A multidegree-of-freedom manipulator for curtain-wall installation

Han, Chang Soo; Lee, Seung Yeol; Lee, Kye Young; Park, Bum Seok

doi:10.1002/rob.20122

Cited by 29 publications

(9 citation statements)

References 15 publications

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“…Research on perceived risk based on sensors is conducted to monitor and analyze the safety status on construction sites to prevent workers from being exposed to hazards (Cheng, Teizer 2014;Nadar et al 2013). Robotics and remotely controlled manipulators have been invented and are being improved for highsafety-risk construction activities (Jung et al 2013;Han et al 2006). Information systems have been widely discussed for managing massive multi-source heterogeneous data generated during construction and occupational hazard on site was assessed, so that consistent and timely data can be shared between project participants for effective safety collaborations Dėjus, Antuchevičienė 2013).…”

Section: Introductionmentioning

confidence: 99%

Information Technology Applications in Construction Safety Assurance

Skibniewski

2014

Journal of Civil Engineering and Management

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Through analysis of articles published from 2006 to July 2014 this paper summarizes the topics of research and the institutions where research was conducted in the field of computer-based construction safety engineering management. One hundred and thirty-six articles published during this time focused on Information Technology (IT) applications in this field were selected for analysis. The underlying research topics and their related IT implementations are discussed, and research trends in allied specialties are identified.

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Section: Introductionmentioning

confidence: 99%

Information Technology Applications in Construction Safety Assurance

Skibniewski

2014

Journal of Civil Engineering and Management

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“…As shown in Figure 2, these robotic systems are usually combined with two relatively independent systems, respectively for macro and micro motion. The macro motion manipulator is usually a commercially available mini-excavator [36][37][38][39][40] or an aerial lift [36,41,42] to lift and move the panels, and the micro motion manipulator is usually a multi DOF robotic end-effector for precise handling of the panels. The installation is based on human-robot cooperative manipulation, which requires an intelligent manual robot controller to feedback the reaction forces from the environment.…”

Section: Application In Faç Ade Installationmentioning

confidence: 99%

“…Future directions Reference Improvement of human-robot cooperative manipulation [36] Teleoperation based on force feedback [36] Development of software for integration of the handler into semi-automated faç ade assembly system [37] Implementation of inclinometers and ultrasonic sensors for automated leveling and distance measurement [37] Development for more application in other tasks involving lifting and carrying [37] Development of a mobile platform to replace the excavator for macro motion [38] Development of the control strategy and algorithms for human-robot cooperation [36,41] Moreover, the steps of the automation process are also similar. For example, the five steps towards the autonomous operation of earthmoving machines [12], i.e., manual, in-sight teleoperation, tele-remote operation, assisted tele-remote operation, and fully autonomous, are also suitable in the development process of automation and robotics technology in other construction sub-phases.…”

Section: Future Directionsmentioning

confidence: 99%

Application of Automation and Robotics Technology in High-Rise Building Construction: An Overview

Cai¹,

Ma²,

Skibniewski³

et al. 2018

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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More and more high-rise buildings are being erected in extensively populated countries such as China nowadays with the requirement of higher living standards. However, on the one hand, with the development of aging society, the labor shortage has become a remarkable problem; on the other hand, the danger and difficulties in construction increase significantly with the height of the buildings. Thus, the application of automation and robotics technology is expected to ease such problems and concerns. Up to now, various methods and systems using automation and robotics technology have been proposed to be used in high-rise building construction. This paper summarizes the major advance on the application of automation and robotics technology in high-rise building construction through a literature survey and suggests directions of further research in this field. First of all, the research scope, the method and the results of the literature survey are presented. Then, based on the survey results, the relevant applications are summarized regarding the three parts of high-rise buildings, i.e., earth and foundation work, superstructure erection and faç ade installation. Finally, the future directions and opportunities mentioned in existing research are summarized and discussed. This paper provides a valuable aid in future research and application of automation and robotics technology for high-rise buildings.

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“…The construction robot is an intelligent construction equipment that can improve the working environment and increase efficiency. Considering the building process in the construction industry is complex, there have been a multitude of intelligent construction robots that assist in construction, such as wall construction robots (Han et al, 2006), painting robots (Asadi et al, 2018), and maintenance building robots (Follini et al, 2020). Construction robots can improve construction efficiency, ensure the health and safety of construction workers, and solve the labor shortage in the construction industry (Mascaro et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Digital twin‐assisted fault diagnosis system for robot joints with insufficient data

Song

Shi

Bai

et al. 2022

Journal of Field Robotics

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The robot joint is an important component of the construction robot, and its fault diagnosis can ensure the exact execution of building jobs, stable operation, and timely prevention of probable safety mishaps. However, deep learning‐based fault diagnosis needs a multitude of measured fault data, which is difficult to obtain for various reasons. To solve the problem of insufficient data, a digital twin‐assisted fault diagnosis system for robot joints is proposed. First, a simplified dynamics model of the robot joint is developed to generate the virtual entity data which can be used as the X‐domain data for the digital twin model. Second, a CycleGAN‐based digital twin model is proposed to map the virtual entity (X‐domain) data to the physical entity (Y‐domain) utilizing only a small amount of measured data. In the end, a test‐rig for the robot joint is built to simulate the robot's working conditions, and the CNN‐ResNet classifier is utilized to verify the effectiveness of the simulated data generated by the digital twin model. The results show that the fault diagnosis accuracy can be increased from 32.5% to 98.86% utilizing only 400 sets of measured data.

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A multidegree-of-freedom manipulator for curtain-wall installation

Cited by 29 publications

References 15 publications

Information Technology Applications in Construction Safety Assurance

Information Technology Applications in Construction Safety Assurance

Application of Automation and Robotics Technology in High-Rise Building Construction: An Overview

Digital twin‐assisted fault diagnosis system for robot joints with insufficient data

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