{ "types" : { "Bookmark" : { "pluralLabel" : "Bookmarks" }, "Publication" : { "pluralLabel" : "Publications" }, "GoldStandardPublication" : { "pluralLabel" : "GoldStandardPublications" }, "GoldStandardBookmark" : { "pluralLabel" : "GoldStandardBookmarks" }, "Tag" : { "pluralLabel" : "Tags" }, "User" : { "pluralLabel" : "Users" }, "Group" : { "pluralLabel" : "Groups" }, "Sphere" : { "pluralLabel" : "Spheres" } }, "properties" : { "count" : { "valueType" : "number" }, "date" : { "valueType" : "date" }, "changeDate" : { "valueType" : "date" }, "url" : { "valueType" : "url" }, "id" : { "valueType" : "url" }, "tags" : { "valueType" : "item" }, "user" : { "valueType" : "item" } }, "items" : [ { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/21dc777855054c839a84a9170fe2b7ed5/gron", "tags" : [ "ai","icd","intcdc","iris","iris3d","irissrf","mac","myown","peer" ], "intraHash" : "1dc777855054c839a84a9170fe2b7ed5", "interHash" : "ce844b59b6ef78379c781382b26279e4", "label" : "Sensor-Driven Human\u2013Robot Collaboration for Timber Assembly:\r\nA Cyber-Physical Approach Tested with Diverse Participants", "user" : "gron", "description" : "", "date" : "2025-10-22 10:27:30", "changeDate" : "2026-01-14 17:58:30", "count" : 6, "pub-type": "inproceedings", "booktitle": "Proceedings of the 37th Australian Conference on Human-Computer Interaction (HCI) (OZCHI '25), November 29--December 03, 2025, Sydney, Australia","publisher":"ACM", "year": "2025", "url": "", "author": [ "Gili Ron","Amelie Schreck","Cordula Kropp","Achim Menges","Thomas Wortmann" ], "authors": [ {"first" : "Gili", "last" : "Ron"}, {"first" : "Amelie", "last" : "Schreck"}, {"first" : "Cordula", "last" : "Kropp"}, {"first" : "Achim", "last" : "Menges"}, {"first" : "Thomas", "last" : "Wortmann"} ], "editor": [ "Glenda Caldwell","Benjamin Tag","Josh Andres" ], "editors": [ {"first" : "Glenda", "last" : "Caldwell"}, {"first" : "Benjamin", "last" : "Tag"}, {"first" : "Josh", "last" : "Andres"} ], "abstract": "This paper presents a human-centered cyber-physical system integrating gesture recognition, depth sensing, and motion sensing to support human\u2013robot collaboration (HRC) in timber assembly. The system enables users to control cobots on demand, adapts cobot trajectories to workspace changes, and ensures safety through motion-triggered stops, while a visual interface displays real-time sensor data and planned actions. We evaluated the system in a small-scale timber assembly study with 21 participants\u2014Novice Academics, Experienced Academics, and Novice Professionals\u2014performing assembly tasks under three modes: Human Agency (gesture control), Robot Agency (autonomous sensing), and Combined Agency (integrated).\r\n\r\nResults show that gesture control achieved the highest perceived usability and the lowest mental and physical demand, whereas autonomous sensing produced the fastest completion times (median 6.02 min). The combined mode, intended to merge both paradigms, paradoxically led to slower performance (median 10.15 min) and higher cognitive load, as users had to coordinate overlapping control schemes. Although some task-time data for professionals were unavailable, qualitative feedback revealed consistent trends: academics valued autonomy and transparency, while professionals prioritized safety and reliability.\r\n\r\nThese findings highlight that user background profoundly shapes collaboration preferences and that flexible interfaces\u2014allowing adjustable safety thresholds, feedback modes, and levels of autonomy\u2014are essential for effective and inclusive HRC design in construction contexts.", "venue" : "The University of Sydney, Darlington NSW", "isbn" : "979-8-4007-2016-1/25/11", "language" : "eng", "eventdate" : "November 29--December 03, 2025", "eventtitle" : "OZCHI '25: The 37th Australian Conference on Human-Computer Interaction (HCI)", "doi" : "10.1145/3764687.3769950", "bibtexKey": "noauthororeditor" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/27fbcdb01d42beaf3b6c3fce36e6413ab/gron", "tags" : [ "ai","icd","intcdc","iris","mac","myown","peer" ], "intraHash" : "7fbcdb01d42beaf3b6c3fce36e6413ab", "interHash" : "d574222a95cecf748a86609666753e68", "label" : "Designing for Diversity: a feminist technoscience and behavioural fabrication approach in human--robot collaboration education for Industry 5.0", "user" : "gron", "description" : "", "date" : "2025-10-14 07:03:23", "changeDate" : "2026-01-14 18:00:33", "count" : 9, "pub-type": "article", "journal": "Construction Robotics", "year": "2025", "url": "https://doi.org/10.1007/s41693-025-00164-y", "author": [ "Gili Ron","Samuel Leder","Lasath Siriwardena","Cordula Kropp","Achim Menges","Thomas Wortmann" ], "authors": [ {"first" : "Gili", "last" : "Ron"}, {"first" : "Samuel", "last" : "Leder"}, {"first" : "Lasath", "last" : "Siriwardena"}, {"first" : "Cordula", "last" : "Kropp"}, {"first" : "Achim", "last" : "Menges"}, {"first" : "Thomas", "last" : "Wortmann"} ], "editor": [ "Germany Prof. Dr. Ing. Karola Dierichs, Humboldt-Universität zu Berlin","Germany Dr. Karin Krauthausen, Humboldt-Universität zu Berlin","Australia Prof. Dr. Glenda Caldwell, Queensland University of Technology","Australia Prof. Dr. Dagmar Reinhardt, University of Sydney" ], "editors": [ {"first" : "Germany", "last" : "Prof. Dr. Ing. Karola Dierichs, Humboldt-Universität zu Berlin"}, {"first" : "Germany", "last" : "Dr. Karin Krauthausen, Humboldt-Universität zu Berlin"}, {"first" : "Australia", "last" : "Prof. Dr. Glenda Caldwell, Queensland University of Technology"}, {"first" : "Australia", "last" : "Prof. Dr. Dagmar Reinhardt, University of Sydney"} ], "volume": "9","number": "2","pages": "24","abstract": "This research addresses the gap between technical advancement and human factors in human--robot collaboration (HRC) education for digital fabrication. Current pedagogical approaches predominantly focus on technological capabilities while neglecting critical aspects of user diversity, accessibility, and contextual adaptability essential to Industry 5.0 implementation. We present a human-centered HRC design methodology integrating feminist technoscience (FTS) dimensions with behavioural fabrication techniques. The framework consists of three components: (1) an FTS framework and framework to guide and evaluate HRC design; (2) a cyber-physical system enabling real-time sensor-driven robot behavior; and (3) a modified Double-Diamond Approach (DDA) that systematically guides students through creative processes, for iterative design. The methodology was tested through a four-day workshop with graduate architecture and engineering students, who developed four distinct HRC workflows incorporating voice control, gesture recognition, computer vision feedback, and multilingual interfaces. Using the FTS rubric, we observed that students were able to translate abstract concepts---such as user diversity, agency, and bias---into concrete design decisions, despite limited prior experience in robotics or feminist critique. These outcomes suggest that the integrated approach effectively supports students in addressing practical HRC challenges while remaining attentive to the social and ethical dimensions of automation. This work contributes a reproducible methodology for preparing future practitioners to design HRC systems that are technically robust while remaining responsive to user needs, thereby advancing the transition from Industry 4.0 to 5.0 priorities.", "language" : "eng", "issn" : "2509-8780", "doi" : "10.1007/s41693-025-00164-y", "bibtexKey": "Ron2025" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2d3a7267cfa98350b352fdcd35956fd37/gron", "tags" : [ "2023","@iris","ICD","IntCDC","ai","iris","mac","publication_of_work" ], "intraHash" : "d3a7267cfa98350b352fdcd35956fd37", "interHash" : "e79bdde8d5a0795b32b7abed0cbae94f", "label" : "On the Collaboration Between Robots and Humans: a Conversation with Gili Ron and Thomas Wortmann", "user" : "gron", "description" : "BauNetz, Woche #622: KÜNSTLICHE INTELLIGENZ IN DER ARCHITEKTURPRODUKTION. ", "date" : "2025-01-13 15:42:29", "changeDate" : "2025-10-16 16:36:39", "count" : 4, "pub-type": "misc", "year": "2023", "url": "https://www.baunetz.de/baunetzwoche/baunetzwoche_ausgabe_8266279.html", "author": [ "Friederike Meyer","Sophie Marthe" ], "authors": [ {"first" : "Friederike", "last" : "Meyer"}, {"first" : "Sophie", "last" : "Marthe"} ], "editor": [ "Friederike Meyer" ], "editors": [ {"first" : "Friederike", "last" : "Meyer"} ], "abstract": "Zur Zusammenarbeit von Robotern und Menschen : Gespräch mit Gili Ron und Thomas Wortmann, Universität Stuttgart\", In: BauNetz, Woche #622: \u201EKÜNSTLICHE INTELLIGENZ IN DER ARCHITEKTURPRODUKTION\u201C, pp 13-19", "language" : "German", "bibtexKey": "meyer2023collaboration" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2118d6ea8c50621da6342365b210e59b0/gron", "tags" : [ "ai","ap30","icd","intcdc","iris","mac","myown","peer" ], "intraHash" : "118d6ea8c50621da6342365b210e59b0", "interHash" : "3334b5220cc1c51642573a3e2735be00", "label" : "Multi-Akteur-Fabrikation im Bauwesen", "user" : "gron", "description" : "", "date" : "2025-01-13 13:56:58", "changeDate" : "2025-07-21 17:07:32", "count" : 10, "pub-type": "article", "journal": "Bautechnik","publisher":"Ernst & Sohn", "year": "2023", "url": "", "author": [ "Felix Amtsberg","Xiliu Yang","Lior Skoury","Gili Ron","Benjamin Kaiser","Aimée Sousa Calepso","Michael Sedlmair","Alexander Verl","Thomas Wortmann","Achim Menges" ], "authors": [ {"first" : "Felix", "last" : "Amtsberg"}, {"first" : "Xiliu", "last" : "Yang"}, {"first" : "Lior", "last" : "Skoury"}, {"first" : "Gili", "last" : "Ron"}, {"first" : "Benjamin", "last" : "Kaiser"}, {"first" : "Aimée", "last" : "Sousa Calepso"}, {"first" : "Michael", "last" : "Sedlmair"}, {"first" : "Alexander", "last" : "Verl"}, {"first" : "Thomas", "last" : "Wortmann"}, {"first" : "Achim", "last" : "Menges"} ], "volume": "100","number": "10","pages": "637-647","abstract": "Die aktuelle Generation von Planern ist mit der Aufgabe konfrontiert, neue, nachhaltigere Bausysteme zu entwickeln, um der Problematik der Ressourcenknappheit, der Verstädterung, dem Klima-, aber auch dem demografischen Wandel entgegenzuwirken. Hierbei ist die Frage nach deren effizienter Herstellung unter Nutzung nachwachsender Rohstoffe in den Fokus der Forschungsbemühungen gerückt. In den letzten Jahren hat der Automatisierungsgrad in der Vorfertigung unter der Agenda der produktbasierten Bausysteme zugenommen, die ein hohes Potenzial aufweisen, aber in Umgebungen, wo eine höhere Flexibilität erforderlich ist, nur bedingt zielführend sind. Die Realisierung ressourcensparender Entwürfe führt unweigerlich zu kleinen Losgrößen und einmalig zu produzierenden Bauelementen, die für eine effiziente Fabrikation anpassungsfähige Vorfertigungsanlagen für eine Vielzahl von Lösungen erfordern. Am Exzellenzcluster Integratives computerbasiertes Planen und Bauen für die Architektur (IntCDC) werden Methoden erforscht, welche mittels Mensch-Maschine-Kollaboration eine Steigerung von Flexibilität und Adaptivität der Vorfabrikation und Konstruktion von Bauwerken anstreben. Dazu werden neben der Durchführung von Untersuchungen zur Augmented-Reality-Technologie-unterstützten Integration und Kommunikation von Mensch und Maschine auch auf maschinellem Lernen basierende Trainingsmethoden und Vorhersagemodelle entwickelt.", "research-areas" : "Engineering", "language" : "eng", "researcherid-numbers" : "Wortmann, Thomas/K-5087-2019", "issn" : "0932-8351 and 1437-0999", "affiliation" : "Amtsberg, F (Corresponding Author), Univ Stuttgart, Inst Computerbasiertes Entwerfen & Baufertigung, Keplerstr 7, D-70174 Stuttgart, Germany. Amtsberg, Felix; Yang, Xiliu; Skoury, Lior; Ron, Gili; Wortmann, Thomas; Menges, Achim, Univ Stuttgart, Inst Computerbasiertes Entwerfen & Baufertigung, Keplerstr 7, D-70174 Stuttgart, Germany. Kaiser, Benjamin; Verl, Alexander, Univ Stuttgart, Inst Steuerungstech Werkzeugmaschinen & Fertigungs, Seidenstr 36, D-70174 Stuttgart, Germany. Calepso, Aimee Sousa; Sedlmair, Michael, Univ Stuttgart, Visualisierungsinst Univ Stuttgart VISUS, Allmandring 19, D-70569 Stuttgart, Germany.", "orcid-numbers" : "Wortmann, Thomas/0000-0002-5604-1624", "preprinturl" : "https://onlinelibrary.wiley.com/doi/epdf/10.1002/bate.202300070", "unique-id" : "WOS:001067450300001", "doi" : "10.1002/bate.202300070", "bibtexKey": "Amtsberg_2023" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2efe3a07af6c678f0797aa133c9278300/gron", "tags" : [ "ICD","ap30","incdc","iris","mac","myown" ], "intraHash" : "efe3a07af6c678f0797aa133c9278300", "interHash" : "3b851e6723dda2da820cba87b1196101", "label" : "Deep Agency: Towards human guided robotic training for assembly tasks in timber construction", "user" : "gron", "description" : "", "date" : "2024-08-20 13:32:22", "changeDate" : "2025-02-10 09:35:18", "count" : 5, "pub-type": "inproceedings", "booktitle": "Proceedings of the 42","publisher":"eCAADe (Education and Research in Computer Aided Architectural Design in Europe)", "year": "2024", "url": "https://papers.cumincad.org/data/works/att/ecaade2024_420.pdf", "author": [ "Sarvenaz Sardari","Selin Sevim","Pengfei Zhang","Gili Ron","Samuel Leder","Achim Menges","Thomas Wortmann" ], "authors": [ {"first" : "Sarvenaz", "last" : "Sardari"}, {"first" : "Selin", "last" : "Sevim"}, {"first" : "Pengfei", "last" : "Zhang"}, {"first" : "Gili", "last" : "Ron"}, {"first" : "Samuel", "last" : "Leder"}, {"first" : "Achim", "last" : "Menges"}, {"first" : "Thomas", "last" : "Wortmann"} ], "editor": [ "& Gabriel Wurzer Odysseas Kontovourkis, Marios C. Phocas" ], "editors": [ {"first" : "& Gabriel Wurzer", "last" : "Odysseas Kontovourkis, Marios C. Phocas"} ], "volume": "1","number": "420","pages": "193\u2013202","abstract": "Automating robotic assembly in architectural construction is challenging due to material uncertainties and the buildup of tolerance experienced in assembling many parts. Implementing AI technologies, including various machine learning algorithms in robotic assembly, has demonstrated significant potential for robots to respond to this uncertainty. This research builds upon previous implementations of singular algorithms by combining haptic teaching with deep reinforcement learning (DRL) in a single workflow to improve robot autonomy in responding to uncertainties in timber assembly. Haptic teaching bridges the gap between simulation and reality inherent to DRL, while DRL improves the generalizability of haptic teaching and speeds up the agents\u2019 learning process. The developed workflow is tested through various lap joint assembly experiments. The effectiveness of this combined approach is assessed through various experiments that refine and evaluate the methodology, providing valuable insights into enhancing robot capabilities to manage material uncertainties and deviations. Additionally, this research considers the evolving role of human workers in collaborative construction environments with robots.", "venue" : "University of Cyprus, Nicosia, Cyprus", "isbn" : "9789491207372", "language" : "English", "eventdate" : "September 9th-13th, 2024", "eventtitle" : "The 42nd eCAADe Conference", "issn" : "2684-1843", "bibtexKey": "sardari2024agency" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/27ebdaef81137f0296223a766c6ec3386/gron", "tags" : [ "ai","ap30","icd","intcdc","iris","mac","myown","peer" ], "intraHash" : "7ebdaef81137f0296223a766c6ec3386", "interHash" : "99d98837a6da2fd5578f33463fff297a", "label" : "Critical Collaboration: Reflecting on Power and Agency in Human-Robot-Collaboration in Architecture and Construction, for a Diverse and Democratic Practice", "user" : "gron", "description" : "", "date" : "2024-08-20 12:41:23", "changeDate" : "2025-07-21 17:09:28", "count" : 5, "pub-type": "inproceedings", "booktitle": "DESIGN MODELLING SYMPOSIUM KASSEL 2024 \u2013 SCALABLE DISRUPTORS (re)new(able) materials and circular design and construction processes","publisher":"Springer", "year": "2024", "url": "https://link.springer.com/chapter/10.1007/978-3-031-68275-9_16", "author": [ "Gili Ron","Achim Menges","Thomas Wortmann" ], "authors": [ {"first" : "Gili", "last" : "Ron"}, {"first" : "Achim", "last" : "Menges"}, {"first" : "Thomas", "last" : "Wortmann"} ], "editor": [ "Philipp Eversmann","Christoph Gengnagel","Julian Lienhard","Mette Ramsgaard Thomsen","Jan Wurm" ], "editors": [ {"first" : "Philipp", "last" : "Eversmann"}, {"first" : "Christoph", "last" : "Gengnagel"}, {"first" : "Julian", "last" : "Lienhard"}, {"first" : "Mette", "last" : "Ramsgaard Thomsen"}, {"first" : "Jan", "last" : "Wurm"} ], "volume": "1","number": "1","pages": "191\u2013204","abstract": "The paper explores integrating cyber-physical systems in construction,\r\ntargeting workforce shortages, productivity issues, and environmental concerns.\r\nIt highlights the shift towards human-robot collaboration (HRC) to enhance productivity\r\nand safety. However, HRC implementation in prefabrication and construction\r\nencounters challenges like low productivity and worker lack of trust. To\r\naddress these, the paper advocates for reflexive research methods to understand\r\nworkers\u2019 needs and promote inclusivity in HRC design.\r\nIt examines the relevance of feminist technoscience perspectives (FTS) in\r\naddressing industry needs and fostering inclusivity in HRC design. Through an\r\nanalysis of three case studies in HRC, the paper identifies research gaps and\r\nproposes strategies to enhance HRC design for prefabrication and construction. It\r\nemphasizes the significance of the FTS Framework in guiding these efforts.\r\nThe FTS Framework assesses and informs HRC design for construction. It\r\nraises designers\u2019 awareness of power dynamics, biases, and inclusivity issues.\r\nThe chosen case studies illustrate collaborations among diverse agents, human\r\naugmentation in design and fabrication processes, and usability of HRC designs.\r\nThe paper evaluates the case studies using the four perspectives of the\r\nFTS Framework: Embodiment, Reconfiguration, Interrelations, and Participation.\r\nThese perspectives guide efforts to adapt HRC designs to workers\u2019 needs, address\r\non-site challenges, redistribute agency for inclusivity, and involve users in the\r\ndesign process. Leveraging the FTS Framework, the paper aims to address automation\r\nchallenges in construction and facilitate the transition ofHRC from laboratory\r\nsettings to industry applications.", "isbn" : "978-3-031-68274-2", "language" : "English", "eventdate" : "16.9.2024", "eventtitle" : "DESIGN MODELLING SYMPOSIUM KASSEL 2024 \u2013 SCALABLE DISRUPTORS (re)new(able) materials and circular design and construction processes", "doi" : "https://doi.org/10.1007/978-3-031-68275-9_16", "bibtexKey": "ron2024critical" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/201e347b73d9db025d88191243b5be591/gron", "tags" : [ "ICD","ap30","intcdc","iris","mac","myown" ], "intraHash" : "01e347b73d9db025d88191243b5be591", "interHash" : "f3f06f36e73d5c84db0652894cddaa06", "label" : "Human-Robot Reconfigurations: Advancing Feminist Technoscience Perspectives for Human-Robot-Collaboration in Architecture and Construction", "user" : "gron", "description" : "", "date" : "2024-08-20 11:59:45", "changeDate" : "2025-08-05 17:59:18", "count" : 3, "pub-type": "incollection", "booktitle": "The Routledge Companion to Smart Design Thinking in Architecture & Urbanism Fora Sustainable, Living Planet","series": "The Routledge Companion","publisher":"Routledge, Taylor & Francis Group","address":"4 Park Square, Milton Park, Abingdon, Oxon OX14 4RN", "year": "2025", "url": "", "author": [ "Gili Ron","Thomas Wortmann","Cordula Kropp","Achim Menges" ], "authors": [ {"first" : "Gili", "last" : "Ron"}, {"first" : "Thomas", "last" : "Wortmann"}, {"first" : "Cordula", "last" : "Kropp"}, {"first" : "Achim", "last" : "Menges"} ], "editor": [ "Mitra Kanaani" ], "editors": [ {"first" : "Mitra", "last" : "Kanaani"} ], "pages": "669-679", "isbn" : "978-1-032-46990-4", "doi" : "https://doi.org/10.4324/9781003384113-72", "bibtexKey": "ron2025" } ] }