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Robotics & Automation Magazine, IEEE

Issue 1 • Date March 2002

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Displaying Results 1 - 7 of 7
  • From the Editor's desk

    Page(s): 2 - 3
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    Freely Available from IEEE
  • Robotics and Automation in Construction [Guest Editors]

    Page(s): 4 - 6
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    Freely Available from IEEE
  • Robotic excavation in construction automation

    Page(s): 20 - 28
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (731 KB) |  | HTML iconHTML  

    This article presents some results of the autonomous excavation project conducted at the Australian Centre for Field Robotics (ACFR) with a focus on construction automation. The application of robotic technology and computer control is one key to construction industry automation. Excavation automation is a multidisciplinary task, encompassing a broad area of research and development. The ultimate goal of the ACFR excavation project is to demonstrate fully autonomous execution of excavation tasks in common construction, such as loading a truck or digging a trench. A number of difficult theoretical and practical problems must be solved to achieve this objective. The problems fall into three main groups: excavation planning, sensing and estimation, and control View full abstract»

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  • Quality control of asphalt compaction using GPS-based system architecture

    Page(s): 29 - 35
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (756 KB) |  | HTML iconHTML  

    This paper describes research to develop a GPS-based automated quality control system for tracking pavement compaction. The research team has experimented with both vector and raster based algorithms and believe that the raster-based algorithm may be more efficient in this application. Simulated tests on CTS-111 have been extremely encouraging, and the team continues to improve the system for testing. After the tests are completed, the researchers are confident that this technology can be fitted in existing compactors at a cost of about $10,000 per compactor, including GPS devices, radios, hardware, and software View full abstract»

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  • A hybrid drive parallel arm for heavy material handling

    Page(s): 45 - 54
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (647 KB) |  | HTML iconHTML  

    This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article includes a basic concept of parallel mechanisms with hybrid actuation, comparisons and evaluations of some types of hybrid mechanisms based on its kinematics and statics, and finally introduces a designed prototype arm View full abstract»

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  • FutureHome: An integrated construction automation approach

    Page(s): 55 - 66
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (4021 KB) |  | HTML iconHTML  

    This article presents the results of the FutureHome project, the first global project in the construction industry that introduces the ICA concept. The design, planning, and onsite robotization stages of house-building construction have been presented. The main advantage introduced by FutureHome is the integration of the three stages under common data and concept. The article focuses on the architectural design of residential houses and office buildings by using prefabricated modules. The design takes into account the prefabrication and onsite assembly. For efficient construction, a global planning strategy has been developed that integrates the prefabrication, transportation, and onsite processes. Finally, the robotized crane for the assembly of big 3-D modules with small tolerances is presented. The control strategy for adequate assembly with the reduction of positioning errors, rotation errors, and swinging of the modules, has been developed and tested View full abstract»

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  • A robotic system for concrete repair preparation

    Page(s): 36 - 44
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    The widespread deterioration of reinforced concrete structures and the associated need for inspection and repair are reviewed. Towards this end, robotic handling of a NDT probe and blasting tool is investigated. A single-pass method for the detection of rebars is presented that takes into account the effects of transverse, parallel, and lapped bars relative to the detection of an isolated rebar. Examples of rebar detection trials are given, all of which are encouraging. While isolated bars are perfectly detected, parallel bars are reliably found where their pitch exceeds 100 turn. The effect of transverse bars is readily catered for by using an offset equivalent to an ambient signal value. In respect to lapped bars where different arrangements are possible, the main progress is in achieving images that help to distinguish these. While existing automatic and robotic systems "excavate to strength," a selective approach for the removal of defective concrete, there is the need to produce good geometry in order to make repairs last. This "excavation to geometry" approach requires the system to alter its cutting-power parameters or dwell time (extended application on higher strength areas). The presented robotic system aims to establish sensor and control technology that will make possible such real-time control of the erosion process. In this, advantage is to be taken of inspection and NDT-based prediction of the condition and in situ strength of the concrete component View full abstract»

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Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma