Construction Of Robot Research Articles

Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures

Collective robotic construction (CRC) is an emerging approach to construction automation based on the collaboration among teams of small mobile robots. This paper enhances an existing modular CRC system, showcasing its capability to assemble full-scale in-plane timber structures. Utilizing strategies of co-design, the robotic actuators were updated to accommodate material tolerance in the passive building material, timber struts, which they use for locomotion and assemble into structures. A custom effector was also developed to establish architecturally relevant, structural connections between struts. The enhancements address two major challenges in CRC system development: material tolerance and connections. To showcase these research findings and compare with other construction automation systems, a reinforced slab structure was assembled. With a building envelop of 0.485 m3, this is one of the largest structures assembled by a CRC system. As such, the work highlights the potential applicability of CRC in real-world architectural projects.

Development of Autonomous Mobile Robot with 3DLidar Self-Localization Function Using Layout Map

In recent years, there has been growing interest in autonomous mobile robots equipped with Simultaneous Localization and Mapping (SLAM) technology as a solution to labour shortages in production and distribution settings. SLAM allows these robots to create maps of their environment using devices such as Lidar, radar, and sonar sensors, enabling them to navigate and track routes without prior knowledge of the environment. However, the manual operation of these robots for map construction can be labour-intensive. To address this issue, this research aims to develop a 3D SLAM autonomous mobile robot system that eliminates the need for manual map construction by utilizing existing layout maps. The system includes a PC for self-position estimation, 3DLidar, a camera for verification, a touch panel display, and the mobile robot itself. The proposed SLAM method extracts stable wall point cloud information from 3DLidar, matches it with the wall surface information in the layout map, and uses a particle filter to estimate the robot’s position. The system also includes features such as route creation, tracking, and obstacle detection for autonomous movement. Experiments were conducted to compare the proposed system with conventional 3D SLAM methods. The results showed that the proposed system significantly reduced errors in self-positioning and enabled accurate autonomous movement on specified routes, even in the presence of slight differences in layout maps and obstacles. Ultimately, this research demonstrates the effectiveness of a system that can transport goods without the need for manual environment mapping, addressing labour shortages in such environments.

Digital workflow for printability checking and prefabrication in robotic construction 3D printing based on Artificial Intelligence planning

This paper introduces an innovative digital workflow for printability checking and prefabrication in robotic construction 3D printing based on Artificial Intelligence (AI) planning techniques. The proposed method generates operational sequences for a robotic manipulator tasked with concrete 3D printing by utilizing Planning Domain Definition Language (PDDL) 2.1-based AI planners. The planned sequences consider diverse geometry specifications, aligning with printability checks and prefabrication requisites. The sequences can then be executed in a robotic simulation environment, allowing operators to assess the 3D printing process in every aspect before real-world deployment, and potentially avoiding costly mistakes and the waste of resources. Compared to existing methods, the use of AI planning makes our approach more modular and easy to adapt across a variety of robotic platforms, diverse designs, materials, and printing conditions; and it is released as open-source software to the benefit of the community. The proposed method was tested by processing objects with multiple geometries and a varying number of printing layers, and by employing two different PDDL planners. Results prove the viability of the approach but also hint at possible scalability limitations for complex geometries that involve a large number of edges to be printed.

A hierarchical federated learning framework for collaborative quality defect inspection in construction

Recent advancements in robotics and deep learning (DL) have made it possible to implement robots in civil infrastructures' quality defect inspection. Robots can reduce human inspectors' workloads and enhance inspection results' reliability by collecting data and automatically identifying quality defects from the raw data. However, current methods for training DL models rely on centralized strategies that require the aggregation of defect data (e.g., uploading to a cloud server), posing concerns about data privacy and security. Thus, this study proposes a three-fold federated learning (FL) framework for training DL models collaboratively, without the need to share local data among construction robots. The framework is specifically applied to image-based crack segmentation, critical for ensuring infrastructures’ safety and serviceability. A lightweight DL model is developed to enable easy implementation on resource-constrained construction robots and to reduce communication costs during federated training. Experimental results show that the proposed FL method outperforms traditional centralized methods. The critical contribution of this study is the hierarchical FL framework, which enables construction robots to leverage big data in a privacy-preserving manner.

Merging architectural design and robotic planning using interactive agent-based modelling for collective robotic construction

Abstract Most research on collective robotic construction (CRC) separates the architectural design and robotic path planning phases of the overall construction process. Specifically, a structure is designed and afterwards sent to a planner or compiler that returns instructions for the assembly of the structure with the robots at hand. Although this has led to the assembly of spatially complex structures, it obscures the planning process, making it inaccessible to the architect. Considering that one potential of CRC is that the architect can perform as more than a designer of static structures, this paper showcases how agent-based modelling can collapse the architectural design and robotic planning phases for CRC. As such the overall construction workflow is upended, leading to more designer control, adjustment for tolerances in the construction process, a more general understanding of the processes, and the potential for architectural reconfiguration when working with CRC systems. This is demonstrated through the presentation of an agent-based model for assembling a planar structure using a previously developed CRC system.

Design, Assembly and Control of a Differential/Omnidirectional Mobile Robot through Additive Manufacturing

Although additive manufacturing is a relatively new technology, it has been widely accepted by industry and academia due to the wide variety of prototypes that can be built. Furthermore, using mobile robots to carry out different tasks allows greater flexibility than using manipulator robots. In that sense, and based on those above, this article focuses on the design and assembly of a multi-configurable mobile robot that is capable of changing from a differential to an omnidirectional configuration. For this purpose, a sequential mechatronic design/control methodology was implemented to obtain an affordable platform via additive manufacturing which is easily scalable and allows the user to change from one configuration to another. As a proof of concept, this change is made manually. Fabrication, construction, and assembly processes for both structures are presented. Then, a hierarchical control law is designed. In this sense and based on Lyapunov’s method, a low-level controller is developed to control the angular speed of the wheels to a desired angular speed, and a medium-level controller controls the robot’s attitude to follow a desired Cartesian trajectory. Finally, the control strategies are implemented in both prototype configurations, and through experimental results, the theoretical analysis and the construction of the mobile robot are validated.

ORGANIZATIONAL AND TECHNOLOGICAL DESIGN OF AUTOMATION SYSTEMS

Formulation of the problem. Automation in construction shows the potential to improve productivity after years of technical development and experimentation in the field. However, current research does not provide a clear understanding of exactly how this happens, as well as what contradictions and problems accompany construction automation. At the moment, the practice of using construction robotic equipment is not widespread in Ukraine, mainly due to the high costs of equipment compared to the wages of workers. However, as evidenced by European and American experience, the introduction of modern automated technologies into the construction process leads to increased productivity, improved accuracy and quality of work, and increased safety in construction. Despite the high cost of equipment and additional costs for training specialists and service personnel, as well as the limitations of its application, the use of construction robotics can have positive results, such as accelerating the pace of work, which will lead to large-scale changes in organizational and technological solutions and organizational and technological design in general. The purpose of the article is to analyze the use of modern automated systems and identify technical innovations and their practical potential. Conclusions. In order to gain a deeper understanding of the full potential of construction automation to increase productivity and the associated possible consequences, an objective review of information on automated technologies in construction was conducted. This review was carried out using text analysis techniques in publicly available written documents covering a wide range of relevant information sources, including scientific publications and official databases of equipment suppliers. The main vectors of worldwide research and existing technologies tested in practice are defined. The purpose, objects, tasks and goals of future research are defined.

Challenges and potential for human–robot collaboration in timber prefabrication

Recent advancements in robotics and human–machine interfaces enable new collaborative procedures that combine the strengths of machines and humans. Compared to existing automation technologies in the timber prefabrication industry, human–robot collaboration (HRC) offers new possibilities for increased flexibility and productivity. This paper aims to map out the challenges and opportunities for HRC within the context of timber prefabrication by constructing a conceptual framework. The framework is based on three pillars: (1) existing HRC theories and frameworks, (2) a literature review of HRC research in robotic timber fabrication, and (3) perspectives of human labour in the timber construction industry. The relevant topics among these three areas are triangulated to construct a conceptual framework that bridges the system-, design-, and human-centred considerations. The framework serves as an organising device to support future explorations and research on human–robot collaboration in robotic timber construction.

Wireless Controlled Hexa Wheel Robot based on HC-05 Technology

Robotics is the interdisciplinary branch of engineering and science that includes mechanical engineering, electrical engineering, computer science, and others. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. In this digital age, Robotics represents a transformative shift. As you are all aware, Robotics is utilized extensively in the manufacturing, research laboratories, traffic management, search initiatives, and defence activities. These have streamlined human employees' tasks which was previously performed by humans. Now a days smart phones or android is an open-source operating system which means that any manufacturer on use it in their phones free of charge. More properties make the Android system very applicable for university use: Android uses the Java programming language, which our students are familiar with. Getting started with the Android API is easy; the API is open, i.e. developers can access almost every low-level function and are not sandboxed. In addition, the Android API allows easy access to the hardware components. In the working principle of Robot is based on RF (Radio Frequency) emitted by Bluetooth can be regarded as the control which deals with the use of radio signal to remotely control any device or Robot. Based on all these information we have design and developed a Six Wheel Robotics Module using HC-05 Technology. Keywords:- Robot, HC-05, Arduino uno, Driver, Ultrasonic.

Experimental validation of a constrained control architecture for a multi-robot bricklayer system

Robotics in construction is an emerging field that aims to automate various construction activities. Among the various innovative technologies for the construction sector, in this paper we focus on robotic solutions for the bricklaying task. In particular, we describe and explain in detail the implementation of a control framework for a recently introduced multi-robot bricklaying concept, specifically designed for laying activities with large and heavy blocks. The multi-robot system subject of this work is based on the collaboration of a robotic manipulator and a crane. The control architecture proposed to perform the construction task belongs to the Explicit Reference Governor (ERG) formalism. The ERG is a constrained control structure that enforces the constraints of the system and ensures that the robotic system operates correctly and safely. The efficiency of the proposed solution is confirmed by experimental validation on a custom-made crane and a KUKA LBR IIWA14R820 robotic arm.

Technology status tracing and trends in construction robotics: A patent analysis

The advent of construction robotics (CR) has been rendered technically and economically viable by the proliferation of microprocessors and a decline in costs. A captivating epoch in CR has emerged, and it defies conventional interpretation. We ask how to extract the frontier research topics from patents, which countries are driving innovation in CR, and what policies are contributing to the current situation. This paper uses patent analysis and text mining to study 1831 C R-related patents and finds four clusters from the Derwent Innovations (DI) database. The patent remaining life impact (PRLI) index is calculated. The results show an increase in the number of CR-related patents annually. China leads in the number of patent publications, while the US and other patent organizations have played critical roles in the field. An improved technology evolutionary path tracing visualization identifies several hotspots. Additionally, the policy strategy matrix (PSM) analyzes the industrial stimulation policies of the two countries with the most considerable proportion, providing an explanation for predicting future technology research and development (R&D) and the direction of optimization.

Programmable adhesion and morphing of protein hydrogels for underwater robots

Soft robots capable of efficiently implementing tasks in fluid-immersed environments hold great promise for diverse applications. However, it remains challenging to achieve robotization that relies on dynamic underwater adhesion and morphing capability. Here we propose the construction of such robots with designer protein materials. Firstly, a resilin-like protein is complexed with polyoxometalate anions to form hydrogels that can rapidly switch between soft adhesive and stiff non-adhesive states in aqueous environments in response to small temperature variation. To realize remote control over dynamic adhesion and morphing, Fe3O4 nanoparticles are then integrated into the hydrogels to form soft robots with photothermal and magnetic responsiveness. These robots are demonstrated to undertake complex tasks including repairing artificial blood vessel, capturing and delivering multiple cargoes in water under cooperative control of infrared light and magnetic field. These findings pave an avenue for the creation of protein-based underwater robots with on-demand functionalities.

Transforming Construction: The Growing Role of Mechatronics in Building Our Infrastructure

This paper explores the increasing role of mechatronics in the construction industry and its impact on infrastructure development. It provides an overview of mechatronics, its historical development, and key components used in construction applications. The paper examines various mechatronics applications in building construction and infrastructure development, including robotic construction systems, smart sensors and monitoring systems, advanced materials and 3D printing, intelligent transportation systems, renewable energy infrastructure, and water and waste management. It also discusses the challenges and future directions of mechatronics in construction, addressing limitations, safety and ethical considerations, and potential advancements. The importance of mechatronics in transforming the construction industry and building sustainable infrastructure is emphasized, along with a call to action for further research and adoption of mechatronics in construction.

Role of Robotics and Automation in Construction Sector

Construction is one of the major industries in the world. The construction industry is labor-intensive and performed in hazardous situations. Hence, the importance of Construction robots has developed rapidly. The research discovers the latest advances in robotics and sensor-based technologies that are leading developments in the construction sector to attain improvements in construction quality, efficiency, and safety. Although automation in construction was first introduced in the year 1980. It has seen little advancement in the level of application. The present study attempts to identify the recent developments in automated robotic systems and their scope in the construction sectors, namely with respect to construction robots. The application of robotic technologies in the construction industry has been known as one of the most challenging tasks. Automation in the construction industry can help to ensure production without compromising the quality of the construction products. This may be due to the fact that workers can become tired over time.

Optimizing the accuracy of an industrial robot: A model for improving positional accuracy

This article investigates methods for improving the positional accuracy of industrial robots, focusing on their movement dynamics, trajectory management, and fundamental principles of precise positioning. The research examines nine critical points within the gripper's working zone, shaped as a parallelepiped, which is essential for defining the accuracy limits of industrial robots. The study addresses the challenge of aligning the capture device with the ninth point by proposing a solution that involves precise movements along the diagonals of the parallelepiped to enhance accuracy. The article provides a detailed analysis of the construction and mechanics of industrial robots, emphasizing how different link configurations impact performance. It highlights the benefits of fewer links, which tend to maintain stable positional accuracy, while also discussing how an increase in the number of links leads to trajectory variations. These variations affect both robots with mobile bases and fixed- base robots, impacting practical applications such as machining where managing these trajectories is crucial to avoid collisions and ensure smooth operation. Additionally, the research explores the role of various coordinate systems in shaping the working zone and basic movements of industrial robots. It covers rectangular, cylindrical, spherical, and angular coordinate systems, each offering different perspectives on the robot's operational area. This comprehensive analysis aims to address the complexities associated with enhancing positional accuracy in industrial robotics.

Research Status Quo and Trends of Construction Robotics: A Bibliometric Analysis

Research Status Quo and Trends of Construction Robotics: A Bibliometric Analysis

Investigating momentum transfer with gall-forming wasps

Neuroterus saltatorius is a gall-forming wasp species endemic to the U.S. During summer, large numbers of galls detach from oak leaves and fall to the ground. They jump several times per minute in random directions earning them the moniker "jumping galls" or “flea seeds”. The mechanism behind this unique behavior has not been established, but one hypothesis suggests that encapsulated gall larva forces fluid through its U-shaped body at high speeds. The momentum of this fluid is transferred in such a way that a hopping motion occurs. We believe that understanding momentum transfer is important for applications focused on momentum transfer. Inspired by the jumping gall and to understand momentum transfer, we constructed a model using a mousetrap with attachable weights to demonstrate that a moving mass can cause jumping through momentum transfer. We predicted that adding weight to the arm would increase the jump height because the arm swings at the same speed with increased momentum from the larger mass. Increasing weights to the arm allowed us to identify the optimal mass for the highest jump. This modeling approach provided insights into the physical process underlying the galls' jumping behavior and extended beyond that. An application of the theory is to use momentum transfer when exploring microgravity environments like comets and asteroids because instrument packages cannot be moved by wheeled vehicles on extremely rough surfaces. An alternative is to construct robots capable of moving by momentum transfer.

Intelligent Sensing and Control of Road Construction Robot Scenes Based on Road Construction

Intelligent Sensing and Control of Road Construction Robot Scenes Based on Road Construction

A Review on Barriers in Implementation of Robotics Technology in the Construction Projects

One of the oldest and most important sectors of a country's economy is the construction sector. Through infrastructure projects, amenities, and real estate development, the Indian construction industry contributes significantly to the country's economic growth and nation-building. India is trailing behind the west in the application of robotics and automation in construction, while the west is seeing a rise in this field. An examination of the particular reasons limiting adoption in Indian building projects is presented in this research. The objective of the review is to identify and categorise the most critical challenges that are limiting the adoption of robotics in construction projects. The information provided will help those working in construction come up with mitigation plans. The results show that, while there is awareness of the benefits of adaptability and the use of robots in construction, there are a number of resistance factors that must be overcome for robotics to be successfully adopted in India. Generally speaking, professionals in the construction industry consider automation and robotics to be synonymous, and they believe that robotics is appropriate for a developing nation like India

Soft Medical Robots and Probes: Concise Survey of Current Advances

Soft robotics has emerged as a new branch of robotics gaining huge research interest in recent decades. Owning intrinsic advantages such as compliance and safety, soft robots are closely associated with the medical requirements of medical robots. This review is written to overview advances in the medical applications of soft robots, either for readers primarily familiar with traditional medical systems, or for researchers planning to develop soft robots for medical applications. Recent publications related to soft medical robots were reviewed to represent the state’, ’of’, ’the’, ’art advances in this field. The review tends to compress the scope to trunk’, ’shaped soft robots and appraise the status of soft robots and their distance from clinical use. Several papers related to the construction and capabilities of soft robots were referenced. Roughly 190 related articles published in the current period from 2018 to the publication date (representing almost 90% of the references to the theme totally identified) were reviewed. Structure of soft robots, advances in technology, and the aptitudes in medical applications were discussed. The trunk’, ’like soft robots conspicuously are proposed for applications including robot assisted surgery where a probe is inserted into the human body. Such robots are also present in other medical robots as actuators. The literature shows that different methods are used to fabricate soft robots and employ them in different robotics tasks including positioning, grasping, and force exertion. Noticeably, such studies were done in robotics laboratories, dealing with robotics engineering problems. This review suggests that the technology is actively developing, but further focus on specific medical applications is required to fill the gap between soft robotics and its clinical use.