Stereotomy也被稱之為 “切石術” ，一種集合了關於石材特性和構造的理論以及實踐知識的技術，而這技術在現代建築中已被人們遺忘了很長的一段時間了。在古代建築中，傳統的實體切割術是一種需要長時間去實踐的藝術，並廣泛分佈於整個古代和中世紀的地中海地區。過去，實體切割術常被視為建築領域的經典學科，直到工業革命的崛起，建築材料的使用便已改成為鐵，鋼和混凝土。近年來，數位製造和參數化設計已開始被視為當代建築中的技術趨勢。經由這些技術，出現了數位實體切割術，此技術重新復興了將石材用作建築的結構元素。如今，在實體切割術領域裡已有一些研究嘗試將傳統的石材構造與新的製造方式，例如CNC和機器手臂相互結合。此結合開始顯示出了驚人的效果，這些效果也已開始在展覽中展示，原型化甚至開始被使用於建造。另外，在建築中機器手臂的應用也引起了設計師與建築師極大的興趣。這些機器手臂可被自定義或與特定某些任務的設備相結合，使其成為最近創新性建築探索的媒介。儘管許多研究人員與從業人員提出了機器手臂技術在建築實踐中的應用建議，但該領域仍處於起步階段，因此需要設計和建築研究人員進行進一步研究。
  本研究討論了數位設計與製造相結合的實體切割術的設計探索，將研究內容分為五個部分。在第一部分中，通過文獻回顧，建立了基本的機器手臂知識，在其中制定了一套用於機器手臂保利龍切割的從設計到製造的基本過程。第二部分，將開發一系列原型設計，以討論通過機器手臂保利龍切割來製造複雜與定制設計的幾何形狀的經驗研究，同時關注模塊化元素和連接類型，這是自支撐結構的必要條件。在第三部分中，介紹了兩種不同尺寸的用於機器人保麗龍切割的末端執行器工具的製造過程，此新工具將為以後的設計研究提供更多的穩定性，靈活性和準確性。對於第四部分，本論文進一步討論了另外兩種方法，其中第一種是聯合製造法，此方法涉及兩個機器手臂來執行不同的任務，以研究這種複雜的製造方法與單個機器手臂相比的差異和局限性，第二種則是玻璃纖維增強聚合物（FRP）的應用，以研究數位實體切割術的其他潛在用途，例如假設工程，可用於生產輕巧和自由形式的FRP立面。在第五部分中，本論文討論了使用RhinoVAULT進行薄殼結構的設計探索，RhinoVAULT是一種基於侧推性網狀結構分析（TNA）形態找尋的數位設計工具，隨後基於此設計工具設計並製造了一座1:1的構築。
  本研究最後討論了這些各種設計工具和減法切割方法以及由此產生的從設計到製造的工作流程，並提出了未來的工作建議。

Stereotomy that also known as “Cutting Stone” originated as a technique which gathered theoretical and practical knowledge about the properties and construction of stone materials which have been forgotten far long in current architecture. In ancient architecture, traditional stereotomy is an art that been practiced over a wide chronological span and widespread across the ancient and medieval Mediterranean.  In the past, stereotomy was often regarded as a classical discipline in the architectural field. Until the rise of the Industrial Revolution, the use of building materials has changed to iron, steel, and concrete. Recent years, digital fabrication and parametric design have started to be seen as a technological tendency in contemporary architecture. From these techniques, came the Digital Stereotomy, a rescue of the use of stone as a structural element of construction. While nowadays there is some research in the field of stereotomy decided to try to combine traditional stone construction with new ways of production, like CNC’s and robotic arms. This combination is starting to show amazing results, which are being exposed in exhibitions, prototyped and even constructed. In addition, the use of the robotic arm in architecture has created considerable interest among designers and architects. The robotic arm enables coupled with custom or task-specific mounted devices and digital descriptions where these recently become the medium for innovative architectural explorations. While numerous researchers and practitioners have suggested robotics applications in architectural practice, this sector is still in its infancy and therefore requires further study by design and architectural researchers.
  This research discusses the design exploration of stereotomy architecture with the integration of digital design and fabrication. The paper presents the research findings into five parts. In the first part, through literature reviews, establish a basic robotic knowledge database where a fundamental design-to-fabrication process for robotic foam cutting is developed. The second part, a series of prototype designs will be developed to discuss empirical research into the manufacture of complex and custom-designed geometries by means of robotic foam cutting, focusing specifically on modular elements and joint typologies which are an essential condition for self-supporting structures. In the third part, the making process of two different sizes of end-effector tool for robotic foam cutting is presented where the new tools are to provide more stability, flexibility and accuracy for the later design research fabrication. For the fourth part, the paper further discusses two other methods in which the first is the conjoined fabrication method, involving two robotic arms to perform different tasks to research the differences and limitations of this complex fabrication method compared to the single robotic arm and the second is the application of fibreglass reinforced polymer (FRP), studying the other potential use of the digital stereotomy structures that could act as a falsework to produce lightweight and freeform FRP façade. In the fifth part, the paper discusses the design exploration of funicular shell structures by using RhinoVAULT, a form-finding digital design tool based on thrust network analysis (TNA) which later an interactive vault is designed and fabricated. 
  The thesis concludes with a discussion on these various design tools and subtractive cutting methodologies as well as a resulting design-to-fabrication workflow and suggests future work.

Table of Contents	i
List of Figures	vi
Chapter 1: Introduction	1
1.1 Design Motivations	1
1.1.1 Traditional Stereotomy Inspiration	1
1.1.2 Design Thinking of Parametric and Digital Manufacturing	4
1.1.3 The Potential and Influence of Robotic Arm in Architecture	6
1.1.4 Traditional Stone Material	8
1.1.5 The Revolution of Digital Age	10
1.2 Design Objectives	12
1.2.1 Materials and Construction Methods	12
1.2.2 Research of Robotic Arm Cutting Method	12
1.2.3 Customize and Enhance the Cutting Tool for Robotic Arm	13
1.2.4 Design and Construct a Vault	13
1.3 Relative Fields	14
1.3.1 Digital Fabrication	14
1.3.2 Stone Masonry	14
1.3.3 Graphic Statics	14
1.4 Research Process	15
1.5 Research Findings	16
Chapter 2: Literature Reviews	17
2.1 Stone Masonry	17
2.1.1 Introduction	17
2.1.2 Architect and Organization	18
2.1.2.1 Block Research Group	18
2.1.3 Case Studies	19
2.1.3.1 The Colosseum in Rome, Italy	19
2.1.3.2 Armadillo Vault in Venice, Italy	21
2.1.4 Books and Web Articles	23
2.1.4.1 Sustainability of Construction Materials	23
2.2 Stereotomy	24
2.2.1 Introduction	24
2.2.2 Architect and Organization	26
2.2.2.1 New Fundamental Research Group	26
2.2.3 Case Studies	27
2.2.3.1 HyparGate	27
2.2.3.2 RDM Vault	28
2.2.4 Books and Web Articles	29
2.2.4.1 Architectural Stone Elements: Research, Design and Fabrication	29
2.2.4.2 Stereotomy: Stone Architecture and New Research	31
2.3 Robotic Architecture	32
2.3.1 Introduction	32
2.3.2 Architect and Organization	34
2.3.2.1 Gramazio Kohler Research	34
2.3.2.2 Odico	35
2.3.3 Case Studies	37
2.3.3.1 Design of Robotic Fabricated High Rises	37
2.3.4 Books and Web Articles	38
2.3.4.1 The Robotic Touch – How Robots Change Architecture	38
2.3.4.2 Towards a Robotic Architecture	40
2.4 Robotic System	41
2.4.1 Type of Robotic System	41
2.4.1.1 Industrial Robot	41
2.4.1.2 Collaborative Robot	42
2.4.2 Robotic Manufacture Brand	43
2.4.2.1 ABB	43
2.4.2.2 KUKA	43
2.4.2.3 Universal Robots	44
2.4.3 Hardware Overview	45
2.4.3.1 Robot Arm	45
2.4.3.2 End Effector	46
2.4.3.3 Teaching Pendant	49
2.4.3.4 Control Box	50
2.4.3.5 Rotating Table	52
2.4.3.6 Rail Track	52
2.4.4 Robot Programming Methods	53
2.4.4.1 Introduction	53
2.4.4.2 Teaching Pendant	53
2.4.4.3 Teaching by Demonstration (TbD)	54
2.4.4.4 Offline Programming (OLP)	55
2.4.5 Robots Kinematics	59
2.4.5.1 Introduction	59
2.4.5.2 Forward Kinematics (FK)	59
2.4.5.3 Inverse Kinematics	60
2.4.5.4 Singularity	60
2.5 Chapter Conclusion	62
Chapter 3: Initial Design	64
3.1 Fabrication Methods	64
3.1.1 Hot-Wire Cutting	65
3.1.2 Materials	65
3.1.3 Tool Path Development	66
3.1.4 Tool Calibration	68
3.1.5 Robotic Arm Programming Script	69
3.1.6 Digital Fabrication Process	72
3.2 Preliminary Work	73
3.2.1 Environment Setting	73
3.2.2 End Effector Tool and Auxiliary Equipment	74
3.3 Prototype Design Series	76
3.3.1 Surface Patterns	77
3.3.1.1 Two-Parabola Surface	77
3.3.1.2 Jitter Surface	79
3.3.1.3 Sine Wave Surface	80
3.3.1.4 Hyperbolic Paraboloid	81
3.3.1.5 Shell Pattern Surface	82
3.3.1.6 Knurled Surface	83
3.3.2 Modular Blocks	84
3.3.2.1 2D Geometry Pattern Designs	84
3.3.2.2 Spatializing 2D Geometry Patterns	87
3.3.2.3 Fabrication Process and Final Model	90
3.3.3 Columns	94
3.3.3.1 Modular Column	94
3.3.3.2 Irregular Column	95
3.3.4 Vault	98
3.4 Chapter Conclusion	102
3.4.1 Overall Review	102
3.4.2 Next Steps	108
Chapter 4: Robotic Arm Hot-Wire Cutting Tool System Design	109
4.1 Hot-Wire Cutting Tool System	109
4.1.1 Hot-Wire Cutting Tool System Configuration	109
4.1.2 Existing Hot-Wire Cutting Tool System	110
4.1.3 New Hot-Wire Cutting Tool System	111
4.1.3.1 Hot-Wire Cutting Tools	111
4.1.3.2 Electrical Power Supply	117
4.2 Chapter Conclusion	121
4.2.1 Overall Review	121
Chapter 5: Experimental Attempt of Robotic Arm in Stereotomy	122
5.1 Multi-Robot Systems	122
5.1.1 Environment Setting	122
5.1.2 End Effector Tool and Auxiliary Equipment	123
5.1.3 Robotic Arm Programming Script	124
5.1.4 Fabrication Process and Final Outcome	127
5.1.5 Issues and Reviews	129
5.2 Fibre-Reinforced Polymer (FRP)	130
5.2.1 Introduction	130
5.2.2 Design Description	131
5.2.3 Prototype	131
5.2.3.1 FRP Application Process and Final Outcome	132
5.2.3.2 Issues and Reviews	134
5.2.4 FRP Vault	134
5.2.4.1 Environment Setting and Auxiliary Equipment	134
5.2.4.2 Design, Fabrication and Assembly Process	135
5.2.4.3 FRP Application Process and Final Outcome	137
5.2.4.4 Issues and Reviews	141
5.3 Chapter Conclusion	142
5.3.1 Overall Review	142
5.3.2 Next Steps	143
Chapter 6: Interactive Vault Design	144
6.1 Design Description	144
6.2 RhinoVAULT	144
6.2.1 Introduction	144
6.2.2 Design Workflow	146
6.2.3 RV Interface	148
6.3 Digital Design Process	149
6.3.1 Site Location and Analysis	149
6.3.2 Form Finding Process	150
6.3.3 Funicular Vault Thickness Scripting	155
6.3.4 Design Optimization	156
6.4 Scale Model	160
6.4.1 3D Printing	161
6.4.2 Falsework Design	162
6.4.3 Assembly Process	163
6.5 Digital Fabrication Process	166
6.5.1 Environment Setting and Auxiliary Equipment	166
6.5.2 Robotic Arm Programming Script	169
6.5.3 Fabrication and Assembly Process	172
6.6 Chapter Conclusion	187
6.6.1 Overall Review	187
Chapter 7: Conclusions	190
7.1 Overall Review	190
7.2 Further Research Development and Recommendations	191
7.2.1 Hardware Recommendations	191
7.2.2 Software Recommendations	192
References	193
Appendix	195

Figure 1.1 Freeform Casting - Robot-Aided Hot-Wire Cutting Formwork Research	2
Figure 1.2 Heydar Aliyev Center by Zaha Hadid Architects	4
Figure 1.3 The First Industrial Programmable Robotic Arm "Unimate”	6
Figure 1.4 Winery Gantenbein by Gramazio & Kohler + Bearth & Deplazes Architekten	7
Figure 1.5 Le Corbusier Domino Frame	8
Figure 1.6 The History of CAD	10
Figure 1.7 Existing Hot Wire Foam Cutting Tool	13
Figure 1.8 Research Process Diagram	15
Figure 2.1 Notre Dame Cathedral	17
Figure 2.2 The Reciprocal Diagrams of RhinoVAULT	18
Figure 2.3 The Colosseum in Rome, Italy	19
Figure 2.4 Doric Column on the First Floor (Left), Ionic Columns on the Second Floor (Middle), Corinthian Columns on the Third Floor (Right)	19
Figure 2.5 The Support of the Velarium	20
Figure 2.6 Types of Vaults	20
Figure 2.7 The Armadillo Vault	21
Figure 2.8 Waterjet Cutting for Stone (Left), Vault Assembly (Right)	21
Figure 2.9 An Overview of Early Design Options Sketched Digitally with RhinoVAULT	22
Figure 2.10 Sustainability of Construction Materials	23
Figure 2.11 Stone Cutting	24
Figure 2.12 Perspective of the Trompe at Anet	25
Figure 2.13 The Flux Vault (Left), The Installation Process (Middle), Design Process (Right)	26
Figure 2.14 HyparGate at the Troyes, France	27
Figure 2.15 Robotic Fabrication (Diamond Wire Cutting and Milling)	27
Figure 2.16 RDM Vault	28
Figure 2.17 Diagram of Tool Path	28
Figure 2.18 Architectural Stone Elements: Research, Design and Fabrication	29
Figure 2.19 Stereotomy: Stone Architecture and New Research	31
Figure 2.20 Process Framework: Role of Robotics in Architecture.	33
Figure 2.21 Robotic Fabrication Lab, Institute for Technology in Architecture, WTH Zurich	35
Figure 2.22 Robotic Hot-Wire Cutting with a Single Curved Surface	36
Figure 2.23 Robotic Hot-Blade Cutting with Double Curved Surface	36
Figure 2.24 A Multitude of Different Models Robotically Fabricated in the Design Research Studio in Singapore	37
Figure 2.25 The Robotic Touch - How Robots Change Architecture	38
Figure 2.26 Towards a Robotic Architecture	40
Figure 2.27 Six Types of Industrial Robots	42
Figure 2.28 KUKA LBR IIWA 14 R820	42
Figure 2.29 ABB	43
Figure 2.30 KUKA	43
Figure 2.31 Universal Robots	44
Figure 2.32 ABB IRB 6620 (Left), Kuka Robot K-1000 (Right)	44
Figure 2.33 UR5, 10 & 15	44
Figure 2.34 Robotic Arm Overview	45
Figure 2.35 The Joints of a Six Axis Universal-Robot	45
Figure 2.36 Mechanical Gripper (Left), Pneumatic Gripper (Right)	46
Figure 2.37 Vacuum Gripper with Foam Rubber Layer (Left) and Suction Cups (Right)	47
Figure 2.38 Electromagnet Gripper (Left) and Permanent Magnet Gripper (Right)	47
Figure 2.39 Different Tool Types of Spindles	48
Figure 2.40 Custom Design Hot-Wire Cutting Tool by TKU Student	48
Figure 2.41 Universal Robots’ Teaching Pendant (Front and Back View)	49
Figure 2.42 U-Pendant (Left) and CAMOU Teach Pendant (Right)	50
Figure 2.43 Control Box of Universal Robots	50
Figure 2.44 the layout of electrical interface inside the control box	51
Figure 2.45 Single-Axis Positioner	52
Figure 2.46 KUKU Robotic Arm Mounted on the Linear Rail Track	52
Figure 2.47 Robot Programming by Using Teaching Pendant	53
Figure 2.48 Teaching by Demonstration of Universal Robots (Left),	54
Figure 2.49 Interface of RoboDK	55
Figure 2.50 GH Offline Programming Plugins: HAL, RAPCAM, Scorpion, Taco and KUKA|Prc (From Left to Right)	56
Figure 2.51 Robots Plugin Component Tab Panel	57
Figure 2.52 Load Robot System	57
Figure 2.53 Create Tool	57
Figure 2.54 Create Target	58
Figure 2.55 Create Program	58
Figure 2.56 Program Simulation	58
Figure 2.57 Save Program/ Remote UR	58
Figure 2.58 The Schematic Representation of Forward and Inverse Kinematics.	59
Figure 2.59 Wrist Singularity	60
Figure 2.60 Shoulder Singularity	61
Figure 2.61 Elbow Singularity	61
Figure 3.1 Robotic Fabrication Methods	64
Figure 3.2 Tool Path Development in GH	67
Figure 3.3 Cutting Path of Geometry in Rhino	67
Figure 3.4 The Tool Center Point (TCP) of Hot-Wire	68
Figure 3.5 Programming Script of Hot-Wire Cutting Process in GH	69
Figure 3.6 Needle Pin Tool (Left) and the Working Desk Plan (Right)	70
Figure 3.7 HWC Tool with TCP	70
Figure 3.8 Way Points Illustration	71
Figure 3.9 Spherical Boundary of KUKA KR30	71
Figure 3.10 Diagram of Design-to-Fabrication Workflow.	72
Figure 3.11 Scenario Simulation 01	73
Figure 3.12 Scenario Simulation 02	73
Figure 3.13 Scenario Simulation 03	73
Figure 3.14 Hot-Wire Cutting Tool (HWCT) Exploded View	74
Figure 3.15 Four-View Drawings and Exploded View of Three Types of Base Mould	75
Figure 3.16 Four Categories of Prototypes Design	76
Figure 3.17 Geometry Modelling (Up) and Cutting Tool Path Design (Down) in GH	77
Figure 3.18 Simulation of Cutting Process	78
Figure 3.19 Final Model	78
Figure 3.20 Fabrication Process of Two-Parabola Surface	78
Figure 3.21 Simulation of Cutting Process	79
Figure 3.22 Final Model	79
Figure 3.23 Geometry Modelling (Up) and Cutting Tool Path Design (Down) in GH	79
Figure 3.24 Simulation of Cutting Process	80
Figure 3.25 Final Model (Left), Detailing (Middle) and Overall Model (Right)	80
Figure 3.26 Geometry Modelling in GH	80
Figure 3.27 Simulation of Cutting Process	81
Figure 3.28 Detailing (Left) and Final Model (Right)	81
Figure 3.29 Fabrication Process of Hyperbolic Paraboloid Surface	81
Figure 3.30 Simulation of Cutting Process	82
Figure 3.31 Geometry Modelling in GH	82
Figure 3.32 Final Model (Fast Speed)	82
Figure 3.33 Final Model (Slow Speed)	82
Figure 3.34 Poor Detailing	82
Figure 3.35 Poor Detailing	83
Figure 3.36 Final Model (Left) and Detailing (Right)	83
Figure 3.37 Simulation of Cutting Process	83
Figure 3.38 The 11 Types of 2D Geometry Patterns	87
Figure 3.39 Spatializing the 11 Types of 2D Geometry Patterns	90
Figure 3.40 Fabrication Process of Type 01	91
Figure 3.41 Fabrication Process of Type 10	91
Figure 3.42 Final Model and Detailing	93
Figure 3.43 Overall Final Model	94
Figure 3.44 Joining Surface (Left & Middle) and Blow Up View (Right)	94
Figure 3.45 Assembly Process of Modular Column	94
Figure 3.46 Geometry Modelling and Cutting Tool Path Process	95
Figure 3.47 Simulation of Cutting Process	96
Figure 3.48 Program Scripting in GH	96
Figure 3.49 Individual Components (Left), Overall Final Model (Middle) and Blow Up Detail (Right)	97
Figure 3.50 Arrangement of The Modular Blocks laid on a Horizontal Surface	98
Figure 3.51 Vault Surface (Left) and The Modular Blocks Morph to the Vault Surface (Right)	98
Figure 3.52 Geometry Modelling in GH	99
Figure 3.53 Orientation of the Components onto the WCS	99
Figure 3.54 Cutting Path of each Component in GH	100
Figure 3.55 Simulation of Cutting Process	100
Figure 3.56 Overall Final Model (Left) and Blow Up Detail (Right)	101
Figure 3.57 The Gap in between Components	101
Figure 3.58 Cutting with Low Speed (Left) and Hight Speed (Right)	102
Figure 3.59 Speed and Temperature Configuration for HWC	103
Figure 3.60 Modular Blocks Type 04 Showed the Difference of the Divided Part	103
Figure 3.61 The Overheat Point of the Modular Blocks of Type 10	103
Figure 3.62 Individual of Column Components	104
Figure 3.63 The Differences in the Vault’s Components in Modelling	104
Figure 3.64 Summary Table of Prototypes Design Series	107
Figure 4.1 Hot-Wire Cutting Tool System Configuration	109
Figure 4.2 Deformation of the Existing Hot-Wire Cutting Tool (Top),	110
Figure 4.3 The Existing DC Power Supply (Source: Self-Taken Photo)	110
Figure 4.4 Small Hot-Wire Cutting Tool (HWCT) Exploded View	111
Figure 4.5 Materials for Small Hot-Wire Cutting Tool	112
Figure 4.6 Detail Drawing of Small Hot-Wire Cutting Tool	112
Figure 4.7 Manufacturing Process of Small Hot-Wire Cutting Tool	113
Figure 4.8 New Small Hot-Wire Cutting Tool Overview	113
Figure 4.9 Big Hot-Wire Cutting Tool (HWCT) Exploded View	114
Figure 4.10 Materials for Big Hot-Wire Cutting Tool	115
Figure 4.11 Detail Drawing of Big Hot-Wire Cutting Tool	115
Figure 4.12 Manufacturing Process of Big Hot-Wire Cutting Tool	116
Figure 4.13 New Big Hot-Wire Cutting Tool Overview	116
Figure 4.14 Electrical Power Supply Diagram for Small HWCT	118
Figure 4.15 Electrical Power Supply Diagram for Big HWCT	118
Figure 4.16 Materials for Electrical Power Supply	119
Figure 4.17 Manufacturing Process of Electrical Power Supply	119
Figure 4.18 Overview of Two Electrical Power Supplies	120
Figure 4.19 Summary Table of Overall HWCT	121
Figure 5.1 Multi-Robot Systems Scenario Simulation	122
Figure 5.2 Overview of Needle Gripper (Top Left), Detail Drawing of Needle Gripper (Bottom Left) and Needle Gripper Exploded View (Right)	123
Figure 5.3 Four-View Drawings and Exploded View of Positioning Base	123
Figure 5.4 Program Scripting in GH (UR5)	124
Figure 5.5 Three Different Holding Position of UR5	125
Figure 5.6 Preview of the Needle Gripper Tool Grab the Material Block	125
Figure 5.7 Program Scripting in GH (UR10)	126
Figure 5.8 Three Different Cutting Paths of UR10	126
Figure 5.9 Calibration Process of Two Robotic Arms (UR5 and UR10)	127
Figure 5.10 Fabrication Sequence of Two Robotic Arms	127
Figure 5.11Fabrication Process of Multi-Robot Systems	128
Figure 5.12 Overview (Left) and Close-Up View (Right) of the Final Outcome	129
Figure 5.13 The Newly Cut-Out Final Outcome after Recalibration	129
Figure 5.14 The Minor Error Cutting Difference of the Geometry (Right) Compared to Original Geometry (Left)	129
Figure 5.15 The Core Material	131
Figure 5.16, Epoxy Resin (AB Glue), E-Glass Woven Fibreglass (LT-390)	131
Figure 5.17 (a) A-Agent, (b) B-Agent, (c) Mixing Process,	132
Figure 5.18 Application of Water-based Release Agent	132
Figure 5.19 E-Glass Woven Fibreglass Layering Process	133
Figure 5.20 Overview of the FRP	133
Figure 5.21 Demoulding Process Failure	134
Figure 5.22 UR10 Hot-Wire Cutting Scenario Simulation	134
Figure 5.23 Modelling Process of FRP Vault	135
Figure 5.24 Simulation of Cutting Process	136
Figure 5.25 Assembly Process of the Vault (Source: Self-Taken Photos)	136
Figure 5.26 The Individual Components (Left) and the Overview (Right) of the Vault (Source: Self-Taken Photos)	136
Figure 5.27 Materials for FRP Application	137
Figure 5.28 Base Layering	138
Figure 5.29 Fibreglass Layering on the Base Mould Layer	138
Figure 5.30 Application of New Selected Water-based Release Agent	139
Figure 5.31 Final Fibreglass Layering Process	139
Figure 5.32 Demoulding (Top Row), Deblurring (Middle Row) and Cleaning (Bottom Row) Process	140
Figure 5.33 The Overview of the Base Mould (Vault) and the Vault FRP	140
Figure 5.34 The Base Mould (Vault) (Top Left), the Vault FRP (Top Right)	141
Figure 5.35 Poor Workmanship of FRP Layering	141
Figure 5.36 Summary Table of Multi-Robot Systems	142
Figure 5.37 Summary Table of FRP Application Process	143
Figure 6.1 The Reciprocal Relationship in the Thrust Network Analysis (TNA)	144
Figure 6.2 The Primal Grid Γ and Dual Grid Γ* are related by a Reciprocal Relationship	145
Figure 6.3 RV Form Finding Process	146
Figure 6.4 RhinoVAULT Form Finding Design Workflow	147
Figure 6.5 The Overview of RhinoVAULT Toolbar and Submenus	148
Figure 6.6 Site Location Photos	149
Figure 6.7 Floor Plan and Side Elevation of the Site Location	149
Figure 6.8 Initial Form Design Process	150
Figure 6.9 Default Setting of RV	150
Figure 6.10 Form and Force Diagram Generation Process	151
Figure 6.11 The Angle Tolerance exceeded the Maximum Deviation	152
Figure 6.12 Relax and Smoothen the Form Diagram	152
Figure 6.13 The Final Result of the Thrust Network, Form and Force Diagram	153
Figure 6.14 Two Supports of the Vault is Moved Vertically Up	153
Figure 6.15 The Comparison Before and After the Modification	154
Figure 6.16 The Final Vault Form Design	154
Figure 6.17 The Resultant Forces of the Vault	155
Figure 6.18 Basic Data Collection Scripting	155
Figure 6.19 The Vault Thickness Generation	155
Figure 6.20 The Optimization of the Joint Surface Design	156
Figure 6.21 Before and After the Optimization of the Joint Surface Design	156
Figure 6.22 The Vault Design with Thickness (Left) and Create Openings Process (Right)	157
Figure 6.23 The Final Vault Design	157
Figure 6.24 The Detail Drawing of the Final Vault Design	158
Figure 6.25 Multiple Minimum Bounding Box Calculation Scripting in GH	159
Figure 6.26 The Overview of the Final Vault Design (Top Left), the Bounding Box Optimization Process (Top Right) and Overall Components of the Final Vault Design (Bottom)	159
Figure 6.27 Laser Cutting Drawing of the Site Location Model	160
Figure 6.28 The Overall Components of the Site Model (Left) and the Completed Site Model (Right)	160
Figure 6.29 The Components are imported into the 3d Printing Software (Left) and the Print Preview of the Components (Right)	161
Figure 6.30 3d Printing Process (Left) and the Completed 3d Printing Components	161
Figure 6.31 The Bowerbird Scripting for the Waffle Structure Falsework in GH	162
Figure 6.32 The Waffle Structure Drawing for Laser Cutting	162
Figure 6.33 The Falsework Design Process	162
Figure 6.34 The Overall of the 3d Printed Components (Left) and the Falsework (Right)	163
Figure 6.35 The Assemble Process of the Scale Model	163
Figure 6.36 Assembly Process of Scale Model	164
Figure 6.37 The Overview of the Scale Model	165
Figure 6.38 KUKA KR30 Hot-Wire Cutting Scenario Simulation	166
Figure 6.39 Four-View Drawings and Exploded View of Positioning Base	166
Figure 6.40 The Optimization and Orientation of the Final Vault Components	167
Figure 6.41 The Orientation of Components in a Grid System	168
Figure 6.42 Summary of Material Quotation	168
Figure 6.43 Summary of Fabrication Time Estimation	168
Figure 6.44 Program Scripting in GH (KUKA KR30)	169
Figure 6.45 Simulation of Cutting Process	170
Figure 6.46 Tool Angle Parameter in the Create Tool Component for the Big HWCT	170
Figure 6.47 Four Different Angle of the Big HWCT	170
Figure 6.48 Collision of the Big HWCT and the Material Block	171
Figure 6.49 Fabrication Process of First Component (Camera 01)	172
Figure 6.50 Fabrication Process of Component 33 (Camera 02)	173
Figure 6.51 Adhesive and Finishes Materials	174
Figure 6.52 The Vault Divided into Three Sections for the Assembly Process Sequence	175
Figure 6.53 Assembly Process of the Vault (Section 01)	176
Figure 6.54 Assembly Process of the Vault (Section 02 & 03)	177
Figure 6.55 Reinforced and Finishes Process of the Vault (Section 01)	178
Figure 6.56 Reinforced and Finishes Process of the Vault (Section 02)	179
Figure 6.57 Reinforced and Finishes Process of the Vault (Section 03)	179
Figure 6.58 The Final Assembly Process of the Vault	180
Figure 6.59 The Final Reinforced Process	181
Figure 6.60 The Anchoring Process for the Section 03 of the Vault	181
Figure 6.61 The Completed Anchor Platform	182
Figure 6.62 The Final Finishes Process	182
Figure 6.63 The Overview of the Vault 01	183
Figure 6.64 The Overview of the Vault 02	184
Figure 6.65 The Overview of the Vault 03	185
Figure 6.66 The Overview of the Vault 04	186
Figure 6.67 The Vault in Raining Day	187
Figure 6.68 Over Slanted Wall (Left) and Uneven Floor (Right)	188
Figure 6.69 Summary of Actual Fabrication Time	188
Figure 6.70 RhinoVAULT Design workflow	189
Figure 7.1 Marble Cutting with Diamond-Wire Saw	192

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