@INPROCEEDINGS{20.500.11850/668921, isbn = {978-1-80008-634-0}, copyright = {Creative Commons Attribution-NonCommercial 4.0 International}, doi = {10.3929/ethz-b-000668921}, year = {2024}, booktitle = {Fabricate 2024}, volume = {5}, type = {Conference Paper}, editor = {Ayres, Phil and Ramsgaard Thomsen, Mette and Sheil, Bob and Skavara, Marilena}, journal = {Fabricate}, author = {Chadha, Kunaljit and Vasey, Lauren and Kango, Ananya and Aejmelaeus-Lindström, Petrus and Gramazio, Fabio and Kohler, Matthias and Assunção, Julie and Brumaud, Coralie and Habert, Guillaume and Malczyk, Grzegorz and Hutter, Marco}, language = {en}, address = {London}, publisher = {UCL Press}, title = {Impact printed structures : design systems and construction strategies}, PAGES = {188 - 195}, Note = {Fabricate 2024; Conference Location: Copenhagen, Denmark; Conference Date: April 5-6, 2024} }

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@article{doi:10.1080/24751448.2023.2245724, author = {Joris Burger, Ena Lloret-Fritschi, Marc Akermann, Daniel Schwendemann, Fabio Gramazio and Matthias Kohler}, title = {Circular Formwork: Recycling of 3D Printed Thermoplastic Formwork for Concrete}, journal = {Technology|Architecture + Design}, volume = {7}, number = {2}, pages = {204-215}, year = {2023}, publisher = {Routledge}, doi = {10.1080/24751448.2023.2245724}, URL = { https://doi.org/10.1080/24751448.2023.2245724 }, eprint = { https://doi.org/10.1080/24751448.2023.2245724 }

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@article {Jami:2023:2518-6582:1, title = "4D formwork for robotic concrete spraying", journal = "Proceedings of IASS Annual Symposia", parent_itemid = "infobike://iass/piass", publishercode ="iass", year = "2023", volume = "2023", number = "25", publication date ="2023-10-01T00:00:00", pages = "1-12", itemtype = "ARTICLE", issn = "2518-6582", eissn = "2518-6582", url = "https://www.ingentaconnect.com/content/iass/piass/2023/00002023/00000025/art00006", keyword = "digital fabrication, 4D-printing, concrete spraying, architecture, formwork", author = "Jami, Guillaume and Jenny, Selen Ercan and Wei, Chenguyan and Forsythe, Hamilton and Feihl, Nicolas and Tibbits, Skylar and Lloret-Fritschi, Ena", abstract = "Globally, concrete is the second most used material after water. On average, three tons of concrete is consumed per person per year, while each ton of concrete added to the atmosphere contributes one ton of greenhouse gases. Because of this negative environmental impact, research institutions, architects, and construction professionals seek to reduce concrete usage in the built environment. Materialoptimized structures offer one approach; however, such structures often require custom-made formworks that are disposed of after a single use and are thus expensive and waste-generating. Recently, several unconventional solutions for formwork have emerged that produce material-optimized structures without generating significant waste, including the examples of lost-, stay-in-place, and dynamicformworks. This paper examines 4D-printing technology, which is tested in terms of scalability to produce a building component through fiber-reinforced concrete (FRC) spraying. With an empirical study, we evaluate two different 4D-printing techniques: 1) textile 4D-printing and 2) thermoplastic 4Dprinting, both enabling the production of self-shaping, lightweight textile formworks. Furthermore, we present the first prototypical results and discuss the challenges and next steps for 4D-printed formworks that promise a more sustainable use of concrete.", }

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@article{burger_eggshell_2023, title = {Eggshell {Pavilion}: a reinforced concrete structure fabricated using robotically {3D} printed formwork}, doi = {https://doi.org/10.1007/s41693-023-00090-x}, journal = {Construction Robotics}, author = {Burger, Joris and Aejmelaeus-Lindström, Petrus and Gürel, Seyma and Niketic, Filip and Lloret-Fritschi, Ena and Flatt, Robert J. and Gramazio, Fabio and Kohler, Matthias}, year = {2023}, }

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@InProceedings{10.1007/978-3-031-20241-4_11, author="Cheibas, Ina and Gamote, Ringo Perez and {\"O}nalan, Beril and Lloret-Fritschi, Ena and Gramazio, Fabio and Kohler, Matthias", editor="Gomes Correia, Ant{\'o}nio and Azenha, Miguel and Cruz, Paulo J. S. and Novais, Paulo and Pereira, Paulo", title="Additive Manufactured (3D-Printed) Connections for Thermoplastic Facades", booktitle="Trends on Construction in the Digital Era", year="2023", publisher="Springer International Publishing", address="Cham", pages="145--166", abstract="Additive manufactured thermoplastic facades are an emerging topic in the building industry. Such building envelopes have free-form designs, which can enable sustainable solutions. However, the connections between the panels of these thermoplastic facades have not been investigated. These joints are not yet integrated into the 3D-printed facade design. Consequently, there is a research gap in designing holistic connections in additively manufactured facades. This paper is a foundation study that aims to find suitable design parameters for such connections. It is an initial analysis in the emerging field of AM facades, aiming to tackle the fundamentals of designing for 3D-printed facade assembly. The study highlights a series of possible constraints and opportunities in connecting discretized 3D printed panels. This step is essential for identifying new design opportunities in the emerging topic of additive manufactured facades.", isbn="978-3-031-20241-4" }

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@article{burger_design_2022, title = {Design and fabrication of optimised ribbed concrete floor slabs using large scale {3D} printed formwork}, volume = {144}, doi = {10.1016/j.autcon.2022.104599}, journal = {Automation in Construction}, author = {Burger, Joris and Huber, Tobias and Lloret-Fritschi, Ena and Mata-Falcón, Jaime and Gramazio, Fabio and Kohler, Matthias}, year = {2022}, pages = {104599}, }

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@article {Jami:2023:2518-6582:1, title = "4D formwork for robotic concrete spraying", journal = "Proceedings of IASS Annual Symposia", parent_itemid = "infobike://iass/piass", publishercode ="iass", year = "2023", volume = "2023", number = "25", publication date ="2023-10-01T00:00:00", pages = "1-12", itemtype = "ARTICLE", issn = "2518-6582", eissn = "2518-6582", url = "https://www.ingentaconnect.com/content/iass/piass/2023/00002023/00000025/art00006", keyword = "digital fabrication, 4D-printing, concrete spraying, architecture, formwork", author = "Jami, Guillaume and Jenny, Selen Ercan and Wei, Chenguyan and Forsythe, Hamilton and Feihl, Nicolas and Tibbits, Skylar and Lloret-Fritschi, Ena", abstract = "Globally, concrete is the second most used material after water. On average, three tons of concrete is consumed per person per year, while each ton of concrete added to the atmosphere contributes one ton of greenhouse gases. Because of this negative environmental impact, research institutions, architects, and construction professionals seek to reduce concrete usage in the built environment. Materialoptimized structures offer one approach; however, such structures often require custom-made formworks that are disposed of after a single use and are thus expensive and waste-generating. Recently, several unconventional solutions for formwork have emerged that produce material-optimized structures without generating significant waste, including the examples of lost-, stay-in-place, and dynamicformworks. This paper examines 4D-printing technology, which is tested in terms of scalability to produce a building component through fiber-reinforced concrete (FRC) spraying. With an empirical study, we evaluate two different 4D-printing techniques: 1) textile 4D-printing and 2) thermoplastic 4Dprinting, both enabling the production of self-shaping, lightweight textile formworks. Furthermore, we present the first prototypical results and discuss the challenges and next steps for 4D-printed formworks that promise a more sustainable use of concrete.", }

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@inproceedings{bischof_digitally_2022, title = {Digitally {Fabricated} {Keyed} {Concrete} {Connections}}, doi = {10.1007/978-3-031-06116-5_36}, booktitle = {Third {RILEM} {International} {Conference} on {Concrete} and {Digital} {Fabrication}}, publisher = {Springer International Publishing}, author = {Bischof, Patrick and Mata-Falcón, Jaime and Burger, Joris and Kaufmann, Walter}, editor = {Buswell, Richard and Blanco, Ana and Cavalaro, Sergio and Kinnell, Peter}, year = {2022}, pages = {241--246}, }

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@inproceedings{rust2021comp, location = {Novi Sad, Serbia}, title = {Computational Design and Evaluation of Acoustic Di?usion Panels for the Immersive Design Lab - An acoustic design case study}, volume = {1}, isbn = {978-94-91207-22-8}, url = {http://papers.cumincad.org/data/works/att/ecaade2021_332.pdf}, eventtitle = {{eCAADe} 2021 Towards a New, Configurable Architecture}, pages = {515--524}, booktitle = {{eCAADe} 2021 Towards a New, Configurable Architecture}, publisher = {{eCAADe} (Education and Research in Computer Aided Architectural Design in Europe)}, author = {Rust, Romana and Xydis, Achilleas and Frick, Christian and Strauss, Jürgen and Junk, Christoph and Feringa, Jelle and Gramazio, Fabio and Kohler, Matthias}, urldate = {2021-09-17}, date = {2021-08-09}, editors = {Stojakovi?, Vesna and Tepav?evi?, Bojan} }

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@article{SILVESTRU2021109740, title = {Performance under tensile loading of point-by-point wire and arc additively manufactured steel bars for structural components}, journal = {Materials & Design}, volume = {205}, pages = {109740}, year = {2021}, issn = {0264-1275}, doi = {https://doi.org/10.1016/j.matdes.2021.109740}, url = {https://www.sciencedirect.com/science/article/pii/S0264127521002938}, author = {Vlad-Alexandru Silvestru and Inés Ariza and Julie Vienne and Lucas Michel and Asel Maria {Aguilar Sanchez} and Ueli Angst and Romana Rust and Fabio Gramazio and Matthias Kohler and Andreas Taras}, keywords = {Wire and arc additive manufacturing, Point-by-point welding, Robotic manufacturing, Tensile properties, Elastic-plastic material model, Finite element simulation}, abstract = {The point-by-point wire and arc additive manufacturing technology allows precisely depositing of high strength material. In combination with a robotic arm and sensing techniques during printing, it can be used as a novel efficient joining method for custom structural steel components. For accessibility to the parts to be joined, flexibility on the orientation of the printing tool is of high significance. In this contribution, the focus is set on the influence of different printing orientations on relevant properties of point-by-point wire and arc additively manufactured steel bars. Geometry scans show an irregular variation of the cross-section area along the length of the bars. The mechanical properties of the bars are determined from uniaxial tensile tests on as-printed specimens and on locally milled specimens. It is shown, that different printing orientations have an influence on the geometry of the bars, but only a negligible effect on their mechanical properties. The results of the uniaxial tensile tests indicate a good suitability of the additively manufactured steel bars for structural applications. Finite element simulations validate a proposed elastic-plastic material model, which allows predicting the structural behaviour of the point-by-point wire and arc additively manufactured steel bars produced with different printing orientations.} }

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@article{rust2021ddad, title = {A data acquisition setup for data driven acoustic design}, url = {http://journals.sagepub.com/doi/10.1177/1351010X20986901}, doi = {10.1177/1351010X20986901}, pages = {345-360}, volume = {28} issue = {4} journaltitle = {Building Acoustics}, author = {Rust, Romana and Xydis, Achilleas and Heutschi, Kurt and Perraudin, Nathanael and Casas, Gonzalo and Du, Chaoyu and Strauss, Jürgen and Eggenschwiler, Kurt and Perez-Cruz, Fernando and Gramazio, Fabio and Kohler, Matthias}, year = {2021}, }

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@ARTICLE{20.500.11850/455153, isbn = {ISSN 2509-811X}, copyright = {Creative Commons Attribution 4.0 International}, doi = {10.3929/ethz-b-000455153}, year = {2020}, author = {Ercan, Selen and Lloret Fritschi, Ena and Gramazio, Fabio and Kohler, Matthias}, journal = {Construction Robotics}, size = {13 p.}, language = {en}, address = {Cham, Switzerland}, publisher = {Springer Nature}, title = {Crafting plaster through continuous mobile robotic fabrication on?site} }

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@INPROCEEDINGS{20.500.11850/455152, copyright = {In Copyright - Non-Commercial Use Permitted}, doi = {10.3929/ethz-b-000455152}, year = {2020}, author = {Ercan, Selen and Blum, Hermann and Gawel, Abel and Siegwart, Roland and Gramazio, Fabio and Kohler, Matthias}, language = {en}, address = {Edinburgh, UK}, publisher = {International Association for Automation and Robotics in Construction}, title = {Online Synchronization of Building Model for On-Site Mobile Robotic Construction}, PAGES = {1508 - 1514}, Note = {37th International Symposium on Automation and Robotics in Construction (ISARC 2020) (virtual); Conference Location: Kitakyshu, Japan; Conference Date: October 27-28,2020; Due to the Coronavirus (COVID-19) the conference was conducted virtually.} }

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@MISC{20.500.11850/417482, series = {Cement and Concrete Research}, volume = {134}, author = {Lloret-Fritschi, Ena and Wangler, Timothy and Gebhard, Lukas and Mata-Falcón, Jaime and Mantellato, Sara and Scotto, Fabio and Burger, Joris and Szabo, Anna and Ruffray, Nicholas and Reiter, Lex and Boscaro, Federica and Kaufmann, Walter and Kohler, Matthias and Gramazio, Fabio and Flatt, Robert}, publisher = {Elsevier}, year = {2020-08}, language = {en}, keywords = {Slip-form; Set-on-demand concrete; Digital; Thin form; Recyclable}, size = {16 p.}, doi = {10.1016/j.cemconres.2020.106071}, address = {Amsterdam}, title = {From Smart Dynamic Casting to a growing family of Digital Casting Systems}, PAGES = {106071} }

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@inproceedings{ma2020designing, title={Designing Robotically-Constructed Metal Frame Structures}, author={Ma, Zhao and Walzer, Alex and Schumacher, Christian and Rust, Romana and Gramazio, Fabio and Kohler, Matthias and B{\"a}cher, Moritz}, booktitle={Computer Graphics Forum}, volume={39}, number={2}, pages={411--422}, year={2020}, organization={Wiley Online Library} }

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@INPROCEEDINGS{20.500.11850/425808, editor = {Bos, Freek P. and Lucas, Sandra S. and Wolfs, Rob J.M. and Salet, Theo A.M.}, series = {RILEM Bookseries}, volume = {28}, author = {Burger, Joris Jan and Lloret-Fritschi, Ena and Taha, Nizar and Scotto, Fabio and Demoulin, Thibault and Mata Falcon, Jaime and Gramazio, Fabio and Kohler, Matthias and Flatt, Robert J.}, publisher = {Springer}, year = {2020}, language = {en}, issn = {2211-0844}, size = {11 p. accepted version}, booktitle = {Second RILEM International Conference on Concrete and Digital Fabrication}, doi = {10.3929/ethz-b-000425808}, address = {Cham}, isbn = {978-3-030-49915-0}, title = {Design and Fabrication of a Non-standard, Structural Concrete Column Using Eggshell: Ultra-Thin, 3D Printed Formwork}, PAGES = {1104 - 1115}, Note = {2nd RILEM International Conference on Concrete and Digital Fabrication (Digital Concrete 2020) (virtual); Conference Location: Eindhoven, The Netherlands; Conference Date: July 6-9, 2020} }

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@inproceedings{ma2020robotsculptor, title={RobotSculptor: Artist-Directed Robotic Sculpting of Clay}, author={Ma, Zhao and Duenser, Simon and Schumacher, Christian and Rust, Romana and B{\"a}cher, Moritz and Gramazio, Fabio and Kohler, Matthias and Coros, Stelian}, booktitle={Symposium on Computational Fabrication}, pages={1--12}, year={2020} }

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@ARTICLE{20.500.11850/418038, series = {Materials}, volume = {13}, author = {Szabo, Anna and Reiter, Lex and Lloret-Fritschi, Ena and Gramazio, Fabio and Kohler, Matthias and Flatt, Robert J.}, publisher = {MDPI}, year = {2020-05}, language = {en}, copyright = {Creative Commons Attribution 4.0 International}, keywords = {smart dynamic casting; set on demand; accelerator; process window; SDC number}, issn = {1996-1944}, number = {9}, size = {24 p.}, doi = {10.3929/ethz-b-000418038}, address = {Basel}, title = {Mastering yield stress evolution and formwork friction for smart dynamic casting}, PAGES = {2084} }

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@ARTICLE{20.500.11850/410523, series = {3D Printing and Additive Manufacturing}, volume = {7}, author = {Burger, Joris and Lloret-Fritschi, Ena and Scotto, Fabio and Demoulin, Thibault and Gebhard, Lukas and Mata Falcon, Jaime and Gramazio, Fabio and Kohler, Matthias and Flatt, Robert J}, publisher = {Mary Ann Liebert Inc}, year = {2020-04}, language = {en}, copyright = {Creative Commons Attribution 4.0 International}, keywords = {3D printing; formwork; robotic fabrication; set-on-demand concrete; digital concrete; architecture}, number = {2}, size = {12 p.}, doi = {10.3929/ethz-b-000410523}, address = {New Rochelle, NY}, title = {Eggshell: Ultra-Thin Three-Dimensional Printed Formwork for Concrete Structures}, PAGES = {48 - 59} }

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@INBOOK{20.500.11850/456080, isbn = {978-3-0356-2014-6}, doi = {10.1515/9783035620238-008}, year = {2020-12-16}, booktitle = {Research Culture in Architecture: Cross-Disciplinary Collaboration}, editor = {Leopold, Cornelie and Robeller, Christopher and Weber, Ulrike}, author = {Thoma, Andreas and Jenny, David and Helmreich, Matthias and Gandia, Augusto and Gramazio, Fabio and Kohler, Matthias}, abstract = {This research is developed within the Master of Advanced Studies in Architecture and Digital Fabrication program at ETH Zurich. This paper presents a novel constructive system made solely of wood, enabled by a cooperative robotic fabrication process. The constructive system builds on recent developments in dowel-laminated timber (DLT) as well as advances made in the field of digital fabrication. The paper demonstrates through three experiments how the design space of the dowel-laminated timber constructive system can be expanded, through the implementation of cooperative robotic arms, from purely planar geometries to more complex and curved ones. To connect the individual slats, two types of dowel connectors were tested: the fluted dowel and the dry dowel. The fabrication process employs a large robotic setup allowing for the prefabrication of full-scale building elements and enables a method of in place fabrication that counteracts the inaccuracy buildup that occurs during assembly. Two custom robot end-effectors for gripping and drilling timber slats are also introduced. Finally, a conclusion and outlook as to what the next steps in this research could be are presented.}, language = {en}, address = {Basel}, publisher = {Birkäuser}, title = {Cooperative Robotic Fabrication of Timber Dowel Assemblies}, PAGES = {77 - 88} }

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@INPROCEEDINGS{20.500.11850/348552, isbn = {978-3-030-29828-9}, doi = {10.1007/978-3-030-29829-6_11}, year = {2019}, booktitle = {Impact: Design With All Senses}, editor = {Gengnagel, Christoph and Baverel, Olivier and Burry, Jane and Ramsgaard Thomsen, Mette and Weinzierl, Stefan}, author = {Mitropoulou, Ioanna and Ariza, Inés and Bernhard, Mathias and Dillenburger, Benjamin and Gramazio, Fabio and Kohler, Matthias}, keywords = {Volumetric modelling; Fabrication-aware design; Additive manufacturing; Collision control}, language = {en}, address = {Cham}, publisher = {Springer}, title = {Numerical Sculpting - Volumetric Modelling Tools for in place Spatial Additive Manufacturing}, PAGES = {132 - 145}, Note = {Design Modelling Symposium, Impact: Design with All Senses; Conference Location: Berlin, Germany; Conference Date: September 21-25, 2019} }

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@INPROCEEDINGS{20.500.11850/328442, author = {Ercan, Selen and Meier, Sandro and Gramazio, Fabio and Kohler, Matthias}, publisher = {International Association on Automation and Robotics in Construction}, year = {2019}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, keywords = {On-site construction; Localization; External measurement systems}, size = {8 p.}, booktitle = {2019 Proccedings of the 36th ISARC}, DOI = {10.3929/ethz-b-000328442}, title = {Automated Localization of a Mobile Construction Robot with an External Measurement Device}, Note = {36th International Symposium on Automation and Robotics in Construction (ISARC 2019); Conference Location: Banff, Canada; Conference Date: May 21-24, 2019} }

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@article{article, author = {Grönquist, Philippe and Schnider, Thomas and Thoma, Andreas and Gramazio, Fabio and Kohler, Matthias and Burgert, Ingo and Rüggeberg, Markus}, year = {2019}, month = {01}, pages = {}, title = {Investigations on densified beech wood for application as a swelling dowel in timber joints}, journal = {Holzforschung}, doi = {10.1515/hf-2018-0106} }

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@INPROCEEDINGS{20.500.11850/300495, editor = {Wangler, Timothy and Flatt, Robert J.}, series = {RILEM Bookseries}, volume = {19}, author = {Szabo, Anna and Reiter, Lex and Lloret-Fritschi, Ena and Gramazio, Fabio and Kohler, Matthias and Flatt, Robert J.}, publisher = {Springer International Publishing}, year = {2018}, language = {en}, keywords = {Smart Dynamic Casting; Folded structures; Process window}, issn = {2211-0844}, size = {12 p.}, booktitle = {1st RILEM International Conference on Concrete and Digital Fabrication, Digital Concrete 2018}, doi = {10.3929/ethz-b-000300495}, adress = {Cham}, isbn = {978-3-319-99518-2}, title = {Adapting Smart Dynamic Casting to Thin Folded Geometries}, PAGES = {81 - 93}, Note = {1st RILEM International Conference on Concrete and Digital Fabrication, Digital Concrete 2018; Conference Location: Zurich, Switzerland; Conference Date: September 10-12, 2018} }

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@ARTICLE{20.500.11850/313370, series = {3D Printing and Additive Manufacturing}, volume = {5}, author = {Rusenova Gergana and Wittel Falk K. and Aejmelaeus-Lindström Petrus and Gramazio Fabio and Kohler Matthias}, year = {2018-12-01}, number = {4}, doi = {10.1089/3dp.2018.0039}, title = {Load-Bearing Capacity and Deformation of Jammed Architectural Structures}, PAGES = {257 - 267} }

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@INPROCEEDINGS{20.500.11850/315568, editor = {Anzalone, Philip and Del Signore, Marcella and Wit, Andrew J.}, author = {Ariza, Inés and Mirjan, Ammar and Gandia, Augusto and Casas, Gonzalo and Cros, Samuel and Gramazio, Fabio and Kohler, Matthias}, publisher = {Association for Computer Aided Design in Architecture (ACADIA)}, year = {2018-10}, language = {en}, keywords = {digital fabrication; robotic fabrication; architectural detailing; computational design; wire arc additive manufacturing}, booktitle = {ACADIA 2018 Recalibration: On Imprecision and Infidelity. Proceedings of the 38th Annual Conference of the Association for Computer Aided Design in Architecture}, adress = {s.l.}, isbn = {978-0-692-17729-7}, title = {In Place Detailing. Combining 3D printing and robotic assembly}, PAGES = {312 - 321}, Note = {38th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA 2018); Conference Location: Mexico City, Mexico; Conference Date: October 18-20, 2018} }

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@INPROCEEDINGS{20.500.11850/314075, editor = {Anzalone, Philip and Del Signore, Marcella and Wit, Andrew J.}, author = {Adel, Arash and Thoma, Andreas and Helmreich, Matthias and Gramazio, Fabio and Kohler, Matthias}, publisher = {Association for Computer Aided Design in Architecture (ACADIA)}, year = {2018-10-18}, language = {en}, keywords = {Computational Design; Robotic Fabrication}, booktitle = {ACADIA 2018 Recalibration: On Imprecision and Infidelity. Proceedings of the 38th Annual Conference of the Association for Computer Aided Design in Architecture}, adress = {s.l.}, isbn = {978-0-692-17729-7}, title = {Design of Robotically Fabricated Timber Frame Structures}, PAGES = {394 - 403}, Note = {38th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA 2018); Conference Location: Mexico City, Mexico; Conference Date: October 18-20, 2018} }

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@MISC{20.500.11850/284623, series = {Cement and Concrete Research}, volume = {112}, author = {Buchli, Jonas and Giftthaler, Markus and Kumar, Nitish and Lussi, Manuel and Sandy, Timothy and Dorfler, Kathrin and Hack, Norman}, publisher = {Elsevier}, year = {2018-10}, language = {en}, doi = {10.1016/j.cemconres.2018.05.013}, adress = {Amsterdam}, title = {Digital in situ fabrication - Challenges and opportunities for robotic in situ fabrication in architecture, construction, and beyond}, PAGES = {66 - 75} }

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@ARTICLE{20.500.11850/284242, series = {Cement and Concrete Research}, volume = {112}, author = {Asprone, Domenico and Menna, Costantino and Bos, Freek P. and Salet, Theo A.M. and Mata-Falcón, Jaime and Kaufmann, Walter}, publisher = {Elsevier}, year = {2018-10}, language = {en}, keywords = {Concrete structures; Digital fabrication; Reinforced concrete; Reinforcement; 3D printing; Fiber Reinforced Concrete}, doi = {10.1016/j.cemconres.2018.05.020}, adress = {Amsterdam}, title = {Rethinking reinforcement for digital fabrication with concrete}, PAGES = {111 - 121} }

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@INPROCEEDINGS{20.500.11850/298876, editor = {Hesselgren, Lars and Kilian, Axel and Malek, Samar and Olsson, Karl-Gunnar and Sorkine-Hornung, Olga and Williams, Chris}, author = {Parascho, Stefana and Kohlhammer, Thomas and Coros, Stelian and Gramazio, Fabio and Kohler, Matthias}, publisher = {Klein Publishing GmbH}, year = {2018-09-22}, language = {en}, keywords = {spatial structures,; sequence based design; cooperative robotic assembly; multi-robotic fabrication; fabrication aware design; digital fabrication; assembly sequence; computational design}, booktitle = {AAG 2018, Advances in Architectural Geometry 2018}, adress = {Vienna}, isbn = {978-3-903015-13-5}, title = {Computational Design of Robotically Assembled Spatial Structures. A sequence based method for the generation and evaluation of structures fabricated with cooperating robots}, PAGES = {112 - 139}, Note = {Advances in Architectural Geometry (AAG 2018); Conference Location: Gothenburg, Sweden; Conference Date: September 22-25, 2018} }

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@INPROCEEDINGS{20.500.11850/297640, editor = {Wangler, Timothy and Flatt, Robert J.}, series = {RILEM Bookseries}, volume = {19}, author = {Lloret Fritschi, Ena and Scotto, Fabio and Gramazio, Fabio and Kohler, Matthias and Graser, Konrad and Wangler, Timothy and Reiter, Lex and Flatt, Robert J. and Mata Falcon, Jaime}, publisher = {Springer International Publishing}, year = {2018-09}, language = {en}, keywords = {Digital Fabrication; CONCRETE STRUCTURES (STRUCTURAL ELEMENTS)}, issn = {2211-0844}, size = {12 p.}, doi = {10.3929/ethz-b-000297640}, adress = {Cham}, isbn = {978-3-319-99518-2}, title = {Challenges of Real-Scale Production with Smart Dynamic Casting}, PAGES = {299 - 310}, Note = {1st RILEM International Conference on Concrete and Digital Fabrication, Digital Concrete 2018; Conference Location: Zurich, Switzerland; Conference Date: September 10-12, 2018} }

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@INPROCEEDINGS{20.500.11850/297967, editor = {Willmann, Jan and Block, Philippe and Hutter, Marco and Byrne, Kendra and Schork, Tim}, series = {Robotic Fabrication in Architecture, Art and Design 2018}, author = {Thoma, Andreas and Adel, Arash and Helmreich, Matthias and Wehrle, Thomas and Gramazio, Fabio and Kohler, Matthias}, publisher = {Springer}, year = {2018-08-26}, language = {en}, keywords = {Cooperative robotic assembly; Computational design; Timber bar structures; Prefabrication; Building scale; Additive construction; In place milling; Timber frame modules}, doi = {10.1007/978-3-319-92294-2_34}, adress = {Cham}, isbn = {978-3-3199-2293-5}, title = {Robotic Fabrication of Bespoke Timber Frame Modules}, PAGES = {447 - 458}, Note = {Robotic Fabrication in Architecture, Art and Design; Conference Location: Zürich Switzerland; Conference Date: September 9-14} }

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@inbook{inbook, author = {Gandia, Augusto and Parascho, Stefana and Rust, Romana and Casas, Gonzalo and Gramazio, Fabio and Kohler, Matthias}, year = {2019}, month = {01}, pages = {59-73}, title = {Towards Automatic Path Planning for Robotically Assembled Spatial Structures: Foreword by Sigrid Brell-Çokcan and Johannes Braumann, Association for Robots in Architecture}, isbn = {978-3-319-92293-5}, doi = {10.1007/978-3-319-92294-2_5} }

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@inbook{inbook, author = {Aejmelaeus-Lindström, Petrus and Rusenova, Gergana and Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias}, year = {2019}, month = {01}, pages = {270-281}, title = {Direct Deposition of Jammed Architectural Structures: Foreword by Sigrid Brell-Çokcan and Johannes Braumann, Association for Robots in Architecture}, isbn = {978-3-319-92293-5}, doi = {10.1007/978-3-319-92294-2_21} }

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@INPROCEEDINGS{20.500.11850/298048, series = {IJCAI International Joint Conference on Artificial Intelligence}, author = {Wermelinger, Martin and Furrer, Fadri and Yoshida, Hironori and Gramazio, Fabio and Kohler, Matthias and Siegwart, Roland and Hutter, Marco}, publisher = {Lawrence Erlbaum Associates}, year = {2018}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, booktitle = {Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence (IJCAI-18)}, doi = {10.3929/ethz-b-000298048}, adress = {s.l.}, isbn = {978-0-9992411-2-7}, title = {Greedy Stone Tower Creations with a Robotic Arm}, PAGES = {5394 - 5398}, Note = {27th International Joint Conference on Artificial Intelligence (IJCAI 2018); Conference Location: Stockholm, Sweden; Conference Date: July 13-19, 2018; RSL; dfab; manipulation; construction; robotic} }

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@inbook{inbook, author = {Piskorec, Luka and Jenny, David and Parascho, Stefana and Mayer, Hannes and Gramazio, Fabio and Kohler, Matthias}, year = {2019}, month = {01}, pages = {489-500}, title = {The Brick Labyrinth: Foreword by Sigrid Brell-Çokcan and Johannes Braumann, Association for Robots in Architecture}, isbn = {978-3-319-92293-5}, doi = {10.1007/978-3-319-92294-2_37} }

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@INPROCEEDINGS{20.500.11850/305560, author = {Lussi, Manuel and Sandy, Timothy and Doerfler, Kathrin and Hack, Norman and Gramazio, Fabio and Kohler, Matthias and Buchli, Jonas}, publisher = {IEEE}, year = {2018}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, keywords = {Digital Fabrication; Mobile Fabrication; In situ fabrication; Visual Sensing; Localisation and mapping}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, doi = {10.3929/ethz-b-000227968}, adress = {Piscataway, NJ}, isbn = {978-1-5386-3081-5}, title = {Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System}, PAGES = {3532 - 3539}, Note = {2018 IEEE International Conference on Robotics and Automation (ICRA); Conference Location: Brisbane, Australia; Conference Date: May 21-25, 2018} }

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@INPROCEEDINGS{20.500.11850/277050, editor = {Cerovsek, Tomo}, series = {CAADRIA}, volume = {1}, author = {Scotto, Fabio and Lloret Kristensen, Ena and Gramazio, Fabio and Kohler, Matthias and Flatt, Robert J.}, publisher = {CumInCAD}, year = {2018}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, size = {10 p.}, booktitle = {Learning, Adapting and Prototyping - Proceedings of the 23rd CAADRIA Conference, Tsinghua University, Beijing, China, 17-19 May 2018}, adress = {Ljubljana}, DOI = {10.3929/ethz-b-000277050}, title = {Adaptive Control System for Smart Dynamic Casting}, PAGES = {255 - 264}, Note = {23rd International Conference on Computer-Aided Architectural Design Research in Asia, Learning, Adapting and Prototyping (CAADRIA 2018); Conference Location: Beijing, China; Conference Date: May 17-19, 2018} }

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@ARTICLE{20.500.11850/190831, series = {Architectural design}, volume = {87}, author = {Aejmelaeus-Lindström, Petrus and Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias and Kernizan, Schendy and Sparrman, Björn and Laucks, Jared and Tibbits, Skylar}, publisher = {Wiley}, year = {2017}, language = {en}, number = {4}, doi = {10.1002/ad.2199}, adress = {San Francisco, CA}, title = {Granular Jamming of Loadbearing and Reversible Structures: Rock Print and Rock Wall}, PAGES = {82 - 87} }

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@ARTICLE{20.500.11850/234788, edition = {Volume 87, Issue 4, July/August 2017}, series = {Architectural design}, volume = {87}, author = {Mayer, Hannes and Gramazio, Fabio and Kohler, Matthias}, publisher = {Wiley}, year = {2017-07}, language = {en}, number = {4}, booktitle = {Architectural Design}, doi = {10.1002/ad.2203}, adress = {Bognor Regis}, isbn = {978-1-119-10235-953995}, title = {Disarmed Strategies: New Machines and Techniques for an Era of Computational Contextualism in Architecture}, PAGES = {110 - 119} }

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@ARTICLE{20.500.11850/227956, series = {Construction Robotics}, volume = {1}, author = {Giftthaler, Markus and Sandy, Timothy and Dörfler, Kathrin and Brooks, Ian and Buckingham, Mark and Rey, Gonzalo and Kohler, Matthias and Gramazio, Fabio and Buchli, Jonas}, publisher = {Springer Nature}, year = {2017-12}, language = {en}, keywords = {Construction robotics; Digital fabrication; Mobile manipulation; In situ fabrication}, number = {1-4}, doi = {10.1007/s41693-017-0003-5}, adress = {Cham}, title = {Mobile robotic fabrication at 1:1 scale: the In situ Fabricator}, PAGES = {3 - 14} }

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@ARTICLE{20.500.11850/229175, series = {International Journal of Space Structures}, volume = {32}, author = {Kohlhammer, Thomas and Apolinarska, Aleksandra Anna and Gramazio, Fabio and Kohler, Matthias}, publisher = {Sage}, year = {2017}, language = {en}, abbrev_source_title = {Space struct.}, keywords = {computational design; evaluation of structures; parametric static analysis; Reciprocal Frames; robotic fabrication; timber structures}, issn = {0266-3511}, institution = {SNF and SNF and SNF}, number = {3-4}, doi = {10.1177/0266351117746268}, address = {London}, title = {Design and structural analysis of complex timber structures with glued T-joint connections for robotic assembly}, PAGES = {199 - 215} }

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@INPROCEEDINGS{20.500.11850/221077, author = {Kumar, Nitish and Hack, Norman and Doerfler, Kathrin and Walzer, Alexander Nikolas and Rey, Gonzalo Javier and Gramazio, Fabio and Kohler, Matthias and Buchli, Jonas}, publisher = {IEEE}, year = {2017-05}, language = {en}, keywords = {Robotics; Mechatronics; Architecture; Construction}, booktitle = {Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)}, doi = {10.1109/icra.2017.7989201}, adress = {Piscataway, NJ}, isbn = {978-1-5090-4633-1}, title = {Design, development and experimental assessment of a robotic end-effector for non-standard concrete applications}, PAGES = {1707 - 1713}, Note = {International Conference on Robotics and Automation (ICRA 2017); Conference Location: Singapore; Conference Date: May 29 - June 3, 2017} }

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@INPROCEEDINGS{20.500.11850/254909, author = {Furrer, Fadri and Wermelinger, Martin and Yoshida, Hironori and Gramazio, Fabio and Kohler, Matthias and Siegwart, Roland and Hutter, Marco}, publisher = {IEEE}, year = {2017}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, keywords = {COMPUTER VISION + SCENE UNDERSTANDING (ARTIFICIAL INTELLIGENCE); MOTION PLANNING + MOTION COURSE + TRAJECTORY PLANNING (ROBOTICS); BEWEGUNGSVERLAUF + BEWEGUNGSABLAUF + BAHNPLANUNG (ROBOTIK); MANIPULATOREN + TELEOPERATOREN + GREIFARME + GELENKARME (ROBOTIK); MANIPULATORS + TELEMANIPULATORS + GRIPPERS (ROBOTICS); COMPUTERVISION (KÜNSTLICHE INTELLIGENZ)}, size = {7 p.}, booktitle = {Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)}, doi = {10.3929/ethz-a-010870003}, adress = {Piscataway, NJ}, isbn = {978-1-5090-4633-1}, title = {Autonomous robotic stone stacking with online next best object target pose planning}, PAGES = {2350 - 2356}, Note = {International Conference on Robotics and Automation (ICRA 2017); Conference Location: Singapore; Conference Date: May 29 - June 3, 2017} }

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@INPROCEEDINGS{20.500.11850/171533, author = {Hack, Norman and Wangler, Timothy and Mata-Falcón, Jaime and Dörfler, Kathrin and Kumar, Nitish and Walzer, Alexander N. and Graser, Konrad and Reiter, Lex and Richner, Heinz and Buchli, Jonas and Kaufmann, Walter and Flatt, Robert J. and Gramazio, Fabio and Kohler, Matthias}, year = {2017-03}, language = {en}, keywords = {Robotic fabrication; Functional formwork; Digital concrete; Concrete reinforcement; 3D printing}, size = {11 p.}, title = {Mesh Mould: An On Site, Robotically Fabricated, Functional Formwork}, Note = {Second Concrete Innovation Conference (2nd CIC); Conference Location: Tromsø, Norway; Conference Date: March 6-8, 2017; Presented on March 7, 2017. Conference paper only available online.} }

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@INPROCEEDINGS{20.500.11850/219663, author = {Lloret Fritschi, Ena and Reiter, Lex and Wangler, Timothy and Gramazio, Fabio and Kohler, Matthias and Flatt, Robert J}, publisher = {Norwegian Concrete Association}, year = {2017}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, keywords = {Digital Concrete; Architecture; Non-standard; Flexible formwork; Inline control system; Automated continuous production system; Concrete; Digital fabrication}, size = {11 p.}, booktitle = {HPC/CIC Tromsø 2017}, adress = {Oslo}, DOI = {10.3929/ethz-b-000219663}, title = {Smart Dynamic Casting. Slipforming with Flexible Formwork - Inline Measurement and Control}, PAGES = {Paper no. 27}, Note = {HPC/CIC Tromsø 2017. Eleventh High Performance Concrete (11th HPC) and the Second Concrete Innovation Conference (2nd CIC); Conference Location: Tromsø, Norway; Conference Date: March 6-8, 2017} }

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@INBOOK{20.500.11850/125143, editor = {Menges, Achim and Schwinn, Tobias and Krieg, Oliver D.}, author = {Helm, Volker and Knauss, Michael and Kohlhammer, Thomas and Gramazio, Fabio and Kohler, Matthias}, publisher = {Routledge}, year = {2017}, language = {en}, booktitle = {Advancing Wood Architecture: A Computational Approach}, adress = {London}, isbn = {978-1-138-93299-9}, title = {Additive robotic fabrication of complex timber structures}, PAGES = {29 - 43} }

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@INPROCEEDINGS{20.500.11850/219566, editor = {Menges, Achim and Sheil, Bob and Glynn, Ruairi and Skavara, Marilena}, author = {Parascho, Stefana and Gandia, Augusto and Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias}, publisher = {UCL Press}, year = {2017}, language = {en}, copyright = {Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International}, booktitle = {Fabricate 2017}, adress = {London}, DOI = {10.3929/ethz-b-000219566}, title = {Cooperative Fabrication of Spatial Metal Structures}, PAGES = {24 - 29}, Note = {Fabricate 2017; Conference Location: Stuttgart, Germany; Conference Date: April 6-8, 2017} }

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@INPROCEEDINGS{20.500.11850/229209, editor = {Menges, Achim and Sheil, Bob and Glynn, Ruairi and Skavara, Marilena}, volume = {3}, author = {Robeller, Christopher and Weinand, Yves and Helm, Volker and Thoma, Andreas and Gramazio, Fabio and Kohler, Matthias}, publisher = {UCL Press}, year = {2017-04}, language = {en}, copyright = {Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International}, size = {3 p. published version; 11 p. accepted version}, booktitle = {Fabricate 17. Rethinking Design and Construction}, adress = {London}, isbn = {978?1?78735?001?4}, DOI = {10.3929/ethz-b-000229209}, title = {Robotic Integral Attachment}, PAGES = {92 - 97}, Note = {Fabricate 2017; Conference Location: Stuttgart, Germany; Conference Date: April 6-8, 2017} }

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@ARTICLE{20.500.11850/233218, series = {RILEM Technical Letters}, volume = {1}, author = {Wangler, Timothy and Lloret, Ena and Reiter, Lex and Hack, Norman and Gramazio, Fabio and Kohler, Matthias and Bernhard, Mathias and Dillenburger, Benjamin and Buchli, Jonas and Roussel, Nicolas and Flatt, Robert}, publisher = {RILEM}, year = {2017}, language = {en}, keywords = {Concrete; Digital Fabrication; Rheology; Set on Demand; Thixotropy}, issn = {2518 -0231}, number = {1}, doi = {10.21809/rilemtechlett.2016.16}, adress = {S.l.}, title = {Digital Concrete: Opportunities and Challenges}, PAGES = {67 - 75} }

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@InProceedings{Apolinarska2016a, author = {Apolinarska, Aleksandra A. and Bärtschi, Ralph and Furrer, Reto and Gramazio, Fabio and Kohler, Matthias}, title = {Mastering the "Sequential Roof" Computational Methods for Integrating Design, Structural Analysis, and Robotic Fabrication}, booktitle = {Advances in Architectural Geometry 2016}, year = {2016}, editor = {Adriaenssens, Sigrid and Gramazio, Fabio and Kohler, Matthias and Menges, Achim and Pauly, Mark}, series = {5th Edition of the Advances in Architectural Geometry (AAG) Symposium}, pages = {240--258}, address = {Zurich, Switzerland}, month = sep, publisher = {vdf Hochschulverlag an der ETH Zürich}, note = {Conference Date: September 9-13, 2016}, adress = {Zürich}, doi = {10.3218/3778-4_17}, institution = {EC}, isbn = {978-3-7281-3777-7}, }

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@InProceedings{Rust2016b, Title = {Force Adaptive Hot-Wire Cutting: Integrated Design, Simulation, and Fabrication of Double-Curved Surface Geometries}, Author = {Romana Rust and Fabio Gramazio and Matthias Kohler}, Booktitle = {Advances in Architectural Geometry 2016}, Year = {2016}, Editor = {Sigrid Adriaenssens and Fabio Gramazio and Matthias Kohler and Achim Menges and Mark Pauly}, Month = {9}, Pages = {288--305}, Doi = {10.3218/3778-4_20}, Url = {https://doi.org/10.3218/3778-4_20}, Publisher = {Hochschulverlag an der ETH Zürich}, }

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@INBOOK{20.500.11850/125145, editor = {Menges, Achim and Schwinn, Tobias and Krieg, Oliver David}, author = {Apolinarska, Aleksandra Anna and Knauss, Michael and Gramazio, Fabio and Kohler, Matthias}, publisher = {Routledge}, year = {2016-08-18}, language = {en}, booktitle = {Advancing Wood Architecture: A Computational Approach}, adress = {London}, isbn = {978-1-138-93298-2}, title = {The Sequential Roof}, PAGES = {45 - 57} }

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@INPROCEEDINGS{20.500.11850/118408, author = {Sandy, Timothy and Giftthaler, Markus and Dorfler, Kathrin and Kohler, Matthias and Buchli, Jonas}, publisher = {IEEE}, year = {2016}, language = {en}, booktitle = {Proceedings of the 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, May 16th 21st}, doi = {10.1109/ICRA.2016.7487449}, address = {Piscataway, NJ}, isbn = {978-1-4673-8026-3}, title = {Autonomous repositioning and localization of an in situ fabricator}, PAGES = {2852 - 2858}, Note = {2016 IEEE International Conference on Robotics and Automation, ICRA 2016; Conference Location: Stockholm, Sweden; Conference Date: May 16-21, 2016; .} }

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@InProceedings{Mirjan2016a, author = {Mirjan, Ammar and Augugliaro, Federico and D'Andrea, Raffaello and Gramazio, Fabio and Kohler, Matthias}, title = {Building a Bridge with Flying Robots}, booktitle = {Robotic Fabrication in Architecture, Art and Design 2016}, year = {2016}, editor = {Reinhardt, Dagmar and Saunders, Rob and Burry, Jane}, series = {Rob\textbar{}Arch 2016}, pages = {34--47}, address = {Sydney, Australia}, month = mar, publisher = {Springer International Publishing}, note = {Conference Date: March 14-19, 2016}, adress = {Cham}, doi = {10.1007/978-3-319-26378-6_3}, isbn = {978-3-319-26376-2}, keywords = {Aerial robotic construction; Tensile structures; Cooperative fabrication}, }

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@InProceedings{Sondergaard2016a, author = {Søndergaard, Asbjørn and Amir, Oded and Eversmann, Phillip and Piskorec, Luka and Stan, Florin and Gramazio, Fabio and Kohler, Matthias}, title = {Topology Optimization and Robotic Fabrication of Advanced Timber Space-Frame Structures}, booktitle = {Robotic Fabrication in Architecture, Art and Design 2016}, year = {2016}, editor = {Reinhardt, Dagmar and Saunders, Rob and Burry, Jane}, series = {Rob\textbar{}Arch 2016}, pages = {190--203}, address = {Sydney, Australia}, month = mar, publisher = {Springer International Publishing}, note = {Conference Date: March 14-19, 2016}, adress = {Cham}, doi = {10.1007/978-3-319-26378-6_14}, isbn = {978-3-319-26376-2}, keywords = {Topology optimization; Digital fabrication; Architectural robotics; Advanced timber structures}, }

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@InProceedings{Doerfler2016a, author = {Dörfler, Kathrin and Sandy, Timothy and Giftthaler, Markus and Gramazio, Fabio and Kohler, Matthias and Buchli, Jonas}, title = {Mobile Robotic Brickwork. Automation of a Discrete Robotic Fabrication Process Using an Autonomous Mobile Robot}, booktitle = {Robotic Fabrication in Architecture, Art and Design 2016}, year = {2016}, editor = {Reinhardt, Dagmar and Saunders, Rob and Burry, Jane}, series = {Rob\textbar{}Arch 2016}, pages = {204--217}, address = {Sydney, Australia}, month = mar, publisher = {Springer International Publishing}, note = {Conference Date: March 14-19, 2016}, adress = {Cham}, doi = {10.1007/978-3-319-26378-6_15}, isbn = {978-3-319-26376-2}, keywords = {In situ robotic construction; Mobile robotic fabrication; Adaptive fabrication; Robot localization}, }

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@Article{Aejmelaeus2016a, author = {Aejmelaeus-Lindström, Petrus and Willmann, Jan and Tibbits, Skylar and Gramazio, Fabio and Kohler, Matthias}, title = {Jammed architectural structures: towards large-scale reversible construction}, year = {2016}, volume = {18}, number = {2}, pages = {28}, month = apr, issn = {1434-5021}, adress = {New York}, doi = {10.1007/s10035-016-0628-y}, institution = {EC}, keywords = {Architectural research; Computational design; Robotic fabrication; Jammed structures; Granular construction; Additive manufacturing}, publisher = {Springer}, series = {Granular Matter}, }

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@InProceedings{Rust2016a, Title = {Spatial Wire Cutting - Cooperative robotic cutting of non-ruled surface geometries for bespoke building components}, Author = {Romana Rust and David Jenny and Fabio Gramazio and Matthias Kohler}, Booktitle = {Living Systems and Micro-Utopias: Towards Continuous Designing, Proceedings of the 21st International Conference of the Association for Computer-Aided Architectural Design Research in Asia (CAADRIA 2016)}, Year = {2016}, Address = {Hong Kong}, Editor = {S. Chien and S. Choo and M. A. Schnabel and W. Nakapan and M. J. Kim and S. Roudavski}, Month = {4}, Pages = {529--538}, Publisher = {The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)}, Volume = {21}, Url = {http://papers.cumincad.org/data/works/att/caadria2016_529.pdf} }

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@ARTICLE{20.500.11850/109898, series = {Automation in Construction}, volume = {61}, author = {Willmann, Jan and Knauss, Michael and Bonwetsch, Tobias and Apolinarska, Aleksandra Anna and Gramazio, Fabio and Kohler, Matthias}, publisher = {Elsevier}, year = {2016-01}, language = {en}, abbrev_source_title = {Autom. constr.}, keywords = {Additive digital fabrication; Automated assembly; Computational design; Industrial full scale implementation; Non-standard timber structures; Robotic Timber Construction}, issn = {0926-5805}, doi = {10.1016/j.autcon.2015.09.011}, adress = {Amsterdam}, title = {Robotic timber construction - Expanding additive fabrication to new dimensions}, PAGES = {16 - 23}, Note = {.} }

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@ARTICLE{20.500.11850/107505, series = {Architectural design}, volume = {85}, author = {Willmann, Jan and Gramazio, Fabio and Kohler, Matthias}, publisher = {Wiley}, year = {2015}, language = {en}, keywords = {Gramazio Kohler Research; Robotic Foldings; Future Cities Laboratory (FCL); Singapore; ETH Centre for Global Environmental Sustainability (SEC); Zurich; Robotic Fabricated High Rises; Second Digital Age; Flight Assembled Architecture; FRAC Centre in Orléans; France}, number = {6}, doi = {10.1002/ad.1989}, adress = {Bognor Regis}, title = {Gramazio Kohler Research, Automated Diversity: New Morphologies of Vertical Urbanism}, PAGES = {122 - 127}, Note = {.} }

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@ARTICLE{20.500.11850/111794, series = {3D Printing and Additive Manufacturing}, volume = {2}, author = {Helm, Volker and Willmann, Jan and Thoma, Andreas and Piškorec, Luka and Hack, Norman and Gramazio, Fabio and Kohler, Matthias}, publisher = {Mary Ann Liebert}, year = {2015}, language = {en}, number = {3}, doi = {10.1089/3dp.2015.0018}, adress = {New Rochelle, NY}, title = {Iridescence Print: Robotically Printed Lightweight Mesh Structures}, PAGES = {117 - 122}, Note = {Published online 21 September 2015.} }

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@INPROCEEDINGS{20.500.11850/111866, editor = {Brameshuber, Wolfgang}, author = {Hack, Norman and Lauer, Willi Viktor and Gramazio, Fabio and Kohler, Matthias}, publisher = {RILEM Publications SARL}, year = {2015}, language = {en}, booktitle = {FERRO-11: Proceedings of the 11th International Symposium on Ferrocement and 3rd ICTRC International Conference on Textile Reinforced Concrete}, adress = {Bagneux}, isbn = {978-2-35158-152-0}, title = {Mesh Mould: Robotically Fabricated Metal Meshes as Concrete Formwork and Reinforcement}, PAGES = {347 - 359}, Note = {11th International Symposium on Ferrocement and 3rd ICTRC International Conference on Textile Reinforced Concrete; Conference Location: Aachen, Germany; Conference Date: June 07-10, 2015; .} }

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@INPROCEEDINGS{20.500.11850/93836, series = {Remote Material Deposition}, author = {Dörfler Kathrin and Willmann, Jan and Piskorec Luka and Ernst Sebastian and Helm, Volker and Gramazio, Fabio and Kohler, Matthias}, publisher = {What’s the Matter Materiality and Materialism at the Age of Computation, International Conference, COAC, ETSAB, ETSAV}, year = {2014}, language = {en}, booktitle = {What’s the Matter? Materiality and Materialism at the Age of Computation}, title = {Remote Material Deposition}, PAGES = {101 - 117}, Note = {What’s the Matter Materiality and Materialism at the Age of Computation, International Conference, COAC, ETSAB, ETSAV; Conference Location: Barcelona, Spain; Conference Date: September 4-5-6, 2014; .} }

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@ARTICLE{20.500.11850/93832, series = {Computer-aided design}, volume = {60}, author = {Lloret Kristensen, Ena and Shahab, Amir R. and Mettler, Linus and Flatt, Robert J. and Gramazio, Fabio and Kohler, Matthias and Langenberg, Silke}, publisher = {Elsevier}, year = {2014-03}, language = {en}, abbrev_source_title = {Comput. Aided Des.}, keywords = {Complex concrete structures; Casting techniques; Formwork; Slipforming; Digital fabrication; Smart Dynamic Casting}, issn = {0010-4485}, doi = {10.1016/j.cad.2014.02.011}, adress = {Amsterdam}, title = {Complex concrete structures: Merging existing casting techniques with digital fabrication}, PAGES = {40 - 49}, Note = {.} }

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@INBOOK{20.500.11850/93841, author = {Willmann, Jan and Gramazio, Fabio and Kohler, Matthias}, publisher = {Routledge}, year = {2014}, language = {en}, booktitle = {Theories of the digital in architecture}, address = {London}, isbn = {978-0-415-46923-4}, title = {Towards An Extended Performative Materiality}, PAGES = {307 - 319}, Note = {.} }

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@INPROCEEDINGS{20.500.11850/93829, author = {Vomhof, Maximilian and Vasey, Lauren and Strauss, Jürgen and Eggenschwiler, Kurt and Bräuer, Stefan and Gramazio, Fabio and Kohler, Matthias}, publisher = {Riverside Architectural Press}, year = {2014}, language = {en}, booktitle = {ACADIA 2014 Design Agency: Proceedings of the 34th Annual Conference of the Association for Computer Aided Design in Architecture}, adress = {Cambridge, Ontario}, isbn = {978-1926724478}, title = {Robotic Fabrication of Acoustic Brick Walls}, PAGES = {555 - 564}, Note = {34th Annual Conference of the Association for Computer-Aided Design in Architecture (ACADIA 2014); Conference Location: Los Angeles, CA, USA; Conference Date: October 23-25, 2014; .} }

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@ARTICLE{20.500.11850/86440, series = {IEEE Control Systems Magazine}, volume = {34}, author = {Augugliaro, Federico and Lupashin, Sergei and Hamer, Michael and Male, Cason and Hehn, Markus and Mueller, Mark W. and Willmann, Jan and Gramazio, Fabio and Kohler, Matthias and D'Andrea, Raffaello}, publisher = {IEEE}, year = {2014-08}, language = {en}, abbrev_source_title = {IEEE control syst.}, issn = {0272-1708}, number = {4}, doi = {10.1109/MCS.2014.2320359}, adress = {New York, NY}, title = {The Flight Assembled Architecture installation. Cooperative construction with flying machines}, PAGES = {46 - 64}, Note = {.} }

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@ARTICLE{20.500.11850/83110, editor = {Gethmann, Daniel}, series = {Graz Architecture Magazine}, volume = {10}, author = {Mirjan, Ammar and Willmann, Jan and Gramazio, Fabio and Kohler, Matthias}, publisher = {Ambra Verlag}, year = {2014}, language = {de}, issn = {1612-9482}, booktitle = {Intuition & the Machine}, adress = {Wien}, isbn = {978-3-99043-620-2}, title = {Designing Behavior: Materializing Architecture with Flying Machines = Die Gestaltung von maschinellem Verhalten: Architekturmaterialisierung mit Flugmaschinen}, PAGES = {236 - 247}, Note = {Text dt. und engl..} }

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@INPROCEEDINGS{20.500.11850/93831, editor = {Gu, N. and Watanabe, S. and Erhan, H. and Hank Haeusler, M. and Huang, W. and Sosa, R.}, author = {Lim, Jason and Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias}, publisher = {The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)}, year = {2014}, language = {en}, keywords = {Visual Programming; Robotic Fabrication; Lightweight Structures and Computational Design}, booktitle = {Rethinking Comprehensive Design: Speculative Counterculture, Proceedings of the 19th International Conference on Computer- Aided Architectural Design Research in Asia CAADRIA 2014}, adress = {Hong Kong}, title = {Robotic Metal Aggregations: An Integral Approach to Designing Robotic Fabricated Lightweight Metal Structures. In Rethinking Comprehensive Design: Speculative Counterculture}, PAGES = {159 - 168}, Note = {19th International Conference on Computer-Aided Architectural Design Research in Asia (CAADRIA 2014); Conference Location: Kyoto, Japan; Conference Date: May 14-16, 2014; .} }

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@INPROCEEDINGS{20.500.11850/361416, editor = {Gu, Ning and Watanabe, Shun and Erhan, Halil and Haeusler, Matthias H. and Huang, Weixin and Sosa, Richardo}, author = {Hack, Norman and Lauer, Willi Viktor and Gramazio, Fabio and Kohler, Matthias}, year = {2014-05-05}, language = {en}, booktitle = {CAADRIA 2014: Rethinking Comprehensive Design}, title = {Mesh-Mould: Differentiation for Enhanced Performance}, PAGES = {139 - 148}, Note = {19th International Conference of the Association of ComputerAided Architectural Design Research in Asia CAADRIA 2014; Conference Location: Kyoto} }

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@INPROCEEDINGS{20.500.11850/361417, editor = {McGee, Wes and Ponce de Leon, Monica}, author = {Budig, Michael and Lauer, Willi Viktor and Petrovic, Raffael and Lim, Jason}, publisher = {Springer}, year = {2014-05-01}, language = {en}, booktitle = {Robotic Fabrication in Architecture, Art and Design 2014}, doi = {10.1007/978-3-319-04663-1_8}, title = {Design of Robotic Fabricated High Rises, Integrating Robotic Fabrication in a Design Studio}, PAGES = {111 - 129}, Note = {Rob|Arch2014, the second international conference on robotic fabrication in architecture, art, and design; Conference Location: Michigan, USA; Conference Date: 17-18 May, 2014} }

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@ARTICLE{20.500.11850/93832, series = {Computer-aided design}, volume = {60}, author = {Lloret Kristensen, Ena and Shahab, Amir R. and Mettler, Linus and Flatt, Robert J. and Gramazio, Fabio and Kohler, Matthias and Langenberg, Silke}, publisher = {Elsevier}, year = {2014-03}, language = {en}, abbrev_source_title = {Comput. Aided Des.}, keywords = {Complex concrete structures; Casting techniques; Formwork; Slipforming; Digital fabrication; Smart Dynamic Casting}, issn = {0010-4485}, doi = {10.1016/j.cad.2014.02.011}, adress = {Amsterdam}, title = {Complex concrete structures: Merging existing casting techniques with digital fabrication}, PAGES = {40 - 49}, Note = {.} }

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@INPROCEEDINGS{20.500.11850/81074, author = {Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias}, publisher = {gta-Verlag}, year = {2014}, language = {en}, booktitle = {Fabricate: Negotiating Design & Making}, adress = {Zürich}, isbn = {978-3-85676-331-2}, title = {Building with Flying Robots}, PAGES = {266 - 271}, Note = {International Peer Reviewed Conference and Publication, Fabricate; Conference Location: Zurich, Switzerland; Conference Date: February 14-15, 2014; .} }

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@INBOOK{20.500.11850/77616, editor = {Röhrbein, Florian and Veiga, Germano and Natale, Ciro}, series = {Springer tracts in advanced robotics}, volume = {94}, author = {Helm, Volker and Willmann, Jan and Gramazio, Fabio and Kohler, Matthias}, publisher = {Springer International Publishing}, year = {2014}, language = {en}, keywords = {In-situ; Automated construction; Additive fabrication; Robotic manufacturing; Computational design; Non-standard architectural structures; Digital integration; Tolerance handling; Human-machine- interaction}, issn = {1610-7438}, booktitle = {Gearing up and accelerating cross?fertilization between academic and industrial robotics research in Europe : technology transfer experiments from the ECHORD project}, doi = {10.1007/978-3-319-03838-4_4}, adress = {Cham}, isbn = {978-3-319-03837-7}, title = {In-Situ Robotic Fabrication : Advanced Digital Manufacturing Beyond the Laboratory}, PAGES = {63 - 83}, Note = {.} }

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@ARTICLE{20.500.11850/93839, series = {QNDMC: Qui ne dit mot consent. Artisanat}, volume = {2013}, author = {Willmann, Jan and Gramazio, Fabio and Kohler, Matthias}, publisher = {Ecole nationale supérieure d'architecture de Lyon}, year = {2013}, language = {fr}, number = {2}, adress = {Lyon}, title = {Revisiter l'age artisanal. L'affect et le ratio dans la production architecturale digitale}, PAGES = {40 - 49}, Note = {.} }

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@ARTICLE{20.500.11850/93832, series = {Computer-aided design}, volume = {60}, author = {Lloret Kristensen, Ena and Shahab, Amir R. and Mettler, Linus and Flatt, Robert J. and Gramazio, Fabio and Kohler, Matthias and Langenberg, Silke}, publisher = {Elsevier}, year = {2014-03}, language = {en}, abbrev_source_title = {Comput. Aided Des.}, keywords = {Complex concrete structures; Casting techniques; Formwork; Slipforming; Digital fabrication; Smart Dynamic Casting}, issn = {0010-4485}, doi = {10.1016/j.cad.2014.02.011}, adress = {Amsterdam}, title = {Complex concrete structures: Merging existing casting techniques with digital fabrication}, PAGES = {40 - 49}, Note = {.} }

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@INPROCEEDINGS{20.500.11850/77617, series = {International Journal of Architectural Computing}, volume = {11}, author = {Hack, Norman and Lauer, Willi Viktor and Langenberg, Silke and Gramazio, Fabio and Kohler, Matthias}, publisher = {Multi-Science Publishing}, year = {2013}, language = {en}, abbrev_source_title = {Int. j. archit. comput.}, issn = {1478-0771}, number = {3}, doi = {10.1260/1478-0771.11.3.285}, adress = {Brentwood}, title = {Overcoming Repetition. Robotic fabrication processes at a large scale}, PAGES = {285 - 299}, Note = {.} }

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@INPROCEEDINGS{20.500.11850/74187, author = {Augugliaro, Federico and Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias and D'Andrea, Raffaello}, publisher = {IEEE}, year = {2013}, language = {en}, booktitle = {2013 IEEE/RSJ Robots International Conference on Intelligent and Systems (IROS)}, doi = {10.1109/IROS.2013.6696853}, adress = {Piscataway, NJ}, isbn = {978-1-4673-6358-7}, title = {Building tensile structures with flying machines}, PAGES = {3487 - 3492}, Note = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013); Conference Location: Tokyo, Japan; Conference Date: November 3-7, 2013; .} }

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@INPROCEEDINGS{20.500.11850/74237, editor = {Ferreira, Telma}, author = {Mirjan, Ammar and Gramazio, Fabio and Kohler, Matthias and Augugliaro, Federico and D'Andrea, Raffaello}, publisher = {CRC Press}, year = {2013}, language = {en}, booktitle = {Green Design, Materials and Manufacturing Processes}, doi = {10.1201/b15002-99}, adress = {Hoboken}, isbn = {978-1-138-00046-9}, title = {Architectural fabrication of tensile structures with flying machines}, PAGES = {513 - 518}, Note = {SIM2013 - International Conference on Sustainable Intelligent Manufacturing; Conference Location: Lisbon, Portugal; Conference Date: June 26-29, 2013; .} }

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@INPROCEEDINGS{20.500.11850/78620, author = {Lim, Jason and Gramazio, Fabio and Kohler, Matthias}, publisher = {National University of Singapore}, year = {2013}, language = {en}, keywords = {Robotic fabrication; Architectural model; Software tools; High Rise design; Creative computational design}, booktitle = {Open systems : proceedings of the 18th International Conference on Computer-Aided Architectural Design Research in Asia (CAADRIA 2013), [Singapore, May 15 - 18, 2013]}, adress = {Singapore}, isbn = {978-988-19026-4-1}, title = {A Software Environment for Designing Through Robotic Fabrication. Developing a Graphical Programming Toolkit for the Digital Design and Scaled Robotic Fabrication of High Rises}, PAGES = {45 - 54}, Note = {18th International Conference on Computer-Aided Architectural Design Research in Asia (CAADRIA 2013); Conference Location: Singapore, Singapore; Conference Date: May 15-18, 2013; .} }

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@MISC{20.500.11850/62262, series = {ROB ARCH Conference 2012}, author = {Gramazio, Fabio and Kohler, Matthias and Willmann, Jan and Langenberg, Silke}, year = {2012}, language = {en}, keywords = {Robot; Fabrication; Materiality; Performance; Operationality}, isbn = {978-3-7091-1464-3}, title = {Digital by Material. Envisioning an Extended Performative}, PAGES = {13 - 105}, Note = {ROB ARCH Conference 2012-Robotic Fabrication in Architecture, Art and Design; Conference Location: Rotterdam, Stuttgart, Graz, Zurich, Vienna; Conference Date: December 17-18, 2012; Keynote.} }

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@INPROCEEDINGS{20.500.11850/62278, author = {Gramazio, Fabio and Kohler, Matthias and Helm, Volker and Ercan, Selen}, publisher = {ACADIA}, year = {2012}, language = {en}, keywords = {In-situ robotic fabrication; Mobile robotics; 1:1 scale fabrication; Additive assembly; Algorithmically designed structures; Man-machine interaction; Cognitive; Object recognition; Construction site}, booktitle = {Synthetic Digital Ecologies: Proceedings of the 32nd Annual Conference of the Association for Computer Aided Design in Architecture}, adress = {San Francisco, CA}, isbn = {978-1-62407-267-3}, title = {In-Situ Robotic Construction. Extending the Digital Fabrication Chain in Architecture}, PAGES = {169 - 176}, Note = {ACADIA 2012 - Synthetic Digital Ecologies; Conference Location: San Francisco, CA, USA; Conference Date: October 18-21, 2012; .} }

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@INPROCEEDINGS{20.500.11850/62279, author = {Gramazio, Fabio and Kohler, Matthias and Helm, Volker and Ercan, Selen}, publisher = {IEEE}, year = {2012}, language = {en}, booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 7 - 12 Oct. 2012, Vilamoura, Algarve, Portugal}, doi = {10.1109/IROS.2012.6385617}, adress = {Piscataway, NJ}, isbn = {978-1-4673-1737-5}, title = {Mobile robotic fabrication on construction sites. DimRob}, PAGES = {4335 - 4341}, Note = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012); Conference Location: Vilamoura, Portugal; Conference Date: October 7-12, 2012; .} }

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@ARTICLE{20.500.11850/58489, series = {International Journal of Architectural Computing}, volume = {10}, author = {Willmann, Jan and Augugliaro, Federico and Cadalbert, Thomas and D’Andrea, Raffaello and Gramazio, Fabio and Kohler, Matthias}, publisher = {Multi-Science Publishing}, year = {2012-09}, language = {en}, abbrev_source_title = {Int. j. archit. comput.}, issn = {1478-0771}, number = {3}, doi = {10.1260/1478-0771.10.3.439}, adress = {Brentwood}, title = {Aerial Robotic Construction. Towards a New Field of Architectural Research}, PAGES = {439 - 460}, Note = {.} }

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@INPROCEEDINGS{20.500.11850/27480, editor = {Ceccato, Cristiano and Hesselgren, Lars and Pauly, Mark and Pottmann, Helmut and Wallner, Johannes}, author = {Bärtschi, Ralph and Bonwetsch, Tobias and Knauss, Michael and Kohler, Matthias and Gramazio, Fabio}, publisher = {Springer}, year = {2010}, language = {en}, booktitle = {Advances in architectural geometry 2010}, doi = {10.1007/978-3-7091-0309-8_10}, adress = {Wien}, isbn = {3-7091-0308-8}, title = {Wiggled Brick Bond}, PAGES = {137 - 147}, Note = {Advances in Architectural Geometry Conference 2010; Conference Location: Vienna, Austria; Conference Date: September 18-21, 2010; .} }

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@INPROCEEDINGS{20.500.11850/16376, editor = {D’Estrée Sterk, Tristan and Loveridge, Russell and Pancoast, Douglas}, author = {Oesterle, Silvan}, publisher = {Association for Computer-Aided Design in Architecture}, year = {2009}, language = {en}, booktitle = {ACADIA 09 : reForm() : building a better tomorrow : proceedings of the 29th annual conference of the Association for Computer Aided Design in Architecture (ACADIA)}, adress = {Chicago}, isbn = {0-9842705-0-7}, title = {Cultural Performance in Robotic Timber Construction}, PAGES = {194 - 200}, Note = {ACADIA 2009; Conference Date: October 19-25, 2009; .} }

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@INPROCEEDINGS{20.500.11850/16503, editor = {Chang, Teng-Wen and Champion, Eric and Chien, Sheng-Fen and Chiou, Shang-Chia}, author = {Oesterle, Silvan}, publisher = {National Yunlin University of Science & Technology Department of Digital Media Design}, year = {2009-04-22}, language = {en}, keywords = {Digital fabrication; design performance; robotic construction; timber wall}, booktitle = {CAADRIA 2009. Proceedings of the 14th conference on computer-aided architectural design research in Asia}, adress = {Yunlin, Taiwan}, isbn = {978-9860-18080-0}, title = {Performance as a Design Driver in Robotic Timber Construction}, PAGES = {665 - 672}, Note = {CAADRIA 2009; Conference Location: Taiwan, China; Conference Date: April 22-25, 2009; .} }

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@INPROCEEDINGS{20.500.11850/12744, editor = {Kudless, Andrew and Oxman, Neri and Swackhamer, Marc}, author = {Bonwetsch, Tobias and Baertschi, Ralph and Oesterle, Silvan}, publisher = {Association for Computer-Aided Design in Architecture}, year = {2008}, language = {en}, booktitle = {Home ACADIA 08 Silicon + Skin: Biological Processes and Computation: Proceedings of the 28th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)}, adress = {Minneapolis, MN, USA}, isbn = {978-0-9789463-2-6}, title = {Adding Performance Criteria to Digital Fabrication Room. Acoustical Information of Diffuse Respondent Panels}, PAGES = {364 - 369}, Note = {28th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA 2008); Conference Location: Minneapolis, MN, USA; Conference Date: October 13-19, 2008; .} }

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@ARTICLE{20.500.11850/12745, series = {International Journal of Architectural Computing}, volume = {6}, author = {Schlueter, Arno and Bonwetsch, Tobias}, publisher = {Brentwood, Essex}, year = {2008-06}, language = {en}, abbrev_source_title = {Int. j. archit. comput.}, issn = {1478-0771}, number = {2}, doi = {10.1260/147807708785850104}, adress = {Multi-Science Publishing Co Ltd}, title = {Design Rationalization of Irregular Cellular Structures}, PAGES = {197 - 211} }

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@INPROCEEDINGS{20.500.11850/8595, editor = {Kieferle, Joachim B. and Ehlers, Karen}, author = {Bonwetsch, Tobias and Bärtschi, Ralph and Kobel, Daniel and Gramazio, Fabio and Kohler, Matthias}, publisher = {eCAADe}, year = {2007}, language = {en}, keywords = {Digital fabrication; CNC; design tools}, booktitle = {Predicting the Future: 25th eCAADe Conference Proceedings}, adress = {Frankfurt am Main}, isbn = {978-0-9541183-6-5}, title = {Digitally Fabricating Tilted Holes. Experiences in Tooling and Teaching Design}, PAGES = {793 - 799}, Note = {25th eCAADe Conference; Conference Location: Frankfurt am Main, Germany; Conference Date: September 26-29, 2007} }

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@INPROCEEDINGS{20.500.11850/8596, editor = {Kieferle, Joachim B. and Ehlers, Karen}, author = {Schlueter, Arno and Bonwetsch, Tobias}, publisher = {eCAADe}, year = {2007}, language = {en}, keywords = {Generative design; digital chain; digital fabrication; voronoi algorithms; programming}, booktitle = {Predicting the Future: 25th eCAADe Conference Proceedings}, isbn = {978-0-9541183-6-5}, title = {The M.ANY Project. Exploring a Matrix Model for a Fully Digital Workflow in Architectural Design}, PAGES = {895 - 900}, Note = {25th ECAADE Conference; Conference Location: Frankfurt am Main, Germany; Conference Date: September 26 - 29, 2007; .} }

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@article{article, author = {Bonwetsch, Tobias and Gramazio, Fabio and Kohler, Matthias}, year = {2007}, month = {01}, pages = {191-196}, title = {Digitally fabricating non-standardised brick walls}, journal = {Manu Build} }

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