Robotic AeroCrete - A novel robotic spraying and surface treatment technology for the production of slender reinforced concrete elements

Taha, Nizar; Walzer, Alexander Nikolas; Ruangjun, Jetana; Bürgin, Theophil; Dörfler, Kathrin; Lloret-Fritschi, Ena; Gramazio, Fabio; Köhler, Matthias

doi:10.52842/conf.ecaade.2019.3.245

Cited by 4 publications

(1 citation statement)

References 1 publication

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“…In recent years, the application of robots and related technologies on PC component production lines has become increasingly common. Based on the application scenarios, the existing precast concrete robots can be classified into concrete distribution robots [ 14 , 15 ], concrete compaction robots [ 16 , 17 , 18 ], concrete smoothing robots [ 19 ], concrete surface coating robots [ 20 ], and construction monitoring robots [ 21 , 22 ].…”

Section: Introductionmentioning

confidence: 99%

A Robotic Solution for Precision Smoothing and Roughening of Precast Concrete Surfaces: Design and Experimental Validation

Gang,

Duan,

Wang

et al. 2024

Sensors

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Prefabricated construction has pioneered a new model in the construction industry, where prefabricated component modules are produced in factories and assembled on-site by construction workers, resulting in a highly efficient and convenient production process. Within the construction industry value chain, the smoothing and roughening of precast concrete components are critical processes. Currently, these tasks are predominantly performed manually, often failing to achieve the desired level of precision. This paper designs and develops a robotic system for smoothing and roughening precast concrete surfaces, along with a multi-degree-of-freedom integrated intelligent end-effector for smoothing and roughening. Point-to-point path planning methods are employed to achieve comprehensive path planning for both smoothing and roughening, enhancing the diversity of textural patterns using B-spline curves. In the presence of embedded obstacles, a biologically inspired neural network method is introduced for precise smoothing operation planning, and the A* algorithm is incorporated to enable the robot’s escape from dead zones. Experimental validation further confirms the feasibility of the entire system and the accuracy of the machining path planning methods. The experimental results demonstrate that the proposed system meets the precision requirements for smoothing and offers diversity in roughening, affirming its practicality in the precast concrete process and expanding the automation level and application scenarios of robots in the field of prefabricated construction.

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Section: Introductionmentioning

confidence: 99%

A Robotic Solution for Precision Smoothing and Roughening of Precast Concrete Surfaces: Design and Experimental Validation

Gang,

Duan,

Wang

et al. 2024

Sensors

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Geometric Feedback System for Robotic Spraying

Frangež¹,

Taha²,

Feihl³

et al. 2022

PFG

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In this paper, we tackle the task of replacing labor intensive and repetitive manual inspection of sprayed concrete elements with a sensor-based and automated alternative. We present a geometric feedback system that is integrated within a robotic setup and includes a set of depth cameras used for acquiring data on sprayed concrete structures, during and after fabrication. The acquired data are analyzed in terms of thickness and surface quality, with both sets of information then used within the adaptive fabrication process. The thickness evaluation is based on the comparison of the as-built state to a previous as-built state or to the design model. The surface quality evaluation is based on the local analysis of 3D geometric and intensity features. These features are used by a random forest classifier trained using data manually labelled by a skilled professional. With this approach, we are able to achieve a prediction accuracy of 87 % or better when distinguishing different surface quality types on flat specimens, and 75 % when applied in a full production setting with wet and non-planar surfaces. The presented approach is a contribution towards in-line material thickness and surface quality inspection within digital fabrication.

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Vision-augmented robotic fabrication (V-aRF): systematic review on contemporary approaches and computational methods in architectural fabrication and assembly using machine vision

Çapunaman,

Gürsoy

2024

Constr Robot

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Robotic AeroCrete - A novel robotic spraying and surface treatment technology for the production of slender reinforced concrete elements

Cited by 4 publications

References 1 publication

A Robotic Solution for Precision Smoothing and Roughening of Precast Concrete Surfaces: Design and Experimental Validation

A Robotic Solution for Precision Smoothing and Roughening of Precast Concrete Surfaces: Design and Experimental Validation

Geometric Feedback System for Robotic Spraying

Vision-augmented robotic fabrication (V-aRF): systematic review on contemporary approaches and computational methods in architectural fabrication and assembly using machine vision

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