Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation

Nolan W. Hayes; Bryan P. Maldonado; Diana Hun; Peter Wang

doi:10.22260/ISARC2023/0028

Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation

Nolan W. Hayes, Bryan P. Maldonado, Diana Hun, Peter Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Trade associations for prefabricated construction estimate that about 50% of prefabricated wall projects have alignment problems that lead to defects and rework. Additionally, component installation times average between 30 and 60 minutes per component. To address these issues, a real-time evaluator (RTE) system was introduced to decrease cost and automate prefabricated component installation by reducing the installation time, decreasing rework, and enhancing energy performance through higher installation quality. The RTE uses commonly available hardware and software to perform autonomous tracking to measure the real-time location and orientation of components as they are crane-lifted and installed. The hardware, software, and algorithms that allow the autonomous tracking of components are detailed. An algorithm to automate the initial search for a component with three attached retroreflectors is proposed. Algorithms to automate the measurement of component position and orientation are also proposed. Simple lab-scale proof-of-concept experiments were conducted to assess the algorithms for automation of component searching, measurement of real-time movement, and measurement of component orientation. With additional development, the system can be used as a tool to generate the commands for autonomous crane operation or single-task construction robots.

Original language	English
Title of host publication	Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023
Editors	Borja Garcia de Soto, Vicente Gonzalez, Ioannis Brilakis
Publisher	International Association for Automation and Robotics in Construction (IAARC)
Pages	192-199
Number of pages	8
ISBN (Electronic)	9780645832204
DOIs	https://doi.org/10.22260/ISARC2023/0028
State	Published - 2023
Event	40th International Symposium on Automation and Robotics in Construction, ISARC 2023 - Chennai, India Duration: Jul 5 2023 → Jul 7 2023

Publication series

Name	Proceedings of the International Symposium on Automation and Robotics in Construction
ISSN (Electronic)	2413-5844

Conference

Conference	40th International Symposium on Automation and Robotics in Construction, ISARC 2023
Country/Territory	India
City	Chennai
Period	07/5/23 → 07/7/23

Funding

This manuscript has been authored by UT-Battelle, LLC, under contract DE-AC05-00OR22725 with the US Department of Energy (DOE). The publisher acknowledges the US government license to provide public access under the DOE Public Access Plan (https://energy.gov/downloads/doe-public-access-plan). This manuscript has been authored by UT-Battelle, LLC, under contract DE-AC05-00OR22725 with the US Department of Energy (DOE). The publisher acknowledges the US government license to provide public access under the DOE Public Access Plan (https://energy.gov/downloads/doe-public-access-plan). The authors would like to thank Jared Brewe, Steve Brock, Gary Lentz, and Mike Milkovitz from the Precast/Prestressed Concrete Institute and various manufacturers for participating on the advisory board which provided specifications for the research.

Funders	Funder number
DOE Public Access Plan
U.S. Department of Energy
Concrete Institute

Keywords

accuracy
automation
installation
prefabrication
real-time
time

Access to Document

10.22260/ISARC2023/0028

Cite this

Hayes, N. W., Maldonado, B. P., Hun, D., & Wang, P. (2023). Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation. In B. Garcia de Soto, V. Gonzalez, & I. Brilakis (Eds.), Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023 (pp. 192-199). (Proceedings of the International Symposium on Automation and Robotics in Construction). International Association for Automation and Robotics in Construction (IAARC). https://doi.org/10.22260/ISARC2023/0028

Hayes, Nolan W. ; Maldonado, Bryan P. ; Hun, Diana et al. / Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation. Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023. editor / Borja Garcia de Soto ; Vicente Gonzalez ; Ioannis Brilakis. International Association for Automation and Robotics in Construction (IAARC), 2023. pp. 192-199 (Proceedings of the International Symposium on Automation and Robotics in Construction).

@inproceedings{f01d89928a3547d795943d450d0b1a8b,

title = "Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation",

abstract = "Trade associations for prefabricated construction estimate that about 50% of prefabricated wall projects have alignment problems that lead to defects and rework. Additionally, component installation times average between 30 and 60 minutes per component. To address these issues, a real-time evaluator (RTE) system was introduced to decrease cost and automate prefabricated component installation by reducing the installation time, decreasing rework, and enhancing energy performance through higher installation quality. The RTE uses commonly available hardware and software to perform autonomous tracking to measure the real-time location and orientation of components as they are crane-lifted and installed. The hardware, software, and algorithms that allow the autonomous tracking of components are detailed. An algorithm to automate the initial search for a component with three attached retroreflectors is proposed. Algorithms to automate the measurement of component position and orientation are also proposed. Simple lab-scale proof-of-concept experiments were conducted to assess the algorithms for automation of component searching, measurement of real-time movement, and measurement of component orientation. With additional development, the system can be used as a tool to generate the commands for autonomous crane operation or single-task construction robots.",

keywords = "accuracy, automation, installation, prefabrication, real-time, time",

author = "Hayes, {Nolan W.} and Maldonado, {Bryan P.} and Diana Hun and Peter Wang",

note = "Publisher Copyright: {\textcopyright} ISARC 2023. All rights reserved.; 40th International Symposium on Automation and Robotics in Construction, ISARC 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

year = "2023",

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Hayes, NW , Maldonado, BP , Hun, D & Wang, P 2023, Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation. in B Garcia de Soto, V Gonzalez & I Brilakis (eds), Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023. Proceedings of the International Symposium on Automation and Robotics in Construction, International Association for Automation and Robotics in Construction (IAARC), pp. 192-199, 40th International Symposium on Automation and Robotics in Construction, ISARC 2023, Chennai, India, 07/5/23. https://doi.org/10.22260/ISARC2023/0028

Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation. / Hayes, Nolan W.; Maldonado, Bryan P.; Hun, Diana et al.
Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023. ed. / Borja Garcia de Soto; Vicente Gonzalez; Ioannis Brilakis. International Association for Automation and Robotics in Construction (IAARC), 2023. p. 192-199 (Proceedings of the International Symposium on Automation and Robotics in Construction).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Trade associations for prefabricated construction estimate that about 50% of prefabricated wall projects have alignment problems that lead to defects and rework. Additionally, component installation times average between 30 and 60 minutes per component. To address these issues, a real-time evaluator (RTE) system was introduced to decrease cost and automate prefabricated component installation by reducing the installation time, decreasing rework, and enhancing energy performance through higher installation quality. The RTE uses commonly available hardware and software to perform autonomous tracking to measure the real-time location and orientation of components as they are crane-lifted and installed. The hardware, software, and algorithms that allow the autonomous tracking of components are detailed. An algorithm to automate the initial search for a component with three attached retroreflectors is proposed. Algorithms to automate the measurement of component position and orientation are also proposed. Simple lab-scale proof-of-concept experiments were conducted to assess the algorithms for automation of component searching, measurement of real-time movement, and measurement of component orientation. With additional development, the system can be used as a tool to generate the commands for autonomous crane operation or single-task construction robots.

AB - Trade associations for prefabricated construction estimate that about 50% of prefabricated wall projects have alignment problems that lead to defects and rework. Additionally, component installation times average between 30 and 60 minutes per component. To address these issues, a real-time evaluator (RTE) system was introduced to decrease cost and automate prefabricated component installation by reducing the installation time, decreasing rework, and enhancing energy performance through higher installation quality. The RTE uses commonly available hardware and software to perform autonomous tracking to measure the real-time location and orientation of components as they are crane-lifted and installed. The hardware, software, and algorithms that allow the autonomous tracking of components are detailed. An algorithm to automate the initial search for a component with three attached retroreflectors is proposed. Algorithms to automate the measurement of component position and orientation are also proposed. Simple lab-scale proof-of-concept experiments were conducted to assess the algorithms for automation of component searching, measurement of real-time movement, and measurement of component orientation. With additional development, the system can be used as a tool to generate the commands for autonomous crane operation or single-task construction robots.

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Hayes NW , Maldonado BP , Hun D, Wang P. Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation. In Garcia de Soto B, Gonzalez V, Brilakis I, editors, Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023. International Association for Automation and Robotics in Construction (IAARC). 2023. p. 192-199. (Proceedings of the International Symposium on Automation and Robotics in Construction). doi: 10.22260/ISARC2023/0028

Automated tracking of prefabricated components for a real-time evaluator to optimize and automate installation

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