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Maierhofer, Mathias

Mathias Maierhofer

M.Sc.

Research Associate
ICD
2018 - current

Contact

+49 711 685 82777
Email
Business card (VCF)

Stuttgart
Deutschland

Subject

Adaptation Agency: Development of Computational Methods for the Design, Control and Reconfiguration of Adaptive Architectural Structures

Adaptive Architecture: Architectural Adaptation & Robotic Architecture
Ultra-lighweight Construction / Structural Adaptation
Agent-based Modeling / Computational Design
Behavior-based Robotics

Publications

2022
1. Tucker, C., Yang, X., Lehrecke, A., Maierhofer, M., Duque Estrada, R., & Menges, A. (2022). A Collaborative Multi-robot Platform for the Distributed Fabrication of Three-dimensional Fibrous Networks (Spatial Lacing). Proceedings of the 7th Annual ACM Symposium on Computational Fabrication, 1–18. https://doi.org/10.1145/3559400.3561995
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  @inproceedings{tucker2022collaborative, abstract = {This research presents a collaborative multi-robot strategy for the distributed fabrication of Spatial Lacing - a novel system of lightweight, multi-topology fiber structures enabled by parallel manipulation of filament materials. The parallelized fabrication logic, which takes inspiration from textile production methods, is inherently different from existing construction techniques using continuous filaments and poses new challenges for fabrication. The paper proposes a distributed cyber-physical platform with mobile robots that can exceed size and flexibility limitations of industrial machinery. A hybrid behavior-based control schema is developed where robotic behaviors are abstracted from the traditional textile craft of bobbin lace-making and adapted for robotic execution through coordinated collaborative action sequences, creating a new robotic action space for filament structures. Parallel task execution, real-time sensor feedback, and the coordination of multiple distributed agents is achieved through a multi-threaded software architecture. This paper focuses on the development of the cyber-physical fabrication platform including custom robotic hardware, derivation of robotic behaviors, task generation and coordination, and multi-agent communication protocols. The research finds its point of departure from textile craft processes and demonstrates new potentials in construction with filament materials when multi-robot systems perform coordinated tasks that depend on simultaneous actions. It culminates in the choreography of two mobile robots performing actions required to create a Spatial Lacing node in a parallel, coordinated fashion.}, address = {New York, NY, USA}, author = {Tucker, Cody and Yang, Xiliu and Lehrecke, August and Maierhofer, Mathias and Duque Estrada, Rebeca and Menges, Achim}, booktitle = {Proceedings of the 7th Annual ACM Symposium on Computational Fabrication}, day = 26, doi = {10.1145/3559400.3561995}, isbn = {9781450398725}, location = {Seattle, WA, USA}, month = {10}, pages = {1–18}, publisher = {Association for Computing Machinery}, series = {SCF '22}, title = {A Collaborative Multi-robot Platform for the Distributed Fabrication of Three-dimensional Fibrous Networks (Spatial Lacing)}, url = {https://doi.org/10.1145/3559400.3561995}, year = 2022 }
2. Shad, A., Sahin, E. S., Malafey, A., Bechert, S., Maierhofer, M., Knippers, J., & Menges, A. (2022). Assembly-Oriented Design Methodology for Segmented Timber Shells. In S. Xue, J. Wu, & G. Sun (Eds.), Innovation, Sustainability, Legacy: Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference (pp. 1526–1537).
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  @inproceedings{Shah.IASS.2022, 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.}, author = {Shad, Anand and Sahin, Ekin Sila and Malafey, Anastasia and Bechert, Simon and Maierhofer, Mathias and Knippers, Jan and Menges, Achim}, booktitle = {Innovation, Sustainability, Legacy: Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference}, editor = {Xue, Su-duo and Wu, Jin-zhi and Sun, Guo-jun}, keyword = {segmented timber shells, assembly rules, geometry optimization, timber joint, crane coordination, automation}, pages = {1526-1537}, title = {Assembly-Oriented Design Methodology for Segmented Timber Shells}, year = 2022 }
3. Nguyen, L., Schwinn, T., Groenewolt, A., Maierhofer, M., Zorn, M. B., Stieler, D., Siriwardena, L., Kannenberg, F., & Menges, A. (2022). ABxM.Core: The Core Libraries of the ABxM Framework. DaRUS. https://doi.org/10.18419/darus-2994
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  @dataset{darus-2994_2022, author = {Nguyen, Long and Schwinn, Tobias and Groenewolt, Abel and Maierhofer, Mathias and Zorn, Max Benjamin and Stieler, David and Siriwardena, Lasath and Kannenberg, Fabian and Menges, Achim}, doi = {10.18419/darus-2994}, publisher = {DaRUS}, title = {{ABxM.Core: The Core Libraries of the ABxM Framework}}, url = {https://doi.org/10.18419/darus-2994}, version = {V1}, year = 2022 }
4. Stieler, D., Schwinn, T., Leder, S., Maierhofer, M., Kannenberg, F., & Menges, A. (2022). Agent-based modeling and simulation in architecture. Automation in Construction, 141, 104426. https://doi.org/10.1016/j.autcon.2022.104426
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  @article{Stieler2022, abstract = {Over the last two decades, the use of agent-based models (ABMs) to model and simulate the dynamics of complex systems has increased significantly among various scientific fields, including architecture. Based on a systematic literature review, this paper presents a classification for agent-based modeling and simulation (ABMS) in architecture based on the individual entities being modeled as agents. The classification is based on a reproducible search method capable of incorporating findings from different domain-specific databases to systematically retrieve relevant literature for ABMS in architecture. Subsequently, in each of the ABMs encountered in the selected literature, we identify what entity an agent in the model represents. Based on this identification, a comprehensive classification for ABMs in architecture is achieved. By describing each of the resulting categories, we provide new insights into the field of ABMS in architecture. Finally, we discuss limitations, as well as future trends and possibilities for ABMS in architecture.}, author = {Stieler, David and Schwinn, Tobias and Leder, Samuel and Maierhofer, Mathias and Kannenberg, Fabian and Menges, Achim}, doi = {10.1016/j.autcon.2022.104426}, issn = {09265805}, journal = {Automation in Construction}, month = {09}, pages = 104426, title = {Agent-based modeling and simulation in architecture}, url = {https://linkinghub.elsevier.com/retrieve/pii/S0926580522002990}, volume = 141, year = 2022 }
2021
1. Łochnicki, G., Kubail Kalousdian, N., Leder, S., Maierhofer, M., Wood, D., & Menges, A. (2021). Co-Designing Material-Robot Construction Behaviors: Teaching distributed robotic systems to leverage active bending for light-touch assembly of bamboo bundle structures. In B. Farahi, B. Bogosian, J. Scott, J. L. García del Castillo y López, K. Dörfler, J. A. Grant, S. Parascho, & V. A. A. Noel (Eds.), Realignments: Toward Critical Computation - ACADIA 2021.
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  @inproceedings{kubailkalousdian2021codesigning, abstract = {This paper presents research on designing distributed, robotic construction systems in which robots are taught construction behaviors relative to the elastic bending of natural building materials. Using this behavioral relationship as a driver, the robotic system is developed to deal with the unpredictability of natural materials in construction and further to engage their dynamic characteristics as methods of locomotion and manipulation during the assembly of actively bent structures. Such an approach has the potential to unlock robotic building practice with rapid-renewable materials, whose short crop cycles and small carbon footprints make them particularly important inroads to sustainable construction. The research is conducted through an initial case study in which a mobile robot learns a control policy for elastically bending bamboo bundles into designed configurations using deep reinforcement learning algorithms. This policy is utilized in the process of designing relevant structures, and for the in-situ assembly of these designs. These concepts are further investigated through the co-design and physical prototyping of a mobile robot and the construction of bundled bamboo structures. This research demonstrates a shift from an approach of absolute control and predictability to behavior-based methods of assembly. With this, materials and processes that are often considered too labor-intensive or unpredictable can be reintroduced. This reintroduction leads to new insights in architectural design and construction, where design outcome is uniquely tied to the building material and its assembly logic. This highly material-driven approach sets the stage for developing an effective, sustainable, light-touch method of building using natural materials. }, author = {Łochnicki, Grzegorz and Kubail Kalousdian, Nicolas and Leder, Samuel and Maierhofer, Mathias and Wood, Dylan and Menges, Achim}, booktitle = {Realignments: Toward Critical Computation - ACADIA 2021}, editor = {Farahi, Behnaz and Bogosian, Biayna and Scott, Jane and García del Castillo y López, Jose Luis and Dörfler, Kathrin and Grant, June A. and Parascho, Stefana and Noel, Vernelle A. A.}, eventdate = {November 3rd - 6th}, eventtitle = {Realignments: Toward Critical Computation}, title = {Co-Designing Material-Robot Construction Behaviors: Teaching distributed robotic systems to leverage active bending for light-touch assembly of bamboo bundle structures}, venue = {online}, year = 2021 }
2. Sobek, W., Sawodny, O., Bischoff, M., Blandini, L., Böhm, M., Haase, W., Klett, Y., Mahall, M., Weidner, S., Burghardt, T., Leistner, P., Maierhofer, M., Park, S., Reina, G., Roth, D., & Tarín Sauer, C. (2021). Adaptive Hüllen und Strukturen : Aus den Arbeiten des Sonderforschungsbereichs 1244. Bautechnik, 98(3), Article 3. https://doi.org/10.1002/bate.202000107
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  @article{sobek2021adaptive, affiliation = {Sobek, W; Haase, W (Corresponding Author), Univ Stuttgart, Inst Leichtbau Entwerfen & Konstruieren, Pfaffenwaldring 14, D-70569 Stuttgart, Germany. Sobek, Werner; Blandini, Lucio; Haase, Walter; Weidner, Stefanie, Univ Stuttgart, Inst Leichtbau Entwerfen & Konstruieren, Pfaffenwaldring 14, D-70569 Stuttgart, Germany. Sawodny, Oliver; Boehm, Michael; Tarin, Cristina, Univ Stuttgart, Inst Syst Dynam, Waldburgstr 19, D-70563 Stuttgart, Germany. Bischoff, Manfred, Univ Stuttgart, Inst Baustat & Baudynam, Pfaffenwaldring 14, D-70569 Stuttgart, Germany. Klett, Yves, Univ Stuttgart, Inst Flugzeugbau, Pfaffenwaldring 31, D-70569 Stuttgart, Germany. Mahall, Mona, Hafenc Unversitat Hamburg, Arbeitsgebiet Architektur & Kunst, Uberseeallee 16, D-20457 Hamburg, Germany. Burghardt, Timon; Roth, Daniel, Univ Stuttgart, Inst Konstrukt Tech & Tech Design, Pfaffenwaldring 9, D-70569 Stuttgart, Germany. Leistner, Philip, Univ Stuttgart, Inst Akust & Bauphys, Pfaffenwaldring 7, D-70569 Stuttgart, Germany. Maierhofer, Mathias, Univ Stuttgart, Inst Computerbasiertes Entwerfen & Baufertigung, Keplerstr 11, D-70174 Stuttgart, Germany. Park, Sumee, Fraunhofer Inst Bauphys IBP, Nobelstr 12, D-70569 Stuttgart, Germany. Roth, Daniel, Univ Stuttgart, Inst Visualisierung & Interakt Syst, Univ Str 38, D-70569 Stuttgart, Germany.}, author = {Sobek, Werner and Sawodny, Oliver and Bischoff, Manfred and Blandini, Lucio and Böhm, Michael and Haase, Walter and Klett, Yves and Mahall, Mona and Weidner, Stefanie and Burghardt, Timon and Leistner, Philip and Maierhofer, Mathias and Park, Sumee and Reina, Guido and Roth, Daniel and Tarín Sauer, Cristina}, doi = {10.1002/bate.202000107}, issn = {{0932-8351} and {1437-0999}}, journal = {Bautechnik}, language = {ger}, number = 3, pages = {208-221}, publisher = {Wiley}, research-areas = {Engineering}, title = {Adaptive Hüllen und Strukturen : Aus den Arbeiten des Sonderforschungsbereichs 1244}, unique-id = {ISI:000621428700001}, volume = 98, year = 2021 }
2020
1. Maierhofer, M., Ulber, M., Mahall, M., Serbest, A., & Menges, A. (2020). Designing (for) Change: Towards adaptivity-specific architectural design for situational open enviornments. In L. C. Werner & D. Koenig (Eds.), Anthropologic – Architecture and Fabrication in the Cognitive Age - Proceedings of the 38th eCAADe Conference 2020 (Vol. 2). https://doi.org/10.52842/conf.ecaade.2020.2.575
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  @inproceedings{maierhofer2020designing, abstract = {The introduction of cybernetic principles to the architectural discourse some 50 years ago stimulated a new notion of buildings as dynamic and under-specified systems. Although their traditional conception as static and deterministic objects has remained predominant to this day, concepts for adaptive architecture capable of interacting with their surroundings and occupants have gained renewed attention in recent decades. However, investigations so far have largely concentrated on small-scale applications or individual adaptation strategies. The notion of situational open Environments, as argued in this paper, provides a framework through which adaptivity can be conceived and explored more holistically as well as on an inhabitable scale. Environments reject deterministic design and adaptation solutions and hence call for integrative and interactive design strategies that not only allow for the exploration of particularly adaptable (i.e. underspecified) architectural morphologies, but also for the communication and negotiation during their further development beyond deployment. In respect thereof, this paper discusses the potentials and implications of computational (design) strategies, meaning the agencies of buildings, designers, residents, and surroundings. The presented research originates from the author's involvement in an interdisciplinary research project centered around the development of an adaptive high-rise building that incorporates various adaptation strategies. }, author = {Maierhofer, Mathias and Ulber, Marie and Mahall, Mona and Serbest, Asli and Menges, Achim}, booktitle = {Anthropologic – Architecture and Fabrication in the Cognitive Age - Proceedings of the 38th eCAADe Conference 2020}, doi = {10.52842/conf.ecaade.2020.2.575}, editor = {Werner, Liss C. and Koenig, Dietmar}, isbn = {978-9-49120-721-1}, issn = {2684-1843}, title = {Designing (for) Change: Towards adaptivity-specific architectural design for situational open enviornments}, venue = {Institute of Architecture, Technische Universität Berlin, Germany}, volume = 2, year = 2020 }
2. Leistner, S., Honold, C., Maierhofer, M., Haase, W., Blandini, L., Sobek, W., Roth, D., Binz, H., & Menges, A. (2020). Research on integral design and planning processes for adaptive buildings. Architectural Engineering and Design Management, 0(0), Article 0. https://doi.org/10.1080/17452007.2020.1856031
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  @article{Leistner_DesignProcess_2020, abstract = {Adaptive skins and structures constitute an approach for reducing the immense material consumption in the construction of buildings, their energy demand and related emissions. Through the integration of sensor-actuator systems, conventional structures and skins become a controllable dynamic system, capable of reacting to different external influences. This approach demands an integral planning and design process with participants from various disciplines. The Collaborative Research Centre (CRC) 1244 entitled Adaptive Skins and Structures for the Built Environment of Tomorrow, involves, the research of specific processes and methods for the design and planning of adaptive buildings. In this paper, conventional approaches in architectural design and planning are analysed, providing the basis for the development of an improved process for adaptive buildings. }, author = {Leistner, Sophia and Honold, Clemens and Maierhofer, Mathias and Haase, Walter and Blandini, Lucio and Sobek, Werner and Roth, Daniel and Binz, Hansgeorg and Menges, Achim}, doi = {10.1080/17452007.2020.1856031}, eprint = {https://www.tandfonline.com/doi/pdf/10.1080/17452007.2020.1856031}, journal = {Architectural Engineering and Design Management}, number = 0, pages = {1-20}, publisher = {Taylor & Francis}, title = {Research on integral design and planning processes for adaptive buildings}, url = {https://www.tandfonline.com/doi/abs/10.1080/17452007.2020.1856031 }, volume = 0, year = 2020 }
2019
1. Maierhofer, M., Soana, V., Yablonina, M., Suzuki, S., Koerner, A., Knippers, J., & Menges, A. (2019). Self-Choreographing Network: Towards cyber-physical design and operation processes of adaptive and interactive bending-active systems. In K. Bieg, D. Briscoe, & C. Odom (Eds.), Ubiquity and Autonomy: Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) (pp. 654--663). ACADIA. https://doi.org/10.52842/conf.acadia.2019.654
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  @inproceedings{maierhofer_self-choreographing_2019, abstract = {The aim of this research is to challenge the prevalent separation between (digital) design and (physical) operation processes of adaptive and interactive architectural systems. The linearity of these processes implies predetermined material or kinetic behaviors, limiting performances to those that are predictable and safe. This is particularly restricting with regard to compliant or flexible material systems, which exhibit significant kinetic and thus adaptive potential, but behave in ways that are difficult to fully predict in advance. In this paper we present a hybrid approach: a real-time, interactive design and operation process that enables the (material) system to be self-aware, fully utilizing and exploring its kinetic design space for adaptive purposes. The proposed approach is based on the interaction of compliant materials with embedded robotic agents, at the interface between digital and physical. This is demonstrated in the form of a room-scale spatial architectural robot, comprising networks of linear elastic components augmented with robotic joints capable of sensing and two axis actuation. The system features both a physical instance and a corresponding digital twin that continuously augments physical performances based on simulation feedback informed by sensor data from the robotic joints. With this setup, spatial adaptation and reconfiguration can be designed in real-time, based on an openended and cyber-physical negotiation between numerical, robotic, material, and human behaviors, in the context of a physically deployed structure and its occupants. }, author = {Maierhofer, Mathias and Soana, Valentina and Yablonina, Maria and Suzuki, Seiichi and Koerner, Axel and Knippers, Jan and Menges, Achim}, doi = {https://doi.org/10.52842/conf.acadia.2019.654}, editor = {Bieg, Kory and Briscoe, Danelle and Odom, Clay}, isbn = {978-0-578-59179-7}, journal = {Ubiquity and Autonomy: Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)}, month = {10}, pages = {654--663}, publisher = {ACADIA}, title = {Self-Choreographing Network: Towards cyber-physical design and operation processes of adaptive and interactive bending-active systems}, venue = {University of Texas at Austin School of Architecture, Austin, Texas}, year = 2019 }
2. Maierhofer, M., & Menges, A. (2019). Towards integrative design processes and computational design tools for the design space exploration of adaptive architectural structures. ICETAD2019: Proceedings of the 1st International Conference on Emerging Technologies in Architectural Design, 113--120.
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  @inproceedings{maierhofer_towards_2019, abstract = {Conceiving buildings as adaptive architectural systems constitutes a promising strategy for meeting the increasing economic, ecological and programmatic demands placed on the built environment. This approach has so far been primarily investigated in the context of small-scale or uninhabitable structures. The concept of adaptive load-bearing structures, however, presents a strategy that allows tapping the potentials of adaptivity in the context of large-scale architecture. Moreover, it enables – and even requires – the development of genuinely adaptive structural morphologies beyond prevailing typologies. This, in turn, opens up hitherto unknown opportunities for architectural design. Informed by the participation in the design of an adaptive high-rise building, the research presented proposes an integrative design process, on the basis of agent-based computational design tools, that enables architects to interactively explore the architectural design space of adaptive structures within interdisciplinary design teams.}, author = {Maierhofer, Mathias and Menges, Achim}, booktitle = {ICETAD2019: Proceedings of the 1st International Conference on Emerging Technologies in Architectural Design }, isbn = {978-1-64713-769-4}, month = {10}, pages = {113--120}, publisher = {Ryerson University}, title = {Towards integrative design processes and computational design tools for the design space exploration of adaptive architectural structures}, year = 2019 }

Teaching

ITECH MSc. Program

ITECH Master Thesis Supervision 2022/23
ITECH Master Thesis Supervision 2020/21
ITECH Master Thesis Supervision 2019/20
ITECH Seminar 'Behavioral Design and Fabrication 2022/23
ITECH Seminar 'Behavioral Design and Fabrication 2021/22
ITECH Seminar 'Behavioral Design and Fabrication 2020/21
ITECH Seminar 'Behavioral Design and Fabrication 2019/20

Computational Design and Digital Fabrication 2020

ITECH MSc. Thesis Project Supervision (Selection)

Workshops

Mathias Maierhofer is a researcher, architect and designer, interested in exploring how adaptivity in architecture enables new ways of conceiving, designing and operating our built environment. He is a research associate at the Institute for Computational Design and Construction (ICD) at the University of Stuttgart, where he is also involved in teaching graduate students within the ‘Integrative Technologies and Architectural Design Research’ (ITECH) M.Sc. Programme.

Prior to joining ICD, Mathias worked as an architect in Austria and the Netherlands. He holds a bachelor’s degree in architecture from Vienna University of Technology as well as a master’s degree with distinction from the ITECH Master program at the University of Stuttgart. For his master’s thesis “Self-Choreographing Network”, which he developed together with his colleague Valentina Soana, he received a scholarship for a research residency at the Autodesk Technology Center in Boston.

His current research at ICD is affiliated with the Collaborative Research Center (CRC) 1244 “Adaptive Building Skins and Structures for the Built Environment of Tomorrow”. Within this framework, he develops computational strategies for the interactive design and cyber-physical operation of adaptive architectural structures – aimed at unlocking the architectural opportunities arising from the conception of buildings as robotic systems.

Contact:

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Exhibitions

CHANDELIER'1244 - International Building Exhibition (IBA'27), Stuttgart, 2023

Research

Collaborative Research Center 1244 (PhD Research)

Development of integrative design methods and computational design tools for adaptive structures

ABxM:

ABxM.Core: A software framework to support research and teaching in the area of agent-based modeling.

ITECH M.Sc. Master Thesis:

Self-Choreographing Network

Mathias Maierhofer

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2022

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2021

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2020

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Institute for Computational Design and Construction

University of Stuttgart, Keplerstraße 11, 70174 Stuttgart

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Mathias Maierhofer

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2022

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2021

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2020

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2019

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ITECH MSc. Program

ITECH MSc. Thesis Project Supervision (Selection)

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Research

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Institute for Computational Design and Construction

University of Stuttgart, Keplerstraße 11, 70174 Stuttgart

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