 Subjects -> ARCHITECTURE (Total: 219 journals)
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- Improving autonomous robotic navigation using IFC files
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Abstract: Abstract The navigation of robotic systems in construction sites often relies on sensor data from the robot. While mapping and navigation protocols such as simultaneous localization and mapping (SLAM) are quite useful for navigation, they often require a preliminary mapping of the site, which is usually done manually. Waypoint generation for certain tasks, such as 3D scanning, cannot be done before obtaining said preliminary map, which can be tedious. Building information model (BIM) files contain rich semantic information about buildings; therefore, it is worth considering an approach where the information in BIM is leveraged to minimize the need for manual preliminary mapping of sites. This study proposes a methodology to get information from BIM—in the form of IFC files—to an autonomous robotic system (ARS) in the form of navigation maps, simulation environments, JSON files with useful semantic information, and proposed waypoints for stop-and-go missions. The schedule element present in IFC is used to generate obstacle maps relevant to the level of construction progress at the time the ARS is deployed. The results are validated with a case study of the entire process from the IFC file input to the waypoint generation for an ARS to complete a 3D reconstruction of an indoor space.
PubDate: 2023-09-05
- Towards controlled semi-autonomous deconstruction
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Abstract: Abstract The automation of deconstruction processes presents unique difficulties due to the harsh working conditions involved. In this research, we aim to address these limitations by advancing the teleoperated machine, BROKK 170, toward a developed semi-autonomous concept. We propose a framework for robot-assisted deconstruction, exploring the communication and sensing systems of the prototype deconstruction robot, along with its capabilities. Additionally, field tests are conducted to evaluate the performance of the proposed approach in real-world scenarios. The potentials and limitations drawn from these initial results are discussed.
PubDate: 2023-08-16
- Minimal machines: augmented reality for filament-construction of partially
ordered systems in architecture-
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Abstract: Abstract Wearable augmented reality-supported technology allows for tracking and informing the interrelation of craftspeople with the architectural structure they are working on. Especially when dealing with partially ordered rather than fully ordered material systems, this feedback is relevant since toolpaths cannot be established a priori but rather evolve during the architectural construction process itself. On the one hand, partially ordered material systems have the potential of adapting to conditions both internal and external to the structure. On the other hand, they can be considered as structures that are constantly evolving: instead of demolishing a building, it could be continuously repaired. While a large range of investigations involve robots equipped with sensory feedback to address this topic, only few studies have attempted to equip humans with a minimal amount of technology so as to harness human sensory intelligence, merely enhancing it with technology. This article introduces the current state of the field of augmented reality and partially ordered systems in architectural construction with a focus on filament-laying processes. Then, it presents a newly developed framework for augmented construction with designed filaments for partially ordered fabrics in architecture, encompassing both the wearable hardware and the custom-developed software. The principles of systems in human-made filament-based architecture are introduced and set in relation to similar role model systems in animal-made architecture. Then, three experiments of increasing complexity investigate the human-to-machine, the machine-to-human and the machine-to-human-to-machine communication. A final integrative demonstrator serves to investigate the framework for augmented reality in construction on a full architectural scale. As an outlook, areas of further research—such as the integration of artificial intelligence into the feedback loop—are discussed.
PubDate: 2023-08-10
- Correction: Non-planar granular 3D printing
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PubDate: 2023-07-28
- Reshaping the field through novel means of architectural research
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PubDate: 2023-07-13
DOI: 10.1007/s41693-023-00106-6
- Non-planar granular 3D printing
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Abstract: Abstract Most approaches to 3D printing at various scales are layer based, meaning they start with a 3D CAD model that is sliced into planar print paths to be translated to machine code. However, this approach entails a number of drawbacks, such as slow printing speeds, limited build volumes, allowable geometric properties, and material diversity. To overcome these limitations, the authors have developed a novel additive manufacturing process called Non-Planar Granular Printing (NGP). Compared to its layer-based counterpart, NGP enables non-planar 3D printing by selectively binding reusable granular particles to create free-form structures. In doing so, NGP leverages traditional powder-based additive manufacturing processes. However, instead of enclosing the extruded compounds within a three-axis layer-based system, NPG combines multi-axis robotic deposition capabilities with customizable build volume parameters, which drastically improves print speed, scalability and material versatility. The result is a process whose main advantage is to enable the rapid production of support-free and complex geometric forms using a wide range of materials in granular form. This paper introduces and analyzes a series of benchmark experiments conducted to demonstrate the practical workflow, general output capabilities, and volume-material limitations of the system. The research also lays a foundation of non-planar 3D extrusion that enables material transitions for functional gradience capabilities.
PubDate: 2023-07-13
DOI: 10.1007/s41693-023-00107-5
- Analysis of 3D printing techniques for building construction: a review
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Abstract: Abstract 3D printing is a rapidly developing industry, which allows producing objects of different size using additive manufacturing technologies. Large-scale 3D printing has the potential to revolutionize the construction industry by making housing construction faster, more affordable, and sustainable. It allows for the creation of unique and customizable designs directly on-site with high precision. This study starts with an overview of the four 3D printing technologies that are used for building production. The main technical parameters, such as physical dimensions, printing speed, materials and technological limitations are identified and compared. The second step contains the analysis of the 3D printed buildings, including their design, size, construction time, and the need to use any additional structures. In conclusion, the different types of 3D printers and 3D printed houses are evaluated to find the most advanced and efficient technical solutions.
PubDate: 2023-07-05
DOI: 10.1007/s41693-023-00108-4
- A guided approach for utilizing concrete robotic 3D printing for the
architecture, engineering, and construction industry-
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Abstract: Abstract The emerging field of robotic 3D printing offers practical alternatives to conventional building methods that are currently used in the Architecture, Engineering, and Construction (AEC) industry. Robotic 3D printing has many advantages over the conventional construction as it reduces human error, is relatively inexpensive, and opens the door to the creative complex designs while reducing the amount of expertise required to complete the construction process. At present, there is a shortage of resources offering guidance on how to utilize the available technology. Thus, it is often difficult for researchers and practitioners alike to find the right information and make informed decisions relative to their specific applications. In this paper, we provide such a resource by gathering data from previously constructed projects in the form of a categorical study, which paves the way for accessing the most recent information regarding the robotic 3D printing technology of interest. We illustrate the latest methods and techniques used in the field and describe the hardware used. We also use the resulting classification methods to present a decision-making workflow to streamline the process of selecting the most appropriate approach. We also examined and performed a detailed analysis on three case studies of prominent buildings that have been constructed using 3D printing technology. The categorical parameters were selected carefully to form a clear, informative distinction between the buildings. Printing method and motion type were the most important parameters when it comes to robotic 3D printing. A new database was created and demonstrated to elucidate the types of the additive manufacturing that can be used. By analyzing the data, we hope to facilitate the development of new structures as they relate to 3D printing in the AEC industry.
PubDate: 2023-06-26
DOI: 10.1007/s41693-023-00103-9
- Feasibility study on a large scale 3D printed scissor structure
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Abstract: Abstract This paper presents a case study on applying large-scale additive manufacturing (LSAM) to scissor-type deployable structures for disaster shelters. The use of advanced technology has become increasingly popular among architects, engineers, and other stakeholders looking to achieve more efficient designs. In this context, LSAM offers the potential to optimize form, reduce material consumption, and speed up the construction process. The project includes both a theoretical study of scissor structures and practical feasibility tests, culminating in the design and manufacture of a full-scale printed prototype. Computational design tools were used to analyze and compare different designs and simulate manufacturing processes in a virtual environment. Through this case study, we provide a detailed account of our journey from design to fabrication and offer a critical reflection on the findings.
PubDate: 2023-06-15
DOI: 10.1007/s41693-023-00104-8
- Flexible digital manufacturing of timber construction: the design and
fabrication of a free-form nexorade-
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Abstract: Abstract This article investigates the application of a multi-robotic platform to the fabrication of complex “free-form” timber structures. A concept of “smart factory”, with a 13-DOF robotic cell combining robotic mobility with fixed workstations, is proposed. A computational workflow was implemented to allow for fast iterations during the early design stage. The robotic cell design and design workflow are implemented in practical experiments conducted in the framework of intensive workshops. A productivity assessment is performed on a 50 m \(^2\) pavilion pre-fabricated with the proposed robotic cell.
PubDate: 2023-06-13
DOI: 10.1007/s41693-023-00105-7
- Slimlam method: robotically bandsawn timber for Glulam applications
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Abstract: Abstract Slimlam is a materially optimized manufacturing method to efficiently construct structurally optimized Glulam products through robotic fabrication. Using a bandsaw end effector on a 6-axis robotic arm, boards are programmed with varying thickness and assembled in a specific sequence to create beam shapes that taper to resist the loading effects. This approach reduces the total amount of material and weight in glulam beam products while maintaining a load capacity comparable to uniform glulam beams with a consistent rectangular cross-section made of dimensional lumber. While the method is not dependent on a particular wood species, the research utilizes ash wood, a locally available hardwood in North America due to the ongoing Emerald ash borer epidemic. As a method derived from raw materials, Slimlam significantly reduces the total amount of material in glulam products by 30%, advocating for a computational integration between sawmills and glulam manufactures. The research will test the viability of a simply supported, varied thickness glulam beam through (1) geometric constraints within the digital model, (2) the material properties of a white-ash glulam beam, (3) finite-element analysis, (4) the workflow for robotic fabrication, and (5) lamination and finishing procedures. Two Slimlam prototypes along with parallel structure simulations were produced as a derivative of this investigation.
PubDate: 2023-05-18
DOI: 10.1007/s41693-023-00102-w
- Enhancing safety in human–robot collaboration through immersive
technology: a framework for panel framing task in industrialized
construction-
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Abstract: Abstract Emerging construction technologies, such as robotics, can promote the shift towards the industrialization of the construction industry by addressing the pressing labor shortage challenge and boosting the productivity of construction projects. However, human–robot collaboration in industrialized construction requires close interactions between human workers and construction robotics, which introduces new hazards that must be mitigated to ensure the safety of construction workers. The lack of existing studies addressing the technical requirements for a safe, fenceless collaboration between humans and industrial robotic arms presents a critical challenge for the integration of robotics in industrialized construction. This study proposes a framework for mapping the work zones of human–robot collaboration in a fenceless environment by dynamically assessing the safety of panel framing task. Following ISO/TS 15066:2016 guidelines, the proposed framework employs mixed reality technology and machine learning prediction models, by means of a neural network, to map safe zones in the panel framing workstation. The proposed framework can support the factory floor planning process during the strategic planning phase by determining the size of robotic stations according to the mapped work zones (i.e., safe zones). As such, this research facilitates the use of robotics and enhances automation in industrialized construction by providing valuable insights into safe robotics integration.
PubDate: 2023-05-13
DOI: 10.1007/s41693-023-00101-x
- Special issue: Implementation-Oriented Construction Robotics
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PubDate: 2023-05-09
DOI: 10.1007/s41693-023-00100-y
- Projector-based augmented stacking framework for irregularly shaped
objects-
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Abstract: Augmented reality in additive fabrication is predominantly applied to the manufacturing of structures from regularly shaped materials. Our work however embraces natural heterogeneity, by focusing on the assembly of irregularly shaped elements such as mineral scraps. We introduce a computer-aided framework with a 3D stacking engine and an augmented reality interface capable of guiding users through the balanced positioning of discrete and highly nonuniform objects according to an on-the-fly computed model and without prior trimming of the building unit. The pipeline is tested by the construction of two dry-stone structures (i.e., lacking any adhesives), and its accuracy is validated with a comparative study between the point cloud of the as-built digitized artifacts and the generated execution model, which shows an average 2.9 ± 1.8 cm error between the stones of the two models. We finally show how the proposed framework could be improved both in terms of software and hardware. In the interests of reproducibility, all the methods are shared as open source with the community. Graphical abstract 
PubDate: 2023-05-05
DOI: 10.1007/s41693-023-00099-2
- Cobot uptake in construction: embedding collaborative robots in digital
construction processes-
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Abstract: Abstract The paper at hand investigates the interrelation of automation and collaboration in digital construction processes. Labor shortage, demographic change, and a deficit in productivity motivate automation in construction. While the automation of single tasks is on its way, there is a lack of collaboration between automated equipment and robots along the digital construction process. To foster the development of collaborating robots, definitions and classification criteria for automation and collaboration activities are given. With these criteria at hand, it is possible to classify scientific examples from literature. On top of that, the paper introduces a prototyping framework for automated and collaborative equipment. The framework is thoroughly tested in an earthworks case study consisting of automated and collaborative excavation and compacting of an area. Through the collaboration of an automated excavator and vibratory plate, it is possible to simultaneously execute the ‘excavation’ and ‘compaction’ task, speeding up the overall earthworks process by a factor of almost two. Along with a higher productivity, the high degree of automation allows for safer work, as less workers are exposed to dangerous workspaces and the quality increases through continuous quality checking and integrated documentation of as-built data in BIM models.
PubDate: 2023-04-20
DOI: 10.1007/s41693-023-00098-3
- Insights into automation of construction process using parallel-kinematic
manipulators-
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Abstract: Abstract This article discusses challenges, experiences and lessons learned so far while transforming a masonry build system based mostly on manual labour into a robot automated build system. Our motivation for selection of this masonry process is to try out how robot automation could impact the architects in their design work by providing a tool to directly manipulate wall expression down to individual brick level. Such manipulation is often much too costly for manual labour today. Moreover, masonry is a challenging application to automate. Understanding the manual processes involved and transforming them into automation equivalents faces several challenges; among them handling and distribution of the different materials involved, selection of tooling, sensing for handling of variation and digital tooling for the programming of the process. A novel parallel-kinematic manipulator (PKM) with computerized numerical control (CNC) is used as target for experiments, because the performance properties in stiffness, workspace and accuracy will allow us to extend work into further construction processes involving heavy and dirty manual labour.
PubDate: 2023-04-17
DOI: 10.1007/s41693-023-00095-6
- Path planning for graded concrete element fabrication
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Abstract: Abstract The technology of functionally graded concrete (FGC) is a new methodology in the field of concrete construction, striving for mass savings by adjusting the elements interior design. A promising approach herein is meso-gradation, where concrete hollow spheres are placed inside the formwork before casting the element; this allows up to 50% mass savings without a loss in load-bearing capacity, whilst also ensuring recyclability compared to e.g. bubble decks. In order to prevent damage/displacement of the spheres during automated fabrication, the extruded concrete flow must avoid the spheres, whilst neatly covering the elements area in order to prevent cavities. Both requirements formulate a complex path planning problem that must be solved in order to achieve automated fabrication. In this paper, we propose a method for solving this problem, which is based on theoretical findings on Hamiltonian triangulations. Our approach is based on the idea that the elements area is triangulated, such that all sphere centers are corners of triangles. For each triangle, a smooth path can be planned straightforwardly on a consideration of the geometry, such that the global path is made of a sequence of local ones. This necessitates finding a triangulation that is hamiltonian, i.e. a sequence where all triangles are visited exactly once. To this end, we first present a new class of triangulations and proof their hamiltonicity, followed by an algorithm that generates such triangulations on certain FGC element geometries. This is followed by the local path planning problem, whose special structure with start/end tangential and curvature constraints facilitates the use of a polar coordinate approach.
PubDate: 2023-04-17
DOI: 10.1007/s41693-023-00096-5
- “Imagine and make”: teaching construction robotics for higher
education students-
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Abstract: Abstract The use of robotics in construction projects is still in its infancy despite the opportunities that robots can present for the improvement of construction practices. One of the strategies to effectively increase the reliance on robots in construction is increasing the knowledge and improving the educational programs about robotics for university students. This paper contributes to the ongoing efforts worldwide to improve the teaching methods about construction robotics through the presentation of a novel method called “Imagine and Make”, in which students learn how to integrate robotics in different aspects and practices in construction projects. The method has been applied at Centrale Lille in France since 2018. The results of the application of “Imagine and Make” in the first semester of 2021–2022, evaluation by students, and teaching outcomes are reported in this paper.
PubDate: 2023-04-15
DOI: 10.1007/s41693-023-00092-9
- Performance and effectiveness of a passive back-support exoskeleton in
manual material handling tasks in the construction industry-
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Abstract: Abstract Work-related musculoskeletal disorders are a leading contributor to workplace injuries in the construction industry, with the low back being the most affected body part. Recent developments have led to the introduction of exoskeletons on industrial job sites as a means to mitigate the risk of work-related musculoskeletal disorders. Due to the newness of industrial exoskeletons, the successful application of this technology in the construction industry requires a thorough evaluation of different aspects of its adoption, especially user acceptance, to ensure a successful and effective uptake. As manual material handling tasks are the most common cause of low back injuries, this study aimed to evaluate the impact of using exoskeletons when adopting different postures during dynamic and static manual material handling tasks. An experiment was carried out and data reflecting Rate of Perceived Exertion, Level of Discomfort, overall fit and comfort, effectiveness, and interference levels were collected. Overall, the participants perceived the exoskeleton suit as effective, with discomfort being reduced in the low back and most other body parts. However, the results indicated the importance of considering the specific task at hand (e.g., dynamic vs static manual material handling) and the posture adopted (e.g., squatting vs stooping) when evaluating and selecting an exoskeleton for construction tasks. Also, the results show differences between male and female participants in most usability and effectiveness responses. In conclusion, passive exoskeletons have the potential to be adopted to reduce the rate of WMSDs in construction. However, proper training and supervision are required on the postures adopted by the workers, based on the specific characteristics of the task carried out. Also, different results from male and female responses show that different exoskeletons, or an exoskeleton with two different designs, may lead to higher efficiency than using one exoskeleton for both groups.
PubDate: 2023-04-11
DOI: 10.1007/s41693-023-00097-4
- Eggshell Pavilion: a reinforced concrete structure fabricated using
robotically 3D printed formwork-
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Abstract: Abstract This paper discusses the design, fabrication, and assembly of the ‘Eggshell Pavilion’, a reinforced concrete structure fabricated using 3D printed thin shell formwork. Formworks for columns and slabs were printed from recycled plastic using a pellet extruder mounted to a robotic arm. The formworks were cast and demoulded, and the finished elements were assembled into a pavilion, showcasing the architectural potential of 3D printed formwork. The Eggshell Pavilion was designed and fabricated within the scope of a design studio at ETH Zurich. The structure was designed using a fully parametric design workflow that allowed for incorporating changes into the design until the fabrication. The pavilion consists of four columns and floor slabs. Each column and floor slab is reinforced with conventional reinforcing bars. Two different methods are used for casting the columns and floor slabs. The columns are cast using ‘Digital casting systems’, a method for the digitally controlled casting of fast-hardening concrete. Digital casting reduces the hydrostatic pressure exerted on the formwork to a minimum, thereby enabling the casting of tall structures with thin formwork. The floor slabs are cast with a commercially available concrete mix, as the pressure exerted on the formwork walls is lower than for the columns. In this research, 3D printed formwork is combined with traditional reinforcing, casting, and assembly methods, bringing the technology closer to an industrial application.
PubDate: 2023-02-16
DOI: 10.1007/s41693-023-00090-x
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