P5 Presentation Jun Wen Loo Small

SUSTAINABLE TIMBER BRIDGE DESIGN WITH
DESIGN-TO-BUILD WORKFLOW INVOLVING

HUMAN-ROBOT COLLABORATION
Graduation Presentation
Jun Wen Loo | 5205662

Mentors: Serdar Asut, Joris Smits
Chair of Design Informatics, Structural Design & Mechanics
1
Content Breakdown
Overview
Chapter 1
Introduction
Chapter 2
Literature Review
Chapter 3
Bridge Design
Chapter 4
HRC Workflow & Demonstration
Chapter 5
Conclusion & Further Work
2
3
Chapter 1:
Introduction
3
Acknowledgements
Themes, Chairs, Mentors & Advisors
Themes Chairs & Mentors Advisors
Timber Structure Serdar Asut Cyrus Clark

Bridge Design Chair of Design Informatics Lead Designer of Public Space,
Gemeente Amsterdam
Design-to-build workflow
Digital Design & Fabrication Joris Smits
Chair of Structural Design & Mechanics
Laurane Néron
Robotic Construction Structural Engineer of Timber Engineering,
NEY & PARTNERS WOW
4
Overview
Themes, Chairs, Mentors & Advisors
Sustainability Infrastructure Design Robotic Construction
Renewable Resources (Timber) Urban & Architectural Design + Digital design to fabrication
Circularity & Reusability Structural Mechanics Develop design-to-build workflow
Lifespan of complex structures
5
Problem Statement
Scope
With the redevelopment of Buiksloterham, the need for improved urban

connectivity within the district is crucial. Driven by the municipalities’ aim
for circularity and bio-based design & development, this provides the
opportunity to look beyond the material used, into how the design-to-build
process can be improved to achieve these goals.
6
Problem Statement
Scope
Lack of Urban Connectivity
Buiksloterham
Northern bank of Het IJ, Amsterdam
Urban Redevelopment
Transition from Industrial to mixed-use
Bruggen Buiksloterham (Gemeente Amsterdam, 2021)
Groenevisie 2020-2050 (Gemeente Amsterdam, 2020)
Circular Buiksloterham (Metabolic et al., 2014)
AI 2021-0250 Bouwteam brug en oevers Asterpad+ (Gemeente Amsterdam, 2021)
Circularity & Requirements

Bio-based and sustainable materials
with manageable site requirements (38m span, light usage)
Bruggen Buiksloterham (Gemeente Amsterdam, 2021)
7
Problem Statement
Scope
Need for Effective Automated

Design-to-build Robotic Processes
Lost of precision & efficiency
Highly precise digital information to
Less precise manual instructions
High complexity & Inter-dependencies

Digital design is insufficiently represented by
2D static plans
Advancing Timber Architecture (Helm et al., 2017)
Construction technology needs to be advanced

Digital fabrication technology of timber exceeds
its subsequent construction process.
The Tectonics of Timber Architecture in the Digital Age (Buri & Weinand, 2013)
Advancing Timber Architecture (Helm et al., 2017)
Potential for Human-Robot Collaboration

Collaborative construction process tapping on the strengths of
humans and robots
8
Research Questions
Main & Sub-Questions
Main Research Question:
How can we develop an architectural design with a design-to-build

< objective 1 >
workflow by integration of human-robot collaboration in the construction

< objective 2 > < process of focus & type of bridge >
of a timber bridge in Buiksloterham, Amsterdam?

< location>
9
Research Questions
Main & Sub-Questions
Themes: Sub-questions: Methods:
Sub-Question 1 < site & bridge design > What are the site conditions & requirements of designing < research + site analysis + urban
a bridge in Buiksloterham and how to design for it? & architecture design >
Sub-Question 2a < structural design > What are the conventional typologies of timber bridge structures? < literature review + case studies >
Sub-Question 2b What are the novel timber structures involving digital design,
fabrication & assembly which has been explored?
Sub-Question 3a < workflow study > What are the factors influencing the implementation of Human- < literature review + case studies +
research for design >
Robot Interaction/Collaboration in building construction?
Sub-Question 3b What are the strengths of humans and robots respectively in the
construction process?
Sub-Question 3c How can Human-Robot Interaction/Collaboration be integrated

into the construction workflow?
10
Chapter 2:
Literature Review & Case Studies
11
What has been done?
Conventional timber bridge structures
12
Design Research
Novel Timber Structures
13
Water Management
Design Strategies
Deflection & Drainage Ventilation Durable Material
14
Water Management
Design Strategies Name: Location: Name: Location:
Bow River Footbridge Canada Neckartenzlingen Bridge Germany

Structural System: Use Type: Structural System: Use Type:
Beam (no cladding) Pedestrian & Cyclist Hinged Girder / Glulam Pedestrian & Cyclist
& Steel
Span & Width Architect / Engineer: Span & Width: Architect / Engineer:
80m / 4m Ingenieurburo Miebach, 44.5m / 3.5m Ingenieurburo Miebach,

Year:
Schafferer Holzbau Year: Schafferer Holzbau
2013 1
D 2017
Moisture Management Strategy: Moisture Management Strategy:
1.32
2
30° from vertical

rain protection
3
1 A 4
5
0.14
A
0.03
2
Deflection & Drainage Ventilation Durable Material Deflection & Drainage Ventilation Durable Material
3.90
3
4
5
2.41
C
B
A: Cover B: Air Gap D: Coating A: Overhang 30° Protection B: Isolation & Gap B: Glulam
100mm Galvanised LVL Blocking creates Vapour resistance 240mm extended Concrete deck Exposed Glulam elevated from Block Laminated Glulam
Steel Flashings air gap within membrane coating + above Glulam, 30° to vertical concrete pier by Steel
D Glulam Beam Darker Tint UV rain protection (DIN 68800) Connections & Column
+ Overhang under Protection
Timber Deck
7 6
C: Air Gap
Spacings between
0.25 0.25 2.70 0.25 0.25 Glulam Girders
0.10 0.09 4.00 0.09 0.10
Neckartenzlingen Bridge Simplified Section | Scale 1:25

Bow River Footbridge Simplified Section | Scale 1:25 Accoya Timber Handrail | 1
Galvanised Steel Railings with Steel Cables | 2
Timber Deck | 1 Air Exposure Precast Concrete Deck with Anti-slip | 3
Air Exposure Galvanised Steel Flashing (100mm from timber face) | 2 Deck Gutter | 4 D: Treated Timber
Glulam Girders | 3 Timber Member Block Laminated Glulam | 5 Acetylated Timber (Accoya)
Timber Member Steel Diaphragm Truss | 4 Concrete Pier | 6
Laminated Veneer Lumber (LVL) Blocking | 5 Rain Exposure Steel Pillar | 7 Handrail
0 0.25 0.75 1.25m 0 0.25 0.75 1.25m
Name: Location: Name: Location:

Dunajec Bridge Poland Centre Pompidou-Metz France
Structural System: Use Type:
Structural System: Use Type:
Cable-Stay / Glulam & Steel Pedestrian & Cyclist Timber Lattice Grid Shell Roof Structure - Museum
Span & Width Architect / Engineer:
Span: Architect / Engineer:
90m / 3.5m Mosty Wroclaw Test & Design Office,
Schmees & Lühn Holz- 40m Shigeru Ban Architects, Jean de Gastines,
Year:
und Stahlingenieurbau GmbH Year:
SJB Kempter Fitze AG
2006
2010
13
Moisture Management Strategy: A
Moisture Management Strategy:
1 1
A
0.27
2 11 2
3 12
3 4 C
3 4
5
12
B C
Deflection & Drainage Ventilation Durable Material
1.60
6 D Deflection & Drainage Ventilation Durable Material

2.40
11
8
0.09
6
0.42
10 5
10
9
A: Cover B: Air Gap D: Glulam
0.46 2.50 0.46 Timber covering on top of Between Larch Wood Boarding GL32 Spruce Glulam with
3.02 GL32 Spruce Glulam & Glulam waterproof glue (PUR) A: Membrane Canopy C: Air Gap D: Water Resistivity
5.40 ETFE Membrane protects Bet. Timber beams of Double beam Larchwood as
9
against weather lattice structure column due to its water
7
resistivity
Dunajec Bridge Simplified Section | Scale 1:25 D 8 B Centre Pompidou-Metz

Timber Handrails | 1
Timber Covering | 2
Simplified Section | Scale 1:25
Larch Wood Boarding | 3
5mm Steel membrane support bent to shape | 1
300x1600mm Glulam Girder (Class GL32) | 4
Steel Semi-frame | 5 24mm Dia. Threaded Bolt w/ Tension Spring | 2
45mm (t) 2500mm (w) Wooden Deck Pavement | 6 Hexagonal Laminated Timber Dowels | 3
Wind Bracing | 7 105/328/615mm Laminated Timber Shear | 4
Steel Semi-frame | 8 5mm Slotted Steel connect bet. elements | 5
Air Exposure Transverse Steel Tube ø406 mm | 9 B: External Cladding C: Isolation & Gap 5mm Slotted Steel Shoe for beam w/ Hinged Connection | 6
Anchorage Plate | 10 Larch Facings on exterior of Exposed & Isolated Timber Deck 2x140/440 laminated softwood double column with larch foot | 7
Timber Member Pfeiffer Active Anchorage | 11 250/1000mm Laminated Timber Edge Beam | 8
Full Locked Cables ø40 & ø28mm | 12 Glulam & Beams 19mm 3-ply Laminated Larch Sheeting | 9
Air Exposure 69mm laminated framed timber | 10 B: Exterior Cladding
Steel Ring Beam | 11 Laminated Larch Sheeting for
Timber Member 140x440mm Spruce Glulam | 12
0 0.25 0.75 1.25m Fibre glass & Teflon Membrane (ETFE) | 13 water-resistivity
0 0.25 0.75 1.25m
15
Reciprocal Structures
Overview – Historical References
16
Reciprocal Structures
Overview – Historical References
17
Chapter 3:
Site Analysis & Bridge Design
18
Design Considerations
Overview
Site Analysis Historical DNA Circularity Movability
Design Vision & Strategy Biophilic Design Robotic Construction & HRC Tectonics
19
Overview
Site & Client Defined
Thesis Direction
Bridge Design Robotic Construction
20
Overview
Thesis Direction
21
Site Analysis | Introduction
Location & Masterplans
22
23
24
25
26
27
Site Analysis | Overview
Key Takeaways
28
Site Analysis | Overview
Key Takeaways
Industrial to mix-used Schools & Childcares
↑ residential, offices ↑ kids & teenagers
Residents & Leisure Full-Time Worker Exercise & Recreational
Local Connection to Markets & Commute from Train Station, Between Nooderpark &
City Center Ferry Terminals & Residential Oeverpark
Estates
29
Site Analysis | Area of Intervention
Connection between Asterweg & Grasweg over Tolhuiskanaal
Tolhuiskanaal
Yotel
Grasweg
Asterweg
Het IJ
Buiksloterham
30
Tolhuiskanaal Yotel
Asterweg
Grasweg
Buiksloterham
31
Asterweg Grasweg
Tolhuiskanaal
Yotel
32
Overview
Thesis Direction
33
Circularity
Technical & Historical
Historical DNA Circularity
Site Characteristics Adaptive, Flexible &

Industrial Characteristics Reusable
Economy of means construction Parts can be Reused
Clear structural reading Open Connections
Demountable
Modular Construction
Nature Inclusive
Fauna passage under bridge
Biobased & Biomimicry

Renewable Raw materials
Preferably Wood
Efficient material dimensions
34
Historical Circularity
Site DNA
35
Historical Circularity
Site DNA
36
Overview
Site Analysis Historical DNA Technical Circularity Movability
Thesis Direction
37
Removability
Client Requirements & Design Exploration
Bridge Division Iterations
Client’s Min Requirement
Removable Strategies
38
39
40
Overview
Thesis Direction
41
Design | Urban Strategy
Overview
42
Hotel Grasweg 46
Tolhuiskanaal
Yotel Buiksloterham
+2,60
To Asterweg
3.98% +1,75
(42.53m) 3,20 4.00%
4,20 (44m)
Gra
+0,90
swe
3 3 3 3 3
g
0,00
11,00 13,70 11,00
45,00
Trisure Closures NL &

Greif Nederland B.V
House
boats
43
Design | Site Strategy
Bridge Approach Site Plan
Hotel Grasweg 46 Yotel Buiksloterham
Tolhuiskanaal
+1,75 +2,60 To Asterweg

3.98%
(42.53m) 3,20 4.00%
4,20 (44m)
+0,90
Gra
swe
3 3 3 3 3
0,00
g
11,00 13,70 11,00
45,00
Trisure Closures NL
Site Plan | Scale 1:200
0 1 3 5 10m
44
Design Vision & Goals
Timber structure for the digital age
Landmark - Unique identity for the park by the Tolhuiskanaal
Circularity – Design for Disassembly, Bio-based material
Partially Removable
45
Design | Main Structural Strategy
Biophilic Strategy
STRATEGY 1 : OVERHEAD SHELL .

STRATEGY 2 : UNDER DECK .
Strategy 1: Strategy 2:
Overhead Under Deck
46
Biophilic Strategy
STRATEGY 1 : OVERHEAD SHELL .

STRATEGY 2 : UNDER DECK .
Strategy 1: Strategy 2:
Overhead Under Deck
47
Canal Houses Height Limits – AHN Viewer
48
Overview
Site Analysis Historical DNA Technical Circularity Movability
Thesis Direction
49
Overview
Robotic Construction & HRC Tectonics
“The art of deploying construction technology

in such a way that it forms an integral component of the design and
actively helps to shape it is what Kenneth Frampton defines as tectonics.”
- Weinand, Y & Buri, H.U (2011)
50
Overview
51
Proposed Design
Elevation
52
Proposed Design
Top
53
Proposed Design
Top
54
Proposed Design
Top
55
Proposed Design
Top
56
Proposed Design
Top
57
Proposed Design
Perspectives
58
Proposed Design
Perspectives
59
Proposed Design
Perspectives
60
Proposed Design
Perspectives
61
Proposed Design
Perspectives
62
Proposed Design
Perspectives
63
64
65
Joints & Connections
Short Section
66
Long Section
67
Short Section
68
Chapter 4:
HRC Workflow & Demonstration
69
Evaluation Criteria for HRC Implementation
SRQ 3a
Task Complexity
Simple to Complex
Level of Safety
Safe: 1 to Dangerous: 5
Scale of construction
Local: Within static workstation,
Beyond: larger than robot = requires robot mobility
Variability of working condition

Levelled/Uneven,
Constant (Controlled, Certain),
Dynamic (Uncontrolled, Uncertain, Uncluttered)
Complexity of Assembly
Assembly scale, Orientation, Precision, Weight of
individual members, Tools required, etc
70
Agents of HRC & its Skillsets
SRQ 3b - Skills Comparison
Strengths / Benefits Limitations
i. Dexterity – Agility and flexibility in i. Physically Weak - Low Physical Strength

handling objects.
ii. Hazard Averse – Should only be
ii. Judgement (based on experience) – employed to work in safe environment
Humans Rapid adaptability and decision making that minimizes risk of short- and long-
required based on task requirement (e.g. term injury.
project management)
iii. Limited Iteration Capabilities – Not
built to compute & process large datasets
within a short amount of time.
i. Mechanical Strength – Suited for a large i. Poor Intuition & Object

range of loads Recognition/Object Differentiation -
Computationally expensive at Object
ii. No Repetition Fatigue - Less fatigue to Recognition
Robotic System repetitive tasks
ii. Not Contextually Awareness (without
(From basic robotic arm to positioning strategy)
robotic arms with additional
iii. Precise – High precision can be achieved
sensor/feedback systems which
enables safe & effective iv. Hardy – Suited for tasks in hazardous iii. No Operator awareness (without
collaboration) feedback strategy)
environment
iv. Less Agile than Humans (Dependent on

DOF)
71
Design-to-Build Workflow
Overview
Concept Design Detailed Design Fabrication & Assembly Fabrication Assembly

Data Generation
72
Design-to-Build Workflow
Overview
Concept Design Detailed Design Fabrication & Assembly Fabrication Assembly

Data Generation
73
Phase 1: Component Pre-fabrication
74
Phase 2: Abutment Construction
75
Phase 3: RF Shell Sub-Assembly
76
Phase 4: Full Assembly of Bridge
77
Selected HRC Workflow
Process Specifications
Stage 3: Connections – Wood Screws (WS)
Actions Determine Positions of Determine Trajectory & Bring Timber Member Hold Timber Member Screw All WS using
All Wood Screws (WS) Angle to drill WS into position into position Screw Gun
Workflow
Equipment /
Actual
3D Spatial Data, Glulam Slats, Screws, Screw Gun,

Manpower
Data Processor 1 to 2 Operator 1 Operator
(Human / Robot)
Process
Computational Model Physical Positioning & Grip Screwing
Involved
Equipment /
Demonstration
Grasshopper, Rhino 3D 1 Operator (Human) Pins,

Workflow
Manpower
1 Operator (Robot)
Process
Involved Computational Model Physical Positioning & Grip Pinning
81
Demonstration Prototypes
Phases of Prototype
Phase 1: Linear Model Phase 2: Linear Model, R.

Hand Assembled, 2 pins Joint GH controlled, Robotic Assembly
Gripper Version 1 & 2, 2 pins Joint
Phase 3: Non-Linear Model, R. Phase 4: Improved Tool

GH controlled, Robotic Assembly Gripper Version 6 (Magnetic), no moving parts
Collision Check Test, Gripper Version 3-5,
3 pins Joint
82
Demonstration Setup
LAMA Lab - TU Delft
83
Prototype Iterations
Gripper Iterations
84
Description & Takeaways
Phase 1: Linear Model
Objective: Key Takeaways:
Manual assembly of Purple Foam Slats (TM) to determine the execution of

Pin Trajectory
movement for Robotic Arm Faces opening,
easier to approach
Foam Slats
Foam is not dense,
deforms easily
Inaccuracy
85
Phase 2: Linear Model
Test insert sequence of 1 joint, using Gripper 1 & 2, with pins into Purple Foam
Calibration
as “Timber members” No Auto-Pick Pins
Inaccurate Model
End Effector
Case too large
TCP too close to case
Foam Slats
Purple Foam is Weak
GH Script
2nd Home & Wait
Non-Linear Model
More complex & telling
86
Phase 3: Non-Linear Model

Step 1:
Objective: “Digitally” fabricated Timber Mould
for Foam Model
Actual RF Shell extracted from design, full run test
of script in executing HRC for 6 joints, 3 pins each
87

Step 2:
Objective:
Fabricated Parts, Labels & Gripper 5

88

Step 3:
Objective: HRC Assembly –
Forward Insertion of Pins
89

Last Step:
Full Process of HRC Assembly

Calibration
of script in executing HRC for 6 joints, 3 pins each Misalignment increases
End Effector
Gripper 0/1 motion hits model
Rubber padding affects pressing
Gripper Area too small
Foam Slats
Dense, Firm & Accurate
Imprecise Notches in Foam
GH Script
No Inverse Kinematics
options
HRC
Direct, but one-off
90
Phase 4: Improved Tool
Objective: Key Areas to Address:
Improve streamline Magnetic Gripper (G6) to be End Effector

tested Design an end effector which does not
contain large movements
91
Phase 4: Prototype Models
92
Phase 4: Prototype Models
93
Phase 4: Prototype Models Graduation!
94
Chapter 5:
Conclusions & Further Work
95
Conclusions
Bridge Design
Design Vision
Landmark, Timber structure for the Digital Age
Urban Strategy & Green Spaces
Client’s Brief
Largely fulfilled
Novel bridge removable technique needs to be tested
Circular Structure (could be more optimal)
Complexity of Design & Construction

Highly complex solution to lateral forces
HRC Workflow not widely implementable
Future Construction Technology
96
Conclusions
HRC Design-to-Build Workflow
HRC Workflow
Limits on forms of interaction
Extension to gesture, haptic, auditory etc. – Seamless,
Natural Interaction
Adaptability lacking – Beyond thesis timeframe
Demonstration
Proof of concept
Still a gap to bridge in actual construction
Challenges are unique for the chosen scale & equipment
Joint Design
Highly influenced by structural stability & robotic assembly
More direct solution available (pre-drilling, interlocking notches etc)
97
SUSTAINABLE TIMBER BRIDGE DESIGN WITH
DESIGN-TO-BUILD WORKFLOW INVOLVING
HUMAN-ROBOT COLLABORATION
Graduation Presentation
Jun Wen Loo | 5205662

Mentors: Serdar Asut, Joris Smits
Chair of Design Informatics, Structural Design & Mechanics
98

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SUSTAINABLE TIMBER BRIDGE DESIGN WITH

DESIGN-TO-BUILD WORKFLOW INVOLVING

Jun Wen Loo | 5205662

HRC Workflow & Demonstration

Conclusion & Further Work

Themes Chairs & Mentors Advisors

Timber Structure Serdar Asut Cyrus Clark

Sustainability Infrastructure Design Robotic Construction

With the redevelopment of Buiksloterham, the need for improved urban

Lack of Urban Connectivity

Circularity & Requirements

Need for Effective Automated

High complexity & Inter-dependencies

Construction technology needs to be advanced

Potential for Human-Robot Collaboration

Main Research Question:

How can we develop an architectural design with a design-to-build

workflow by integration of human-robot collaboration in the construction

of a timber bridge in Buiksloterham, Amsterdam?

Themes: Sub-questions: Methods:

Sub-Question 3c How can Human-Robot Interaction/Collaboration be integrated

Deflection & Drainage Ventilation Durable Material

Bow River Footbridge Canada Neckartenzlingen Bridge Germany

80m / 4m Ingenieurburo Miebach, 44.5m / 3.5m Ingenieurburo Miebach,

Moisture Management Strategy: Moisture Management Strategy:

30° from vertical

Neckartenzlingen Bridge Simpliﬁed Section | Scale 1:25

0 0.25 0.75 1.25m 0 0.25 0.75 1.25m

Name: Location: Name: Location:

6 D Deﬂection & Drainage Ventilation Durable Material

Dunajec Bridge Simpliﬁed Section | Scale 1:25 D 8 B Centre Pompidou-Metz

0 0.25 0.75 1.25m

Site Analysis Historical DNA Circularity Movability

Site & Client Defined

Site Analysis Historical DNA Circularity Movability

Bridge Design Robotic Construction

Site & Client Defined

Site Analysis Historical DNA Circularity Movability

Bridge Design Robotic Construction

Industrial to mix-used Schools & Childcares

↑ residential, offices ↑ kids & teenagers

Residents & Leisure Full-Time Worker Exercise & Recreational

Site & Client Defined

Site Analysis Historical DNA Circularity Movability

Bridge Design Robotic Construction

Historical DNA Circularity

Site Characteristics Adaptive, Flexible &

Biobased & Biomimicry

Site & Client Defined

Site Analysis Historical DNA Technical Circularity Movability

Bridge Design Robotic Construction

Site & Client Defined

Site Analysis Historical DNA Circularity Movability

Bridge Design Robotic Construction

Trisure Closures NL &

Hotel Grasweg 46 Yotel Buiksloterham

+1,75 +2,60 To Asterweg

11,00 13,70 11,00

Site Plan | Scale 1:200