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Wagner, Hans Jakob

Hans Jakob Wagner

M.Sc. ITECH (Dist.), B.Sc. (Arch.)

Research Group Leader | Computational Wood Architecture
Institute for Computational Design and Construction
2017 - current

Contact

+49 711 685 81928
Email
Business card (VCF)

Keplerstraße 11
70174 Stuttgart
Deutschland

Subject

Hans Jakob Wagner leads the research group Computational Wood Architecture at the ICD where he is a research associate and doctoral candidate. His core interest lie in advanced computational wood building systems and associated robotic fabrication systems and -processes.

Publications

Publications:

2024
1. Asa, P., El Feghali, C., Steixner, C., Tahouni, Y., Wagner, H. J., Knippers, J., & Menges, A. (2024). Embraced Wood: Circular construction method for composite long-span beams from unprocessed reclaimed timber, fibers and clay. Construction and Building Materials, 416, Article January. https://doi.org/10.1016/j.conbuildmat.2024.135096
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  @article{Asa2024, author = {Asa, Pelin and El Feghali, Christelle and Steixner, Christian and Tahouni, Yasaman and Wagner, Hans Jakob and Knippers, Jan and Menges, Achim}, doi = {10.1016/j.conbuildmat.2024.135096}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/2301_EMBRACED_WOOD/2301_Construction and Building Materials/PUBLISHED/1-s2.0-S095006182400237X-main.pdf:pdf}, issn = {09500618}, journal = {Construction and Building Materials}, month = {02}, number = {January}, pages = 135096, publisher = {Elsevier Ltd}, title = {Embraced Wood: Circular construction method for composite long-span beams from unprocessed reclaimed timber, fibers and clay}, url = {https://doi.org/10.1016/j.conbuildmat.2024.135096 https://linkinghub.elsevier.com/retrieve/pii/S095006182400237X}, volume = 416, year = 2024 }
2. Skoury, L., Treml, S., Opgenorth, N., Amtsberg, F., Wagner, H. J., Menges, A., & Wortmann, T. (2024). Towards data-informed co-design in digital fabrication. Automation in Construction, 158, Article November 2023. https://doi.org/10.1016/j.autcon.2023.105229
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  @article{Skoury2024, author = {Skoury, Lior and Treml, Simon and Opgenorth, Nils and Amtsberg, Felix and Wagner, Hans Jakob and Menges, Achim and Wortmann, Thomas}, doi = {10.1016/j.autcon.2023.105229}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/2211_FIT_SHELL/2307_LIOR_AUTCON/PUBLICATION/1-s2.0-S0926580523004892-main.pdf:pdf}, issn = {09265805}, journal = {Automation in Construction}, month = {02}, number = {November 2023}, pages = 105229, publisher = {Elsevier B.V.}, title = {{Towards data-informed co-design in digital fabrication}}, url = {https://doi.org/10.1016/j.autcon.2023.105229 https://linkinghub.elsevier.com/retrieve/pii/S0926580523004892}, volume = 158, year = 2024 }
3. Yaman, E., Fouillat, M., Xie, W., Rinderspacher, K., Stieler, D., Wagner, H. J., Baszyński, P., Dahy, H., Knippers, J., & Menges, A. (2024). Terra Incognita: Designing Earth-Fabric Hybrids. Design Modelling Symposium 2024 - Scalable Disruptors, 1, 408–419. https://doi.org/10.1007/978-3-031-68275-9_33
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  @inproceedings{Yaman2024, address = {Cham}, author = {Yaman, Esra and Fouillat, Maxime and Xie, Weiqi and Rinderspacher, Katja and Stieler, David and Wagner, Hans Jakob and Baszy{\'{n}}ski, Piotr and Dahy, Hanaa and Knippers, Jan and Menges, Achim}, booktitle = {Design Modelling Symposium 2024 - Scalable Disruptors}, doi = {10.1007/978-3-031-68275-9_33}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/PUBLICATION_COLLECTION/2024_TERRA_INCOGNITA.pdf:pdf}, isbn = {9783031682759}, pages = {408--419}, publisher = {Springer Nature Switzerland}, title = {{Terra Incognita: Designing Earth-Fabric Hybrids}}, url = {https://link.springer.com/10.1007/978-3-031-68275-9_33}, volume = 1, year = 2024 }
2023
1. Orozco, L., Svatoš-Ražnjević, H., Wagner, H. J., Abdelaal, M., Amtsberg, F., Weiskopf, D., & Menges, A. (2023). Advanced Timber Construction Industry: A Quantitative Review of 646 Global Design and Construction Stakeholders. Buildings, 13, Article 9. https://doi.org/10.3390/buildings13092287
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  @article{buildings13092287, abstract = {There has been a multi-storey timber construction boom since the start of the millennium. While there is now a body of research on trends, benefits, and disadvantages of timber construction, there is not yet literature on the wider market or the impact of stakeholders on it. This research investigates the (i) architects, (ii) engineers, and (iii) manufacturers involved in the realization of 300 contemporary multi-storey timber buildings from an existing survey. The analysis is based on data sourced from stakeholder websites and the building survey. It evaluates the perceived level of timber expertise of stakeholders based on service categorization and stakeholder type and relates them to the buildings they worked on. The research uses quantitative methods to answer qualitative questions on the connection between architectural variety in timber construction and the stakeholders involved. Interconnectivity between stakeholders and projects is visualized in an interactive network graph. The study shows a segmented mass timber market with relatively few impactful design and construction stakeholders, mostly located in central and northern Europe. It also identifies fabricators as the largest group of innovators advancing the industry and enabling the construction of more complex projects. It reveals the importance of collaboration and knowledge sharing for the industry’s growth.}, article-number = {2287}, author = {Orozco, Luis and Svatoš-Ražnjević, Hana and Wagner, Hans Jakob and Abdelaal, Moataz and Amtsberg, Felix and Weiskopf, Daniel and Menges, Achim}, doi = {10.3390/buildings13092287}, issn = {2075-5309}, journal = {Buildings}, number = 9, title = {Advanced Timber Construction Industry: A Quantitative Review of 646 Global Design and Construction Stakeholders}, url = {https://www.mdpi.com/2075-5309/13/9/2287}, volume = 13, year = 2023 }
2. Tapia Camú, C., Wagner, H. J., Treml, S., Menges, A., & Aicher, S. (2023). Point-Support Reinforcement for a Highly Efficient Timber Hollow Core Slab System. World Conference on Timber Engineering (WCTE 2023), 2978–2986. https://doi.org/10.52202/069179-0388
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  @conference{tapia2023pointsupport, address = {Oslo, Norway}, author = {Tapia Camú, Cristóbal and Wagner, Hans Jakob and Treml, Simon and Menges, Achim and Aicher, Simon}, booktitle = {World Conference on Timber Engineering (WCTE 2023)}, doi = {10.52202/069179-0388}, pages = {2978-2986}, title = {Point-Support Reinforcement for a Highly Efficient Timber Hollow Core Slab System}, year = 2023 }
3. Lauer, A. P. R., Benner, E., Stark, T., Klassen, S., Abolhasani, S., Schroth, L., Gienger, A., Wagner, H. J., Schwieger, V., Menges, A., & Sawodny, O. (2023). Automated on-site assembly of timber buildings on the example of a biomimetic shell. Automation in Construction, 156, 105118. https://doi.org/10.1016/j.autcon.2023.105118
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  @article{lauer2023automated, abstract = {Automating on-site assembly benefits quality and productivity, reduces physical strain on workers, and counteracts construction worker shortages. This paper develops a concept for automated on-site assembly of high-payload real-scale form-fit timber components and demonstrates the automated process on a real construction site. All methods are explained from the development of two large-scale on-site assembly manipulators and end-effectors for picking up, transporting, placing and connecting components to automated data extraction of the BIM model, path planning, trajectory generation, feedback control, and practical tests with robotic total station measurements. The on-site assembly process is semi-automated, which demonstrates its feasibility. A comparison to a simulated benchmark that exploits all speed limits shows the automation potential. Positioning error sources and approaches for error compensation and avoidance are discussed for future work.}, author = {Lauer, Anja Patricia Regina and Benner, Elisabeth and Stark, Tim and Klassen, Sergej and Abolhasani, Sahar and Schroth, Lukas and Gienger, Andreas and Wagner, Hans Jakob and Schwieger, Volker and Menges, Achim and Sawodny, Oliver}, doi = {https://doi.org/10.1016/j.autcon.2023.105118}, issn = {0926-5805}, journal = {Automation in Construction}, pages = 105118, title = {Automated on-site assembly of timber buildings on the example of a biomimetic shell}, url = {https://www.sciencedirect.com/science/article/pii/S0926580523003783}, volume = 156, year = 2023 }
4. Orozco, L., Krtschil, A., Wagner, H. J., Bechert, S., Amtsberg, F., Knippers, J., & Menges, A. (2023). Co-Design Methods for Non-Standard Multi-Storey Timber Buildings. Sustainability, 15, Article 23. https://doi.org/10.3390/su152316178
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  @article{su152316178, abstract = {To meet climate change goals and respond to increased global urbanisation, the building industry needs to improve both its building technology and its design methods. Constrained urban environments and building stock extensions are challenges for standard timber construction. Co-design promises to better integrate disciplines and processes, promising smaller feedback loops for design iteration and building verification. This article describes the integrated design, fabrication, and construction processes of a timber building prototype as a case study for the application of co-design methods. Emphasis is placed on the development of design and engineering methods, fabrication and construction processes, and materials and building systems. The development of the building prototype builds on previous research in robotic fabrication (including prefabrication, task distribution, and augmented reality integration), agent-based modelling (ABM) for the design and optimisation of structural components, and the systematisation of timber buildings and their components. The results presented in this article include a functional example of co-design from which best practises may be extrapolated as part of an inductive approach to design research. The prototype, with its co-designed process and resultant flat ceilings, integrated services, wide spans, and design adaptability for irregular column locations, has the potential to expand the design potential of multi-storey timber buildings.}, article-number = {16178}, author = {Orozco, Luis and Krtschil, Anna and Wagner, Hans Jakob and Bechert, Simon and Amtsberg, Felix and Knippers, Jan and Menges, Achim}, doi = {10.3390/su152316178}, issn = {2071-1050}, journal = {Sustainability}, number = 23, title = {Co-Design Methods for Non-Standard Multi-Storey Timber Buildings}, url = {https://www.mdpi.com/2071-1050/15/23/16178}, volume = 15, year = 2023 }
5. Sahin, E. S., Locatelli, D., Orozco, L., Krtschil, A., Wagner, H. J., Menges, A., & Knippers, J. (2023). Feedback-Based Design Method for Spatially-Informed and Structurally-Performative Column Placement in Multi-Story Construction. In P. Yuan & N. Leach (Eds.), Phygital Intelligence.
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  @inproceedings{Sahin.2023, address = {Shanghai, China}, author = {Sahin, Ekin Sila and Locatelli, Daniel and Orozco, Luis and Krtschil, Anna and Wagner, Hans Jakob and Menges, Achim and Knippers, Jan}, booktitle = {Phygital Intelligence}, editor = {Yuan, Philip and Leach, Neil}, title = {Feedback-Based Design Method for Spatially-Informed and Structurally-Performative Column Placement in Multi-Story Construction}, year = 2023 }
6. Krtschil, A., Orozco, L., Wagner, H. J., Menges, A., & Knippers, J. (2023). Structural Performance and Nesting Efficiency of segmented, point-supported, slabs for co-designed timber architecture. Structures, 57, 105260. https://doi.org/10.1016/j.istruc.2023.105260
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  @article{Krtschil_2023, author = {Krtschil, Anna and Orozco, Luis and Wagner, Hans Jakob and Menges, Achim and Knippers, Jan}, doi = {10.1016/j.istruc.2023.105260}, journal = {Structures}, month = {11}, pages = 105260, publisher = {Elsevier {BV}}, title = {Structural Performance and Nesting Efficiency of segmented, point-supported, slabs for co-designed timber architecture}, url = {https://doi.org/10.1016%2Fj.istruc.2023.105260}, volume = 57, year = 2023 }
7. Orozco, L., Wagner, H. J., Krtschil, A., Knippers, J., & Menges, A. (2023). Computational Segmentation of Timber Slabs with Free Column Placement. Computer-Aided Design, 103650. https://doi.org/10.1016/j.cad.2023.103650
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  @article{Orozco_2023, author = {Orozco, Luis and Wagner, Hans Jakob and Krtschil, Anna and Knippers, Jan and Menges, Achim}, doi = {10.1016/j.cad.2023.103650}, issn = {0010-4485}, journal = {Computer-Aided Design}, month = {11}, pages = 103650, publisher = {Elsevier BV}, title = {Computational Segmentation of Timber Slabs with Free Column Placement}, url = {http://dx.doi.org/10.1016/j.cad.2023.103650}, year = 2023 }
8. Orozco, L., Krtschil, A., Wagner, H. J., Knippers, J., & Menges, A. (2023). Floor Plate Segmentation Data. https://doi.org/10.18419/darus-3539
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  @misc{orozco2023floor, abstract = {This repository contains the geometric results of six developed computational floor plate segmentation methods as applied to sixteen example floor plans. It includes the floor plate boundaries, column locations, and plate edges for each resulting segmentation, as well as the geometry results of their respective nesting studies. This data set offers geometric information from which quantitative values can be extracted for the comparison of these segmentation methods. This repository also contains the input files for the structural simulation in Sofistik 2020 of six developed segmentation methods applied to 16 Case Studies. }, affiliation = {Orozco, Luis/Universität Stuttgart, Krtschil, Anna/Universität Stuttgart, Wagner, Hans Jakob/Universität Stuttgart, Knippers, Jan/Universität Stuttgart, Menges, Achim/Universität Stuttgart}, author = {Orozco, Luis and Krtschil, Anna and Wagner, Hans Jakob and Knippers, Jan and Menges, Achim}, doi = {10.18419/darus-3539}, howpublished = {Dataset}, note = {Related to: Orozco, L., Wagner, H. J., Krtschil, A., Knippers, J., & Menges, A. (2023). Computational segmentation methods for the material efficient Co-Design of point-supported, grid-independent floor slabs in timber architecture. CAD Journal(x), Submitted for Pre-Print}, orcid-numbers = {Orozco, Luis/0000-0003-0665-8527, Krtschil, Anna/0000-0002-1407-5420, Wagner, Hans Jakob/0000-0001-8600-8481, Knippers, Jan/0000-0002-6683-8004, Menges, Achim/0000-0001-9055-4039}, title = {Floor Plate Segmentation Data}, year = 2023 }
2022
1. Menges, A., Amtsberg, F., Bucklin, O., Wagner, H. J., & Wood, D. (2022). Holzbau digital denken: Integratives computerbasiertes Planen und Bauen. In 26. Internationales Holzbau-Forum IHF 2022.
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  @incollection{Menges2022, address = {Innsbruck, Austria}, author = {Menges, Achim and Amtsberg, Felix and Bucklin, Oliver and Wagner, Hans Jakob and Wood, Dylan}, booktitle = {26. Internationales Holzbau-Forum IHF 2022}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/1905_BUGA_WOOD/2112_IHF_Referat/IHF_2021_Holzbau_digital_denken.pdf:pdf}, isbn = {978-3-90-6226-49-1}, title = {{Holzbau digital denken: Integratives computerbasiertes Planen und Bauen}}, year = 2022 }
2. Wagner, H. J. (2022). Digitale Fabrikation: Was bringt uns die Zukunft? In 2. Internationaler Kongress Holzbau: Technik+Wirtschaft (HTW) (pp. 91–102). FORUM HOLZBAU.
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  @incollection{Wagner2022, address = {Memmingen}, author = {Wagner, Hans Jakob}, booktitle = {2. Internationaler Kongress Holzbau: Technik+Wirtschaft (HTW)}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/PUBLICATION_COLLECTION/2022_FORUM_HBW_Wagner.pdf:pdf}, isbn = {978-3-906226-43-9}, pages = {91--102}, publisher = {FORUM HOLZBAU}, title = {{Digitale Fabrikation: Was bringt uns die Zukunft?}}, year = 2022 }
3. Krtschil, A., Orozco, L., Bechert, S., Wagner, H. J., Amtsberg, F., Chen, T.-Y., Shah, A., Menges, A., & Knippers, J. (2022). Structural development of a novel punctually supported timber building system for multi-storey construction. Journal of Building Engineering, 58, 104972. https://doi.org/10.1016/j.jobe.2022.104972
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  @article{Krtschil_2022, author = {Krtschil, Anna and Orozco, Luis and Bechert, Simon and Wagner, Hans Jakob and Amtsberg, Felix and Chen, Tzu-Ying and Shah, Anand and Menges, Achim and Knippers, Jan}, doi = {10.1016/j.jobe.2022.104972}, journal = {Journal of Building Engineering}, month = {10}, pages = 104972, publisher = {Elsevier {BV}}, title = {Structural development of a novel punctually supported timber building system for multi-storey construction}, url = {https://doi.org/10.1016%2Fj.jobe.2022.104972}, volume = 58, year = 2022 }
4. Skoury, L., Amtsberg, F., Yang, X., Wagner, H. J., Menges, A., & Wortmann, T. (2022). A Framework for Managing Data in Multi-actor Fabrication Processes (C. Gengnagel, O. Baverel, G. Betti, M. Popescu, M. R. Thomsen, & J. Wurm, Eds.).
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  @conference{skoury2022framework, author = {Skoury, Lior and Amtsberg, Felix and Yang, Xiliu and Wagner, Hans Jakob and Menges, Achim and Wortmann, Thomas}, editor = {Gengnagel, Christoph and Baverel, Olivier and Betti, Giovanni and Popescu, Mariana and Thomsen, Mette Ramsgaard and Wurm, Jan}, title = {A Framework for Managing Data in Multi-actor Fabrication Processes}, year = 2022 }
5. Yang, X., Amtsberg, F., Skoury, L., Wagner, H. J., & Menges, A. (2022). Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality. CAADRIA Proceedings. https://doi.org/10.52842/conf.caadria.2022.2.141
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  @inproceedings{yang2022vizor, author = {Yang, Xiliu and Amtsberg, Felix and Skoury, Lior and Wagner, Hans Jakob and Menges, Achim}, booktitle = {{CAADRIA} proceedings}, doi = {10.52842/conf.caadria.2022.2.141}, publisher = {{CAADRIA}}, title = {Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality}, url = {https://doi.org/10.52842%2Fconf.caadria.2022.2.141}, year = 2022 }
6. Abdelaal, M., Amtsberg, F., Becher, M., Duque Estrada, R., Kannenberg, F., Sousa Calepso, A., Wagner, H. J. J., Reina, G., Sedlmair, M., Menges, A., & Weiskopf, D. (2022). Visualization for Architecture, Engineering, and Construction: Shaping the Future of Our Built World. IEEE Computer Graphics and Applications, 1. https://doi.org/10.1109/MCG.2022.3149837
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  @article{9709159, abstract = {Our built world is one of the most important factors for a livable future, accounting for massive impact on resource and energy use, climate change, but also the social and economic aspects coming with population growth. The architecture, engineering, and construction industry is facing the challenge that it needs to substantially increase its productivity, yet alone the quality of the building of the future. In this paper, we discuss these challenges in more detail, focusing on how digitization can facilitate this transformation of the industry, and link them to opportunities for visualization and augmented reality research. We illustrate solution strategies for advanced building systems based on wood and fiber.}, author = {Abdelaal, Moataz and Amtsberg, Felix and Becher, Michael and Duque Estrada, Rebeca and Kannenberg, Fabian and Sousa Calepso, Aimee and Wagner, Hans Jakob Jakob and Reina, Guido and Sedlmair, Michael and Menges, Achim and Weiskopf, Daniel}, doi = {10.1109/MCG.2022.3149837}, issn = {1558-1756}, journal = {IEEE Computer Graphics and Applications}, pages = {1-1}, title = {Visualization for Architecture, Engineering, and Construction: Shaping the Future of Our Built World}, year = 2022 }
7. Krtschil, A., Orozco, L., Wagner, H. J., Menges, A., & Knippers, J. (2022). Conceptual development and comparison of two punctually supported timber slab systems. Doktorandenkolloquium Holzbau Forschung + Praxis.
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  @inproceedings{Krtschil.2022, author = {Krtschil, Anna and Orozco, Luis and Wagner, Hans Jakob and Menges, Achim and Knippers, Jan}, booktitle = {Doktorandenkolloquium Holzbau Forschung + Praxis}, title = {Conceptual development and comparison of two punctually supported timber slab systems}, year = 2022 }
8. Chai, H., Guo, Z., Wagner, H. J., Stark, T., Menges, A., & Yuan, P. F. (2022). In-Situ Robotic Fabrication of Spatial Glulam Structures. Proceedings of the 27th CAADRIA Conference, Sydney, 9-15 April 2022, 2, 41–50. https://doi.org/10.52842/conf.caadria.2022.2.041
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  @inproceedings{Chai2022, abstract = {While current approaches in timber construction stress the advantages of off-site prefabrication, glued laminated timber(glulam) structures is limited to the constraints of standardized, prefabricated mostly linear elements, which also lends itself only to building typologies that offer an increased level of standardization and regularity. The design freedom of timber structures is incomparable to that of reinforced concrete structures, which mostly gains from the in-situ fabrication process. An in-situ robotic timber fabrication platform allows the on-site construction of glulam structures with highly differentiated networks of beams composed of robotically assembled discrete linear elements. Based on the possibilities of such mobile robotic fabrication process, this paper explores novel architectural typologies of spatial glulam structures. The research is conducted from several aspects including joint tectonics, design method, and robotic fabrication process. A large-scale pavilion is designed and fabricated to verify the feasibility of the proposed system. This research could provide a novel mode of in-situ robotic timber fabrication and corresponding glulam structure system for timber construction.}, author = {Chai, Hua and Guo, Zhixian and Wagner, Hans Jakob and Stark, Tim and Menges, Achim and Yuan, Philip F}, booktitle = {Proceedings of the 27th CAADRIA Conference, Sydney, 9-15 April 2022}, doi = {10.52842/conf.caadria.2022.2.041}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/01_Publikationen/2002_MOBILE_ROBOT/2112_CAADRIA_Spatial_Glulam/caadria2022_245.pdf:pdf}, pages = {41--50}, title = {{In-Situ Robotic Fabrication of Spatial Glulam Structures}}, url = {http://papers.cumincad.org/cgi-bin/works/paper/caadria2022_245}, volume = 2, year = 2022 }
9. Chai, H., Wagner, H. J., Guo, Z., Qi, Y., Menges, A., & Yuan, P. F. (2022). Computational design and on-site mobile robotic construction of an adaptive reinforcement beam network for cross-laminated timber slab panels. Automation in Construction, 142, Article August. https://doi.org/10.1016/j.autcon.2022.104536
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  @article{Chai2022, abstract = {Timber slabs design is currently limited to grid layouts derived from prefabricated rectangular panels. The lack of adaptability of timber slabs to accommodate multiple span directions makes it difficult to compete with reinforced concrete slabs constructed on site. This paper describes an adaptive slab system composed of thin Cross-Laminated Timber (CLT) panels and robot-fabricated beam networks for reinforcement. The beam network was developed through intricate negotiation of structural optimization and fabrication constraints, which can adapt to changes in slab span and directions. A mobile robot platform that allows for on-site assembly of timber sticks into continuous beam networks was developed. The robot platform and slab system were tested with a case study pavilion. The co-design of the robot platform and the slab system fills the gap in on-site robotic timber construction and expands the design freedom of timber buildings.}, author = {Chai, Hua and Wagner, Hans Jakob and Guo, Zhixian and Qi, Yue and Menges, Achim and Yuan, Philip F.}, doi = {10.1016/j.autcon.2022.104536}, file = {:G\:/Other computers/My Laptop/LEBEN/WORK/04_ICD/03_PhD/Reading/1-s2.0-S0926580522004071-main (1).pdf:pdf}, issn = {09265805}, journal = {Automation in Construction}, month = {10}, number = {August}, pages = 104536, publisher = {Elsevier B.V.}, title = {{Computational design and on-site mobile robotic construction of an adaptive reinforcement beam network for cross-laminated timber slab panels}}, url = {https://doi.org/10.1016/j.autcon.2022.104536 https://linkinghub.elsevier.com/retrieve/pii/S0926580522004071}, volume = 142, year = 2022 }
2021
1. Qi, Y., Zhong, R., Kaiser, B., Tahouni, Y., Wagner, H. J., Verl, A., & Menges, A. (2021). Augmented Accuracy: A Human-Machine Integrated Adaptive Fabrication Workflow for Bamboo. In V. Stojakovic & B. Tepavcevic (Eds.), Proceedings of the 39th eCAADe Conference (Vol. 1, pp. 345–354). Cumincad. http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_169
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  @inproceedings{Qi2021, abstract = {Despite being sustainable, strong and lightweight, naturally grown bamboo poles are currently used in restricted building typologies. This is due to the large tolerances in the built structures, which is caused by the variations in the dimensions and geometry ofnatural material as well as the manual, uninformed and imprecise assembly methods. In previous work, we introduced an adaptive fabrication method for bamboo structures that can monitor the fabrication process and compensate for deviations between built and designed form. As a proofofconcept, the method is suitable for small scale bamboo structures in 2D- or simple 3D configuration. This paper extends the previous method by integrating the adaptation strategies into a cohesive fabrication and assembly workflow for large scale complex bamboo structures. To enable that, a more effective sensor localization method, adaptation algorithm, connection and assembly system, as well as web-based user interface are developed. The effectiveness ofthe proposed methods is demonstrated through the fabrication of a pavilion scale branching bamboo structure that complies with intended geometric boundary conditions. Even though the material has substantial geometrical variations, the final structure shows small geometric deviations and a successful interface with the prefabricated roofelements. Our work shows how vernacular materials and processes can be digitally augmented in order to reliably produce building structures, hence enabling their usage in modern applications to a larger extent.}, address = {Novi Sad}, author = {Qi, Yue and Zhong, Ruqing and Kaiser, Benjamin and Tahouni, Yasaman and Wagner, Hans Jakob and Verl, Alexander and Menges, Achim}, booktitle = {Proceedings of the 39th eCAADe Conference}, editor = {Stojakovic, V and Tepavcevic, B}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_ECAADE_AUGMENTED_ACCURACY.pdf:pdf}, pages = {345--354}, publisher = {Cumincad}, title = {Augmented Accuracy: A Human-Machine Integrated Adaptive Fabrication Workflow for Bamboo}, url = {http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_169}, volume = 1, year = 2021 }
2. Amtsberg, F., Yang, X., Skoury, L., Wagner, H.-J., & Menges, A. (2021). iHRC: An AR-based interface for intuitive, interactive and coordinated task sharing between humans and robots in building construction. In C. Feng, T. Linner, I. Brilakis, D. Castro, P.-H. Chen, Y. Cho, J. Du, S. Ergan, B. Garcia de Soto, J. Gaparík, F. Habbal, A. Hammad, K. Iturralde, T. Bock, S. Kwon, Z. Lafhaj, N. Li, C.-J. Liang, B. Mantha, et al. (eds.), Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC) (pp. 25–32). International Association for Automation and Robotics in Construction (IAARC). https://doi.org/10.22260/ISARC2021/0006
  - BibTeX
  BibTeX
  @inproceedings{amtsberg2021arbased, author = {Amtsberg, Felix and Yang, Xiliu and Skoury, Lior and Wagner, Hans-Jakob and Menges, Achim}, booktitle = {Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)}, doi = {https://doi.org/10.22260/ISARC2021/0006}, editor = {Feng, Chen and Linner, Thomas and Brilakis, Ioannis and Castro, Daniel and Chen, Po-Han and Cho, Yong and Du, Jing and Ergan, Semiha and Garcia de Soto, Borja and Gašparík, Jozef and Habbal, Firas and Hammad, Amin and Iturralde, Kepa and Bock, Thomas and Kwon, Soonwook and Lafhaj, Zoubeir and Li, Nan and Liang, Ci-Jyun and Mantha, Bharadwaj and Ng, Ming Shan and Hall, Daniel and Pan, Mi and Pan, Wei and Rahimian, Farzad and Raphael, Benny and Sattineni, Anoop and Schlette, Christian and Shabtai, Isaac and Shen, Xuesong and Tang, Pingbo and Teizer, Jochen and Turkan, Yelda and Valero, Enrique and Zhu, Zhenhua}, eventdate = {02.11.2021-04.11.2021}, eventtitle = {38th International Symposium on Automation and Robotics in Construction (ISARC)}, isbn = {978-952-69524-1-3}, issn = {2413-5844}, language = {english}, month = {11}, pages = {25-32}, publisher = {International Association for Automation and Robotics in Construction (IAARC)}, title = {iHRC: An AR-based interface for intuitive, interactive and coordinated task sharing between humans and robots in building construction}, year = 2021 }
3. Orozco, L., Krtschil, A., Wagner, H. J., Bechert, S., Amtsberg, F., Skoury, L., Knippers, J., & Menges, A. (2021). Design Methods for Variable Density, Multi-Directional Composite Timber Slab Systems for Multi-Storey. In V. Stojakovic & B. Tepavcevic (Eds.), Proceedings of the 39th eCAADe Conference (Vol. 1, pp. 303–312). Cumincad. http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_284
  - BibTeX
  BibTeX
  @inproceedings{Orozco2021, abstract = {This paper presents an agent-based method for the design of complex timber structures. This method features a multi-level agent simulation, that relies on a feedback loop between agent systems and structural simulations that update the agent environment. Such an approach can usefully be applied for the design of variable density timber slab systems, where material arrangements based on structural, fabrication, and architectural boundary conditions are necessary. Such arrangements can lead to multi-directional spanning slabs that can accept pointwise supports in unique layouts. We discuss the implementation of such a method on the basis of the structural design of a pavilion-scale multi-storey testing setup. The presented method enables a more versatile approach to the design of multi-storey timber buildings, which should increase their applicability to a diverse range of building typologies.}, address = {Novi Sad}, author = {Orozco, Luis and Krtschil, Anna and Wagner, Hans Jakob and Bechert, Simon and Amtsberg, Felix and Skoury, Lior and Knippers, Jan and Menges, Achim}, booktitle = {Proceedings of the 39th eCAADe Conference}, editor = {Stojakovic, V and Tepavcevic, B}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_ECAADE_METHODS_SLAB_DESIGN.pdf:pdf}, pages = {303--312}, publisher = {Cumincad}, title = {Design Methods for Variable Density, Multi-Directional Composite Timber Slab Systems for Multi-Storey}, url = {http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_284}, volume = 1, year = 2021 }
4. Duque Estrada, R., Kannenberg, F., Wagner, H. J., Yablonina, M., & Menges, A. (2021). Integrative Design Methods for Spatial Winding. Advances in Architectural Geometry 2020, 286–305. https://thinkshell.fr/wp-content/uploads/2019/10/AAG2020_15_Duque.pdf
  - BibTeX
  BibTeX
  @inproceedings{DuqueAAG2020, address = {Paris}, author = {Duque Estrada, Rebeca and Kannenberg, Fabian and Wagner, Hans Jakob and Yablonina, Maria and Menges, Achim}, booktitle = {Advances in Architectural Geometry 2020}, isbn = {978-2-85978-540-6}, pages = {286-305}, publisher = {Presses des Ponts}, title = {Integrative Design Methods for Spatial Winding}, url = {https://thinkshell.fr/wp-content/uploads/2019/10/AAG2020_15_Duque.pdf}, year = 2021 }
5. Wagner, H. J., Garufi, D., Schwinn, T., Wood, D. M., & Menges, A. (2021). Three-Dimensional Fibre Placement in Wood for connections and reinforcements in timber structures. In S. A. Behnejad, G. A. R. Parke, & O. A. Samavati (Eds.), Proceedings of the IASS Annual Symposium 2020/21 and the 7th International Conference on Spatial Structures. IASS.
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  BibTeX
  @inproceedings{Wagner2021, abstract = {In this paper we introduce a novel design to fabrication method called three-dimensional fibre placement in wood (3D-FPW) and demonstrate its applicability for lightweight hybrid timber structures. 3D-FPW allows for the joining and reinforcement through a combination of (1) minimally invasive subtractive CNC milling operations during the prefabrication of wooden building components and (2) the subsequent insertion of continuous fibrous materials to reinforce them and/or connect them on-site. Although natural fibres can be used for such technique, the presented work focuses on CFRP tows - that have a special advantage as they can be cured via electrical current in-place without oven or autoclave while the wood material acts both as insulator and formwork. The three-dimensional geometries of the discussed fibrous arrangements are hardly limited in their form which makes precise computational design strategies the cornerstone for an effective exploration, understanding and exploitation of the design potentials of such structures. We show how principal local stress-directions, fabrication specifications as well as design- and environmental considerations can be considered to form-find meaningful fibrous layouts within such structures. The proposed technique most notably creates novel performance-spectrums for sustainable, ultra-lightweight bespoke wood architecture by enabling tailor- made bending resistant on-site connections, that break free from added weight, expense and the intensive energy footprint of steel connectors. We further discuss our investigations within this framework through the prototypical fabrication of physical demonstrators that represent a comprehensive set of wood building system typologies: custom fibre-reinforced slab plates, a segmented plate shell structure and a polygonal lattice shell structure.}, author = {Wagner, Hans Jakob and Garufi, Dominga and Schwinn, Tobias and Wood, Dylan Marx and Menges, Achim}, booktitle = {Proceedings of the IASS Annual Symposium 2020/21 and the 7th International Conference on Spatial Structures}, editor = {Behnejad, S.A. and Parke, G.A.R. and Samavati, O.A.}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1809_FIBRE_TIMBER/2107_IASS_Surrey/Paper Submission/IASS_3D_Fibre_Placement_in_Wood.pdf:pdf}, organization = {IASS }, title = {Three-Dimensional Fibre Placement in Wood for connections and reinforcements in timber structures}, venue = {Guilford (UK)}, year = 2021 }
6. Wagner, H. J., Aicher, S., Balangé, L., Basalla, U., Schwieger, V., & Menges, A. (2021). Qualities of the Unique: Accuracy and Process-Control Management in Project-based Robotic Timber Construction. World Conference on Timber Engineering 2021 - WCTE 2021.
  - BibTeX
  BibTeX
  @inproceedings{Wagner2021b, abstract = {Computational design and robotic fabrication open up novel possibilities for more resource efficient timber structures. These methods enable the production of tailor-made and differentiated building components that integrate design intention, robotic fabrication, structural performance, assembly logics and functional aspects but require advanced strategies to achieve and control production quality. We present methods to assure the quality control of the fast-paced production of the BUGA Wood Pavilion – a 500m² segmented wood shell structure - that was erected within 13 months from commission to opening. In this project, 376 bespoke hollow wood cassettes were robotically assembled, glued and milled to shapes. In order to achieve structurally performative tight-fit joints, minimal tolerances in the fabrication process needed to be achieved. Furthermore, the quality of the gluing interface, its tolerances, individual pressing forces, process- and environmental factors needed to be respected for the design and operation of robotic gluing processes to meet building regulations. New challenges arise for the design, management and control of production quality when co-dependent and integrated innovations are brought forward in respect to both building system as well as fabrication automation on a per- project level. Novel frameworks will need to be established that dwell on digital technologies for faster and more reliable process and quality control in timber construction. Acting as a catalyst, such mechanisms are of fundamental importance to enable rapid and continuous advancements in socio-culturally rooted project-based robotic timber construction.}, address = {Santiago, Chile}, author = {Wagner, Hans Jakob and Aicher, Simon and Balang{\'{e}}, Laura and Basalla, Urs and Schwieger, Volker and Menges, Achim}, booktitle = {World Conference on Timber Engineering 2021 - WCTE 2021}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_WCTE_QUALITIES_OF_UNIQUE.pdf:pdf}, title = {{Qualities of the Unique: Accuracy and Process-Control Management in Project-based Robotic Timber Construction}}, year = 2021 }
7. Wagner, H.-J., Aicher, S., Balangé, L., Basalla, U., Schwieger, V., & Menges, A. (2021). Qualities of the Unique: Accuracy and Process-Control Management in Project-based Robotic Timber Construction. World Conference on Timber Engineering, Santiago, Chile, 9.-12. August.
  - BibTeX
  BibTeX
  @inproceedings{balange2021qualities, abstract = {Computational design and robotic fabrication open up novel possibilities for more resource efficient timber structures. These methods enable the production of tailor-made and differentiated building components that integrate design intention, robotic fabrication, structural performance, assembly logics and functional aspects but require advanced strategies to achieve and control production quality. We present methods to assure the quality control of the fast-paced production of the BUGA Wood Pavilion – a 500m² segmented wood shell structure - that was erected within 13 months from commission to opening. In this project, 376 bespoke hollow wood cassettes were robotically assembled, glued and milled to shapes. In order to achieve structurally performative tight-fit joints, minimal tolerances in the fabrication process needed to be achieved. Furthermore, the quality of the gluing interface, its tolerances, individual pressing forces, process- and environmental factors needed to be respected for the design and operation of robotic gluing processes to meet building regulations. New challenges arise for the design, management and control of production quality when co-dependent and integrated innovations are brought forward in respect to both building system as well as fabrication automation on a per- project level. Novel frameworks will need to be established that dwell on digital technologies for faster and more reliable process and quality control in timber construction. Acting as a catalyst, such mechanisms are of fundamental importance to enable rapid and continuous advancements in socio-culturally rooted project-based robotic timber construction.}, author = {Wagner, Hans-Jakob and Aicher, Simon and Balangé, Laura and Basalla, Urs and Schwieger, Volker and Menges, Achim}, booktitle = {World Conference on Timber Engineering, Santiago, Chile, 9.-12. August}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_WCTE_QUALITIES_OF_UNIQUE.pdf:pdf}, organization = {WCTE 2021}, title = {Qualities of the Unique: Accuracy and Process-Control Management in Project-based Robotic Timber Construction}, year = 2021 }
2020
1. Duque Estrada Almeida Araujo, R., Kannenberg, F., Wagner, H.-J., Yablonina, M., & Menges, A. (2020). Spatial Winding : Cooperative Heterogeneous Mulit-Robot System for Fibrous Structures. Construction Robotics. https://doi.org/10.1007/s41693-020-00036-7
  - BibTeX
  BibTeX
  @article{duqueestradaalmeidaaraujo2020spatial, author = {Duque Estrada Almeida Araujo, Rebeca and Kannenberg, Fabian and Wagner, Hans-Jakob and Yablonina, Maria and Menges, Achim}, doi = {10.1007/s41693-020-00036-7}, issn = {{2509-811X} and {2509-8780}}, journal = {Construction Robotics}, language = {eng}, publisher = {Springer Nature}, title = {Spatial Winding : Cooperative Heterogeneous Mulit-Robot System for Fibrous Structures}, year = 2020 }
2. Wagner, H. J., Alvarez, M., Kyjanek, O., Bhiri, Z., Buck, M., & Menges, A. (2020). Flexible and transportable robotic timber construction platform – TIM. Automation in Construction, Article 120. https://doi.org/10.1016/j.autcon.2020.103400
  - BibTeX
  BibTeX
  @article{Wagner, abstract = {This paper presents a new approach to robotic fabrication in the building industry through the conceptualization, development and evaluation of a largescale, transportable and flexible robotic timber construction platform – named TIM. Novel solutions are necessary to make robotic fabrication technologies more accessible for timber construction companies. The developed robotic system is location independent and reconfigurable. It can be rapidly integrated into existing fabrication environments of typical carpentries on a per-project basis. This allows the exploitation of emerging synergies between conventional craft and specialized automation technologies and benefits both quality and productivity of the trade. We portrait how the platform enabled the effective robotic prefabrication of a complex segmented wood shell structure and discuss the fabrication system based on critical performance parameters. Further research is needed to disentangle the mutual dependencies of building-systems and respective automation technologies.}, author = {Wagner, Hans Jakob and Alvarez, Martin and Kyjanek, Ondrej and Bhiri, Zied and Buck, Matthias and Menges, Achim}, doi = {https://doi.org/10.1016/j.autcon.2020.103400}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1906_TIM/1906_AUTCON_TIM/20200127_AUTCON_TIM.pdf:pdf;:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1906_TIM/1906_AUTCON_TIM/PROOF/pagination_AUTCON_103400.pdf:pdf}, journal = {Automation in Construction}, language = {English}, month = {12}, number = 120, pages = {1-17}, title = {{Flexible and transportable robotic timber construction platform – TIM}}, url = {https://www.sciencedirect.com/science/article/pii/S0926580520309808}, year = 2020 }
3. Wagner, H. J., Alvarez, M., Groenewolt, A., & Menges, A. (2020). Towards digital automation flexibility in large-scale timber construction: integrative robotic prefabrication and co-design of the BUGA Wood Pavilion. Construction Robotics. https://doi.org/10.1007/s41693-020-00038-5
  - BibTeX
  BibTeX
  @article{Wagner2020, abstract = {This paper discusses the digital automation workflows and co-design methods that made possible the comprehensive robotic prefabrication of the BUGA Wood Pavilion as a large-scale production case study of robotic timber construction. Latest research in architectural robotics often focuses on the advancement of singular aspects of integrated digital fabrication and computational design techniques. Few researchers discuss how a multitude of different robotic processes can come together into seamless, collaborative robotic fabrication workflows and how a high level of interaction within larger teams of computational design and robotic fabrication experts can be achieved. It will be increasingly important to discuss suitable methods for the management of robotics and computational design in construction for the successful implementation of robotic fabrication systems in the context of the industry. We present here how a co-design approach enabled the organization of computational design decisions in reciprocal feedback with the fabrication planning, simulation and robotic code generation. We demonstrate how this approach can implement direct and curated reciprocal feed- back between all planning domains that paves the way for fast-paced integrative project development. Furthermore, we discuss how the modularization of computational routines simplify the management and computational control of complex robotic construction efforts on a per-project basis and open the door for the flexible reutilization of developed digital technologies across projects and building systems.}, author = {Wagner, Hans Jakob and Alvarez, Martin and Groenewolt, Abel and Menges, Achim}, doi = {10.1007/s41693-020-00038-5}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/03_PhD/Reading/REVISION_CORO_Automation_Flexibility_clean.pdf:pdf}, journal = {Construction Robotics}, title = {{Towards digital automation flexibility in large-scale timber construction: integrative robotic prefabrication and co-design of the BUGA Wood Pavilion}}, year = 2020 }
4. Wagner, H. J., Chai, H., Guo, Z., Menges, A., & Yuan, P. F. (2020). Towards an On-site Fabrication System for Bespoke , Unlimited and Monolithic Timber Slabs. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Las Vegas, NV, USA (Virtual) - Workshop on Construction and Architecture Robotics, 2020. https://doi.org/10.13140/RG.2.2.14098.68802
  - BibTeX
  BibTeX
  @inproceedings{Wagner2020b, abstract = {We present the concept- and contextualization of a robotic fabrication system for bespoke, monolithic wood slabs for multi-story building structures. Timber Construction is seen as the most promising technology for the sustainable development of continuously growing urban areas around the world, resulting in increasing legislative support. Although employing high levels of automation in prefabrication, wood building systems and construction techniques are currently hardly competitive outside of modular construction paradigms – restricting the material's use in the majority of building typologies. In many projects, the use of concrete is still preferred, as slabs can be poured into monolithic slabs of various geometries and steel reinforcement can be freely arranged according to structural requirements. In order to allow engineered wood structures to be used across all building types, we propose a co-designed wood construction system. A respective robotic fabrication platform can be employed in two on-site fabrication scenarios. In both cases the mobile robot moves relative to a preinstalled wood-panel surface that serves as semi-controlled environment and is incrementally reinforced through iterative placement of wood laths using nail-press gluing. This results in multi-directional, bespoke timber slabs of unlimited dimensions and continuous stiffness gradients.}, address = {Las Vegas, NV (Virtual)}, author = {Wagner, Hans Jakob and Chai, Hua and Guo, Zhixian and Menges, Achim and Yuan, Philip F}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Las Vegas, NV, USA (Virtual) - Workshop on Construction and Architecture Robotics}, doi = {10.13140/RG.2.2.14098.68802}, eventdate = {29.10.2020}, eventtitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Workshop on Construction and Architecture Robotics}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2020_IEEE_MOBILE_PLATFORM.pdf:pdf}, isbn = {978-1-7281-6211-9}, publisher = {IEEE/RSJ}, title = {{Towards an On-site Fabrication System for Bespoke , Unlimited and Monolithic Timber Slabs}}, url = {http://ras.papercept.net/images/temp/IROS/files/3672.pdf}, venue = {Las Vegas, NV, USA (Virtual)}, volume = 2020, year = 2020 }
5. Qi, Y., Zhong, R., Kaiser, B., Nguyen, L., Wagner, H. J., Verl, A., & Menges, A. (2020). Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures. In P. F. Yuan, J. Yao, C. Yan, X. Wang, & N. Leach (Eds.), Proceedings of the 2020 DigitalFUTURES. Springer Nature Switzerland AG.
  - BibTeX
  BibTeX
  @inproceedings{Qi, abstract = {This paper presents and investigates a cyber-physical fabrication workflow, which can respond to the deviations between built- and designed form in real-time with vision augmentation. We apply this method for large scale structures built from natural bamboo poles. Raw bamboo poles obtain evolutionarily optimized fibrous layouts ideally suitable for lightweight and sustainable building construction. Nevertheless, their intrinsically imprecise geometries pose a challenge for reliable, automated construction processes. Despite recent digital advancements, building with bamboo poles is still a labor-intensive task and restricted to building typologies where accuracy is of minor importance. The integration of structural bamboo poles with other building layers is often limited by tolerance issues at the interfaces, especially for large scale structures where deviations accumulate incrementally. To address these challenges, an adaptive fabrication process is developed, in which existing deviations can be compensated by changing the geometry of subsequent joints to iteratively correct the pose of further elements. A vision-based sensing system is employed to three-dimensionally scan the bamboo elements before and during construction. Computer vision algorithms are used to process and interpret the sensory data. The updated conditions are streamed to the computational model which computes tailor-made bending stiff joint geometries that can then be directly fabricated on-the-fly. In this paper, we contextualize our research and investigate the performance domains of the proposed workflow.}, author = {Qi, Yue and Zhong, Ruqing and Kaiser, Benjamin and Nguyen, Long and Wagner, Hans Jakob and Verl, Alexander and Menges, Achim}, booktitle = {Proceedings of the 2020 DigitalFUTURES}, editor = {Yuan, P. F. and Yao, J. and Yan, C. and Wang, X. and Leach, N.}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/2006_VISUAL_SEMANTICS/2005_CDRF_Tongji_2020/20200624_Submission_2/Submission/Working with Uncertainties_An Adaptive Fabrication Workflow for Bamboo Structures_0624.pdf:pdf}, publisher = {Springer Nature Switzerland AG}, title = {{Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures}}, year = 2020 }
6. Duque Estrada, R., Kannenberg, F., Wagner, H. J., Yablonina, M., & Menges, A. (2020). Spatial Winding: Cooperative Heterogeneous Multi-Robot System for Fibrous Structures. Construction Robotics, 4, Article 3–4. https://doi.org/10.1007/s41693-020-00036-7
  - BibTeX
  BibTeX
  @article{duqueestrada2020coro, author = {Duque Estrada, Rebeca and Kannenberg, Fabian and Wagner, Hans Jakob and Yablonina, Maria and Menges, Achim}, doi = {10.1007/s41693-020-00036-7}, journal = {Construction Robotics}, number = {3-4}, pages = {205-215}, publisher = {Springer Science and Business Media {LLC}}, title = {Spatial Winding: Cooperative Heterogeneous Multi-Robot System for Fibrous Structures}, volume = 4, year = 2020 }
7. Menges, A., Knippers, J., Wagner, H. J., & Zechmeister, C. (2020). Pilotprojekte Für Ein Integratives Computerbasiertes Planen Und Bauen. In M. Bischoff, M. von Scheven, & B. Oesterle (Eds.), Baustatik - Baupraxis 14: Institut für Baustatik und Baudynamik (pp. 67–79). University of Stuttgart.
  - BibTeX
  BibTeX
  @incollection{bischoff_pilotprojekte_2020, address = {Stuttgart}, author = {Menges, Achim and Knippers, Jan and Wagner, Hans Jakob and Zechmeister, Christoph}, booktitle = {Baustatik - {Baupraxis} 14: {Institut} für {Baustatik} und {Baudynamik}}, editor = {Bischoff, Manfred and von Scheven, Malte and Oesterle, Bastian}, isbn = {9783000646393}, pages = {67--79}, publisher = {University of Stuttgart}, title = {Pilotprojekte {Für} {Ein} {Integratives} {Computerbasiertes} {Planen} {Und} {Bauen}}, year = 2020 }
8. Menges, A., Knippers, J., Wagner, H. J., & Zechmeister, C. (2020). Pilotprojekte für ein Integratives Computerbasiertes Planen und Bauen. In M. Bischoff, M. von Scheven, & B. Oesterle (Eds.), Baustatik – Baupraxis 14 (pp. 67–79). Institut für Baustatik und Baudynamik, Universität Stuttgart. http://dx.doi.org/10.18419/opus-10762
  - BibTeX
  BibTeX
  @incollection{Menges2020, abstract = {Ziel des Exzellenzclusters „IntCDC - Integrative Computational Design and Construction for Architecture“ an der Universit{\"{a}}t Stuttgart ist es, die methodischen Grundlagen f{\"{u}}r eine umfassende Modernisierung des Bauschaffens zu legen. Ein Schwerpunkt ist die Entwicklung einer {\"{u}}bergeordneten Methodologie des „Co-Design“ von Planungsmethoden, Bauprozessen und Bausystemen, um eine Grundlage f{\"{u}}r integrative, interdisziplin{\"{a}}re L{\"{o}}sungsans{\"{a}}tze zu schaffen. Dies wird anhand von ersten realisierten Pilotprojekten aufgezeigt.}, address = {Stuttgart}, author = {Menges, Achim and Knippers, Jan and Wagner, Hans Jakob and Zechmeister, Christoph}, booktitle = {Baustatik – Baupraxis 14}, doi = {http://dx.doi.org/10.18419/opus-10762}, editor = {Bischoff, Manfred and von Scheven, Malte and Oesterle, Bastian}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1905_BUGA_WOOD/1912_BUGA_Bauplanung_Baupraxis/BB14_Menges_et_al.pdf:pdf}, isbn = {978-3-00-064639-3}, pages = {67--79}, publisher = {Institut f{\"{u}}r Baustatik und Baudynamik, Universit{\"{a}}t Stuttgart}, title = {{Pilotprojekte f{\"{u}}r ein Integratives Computerbasiertes Planen und Bauen}}, url = {https://elib.uni-stuttgart.de/handle/11682/10779}, year = 2020 }
2019
1. Sonntag, D., Aldinger, L., Bechert, S., Alvarez, M., Groenewolt, A., Krieg, O.-D., Wagner, H. J., Knippers, J., & Menges, A. (2019). Lightweight segmented timber shell for the Bundesgartenschau 2019 in Heilbronn. Form and Force: Proceedings of the International Association for Spactial Structures Annual Symposia 2019 Barcelona, Article October.
  - BibTeX
  BibTeX
  @inproceedings{Sonntag2019, abstract = {Segmented timber shells offer the possibility of constructing long span, double curved shell structures efficiently and economically. This was demonstrated with the Landesgartenschau Exhibition Hall 2014 in Schw{\"{a}}bisch Gm{\"{u}}nd [1], a prefabricated segmented timber shell made of planar beech plywood plates. However, the application of this construction method for larger spans and more general shell geometries requires further technical development of the construction system, of its associated fabrication methods, and of the methods for form finding and optimisation. This paper presents the development and construction of the wood pavilion for the Bundesgartenschau (Federal garden exhibition, BUGA) 2019 in Heilbronn, which translates these technical developments into practice. Solid timber panels were replaced by a recently developed multi-layer cassette system. The 376 geometrically unique elements of the multi-layer segmented shell were produced of spruce laminated veneer lumber plates, which were assembled, glued, and milled in a fully automated process by two collaborative industrial robots. The shell segments are connected using a combination of the previously established CNC-milled finger-joints [2] as well as regularly spaced steel bolts. Custom design and analysis tools were developed, in order to manage varying material thicknesses, spacing of fasteners and geometric details of the connections between adjacent segments.}, author = {Sonntag, Daniel and Aldinger, Lotte and Bechert, Simon and Alvarez, Martin and Groenewolt, Abel and Krieg, Oliver-David and Wagner, Hans Jakob and Knippers, Jan and Menges, Achim}, booktitle = {Form and Force: Proceedings of the International Association for Spactial Structures Annual Symposia 2019 Barcelona}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2019_IASS.pdf:pdf}, number = {October}, pages = {1--8}, title = {{Lightweight segmented timber shell for the Bundesgartenschau 2019 in Heilbronn}}, year = 2019 }
2. Menges, A., Knippers, J., Wagner, H. J., & Sonntag, D. (2019). BUGA Holzpavillon - Freiformfläche aus robotisch gefertigten Nulltoleranz- Segmenten. In Proceedings of the 25. Internationales Holzbau-Forum IHF 2019 (pp. 129–138).
  - BibTeX
  BibTeX
  @incollection{menges_buga_2019, author = {Menges, Achim and Knippers, Jan and Wagner, Hans Jakob and Sonntag, Daniel}, booktitle = {Proceedings of the 25. {Internationales} {Holzbau}-{Forum} {IHF} 2019}, isbn = {978-3-906226-29-3}, pages = {129--138}, title = {{BUGA} {Holzpavillon} - {Freiformfläche} aus robotisch gefertigten {Nulltoleranz}- {Segmenten}}, year = 2019 }
3. Menges, A., Knippers, J., Wagner, H. J., & Sonntag, D. (2019). BUGA Holzpavillon - Freiformfläche aus robotisch gefertigten Nulltoleranz- Segmenten. In 25. Internationales Holzbau-Forum IHF 2019 (pp. 129–138). FORUM HOLZBAU.
  - BibTeX
  BibTeX
  @incollection{Menges2019, address = {Biel/Bienne}, author = {Menges, Achim and Knippers, Jan and Wagner, Hans Jakob and Sonntag, Daniel}, booktitle = {25. Internationales Holzbau-Forum IHF 2019}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1905_BUGA_WOOD/1912_BUGA_Referat_IntHolzbauForum_Innsbruck/IHF2019_BUGA_Wood_ICD_ITKE.pdf:pdf}, isbn = {978-3-906226-29-3}, pages = {129--138}, publisher = {FORUM HOLZBAU}, title = {{BUGA Holzpavillon - Freiformfl{\"{a}}che aus robotisch gefertigten Nulltoleranz- Segmenten}}, year = 2019 }
4. Garufi, D., Wagner, H. J., Bechert, S., Schwinn, T., Wood, D. M., Menges, A., & Knippers, J. (2019). Fibrous Joints for Lightweight Segmented Timber Shells. In C. Leopold, C. Robeller, & U. Weber (Eds.), Research Culture in Architecture: Cross-Disciplinary Collaboration (pp. 53–64). De Gruyter / Birkhäuser. https://doi.org/10.1515/9783035620238
  - BibTeX
  BibTeX
  @incollection{Garufi2018a, abstract = {With fibrous joints for lightweight segmented timber shells we introduce novel techniques for three-dimensional placement and curing of CFRP-Tows within prefabricated plywood plates to create differentiated fibrous bending-resistant timber plate joints. Density, orientation, and position of the fibrous joints can be informed by the cal- culated local principal tensile forces and dihedral plate angles between 90° and 270° can be achieved, which allows for the gradual integra- tion of various functional and structural aspects into segmented shell structures. After the CFRP tows are placed inside the wood, the matrix can be consolidated in situ via controlled application of electric current without bonding the fibers to the wood. This opens up the possibility of mobile on-site fibrous joining of large-scale structures, as CFRP tows can be cured independently of autoclave sizes. The joints' structural ca- pacity is based on the form stability of the CFRP loops rather than any chemical interface between fibers and plywood plates. This allows the two materials to be separated at the end of the structure's lifetime.}, address = {Berlin, Munich, Boston}, author = {Garufi, Dominga and Wagner, Hans Jakob and Bechert, Simon and Schwinn, Tobias and Wood, Dylan Marx and Menges, Achim and Knippers, Jan}, booktitle = {Research Culture in Architecture: Cross-Disciplinary Collaboration}, doi = {10.1515/9783035620238}, editor = {Leopold, Cornelie and Robeller, Christopher and Weber, Ulrike}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1809_FIBRE_TIMBER/02_RCA_Birkh{\"{a}}user/04_Publisher_Layout/[9783035620238 - Research Culture in Architecture] Fibrous Joints for Lightweight Segmented Timber Shells.pdf:pdf}, isbn = {9783035620238}, month = {12}, pages = {53--64}, publisher = {De Gruyter / Birkh{\"{a}}user}, title = {{Fibrous Joints for Lightweight Segmented Timber Shells}}, url = {http://www.degruyter.com/view/books/9783035620238/9783035620238/9783035620238.xml}, year = 2019 }
5. Alvarez, M., Wagner, H. J., Groenewolt, A., Krieg, O. D., Sonntag, D., Bechert, S., Aldinger, L., Menges, A., & Knippers, J. (2019). The BUGA Wood Pavilion - Integrative interdisciplinary advancements of digital timber architecture. In Ubiquity and Autonomy - 39th ACADIA Conference 2019 (pp. 490–499).
  - BibTeX
  BibTeX
  @incollection{Alvarez2019, address = {Austin, USA}, author = {Alvarez, Martin and Wagner, Hans Jakob and Groenewolt, Abel and Krieg, Oliver David and Sonntag, Daniel and Bechert, Simon and Aldinger, Lotte and Menges, Achim and Knippers, Jan}, booktitle = {Ubiquity and Autonomy - 39th ACADIA Conference 2019}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/03_PhD/Reading/ACADIA_2019_Papers_BUGA_WOOD_nocover.pdf:pdf}, isbn = {978-0-578-59179-7}, pages = {490--499}, title = {{The BUGA Wood Pavilion - Integrative interdisciplinary advancements of digital timber architecture}}, year = 2019 }
6. Alvarez, M., Wagner, H. J., Groenewelt, A., Krieg, O., Kyjanek, O., Aldinger, L., Bechert, S., Sonntag, D., Menges, A., & Knippers, J. (2019). The buga wood pavilion - Integrative interdisciplinary advancements of digital timber architecture. ACADIA - Ubiquity and Autonomy Proceedings of the ACADIA Conference 2019, 490–499.
  - BibTeX
  BibTeX
  @article{alvarez_buga_2019, author = {Alvarez, Martin and Wagner, Hans Jakob and Groenewelt, Abel and Krieg, Oliver and Kyjanek, Ondrej and Aldinger, Lotte and Bechert, Simon and Sonntag, Daniel and Menges, Achim and Knippers, Jan}, journal = {ACADIA - Ubiquity and Autonomy [Proceedings of the ACADIA Conference 2019]}, pages = {490--499}, title = {The buga wood pavilion - {Integrative} interdisciplinary advancements of digital timber architecture}, year = 2019 }
2018
1. Menges, A., Wagner, H. J., & Schwinn, T. (2018). Bionische segmentierte Holzplattenschalen: integrative agentenbasierte Modellierung und robotische Fertigung. In 24. Internationales Holzbau-Forum IHF 2018 (pp. 239–249). FORUM HOLZBAU.
  - BibTeX
  BibTeX
  @incollection{Menges2018, address = {Biel/Bienne}, author = {Menges, Achim and Wagner, Hans Jakob and Schwinn, Tobias}, booktitle = {24. Internationales Holzbau-Forum IHF 2018}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1905_BUGA_WOOD/1810_BUGA_Referat_IntHolzbauForum_Garmisch/181106_IN_Frau Stucki/43_IHF2018_Menges.pdf:pdf}, isbn = {978-3-906226-23-1}, pages = {239--249}, publisher = {FORUM HOLZBAU}, title = {{Bionische segmentierte Holzplattenschalen: integrative agentenbasierte Modellierung und robotische Fertigung}}, year = 2018 }
2. Garufi, D., Wagner, H. J., Bechert, S., Schwinn, T., Wood, D. M., Menges, A., & Knippers, J. (2018). Fibrous Joints for Lightweight Segmented Timber Shells. Proceedings of Research Culture in Architecture Conference 2018 (RCA 2018).
  - BibTeX
  BibTeX
  @inproceedings{Garufi2018, author = {Garufi, Dominga and Wagner, Hans Jakob and Bechert, Simon and Schwinn, Tobias and Wood, Dylan Marx and Menges, Achim and Knippers, Jan}, booktitle = {Proceedings of Research Culture in Architecture Conference 2018 (RCA 2018)}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/1809_FIBRE_TIMBER/01_RCA Conference/04_Submission/RCA_Garufi, Wagner - Fibrous_Timber_Joints.pdf:pdf}, title = {{Fibrous Joints for Lightweight Segmented Timber Shells}}, year = 2018 }

Teaching

Design Studios:

ITECH MSc. Thesis Students:

Gradient Density - Chris Donghwi Kang, Otto Lindstam, 2024
- "Deutscher Holzbaupreis" 2025
- IntCDC Outgoing Scholarship
Terra [In]Cognita - Maxime Fouillat-Siergiej, Weiqi Xie, Esra Yaman, 2023
- Best Poster Award, Future of Construction 2024, Mendrisio Switzerland
- "Bauwende" Prize 2024, Faculty of Architecture - University of Stuttgart
Embraced Wood - Pelin Asa, Christelle El Feghali, Christian Steixner, 2022
Frame-Active Winding - Ayşe Esin Durmaz, Alexandra Pittiglio, Ailey Simpson, 2022
Controlled Anisotropy - Tzu-Ying Chen, Lior Skoury, Simon Treml, 2021
- Diploma Prize of the Faculty of Architecture 2022 - Nomination
Building Across Scales - Daniel Locatelli, Nils Opgenorth, 2021
- IntCDC Thesis Grant 2021
Joint Effort - Simon Lut, Lasath Siriwardena, Tim Stark, 2020
- IntCDC Thesis Grant 2020
- Preis der Dr. Artur-Fischer Stiftung 2021
Working with Uncertainties - Yue Qi, Ruquing Zhong, 2020
- IntCDC Thesis Grant 2020
Spatial Winding - Rebeca Duque Estrada, Fabian Kannenberg, 2019
- Leichtbaupreis 2020
Bent-Computational Tooth Construction - Miro Bannwart, 2019
- Exhibited at Grubenmann Museum, Zeughaus Teufen, CH

International Workshops Lead:

Prompt-to-Production: Aeonian Artefact Automation for Circular Timber Assemblies
DigitalFutures 2024, Shanghai
Spatial Glulam Structures
DigitalFuturesWORLD 2021, Shanghai (Hybrid)
Dual-Additive Manufacturing
ACADIA 2020, Online + Global
Platform-based Robotic Timber Architecture
DigitalFuturesWORLD 2020, Shanghai (Hybrid)
Fibrous Timber Joints
Smart Geometry 2018, Toronto
KUKA Basic Robot Programming Workshop, 2019-*, w/ Tobias Schwinn
University of Stuttgart with KUKA College Gersthofen, Stuttgart & Augsburg

Vita

Hans Jakob completed the ITECH Master Program at University of Stuttgart with distinction in 2017 and received a B.Sc. in Architecture from Vienna University of Technology. During his studies he worked for renowned architecture offices in Vienna and Paris and worked as research assistant at the Vienna University of Technology and at the University of Stuttgart.

Currently he is coordinating the EIC Pathfinder project "UniversalTimberSlab" and leads the research integration of the LCRL Multi-Storey Timber Slabs into the IntCDC Building of the DFG Cluster of Excellence IntCDC. At some point he might also finish his dissertation with the topic "Project-based Robotic Timber Construction: A framework for the integrative co-evolution of building- and automation systems in computational wood construction"

He is the founder of the timber design technology consultancy Corthus which provides expertise to international clients since 2023.

Research:

Projects:

Scientific Peer-Review:

Automation in Construction Journal, Elsevier B.V. Amsterdam, NL
Project Funding Division II, Swiss National Science Foundation, CH
Wood Material Science and Engineering, Taylor & Francis
Construction Robotics Journal, Springer Nature Switzerland AG, CH
Cogent Engineering, Taylor & Francis
Architectural Intelligence Journal, SpringerNature
Nexus Network Journal - Architecture & Mathematics, SpringerNature / Birkhäuser
RobArch 2024 - "Beyond Optimization", Scientific Committee, CA
ACADIA 2022 - "Hybrids & Haecceities", Scientific Committee, USA
ACADIA 2021 - "REALIGNMENTS", Scientific Committee, USA

Awards:

DigitalFutures Young Award 2024, Winner
Deutscher Nachhaltigkeitspreis, Special Award Digitalization / Architecture, BUGA Wood Pavilion Team
Deutscher Holzbaupreis 2021, Honorable Mention , BUGA Wood Pavilion Team
Holzbau Plus Award 2020, Winner in Category "Innovation", BUGA Wood Pavilion Team
BIM Award, ICD/ITKE Research Pavilion 2016/17 Team

Presentations:

UniversalTimberSlab - ein neues Konzept für punktgestützte Flachdecken aus Holz
Süddeutscher Holzbaukongress, Stuttgart
In person presentation, 3.7.2025
Computerbasierte Planung und robotische Fertigung des IntCDC Gebäudes
IBA27, Stuttgart
In person presentation, 21.5.2025
Mass Timber Meetup
Tallwood Design Institute, Corvallis
Online Presentation, 29.10.2024
"Robotic Fabrication and Co-Design for Computational Wood Architecture"
University of Oregon
In-Person Presentation, 4.4.2024
"Lightweight Mass Timber"
University of British Collumbia
In-Person Lecture, 2.4.2024
"Towards Ubiquity: Computational Wood Architecture"
Weitzmann School of Design at the University of Pennsylvania
Online Presentation, 6.2.2024
“Neuentwicklung von Holz-Geschossdeckensystemen”
3. Thüringer Holzbautag, Erfurt
Invited Presentation, 12.10.2023
“Computational Wood Architecture”
Auf Holz Bauen – IngBW Online-Seminar, HolzbauOffensive BW
Invited Lecture, 21.11.2023
“Timber Buildings vs. Healthy Forests … or Both? – Computational Wood Architecture ”
Science Pub – Gesellschaft für Naturkunde e.V.
Invited Presentationg, 18.10.2023
„Forschungsintegration weitspannende Holzdecken im LCRL Gebäude“
Süddeutscher Holzbau Kongress, Stuttgart
Invited Presentation, 26.7.2023
"Towards Ubiquity: Computational Wood Architecture"
University of Pennsylvania, Weitzmann School of Architecture, Philadelphia, US
Invited Online Lecture, 31.1.2023
"Leichtbau mit Holz durch digitales Planen und Konstruieren"
Cross Cluster Innovativ - proHolzBW, Stuttgart, GER
Invited Online Presentationg, 24.11.2022
"Robotic Timber Construction - Future Potentials of Wood Architecture "
Forum Wood Building Baltic, Riga, LTV
Invited Lecture, 9.5.2022
"Project-based Robotic Timber Construction"
eCAADe Conference 2021, Novi Sad, SRB
Keynote, 9.9.2021
"Projektbezogener robotischer Holzbau"
Digitize Wood Network, Stuttgart, GER
Invited Online Lecture, 25.4.2022
"Integrative Computational Design and Construction"
Weitzmann School of Architecture - UPenn, Philadelphia, USA
Invited Online Lecture, 22.10.2021
"Co-Design for Timber Architecture"
Digital Futures, Inside ICD Presentation Series, Tongji University Shanghai, CH
Online Presentation, 12.2.2022
"Digitale Fabrikation: Was bringt uns die Zukunft"
Forum Holzbau - Technik und Wirtschaft, Memmingen, GER
Invited Lecture, 1.6.2022
"Hybrid Wood Structures"
Symposium Zukunft Bauen, Ludwigsburg, GER
Invited Lecture, 28.9.2021
"Experiment Digital"
Stiftung Baukultur Thüringen, Weimar, GER
Invited Lecture, 10.9.2021
"Three-Dimensional Fibre Placement in Wood for connections and reinforcements of timber structures"
IASS Annual Symposium 2020/21, Surrey, GB
Paper Presentation, 26.8.2021
"Qualities of the Unique"
World Conference on Timber Engineering 2021, Santiago de Chile, CHL
Paper Presentation + Roundtable Discussion, 9.8.2021
"Robotische Fabrikation im Bauwesen"
Brandenburg University of Technology
Invited Online Lecture, 15.6.2021
"Integrated Planning Cultures in the Co-Design and Fabrication of the BUGA Wood Pavilion"
DGA Bau, Max Planck Society
Invited Presentation at Working Group 6 Meeting, 9.3.2021
"BUGA Wood Pavilion: Digital Knowledge Transfer Strategies"
Fachinformationsdienst BAUdigital
Kickoff Event Presentation, 3.3.2021
"Computational Design and Construction in Wood Architecture"
Wood Week Chile 2020,
Invited Online Presentation, 3.9.2020
"Zukunftspotenziale robotischer Fabrikation im Holzbau"
bauinformation.com
Invited Online Lecture, 15.7.2020
“Konstruktiver Holzbau im Zeitalter des Digitalen"
University of Greifswald, Germany
Lecture at 'Kolloquiumsreihe Planet Erde 3.0', 19.11.2019
“Parametrisches Entwerfen und bionisches Design”
BDLA Entwerfertage 2019 Berlin, Germany
Invited Lecture, 8.11.2019
“The BUGA Wood Pavilion”
ACADIA Conference 2019, Austin TX, USA
Paper Presentation, 24.10.2019
“The BUGA Wood Pavilion”
Trekonstruksjonsdagen, Oslo, Norway
Invited Lecture, 3.9.2019
“Computational Lightweight Construction”
Bauen Digital – DETAIL Lecture Series, Köln, Germany
Invited Lecture, 9.5.2019
“Robotic Fabrication Processes for the BUGA Wood Pavilion 2019”
Robouwtics – Robotics in Architecture Symposium, TU Delft, Netherlands
Invited Presentation, 28.2.2019
“Additive and Subtractive Robotic Fabrication for the BUGA Timber Shell 2019”
Symposium der Studiengemeinschaft Holzleimbau, Blaustein, Germany,
Invited Presentation, 7.11.2018
“Fibrous Joints for Segmented Timber Shells”
RCA Conference 2018, TU Kaiserslautern, Germany,
Paper Presentation, 25.9.2018
“Digital Timber Architecture”
Lecture-Series “Holz: Material für die Zukunft”, com:bau, Dornbirn, Austria
Invited Presentation, 9.3.2018

Mentorship and Consulting:

Jury Panels:

Timber Skyscraper Annual International Architecture Competition, 2023
Timber Pavilion Annual International Architecture Competition, 2022
Rethinking the Future: Global Architecture & Design Awards 2022
Architecture & Design Collection Awards, 2022
Iceland Movie Pavilion International Architecture Competition, 2022

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Hans Jakob Wagner

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2024

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Institute for Computational Design and Construction

University of Stuttgart, Keplerstraße 11, 70174 Stuttgart

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