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However, current approaches remain limited to printing on top of a flat build bed. This limits robotic 3D printing\u2019s impact as a sustainable technology: opportunities to customize or enhance existing elements, or to utilize complex material behaviour are missed. This paper addresses the potentials of conformal 3D printing and presents a novel and robust workflow for printing onto unknown and arbitrarily shaped 3D substrates. The workflow combines dual-resolution Robotic Scanning, Neural Network prediction and printing of PETG plastic. This integrated approach offers the advantage of responding directly to unknown geometries through automated performance design customization. This paper firstly contextualizes the work within the current state of the art of conformal printing. We then describe our methodology and the design experiment we have used to test it. We lastly describe the key findings, potentials and limitations of the work, as well as the next steps in this research.<\/jats:p>","DOI":"10.1177\/1478077120948203","type":"journal-article","created":{"date-parts":[[2020,8,13]],"date-time":"2020-08-13T07:28:35Z","timestamp":1597303715000},"page":"371-384","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":26,"title":["Integrating real-time multi-resolution scanning and machine learning for Conformal Robotic 3D Printing in Architecture"],"prefix":"10.1177","volume":"18","author":[{"given":"Paul","family":"Nicholas","sequence":"first","affiliation":[{"name":"The Royal Danish Academy of Fine Arts, Schools of Architecture, Design and Conservation, Copenhagen, Denmark"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0746-1566","authenticated-orcid":false,"given":"Gabriella","family":"Rossi","sequence":"additional","affiliation":[{"name":"The Royal Danish Academy of Fine Arts, Schools of Architecture, Design and Conservation, Copenhagen, Denmark"}]},{"given":"Ella","family":"Williams","sequence":"additional","affiliation":[{"name":"University of Technology Sydney, Faculty of Design, Architecture and Building, Sydney, New South Wales, Australia"}]},{"given":"Michael","family":"Bennett","sequence":"additional","affiliation":[{"name":"University of Technology Sydney, Faculty of Design, Architecture and Building, Sydney, New South Wales, Australia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4583-2439","authenticated-orcid":false,"given":"Tim","family":"Schork","sequence":"additional","affiliation":[{"name":"University of Technology Sydney, Faculty of Design, Architecture and Building, Sydney, New South Wales, Australia"}]}],"member":"179","published-online":{"date-parts":[[2020,8,13]]},"reference":[{"key":"bibr1-1478077120948203","volume":"11","author":"Dilberoglu UM","year":"2017","journal-title":"Proc Manuf"},{"key":"bibr2-1478077120948203","doi-asserted-by":"publisher","DOI":"10.3233\/FDE-150042"},{"key":"bibr3-1478077120948203","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2017.08.018"},{"key":"bibr4-1478077120948203","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-04663-1_9"},{"key":"bibr5-1478077120948203","first-page":"434","volume-title":"Proceedings of the 38th annual conference of the association for computer aided design in architecture (ACADIA)","author":"Meibodi MA"},{"key":"bibr6-1478077120948203","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-018-26985-2"},{"key":"bibr7-1478077120948203","first-page":"152","volume-title":"Pro-AM 2016: Proceedings of the 2nd international conference on Pro-AM progress in additive manufacturing, research publishing","author":"Panda B"},{"key":"bibr8-1478077120948203","doi-asserted-by":"crossref","unstructured":"Globe News Wire. 3D scanning market size, share & trends analysis report by product (optical scanner, laser scanner), by range, by end-user, by component, by type, by application, by region, and segment forecasts, 2019\u20132025, https:\/\/www.globenewswire.com\/news-release\/2019\/08\/20\/1904039\/0\/en\/8-Billion-3D-Scanning-Market-Analysis-2019-2025-Persistent-Technological-Progressions-Augment-Market-Growth.html (2019).","DOI":"10.1016\/j.focat.2019.06.012"},{"key":"bibr9-1478077120948203","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2018.05.005"},{"key":"bibr10-1478077120948203","doi-asserted-by":"publisher","DOI":"10.22260\/ISARC2017\/0035"},{"key":"bibr11-1478077120948203","doi-asserted-by":"publisher","DOI":"10.1080\/0951192X.2012.749530"},{"key":"bibr12-1478077120948203","doi-asserted-by":"publisher","DOI":"10.1115\/1.4038644"},{"key":"bibr13-1478077120948203","unstructured":"Artola I, Rademaekers K, Williams R, et al. 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