Robotics in Civil Engineering

Haas, Carl T.; Skibniewski, Mirosław J.; Budny, Eugeniusz

doi:10.1111/j.1467-8667.1995.tb00298.x

Cited by 38 publications

(17 citation statements)

References 3 publications

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“…These systems rely on the ability to generate an accurate work space model [7], which is difficult due to the fact that construction …”

Section: Graphical Programming and Controlmentioning

confidence: 99%

“…Automation and robotics will be needed to produce new machines that are user-friendly to facilitate their use by less-skilled operators. These new machines may also improve worker retention by making the work less dirty, less physically demanding, and more attractive as a profession [7]. As advanced robotics technologies are developed and applied to improve the control of construction equipment, the industry will see improvements in productivity and safety, and new capabilities will be developed.…”

Section: Introductionmentioning

confidence: 99%

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Advances in Control Systems for Construction Manipulators

Greer¹,

Haas²,

Gibson³

et al. 1996

Proceedings of the 13th International Symposium on Automation and Robotics in Construction

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Fundamental advances in sensors, actuators, and control systems technology are creating opportunities to improve the performance of traditional construction equipment. New capabilities are being developed as well. These improvements in performance and new capabilities are resulting in better safety and efficiency. However, selecting control strategies can be confusing, and measuring and predicting their performance can be difficult. This paper identifies emerging control paradigms and describes methods for measuring their performance. Many control paradigms and corresponding example applications are identified, including single degree of freedom control sticks, multiple degree of freedom joysticks, operating and safety constraints, teach/learn capability, resolved motion with internal and external sensors, spatially correspondent controllers, tele-operation, graphical programming and control, and autonomous control. Methods described for measuring performance are based on American National Standard Institute (ANSI) standard tests, applications analysis, and ergonomics. Examples focus on the University of Texas at Austin's large scale hydraulic manipulator and automated pavement crack sealer with the results of performance tests on these manipulators being presented.

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“…These systems rely on the ability to generate an accurate work space model [7], which is difficult due to the fact that construction …”

Section: Graphical Programming and Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Advances in Control Systems for Construction Manipulators

Greer¹,

Haas²,

Gibson³

et al. 1996

Proceedings of the 13th International Symposium on Automation and Robotics in Construction

View full text Add to dashboard Cite

show abstract

“…In particular, automated control of heavy equipment may help in a number of construction applications, including obstacle avoidance for improved safety and greater efficiency in picking, placing, and tracking of objects [2,3]. A 3D model is required to express the complex and dynamic work environment of a construction worksite effectively and in real time [4].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Object Recognition and Modeling for Heavy-Equipment Operation

Son¹,

Kim²,

Kim³

et al. 2008

ISARC 2008 - Proceedings From the 25th International Symposium on Automation and Robotics in Construction

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Recognition of free-form objects located in environments that are difficult to characterize or are constantly changing is critical in providing interactive background information for construction worksite modeling. It also allows for accurate, efficient, and autonomous operation of heavy equipment in a broad range of construction tasks. This paper presents a realtime process for 3D modeling of a construction worksite scene and focuses on modeling of the target object via flash LADAR, which could be applied to autonomous heavy-equipment operation. The proposed method consists of three steps: noise reduction, object extraction, and 3D model generation. The whole process is fully automatic and is performed in nearly real time. The method was validated in field experiments with actual construction objects. The results show that the proposed method effectively recognizes construction objects, which could be used to enhance efficiency and productivity in the autonomous operation of heavy equipment.

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“…Using algorithms and concepts originally developed in the robotics literature has improved the level of automation in construction activities [14]. For instance, using the "path planning" concept, which was originally developed for robotics, expedites construction processes (e.g.…”

Section: Robotics Application In Constructionmentioning

confidence: 99%

Robotic Kinematics Analogy for Realignment of Defective Construction Assemblies

Nahangi¹,

Yeung²,

Haas³

et al. 2015

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

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Aligning and plumbing of construction assemblies is a fundamental problem because of reliance on manual solutions for geometric feedback control problem involved with practices such as pipefitting and steel structures erection. Where defective components and segments are not well controlled, the errors propagate in larger components and therefore cause more severe problems. In order to address such a challenging problem and tackle potential solutions, this paper presents a framework for automatic and systematic development of realignment actions required to achieve a target state by borrowing concepts from: (1) 3D imaging that enables the identification of the as-built status and then quantification of incurred discrepancies as a feedback by comparing the captured status with the designed state existing in the building information model (BIM); and (2) an inverse kinematics analogy that results in the calculation of required changes in the degrees of freedom defined where realignment and changes can be applied. Experimental results show that the framework can generate the required actions for achieving a desired state systematically and accurately.Keywords: Realignment and refit; 3D imaging; Robotics; Inverse kinematics; As-built status assessment. Problem StatementEfficient assembly and erection of construction components requires continuous monitoring and understanding of design drawings. Defective assemblies must be appropriately detected in order to plan for required actions such as realignment, repair and replace. The current approach for detecting discrepancies of construction components in fabrication shops and on sites relies on manual approaches, which are inefficient and ineffective. An inefficient approach is also a source of rework in projects. Rework emerges in a project as a consequence of quality deviations necessitating the repetition of processes or activities and is comprised of direct and indirect costs. While direct rework impacts are said to attribute to 3-5% of contract cost, the indirect impacts have a more profound effect on achieving production efficiency, reducing costs, improving productivity and retaining market competitiveness [1]. The majority of rework occurs during fabrication and onsite assembly. Rework emerges during fabrication in the form of errors and omissions, inefficiencies, and design and process misinterpretation. Rework emerges during module assembly as inefficient alignment and the measures and schedule impacts associated with realignment and rehabilitation. To remain competitive and align with emerging industrial trends, a comprehensive strategy needs to be developed to automatically detect the discrepancies in order to effectively plan forward and minimize the unfavourable rework occurrence.Fortunately, 3D imaging has been found as an effective tool to monitor processes automatically. Moreover, 3D imaging technologies, such as laser scanning, structure-from-motion and range imaging have been proven to be fast and accurate tools for detecting the state of indus...

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Robotics in Civil Engineering

Cited by 38 publications

References 3 publications

Advances in Control Systems for Construction Manipulators

Advances in Control Systems for Construction Manipulators

Real-Time Object Recognition and Modeling for Heavy-Equipment Operation

Robotic Kinematics Analogy for Realignment of Defective Construction Assemblies

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