USC Viterbi School of Engineering. CRAFT Center for Rapid Automated Fabrication Technologies.
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Transcript of USC Viterbi School of Engineering. CRAFT Center for Rapid Automated Fabrication Technologies.
USC
Grand Challenge
Fundamental Research
Technology Thrusts
Extrudable Materialsand Fabrication
Integrated SoftwareSystems
Modular Componentsand Assembly
A House in a Day
Architectural Impact
Technology Demonstrations– Mega-Scale Layered Fabrication –
Industrial Parts& Molds
Freestanding ObjectsArchitecturalScale Models
ExtraterrestrialConstruction
Public Art
Environmental Impact Regulatory Impact
Employment Impact
Economic Impact
Mathematical Modelsof Fabrication Processes
4D Modelingand Visualization
Feasible GeometryReasoning
Freeform/Geometry
Composite Materials
Fluid Dynamics
Novel Structure Testing
Materials/Structures
Workflow & LogisticsPlanning
System PerformanceTesting and Evaluation
Multi-RobotCoordination
Collaborative Design
Systems/Processes
Dynamic Modelingand Control
Embedding Capabilitiesduring Fabrication
Real-Time Inspection
Sensing/Acting
Social Impact
USC
CRAFT - Vision and Goals
To develop the science and engineering needed for rapid automated fabrication of structures of various scales, up to very large objects such as buildings.
The goal is a major breakthrough in Mega-Scale fabrication.
USC
Grand Challenge
Building a custom-designed house in a day while radically reducing the costs, injuries, waste and environmental impact associated with traditional construction techniques.
affordable housing for the 30 million U.S. households facing cost burdens or overcrowding; emergency housing for the 37 million/year victims of natural (and/or man-made) disasters;new styles of housing based on curved rather than straight surfaces;extraterrestrial buildings constructed from in situ materials;
With national construction-related expenditures currently totaling close to $1 trillion annually, the potential impact is enormous.
The goal: a revolution in housing construction
USC
Grand Challenge – a house in a day
Architectural Impact
Environmental Impact
Regulatory Impact
Economic Impact
Social Impact
Employment Impact
USC Development PhasesG
ran
d C
ha
llen
geE
xtru
da
ble
Ma
teria
ls&
Fa
bric
atio
n
SingleResidence
SingleResidence
Multi-storyMulti-unit
Multi-storyMulti-unit
Community &
Infrastructure
Community &
Infrastructure
SimpleRoomSimpleRoom
Single-Materialnozzle/feed
Flat roofconstruction
Buildingsimple walls
Door/window withlintel/sacrificial support
Multi-materialnozzle assembly
Modular reinforcement/electrical/plumbing
Sensorembedding/testing
Supportlessroofs
Multi-crossBeam gantry
Community-scalelogistics planning
Structure testing & modeling: Whole structure testing
Process modeling
Control system: Basic Geometry Multi-robot Complex geometry
Visual alignment Surface quality inspection Video logging
Structural health monitoring
Intelligent CAD/CAM Structure feasibility Fabrication plan generation
Collaborative Assembly Reinforcement/Plumbing/Electrical
Logistic planning
Multi-materialsimple structures
Walls w/complexgeometry
Material engineering Composites & reinforcement Digital construction material
Single material delivery Multi-material delivery
Mo
du
lar
Co
mp
on
en
tsa
nd
As
se
mb
ly
Inte
gra
ted
So
ftwa
reS
ys
tem
s2005 2006 2008 2009 2010
USC
Grand Challenge
Fundamental Research
Technology Thrusts
Extrudable Materialsand Fabrication
Integrated SoftwareSystems
Modular Componentsand Assembly
A House in a Day
Architectural Impact
Technology Demonstrations– Mega-Scale Layered Fabrication –
Industrial Parts& Molds
Freestanding ObjectsArchitecturalScale Models
ExtraterrestrialConstruction
Public Art
Environmental Impact Regulatory Impact
Employment Impact
Economic Impact
Mathematical Modelsof Fabrication Processes
4D Modelingand Visualization
Feasible GeometryReasoning
Freeform/Geometry
Composite Materials
Fluid Dynamics
Novel Structure Testing
Materials/Structures
Workflow & LogisticsPlanning
System PerformanceTesting and Evaluation
Multi-RobotCoordination
Collaborative Design
Systems/Processes
Dynamic Modelingand Control
Embedding Capabilitiesduring Fabrication
Real-Time Inspection
Sensing/Acting
Social Impact
USC
Interrelationships among the three research thrusts
Integrated
Software
Systems
Modular
Components
& Assembly
Extrudable
Materials &
Fabrication
Architectural
Design
Logistics plan
Predictive
performance
Inspection plan
Sensory D
ata
Supply Dispatch
Indexed Video Log
Structure design &
Performance Requirements
Performance
Restrictions
Visual Data
CC
Hardware
Robot
Commands
Hardware
Feedback
Assembly plans
Nozzle path plan
USC
Extrudable materials & fabrication
• Perform underlying basic research necessary to develop the materials and structures for automated mega-scale fabrication
• Integrate materials into ultra-efficient structures
• Integrate materials with delivery systems and robots from other thrusts
USC
Robotics fab, modular components & assembly
• Perform research and develop various mono and distributed robots, tools, software and their integration into systems for assembling modules in situ to form functional attributes of structures
• Robots’ locations, movements and working areas are dynamically changing along with environment. Develop a mathematical / geometric model of environment and a robot coordination protocol.
• Perform the fundamental research in the modules to be placed internal to the extruded material that transform an extrusion into a functional wall or roof of a mega-scale structure. The modules that make a post-modern interactive structure include:
• normal reinforcing, plumbing, and electricity conduits • Integrated communication, interactive sensing and displays
• Integrate the Modules and Assembly Thrust with Extruded Materials and Software
USC
Dynamic Control
Material FlowComputation
Flow ControlLaw
Position Sensors
Nozzle ActuatorNozzle Control
Law
Robot WheelMotors
Flow Sensor
Position Sensor
GantryDynamic
Model
GantryDynamic
Model
Material FlowDynamics
Material FlowDynamics
SystemDynamics
DesiredMaterialFlow
NozzlePosition &Orientation
GantryPosition
WheelTorques
NozzleForces
CommandedPosition
MaterialFlow
+
-
+
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Gantry MotionController
USC
Goals
• Perform the fundamental research and develop the software components for automating mega-scale fabrication
• Integrate components with each other and with robots from other thrusts
USC
Industrial Sectors
• Materials• Construction• Equipment• Software • Architects• Real Estate• Other application sectors
USC
Industrial Membership
Industrial membership – 3 tiers– Senior Member - $100,000– Regular Member - $20,000 to $50,000– Technology Associate – small business
Benefits to Industry– Seat on CRAFT ERC industrial advisory board – Senior Member– Licensing (Senior Member – exclusive)– Focused research projects– Access to cutting edge research– Access to center facilities and expertise for R&D projects– Contact with graduate students– Industry-University exchange program– SBIR and STTR partnerships– Industry-University Company Day – Senior Member
USC
Expressions of Support
• Materials– Degussa Corporation (committed)– Maxit Group (committed)– CEMEX– Elotex– ECRA (European Cement Research Academy)– VDZ (German Concrete Research Academy)
• Equipment– Siemens– John Deere– Parker-Hannifan
USC
Expressions of Support
• Construction– Shea Homes– Parsons– Shimizu – Bechtel– Boeing (space)
• Government– NASA (committed)– U.S. Army
USC
Expressions of Support
• Architects– GL Forms (Greg Lynn)– Gehry Technologies – Cal-Earth
• Real Estate– ConAm (builds low income housing in
Mexico) – Regency Outdoor Advertising
USC
Management Plan
Executive Board:
Provost (USC)Vice Provost, Research (USC)
Dean of VSoE (USC)Director of ISI (USC)
Executive Board:
Provost (USC)Vice Provost, Research (USC)
Dean of VSoE (USC)Director of ISI (USC)
Scientific Advisory board
Industrial Advisory Board
Student Leadership Council
Scientific Advisory board
Industrial Advisory Board
Student Leadership Council
Education DirectorEducation Director Industrial Liaison Director
Industrial Liaison Director
Pre-College (K-12)Undergraduate & Graduate
OutreachCREST/LSAMP
EPICS/LINC/Fablabs
Pre-College (K-12)Undergraduate & Graduate
OutreachCREST/LSAMP
EPICS/LINC/Fablabs
Industry ParticipationFaculty Mini-SabbaticalTechnology TransferIntellectual Property
Industry ParticipationFaculty Mini-SabbaticalTechnology TransferIntellectual Property
Grand ChallengeTechnology Thrusts:Extrudable Materials & FabricationModular Components & AssemblyIntegrated Software Systems (Neches/Rosenbloom)
Grand ChallengeTechnology Thrusts:Extrudable Materials & FabricationModular Components & AssemblyIntegrated Software Systems (Neches/Rosenbloom)
ProvostProvost
KhoshnevisDirector
Rosenbloom Deputy Director
Joe SullivanAssociate Director
KhoshnevisDirector
Rosenbloom Deputy Director
Joe SullivanAssociate Director
Dean of EngineeringDean of Engineering