1. USC Viterbi School of Engineering. CRAFT Center for Rapid Automated Fabrication Technologies

2. USC Viterbi School of Engineering. Grand Challenge Fundamental Research Technology Thrusts Extrudable Materials and Fabrication Integrated Software Systems Modular Components and Assembly A House in a Day Architectural Impact Technology Demonstrations – Mega-Scale Layered Fabrication – Industrial Parts & Molds Freestanding Objects Architectural Scale Models Extraterrestrial Construction Public Art Environmental ImpactRegulatory Impact Employment Impact Economic Impact Mathematical Models of Fabrication Processes 4D Modeling and Visualization Feasible Geometry Reasoning Freeform/Geometry Composite Materials Fluid Dynamics Novel Structure Testing Materials/Structures Workflow & Logistics Planning System Performance Testing and Evaluation Multi-Robot Coordination Collaborative Design Systems/Processes Dynamic Modeling and Control Embedding Capabilities during Fabrication Real-Time Inspection Sensing/Acting Social Impact

3. USC Viterbi School of Engineering. CRAFT - Vision and Goals To develop the science and engineering needed for rapid automated fabrication of structures of various scales, up to very large objects such as buildings. The goal is a major breakthrough in Mega-Scale fabrication.

4. USC Viterbi School of Engineering. Grand Challenge Building a custom-designed house in a day while radically reducing the costs, injuries, waste and environmental impact associated with traditional construction techniques.  affordable housing for the 30 million U.S. households facing cost burdens or overcrowding;  emergency housing for the 37 million/year victims of natural (and/or man- made) disasters;  new styles of housing based on curved rather than straight surfaces;  extraterrestrial buildings constructed from in situ materials; With national construction-related expenditures currently totaling close to $1 trillion annually, the potential impact is enormous. The goal: a revolution in housing construction

5. USC Viterbi School of Engineering. Grand Challenge – a house in a day Architectural Impact Environmental Impact Regulatory Impact Economic Impact Social Impact Employment Impact

6. USC Viterbi School of Engineering. Development Phases Modular Components and Assembly Integrated Software Systems 20052006200820092010

7. USC Viterbi School of Engineering. Grand Challenge Fundamental Research Technology Thrusts Extrudable Materials and Fabrication Integrated Software Systems Modular Components and Assembly A House in a Day Architectural Impact Technology Demonstrations – Mega-Scale Layered Fabrication – Industrial Parts & Molds Freestanding Objects Architectural Scale Models Extraterrestrial Construction Public Art Environmental ImpactRegulatory Impact Employment Impact Economic Impact Mathematical Models of Fabrication Processes 4D Modeling and Visualization Feasible Geometry Reasoning Freeform/Geometry Composite Materials Fluid Dynamics Novel Structure Testing Materials/Structures Workflow & Logistics Planning System Performance Testing and Evaluation Multi-Robot Coordination Collaborative Design Systems/Processes Dynamic Modeling and Control Embedding Capabilities during Fabrication Real-Time Inspection Sensing/Acting Social Impact

8. USC Viterbi School of Engineering. Interrelationships among the three research thrusts Integrated Software Systems Modular Components & Assembly Extrudable Materials& Fabrication Architectural Design Logistics plan Predictive performance Inspection plan Sensory Data Supply Dispatch Indexed Video Log Structure design & Performance Requirements Performance Restrictions Visual Data CC Hardware Robot Commands Hardware Feedback Assembly plans Nozzle path plan

9. USC Viterbi School of Engineering. Extrudable materials & fabrication Perform underlying basic research necessary to develop the materials and structures for automated mega-scale fabrication Integrate materials into ultra-efficient structures Integrate materials with delivery systems and robots from other thrusts

10. USC Viterbi School of Engineering. Materials to Structures Process Design Efficient Structures Structural DesignMaterial Development Cost Optimization

11. USC Viterbi School of Engineering. Faculty Steve NuttMaterials ScienceUSC Mike KassnerAerospace and MechanicalUSC Julian DomaradzkiAerospace and MechanicalUSC Henryk FlashnerAerospace and MechanicalUSC Yan XiaoCivil and EnvironmentalUSC Behrokh KhoshnevisIndustrial and SystemsUSC George BekeyComputer ScienceUSC Peter WillISIUSC Neil GershenfeldMedia Arts and SciencesMIT Larry SassArchitectureMIT

12. USC Viterbi School of Engineering. Robotics fab, modular components & assembly Perform research and develop various mono and distributed robots, tools, software and their integration into systems for assembling modules in situ to form functional attributes of structures Robots’ locations, movements and working areas are dynamically changing along with environment. Develop a mathematical / geometric model of environment and a robot coordination protocol. Perform the fundamental research in the modules to be placed internal to the extruded material that transform an extrusion into a functional wall or roof of a mega-scale structure. The modules that make a post-modern interactive structure include: normal reinforcing, plumbing, and electricity conduits Integrated communication, interactive sensing and displays Integrate the Modules and Assembly Thrust with Extruded Materials and Software

13. USC Viterbi School of Engineering. Modules and Assemblies Design of modules requiring bonding: reinforcement Robotic Assembly: Single robot Multiple robots Test & evaluation Design of Modules requiring sealing: electrical, plumbing Deadline scheduling

14. USC Viterbi School of Engineering.

15. USC Viterbi School of Engineering. Embedding IT components

16. USC Viterbi School of Engineering. Automated Painting

17. USC Viterbi School of Engineering. Dynamic Control Material Flow Computation Flow Control Law Position Sensors Nozzle Actuator Nozzle Control Law Robot Wheel Motors Flow Sensor Position Sensor Gantry Dynamic Model Gantry Dynamic Model Material Flow Dynamics Material Flow Dynamics System Dynamics Desired Material Flow Nozzle Position & Orientation Gantry Position Wheel Torques Nozzle Forces Commanded Position Material Flow + - + - Gantry Motion Controller

18. USC Viterbi School of Engineering. Faculty George BekeyComputer Science, Electrical Engineering, Biomedical Engineering USC Peter WillISI, Industrial and Systems Engineering, Materials Science, Astronautics USC Phillip DunstonCivil EngineeringPurdue Henryk FlashnerAerospace and Mechanical Engineering USC Neil GershenfeldCenter for Bits and AtomsMIT Sami MasriCivil EngineeringUSC Maja MataricComputer ScienceUSC Gerard MedioniComputer ScienceUSC Shimon NofIndustrial SciencePurdue Miroslaw SkibniewskiCivil engineeringPurdue

19. USC Viterbi School of Engineering. Goals Perform the fundamental research and develop the software components for automating mega- scale fabrication Integrate components with each other and with robots from other thrusts

20. USC Viterbi School of Engineering.

21. USC Viterbi School of Engineering. Faculty

22. USC Viterbi School of Engineering. Four Classes of Software Modeling Designing Planning Executing

23. USC Viterbi School of Engineering. Industrial Sectors Materials Construction Equipment Software Architects Real Estate Other application sectors

24. USC Viterbi School of Engineering. Industrial Membership Industrial membership – 3 tiers –Senior Member - $100,000 –Regular Member - $20,000 to $50,000 –Technology Associate – small business Benefits to Industry –Seat on CRAFT ERC industrial advisory board – Senior Member –Licensing (Senior Member – exclusive) –Focused research projects –Access to cutting edge research –Access to center facilities and expertise for R&D projects –Contact with graduate students –Industry-University exchange program –SBIR and STTR partnerships –Industry-University Company Day – Senior Member

25. USC Viterbi School of Engineering. Expressions of Support Materials –Degussa Corporation (committed) –Maxit Group (committed) –CEMEX –Elotex –ECRA (European Cement Research Academy) –VDZ (German Concrete Research Academy) Equipment –Siemens –John Deere –Parker-Hannifan

26. USC Viterbi School of Engineering. Expressions of Support Construction –Shea Homes –Parsons –Shimizu –Bechtel –Boeing (space) Government –NASA (committed) –U.S. Army

27. USC Viterbi School of Engineering. Expressions of Support Architects –GL Forms (Greg Lynn) –Gehry Technologies –Cal-Earth Real Estate –ConAm (builds low income housing in Mexico) –Regency Outdoor Advertising

28. USC Viterbi School of Engineering. Management Plan Executive Board: Provost (USC) Vice Provost, Research (USC) Dean of VSoE (USC) Director of ISI (USC) Executive Board: Provost (USC) Vice Provost, Research (USC) Dean of VSoE (USC) Director of ISI (USC) Scientific Advisory board Industrial Advisory Board Student Leadership Council Scientific Advisory board Industrial Advisory Board Student Leadership Council Education Director Industrial Liaison Director Pre-College (K-12) Undergraduate & Graduate Outreach CREST/LSAMP EPICS/LINC/Fablabs Pre-College (K-12) Undergraduate & Graduate Outreach CREST/LSAMP EPICS/LINC/Fablabs Industry Participation Faculty Mini-Sabbatical Technology Transfer Intellectual Property Industry Participation Faculty Mini-Sabbatical Technology Transfer Intellectual Property Grand Challenge Technology Thrusts: Extrudable Materials & Fabrication Modular Components & Assembly Integrated Software Systems (Neches/Rosenbloom) Grand Challenge Technology Thrusts: Extrudable Materials & Fabrication Modular Components & Assembly Integrated Software Systems (Neches/Rosenbloom) Provost Khoshnevis Director Rosenbloom Deputy Director Joe Sullivan Associate Director Dean of Engineering

29. USC Viterbi School of Engineering. Thank you please visit www.ContourCrafting.org