Innovations in Construction Service Robots

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Annabel Carter
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1 Innovations in Construction Service Robots I-MING CHEN Fellow of IEEE and ASME School of Mechanical and Aerospace Engineering Nanyang Technology University, Singapore I3C Symposium on Sustainable Infrastructure 23 November 2017

2 Marina Bay Sands, Singapore

3 Building Construction is like Manufacturing of!..

4 Building Construction Works Structural works Architectural works M&E works

5 Challenges in Construction Productivity Rapid Urbanization Repair & Maintenance of Ageing Infrastructures Shrinking of Skilled Workers Rapidly Ageing Societies

6 Robots for Building Construction Onsite construction Construction 3D printing DfMA offsite pre-fabrication

7 Approaches to Robots for Onsite Construction Understanding of work processes & perimeters Performance of sub systems for field operations Robustness of manipulation, mobility and perception solutions in fields Machine learning and intelligence for situation awareness & uncertainties in fields Adaptation to environment and task variations Levesl of human & robot interactions

8 New Trends in Robotics/Automation Low-cost high performance sensors High density high endurance actuators Modular plug-n-play mechatronics component Autonomous navigation & Machine learning Big Data/Cloud for Robotics Open source robotics software

9 New Robots for Onsite Construction QA/QC QUICABOT (NTU, Singapore) Spray painting PICTOBOT (NTU, Singapore)

10 Construction Quality Assessment alignment hollowness evenness cracks inclination

11 Assessment Methods Manual Assessment Automated Assessment Tools Assessment Items Sensors Assessment Items Visual checking Cracks of grounds, wall ceiling RGB camera Cracks of ground and wall 1.2m Spirit Level Evenness of ground and walls Evenness of ground/ walls; alignment of two walls LMS500 laser scanner Set Square Alignment of walls Hollowness of ground and walls FLIR A310 thermal camera CONQUAS Rod Hollowness of ground AGS005 inclinometer Inclination of ground

12 Quicabot: Quality Assessment Robot RGB Camera Thermal Camera linear actuator battery NI DAQs inclinometer AXON mobile robot heater laser scanner industrial PC

13 Quicabot in Action

14 Assessment Results Crack Assessment Hollowness Assessment

Assessment Results Alignment Assessment Evenness Assessment Extracted three planes from two 2D scans 89.9 89.85 89.

15 Assessment Results Alignment Assessment Evenness Assessment Extracted three planes from two 2D scans Angle One Angle Two Extracted line segments for a single 3D scan Angle ( ) Uneven Even Two angles for each test Two angles of three walls for ten tests

16 High Ceiling Spray Painting! Need infrastructure/equipment support! Time consuming! Extra safety measures for workers! Demand for higher construction productivity

17 Painting a warehouse is not like painting a room. Pictobot: Spray Painting Robot UR10 Robot Arm Long-reach Mechanism Spray Painting Pump Stabilizers Mobile Robot

18 Pictobot in Action

Common Robotic Platform Technology High-ceiling painting robot Quality assessment robot Drilling Inspection Inspection Quality assurance

19 Common Robotic Platform Technology High-ceiling painting robot Quality assessment robot Drilling Inspection Inspection Quality assurance Installation Intervention LESS FOR MORE: Serving across different industries Oil & gas Power generation Chemical Transportation Other utilities

Global Construction Market USA, 2012-2025 1.48 million Houses/year CHINA, 2012-2025 9.

20 Global Construction Market USA, million Houses/year CHINA, Million Houses/year INDIA, Million Houses/year SINGAPORE, k Houses/Year Source: Global Construction 2030 & BCA

21 Acknowledgement Funding agencies National Research Foundation A*Star SERC Jurong Town Corporation Public Utility Board Building Construction Authority Housing Development Board Team members: Prof Low Kin Huat Prof Yeo Song Huat Prof Erdal Kayacan Prof Gerald Seet Prof Robert Tiong Dr Ehsan Asadi Nie Jiancheng Qiu Chen Soh Li Jing Dr Yan Rui-Jun Liu Lili Varun Maruvanchery Li Bingbing Duan Jinjun Chee Keai Jiang Law Wei Chuan Low Chin Leong Dr Yuan Qilong Dong Huixu Burhan

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Robotic Technology for Port and Maritime Automation

Industrial/Service Robots Field Robots Robotic Technology for Port and Maritime Automation Presenter: Assoc Prof Chen I-Ming Director, Robotics Research Center & Intelligent Systems Center School of Mechanical