M. Sc. Robin Dörrie
is a doctoral researcher for the duration of the research project. He is leading the A04 project and organising the development of new concepts and strategies for the integration of reinforcement in SC3DP elements. Furthermore he is investigating the SC3DP process, its limitations and the spatial effect for the application in architecture and design within the work group of Prof. Dr.-Ing. Harald Kloft. Moreover, he will frequently publish the results achieved within the community.
Project(s)
Integrated Additive Manufacturing Processes for Reinforced Shotcrete 3D Printing (SC3DP) Elements with Precise Surface Quality
Publications
2027 | J. Rudolph, M. Megnet, R. Dörrie, H. Kloft, K. Dröder, D. Lowke:
Mixing- and Dual-Nozzle Concepts for Shotcrete 3D-Printing – Investigations on Material and Strand Homogeneity
RILEM Bookseries, vol 78. Springer, Cham., 2026 https://doi.org/10.1007/978-3-032-36738-9_16
Data |Zenodo, 2026 https://doi.org/10.5281/zenodo.18761369
2026 | A. Baghdadi, R. Doerrie, H. Kloft:
Compressive capacity of concrete dry joints across shotcrete, extrusion, and particle-bed additive manufacturing with robotic subtractive finishing
Materials and Structures, 2026 https://doi.org/10.1617/s11527-026-03187-1
Data |LeoPARD, 2026 https://doi.org/10.24355/dbbs.084-202610291013-0
2026 |B. Sawicki, R. Dörrie, H. Kloft:
Preliminary Assessment of Ultrasonic Pulse Velocity for Quality Control of Shotcrete 3D-Printed Concrete
Buildings, 16, 3594, 2026 https://doi.org/10.3390/buildings16183594
2025 | R. Dörrie, S. Gantner, F.S. Amiri, L. Lachmayer, M. David, T. Rothe, N. Freund, A. Nouman, K. Mawas, O. Oztoprak, P. Renner: From Digital to Real: Optimised and Functionally Integrated Shotcrete 3D Printing Elements for Multi-Storey Structures, Buildings 2025, Special Issue Robotics, Automation and Digitization in Construction, 2025, https://doi.org/10.3390/buildings15091461
2025 | R. Dörrie, L. Lachmayer, A. Baghdadi, M. David, K. Dröder, A. Raatz, H. Kloft: Investigation on process guidelines and geometric capabilities for robust shotcrete 3D printing, Materials & Design, 2025, https://doi.org/10.1016/j.matdes.2025.115050
Data | LeoPARD, 2025, https://doi.org/10.24355/dbbs.084-202510271126-0
2025 | R. Dörrie, L. Lachmayer, A. Baghdadi, M. David, K. Dröder, A. Raatz, H. Kloft: Investigation on process guidelines and geometric capabilities for robust shotcrete 3D printing Materials & Design, 2025, 115050, https://doi.org/10.1016/j.matdes.2025.115050
Data |LeoPARD, 2025, https://doi.org/10.24355/dbbs.084-202510271126-0
2024 | R. Dörrie, M. David, N. Freund, D. Lowke, K. Dröder, H. Kloft: Surface Processing of Shotcrete 3D Printed Concrete Elements Using a Rotating Trowel Disc–Influence of Timing on Resulting Surface Quality RILEM International Conference on Concrete and Digital Fabrication, pp. 397-404, Cham: Springer Nature Switzerland.
2024 | R. Dörrie, H. Kloft, B. Sawicki, N. Freund, D. Lowke: Automated Reinforcement Integration in Shotcrete 3D Printing Through Green State Milling RILEM International Conference on Concrete and Digital Fabrication, pp. 319-326, Cham: Springer Nature Switzerland, https://doi.org/10.1007/978-3-031-70031-6_37
Data | Photographs of cross-section of automated reinforcement integration in Shotcrete 3D Printing through green state milling, LeoPARD, 2024, https://doi.org/10.24355/dbbs.084-202403201419-0
2024 | L. Lachmayer, J. Quantz, H. Heeren, T. Recker, R. Dörrie, H. Kloft, A. Raatz: A spatial multi-layer control concept for strand geometry control in robot-based additive manufacturing processes Fourth RILEM International Conference on Concrete and Digital Fabrication Munich, RILEM Bookseries, vol 53, Springer, 2024, https://doi.org/10.1007/978-3-031-70031-6_14
2024 | L. Lachmayer, T. Recker, L. Dittrich, R. Dörrie, H. Kloft, A. Raatz: Inline image-based reinforcement detection for concrete additive manufacturing processes using a convolutional neural network Proceedings of the 41st ISARC,2024 https://doi.org/10.22260/ISARC2024/0007
Data | ReinforcementInFoam_Image_Dataset, Zenodo, 2025, https://doi.org/10.5281/zenodo.15096976.
2023 | R. Dörrie, N. Freund, E. Herrmann, A. Baghdadi, I., Mai, F. Galli, M. David, K. Dröder, D. Lowke, H. Kloft: Automated force-flow-oriented reinforcement integration for Shotcrete 3D Printing. In: Automation in Construction, 155, p.105075, https://doi.org/10.1016/j.autcon.2023.105075
https://doi.org/10.3390/buildings12111806
2022 | R. Dörrie, V. Laghi, L. Arrè, G. Kienbaum, N. Babovic, N. Hack, H. Kloft: Combined Additive Manufacturing Techniques for Adaptive Coastline Protection Structures. In: Buildings, vol. 12, no. 11, p. 1806, 2022.
https://doi.org/10.3390/buildings12111806
2022 | R. Dörrie, and H. Kloft: Force-Flow compliant robotic path planning approach for reinforced concrete elements. In Proc. Int. Conf. on Concrete and Digital Fabrication, 2022, pp. 370-375.
2022 | Lachmayer L., Dörrie R., Kloft H., Raatz A.: Process Control for Additive Manufacturing of Concrete Components. In: RILEM Bookseries Vol. 37, pp. 351-356, (3rd RILEM International Conference on Concrete and Digital Fabrication (DC 2022), England), (6 pages), https://doi.org/10.1007/978-3-031-06116-5_52
2021 | Lachmayer, L.; Dörrie, R.; Kloft,H.; Raatz, A.: Automated shotcrete 3D printing – Printing interruption for extended component complexity. In: ISARC, 2021.
2021 | Baghdadi, A.; Doerrie, R.; Kloft, H.: New calculation approach for selecting and orienting the reinforcing material for robotic concrete manufacturing. In: Proceedings of the IASS Annual Symposium 2020/21 and the 7th International Conference on Spatial Structures Inspiring the Next Generation. 23 – 27 August, Guilford, UK, 2021.
