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Abdelhamid, T S (1999) Measuring and evaluating physiological demands of construction work, Unpublished PhD Thesis, , University of Michigan.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Building problems in Saudi Arabia: The need for building research, and the development of building research approaches, Unpublished PhD Thesis, , University of Michigan.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R E (2010) Neutral and risk-sensitive models for competitive bidding methods based on average and order statistics, Unpublished PhD Thesis, , University of Michigan.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Georeferenced visualization of dynamic construction processes in three-dimensional outdoor augmented reality, Unpublished PhD Thesis, , University of Michigan.
Chen, T Y-J (2019) Advancing quantitative risk analysis for critical water infrastructure, Unpublished PhD Thesis, , University of Michigan.
Choi, B (2018) The role of socio-cognitive process in construction workers' safety behaviors, Unpublished PhD Thesis, , University of Michigan.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H Y (2022) Data fusion, hedonic pricing, and blockchains: Lowering investment barriers for sustainable infrastructure, Unpublished PhD Thesis, , University of Michigan.
Colberg, M R (1950) Federal control of construction following World War II, Unpublished PhD Thesis, , University of Michigan.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of private sector companies in the development, construction, operation, and ownership of infrastructure projects, Unpublished PhD Thesis, , University of Michigan.
Dzeng, R-J (1995) CasePlan: a case-based planner and scheduler for construction using product modeling, Unpublished PhD Thesis, Department of Civil and Environmental Engineering, University of Michigan.
Han, S-H (2004) A working prototype of distributed collaborative architectural design system, Unpublished PhD Thesis, , University of Michigan.
Hasell, M J (1983) Gaming simulation: A communication tool for architects and designers, Unpublished PhD Thesis, , University of Michigan.
Henn, R L (2013) Moving targets: Managing interinstitutional relationships in green building design and construction, Unpublished PhD Thesis, , University of Michigan.
Howe, A S (1998) A new paradigm for life-cycle management of kit-of-parts building systems, Unpublished PhD Thesis, , University of Michigan.
Ismail, I A (2014) Financial cash flow determinants of company failure in the construction industry, Unpublished PhD Thesis, , University of Michigan.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.
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.
- Type: Thesis
- Keywords: accuracy; construction activities; construction activity; duration; sensors; building information model; estimating; excavation; safety; case study; construction site; robotic; construction team
- ISBN/ISSN:
- URL: https://www.proquest.com/docview/2315122241
- Abstract:
The construction industry suffers from such problems as high cost, poor quality, prolonged duration, and substandard safety. Robots have the potential to help alleviate such problems by becoming construction co-workers, yet they are seldom found operating on today’s construction sites. This is primarily due to the industry’s unstructured nature, substantial scale, and loose tolerances, which present additional challenges for robot operation. To help construction robots overcome such challenges and begin functioning as useful partners in human-robot construction teams, this research focuses on advancing two fundamental capabilities: enabling a robot to determine where it is located as it moves about a construction site, and enabling it to determine the actual pose and geometry of its workpieces so it can adapt its work plan and perform work. Specifically, this research first explores the use of a camera-marker sensor system for construction robot localization. To provide a mobile construction robot with the ability to estimate its own pose, a camera-marker sensor system was developed that is affordable, reconfigurable, and functional in GNSS-denied locations, such as urban areas and indoors. Excavation was used as a case study construction activity, where bucket tooth pose served as the key point of interest. The sensor system underwent several iterations of design and testing, and was found capable of estimating bucket tooth position with centimeter-level accuracy. This research also explores a framework to enable a construction robot to leverage its sensors and Building Information Model (BIM) to perceive and autonomously model the actual pose and geometry of its workpieces. Autonomous motion planning and execution methods were also developed and incorporated into the adaptive framework to enable a robot to adapt its work plan to the circumstances it encounters and perform work. The adaptive framework was implemented on a real robot and evaluated using joint filling as a case study construction task. The robot was found capable of identifying the true pose and geometry of a construction joint with an accuracy of 0.11 millimeters and 1.1 degrees. The robot also demonstrated the ability to autonomously adapt its work plan and successfully fill the joint. In all, this research is expected to serve as a basis for enabling robots to function more effectively in challenging construction environments. In particular, this work focuses on enabling robots to operate with greater functionality and versatility using methods that are generalizable to a range of construction activities. This research establishes the foundational blocks needed for humans and robots to leverage their respective strengths and function together as effective construction partners, which will lead to ubiquitous collaborative human-robot teams operating on actual construction sites, and ultimately bring the industry closer to realizing the extensive benefits of robotics.
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.