Course Overview Robotics in Construction Automation Instructor Prof. Shih-Chung Kang 2008 Spring

Agenda What is a robot Overview of robot development Robotics in construction automation About this Course –Course design –Project and –Grading in Construction Automation2

in Construction Automation3 The definition of robots A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. The Robot Institute of America (1979) An automatic device that performs functions normally ascribed to humans or a machine in the form of a human. Webster dictionary, (1993)

What is a robot A robot is a machine that can move around and do different tasks without human help. A robot is capable of moving, sensing and intelligent. in Construction Automation4

What is NOT a robot Remote controlled machines are NOT robots because they need people to guide them. Automatic machines are NOT robots because they are can only do specific job. Computers are NOT robots because they cannot move. However, these machines are still an important part of robotics. They all help develop the basic abilities of robots: movement, senses and intelligent. in Construction Automation5

Basic structure of a robot (1/2) in Construction Automation6

Basic structure of a robot (2/2) in Construction Automation7 Planner Sensor1 Sensor2 Sensor3 Actuator1 Actuator2 Actuator3

The beginning of real robotics in Construction Automation8

in Construction Automation9 Industrial robots Welding Material handling

Robot in industry in Construction Automation10

Tele-operation in Construction Automation11

Ready-made robot in Construction Automation12

Robot in the classroom in Construction Automation13

Playing with robots in Construction Automation14

Robots in medicine in Construction Automation15

Robot at home in Construction Automation16

Robots in challenging environments in Construction Automation17

in Construction Automation18 Entertainment robots Robot dog Humanroid robot

From automation to robotics in Construction Automation19 Courtesy of Mr. 陳瑞祺 ’s slides

From industrial robots to service robots in Construction Automation20 Courtesy of Mr. 陳瑞祺 ’s slides

Development of service robots in Construction Automation21

Robotics in Construction Automation

Robotics in construction sites –Robotics can help engineers to –know better about the construction processes –perform better –Plan better in Construction Automation23

Building system for robotic construction in Construction Automation24 Scott Howe 1999

Lunar construction in Construction Automation25 Benaroya et al 2002

Tunnel construction in Construction Automation26 Lin et al 2006

Jobsite monitoring in Construction Automation27 Sacks et al 2005

Tracking materials in Construction Automation28 Song et al 2006

Facilitator for seeing through the earth in Construction Automation29 Kolera and Bernold 2006

Earthmoving Planning in Construction Automation30 Tserng et al 2000

Motion planning for tower cranes in Construction Automation31 Kang and Miranda 2005

Painting robot for bridges in Construction Automation32 Bai 2007

Pipe installation (teleoperation) in Construction Automation33 Bernold 2006

Autonomous driller in Construction Automation34 Molfino et al 2006

Contour crafting in Construction Automation35

About this Course

Target students This course is designed specifically for graduate students and senior undergraduate students who are interested in robotics technologies but have little background in either software engineering or robotic controls. Students are NOT expected to have strong programming background since multiple comprehensible programming examples will be explained in the class. Students only need to have basic concepts about programming language (c, c++, c# or Visual basic) and also have the ability to follow the programming examples and develop programming projects individually or with a team. in Construction Automation37

Course objects 1.To help students understand latest development of robotics in construction automation. Students need to study and share their ideas on the assigned materials (most of them are recent journal papers regarding construction automation), in which many robot applications are presented. 2.To help students gain the hands-on experience in robot controls. Students will learn robotic software development by writing codes in Microsoft Robotic Studio (MSRS), and the hardware development by customizing a robot using Lego NXT module. Multiple programming projects and an open-oriented term project will be assigned to help students learn the skills required in the robot development. in Construction Automation38

Course arrangement Each class is generally divided into three sections. –In the first section (approx. 50 minutes), literature discussion section, one or two students will introduce an assigned paper and lead the class discussion. –In the second section (approx. 100 minutes), technical section, instructor will introduce the software and hardware robot components and demonstrate the use of these components. –In the third sections (optional), practicing section, students are encouraged to work in group to practice the techniques learned in the class. in Construction Automation39

In-class presentation (first section) The presenters need to make an appointment with the instructor at least one week ahead of the presentation to rehearsal the presentation. The presenters have to prepare minutes presentations with slides to introduce the main ideas in the paper. The presenters need to prepare several questions and lead a short discussion. Please sign up the presentation list today if you would like to take this course for credit. in Construction Automation40

Software and hardware (second section) in Construction Automation41 Microsoft robotics studio Lego NXT module

Projects Programming projects –Three programming projects will be assigned to help students familiarized the programming skills learned in the class. Midterm/term projects –Midterm and term projects are problem-based and competition-based projects. An engineering problem will be assigned. Students are expected to integrate the techniques learned in the class and develop a robot to solve the problem. in Construction Automation42

Projects grading All the programming projects are team projects. Each team basically includes 3 students. Students are expected to work together to develop the program. i.e. work together, debug together, test together and present together. Team members are graded exactly the same grade. If there are extra points, team members share the extra points. –Individual extra points=Extra point/Number of team members in Construction Automation43

Changing partners policy Robot development requires team work. In this class, students are expected to work with a team and will be graded by overall team performance. Please try to practice and develop the “soft skills” to work smoothly with the team members. However, if something goes wrong, you have two choices. –You may change partner between projects. –You may “divorce” with any team member anytime during a project. But changing partner within a project is not allowed. in Construction Automation44

Grading Students will be graded on assignments, projects, a presentation, a midterm project, and final project, weighted as follows: –Reports for literature reviews(10 times) 20% –Presentation 10% –Projects (3 times) 30% –Midterm project 15% –Final project 25% in Construction Automation45

Language policies All the writing assignments, codes, slides, webpages, and other written materials have to be written in English. All the in-class presentations need to present in English. Discussions in English are highly encouraged. in Construction Automation46

Laptop-down policy Laptops are only allowed during the third section (practicing section) or on the time when instructed to used them. in Construction Automation47

Textbook and course note No textbook in this class Course note will be given on the website or in class. Slides will also be given after class. in Construction Automation48

Course survey and presentation list Fill up course survey Fill up presentation list in Construction Automation49

Next week in Construction Automation50

Questions? Course website robot.caece.net Instructors’