course overview robotics in construction automation instructor prof. shih-chung kang 2008 spring

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

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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)

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.

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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.

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Basic structure of a robot (1/2)

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Basic structure of a robot (2/2)

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Planner

Sensor1

Sensor2

Sensor3

Actuator1

Actuator2

Actuator3

The beginning of real robotics

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Industrial robots

WeldingMaterial handling

Robot in industry

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Tele-operation

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Ready-made robot

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Robot in the classroom

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Playing with robots

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Robots in medicine

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Robot at home

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Robots in challenging environments

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Entertainment robots

Robot dogHumanroid robot

From automation to robotics

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Courtesy of Mr. 陳瑞祺’ s slides

From industrial robots to service robots

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Courtesy of Mr. 陳瑞祺’ s slides

Development of service robots

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Robotics in Construction Automation

Robotics in construction sites

– Robotics can help engineers to – know better about the construction processes – perform better – Plan better

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Building system for robotic construction

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Scott Howe 1999

Lunar construction

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Benaroya et al 2002

Tunnel construction

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Lin et al 2006

Jobsite monitoring

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Sacks et al 2005

Tracking materials

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Song et al 2006

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Facilitator for seeing through the earth

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Earthmoving Planning

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Tserng et al 2000

Motion planning for tower cranes

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Kang and Miranda 2005

Painting robot for bridges

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Bai 2007

Pipe installation (teleoperation)

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Bernold 2006

Autonomous driller

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Molfino et al 2006

Contour crafting

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http://www.contourcrafting.org/

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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.

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Course objects1. 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.

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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.

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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.

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Software and hardware (second section)

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Microsoft robotics studio Lego NXT module

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.

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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

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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.

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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%

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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.

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Laptop-down policy

• Laptops are only allowed during the third section (practicing section) or on the time when instructed to used them.

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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.

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Course survey and presentation list

• Fill up course survey• Fill up presentation list

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Next week

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Questions?

Course website

robot.caece.net

Instructors’ email

sckang@caece.net