Search Results (33)

Task planning for a construction robot requires systematically integrating diverse elements, such as building components, construction processes, user input, and robot software. Conventional robot programming complicates this by requiring precise entity naming, relationship definitions, unstructured language interpretation, and accurate action selection. Existing research has focused on isolated components, such as natural language processing, hardcoded data linkages, or BIM data extraction. We introduce a novel framework using an LLM as the cognitive core for autonomous construction robots, encompassing both data preparation and task planning phases. Leveraging OpenAI’s ChatGPT-4, we demonstrate how LLMs can process structured BIM data and unstructured human inputs to generate robot instructions. A prototype tested in a simulated environment with a mobile painting robot adaptively executed tasks through real-time dialogues with ChatGPT-4, reducing reliance on hardcoded logic. Results suggest that LLMs can serve as the cognitive core for construction robots, with potential for extension to more complex operations. Full article

Objectives: The aim of this study was to evaluate the impact of four working heights on lumbar biomechanics during wall construction tasks, focusing on work-related musculoskeletal disorders (WMSDs). Methods: Fifteen young male participants performed simulated mortar-spreading and bricklaying tasks while actual body movements were recorded using Inertial Measurement Unit (IMU) sensors. Muscle activities of the lumbar erector spinae (ES), quadratus lumborum (QL), multifidus (MF), gluteus maximus (GM), and iliopsoas (IL) were estimated using a 3D musculoskeletal (MSK) model and measured via surface electromyography (sEMG). The analysis of variance (ANOVA) test was conducted to identify the significant differences in muscle activities across four working heights (i.e., foot, knee, waist, and shoulder). Results: Findings showed that working at foot-level height resulted in the highest muscle activity (7.6% to 40.6% increase), particularly in the ES and QL muscles, indicating an increased risk of WMSDs. The activities of the ES, MF, and GM muscles were statistically significant across both tasks and all working heights (p < 0.01). Conclusions: Both MSK and sEMG analyses indicated significantly lower muscle activities at knee and waist heights, suggesting these as the best working positions (47 cm to 107 cm) for minimizing the risk of WMSDs. Conversely, working at foot and shoulder heights was identified as a significant risk factor for WMSDs. Additionally, the similar trends observed between MSK simulations and sEMG data suggest that MSK modeling can effectively substitute for sEMG in future studies. These findings provide valuable insights into ergonomic work positioning to reduce WMSD risks among wall construction workers. Full article

Maintaining the required relative humidity values in the vehicle cabin is an important HVAC task, along with considerations related to the temperature, velocity, air pressure and noise. Deviation from the optimal values worsens the psycho-physiological state of the driver and affects the energy efficiency of the train. In this study, a model of liquid film formation on and removal from various cabin surfaces was constructed using the fundamental Navier–Stokes hydrodynamic equations. A special transport model based on the liquid vapor diffusion equation was used to simulate the air environment inside the cabin. The evaporation and condensation of surface films were simulated using the Euler film model, which directly considers liquid–gas and gas–liquid transitions. Numerical results were obtained using the RANS equations and a turbulence model by means of the finite volume method in Ansys CFD. Conjugate fields of temperature, velocity and moisture concentration were constructed for various time intervals, and the dependence values for the film thicknesses on various surfaces relative to time were determined. The verification was conducted in comparison with the experimental data, based on the protocol for measuring the microclimate indicators in workplaces, as applied to the train cabin: the average ranges encompassed temperature changes from 11% to 18%, and relative humidity ranges from 16% to 26%. Comparison with the results of other studies, without considering the phase transition and condensation, shows that, for the warm mode, the average air temperature in the cabin with condensation is 12.5% lower than without condensation, which is related to the process of liquid evaporation from the heated walls. The difference in temperature values for the model with and without condensation ranged from −12.5% to +4.9%. We demonstrate that, with an effective mode of removing condensate film from the window surface, including recirculation modes, the energy consumption of the climate control system improves significantly, but this requires a more accurate consideration of thermodynamic parameters and relative humidity. Thus, considering the moisture condensation model reveals that this variable can significantly affect other parameters of the microclimate in cabins: in particular, the temperature. This means that it should be considered in the numerical modeling, along with the basic heat transfer equations. Full article

Adaptive façades, also known as climate-adaptive building shells (CABSs), could make a significant contribution towards reducing the energy consumption of buildings and their environmental impacts. There is extensive research on glazed adaptive façades, mainly due to the available technology for glass materials. The technological development of opaque adaptive façades has focused on variable-thermal-resistance envelopes, and the simulation of this type of façade is a challenging task that has not been thoroughly studied. The aim of this study was to configure and validate a simplified office model that could be used for simulating an adaptive façade with variable thermal resistance via adaptive insulation thickness in its opaque part. Software-to-software model comparison based on the results of an EnergyPlus Building Energy Simulation Test 900 (BesTest 900)-validated model was used. Cooling and heating annual energy demand (kWh), peak cooling and heating (kW), and maximum, minimum, and average annual hourly zone temperature variables were compared for both the Adaptive and non-adaptive validated model. An Adaptive EnergyPlus model based on the BesTest 900 model, which uses the EnergyPlus SurfaceControl:MovableInsulation class list, was successfully validated and could be used for studying office buildings with a variable-thermal-resistance adaptive façade wall configuration, equivalent to a heavyweight mass wall construction with an External Insulation Finishing System (EIFS). An example of the Adaptive model in the Denver location is included in this paper. Annual savings of up to 26% in total energy demand (heating + cooling) was achieved and could reach up to 54% when electro-chromic (EC) glass commanded by a rule-based algorithm was added to the glazed part of the variable-thermal-resistance adaptive façade. Full article

Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional pneumatic grippers often suffer from air leakage and tear, particularly under prolonged grasping and inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) and a novel self-healing material (SHM) polyborosiloxane–Ecoflex™ hybrid polymer (PEHP) developed by the authors. The results demonstrate that PSRM finger grippers can hold various objects without external pressure input (12 mm displacement under a 1.2 N applied), and the SHM assists with recovery of mechanical properties upon external damage. The proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, and block stacking, showcasing its durability and functional performance. These findings contribute to promoting the cost-effective deployment of soft robotic hands in robotic construction. Full article

The infrastructure construction of bridges is growing rapidly, and the quality of concrete structures is becoming increasingly stringent. However, the issue of cracks in concrete structures remains prominent. In on-site bridge crack detection, the traditional crack identification techniques fail to meet demands due to their inefficiency, inaccuracy, and the challenges posed by high-altitude conditions. In response to this, this paper proposes a bridge crack multi-task integration algorithm based on YOLOv8 object detection and DeepLabv3+ semantic segmentation. This integrated approach offers advantages such as high precision and low inference time. Testing wall cracks using this method, compared to the original approach, resulted in a 10.18% improvement in IOU and a 9.64% improvement in the F1 score. Regarding the detection model, it was deployed on edge computing devices. By applying the TensorRT inference acceleration framework, the camera FPS increased to 9.66, a 59.97% improvement compared to the version without the acceleration framework. This enabled accurate, real-time bridge crack detection on the edge computing devices. Furthermore, the edge computing device was also applied in a self-developed drone, which was tested on-site at the Donghai Bridge, providing a new solution for safe and reliable structural inspection. Full article

The problem of allocating multiple UAV tasks is a complex combinatorial optimization challenge, involving various constraints. This paper presents an autonomous multi-UAV cooperative task allocation method based on an improved Great Wall Construction Algorithm. A model integrating battlefield environmental factors, 3D terrain data, and threat assessments is developed for optimized task allocation and trajectory planning. The algorithm is enhanced using a good point set initialization strategy, Gaussian distribution estimation, and a Cauchy reorganization variant. The simulation results show that replacing straight-line distances with actual flight distances leads to more rational mission sequences, improving combat effectiveness under realistic terrain and threat conditions. The enhanced algorithm demonstrates superior accuracy and faster convergence. Full article

To address the frequent cleaning requirements of casting molds in bridge tower construction, a wall-climbing cleaning robot based on negative pressure adsorption is designed to safely and efficiently replace manual labor for cleaning tasks. The primary focus of this paper is the establishment of a theoretical model for negative pressure adsorption, along with an analysis of potential adhesion hazards. Initially, the robot’s chassis was designed, followed by the development of a theoretical model for the rotational-flow suction unit that incorporates two critical parameters: the number of blades and their thickness. This model was validated through computational fluid dynamics (CFD) and experimental methods. The findings indicate that, with fewer blades, an increase in blade quantity significantly improves the distribution of nonlinear velocity in the z-plane, resulting in a substantial enhancement of suction force up to a certain limit. As the number of blades increases, the thickness of the blades primarily influences the volume of air within the rotating domain, thereby affecting the suction force; thinner blades are preferable. Moreover, this study reveals that square suction units provide greater suction force compared to circular ones, attributable to their superior negative pressure effect and larger adsorption area. The most critical adhesion risk identified is leakage at the edges of the suction unit. Full article

The direct extraction of clear water from a sandy river is a difficult task and can only be achieved through specific engineering measures. This paper proposes an artificial percolation riverbed structure for extracting clean water from sandy rivers, using a numerical simulation to study the flow field distribution characteristics of the structure under clean water conditions. The main conclusions are as follows: When the percolation vortex tube opening rate is 1.4%, the vortex tube with or without opening the percolation hole has little influence on the distribution characteristics of the flow field in the artificial riverbed, and the purpose of water extraction can be achieved while constructing a helical flow field. The axial flow velocity and circumferential flow velocity of the vortex tube cross-section under different Reynolds numbers show the distribution of a low-flow velocity close to the center of the vortex tube, and a high-flow velocity close to the vortex tube side-wall area. The average axial flow velocity and average circumferential flow velocity of the vortex tube show a trend of increasing and then decreasing distribution along the axial axis of the vortex tube in the direction of the sediment transport flume. The mean axial flow velocity of the vortex tube along the axis of the vortex tube toward the sediment transport flume and the mean circumferential flow velocity both show a distribution trend of increasing and then decreasing. At the junction of the vortex tube and the sediment transport flume, there are obvious pressure changes, and the pressure changes drastically under the same horizontal line. Along the direction of the bottom line of the vortex tube, the pressure at the vortex tube is obviously greater than that at the sediment transport flume. The vortex of the artificial percolation riverbed is mainly concentrated in the vicinity of the vortex tube, and the maximum value of the vortex intensity generally occurs at the junction of the vortex tube and the sediment transport flume. With the increase in the Reynolds number, the vortex intensity has an overall increasing trend, and the distribution of the vortex is more complex. This study helps to elucidate the distribution characteristics of the flow field in the artificial percolation riverbed, and it provides a reference basis for the future study of the flow field of artificial percolation riverbeds of sandy rivers. Full article

The development and utilization of urban underground space is an important way to solve the “great urban disease”. As one of the most important types of urban underground foundations, utility tunnels have become increasingly popular in municipal construction. The investigation of utility tunnels is a general task and three-dimensional laser scanning technology has played a significant role in surveying and data acquisition. However, three-dimensional laser scanning technology suffers from noise and occlusion in narrow congested utility tunnel spaces, and the acquired point clouds are imperfect; hence, errors and redundancies are introduced in the extracted geometric elements. The topology of reconstructed BIM objects cannot be ensured. Therefore, in this study, a hierarchical segmentation method for point clouds and a topology reconstruction method for building information model (BIM) objects in utility tunnels are proposed. The point cloud is segmented into facades, planes, and pipelines hierarchically. An improved mean-shift algorithm is proposed to extract wall line features and a local symmetry-based medial axis extraction algorithm is proposed to extract pipelines from point clouds. A topology reconstruction method that searches for the neighbor information of wall and pipeline centerlines and establishes collinear, perpendicular, and intersecting situations is used to reconstruct a topologically consistent 3D model of a utility tunnel. An experiment on the Guangzhou’s Nansha District dataset successfully reconstructed 24 BIM wall objects and 12 pipelines within the utility tunnel, verifying the efficiency of the method. Full article

It is well known that thermal conductivity measurement is a challenging task, due to the weaknesses of the traditional methods, such as the high cost, complex data analysis, and limitations of sample size. Nowadays, the requirement of quality of life and tightening energy efficiency regulations of buildings promote the demand for new construction materials. However, limited by the size and inhomogeneous structure, the thermal conductivity measurement of wall samples becomes a demanding topic. Additionally, we find the thermal parameter values of the samples measured in the laboratory are different from those obtained by theoretical computation. In this paper, a novel signal-transmissive wall is designed to provide the problem solving of signal connectivity in 5G. We further propose a new thermal conductivity predictor based on the Harmony Search (HS) algorithm to estimate the thermal properties of laboratory-made wall samples. The advantages of our approach over the conventional methods are simplicity and robustness, which can be generalized to a wide range of solid samples in the laboratory measurement. Full article

Early seismic prediction in tunnels has become a necessary task to prevent construction risks. The type and performance of the seismic source are crucial factors that affect its efficiency and prediction accuracy. Among the existing main types of tunnel seismic sources, both explosive and spark sources require pre-drilling and pose safety hazards. In addition, explosive sources pose a risk of damage to tunnel structure walls. Spark sources must be used in a water medium. Artificial hammer sources have weak energy and short prediction distance. This paper proposes a portable tunnel electromagnetic impulse shock source that overcomes the deficiencies of the aforementioned seismic sources. This paper elaborates on the design and working principle of the electromagnetic impulse shock source, and analyzes the electromagnetic force exerted on the hammer body during acceleration. Through finite element simulation, this paper analyzes the multi-physical field changes of the entire electromagnetic acceleration system. Meanwhile, combining experimental testing, the design parameters and energy of the seismic source are optimized to finally design a portable electromagnetic impulse shock source. The engineering measurement data results show that the seismic source can stably generate an output energy of 1500 J, and the overall weight of the seismic source does not exceed 40 kg, with a single shot time less than 30 s and an effective prediction distance over 100 m. This work has significant practical value and superiority. Full article

In this study, we proposes a humanoid dual-arm explosive ordnance disposal (EOD) robot design. First, a seven-degree-of-freedom high-performance collaborative and flexible manipulator is developed, aiming at the transfer and dexterous operation of dangerous objects in EOD tasks. Furthermore, an immersive operated humanoid dual-arm dexterous explosive disposal robot (FC-EODR) is designed, which has a high passability to complex terrains such as low walls, slope roads, and stairs. It can remotely detect, manipulate, and remove explosives in dangerous environments through immersive velocity teleoperation. In addition, an autonomous tool-changing system is constructed, which enables the robot to flexibly switch between different tasks. The effectiveness of the FC-EODR is finally verified through a series of experiments, including the platform performance test, manipulator load test, teleoperated wire trimming, and screw-screwing experiments. This letter provides the technical foundation for robots to replace humans in EOD tasks and emergency situations. Full article

To solve the trajectory planning problem of the flexible manipulator under various constraints such as end-camera attitude, drive space, and obstacles during video inspection along a continuous path in narrow three-dimensional space, this paper proposes a time-optimal trajectory planning method from the initial configuration to the final configuration. The trajectory planning problem is transformed into a multi-constraint optimization problem. First, to realize continuous video inspection in an unstructured complex environment, by analyzing the geometric model of the two-segment flexible manipulator with a camera at the end, the pose constraints between the camera and the shooting surface are formulated by the space vector method, the driving constraints are formulated based on kinematics, and the obstacle constraints are formulated by space mapping. Then, a multi-constraint optimization model is constructed to generate the smooth trajectory of the drive cable of the flexible manipulator by minimizing the total time of continuous path motion. Compared with the conventional point-to-point collision avoidance planning solution method, this paper starts from the global perspective and investigates the less considered continuous path trajectory planning problem; also, the swarm intelligence algorithm artificial jellyfish search algorithm (JS) is employed to optimize the solution and find the minimum time trajectory conforming to a variety of complex constraints. Finally, a simulation is conducted with CoppeliaSim, and the continuous path video inspection experiment is carried out in the 500KV GIS (Gas Insulated Switchgear) equipment, the simulation and experimental results indicate that the planned drive cable trajectory is smooth and effective. In addition, each path point is tracked and obstacles are avoided safely. When the flexible manipulator moves along the whole path, the pose of the camera satisfies the relaxed attitude constrain The proposed method can guide the two-segment flexible manipulator to complete the continuous video inspection task of the GIS cavity wall and conductive column surface. Full article

Wall crack detection is one of the primary tasks in determining the structural integrity of a building for both restorative and preventive attempts. Machine learning techniques, such as deep learning (DL) with computer vision capabilities, have gradually become more prevalent as they can provide expert assessments with an acceptable performance when the crack detection involves a considerable number of structures. Despite such a prospective application, classification on different types of wall cracks is relatively less common, possibly due to the absence of the professional-standard-to-dataset translation. In this work, we utilised a complete pipeline, starting from novel dataset construction, ground truth formulation based on civil engineering standards, and training and testing steps. Our work focused on multi-class classification with regard to the binary classification (i.e., determining only two categories) used in previous studies. We implemented transfer learning based on VGG16 and RestNET50 for feature extraction, combined them with an ANN and kNN for the classifier, and compared their prediction performances. Our results indicate that the developed models can distinguish images that contain wall cracks into three categories of features based on the degree of damage: light, medium, and severe. Furthermore, since greyscale images offer more precise readings and predictions, the use of augmentation in dataset generation is critical. Although ResNet50 is the most stable network in terms of accuracy, it performs better when paired with kNN. Full article