Construction robotics最新文献_第6页

Workspace analysis of an underconstrained cable-driven parallel robot with four cables 四根无约束缆索驱动并联机器人的工作空间分析

Construction robotics Pub Date : 2022-06-01 DOI: 10.1007/s41693-022-00076-1

Jibi Job, Rikku Joseph Ponnan, Vishnu J. Chandran, N. Biju

引用次数: 3

Real-time state synchronization between physical construction robots and process-level digital twins 物理施工机器人和过程级数字孪生之间的实时状态同步

Construction robotics Pub Date : 2022-03-01 DOI: 10.1007/s41693-022-00068-1

C. Liang, W. McGee, C. Menassa, V. Kamat

引用次数: 12

3DWoodWind: robotic winding processes for material-efficient lightweight veneer components 3DWoodWind：用于材料高效轻质单板组件的机器人缠绕工艺

Construction robotics Pub Date : 2022-03-01 DOI: 10.1007/s41693-022-00067-2

Andreas Göbert, Arjen Deetman, Andrea Rossi, Ole Weyhe, P. Eversmann

引用次数: 1

Dynamic 3D print head for spatial strand extrusion of fiber-reinforced concrete: requirements, development and application 用于纤维混凝土空间绞线挤出的动态3D打印头：要求、开发和应用

Construction robotics Pub Date : 2022-03-01 DOI: 10.1007/s41693-022-00066-3

T. Adams, C. Heuer, S. Brell-Çokcan

引用次数: 2

Safety, quality, schedule, and cost impacts of ten construction robots. 十种建筑机器人的安全、质量、进度和成本影响。

Construction robotics Pub Date : 2022-01-01 Epub Date: 2022-06-27 DOI: 10.1007/s41693-022-00072-5

Cynthia Brosque, Martin Fischer

{"title":"Safety, quality, schedule, and cost impacts of ten construction robots.","authors":"Cynthia Brosque, Martin Fischer","doi":"10.1007/s41693-022-00072-5","DOIUrl":"https://doi.org/10.1007/s41693-022-00072-5","url":null,"abstract":"Introduction: Robots have increased productivity, quality, and safety in structured manufacturing environments while lowering production costs. In the last decade, advances in computing and sensing have started to enable robots in unstructured environments such as construction.Objectives: Given this new reality, this research aims to quantify the impacts of existing construction robots.Methods: This study evaluates the Safety, Quality, Schedule, and Cost impacts of ten on-site construction robots for 12 construction projects spanning 11 contractors from Europe, Asia, South America, and the United States.Results: The robots showed the potential to reduce repetitive site work between 25 and 90% and reduce time spent on hazardous tasks by 72% on average. On average, accuracy was improved by 55%, and rework was reduced by over 50%. Robots reduced the schedule on average 2.3 times with a median of 1.4x. The cost was reduced by 13%, with six cases that reduced it but four that increased the total costs. The comparative results also highlight under what project conditions (Product, Organization, and Process) could the robot perform better than the traditional method.Conclusion: Even at this relatively early stage of robot deployment worldwide, the consistent evaluation of ten examples showed how promising the technology already is for a range of robot types, mobility, autonomy, scale, business models, and locations. Future work will expand the number of robot case studies utilizing the same comparison method.","PeriodicalId":72697,"journal":{"name":"Construction robotics","volume":"6 2","pages":"163-186"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9244236/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"33487058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Beyond transparency: architectural application of robotically fabricated polychromatic float glass. 超越透明:机器人制造的多色浮法玻璃的建筑应用。

Construction robotics Pub Date : 2022-01-01 Epub Date: 2022-04-28 DOI: 10.1007/s41693-022-00071-6

Rena Giesecke, Rémy Clemente, Ioanna Mitropoulou, Eleni Skevaki, Christian Thiago Peterhans, Benjamin Dillenburger

{"title":"Beyond transparency: architectural application of robotically fabricated polychromatic float glass.","authors":"Rena Giesecke, Rémy Clemente, Ioanna Mitropoulou, Eleni Skevaki, Christian Thiago Peterhans, Benjamin Dillenburger","doi":"10.1007/s41693-022-00071-6","DOIUrl":"https://doi.org/10.1007/s41693-022-00071-6","url":null,"abstract":"This research investigates robotically fabricated polychromatic float glass for architectural applications. Polychromatic glass elements usually require labor-intensive processes or are limited to film applications of secondary materials onto the glass. Previous research employs computer numerical control (CNC) based multi-channel granule deposition to manufacture polychromatic relief glass; however, it is limited in motion, channel control, and design space. To expand the design and fabrication space for the manufacture of mono-material polychromatic glass elements, this paper presents further advancements using a UR robotic arm with an advanced multi-channel dispenser, linear and curved-paths granule deposition, customized color pattern design approaches, and a computational tool for the prediction and rendering of outcomes. A large-scale demonstrator serves as a case study for upscaling. Robotic multi-channel deposition and tailored computational design tools are employed to facilitate a full-scale installation consisting of eighteen large glass panels. Novel optical properties include locally varying color, opacity, and texture filter light and view. The resulting product constructs sublime architectural experiences through light refraction, reflection, color, opacity - beyond mere transparency.","PeriodicalId":72697,"journal":{"name":"Construction robotics","volume":" ","pages":"121-131"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9499914/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40375542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Autonomous robotic additive manufacturing through distributed model-free deep reinforcement learning in computational design environments. 通过计算设计环境中的分布式无模型深度强化学习实现机器人自主增材制造。

Construction robotics Pub Date : 2022-01-01 Epub Date: 2022-05-23 DOI: 10.1007/s41693-022-00069-0

Benjamin Felbrich, Tim Schork, Achim Menges

{"title":"Autonomous robotic additive manufacturing through distributed model-free deep reinforcement learning in computational design environments.","authors":"Benjamin Felbrich, Tim Schork, Achim Menges","doi":"10.1007/s41693-022-00069-0","DOIUrl":"10.1007/s41693-022-00069-0","url":null,"abstract":"The objective of autonomous robotic additive manufacturing for construction in the architectural scale is currently being investigated in parts both within the research communities of computational design and robotic fabrication (CDRF) and deep reinforcement learning (DRL) in robotics. The presented study summarizes the relevant state of the art in both research areas and lays out how their respective accomplishments can be combined to achieve higher degrees of autonomy in robotic construction within the Architecture, Engineering and Construction (AEC) industry. A distributed control and communication infrastructure for agent training and task execution is presented, that leverages the potentials of combining tools, standards and algorithms of both fields. It is geared towards industrial CDRF applications. Using this framework, a robotic agent is trained to autonomously plan and build structures using two model-free DRL algorithms (TD3, SAC) in two case studies: robotic block stacking and sensor-adaptive 3D printing. The first case study serves to demonstrate the general applicability of computational design environments for DRL training and the comparative learning success of the utilized algorithms. Case study two highlights the benefit of our setup in terms of tool path planning, geometric state reconstruction, the incorporation of fabrication constraints and action evaluation as part of the training and execution process through parametric modeling routines. The study benefits from highly efficient geometry compression based on convolutional autoencoders (CAE) and signed distance fields (SDF), real-time physics simulation in CAD, industry-grade hardware control and distinct action complementation through geometric scripting. Most of the developed code is provided open source.Supplementary information: The online version contains supplementary material available at 10.1007/s41693-022-00069-0.","PeriodicalId":72697,"journal":{"name":"Construction robotics","volume":"6 1","pages":"15-37"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9125977/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9963340","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Special issue on human robot collaboration. 关于人机协作的特刊。

Construction robotics Pub Date : 2022-01-01 DOI: 10.1007/s41693-022-00088-x

Dagmar Reinhardt, Glenda Caldwell

引用次数: 0

Digital twins as education support in construction: a first development framework based on the Reference Construction Site Aachen West. 数字双胞胎作为建筑中的教育支持：基于亚琛西部参考建筑工地的第一个发展框架。

Construction robotics Pub Date : 2022-01-01 Epub Date: 2022-04-06 DOI: 10.1007/s41693-022-00070-7

Rushi Dai, Sigrid Brell-Çokcan

{"title":"Digital twins as education support in construction: a first development framework based on the Reference Construction Site Aachen West.","authors":"Rushi Dai, Sigrid Brell-Çokcan","doi":"10.1007/s41693-022-00070-7","DOIUrl":"10.1007/s41693-022-00070-7","url":null,"abstract":"The Reference Construction Site Aachen West, located in Aachen, Germany, is a campus-based living lab for research and university education in construction. To ensure and improve the education quality, this paper researches a new study tool in the form of a digital twin framework powered by the Unreal Engine. By implementing MQTT, an IoT communication protocol, the digital twin realizes synchronicity of cyber-physical bi-directional data flows. Representing the virtual Reference Construction Site, an online multiplayer application was developed as a use case to answer the research questions: (1) how to design the digital twin and structure in an extendable and accessible development framework for different users and (2) how to support education in construction with this digital twin. To validate the concept, a group of students were invited online to explore the application and provide user feedback. Results show positive effects of the digital twin on enhancing the quality of the online education in construction with its real-time interaction and data from on-site machinery and processes. The digital twin is planned to be transferred to research and construction projects.","PeriodicalId":72697,"journal":{"name":"Construction robotics","volume":"6 1","pages":"75-83"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8984072/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9909999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Online capability-based resource allocation for on-site construction operations utilizing digital twin models 利用数字孪生模型为现场施工作业提供基于在线能力的资源分配

Construction robotics Pub Date : 2021-12-01 DOI: 10.1007/s41693-022-00065-4

Sören Münker, Peter R. Wildemann, Amon Göppert, S. Brell-Çokcan, R. Schmitt

引用次数: 4