Courtesy of ICD ITKE

ICD ITKE提供

架构师提供的文本描述。ICD/ITKE研究馆(2014-15年)展示了一种受水蜘蛛水下筑巢启发的新建筑方法的建筑潜力。通过一种新的机械制造工艺，一种最初的柔性气动模板通过从内部用碳纤维加固，逐渐得到加强。由此产生的轻质纤维复合材料外壳形成了一个具有独特建筑质量的展馆，同时也是一种高材料高效的结构。

Text description provided by the architects. The ICD/ITKE Research Pavilion 2014-15 demonstrates the architectural potential of a novel building method inspired by the underwater nest construction of the water spider. Through a novel robotic fabrication process an initially flexible pneumatic formwork is gradually stiffened by reinforcing it with carbon fibers from the inside. The resulting lightweight fiber composite shell forms a pavilion with unique architectural qualities, while at the same time being a highly material-efficient structure. 

 Courtesy of ICD ITKE

ICD ITKE提供

计算设计研究所(ICD)和建筑结构与结构设计研究所(ITKE)继续在斯图加特大学开设新的ICD/ITKE研究室(2014-15年)。这些建筑原型探索了新的计算设计、模拟和制造工艺在建筑中的应用潜力。展馆是在两个研究所的研究领域和他们的合作教学的交汇处在跨学科和国际科技硕士项目的背景下发展起来的。这个原型项目是建筑、工程和自然科学研究人员和学生一年半发展的结果。

The Institute for Computational Design (ICD) and the Institute of Building Structures and Structural Design (ITKE) continue their series of research pavilions with the new ICD/ITKE Research Pavilion 2014-15 at the University of Stuttgart. These building prototypes explore application potentials of novel computational design, simulation and fabrication processes in architecture. The pavilion was developed at the intersection of the two institute’s research fields and their collaborative teaching in the context of the interdisciplinary and international ITECH MSc program. This prototypical project is the result of one and a half years of development by researchers and students of architecture, engineering and natural sciences.

 Diagram of integrated design criteria

综合设计标准图

该设计理念是在对纤维增强结构生物施工过程的研究基础上提出的.这些过程与体系结构中的应用程序相关，因为它们不需要复杂的模板，并且能够适应不同结构的不同需求。生物过程以高度材料有效和功能集成的方式形成定制的纤维增强结构.在这方面，潜水钟状水蜘蛛(Agyroneda Aquatica)的造网过程证明是特别有趣的。研究了水蜘蛛的网络构建过程，并对其行为模式和设计规则进行了分析、抽象，并将其转化为一个工艺制作过程。

The design concept is based on the study of biological construction processes for fiber-reinforced structures. These processes are relevant for applications in architecture, as they do not require complex formwork and are capable of adapting to the varying demands of the individual constructions. The biological processes form customized fiber-reinforced structures in a highly material-effective and functionally integrated way. In this respect the web building process of the diving bell water spider, (Agyroneda Aquatica) proved to be of particular interest. Thus the web construction process of water spiders was examined and the underlying behavioral patterns and design rules were analyzed, abstracted and transferred into a technological fabrication process.

 Comparison of various fiber reinforcement strategies

几种纤维增强策略的比较

水蜘蛛一生中的大部分时间都是在水下度过的，它为之建造了一个强化的气泡以求生存。首先，蜘蛛建立一个水平的薄片网，在下面放置气泡。在进一步的步骤中，通过从内部铺设纤维的分层排列来依次增强气泡。结果是一个稳定的结构，能够承受机械应力，如改变水流，为蜘蛛提供一个安全和稳定的栖息地。这一自然生产过程表明，如何利用自适应制造策略，以创造有效的纤维增强结构。

The water spider spends most of its life under water, for which it constructs a reinforced air bubble to survive. First, the spider builds a horizontal sheet web, under which the air bubble is placed. In a further step the air bubble is sequentially reinforced by laying a hierarchical arrangement of fibers from within. The result is a stable construct that can withstand mechanical stresses, such as changing water currents, to provide a safe and stable habitat for the spider. This natural production process shows how adaptive fabrication strategies can be utilized to create efficient fiber-reinforced structures.

 Microscopic image of Diving Bell Water Spider (Agyroneda aquatica) nest

潜水钟形水蜘蛛巢的显微图像

为了将这种生物形成序列转化为建筑应用程序，开发了一种将工业机器人放置在ETFE制造的空气支撑膜封套内的工艺。这种膨胀的软壳最初是由空气压力支撑的，但是，通过用碳纤维机械地加固内部，它逐渐被加筋为一种自支撑的单层结构。碳纤维只被选择性地应用于结构加固所需的地方，而气动模板则同时作为功能集成的建筑表皮使用。这导致了一个资源高效的建设过程。

For the transfer of this biological formation sequence into a building construction application, a process was developed in which an industrial robot is placed within an air supported membrane envelope made of ETFE. This inflated soft shell is initially supported by air pressure, though, by robotically reinforcing the inside with carbon fiber, it is gradually stiffened into a self-supporting monocoque structure. The carbon fibers are only selectively applied where they are required for structural reinforcement, and the pneumatic formwork is simultaneously used as a functionally integrated building skin. This results in a resource efficient construction process.

 Courtesy of ICD ITKE

ICD ITKE提供

在设计和施工过程开始时，采用一种集制造约束和结构模拟为一体的计算找形方法，生成壳体几何形状和主纤维束位置。为了确定和调整光纤的布局，提出了一种基于计算Agent的设计方法。类似于蜘蛛，数字代理导航表面外壳几何，为纤维放置生成一条拟议的机器人路径。Agent行为是从各种相关的设计参数中推导出来的。这一计算设计过程使设计者能够导航并同时将这些设计参数集成到不同的性能光纤方向和密度中。

At the beginning of the design and construction process, the shell geometry and main fiber bundle locations are generated by a computational form finding method, which integrates fabrication constraints and structural simulation. In order to determine and adjust the fiber layouts a computational agent-based design method has been developed. Similar to the spider, a digital agent navigates the surface shell geometry generating a proposed robot path for the fiber placement. The agent behavior is derived from a variety of interrelated design parameters. This computational design process enables the designer to navigate and simultaneously integrate these design parameters into various performative fiber orientations and densities.

 Courtesy of ICD ITKE

ICD ITKE提供

针对自适应计算设计策略，提出了一种柔性膜内碳纤维增强机器人原型制造工艺。在纤维放置过程中，气动模板刚度的变化和变形的波动对机器人的控制提出了特殊的挑战。为了适应生产过程中的这些参数，通过嵌入式传感器系统记录当前的位置和接触力，并将其实时集成到机器人控制中。这种网络物理系统的开发使实际生产条件与机器人控制代码的数字化生成之间保持不断的反馈。这不仅代表了这一项目的一个重要发展，而且更普遍地为适应性机器人建造过程提供了新的机会。

Corresponding to the adaptive computational design strategy, a prototypical robotic fabrication process was developed for carbon fiber reinforcement on the inside of a flexible membrane. The changing stiffness of the pneumatic formwork and the resulting fluctuations in deformation during the fiber placement process pose a particular challenge to the robot control. In order to adapt to these parameters during the production process the current position and contact force is recorded via an embedded sensor system and integrated into the robot control in real time. The development of such a cyber-physical system allows constant feedback between the actual production conditions and the digital generation of robot control codes. This represents not only an important development in the context of this project, but more generally provides new opportunities for adaptive robotic construction processes.

 Conceptual Fabrication Strategy: 1. Inflated pneumatic membrane 2. Robotically reinforce membrane with carbon fiber from inside 3. Stable composite shell

概念制作策略：1。充气气膜2。机器人增强膜与碳纤维从内部3。稳定复合壳

制造工艺的原型特性要求开发一种定制的机器人工具，该工具允许在集成传感器数据的基础上放置碳纤维。该工具的技术开发成为架构设计过程中不可或缺的一部分。这一过程也对材料系统提出了特殊的挑战。ETFE是一种适用于气动模板和整体建筑围护结构的材料，它是一种耐用的表面材料，其力学性能在纤维浇筑过程中最大限度地减小了塑性变形。(鼓掌)

The prototypical character of the fabrication process required the development of a custom made robot tool that allows placement of carbon fibers based on integrated sensor data. The technical development of this tool became an integral part of the architectural design process. This process also posed special challenges for the material system. ETFE was identified as a suitable material for the pneumatic formwork and integrated building envelope, since it is a durable facade material and its mechanical properties minimize plastic deformation during the fiber placement.  

 On-site sensor interface for adaptive fiber placement process

自适应光纤敷设过程的现场传感器接口

通过使用ETFE薄膜作为气动模板，实现了高度的功能集成。

A high degree of functional integration is achieved through the use of the ETFE film as pneumatic formwork and 

 Courtesy of ICD ITKE

ICD ITKE提供

建筑信封。这节省了传统模板技术的材料消耗，以及额外的FAÇADE安装。一种复合胶粘剂在所述ETFE薄膜与所述碳纤维之间提供了适当的粘结剂。在生产过程中，将9个预浸渍碳纤维粗纱平行放置.在5公里的机器人路径上以平均0.6m min的速度铺设了45 km的碳粗纱。这种添加剂工艺不仅允许以应力为导向的纤维复合材料的放置，而且它还尽量减少与典型的减法施工工艺相关的建筑废物。ICD/ITKE研究馆(2014-15年)占地面积约40平方米，内部体积约130立方米，跨度7.5m，高度4.1m。建筑总重量仅260 kg，相当于6.5kg/m2。

building envelope. This saves the material consumption of conventional formwork techniques as well as an additional façade installation. A composite adhesive provided a proper bond between the ETFE film and the carbon fibers. During production nine pre-impregnated carbon fiber rovings are placed in parallel. 45km of carbon roving were laid at an average speed of 0.6 m min on 5km of robot path. This additive process not only allows stress-oriented placement of the fiber composite material, but it also minimizes the construction waste associated with typically subtractive construction processes. The ICD / ITKE Research Pavilion 2014-15 covers an area of about 40m2 and an internal volume of approximately 130m3 with a span of 7.5m and a height of 4.1m. The total construction weight is just 260kg, which corresponds to a weight of 6.5kg / m2.

 Sample design iteration of fiber layout generated from agent-based design tool

基于Agent的设计工具产生的纤维布局的样例设计迭代

ICD/ITKE研究展馆(2014-15)是先进计算设计、模拟和制造技术的演示者，展示了跨学科研究和教学的创新潜力。原型建筑将纤维复合材料作为一种建筑质量的各向异性特征表达出来，并以一种新颖的纹理和结构来反映其内在过程。其结果不仅是一个特别材料有效的建筑，而且是一个创新和富有表现力的建筑演示者。

The ICD / ITKE Research Pavilion 2014-15 serves as a demonstrator for advanced computational design, simulation and manufacturing techniques and shows the innovative potential of interdisciplinary research and teaching. The prototypical building articulates the anisotropic character of the fiber composite material as an architectural quality and reflects the underlying processes in a novel texture and structure. The result is not only a particularly material-effective construction, but also an innovative and expressive architectural demonstrator. 

Architects ICD / ITKE University of Stuttgart

Location Universität Stuttgart, Keplerstraße 11, 70174 Stuttgart, Germany

Category Temporal Installations

Area 40.0 sqm

Project Year 2015