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The majority of automated construction research and development has been bottom-up, from the construction/engineering side rather than top-down from the design end. Section 2 of this paper looks at precedents in automated construction research and identifies an apparent gap in design related themes. Section 3 is devoted to the introduction of a research programme which addressed topics related to the conceptual design of robotic systems for construction, and developing overall design principles for top-down architect/designer applications. The research included the derivation of simple shape grammars and a simulation research programme for understanding component connections and robotic manipulation, using a model robotic construction system remote controlled over the Internet. Section 4 presents a report of the research carried out according to the programme, and introduces an example concept automated construction system designed according to the principles derived from the investigation outlined in Section 3.
In the frame of its research concerning real-time positioning and control of road construction equipment, the Laboratoire Central des Ponts et Chaussées, has carried out in 1996 a study to know more about the actual vertical accuracy that a real-time kinematic (RTK) global positioning system (GPS) sensor could reach, under work site conditions.
This study has widely used the dedicated testing facility called SESSYL, built to perform high-accuracy and real-time evaluation tests on positioning systems. It has been performed in collaboration with the French road contractor COLAS and the Ecole Supérieure des Géomètres et Topographes (ESGT).
First, there is the proposed adapted geodetic transformation procedure, compatible with the high accuracy requirements. Then, the main results of a special SESSYL tests program are presented, where the impacts of several influencing parameters on the vertical accuracy have been carefully examined.
The core part of the paper is the analysis of the typical RTK GPS set of data, from which we have tried to extract two different components: a high-frequency noise, rather easy to filter, and a low-frequency bias. This bias, given its good repeatability, can be modelled and used in prediction to improve in real-time the raw accuracy of the data.
As a full-scale validation of our study, a site experiment is finally described, carried out this time on a real piece of equipment (an asphalt paver) during real roadwork.
This paper will expand on the Robotic Bridge Maintenance System (RBMS) developed by the Construction Automation and Robotics Laboratory (CARL) at North Carolina State University (NCSU). The system consists of a 4-dof robot, designed and built at NCSU, mounted on the end of a truck-mounted peeper crane. Additionally, a containment system is mounted in front of the robot to contain the toxic waste created by the removal of the lead-based paint from the bridge beams and trusses.
An all-weather automated construction system has been developed to reduce the total cost of high-rise reinforced concrete building construction. It was applied for the first time ever to the construction of a 26-story reinforced concrete condominium project located in the Tokyo Metropolitan area in 1995. This system incorporates four major elements: (a) a synchronously climbing all-weather temporary roof; (b) a parallel material delivery system; (c) prefabrication and unification of construction materials; and (d) a material management system. It ensures good quality; improves working and environmental conditions; reduces the construction period, manpower, and waste; and improves overall productivity.
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