Raatz, Annika Prof. Dr.-Ing. Archives - Additive Manufacturing in Construction (AMC) TRR277 https://amc-trr277.de/trr277-person/prof-dr-ing-annika-raatz/ AMC TRR 277 Tue, 27 Jan 2026 11:23:32 +0000 en-US hourly 1 https://wordpress.org/?v=6.8.5 Project B 04 https://amc-trr277.de/projects/project-area-b/focus-area-b-04/ Fri, 19 Nov 2021 15:30:02 +0000 http://amc-trr277.de/?post_type=projects&p=3438 The post Project B 04 appeared first on Additive Manufacturing in Construction (AMC) TRR277.

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Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

The integration of robot-guided Additive Manufacturing in construction will foster the degree of automation and can thus lead to increased productivity and improved component quality. In this project, a multi-criterion path planning is developed, based on an application process model that includes geometrical data and time-dependent physical material properties. Together with multimodal systems, a sensor-guided control for an adaptive online path planning will be implemented. Further, multimodal sensors and new control strategies are investigated to control cognitive and cooperative autonomous robot units with an extended degree of freedom.

Aim

The aim of this research project is to develop a reproducible robot-guided additive manufacturing process based on multi model adaptive path planning and process control for the production of high-quality, large and complex concrete components.

Approach

Based on physical modelling of the material behaviour, the numerical analysis of the printing process with respect to varying process conditions allows for a priori printing stability evaluation. Based on the simulated deformations, printing path optimization becomes possible and results in ensured component stability throughout the component production. In combination with advanced online control strategies and a sensing production system, large components will be realized utilizing the SC3DP process.

Networking with other projects

This project researches the modelling, monitoring, control and path planning of shotcrete application with industrial robots for the TRR 277. Thereby, B04 also serves as the first point of contract for quastions concerning all matters of robot control for all other projects.

Project leaders

Dr.-Ing. André Hürkamp

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Project leader

Hürkamp, André Dr.-Ing.

is junior research group leader at the IWF. Together with Prof. Raatz, he is responsible for the proposed project and its coordination within the TRR 277. He guides the IWF-staff related to the project and decide about research actions in terms of numerical investigations and model reduction.

Project(s)

Project B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

Prof. Dr.-Ing. Annika Raatz

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AMC Board
Project leader

Raatz, Annika Prof. Dr.-Ing.

she is responsible for the scientific management and coordination of project B04. In addition to supervising the content of the research assistant, she supports the coordination of the work and represents the project internally and externally as head of the institute.

Project(s)

Project B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

Contributors

M. Sc. Ilknur Akica

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Akica, Ilknur M. Sc.

is a researcher at the Institute for Machine Tools and Production Technology (IWF) at TU Braunschweig. She will be responsible for developing finite element models for use in additive manufacturing. This includes simulation of the process, investigation of the material models, and ensuring component stability. She further analyzes all data, prepares reports, presentations and publications.

Project(s)

Project B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

M. Sc. Virama Ekanayaka

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Ekanayaka, Virama M. Sc.

is a doctoral researcher at the IWF. He will be developing finite element models to be used in additive manufacturing. He will lead the implementation of mathematical approaches for model order reduction and work on system sensorization. He will frequently publish the results achieved within the community.

Project(s)

Project B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

M. Sc. Hauke Heeren

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Heeren, Hauke M. Sc.

is a doctoral researcher at the Institute for Assembly Technology and Robotics within Leibniz University Hannover. His background in mechatronics and robotics drives his work on mobile robotics. By synergizing elements from computer science, control theory, and mechanical design he enhances robotic autonomy and efficiency to enable print-while-driving

Project(s)

Project B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

M. Sc. Mohammad Mojaddarasil

See profile

Mojaddarasil, Mohammad M. Sc.

is a doctoral researcher at the Institute for Machine Tools and Production Technology (IWF) at TU Braunschweig. He will support developing finite element models for use in additive manufacturing. This includes supporting the simulation of the process and investigation of the effect of material modelling. He further analyzes all data, prepares reports, presentations, and publications.

Project(s)

Project B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

Related Publications

Multi-model based additive manufacturing: A framework for automated large-scale 3D concrete printing with industrial robots

2024 | L. Lachmayer, T. Recker, V. Ekanayaka, A. Hürkamp, A. Raatz: Multi-model based additive manufacturing: A framework for automated large-scale 3D concrete printing with industrial robots, Proceedings of 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), https://doi.org/10.1109/CASE59546.2024.10711326

Data |Zenodo, 2025, https://doi.org/10.5281/zenodo.17899305

A spatial multi-layer control concept for strand geometry control in robot-based additive manufacturing processes

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

Inline image-based reinforcement detection for concrete additive manufacturing processes using a convolutional neural network

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.

A novel surrogate modelling approach for additive manufacturing processes

2023 |A. Hürkamp, V. Ekanayaka: A novel surrogate modelling approach for additive manufacturing processes in: PAMM  (2023)

Modeling of additive manufacturing processes with time-dependent material properties using physics-informed neural networks

2023 |V. Ekanayaka, A. Hürkamp: Modeling of additive manufacturing processes with time-dependent material properties using physics-informed neural networks. In: PAMM (2023)

Volume flow-based process control for robotic additive manufacturing processes in construction

2023 | L. Lachmayer, N. Müller, T. Herlyn, A. Raatz: Volume flow-based process control for robotic additive manufacturing processes in construction 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

Process Control for Additive Manufacturing of Concrete Components

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

Modelling the influence of material and process parameters on shotcrete 3D printing strands – cross-section adjustment for automatic robotic manufacturing

2022 | Lachmayer, L.; Böhler, D.; Freund, N.; Mai, I.; Lowke, D.; Raatz, A.: Modelling the influence of material and process parameters on shotcrete 3D printing strands – cross-section adjustment for automatic robotic manufacturing. Automation in Construction, Volume 145, https://doi.org/10.1016/j.autcon.2022.104626

Approach to optimize the interlayer waiting time in additive manufacturing with concrete utilizing FEM modeling

2022 | Ekanayaka, V.; Lachmayer, L.; Raatz, A; Hürkamp, A.: Approach to optimize the interlayer waiting time in additive manufacturing with concrete utilizing FEM modeling. In: Procedia CIRP Design, 2022
https://doi.org/10.1016/j.procir.2022.05.295

Autonomous sensing and localization of a mobile robot for multi-step additive manufacturing in construction

2022 | Lachmayer, Recker, T.; Dielemans, G.; Dörfler, K.; Raatz, A.: Autonomous sensing and localization of a mobile robot for multi-step additive manufacturing in construction. In: 24th International society for photogrammetry and remote sensing, 2022
https://doi.org/10.5194/isprs-archives-XLIII-B1-2022-453-2022

Contour Tracking Control for Mobile Robots applicable to Large-scale Assembly and Additive Manufacturing in Construction

2022 | Lachmayer, L.; Recker, T.; Raatz, A.: Contour Tracking Control for Mobile Robots applicable to Large-scale Assembly and Additive Manufacturing in Construction. In: 9th CIRP Conference on Assembly Technology and Systems, 2022
https://doi.org/10.1016/j.procir.2022.02.163

Automated shotcrete 3D printing – Printing interruption for extended component complexity

2021 | Lachmayer, L.; Dörrie, R.; Kloft,H.; Raatz, A.: Automated shotcrete 3D printing – Printing interruption for extended component complexity. In: ISARC, 2021.

Approach to an optimized printing path for additive manufacturing in construction utilizing FEM modeling

2021 | Lachmayer, L.; Ekanayaka, V.; Hürkamp, A.; Raatz, A.: Approach to an optimized printing path for additive manufacturing in construction utilizing FEM modeling. In: Procedia CIRP CMS, 2021.

More projects of
Focus Area B

Project B 03

Modelling and Simulation of Shotcrete 3D Printing (SC3DP) Based on a Massively Parallel Multi-Phase, Multi-Component Coupled LBM-DEM Approach

Project B 05

Principles of Mobile Robotics for Additive Manufacturing in Construction

Project B 06

Material Modelling and Simulation of Deposition AM Processes on the Part Scale

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]]> Robotic Repair In-Place 3D Printing for Repair of Building Components Using a Mobile Robot https://amc-trr277.de/amc-publikation/robotic-repair-in-place-3d-printing-for-repair-of-building-components-using-a-mobile-robot/ Tue, 27 Jan 2026 11:23:32 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=8350 2024 | G. Dielemans, L. Lachmayer, N. Khader, N. Hack, A. Raatz, K. Dörfler: Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot Construction 3D Printing, 2024, https://doi.org/10.1007/978-3-031-64269-2_20

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]]> 2024 | G. Dielemans, L. Lachmayer, N. Khader, N. Hack, A. Raatz, K. Dörfler: Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot Construction 3D Printing, 2024, https://doi.org/10.1007/978-3-031-64269-2_20

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]]> IAdvancing construction in existing contexts Prospects and barriers of 3d printing with mobile robots for building maintenance and repair https://amc-trr277.de/amc-publikation/advancing-construction-in-existing-contexts-prospects-and-barriers-of-3d-printing-with-mobile-robots-for-building-maintenance-and-repair/ Tue, 27 Jan 2026 10:46:16 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=8349 2025 | K. Dörfler, G. Dielemans, S. Leutenegger, S.E. Jenny, J. Pankert, J. Sustarevas, L. Lachmayer, A. Raatz, D. Lowke: Advancing construction in existing contexts: Prospects and barriers of 3d printing with mobile robots for building maintenance and repair Cement...

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]]> 2025 | K. Dörfler, G. Dielemans, S. Leutenegger, S.E. Jenny, J. Pankert, J. Sustarevas, L. Lachmayer, A. Raatz, D. Lowke: Advancing construction in existing contexts: Prospects and barriers of 3d printing with mobile robots for building maintenance and repair Cement and Concrete Research, 186, 2025, https://doi.org/10.1016/j.cemconres.2024.107656

 

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]]> Investigation on process guidelines and geometric capabilities for robust shotcrete 3D printing https://amc-trr277.de/amc-publikation/investigation-on-process-guidelines-and-geometric-capabilities-for-robust-shotcrete-3d-printing-2/ Tue, 27 Jan 2026 10:30:59 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=8348 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

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]]> 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

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]]> Investigation on process guidelines and geometric capabilities for robust shotcrete 3D printing https://amc-trr277.de/amc-publikation/investigation-on-process-guidelines-and-geometric-capabilities-for-robust-shotcrete-3d-printing/ Tue, 09 Dec 2025 10:35:08 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=8231 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

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]]> 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

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]]> Multi-model based additive manufacturing: A framework for automated large-scale 3D concrete printing with industrial robots https://amc-trr277.de/amc-publikation/multi-model-based-additive-manufacturing-a-framework-for-automated-large-scale-3d-concrete-printing-with-industrial-robots/ Wed, 06 Nov 2024 14:44:09 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=7612 2024 | L. Lachmayer, T. Recker, V. Ekanayaka, A. Hürkamp, A. Raatz: Multi-model based additive manufacturing: A framework for automated large-scale 3D concrete printing with industrial robots, Proceedings of 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE),...

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]]> 2024 | L. Lachmayer, T. Recker, V. Ekanayaka, A. Hürkamp, A. Raatz: Multi-model based additive manufacturing: A framework for automated large-scale 3D concrete printing with industrial robots, Proceedings of 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), https://doi.org/10.1109/CASE59546.2024.10711326

Data |Zenodo, 2025, https://doi.org/10.5281/zenodo.17899305

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]]> A spatial multi-layer control concept for strand geometry control in robot-based additive manufacturing processes https://amc-trr277.de/amc-publikation/a-spatial-multi-layer-control-concept-for-strand-geometry-control-in-robot-based-additive-manufacturing-processes/ Fri, 04 Oct 2024 10:50:49 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=7545 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,...

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]]> 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

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]]> Inline image-based reinforcement detection for concrete additive manufacturing processes using a convolutional neural network https://amc-trr277.de/amc-publikation/inline-image-based-reinforcement-detection-for-concrete-additive-manufacturing-processes-using-a-convolutional-neural-network/ Thu, 26 Sep 2024 09:57:36 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=7520 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.

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]]> 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.

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]]> In-place 3D Printing for Repair of Building Components using a Mobile Robot https://amc-trr277.de/amc-publikation/implementation-of-a-surrogate-model-for-a-novel-path-based-finite-element-simulation-for-additive-manufacturing-processes-in-construction-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-5/ Tue, 14 Nov 2023 10:13:51 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=6910 2023 | G. Dielemans, L. Lachmayer, N. Kadher, N. Hack, A. Raatz, K. Dörfler: Robotic Repair: In-place 3D Printing for Repair of Building Components using a Mobile Robot. In: 4th International Conference on 3D Construction Printing (4th 3DcP), Singapore; Springer.

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]]> 2023 | G. Dielemans, L. Lachmayer, N. Kadher, N. Hack, A. Raatz, K. Dörfler: Robotic Repair: In-place 3D Printing for Repair of Building Components using a Mobile Robot. In: 4th International Conference on 3D Construction Printing (4th 3DcP), Singapore; Springer.

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]]> Volume flow-based process control for robotic additive manufacturing processes in construction https://amc-trr277.de/amc-publikation/implementation-of-a-surrogate-model-for-a-novel-path-based-finite-element-simulation-for-additive-manufacturing-processes-in-construction-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-2-9/ Fri, 26 Jan 2024 14:48:16 +0000 https://amc-trr277.de/?post_type=amc-publikation&p=7030 2023 | L. Lachmayer, N. Müller, T. Herlyn, A. Raatz: Volume flow-based process control for robotic additive manufacturing processes in construction 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

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]]> 2023 | L. Lachmayer, N. Müller, T. Herlyn, A. Raatz: Volume flow-based process control for robotic additive manufacturing processes in construction 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

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