ELECTRON BEAM WELDING BY Anand Khare 142110001 Under the guidance of Prof. W. S. Rathod

Automation in ConstructionBYAnand Khare 142110001Under the guidance of Prof. A. S. RaoCADCAM and AutomationMechanical Engineering DepartmentVEERMATA JIJABAI TECHNOLOGICAL INSTITUTEMUMBAI-400019

Contents

Introduction to Automation.Adaption of automation in building construction.Use of Building information technology.Robotics in construction.Programmable construction machines.Integrated construction automation system.Application.Conclusion.References.

What is AutomationAutomation is a technology concerned with the application of mechanical, electronic and computer-based systems to operate and control production.

Development of new terms like, robotics, CAD/CAM, FMS, Machine vision were unknown.

Automation is a dynamic technology that represents a continuous evolutionary process that began many decades ago.

Automation is a process of technological development that will proceed into a foreseeable future.

Automated SystemThis technology includes:Automated machine toolsTransfer linesAutomated assembly systemsIndustrial robotsAutomated material handling and storage systemsAutomatic inspection systems for quality control

Automation in ConstructionConstruction automation describes the field of research and development focused on automating construction processes.

In short, construction automation deals with applying the principles of industrial automation to the construction sector, whether in building construction, civil engineering (roadways, dams, bridges, etc.), or in prefabrication of construction components.

The use of robots is but one aspect of that field.

This can be viewed as an extension to research in field service robots generally designed to replace or assist humans in a specific construction-related task or function.

History of Automation in ConstructionResearch in construction robotics and automation started in the 1980s with the introduction of single-purpose robots (principally remotely controlled, or teleoperated, machines).Example applications include robots developed for rapid runway repair and unexploded ordinance removal.In the EU, research was focused on the development of large-size masonry (brick laying, assembly) robots for residential and industrial building construction.During the next decade Japanese construction firms introduced on-site factories for high-rise construction. These construction systems included just in- time delivery of components, automated part tracking and material handling, robotic connection and assembly, and centralized control in an enclosed or semi-enclosed environment.

Objectives of Automation in ConstructionAutomated personnel and equipment tracking.Automated materials handlingtrucks, loaders, conveyors, sizers.Smart drillsautomated drilling of holes and recognition of material characteristics.Accurate and automated movement and positioning of all construction equipment.Automated mechanical construction systems.Remote supervision from distant locations.Intelligent and integrated control over all construction processes to optimize resource value.

Building Information ModellingBIM a digital representation of physical and functional characteristics of a facility, covers e.g. geometry, spatial relationships, light analysis, geographic information, quantities and properties of building components, for example manufacturers' details.BIM is a process involving the generation and management of digital representations of physical and functional characteristics of places.BIM involves representing a design as combinations of "objects" vague and undefined, generic or product-specific, solid shapes or void-space oriented (like the shape of a room), that carry their geometry, relations and attributes.BIM can be utilized as a data and knowledge repository throughout the entire building life cycle, including the processes of construction and facility operation and finally the demolition.As BIM is physical representation of construction site, it helps in developing programs for robotic motions at a construction site.

Construction life cycle analysis by BIM includes

Requirements identification,

Project planning,

Design and engineering,

Building construction,

Operations and maintenance,

Decommissioning.

BIM SoftwaresAutodesk Revit ArchitectureGraphisoft ArchiCADNemetschek Allplan ArchitectureGehry Technologies - Digital Project DesignerNemetschek Vectorworks ArchitectBentley Architecture4MSA IDEA Architectural Design (IntelliCAD)CADSoft EnvisioneerSofttech SpiritRhinoBIM (BETA)

Robotics in ConstructionRobotics: Machines with high-level capabilities to sense and reason about their environment. Such machines are required for successful automation of tasks in high variable and unpredictable mining environments.Intelligent: Machines with the ability to learn, understand, and deal with new situationsMechanized: Operations performed by machinesAutomatic: Does not make decisions but completes task by following well-defined rulesSemiautomatic: Partly automatic and partly manually controlled

Objectives of Robotic study in ConstructionTo identify possible applications of robotics to the various building construction tasks.To specify robot requirements necessary for performance of these tasks,To examine the general feasibility of robotic application at the present and future state of building and robotic technology,To outline a procedure for detailed planning and evaluation of robotic application to performance of the desired activities.

Types of Robots used in Construction AutomationTeleoperated Robots-In established engineering terminology, the term teleoperation refers to the remote control of machines and systems.In telerobotics, the machine does not operate autonomously but is under the control of a human. Data sensing and interpretation and cognitive activities such as task planning are done by the operator.Ex. Kajimas interior wall assembly robot, John Deere Excavator, Model 690C, Micro-Tunneling Machine, American Augers, Wooster, Ohio, Ohbayashi-Gumi Concrete Placer.

Kajimas interior wall assembly robot

Programmed RobotsA software-programmable construction machine is what most people would consider to be a robot.The operator of this type of machine is able to vary the task to be accomplished within certain constraints either by choosing from a preprogrammed menu of functions or by teaching the machine a new function.Ex.- Takenakas concrete compactor robot, Kajimas concrete finishing robot, Shimizu Insulation Spray Robot.

Takenakas concrete compactor robot

Cognitive RobotsCognitive robots sense, model, plan, and act to achieve working goals.Cognitive robots servo themselves to real-time goals and conditions in the manner of teleoperators but without human controllers.They are their own supervisors.Ex.- WR mobile robot for column welding, Terregator, a six-wheeled autonomous land vehicle designed for outdoor navigation experiments.

WR mobile robot for column welding

Construction Robots - some typical examplesSSR 3

The SSR-3 robot is designed to spray fireproofing material onto structural steel frames.

This is the third model in its series, preceded by the SSR-1 and SSR-2.

The SSR-1 was the first robot to successfully demonstrate the feasibility of using robots on a construction site. The SSR-2 successfully demonstrated the use of a position sensor to detect the distance from the robot arm to the steel beam during fireproof spraying.

The SSR-3 is a numerical control robot which can be operated remotely.

The SSR-3 can adjust the height of the manipulator arm manually using the screw jack.

The SSR-3 was manufactured in cooperation with Kobe Steel, Ltd.

The OSRl

The MTVl

The Mighty Jack

Steel beam erection work is one of the most dangerous tasks on the construction site to be robotized.

The Mighty Jack manipulator lifts two or three steel beams and sets them in the correct position by teleoperation.

Although the Mighty Jack might not be called a robot, this kind of manual manipulator is also useful to advance site automation.

Inferences from above videoConventional method of wall plastering requires minimum 4 workers.

One for transferring raw material like sand, cement, etc., one for making mixture, one for making plaster on the wall and last one for helping him.

But in case of machine or automated plastering only two workers are required.

Also uniformity of layer of plaster is more in case of automated plastering of wall.

Hence with automated construction equipment less number of workers are required and quality of work obtained is higher as compared to conventional method.

Challenges and goals in Construction Robotics.Perform goal driven tasks whose contingencies defy preplanning. Strategic, tactical, and reflexive paradigms for generic work tasks.Complex, perceptive sensing in random and dynamic environments.Domain-specific tooling and operating procedures.Extremes of ruggedness, reliability, and intrinsic capability.Larger working forces and softer base compliance than typical factory operations.Navigation and mobility around the work site.Protocols for communication among humans, data servers, hosts. and robot peers.

Applications for building construction automationPrefabricationPrefabricated components for modular housingAutomation and robotics in masonry prefabricationCivil engineeringEarthmoving worksPilingFoundation constructionIndoor worksConcrete floor finishingRobotized spray paintingFire retardant spray coatingMining

Prefabricated concrete products

Robotized Floor making

Slab installation machines (Courtesy by Hannu Koski).

Integrated Automated System

ConclusionsA construction site is a complex system involving many disciplines operating simultaneously; thus automating construction processes and integrating them into the overall process will require identification and decomposition of system and subsystem tasks using a hierarchical control strategy implemented through a local area network at the site.This type of control strategy will allow real time modification of processes and their completion sequence; thus making the system adaptive to the often varying construction environment.The Integrated Construction Automation Methodology (ICAM) will help automate the construction process by integrating building, machine (robot), and process design on a systems level.The application of robotics to construction has yet to catch up with other industries such as automobile manufacturing.The use of automation and robotics is one answer to the construction companies who are on the lookout for ways to improve productivity, quality, and safety.

ReferencesPentti Vh, Tapio Heikkil, Pekka Kilpelinen, Markku Jrviluoma, Ernesto Gambao, Extending automation of building construction Survey on potential sensor technologies and robotic applications, Automation in Construction 36 (2013) 168178.Warszawski, A Robotics in Building Construction, Technical Report R-84-147 Department of Civil Engineering, Carnegie-Mellon University, Pittsburgh, PA 1984.W. L. Whittaker, Construction Robotics: A Perspective, CAD and Robotics in Architecture and Construction, Proceedings of the Joint International Conference at Marseilles, 25-27 June 1986, Pg. 105-112.T. Ueno, J. Maeda, T. Yoshida, S. Suzuki, Construction Robots for Site Automation, CAD and Robotics in Architecture and Construction, Proceedings of the Joint International Conference at Marseilles, 25-27 June 1986, Pg. 259-269.Kamel S. Saidi, Jonathan B. OBrien, Alan M. Lytle, Robotics in Construction, Pg. 1080-1096.www.iaarc.org

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