Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality

Yang, Xiliu; Amtsberg, Felix; Skoury, Lior; Wagner, Hans Jakob; Menges, Achim

doi:10.52842/conf.caadria.2022.2.141

Cited by 9 publications

(7 citation statements)

References 7 publications

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“…Structural simulations were performed in SOFiSTiK [107]. This was controlled using the VIZOR augmented reality framework [115]. Prefabrication relied on the TIM robotic construction platform [70].…”

Section: Resultsmentioning

confidence: 99%

“…This algorithm resulted in a time-saving fabrication sequence by aiming for a minimum number of positions for the mobile fabrication table based on the reach of both robots. The fabrication workflow itself was controlled by a human using custom augmented-reality robot control supervision software called VIZOR [115]. Tasks were passed 'on the fly' between the different actors, i.e., human workers and industrial robots, enabling the fabrication workflow to react to unplanned events and to correct mistakes.…”

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confidence: 99%

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Co-Design Methods for Non-Standard Multi-Storey Timber Buildings

Orozco,

Krtschil,

Wagner

et al. 2023

Sustainability

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To meet climate change goals and respond to increased global urbanisation, the building industry needs to improve both its building technology and its design methods. Constrained urban environments and building stock extensions are challenges for standard timber construction. Co-design promises to better integrate disciplines and processes, promising smaller feedback loops for design iteration and building verification. This article describes the integrated design, fabrication, and construction processes of a timber building prototype as a case study for the application of co-design methods. Emphasis is placed on the development of design and engineering methods, fabrication and construction processes, and materials and building systems. The development of the building prototype builds on previous research in robotic fabrication (including prefabrication, task distribution, and augmented reality integration), agent-based modelling (ABM) for the design and optimisation of structural components, and the systematisation of timber buildings and their components. The results presented in this article include a functional example of co-design from which best practises may be extrapolated as part of an inductive approach to design research. The prototype, with its co-designed process and resultant flat ceilings, integrated services, wide spans, and design adaptability for irregular column locations, has the potential to expand the design potential of multi-storey timber buildings.

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Section: Resultsmentioning

confidence: 99%

mentioning

confidence: 99%

Co-Design Methods for Non-Standard Multi-Storey Timber Buildings

Orozco,

Krtschil,

Wagner

et al. 2023

Sustainability

Self Cite

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show abstract

“…Facing the problem of verifying whether the robot correctly understands the instructions given by the human with alternative methods to offline programming, mixed reality techniques make a significant contribution by allowing a preview of the robot's movement directly in the workspace and eventual transformations in the workpiece or in a composition. This has been demonstrated by some works [30,31], which involve the presence of digital twins expressed as holograms through a mixed-reality viewer positioned coincidentally with the real robot. Usually, these interfaces allow the preview of the robot displacement and execution control but do not display relevant information regarding the operation space and collaborative workspace defined in applicable standards (ISO/TS 15066:2016 [1]); it is still necessary to express data (visual guides) that allow an evaluation of the in situ possibilities and restrictions of collaborative work in various spatial configurations, both predictively and with sufficient fidelity, as an input for the consolidation of a safety strategy.…”

Section: Mixed Reality Assisted Manufacturing In Hrcmentioning

confidence: 93%

Mixed Reality for Safe and Reliable Human-Robot Collaboration in Timber Frame Construction

González-Böhme,

Valenzuela-Astudillo

2023

Buildings

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In the field of construction, human-robot collaboration and mixed reality (MR) open new possibilities. However, safety and reliability issues persist. The lack of flexibility and adaptability in current preprogrammed systems hampers real-time human-robot collaboration. A key gap in this area lies in the ability of the robot to interpret and accurately execute operations based on the real-time visual instructions and restrictions provided by the human collaborator and the working environment. This paper focuses on an MR-based human-robot collaboration method through visual feedback from a vision-based collaborative industrial robot system for use in wood stereotomy which we are developing. This method is applied to an alternating workflow in which a skilled carpenter lays out the joinery on the workpiece, and the robot cuts it. Cutting operations are instructed to the robot only through lines and conventional “carpenter’s marks”, which are drawn on the timbers by the carpenter. The robot system’s accuracy in locating and interpreting marks as cutting operations is evaluated by automatically constructing a 3D model of the cut shape from the vision system data. A digital twin of the robot allows the carpenter to previsualize all motions that are required by the robot for task validation and to know when to enter the collaborative workspace. Our experimental results offer some insights into human-robot communication requirements for collaborative robot system applications in timber frame construction.

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“…Die beschriebenen Methoden und entwickelten Tools wurden in ersten praktischen Studien zur Integration von Handwerker:innen und verschiedenen Schwerlast-Industrieroboter-Setups in komplexe adaptive Fabrikationsprozesse erfolgreich getestet und evaluiert [21][22][23]37] (Bild 9). Die Forschung wird im Rahmen des ZukunftBau-Forschungsprojekts MRK II [38] industrienah untersucht.…”

Section: Einsatzunclassified

Multi‐Akteur‐Fabrikation im Bauwesen

Amtsberg,

Yang,

Skoury

et al. 2023

Bautechnik

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Die aktuelle Generation von Planern ist mit der Aufgabe konfrontiert, neue, nachhaltigere Bausysteme zu entwickeln, um der Problematik der Ressourcenknappheit, der Verstädterung, dem Klima‐, aber auch dem demografischen Wandel entgegenzuwirken. Hierbei ist die Frage nach deren effizienter Herstellung unter Nutzung nachwachsender Rohstoffe in den Fokus der Forschungsbemühungen gerückt. In den letzten Jahren hat der Automatisierungsgrad in der Vorfertigung unter der Agenda der produktbasierten Bausysteme zugenommen, die ein hohes Potenzial aufweisen, aber in Umgebungen, wo eine höhere Flexibilität erforderlich ist, nur bedingt zielführend sind. Die Realisierung ressourcensparender Entwürfe führt unweigerlich zu kleinen Losgrößen und einmalig zu produzierenden Bauelementen, die für eine effiziente Fabrikation anpassungsfähige Vorfertigungsanlagen für eine Vielzahl von Lösungen erfordern. Am Exzellenzcluster Integratives computerbasiertes Planen und Bauen für die Architektur (IntCDC) werden Methoden erforscht, welche mittels Mensch‐Maschine‐Kollaboration eine Steigerung von Flexibilität und Adaptivität der Vorfabrikation und Konstruktion von Bauwerken anstreben. Dazu werden neben der Durchführung von Untersuchungen zur Augmented‐Reality‐Technologie‐unterstützten Integration und Kommunikation von Mensch und Maschine auch auf maschinellem Lernen basierende Trainingsmethoden und Vorhersagemodelle entwickelt.

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Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality

Cited by 9 publications

References 7 publications

Co-Design Methods for Non-Standard Multi-Storey Timber Buildings

Co-Design Methods for Non-Standard Multi-Storey Timber Buildings

Mixed Reality for Safe and Reliable Human-Robot Collaboration in Timber Frame Construction

Multi‐Akteur‐Fabrikation im Bauwesen

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