Myers-Lawson School of Construction
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Browsing Myers-Lawson School of Construction by Author "Afsari, Kereshmeh"
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- Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary studyHalder, Srijeet; Afsari, Kereshmeh; Chiou, Erin; Patrick, Rafael; Hamed, Kaveh Akbari (Elsevier, 2023-04-15)Construction inspection and monitoring are key activities in construction projects. Automation of inspection tasks can address existing limitations and inefficiencies of the manual process to enable systematic and consistent construction inspection. However, there is a lack of an in-depth understanding of the process of construction inspection and monitoring and the tasks and sequences involved to provide the basis for task delegation in a human-technology partnership. The purpose of this research is to study the conventional process of inspection and monitoring of construction work currently implemented in construction projects and to develop an alternative process using a quadruped robot as an inspector assistant to overcome the limitations of the conventional process. This paper explores the use of quadruped robots for construction inspection and monitoring with an emphasis on a human-robot teaming approach. Technical development and testing of the robotic technology are not in the scope of this study. The results indicate how inspector assistant quadruped robots can enable a human-technology partnership in future construction inspection and monitoring tasks. The research was conducted through on-site experiments and observations of inspectors during construction inspection and monitoring followed by a semi-structured interview to develop a process map of the conventional construction inspection and monitoring process. The study also includes on-site robot training and experiments with the inspectors to develop an alternative process map to depict future construction inspection and monitoring work with the use of an inspector assistant quadruped robot. Both the conventional and alternative process maps were validated through interview surveys with industry experts against four criteria including, completeness, accuracy, generalizability, and comprehensibility. The findings suggest that the developed process maps reflect existing and future construction inspection and monitoring work.
- Real-Time and Remote Construction Progress Monitoring with a Quadruped Robot Using Augmented RealityHalder, Srijeet; Afsari, Kereshmeh; Serdakowski, John; DeVito, Stephen; Ensafi, Mahnaz; Thabet, Walid (MDPI, 2022-11-19)Construction progress monitoring involves a set of inspection tasks with repetitive in-person observations on the site. The current manual inspection process in construction is time-consuming, inefficient and inconsistent mainly due to human limitations in the ability to persistently and accurately walkthrough the job site and observe the as-built status of which robots are considerably better. Enabling the process of visual inspection with a real-time and remote inspection capability using robots can provide more frequent and accessible construction progress data for inspectors to improve the quality of inspection and monitoring. Also, integrating remote inspection with an Augmented Reality (AR) platform can help the inspector to verify as-planned BIM data with the as-built status. This paper proposes a new approach to perform remote monitoring of the construction progress in real-time using a quadruped robot and an AR solution. The proposed computational framework in this study uses a cloud-based solution to integrate the quadruped robot’s control for remote navigation through the construction site with 360° live-stream video of the construction status, as well as a real-time AR solution to visualize and compare the as-built status with as-planned BIM geometry. The implementation of the proposed framework is discussed, and the developed framework is evaluated in two use cases through experimental investigations.
- Robots in Inspection and Monitoring of Buildings and Infrastructure: A Systematic ReviewHalder, Srijeet; Afsari, Kereshmeh (MDPI, 2023-02-10)Regular inspection and monitoring of buildings and infrastructure, that is collectively called the built environment in this paper, is critical. The built environment includes commercial and residential buildings, roads, bridges, tunnels, and pipelines. Automation and robotics can aid in reducing errors and increasing the efficiency of inspection tasks. As a result, robotic inspection and monitoring of the built environment has become a significant research topic in recent years. This review paper presents an in-depth qualitative content analysis of 269 papers on the use of robots for the inspection and monitoring of buildings and infrastructure. The review found nine different types of robotic systems, with unmanned aerial vehicles (UAVs) being the most common, followed by unmanned ground vehicles (UGVs). The study also found five different applications of robots in inspection and monitoring, namely, maintenance inspection, construction quality inspection, construction progress monitoring, as-built modeling, and safety inspection. Common research areas investigated by researchers include autonomous navigation, knowledge extraction, motion control systems, sensing, multi-robot collaboration, safety implications, and data transmission. The findings of this study provide insight into the recent research and developments in the field of robotic inspection and monitoring of the built environment and will benefit researchers, and construction and facility managers, in developing and implementing new robotic solutions.
- Toward a Data-Driven Template Model for Quadrupedal LocomotionFawcett, Randall T.; Afsari, Kereshmeh; Ames, Aaron D.; Hamed, Kaveh A. (IEEE, 2022-07-01)This work investigates a data-driven template model for trajectory planning of dynamic quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model, primarily due to computational tractability. The spirit of the trajectory planning approach in this work draws on recent advancements in the area of behavioral systems theory. Here, we aim to capitalize on the knowledge of well-known template models to construct a data-driven model, enabling us to obtain an information rich reduced-order model. In particular, this work considers input-output states similar to that of the single rigid body model and proceeds to develop a data-driven representation of the system, which is then used in a predictive control framework to plan a trajectory for quadrupeds. The optimal trajectory is passed to a low-level and nonlinear model-based controller to be tracked. Preliminary experimental results are provided to establish the efficacy of this hierarchical control approach for trotting and walking gaits of a high-dimensional quadrupedal robot on unknown terrains and in the presence of disturbances.