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Abdelhamid, T S (1999) Measuring and evaluating physiological demands of construction work, Unpublished PhD Thesis, , University of Michigan.
Al-Hussayen, M A (1980) Building problems in Saudi Arabia: The need for building research, and the development of building research approaches, Unpublished PhD Thesis, , University of Michigan.
Awwad, R E (2010) Neutral and risk-sensitive models for competitive bidding methods based on average and order statistics, Unpublished PhD Thesis, , University of Michigan.
Behzadan, A H (2008) Arviscope: Georeferenced visualization of dynamic construction processes in three-dimensional outdoor augmented reality, Unpublished PhD Thesis, , University of Michigan.
Chen, T Y-J (2019) Advancing quantitative risk analysis for critical water infrastructure, Unpublished PhD Thesis, , University of Michigan.
Choi, B (2018) The role of socio-cognitive process in construction workers' safety behaviors, Unpublished PhD Thesis, , University of Michigan.
Chung, K H Y (2022) Data fusion, hedonic pricing, and blockchains: Lowering investment barriers for sustainable infrastructure, Unpublished PhD Thesis, , University of Michigan.
Colberg, M R (1950) Federal control of construction following World War II, Unpublished PhD Thesis, , University of Michigan.
Dias, A, Jr. (1994) A managerial and financial study on the involvement of private sector companies in the development, construction, operation, and ownership of infrastructure projects, Unpublished PhD Thesis, , University of Michigan.
Dzeng, R-J (1995) CasePlan: a case-based planner and scheduler for construction using product modeling, Unpublished PhD Thesis, Department of Civil and Environmental Engineering, University of Michigan.
Han, S-H (2004) A working prototype of distributed collaborative architectural design system, Unpublished PhD Thesis, , University of Michigan.
Hasell, M J (1983) Gaming simulation: A communication tool for architects and designers, Unpublished PhD Thesis, , University of Michigan.
Henn, R L (2013) Moving targets: Managing interinstitutional relationships in green building design and construction, Unpublished PhD Thesis, , University of Michigan.
Howe, A S (1998) A new paradigm for life-cycle management of kit-of-parts building systems, Unpublished PhD Thesis, , University of Michigan.
Ismail, I A (2014) Financial cash flow determinants of company failure in the construction industry, Unpublished PhD Thesis, , University of Michigan.
Jebelli, H (2019) Wearable biosensors to understand construction workers' mental and physical stress, Unpublished PhD Thesis, , University of Michigan.
Kabo, F W (2006) Low-cost housing design and provision: A case study of Kenya, Unpublished PhD Thesis, , University of Michigan.
Kalampakorn, S (2000) Stages of construction workers' use of hearing protection, Unpublished PhD Thesis, , University of Michigan.
Khoury, H M (2009) Context-aware information access and retrieval for rapid on-site decision making in construction, inspection and maintenance of constructed facilities, Unpublished PhD Thesis, , University of Michigan.
Kirk, S J (1992) Improved design decision-making using small group value engineering gaming/simulation, Unpublished PhD Thesis, , University of Michigan.
Lee, H-S (1992) Automated interactive cost estimating system for reinforced concrete building structures, Unpublished PhD Thesis, , University of Michigan.
Leu, S-S (1992) Object-oriented representation model of construction technology information, Unpublished PhD Thesis, , University of Michigan.
Liang, C-J (2021) Affecting fundamental transformation in future construction work through replication of the master-apprentice learning model in human-robot worker teams, Unpublished PhD Thesis, , University of Michigan.
- Type: Thesis
- Keywords: accuracy; optimization; taxonomy; standards; collaboration; communication; estimating; fabrication; learning; monitoring; policy; robotics; safety; teaching; productivity; construction site; building information model; digital twin; simulation
- ISBN/ISSN:
- URL: https://www.proquest.com/docview/2593098566
- Abstract:
Construction robots continue to be increasingly deployed on construction sites to assist human workers in various tasks to improve safety, efficiency, and productivity. Due to the recent and ongoing growth in robot capabilities and functionalities, humans and robots are now able to work side-by-side and share workspaces. However, due to inherent safety and trust-related concerns, human-robot collaboration is subject to strict safety standards that require robot motion and forces to be sensitive to proximate human workers. In addition, construction robots are required to perform construction tasks in unstructured and cluttered environments. The tasks are quasi-repetitive, and robots need to handle unexpected circumstances arising from loose tolerances and discrepancies between as-designed and as-built work. It is therefore impractical to pre-program construction robots or apply optimization methods to determine robot motion trajectories for the performance of typical construction work. This research first proposes a new taxonomy for human-robot collaboration on construction sites, which includes five levels: Pre-Programming, Adaptive Manipulation, Imitation Learning, Improvisatory Control, and Full Autonomy, and identifies the gaps existing in knowledge transfer between humans and assisting robots. In an attempt to address the identified gaps, this research focuses on three key studies: enabling construction robots to estimate their pose ubiquitously within the workspace (Pose Estimation), robots learning to perform construction tasks from human workers (Learning from Demonstration), and robots synchronizing their work plans with human collaborators in real-time (Digital Twin). First, this dissertation investigates the use of cameras as a novel sensor system for estimating the pose of large-scale robotic manipulators relative to the job sites. A deep convolutional network human pose estimation algorithm was adapted and fused with sensor-based poses to provide real-time uninterrupted 6-DOF pose estimates of the manipulator’s components. The network was trained with image datasets collected from a robotic excavator in the laboratory and conventional excavators on construction sites. The proposed system yielded an uninterrupted and centimeter-level accuracy pose estimation system for articulated construction robots. Second, this dissertation investigated Robot Learning from Demonstration (LfD) methods to teach robots how to perform quasi-repetitive construction tasks, such as the ceiling tile installation process. LfD methods have the potential to be used in teaching robots specific tasks through human demonstration, such that the robots can then perform the same tasks under different conditions. A visual LfD and a trajectory LfD methods are developed to incorporate the context translation model, Reinforcement Learning method, and generalized cylinders with orientation approach to generate the control policy for the robot to perform the subsequent tasks. The evaluated results in the Gazebo robotics simulator confirm the promise and applicability of the LfD method in teaching robot apprentices to perform quasi-repetitive tasks on construction sites. Third, this dissertation explores a safe working environment for human workers and robots. Robot simulations in online Digital Twins can be used to extend designed construction models, such as BIM (Building Information Models), to the construction phase for real-time monitoring of robot motion planning and control. A bi-directional communication system was developed to bridge robot simulations and physical robots in construction and digital fabrication. Through empirical studies, the high accuracy of the pose synchronization between physical and virtual robots demonstrated the potential for ensuring safety during proximate human-robot co-work.
Liu, M (2019) Video-based human motion capture and force estimation for comprehensive on-site ergonomic risk assessment, Unpublished PhD Thesis, , University of Michigan.
Lundeen, K M (2019) Autonomous scene understanding, motion planning, and task execution for geometrically adaptive robotized construction work, Unpublished PhD Thesis, , University of Michigan.
Martin, S D (1981) Building contracts in classical Roman law, Unpublished PhD Thesis, , University of Michigan.
Mason, B (2023) Advancing autonomous green stormwater infrastructure, Unpublished PhD Thesis, , University of Michigan.
McIntosh, J F (1984) The application of the relational data model to computer-aided building design, Unpublished PhD Thesis, , University of Michigan.
Odeh, A M (1992) CIPROS: Knowledge-based construction integrated project and process planning simulation system, Unpublished PhD Thesis, , University of Michigan.
Paunikar, A (1983) Performance constraints of housing prefabricators in India: 3 case studies, Unpublished PhD Thesis, , University of Michigan.
Rohlman, R E (1978) Construction management: A comparison of management services, time, cost and supervision performance factors on public school projects in Michigan, Unpublished PhD Thesis, , University of Michigan.
Sherif, A H (1988) The choice of construction technology in developing countries: A socially conscious economic assessment approach, Unpublished PhD Thesis, , University of Michigan.
Srisuwanrat, C (2009) The sequence step algorithm: A simulation-based scheduling algorithm for repetitive projects with probabilistic activity durations, Unpublished PhD Thesis, , University of Michigan.
Stino, R M (1999) Effect of spatial variables on bricklaying productivity and ergonomics, Unpublished PhD Thesis, , University of Michigan.
Sugrue, D P (2021) Alternative financing for harbor infrastructure using big data analytics in the great lakes waterway, Unpublished PhD Thesis, , University of Michigan.
Taemthong, W (2002) Accounting for the impact of learning and scheduled overtime: Developing dynamic models to estimate and control labor time and labor cost, Unpublished PhD Thesis, , University of Michigan.
Tharachai, T (2004) Multiple project resource scheduling for construction, Unpublished PhD Thesis, , University of Michigan.
Thomas, A (2017) Modeling occupant behavior, systems life cycle performance, and energy consumption nexus in buildings using multi-method distributed simulation, Unpublished PhD Thesis, , University of Michigan.
Xiao, Y (2017) Three-dimensional reconstruction and modeling using low-precision vision sensors for automation and robotics applications in construction, Unpublished PhD Thesis, , University of Michigan.
Zouein, P P (1995) MoveSchedule: a planning tool for scheduling space use on construction sites, Unpublished PhD Thesis, Department of Civil and Environmental Engineering, University of Michigan.