International Journal of Advanced Robotic Systems
Volume 4 Number 4 December 2007
Special Issue on Robotics and Automation Technologies in Construction |
Editorial Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks, Page 387-406 Abstract: This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID) and Proportional-Integral-Plus (PIP) control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.
Abstract: It is shared that construction projects are getting bigger and more complex, hence also the productivity of the construction industry must be improved, while preserving its labour from hazardous job sites. Such requirements can be accomplished by the adoption of robotized products, which, however, need to be quickly developed and marketed. In this paper, first the issue of a new miniature laboratory for developing lightweight and well-coordinated robotized systems is pursued, then a novel robot device for high quality multi-colour interior wall painting carried by a robot arm is developed and successfully tested. Thanks to the new 1:6 scaled down laboratory and its six degree of freedom robot arm on an hexapod for horizontal moves, we tested the opportunity to introduce also in the building sector miniature robots that can change the ergonomics standardly adopted by construction workers. It is analyzed how and why switching from full size to miniature robots is convenient in construction. In addition, a new system adding further features to robotized painting has been conceived. Our new multi-colour spraying end-tool was developed and fixed on the robot arm, in order to be able to reproduce coloured artworks. Finally, a methodology to reproduce colours from digital format of artworks is presented, showing how accurate and efficient is this new robotized spraying device.
Abstract: There are approximately 6,677,000 apartment housing units in South Korea. Exterior wall painting for such multi-dwelling apartment housings in South Korea represents a typical area to which construction automation technology can be applied for improvement in safety, productivity, quality, and cost over the conventional method. The conventional exterior wall painting is costly and labor-intensive, and it especially exposes workers to significant health and safety risks. The primary objective of this study is to design a conceptual model of an exterior wall painting robot which is applicable to apartment housing construction and maintenance, and to conduct its technical·economical feasibility analyses. In this study, a design concept using a high ladder truck is proposed as the best alternative for automation of the exterior wall painting. Conclusions made in this study show that the proposed exterior wall painting robot is technically and economically feasible, and can greatly enhance safety, productivity, and quality compared to the conventional method. Finally, it is expected that the conceptual model of the exterior wall painting robot would be efficiently used in various applications in exterior wall finishing and maintenance of other architectural and civil structures such as commercial buildings, towers, and high-rise storage tanks.
Development of a Wearable Robot for Assisting Carpentry Workers,Page 431-436 Abstract: The work of fitting ceiling boards is one of the hardest in carpentry, as it requires large muscular power. Hence there is a need to develop assisting apparatus for such work. In order to use this apparatus anywhere a wearable robot is the most suitable. As the robot must be autonomous and lightweight, a design requiring low power is proposed. A semi-active control method has been developed using springs, which requires low energy but satisfies the requirements of compliance and assistive force. In this paper several aspects of design, control and experiments of the developed prototype is explained. The experimental results prove that the robot reduces the muscular fatigue of carpentry worker by providing suitable assistive force.
Abstract: This paper presents an auto-climbing robot for cleaning the elliptic half-shell of National Grand Theatre in China. The robot consists of a climbing mechanism, a moving mechanism, two cleaning brushes and supporting mechanisms. The mechanism and unique aspects are presented in detail. A distributed control system based on CAN bus is designed to meet the requirements of controlling the robot. After that the emphasis for discussion is on the motion realization which includes climbing and cleaning movements. The robot independently climbs and descends in the vertical direction and cleans in the horizontal direction. It takes the circling tracks as supports for climbing up and down between strips and moving horizontally along one strip around the ellipsoid. For system design and control purposes, the dynamic models of the climbing and cleaning processes are given applying of the Lagrange equation. Furthermore the force distribution of the front and rear supporting mechanisms is computed in a way that ensures the safety of the climbing process. In the end, the successful on-site tests confirm the principles described above and the robot’s ability.
Abstract: The use of gantry crane systems for transporting payload is very common in building constructions. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. Various attempts in controlling gantry cranes system based on open- loop and closed-loop control systems were proposed. However, most of the proposed controllers were designed based on the model and parameter of the crane system. In general, modeling and parameter identifications are troublesome and time consuming task. To overcome this problem, in this paper, a practical and intelligent control method for automatic gantry crane is introduced and evaluated experimentally. The results show that the proposed method is not only effective for controlling the crane but also robust to parameter variation.
Abstract: Europe is facing a fast growing need for affordable, high quality housing, which can not be solved by means of traditional or conventional building technology and its associated methods of construction. One of the solutions to this problem is the application of high quality modular construction, which defines a new building process as the assembly of pre-fabricated modules in the construction site. As part of this philosophy, AUTMOD3 is an automatic modular construction software environment, developed in the frame of the EU project Future Home. The system seamlessly integrates architectural design, planning and simulation tools in a well- known CAD program commonly used by designers. Architectural design using previously defined 3D and 2D modules or modularisation of the traditional building design are the main objectives of the AUTMOD3 design tool. The production planning and the on-site modular assembly planning are the main task to be performed by the planning tool. The AUTMOD3 assembly planning tool generates the trajectories, which can be applied directly to a robotized crane develop in the project FutureHome.
Abstract: In a variety of tasks performed in construction sites, coordinated operations of multi-vehicles are foreshadowed to outperform the deployment of a single vehicle in terms of increased capacity and flexibility. This paper presents the application of the particle swarm optimization (PSO) algorithm in deriving drive commands, speed and turning, for the vehicles such that they are steered into and maintained in desirable formations according to an assigned task. The PSO is adopted for its implementation simplicity and relaxing the need for analytical system models. To this end, the coordination of vehicles is posed as an optimization problem minimizing the translational and angular errors between the current vehicle positions and their corresponding targets. Inter-vehicle collisions are mitigated, in this work, by employing a behavioural-based reactive scheme together with a dynamical index rescheduling procedure. Simulation results for coordinated multi-vehicle motions, in benchmark formation patterns, are included to demonstrate the effectiveness of the proposed approach. An Augmented Framework for Practical Development of Construction Robots, Page 477-500 Abstract: The use of robotic systems in performing construction tasks has great potential; however the development of such systems remains problematic. This is due to the lack of a suitable feasibility analysis that can help the decision-makers to justify the use of robots and problems in the development process of the system itself. The multidisciplinary and complex nature of construction robotic systems requires a robust development framework for such systems. An augmented framework for the development of construction robots is explained in detail and practically applied to the Starlifter robotic system which is mainly designed to carry heavy tools for construction tasks. The framework consists of two models; the feasibility analysis model and the development process model. The feasibility analysis principles, methodology and tools are explained and discussed in detail. Systems Engineering model is used in the development of the system which allows complete analysis of the system hardware and software components. The purpose of the current project is to develop a general purpose robot that can be employed to perform different jobs to justify its use economically. The presented tools and processes can be utilised in the development of any similar systems.
Abstract: Current construction worksite layout planning heavily relies on 2D paper media where the worksite planners sketch the future layout adjacent to their real environment. This traditional approach turns out to be ineffective and prone to error because only experienced and well-trained planners are able to generate the effective layout design with paper sketch. Augmented Reality (AR), as a new user interface technology, introduces a completely new perspective for construction worksite planning. This paper disucsses the related AR work and issues in construction and describes the concept and prototype of an AR-based construction planning tool, AR Planner with virtual elements sets and tangible interface. The focus of the paper is to identify and integrate worksite planning rules into the AR planner with the purpose of intelligently preventing potential planning errors and process inefficiency, thus maximizing the overall productivity. Future work includes refining and verifying AR Planner in realistic projects.
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