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The experimental setup is an on-site robotic system that consists of a robotic arm mounted on a semi-mobile vertical axis with an integrated, automated pumping and adaptive spraying setup that is equipped with a depth camera. The user interaction is enabled by a controller-based interaction system, interactive design tools, and an augmented reality interface. The paper presents the challenges and the workflow that is needed to work with a complex material system on-site to produce bespoke plasterwork. The workflow includes an interactive design procedure, localization on-site, process control and a data collection method that enables predicting the behavior of complex-to-simulate cementitious material. The results demonstrate the applicability and scalability of the adaptive thin-layer printing technique and address the challenges, such as maintaining material continuity and working with unpredictable material behavior during the fabrication process.<\/jats:p>","DOI":"10.1007\/s44150-022-00062-9","type":"journal-article","created":{"date-parts":[[2022,9,1]],"date-time":"2022-09-01T10:05:41Z","timestamp":1662026741000},"page":"145-156","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Robotic on-site adaptive thin-layer printing:\u00a0Challenges and workflow for design and fabrication of bespoke cementitious plasterwork at full architectural scale"],"prefix":"10.1007","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6974-9296","authenticated-orcid":false,"given":"Selen","family":"Ercan Jenny","sequence":"first","affiliation":[]},{"given":"Daniela","family":"Mitterberger","sequence":"additional","affiliation":[]},{"given":"Ena","family":"Lloret-Fritschi","sequence":"additional","affiliation":[]},{"given":"Lauren","family":"Vasey","sequence":"additional","affiliation":[]},{"given":"Eliott","family":"Sounigo","sequence":"additional","affiliation":[]},{"given":"Ping-Hsun","family":"Tsai","sequence":"additional","affiliation":[]},{"given":"Petrus","family":"Aejmelaeus-Lindstr\u00f6m","sequence":"additional","affiliation":[]},{"given":"David","family":"Jenny","sequence":"additional","affiliation":[]},{"given":"Fabio","family":"Gramazio","sequence":"additional","affiliation":[]},{"given":"Matthias","family":"Kohler","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,9,1]]},"reference":[{"key":"62_CR1","unstructured":"G\u00f6hler H, G\u00f6n\u00fcl P, Spiro A (2012) \u00dcber Putz Oberfl\u00e4chen Entwickeln und Realisieren. gta Verlag, Z\u00fcrich"},{"key":"#cr-split#-62_CR2.1","unstructured":"Millar W, Bankart GP, Orton J (2009) Plastering Plain and Decorative, 4th ed., reprinted by william millar and george p. bankart"},{"key":"#cr-split#-62_CR2.2","unstructured":"with an introd. by jeff orton ... 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