigation into the potential of recycled materials for 3D printing habitats. The study’s main objective is to assess two recycled materials, concrete and sandstone, which are suitable for 3D printing. Through comparative analysis, the research aims to demonstrate the environmental impact and process feasibility of each material in the context of 3D printing. The methodology involves the evaluation of recycled concrete and sandstone regarding material properties and overall environmental footprint by comparing building components such as columns. The energy use and carbon footprint in 3D printing are evaluated with the goal to minimize waste and contribute to a closed-loop approach. One of the fundamental aspects of this assessment involves quantifying and comparing the carbon dioxide (CO2) emissions associated with each material at some stages of its life cycle, i.e., from material extraction to assembly. Consequently, by analyzing quantitative data, a basis for a more environmentally friendly circular approach for printing habitats is determined.
...
Advancements in 3D printing technology facilitate the implementation of innovative building processes. When combined with circular approaches in particular the use of recycled materials, significant reduction of environmental impact is expected. This paper presents an investigation into the potential of recycled materials for 3D printing habitats. The study’s main objective is to assess two recycled materials, concrete and sandstone, which are suitable for 3D printing. Through comparative analysis, the research aims to demonstrate the environmental impact and process feasibility of each material in the context of 3D printing. The methodology involves the evaluation of recycled concrete and sandstone regarding material properties and overall environmental footprint by comparing building components such as columns. The energy use and carbon footprint in 3D printing are evaluated with the goal to minimize waste and contribute to a closed-loop approach. One of the fundamental aspects of this assessment involves quantifying and comparing the carbon dioxide (CO2) emissions associated with each material at some stages of its life cycle, i.e., from material extraction to assembly. Consequently, by analyzing quantitative data, a basis for a more environmentally friendly circular approach for printing habitats is determined.
Conference paper
(2024)
-
H.H. Bier, A.J. Hidding, S. Khademi, C.C.J. van Engelenburg, J.M. Prendergast, L. Peternel
Real-world applications of Artificial Intelligence (AI) in architecture have been explored more recently at Technical University (TU) Delft by integrating AI in Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods. These embed robotics into building processes and buildings by linking computational design with robotic construction and/ or operation of building components and buildings. This paper presents two case studies in which AI-supported D2RA is implemented in a multidisciplinary approach that requires the integration of research domains such as architecture, robotics, computer and material science.
...
Real-world applications of Artificial Intelligence (AI) in architecture have been explored more recently at Technical University (TU) Delft by integrating AI in Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods. These embed robotics into building processes and buildings by linking computational design with robotic construction and/ or operation of building components and buildings. This paper presents two case studies in which AI-supported D2RA is implemented in a multidisciplinary approach that requires the integration of research domains such as architecture, robotics, computer and material science.
In order for off-Earth top surface structures built from regolith to protect astronauts from radiation, they need to be several metres thick. In a feasibility study, funded by the European Space Agency, Technical University Delft (TUD aka TU Delft) explored the possibility of building in empty lava tubes to create rhizomatic subsurface habitats. With this approach natural protection from radiation is achieved as well as thermal insulation because the temperature is more stable underground. It involves a swarm of autonomous mobile robots that survey the areas and mine for materials such as regolith in order to create cement-based concrete reproducible on Mars through in-situ resource utilisation (ISRU). The concrete is 3D printed by means of additive Design-to-Robotic-Production (D2RP) methods developed at TUD for on-Earth applications with the 3D printing system of industrial partner, Vertico. The printed components are assembled using a Human--Robot Interaction (HRI) supported approach. The 3D printed and HRI-supported assembled structures are structurally optimised porous material systems with increased insulation properties. In order to regulate the indoor pressurised environment a Life Support System (LSS) is integrated, which in this study is only conceptually developed. The habitat and the D2RP production system are powered by an automated kite power system and solar panels developed at TUD. The long-term goal is to develop an autarkic, automated and HRI-supported D2RP system for building autarkic habitats from locally obtained materials.
...
In order for off-Earth top surface structures built from regolith to protect astronauts from radiation, they need to be several metres thick. In a feasibility study, funded by the European Space Agency, Technical University Delft (TUD aka TU Delft) explored the possibility of building in empty lava tubes to create rhizomatic subsurface habitats. With this approach natural protection from radiation is achieved as well as thermal insulation because the temperature is more stable underground. It involves a swarm of autonomous mobile robots that survey the areas and mine for materials such as regolith in order to create cement-based concrete reproducible on Mars through in-situ resource utilisation (ISRU). The concrete is 3D printed by means of additive Design-to-Robotic-Production (D2RP) methods developed at TUD for on-Earth applications with the 3D printing system of industrial partner, Vertico. The printed components are assembled using a Human--Robot Interaction (HRI) supported approach. The 3D printed and HRI-supported assembled structures are structurally optimised porous material systems with increased insulation properties. In order to regulate the indoor pressurised environment a Life Support System (LSS) is integrated, which in this study is only conceptually developed. The habitat and the D2RP production system are powered by an automated kite power system and solar panels developed at TUD. The long-term goal is to develop an autarkic, automated and HRI-supported D2RP system for building autarkic habitats from locally obtained materials.
Editorial CpA #6
Human-Robot Interaction for Carbon-free Architecture
The Spool CpA #6 issue on Human-Robot Interaction for Carbon-free Architecture reviews current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots and attempts to answer questions about (i) the fundamental framing of post-carbon autonomous construction, (ii) the interdependencies between machines, humans, and materials, and (iii) the different imple-mentation timeframes ranging from continuous transformation to leapfrogging.
...
The Spool CpA #6 issue on Human-Robot Interaction for Carbon-free Architecture reviews current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots and attempts to answer questions about (i) the fundamental framing of post-carbon autonomous construction, (ii) the interdependencies between machines, humans, and materials, and (iii) the different imple-mentation timeframes ranging from continuous transformation to leapfrogging.
Conference paper
(2024)
-
Giuseppe Calabrese, Arwin Hidding, Henriette Bier, Casper van Engelenburg, Seyran Khademi, Atousa Aslaminezhad
This paper addresses the complexities inherent in constructing sustainable extraterrestrial habitats within lava tubes that are envisioned as promising locations for human habitation and scientific inquiry. These environments are characterized by various challenges, which are addressed in this case by integrating computer vision (CV) techniques and 3D printing in-situ. The CV component generates a detailed depth map from synthetic imagery to combine this depth map with an adaptive 3D printing process, which is proposed to ensure level surfaces at various depths, facilitating precise foundation and habitat placement within the demanding context of lava tubes. Significantly, synthetic imagery is employed due to the absence of real lava tube photos at this early stage of the current exploration. The focal point lies in utilizing advanced deep learning (DL) algorithms and convolutional neural networks (CNN) to generate depth maps for extra/-terrestrial environments. This research represents a platform for further knowledge development in the fields of CV and its application to 3D printing in-situ, hence opening new avenues for sustainable extraterrestrial habitats.
...
This paper addresses the complexities inherent in constructing sustainable extraterrestrial habitats within lava tubes that are envisioned as promising locations for human habitation and scientific inquiry. These environments are characterized by various challenges, which are addressed in this case by integrating computer vision (CV) techniques and 3D printing in-situ. The CV component generates a detailed depth map from synthetic imagery to combine this depth map with an adaptive 3D printing process, which is proposed to ensure level surfaces at various depths, facilitating precise foundation and habitat placement within the demanding context of lava tubes. Significantly, synthetic imagery is employed due to the absence of real lava tube photos at this early stage of the current exploration. The focal point lies in utilizing advanced deep learning (DL) algorithms and convolutional neural networks (CNN) to generate depth maps for extra/-terrestrial environments. This research represents a platform for further knowledge development in the fields of CV and its application to 3D printing in-situ, hence opening new avenues for sustainable extraterrestrial habitats.
The construction sector accounts for about 40% of material-, energy- and process-related carbon dioxide (CO2) emissions, which can be reduced by introducing data-driven Circular Economy (CE) approaches. For instance, Design-to-Robotic-Production (D2RP) methods developed in the Robotic building lab, at Technical University (TU) Delft are embedding data-driven systems into building processes. Their potential to contribute to sustainability through increased material-, process-, and energy-efficiency has been explored in several case studies that are presented in this paper. The assumption is that by using these methods and reclaimed wood to minimize demand for new resources and reduce deforestation along the way, CO2 emissions can be considerably reduced.
...
The construction sector accounts for about 40% of material-, energy- and process-related carbon dioxide (CO2) emissions, which can be reduced by introducing data-driven Circular Economy (CE) approaches. For instance, Design-to-Robotic-Production (D2RP) methods developed in the Robotic building lab, at Technical University (TU) Delft are embedding data-driven systems into building processes. Their potential to contribute to sustainability through increased material-, process-, and energy-efficiency has been explored in several case studies that are presented in this paper. The assumption is that by using these methods and reclaimed wood to minimize demand for new resources and reduce deforestation along the way, CO2 emissions can be considerably reduced.
This paper revisits existing pop-up typologies in architecture to identify opportunities for new shelter models to address current housing demands and future habitation requirements on Mars. It presents advancements in design to production methodologies based on computational and robotic techniques to meet current requirements and affordances while integrating sustainable and adaptive functionalities. The main goal is to advance pop-up architecture by developing methods and technologies for rapidly deployable on- and off-Earth habitats while addressing challenges of carbon-free architecture by means of 3D printing. By reviewing state-of-the-art in-situ vs. prefab 3D printing approaches with a particular focus on Human-Robot Interaction (HRI) supported Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods developed at TU Delft material, process, and energy efficiency using locally sourced materials is achieved.
...
This paper revisits existing pop-up typologies in architecture to identify opportunities for new shelter models to address current housing demands and future habitation requirements on Mars. It presents advancements in design to production methodologies based on computational and robotic techniques to meet current requirements and affordances while integrating sustainable and adaptive functionalities. The main goal is to advance pop-up architecture by developing methods and technologies for rapidly deployable on- and off-Earth habitats while addressing challenges of carbon-free architecture by means of 3D printing. By reviewing state-of-the-art in-situ vs. prefab 3D printing approaches with a particular focus on Human-Robot Interaction (HRI) supported Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods developed at TU Delft material, process, and energy efficiency using locally sourced materials is achieved.
This chapter presents a review of cementless materials for 3D printing, with a specific emphasis on the utilization of volcanic ash in the context of a case study for off-Earth construction. As a highly promising alternative to traditional concrete, selected binders are investigated in relation to volcanic ash for the creation of an alternative concrete. These offer a multitude of compelling advantages, including exceptional sustainability, local availability, and minimal energy use. By opting for volcanic ash-based materials, a significant reduction in resource consumption and pollution can be achieved. The review concludes with a set of considerations aimed at addressing various critical aspects related to volcanic ash-based materials. These considerations encompass vital areas such as binder selection, printability, structural behavior, production optimization, in-situ resource utilization, and sustainability. The goal is to establish a solid foundation for the widespread application of cementless concrete by understanding materials, particularly in the context of utilizing volcanic ash, and thereby fostering a paradigm shift toward more environmentally friendly and resource-efficient construction practices.
...
This chapter presents a review of cementless materials for 3D printing, with a specific emphasis on the utilization of volcanic ash in the context of a case study for off-Earth construction. As a highly promising alternative to traditional concrete, selected binders are investigated in relation to volcanic ash for the creation of an alternative concrete. These offer a multitude of compelling advantages, including exceptional sustainability, local availability, and minimal energy use. By opting for volcanic ash-based materials, a significant reduction in resource consumption and pollution can be achieved. The review concludes with a set of considerations aimed at addressing various critical aspects related to volcanic ash-based materials. These considerations encompass vital areas such as binder selection, printability, structural behavior, production optimization, in-situ resource utilization, and sustainability. The goal is to establish a solid foundation for the widespread application of cementless concrete by understanding materials, particularly in the context of utilizing volcanic ash, and thereby fostering a paradigm shift toward more environmentally friendly and resource-efficient construction practices.
Dialogues on Architecture, published in various issues of Spool CpA, is a series of dialogues between researchers and practitioners, who are embracing the intellectual model of high technology and are involved in its advancement and application in architecture. Dialog #6 presents discussions risen during an online symposium on challenges of the Architecture, Engineering and Construction (AEC) industry, which is facing a threefold challenge involving the (i) digital transformation of all design and planning processes, (ii) automation of construction processes, and (iii) reconsideration of energy, process, and material use. These challenges involve issues with respect to productivity, scalability, safety, labour skill shift, and environmental impact. Acknowledging that there is a particular urgency in transferring effective solutions from research to building practice to meet significant carbon reduction goals by 2040, the one-day symposium organized as an online event in 2022
1, Human-Robot Interaction for Post-Carbon Architecture (HRI4PCA), was an opportunity to make an inventory of current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots.
...
Dialogues on Architecture, published in various issues of Spool CpA, is a series of dialogues between researchers and practitioners, who are embracing the intellectual model of high technology and are involved in its advancement and application in architecture. Dialog #6 presents discussions risen during an online symposium on challenges of the Architecture, Engineering and Construction (AEC) industry, which is facing a threefold challenge involving the (i) digital transformation of all design and planning processes, (ii) automation of construction processes, and (iii) reconsideration of energy, process, and material use. These challenges involve issues with respect to productivity, scalability, safety, labour skill shift, and environmental impact. Acknowledging that there is a particular urgency in transferring effective solutions from research to building practice to meet significant carbon reduction goals by 2040, the one-day symposium organized as an online event in 2022 1, Human-Robot Interaction for Post-Carbon Architecture (HRI4PCA), was an opportunity to make an inventory of current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots.
Journal article
(2024)
-
Henriette Bier, Arwin Hidding, Stijn Brancart, Alessandra Luna-Navarro, Seyran Khademi, Casper van Engelenburg
Human-Building Interaction (HBI) relies on sensor-actuator networks that are increasingly supported by Artificial Intelligence (AI). This paper presents a novel AI-supported Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) approach for reconfigurable furniture. It involves a multidisciplinary approach that relies on the integration of various domains such as architecture, robotics, computer, and material science. It contributes to the advancement of HBI by employing spatial reconfiguration relying on AI and lightweight material design, which is of relevance, particularly when the furniture consists of non-identical but similar components that are re−/ configured in a variety of possible combinations.
...
Human-Building Interaction (HBI) relies on sensor-actuator networks that are increasingly supported by Artificial Intelligence (AI). This paper presents a novel AI-supported Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) approach for reconfigurable furniture. It involves a multidisciplinary approach that relies on the integration of various domains such as architecture, robotics, computer, and material science. It contributes to the advancement of HBI by employing spatial reconfiguration relying on AI and lightweight material design, which is of relevance, particularly when the furniture consists of non-identical but similar components that are re−/ configured in a variety of possible combinations.
Journal article
(2024)
-
Henriette Bier, Arwin Hidding, Seyran Khademi, Casper van Engelenburg, Hamed Alavi, Sailin Zhong
Ambient intelligence (AmI) relying on electronic devices employing information and communication technology (ICT) and artificial intelligence (AI) embedded in the network connecting these devices tends today to be insufficiently used. This deficiency implies that spaces are uncomfortable and considerable energy dissipates due to distribution losses, excessive or unnecessary climate control of little- and unoccupied spaces, etc. Building operations are responsible for ±27% of annual carbon dioxide (CO
2) emissions, and infrastructure materials and construction are responsible for an additional ±13% annually; both need to be addressed integratively to meet sustainability goals.
1,2 This paper addresses this in three AI-supported AmI test simulations of applications focusing on illumination and ventilation systems embedded in the built environment.
...
Ambient intelligence (AmI) relying on electronic devices employing information and communication technology (ICT) and artificial intelligence (AI) embedded in the network connecting these devices tends today to be insufficiently used. This deficiency implies that spaces are uncomfortable and considerable energy dissipates due to distribution losses, excessive or unnecessary climate control of little- and unoccupied spaces, etc. Building operations are responsible for ±27% of annual carbon dioxide (CO 2) emissions, and infrastructure materials and construction are responsible for an additional ±13% annually; both need to be addressed integratively to meet sustainability goals. 1,2 This paper addresses this in three AI-supported AmI test simulations of applications focusing on illumination and ventilation systems embedded in the built environment.