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

2. Agenda What is a robot Overview of robot development Robotics in construction automation About this Course –Course design –Project and –Grading http://robot.caece.netRobotics in Construction Automation2

3. http://robot.caece.netRobotics 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)

4. 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. http://robot.caece.netRobotics in Construction Automation4

5. 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. http://robot.caece.netRobotics in Construction Automation5

6. Basic structure of a robot (1/2) http://robot.caece.netRobotics in Construction Automation6

7. Basic structure of a robot (2/2) http://robot.caece.netRobotics in Construction Automation7 Planner Sensor1 Sensor2 Sensor3 Actuator1 Actuator2 Actuator3

8. The beginning of real robotics http://robot.caece.netRobotics in Construction Automation8

9. http://robot.caece.netRobotics in Construction Automation9 Industrial robots Welding Material handling

10. Robot in industry http://robot.caece.netRobotics in Construction Automation10

11. Tele-operation http://robot.caece.netRobotics in Construction Automation11

12. Ready-made robot http://robot.caece.netRobotics in Construction Automation12

13. Robot in the classroom http://robot.caece.netRobotics in Construction Automation13

14. Playing with robots http://robot.caece.netRobotics in Construction Automation14

15. Robots in medicine http://robot.caece.netRobotics in Construction Automation15

16. Robot at home http://robot.caece.netRobotics in Construction Automation16

17. Robots in challenging environments http://robot.caece.netRobotics in Construction Automation17

18. http://robot.caece.netRobotics in Construction Automation18 Entertainment robots Robot dog Humanroid robot

19. From automation to robotics http://robot.caece.netRobotics in Construction Automation19 Courtesy of Mr. 陳瑞祺 ’s slides

20. From industrial robots to service robots http://robot.caece.netRobotics in Construction Automation20 Courtesy of Mr. 陳瑞祺 ’s slides

21. Development of service robots http://robot.caece.netRobotics in Construction Automation21

22. Robotics in Construction Automation

23. Robotics in construction sites –Robotics can help engineers to –know better about the construction processes –perform better –Plan better http://robot.caece.netRobotics in Construction Automation23

24. Building system for robotic construction http://robot.caece.netRobotics in Construction Automation24 Scott Howe 1999

25. Lunar construction http://robot.caece.netRobotics in Construction Automation25 Benaroya et al 2002

26. Tunnel construction http://robot.caece.netRobotics in Construction Automation26 Lin et al 2006

27. Jobsite monitoring http://robot.caece.netRobotics in Construction Automation27 Sacks et al 2005

28. Tracking materials http://robot.caece.netRobotics in Construction Automation28 Song et al 2006

29. Facilitator for seeing through the earth http://robot.caece.netRobotics in Construction Automation29 Kolera and Bernold 2006

30. Earthmoving Planning http://robot.caece.netRobotics in Construction Automation30 Tserng et al 2000

31. Motion planning for tower cranes http://robot.caece.netRobotics in Construction Automation31 Kang and Miranda 2005

32. Painting robot for bridges http://robot.caece.netRobotics in Construction Automation32 Bai 2007

33. Pipe installation (teleoperation) http://robot.caece.netRobotics in Construction Automation33 Bernold 2006

34. Autonomous driller http://robot.caece.netRobotics in Construction Automation34 Molfino et al 2006

35. Contour crafting http://robot.caece.netRobotics in Construction Automation35 http://www.contourcrafting.org/

36. About this Course

37. 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. http://robot.caece.netRobotics in Construction Automation37

38. 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. http://robot.caece.netRobotics in Construction Automation38

39. 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. http://robot.caece.netRobotics in Construction Automation39

40. 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 20-30 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. http://robot.caece.netRobotics in Construction Automation40

41. Software and hardware (second section) http://robot.caece.netRobotics in Construction Automation41 Microsoft robotics studio Lego NXT module

42. 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. http://robot.caece.netRobotics in Construction Automation42

43. 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 http://robot.caece.netRobotics in Construction Automation43

44. 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. http://robot.caece.netRobotics in Construction Automation44

45. 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% http://robot.caece.netRobotics in Construction Automation45

46. 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. http://robot.caece.netRobotics in Construction Automation46

47. Laptop-down policy Laptops are only allowed during the third section (practicing section) or on the time when instructed to used them. http://robot.caece.netRobotics in Construction Automation47

48. 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. http://robot.caece.netRobotics in Construction Automation48

49. Course survey and presentation list Fill up course survey Fill up presentation list http://robot.caece.netRobotics in Construction Automation49

50. Next week http://robot.caece.netRobotics in Construction Automation50

51. Questions? Course website robot.caece.net Instructors’ email sckang@caece.net