Abstracts – Browse Results
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Ahmed, S and Arocho, I (2022) Implementing a Choosing-by-Advantages Decision-Making Method to Evaluate the Critical Success Factors of Mass-Timber Building Materials in the US. Journal of Construction Engineering and Management, 148(10).
Chen, H, Zhu, Y and Luo, X (2022) TableGraph: An Image Segmentation–Based Table Knowledge Interpretation Model for Civil and Construction Inspection Documentation. Journal of Construction Engineering and Management, 148(10).
da Silva, T F L, de Carvalho, M M and Vieira, D R (2022) BIM Critical-Success Factors in the Design Phase and Risk Management: Exploring Knowledge and Maturity Mediating Effect. Journal of Construction Engineering and Management, 148(10).
Gan, V J L (2022) BIM-Based Building Geometric Modeling and Automatic Generative Design for Sustainable Offsite Construction. Journal of Construction Engineering and Management, 148(10).
Hassandokht Mashhadi, A, Handy, R, Farhadmanesh, M, Rashidi, A, Honda, T, Sleeth, D K and Henry, T (2022) Feasibility Study of Using Nebulizer-Retrofitted UAVs at Construction Projects: The Case Study of Residential Jobsites in Utah. Journal of Construction Engineering and Management, 148(10).
Kamardeen, I and Hasan, A (2022) Occupational Health and Safety Implications of an Aging Workforce in the Australian Construction Industry. Journal of Construction Engineering and Management, 148(10).
Kurwi, S, Demian, P, Hassan, T M and Blay, K B (2022) A Process Model for Collaboration at the Design Stage of Rail Project Delivery. Journal of Construction Engineering and Management, 148(10).
Li, N, Du, J, González, V A and Chen, J (2022) Methodology for Extended Reality–Enabled Experimental Research in Construction Engineering and Management. Journal of Construction Engineering and Management, 148(10).
Lin, S and Cheung, S O (2022) Intention to Settle as an Indispensable Element of Negotiated Construction Dispute Settlement. Journal of Construction Engineering and Management, 148(10).
Lingard, H, Zhang, R P, LaBond, C, Clarke, J and Doan, T (2022) Situated Learning: How Interactions with Supervisors Shape Construction Apprentices’ Safety Learning and Practice. Journal of Construction Engineering and Management, 148(10).
Mantha, B R K and Garcia de Soto, B (2022) Investigating the Fiducial Marker Network Characteristics for Autonomous Mobile Indoor Robot Navigation Using ROS and Gazebo. Journal of Construction Engineering and Management, 148(10).
Naji, K K, Gunduz, M and Hamaidi, M F (2022) Major Factors Affecting Construction Waste Management in Infrastructure Projects Using Structural Equation Model. Journal of Construction Engineering and Management, 148(10).
Paquin, J, Morin, P, Lambert, A and Koplyay, T (2022) Assessing Project Contingency Reserves with the Expected Cost Overrun Risk Measure. Journal of Construction Engineering and Management, 148(10).
Retamal, F, Salazar, L A and Alarcón, L F (2022) Online Monitoring and Implementation of Commitment Management Performance and Its Impact on Project Planning in Four Construction Projects. Journal of Construction Engineering and Management, 148(10).
Tian, D, Li, M, Han, S and Shen, Y (2022) A Novel and Intelligent Safety-Hazard Classification Method with Syntactic and Semantic Features for Large-Scale Construction Projects. Journal of Construction Engineering and Management, 148(10).
Wang, B, Geng, L, Dang, P and Zhang, L (2022) Developing a Framework for Dynamic Organizational Resilience Analysis in Prefabricated Construction Projects: A Project Life Cycle Perspective. Journal of Construction Engineering and Management, 148(10).
Wu, H, Zhang, P, Li, H, Zhong, B, Fung, I W H and Lee, Y Y R (2022) Blockchain Technology in the Construction Industry: Current Status, Challenges, and Future Directions. Journal of Construction Engineering and Management, 148(10).
Xue, H, Sun, T and Zheng, J (2022) Organizational Elements and Collaborative Organizational Citizenship Behavior in Off-Site Construction Projects: Configurational Approach. Journal of Construction Engineering and Management, 148(10).
Zhu, Q, Zhou, T, Xia, P and Du, J (2022) Robot Planning for Active Collision Avoidance in Modular Construction: Pipe Skids Example. Journal of Construction Engineering and Management, 148(10).
- Type: Journal Article
- Keywords: Modular construction; Robots; Inverse kinematics; Digital twins;
- ISBN/ISSN: 0733-9364
- URL: https://doi.org/10.1061/(ASCE)CO.1943-7862.0002374
- Abstract:
Robot-assisted assembly has shown great potential in modular construction for the future. However, as the complexity of prefabricated structural modules increases, the likelihood of unexpected robotic collisions also rises, such as unexpected collisions between robots and structural modules during the assembly process. Most robotic collision avoidance methods rely on known robot specifications, especially the work envelope, that is, the range profiles of movement created by a robot arm moving forward, backward, up, and down. In contrast, it is unknown what models of robots will be applied for future modular construction because of the rapid development of robot mechanical designs. The deep uncertainties related to future robot work envelopes can challenge any effort for planned robotic collision avoidance for robot-assisted modular construction. There is a pressing need for a simulation-based robot collision avoidance planning method for future robot-assisted modular construction that captures the deep uncertainties of work envelopes of future robots. As a result, this paper presents an active robotic collision avoidance method, called collision-free workspace and collision-avoidance path planning (CWCP), to tackle the unique robotic collision challenges in modular construction. First, CWCP uses an inverse kinematics Monte Carlo (IKMC) simulation in the design phase of a pipe skid module to scan a large number of possible robotic movement trajectories and the corresponding boundaries of the robotic space. This result can be used to identify a robust structural design with enough clearance for most robotic actions. Then, immediately before an operation, physics engine simulation is used to optimize the waypoints of the robotic arm movement to further eliminate the collision possibility given the established structural design and robotic specifications. The proposed method was tested with a simulated pipe skid installation task. The result showed that the proposed method helped strike a balance between a safe-tolerant design and robotic planning on site and thus is more suited for future robot applications with no prior knowledge about the work envelope specifications.