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It introduces a novelty geometric convergence method for finding reciprocal arrangements on doubly curved reference surfaces which include an adaptable length of members, demonstrating that existing methods \u2014 typically focused on generating reciprocal arrangements from predefined geometric rotations \u2014 represent only a subset of the broader design space for this typology. The proposed Adaptive Reciprocal Framing Tessellation method is applicable to both synclastic and anticlastic surfaces and allows for a strategic placement of support conditions of the anisotropic timber system, although some boundary conditions are needed to guarantee convergence of the structural arrangement. A structural performance evaluation of a set of generated patterns is given by assessing displacements and stress checks of members according to Eurocode 5 in an integrated computational engineering design workflow", "venue" : "México City, México", "language" : "eng", "eventdate" : "27-31 October, 2025", "eventtitle" : "IASS Annual Symposium 2025, \u201CThe living past as a source of innovation\u201D", "bibtexKey": "prandini2025adaptive" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/27ad61d12d9570b74db7ae210cf93bc5c/itke", "tags" : [ "computer-aided","curved","prandini","shells","surface","frames","knippers","reciprocal","engineering","tesselation","adaptive","form","itke","2025","anisothropic","timber","free" ], "intraHash" : "7ad61d12d9570b74db7ae210cf93bc5c", "interHash" : "0c6ead4d248a2b5871aa99fb772d9ccb", "label" : "Adaptive Reciprocally Framed Tessellation for doubly curved surfaces", "user" : "itke", "description" : "", "date" : "2026-02-19 15:42:47", "changeDate" : "2026-02-19 15:42:47", "count" : 2, "pub-type": "proceedings", "booktitle": "Proceedings of the IASS Annual Symposium 2025, \u201CThe living past as a source of innovation\u201D", "year": "2025", "url": "", "author": [ "Renan Prandini","Jan Knippers" ], "authors": [ {"first" : "Renan", "last" : "Prandini"}, {"first" : "Jan", "last" : "Knippers"} ], "abstract": "This paper revisits the determination of reciprocal structural arrangements for constructing tridimensional surfaces using exclusively straight members. It introduces a novelty geometric convergence method for finding reciprocal arrangements on doubly curved reference surfaces which include an adaptable length of members, demonstrating that existing methods \u2014 typically focused on generating reciprocal arrangements from predefined geometric rotations \u2014 represent only a subset of the broader design space for this typology. The proposed Adaptive Reciprocal Framing Tessellation method is applicable to both synclastic and anticlastic surfaces and allows for a strategic placement of support conditions of the anisotropic timber system, although some boundary conditions are needed to guarantee convergence of the structural arrangement. A structural performance evaluation of a set of generated patterns is given by assessing displacements and stress checks of members according to Eurocode 5 in an integrated computational engineering design workflow", "venue" : "México City, México", "language" : "eng", "eventdate" : "27-31 October, 2025", "eventtitle" : "IASS Annual Symposium 2025, \u201CThe living past as a source of innovation\u201D", "bibtexKey": "prandini2025adaptive" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/20a72d1180d9d9ffdbbd3f7b33ce9a61b/petraheim", "tags" : [ "2025","Computational","Form-finding","Integrative","Lightweight","Modular","Optimisation","Plate","Robotic","Segmented","Structural","aicher","bechert","design","engineering","fabrication","göbel","itke","knippers","menges","schlopschnat","shells","structure","system","timber" ], "intraHash" : "0a72d1180d9d9ffdbbd3f7b33ce9a61b", "interHash" : "fa29dda885c328adf06d4704f1fc70ec", "label" : "livMatS biomimetic shell: Structural advancements of segmented timber shells towards permanent building constructions", "user" : "petraheim", "description" : "", "date" : "2025-06-25 14:38:58", "changeDate" : "2025-06-25 14:38:58", "count" : 6, "pub-type": "article", "journal": "Structures","publisher":"Elsevier", "year": "2025", "url": "", "author": [ "Simon Bechert","Christoph Schlopschnat","Monika Göbel","Simon Aicher","Achim Menges","Jan Knippers" ], "authors": [ {"first" : "Simon", "last" : "Bechert"}, {"first" : "Christoph", "last" : "Schlopschnat"}, {"first" : "Monika", "last" : "Göbel"}, {"first" : "Simon", "last" : "Aicher"}, {"first" : "Achim", "last" : "Menges"}, {"first" : "Jan", "last" : "Knippers"} ], "volume": "79","pages": "109524","abstract": "Segmented timber shells (STS) represent an emerging modular system for lightweight, free-form architecture. While prior applications have largely been limited to temporary demonstrators, this paper presents the livMatS Biomimetic Shell\u2014the first permanent, fully functioning building realised using a segmented timber shell system \u2014marking a major step toward scalable and long-term architectural integration. The project demonstrates a holistic, digitally driven approach that integrates co-design across architecture, engineering, and robotic fabrication, in close collaboration with industry partners. The research applies an integrative structural design methodology, combining parametric shape analysis and advanced finite element methods to optimise the shell\u2019s form, segmentation, and structural performance. A central innovation is the refined hollow timber cassette system, which reduces material volume and structural weight while enabling insulation integration and structural adaptability. Additional contributions include a bifurcated shell geometry that incorporates a skylight and an innovative weather-responsive shading system. As a full-scale scientific demonstrator, the livMatS Biomimetic Shell positions STS as a viable, sustainable, and structurally robust solution for contemporary long-span timber architecture.", "language" : "eng", "doi" : "https://doi.org/10.1016/j.istruc.2025.109524", "bibtexKey": "bechert2025livmats" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/20a72d1180d9d9ffdbbd3f7b33ce9a61b/itke", "tags" : [ "Robotic","Optimisation","shells","göbel","Structural","knippers","engineering","Plate","structure","system","itke","fabrication","menges","aicher","Lightweight","Modular","schlopschnat","Form-finding","design","Integrative","2025","Segmented","timber","Computational","bechert" ], "intraHash" : "0a72d1180d9d9ffdbbd3f7b33ce9a61b", "interHash" : "fa29dda885c328adf06d4704f1fc70ec", "label" : "livMatS biomimetic shell: Structural advancements of segmented timber shells towards permanent building constructions", "user" : "itke", "description" : "", "date" : "2025-06-25 14:38:58", "changeDate" : "2025-06-25 14:38:58", "count" : 6, "pub-type": "article", "journal": "Structures","publisher":"Elsevier", "year": "2025", "url": "", "author": [ "Simon Bechert","Christoph Schlopschnat","Monika Göbel","Simon Aicher","Achim Menges","Jan Knippers" ], "authors": [ {"first" : "Simon", "last" : "Bechert"}, {"first" : "Christoph", "last" : "Schlopschnat"}, {"first" : "Monika", "last" : "Göbel"}, {"first" : "Simon", "last" : "Aicher"}, {"first" : "Achim", "last" : "Menges"}, {"first" : "Jan", "last" : "Knippers"} ], "volume": "79","pages": "109524","abstract": "Segmented timber shells (STS) represent an emerging modular system for lightweight, free-form architecture. While prior applications have largely been limited to temporary demonstrators, this paper presents the livMatS Biomimetic Shell\u2014the first permanent, fully functioning building realised using a segmented timber shell system \u2014marking a major step toward scalable and long-term architectural integration. The project demonstrates a holistic, digitally driven approach that integrates co-design across architecture, engineering, and robotic fabrication, in close collaboration with industry partners. The research applies an integrative structural design methodology, combining parametric shape analysis and advanced finite element methods to optimise the shell\u2019s form, segmentation, and structural performance. A central innovation is the refined hollow timber cassette system, which reduces material volume and structural weight while enabling insulation integration and structural adaptability. Additional contributions include a bifurcated shell geometry that incorporates a skylight and an innovative weather-responsive shading system. As a full-scale scientific demonstrator, the livMatS Biomimetic Shell positions STS as a viable, sustainable, and structurally robust solution for contemporary long-span timber architecture.", "language" : "eng", "doi" : "https://doi.org/10.1016/j.istruc.2025.109524", "bibtexKey": "bechert2025livmats" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ffed873fdda99f27ba9e31da971123b9/petraheim", "tags" : [ "2022","assembly-oriented","bechert","design","itke","knippers","maierhofer","malafey","menges","methodology","sahin","segmented","shah","shells","timber" ], "intraHash" : "ffed873fdda99f27ba9e31da971123b9", "interHash" : "90030b54e09973c0b8e3d57b8bbc5939", "label" : "Assembly-Oriented Design Methodology for Segmented Timber Shells", "user" : "petraheim", "description" : "", "date" : "2025-06-11 12:40:23", "changeDate" : "2025-06-11 12:40:23", "count" : 5, "pub-type": "inproceedings", "booktitle": "Innovation, Sustainability, Legacy: Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference", "year": "2022", "url": "", "author": [ "Anand Shah","Ekin Sila Sahin","Anastasia Malafey","Simon Bechert","Mathias Maierhofer","Jan Knippers","Achim Menges" ], "authors": [ {"first" : "Anand", "last" : "Shah"}, {"first" : "Ekin Sila", "last" : "Sahin"}, {"first" : "Anastasia", "last" : "Malafey"}, {"first" : "Simon", "last" : "Bechert"}, {"first" : "Mathias", "last" : "Maierhofer"}, {"first" : "Jan", "last" : "Knippers"}, {"first" : "Achim", "last" : "Menges"} ], "editor": [ "Su-duo Xue","Jin-zhi Wu","Guo-jun Sun" ], "editors": [ {"first" : "Su-duo", "last" : "Xue"}, {"first" : "Jin-zhi", "last" : "Wu"}, {"first" : "Guo-jun", "last" : "Sun"} ], "pages": "1526-1537","abstract": "This research demonstrates a structurally-informed assembly method for the construction process of modular timber structures. Within the context of modular timber structures, segmented timber shells are of great interest for large span applications. These structures predominantly confront external loads through membrane action and therefore have reduced bending moments. During erection of these structures, assembly stages with unfavourable spanning conditions and high bending moments occur. In traditional construction methods, scaffolding is built below the shell structure to stabilize the assembly steps. This temporary reinforcement results in uneconomical, time-consuming and labour-intensive construction. Moreover, they create a congested working space which sometimes results in unsafe working conditions for laborers. The research proposes a design method which reimagines the reciprocity between the design, the on-site robotics and the coordination of the on-site equipment as a structurally-informed design for assembly methodology for segmented timber shell structures. It brings the possibility of supportless assembly and automated erection, while opening up unexplored design possibilities for segmented timber shells.", "venue" : "Beijing, China", "language" : "eng", "keyword" : "segmented timber shells, assembly rules, geometry optimization, timber joint, crane coordination, automation", "bibtexKey": "Shah.IASS.2022" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ffed873fdda99f27ba9e31da971123b9/itke", "tags" : [ "shells","segmented","knippers","2022","shah","maierhofer","design","itke","assembly-oriented","timber","malafey","sahin","menges","bechert","methodology" ], "intraHash" : "ffed873fdda99f27ba9e31da971123b9", "interHash" : "90030b54e09973c0b8e3d57b8bbc5939", "label" : "Assembly-Oriented Design Methodology for Segmented Timber Shells", "user" : "itke", "description" : "", "date" : "2025-06-11 12:40:23", "changeDate" : "2025-06-11 12:40:23", "count" : 5, "pub-type": "inproceedings", "booktitle": "Innovation, Sustainability, Legacy: Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference", "year": "2022", "url": "", "author": [ "Anand Shah","Ekin Sila Sahin","Anastasia Malafey","Simon Bechert","Mathias Maierhofer","Jan Knippers","Achim Menges" ], "authors": [ {"first" : "Anand", "last" : "Shah"}, {"first" : "Ekin Sila", "last" : "Sahin"}, {"first" : "Anastasia", "last" : "Malafey"}, {"first" : "Simon", "last" : "Bechert"}, {"first" : "Mathias", "last" : "Maierhofer"}, {"first" : "Jan", "last" : "Knippers"}, {"first" : "Achim", "last" : "Menges"} ], "editor": [ "Su-duo Xue","Jin-zhi Wu","Guo-jun Sun" ], "editors": [ {"first" : "Su-duo", "last" : "Xue"}, {"first" : "Jin-zhi", "last" : "Wu"}, {"first" : "Guo-jun", "last" : "Sun"} ], "pages": "1526-1537","abstract": "This research demonstrates a structurally-informed assembly method for the construction process of modular timber structures. Within the context of modular timber structures, segmented timber shells are of great interest for large span applications. These structures predominantly confront external loads through membrane action and therefore have reduced bending moments. During erection of these structures, assembly stages with unfavourable spanning conditions and high bending moments occur. In traditional construction methods, scaffolding is built below the shell structure to stabilize the assembly steps. This temporary reinforcement results in uneconomical, time-consuming and labour-intensive construction. Moreover, they create a congested working space which sometimes results in unsafe working conditions for laborers. The research proposes a design method which reimagines the reciprocity between the design, the on-site robotics and the coordination of the on-site equipment as a structurally-informed design for assembly methodology for segmented timber shell structures. It brings the possibility of supportless assembly and automated erection, while opening up unexplored design possibilities for segmented timber shells.", "venue" : "Beijing, China", "language" : "eng", "keyword" : "segmented timber shells, assembly rules, geometry optimization, timber joint, crane coordination, automation", "bibtexKey": "Shah.IASS.2022" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/22f2c5dcacbc04960332a916f8c403af4/jmueller", "tags" : [ "(structures),","actuators,","analysis,","annealing","damping,","element","equations,","finite","flexible","mathematical","model,","observability,","optimization,","placement,","sensor","shells","simulated","sobek","strain,","structures," ], "intraHash" : "2f2c5dcacbc04960332a916f8c403af4", "interHash" : "22dc8d6520be48dbc1e24df7a3376f73", "label" : "Optimal sensor placement for state estimation of flexible shell structures", "user" : "jmueller", "description" : "", "date" : "2023-11-27 15:10:57", "changeDate" : "2023-11-27 15:10:57", "count" : 2, "pub-type": "inproceedings", "booktitle": "2011 International Conference on Fluid Power and Mechatronics (FPM), August 17-20, 2011, Beijing, China", "year": "2011", "url": "", "author": [ "Martin Weickgenannt","Stefan Neuhäuser","Benjamin Henke","Werner Sobek","Oliver Sawodny" ], "authors": [ {"first" : "Martin", "last" : "Weickgenannt"}, {"first" : "Stefan", "last" : "Neuhäuser"}, {"first" : "Benjamin", "last" : "Henke"}, {"first" : "Werner", "last" : "Sobek"}, {"first" : "Oliver", "last" : "Sawodny"} ], "pages": "374--380","abstract": "This paper presents a method for optimal sensor placement for flexible shell structures. The optimization objectives are the number of sensors, as a surrogate for implementation cost, and an observability measure. The latter is derived from the observability gramian and considers observation energy of the least observable state. The methodology is tested on a flexible thin-shell structure that is modeled using Finite Element methods. The equations of motion are transformed into modal space and model reduction methods are applied. The resulting model is used for the optimization of the sensor locations. The optimization is performed by the Multi-objective Simulated Annealing algorithm that uses a dominance-based energy formulation for the comparison of different optimal solution candidates. 2011 IEEE.", "doi" : "10.1109/FPM.2011.6045791", "bibtexKey": "weickgenannt_optimal_2011" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2a85f871ed150c9f04c48fb6c24de0943/jmueller", "tags" : [ "Concrete","Functional","Integrated","Resource","Segmented","design,","efficiency,","gradation,","shell,","shells","sobek" ], "intraHash" : "a85f871ed150c9f04c48fb6c24de0943", "interHash" : "2842b1f36cba402b330bb6ba52af9d8d", "label" : "Rosenstein Pavilion: Design and structural analysis of a functionally graded concrete shell", "user" : "jmueller", "description" : "", "date" : "2023-11-27 15:10:57", "changeDate" : "2023-11-27 15:10:57", "count" : 2, "pub-type": "article", "journal": "Structures", "year": "2019", "url": "", "author": [ "Daria Kovaleva","Oliver Gericke","Jonas Kappes","Ivan Tomovic","Werner Sobek" ], "authors": [ {"first" : "Daria", "last" : "Kovaleva"}, {"first" : "Oliver", "last" : "Gericke"}, {"first" : "Jonas", "last" : "Kappes"}, {"first" : "Ivan", "last" : "Tomovic"}, {"first" : "Werner", "last" : "Sobek"} ], "volume": "18","pages": "91--101","abstract": "The paper describes the process of design and structural analysis of the Rosenstein Pavilion, a functionally graded concrete shell designed and built for an exhibition on construction bionics in Stuttgart. The concept of the pavilion is based on a research project that explored the limits of material savings in building construction by implementing biomimetic optimisation strategies. Characteristic for the load-bearing tissues of living organisms, the principle of functional gradation was used to improve the structural efficiency of the pavilion by distributing material in accordance to a dominant stress state. As a result, the weight of the structure was reduced by 40\\% without decreasing its load-bearing capacity. This paper focuses on a description of the design process, in which material and production characteristics were embedded into a computational design environment and transformed into the geometric and structural properties of the pavilion. In parallel, a series of structural analyses have been conducted to validate design assumptions. The presented design approach demonstrates the potential for integrating the principles of structural optimisation into the process of architectural design for stimulating the joint work of the project team in developing integrated resource efficient solutions for the built environment.", "issn" : "2352-0124", "doi" : "10.1016/j.istruc.2018.11.007", "bibtexKey": "kovaleva_rosenstein_2019" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/247c9da17a6b417008c9168c412089308/jmueller", "tags" : [ "(structures),","3D","Joints,","Kinematics,","Manipulator","Mathematical","SPR","Vectors,","actuated","actuators,","adaptive","analysis,","condition,","constraint","control,","deformation,","displacement,","dynamics,","forward","hydraulic","indeterminate","inverse","joint,","kinematic","kinematics,","loading","manipulator","model,","modeling,","numerical","parallel","passive","position","prismatic","reduction,","robot","shell","shells","sobek","statically","statistical","stress","structural","structure,","support","supports,","system,","systems","vibration" ], "intraHash" : "47c9da17a6b417008c9168c412089308", "interHash" : "e5d1eadd93a17d8b1a524648271abd89", "label" : "Kinematic modeling of a hydraulically actuated 3-SPR-parallel manipulator for an adaptive shell structure", "user" : "jmueller", "description" : "", "date" : "2023-11-27 15:10:57", "changeDate" : "2023-11-27 15:10:57", "count" : 2, "pub-type": "inproceedings", "booktitle": "2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 9-12, 2013, Wollongong, Australia", "year": "2013", "url": "", "author": [ "Mark Wörner","Martin Weickgenannt","Stefan Neuhäuser","Christoph Göhrle","Werner Sobek","Oliver Sawodny" ], "authors": [ {"first" : "Mark", "last" : "Wörner"}, {"first" : "Martin", "last" : "Weickgenannt"}, {"first" : "Stefan", "last" : "Neuhäuser"}, {"first" : "Christoph", "last" : "Göhrle"}, {"first" : "Werner", "last" : "Sobek"}, {"first" : "Oliver", "last" : "Sawodny"} ], "pages": "1330--1336","abstract": "This paper describes a 3-SPR-parallel robot system with hydraulic actuated prismatic joints that was developed within the context of ongoing research on adaptive shell structures. The potential of adaptive structures is based on the principle of providing means for the system to accommodate a variety of loading conditions (earthquakes, wind, snow) by actively inducing deformations and forces in response to external loads. Thus, stresses and vibrations in the structure are reduced, maintaining or exceeding the performance of passive structures while using much less material and, correspondingly, resources. Adaptive structures, in comparison to traditional systems, contain sensors, actuators, and control systems. One method of actuation is the controlled positioning of the support points of structures. Assuming a statically indeterminate structure, the displacement of the supports will introduce structural deformations and forces. For three-dimensional structures such as the double-curved shell structure under investigation, translational positioning of the support must be provided in all directions. One method to achieve this is the use of 3-SPR-parallel mechanism. The implementation requires a unique and real time solution of the forward and inverse kinematics of the mechanism in order to relate actual displacement of the structural support of the shell to the displacement of the actuators. The solution presented here is based on an analytical approach taking into account the constraint conditions of the 3-SPR-parallel mechanism. The method is validated by numerical analysis of the workspace and then implemented on a reference system.", "doi" : "10.1109/AIM.2013.6584279", "bibtexKey": "worner_kinematic_2013" } ] }