Course Overview Robotics in Construction Automation Instructor Prof
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 http: //robot. caece. net Robotics in Construction Automation 2
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) http: //robot. caece. net Robotics in Construction Automation 3
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. net Robotics in Construction Automation 4
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. net Robotics in Construction Automation 5
Basic structure of a robot (1/2) http: //robot. caece. net Robotics in Construction Automation 6
Basic structure of a robot (2/2) Sensor 1 Sensor 2 Actuator 1 Planner Sensor 3 http: //robot. caece. net Actuator 2 Actuator 3 Robotics in Construction Automation 7
The beginning of real robotics http: //robot. caece. net Robotics in Construction Automation 8
Industrial robots Material handling http: //robot. caece. net Robotics in Construction Automation Welding 9
Robot in industry http: //robot. caece. net Robotics in Construction Automation 10
Tele-operation http: //robot. caece. net Robotics in Construction Automation 11
Ready-made robot http: //robot. caece. net Robotics in Construction Automation 12
Robot in the classroom http: //robot. caece. net Robotics in Construction Automation 13
Playing with robots http: //robot. caece. net Robotics in Construction Automation 14
Robots in medicine http: //robot. caece. net Robotics in Construction Automation 15
Robot at home http: //robot. caece. net Robotics in Construction Automation 16
Robots in challenging environments http: //robot. caece. net Robotics in Construction Automation 17
Entertainment robots Robot dog http: //robot. caece. net Robotics in Construction Automation Humanroid robot 18
From automation to robotics Courtesy of Mr. 陳瑞祺’s slides http: //robot. caece. net Robotics in Construction Automation 19
From industrial robots to service robots Courtesy of Mr. 陳瑞祺’s slides http: //robot. caece. net Robotics in Construction Automation 20
Development of service robots http: //robot. caece. net Robotics in Construction Automation 21
Robotics in Construction Automation
Robotics in construction sites – – Robotics can help engineers to know better about the construction processes perform better Plan better http: //robot. caece. net Robotics in Construction Automation 23
Building system for robotic construction Scott Howe 1999 http: //robot. caece. net Robotics in Construction Automation 24
Lunar construction Benaroya et al 2002 http: //robot. caece. net Robotics in Construction Automation 25
Tunnel construction Lin et al 2006 http: //robot. caece. net Robotics in Construction Automation 26
Jobsite monitoring Sacks et al 2005 http: //robot. caece. net Robotics in Construction Automation 27
Tracking materials Song et al 2006 http: //robot. caece. net Robotics in Construction Automation 28
Facilitator for seeing through the earth Kolera and Bernold 2006 http: //robot. caece. net Robotics in Construction Automation 29
Earthmoving Planning Tserng et al 2000 http: //robot. caece. net Robotics in Construction Automation 30
Motion planning for tower cranes Kang and Miranda 2005 http: //robot. caece. net Robotics in Construction Automation 31
Painting robot for bridges Bai 2007 http: //robot. caece. net Robotics in Construction Automation 32
Pipe installation (teleoperation) Bernold 2006 http: //robot. caece. net Robotics in Construction Automation 33
Autonomous driller Molfino et al 2006 http: //robot. caece. net Robotics in Construction Automation 34
Contour crafting http: //www. contourcrafting. org/ http: //robot. caece. net Robotics in Construction Automation 35
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. http: //robot. caece. net Robotics in Construction Automation 37
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. net Robotics in Construction Automation 38
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. net Robotics in Construction Automation 39
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. net Robotics in Construction Automation 40
Software and hardware (second section) Microsoft robotics studio http: //robot. caece. net Robotics in Construction Automation Lego NXT module 41
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. net Robotics in Construction Automation 42
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. net Robotics in Construction Automation 43
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. net Robotics in Construction Automation 44
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. net Robotics in Construction Automation 45
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. net Robotics in Construction Automation 46
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. net Robotics in Construction Automation 47
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. net Robotics in Construction Automation 48
Course survey and presentation list • Fill up course survey • Fill up presentation list http: //robot. caece. net Robotics in Construction Automation 49
Next week http: //robot. caece. net Robotics in Construction Automation 50
Questions? Course website robot. caece. net Instructors’ email sckang@caece. net
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