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.@en

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.@en

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.

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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.

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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.@en

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.@en

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.@en

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.@en

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.@en

In the original version of the book, on page xi, one of the authors listed for Chapter 2 is “R. Schnmehl”, which should be “R. Schmehl”. On page 21, the same correction needs to be made twice, in the listed authors at the top of the page and also in the footnotes. “Schnmehl” should become “Schmehl” in both the cases. This has now been rectified and the author’s name has been corrected. The correction to this book have been updated with the changes.@en

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.@en

Robotic systems are increasingly incorporated into building processes and buildings. The question for the future is thus not if but how robotic systems will be integrated into architecture and the built environment. Such systems have a major impact due to the convergence of multiple technologies such as artificial intelligence (AI), large-scale machine-to-machine and human-to-machine communication (M2M and H2M), and the Internet of Things (IoT). Implications are explored and presented in this section in relationship to historical and theoretical interpretations and current manifestations by presenting ongoing research implemented at institutions such as McGill and Cornell Universities from North America, Technical University Delft from Europe, and the Chinese University of Hong Kong from Asia.@en

With current advancements in Cyber-physical Systems (CpS), data-driven design to both production and operation processes has been increasingly incorporating aspects of robotics and Artificial Intelligence (AI). These aspects are the focus of architectural exploration implemented in the Robotic Building lab at Technical University (TU) Delft using Design-to-Robotic-Production and -Operation (D2RP&O) methods. In the presented project implemented in collaboration with the Landscape Architecture and Informatics departments from TU Delft and the University of Fribourg, respectively, new habitats are developed for various animal and plant species by introducing small-scale interventions in residual space. The intention for these inserts is to support biodiversity by engaging humans in interaction with them and each other. In this context, the inserts are not only produced by computational and robotic means, but they also contain sensor–actuator mechanisms that allow humans to interact with them by establishing bio-cyber-physical feedback loops. The aim is to identify the challenges and potential of such systems to improve spatial experience, increase social interaction, as well as support biodiversity, in urban environments.@en

Minimal interventions that provide various microclimates can stimulate both biodiversity and social accessibility of leftover spaces. New habitats are often developed for different animal and plant species based on studies of the microclimates typical of such residual spaces. By introducing interventions of 0.5-1.0 m diameter ‘planetoids’ placed at various locations, existing and new life is supported. The ‘planetoid’ described in this paper is prototyped by means of Design-to-Robotic-Production and -Operation (D2RP&O). This implies that it is not only produced by robotic means, but that it contains sensor-actuator mechanisms that allow humans to interact with them by establishing a bio-cyber-physical feedback loop.@en

Rapid urbanization with the associated land cover and land use change, as well as resource depletion, contribute to the degradation of ecosystems and biodiversity and have a negative impact on human health and well-being. Societal calls for responses and results pose a significant challenge for research and education in the various fields concerned with the environment. Alongside the current environmental crisis there is a pressing need for developing ‘green solutions’ for the built environment with the help of data-driven methods, workflows and tools.@en

The exhibition is the first of its kind in Australia and provides a platform for engagement with ongoing research and creative practice in contemporary robotics from a female perspective. It charts and builds upon a history of expert research and output of women pioneering work in robotics, drawn from a global cross-disciplinary network situated throughout Europe, Japan, Canada, USA and Australia. The exhibition will showcase large-scale industrial robots, moving machines, interactive AI artworks and performances, archival material, art and documentary films, and creative objects fabricated live by robots. It was held from 20 October - 10 December 2022 at the Tin Sheds Gallery, Sidney. @en

Rapid urbanization with the associated land cover and land use change, as well as resource depletion, contribute to the degradation of ecosystems and biodiversity and have a negative impact on human health and well-being. Societal calls for responses and results pose a significant challenge for research and education in the various fields concerned with the environment. Alongside the current environmental crisis there is a pressing need for developing ‘green solutions’ for the built environment with the help of data-driven methods, workflows and tools.

In view these developments, a shift from narrow disciplinary and domain-specific approaches towards broader interdisciplinary, multi-domain and multi-scalar strategies is required. This includes data-acquisition, data-sharing and data-integration, as well as data-driven modelling to enable the complexity of sustainability problems arising from rapid urbanization to be tackled. While there have been efforts to address the challenges of multi-domain approaches, for instance in the fields of sustainability, the urban and architectural sciences, as well as the interoperability of methods and tools, the actual problem goes deeper, requiring interdisciplinary knowledge exchange to develop adequate shared paradigms, concepts, methods and tools.

Cyber-physical Architecture (CpA) issue 5 addresses these challenges by engaging with experts from a range of disciplines involved in environmental concerns while utilizing data-acquisition, data-sharing and integration, and data-driven modelling in a discourse that identifies modalities for a broader interdisciplinary, multi-domain and multi-scalar approach.@en

While half of all construction tasks can be fully automated the other half relies to a certain degree on human support. This paper presents a Computer Vision (CV) and Human–Robot Interaction/Collaboration (HRI/C) supported Design-to-Robotic-Assembly (D2RA) approach that links computational design with robotic assembly. This multidisciplinary approach has been tested on a case study focusing on urban furniture and involving experts from respective disciplines and students.@en

Sending humans to the Moon and Mars in the near future requires appropriate infrastructure to support and subsequently sustain human activities. This includes infrastructure to shield from environmental conditions, generate energy, and facilitate mobility and communication. Construction of such infrastructure aims to use in-situ resources and reduce the use of supplies from Earth. The establishment and maintenance of the required infrastructure, equipment, and hardware involves the development of adequate manufacturing techniques, which can enable maximal use of the local resources. Those techniques can be based on processing of local materials into construction materials, extraction of useful elements from local materials or in combination with materials brought from Earth. The required manufacturing techniques address the range of needs for sustained human activities, from smaller scale manufactured items to large built structures. The design of such structures is associated with a number of space systems’ engineering challenges, ranging from the accurate definition of all resource budgets (mass, volume, power, data) to the design of the interfaces between all subsystems making use of these resources. The interplanetary spacecraft used to transport the required materials (and eventually, crew) from Earth to the final site would probably need to be designed ad-hoc for this specific application, given its peculiar mass and volume constraints, especially in case a reusable concept is adopted. Other engineering aspects involved in the design of the infrastructure systems include the selection of an appropriate power generation approach and the definition of the radiation environment in order to provide sufficient shielding to the habitats. This Spool CpA #4 issue investigates challenges of designing, engineering, constructing, operating, and maintaining off-Earth infrastructure.@en

Design-to-Robotic-Production (D2RP) approaches developed in the Robotic Building lab at Technical University (TU) Delft link computational design to robotic production. They facilitate the development of process, energy, and material efficient approaches in architecture. When combined with circular wood approaches, they help reduce the ecological footprint left behind by construction processes, which is explored here as a workshop in collaboration with Amsterdam University of Applied Sciences (AUAS) as part of a project funded by the Dutch Research Council. The workshop introduced students to subtractive D2RP that was implemented on structurally optimized curvilinear components milled from circular i.e., reused wood.@en