APPLICATIONS OF ROBOTICS IN BUILDING CONSTRUCTION

CATEGORY: TECHNOLOGY Apoorva Anvekar and Shweta Nadkarni 8 th semester, S !CET harwad" E#ART!ENT: C$%$L

ABSTRACT Construction automation and robotics have been eneratin much interest in the construction communit! over the "ast t#o decades$ The traditiona" methods have a"read! reached their s!stem "imits and cannot contribute to %urther e%%ectiveness %or &roductivit! increase$ Rea"i'ation can on"! be achieved b! the reduction o% "abor and construction times$ Thus( there is a need( to nurture the deve"o&ment o% success%u" research ) deve"o&ment &ro rams in construction automation ) robotics$ The a&&"ication o% robots to construction sites is encumbered #ith &rob"ems$ *ost si ni%icant o% these re"ates to &ositionin ( co""ision avoidance( ) a&&ro&riate navi ation strate !$ To( date %e# robotic a&&"ications are in actua" %ie"d use ) im&"ementation at academic and industr! has been rather s"o#$ Additiona""!( there is a "ac+ o% research and deve"o&ment %or robotic im&"ementation in the bui"din s$ Another hindrance to the advancement o% construction automation and robotics is the %act that the construction industr!( in enera"( has been traditiona""! conservative in acce&tin ne#

a&&roaches$ This &a&er ma+es an attem&t to use robots in the bui"din constructions to reduce ha'ards at #or+ sites( im&rove ,ua"it!( and reduce the cost o% construction$ A case stud! has been considered to demonstrate the a&&"icabi"it! o% robots in the bui"din construction$ &e' words- positionin(, )o**ision avoidan)e,
red+)e ha,ards, improve -+a*it', and red+)e the )ost

INTRODUCTION Ro.oti) s'stems are deve*oped to red+)e *a.or re-+irements, )osts, shorten )onstr+)tion time / improve -+a*it'" La.or intensive operations in )onstr+)tion, espe)ia**' those )hara)teri,ed as +n sa0e, ha,ardo+s, +n)om0orta.*e, or +np*easant are s+ita.*e )andidates 0or app*'in( a+tomation" Emp*o'in( ro.oti) devi)es provide .etter prod+)tion and sa0e environment" Amon( )onstr+)tion pro)ess, )on)rete p*a)ement, )arpentr', p*+m.in(, pipin(, paintin( and sheet meta* work are )ommon *a.or intensive operations" The deve*opment o0 ro.oti) s'stem is 1+sti0ied .' potentia* improvement in sa0et', -+a*it' and prod+)tivit'" 2ith a ro.oti) s'stem h+man

operators )an .e removed 0rom the dan(ero+s work *o)ation and -+a*it' mi(ht improve" To date, however, 0ew ro.oti) app*i)ations are in a)t+a* 0ie*d +se, and imp*ementation in the )onstr+)tion ind+str' has .een rather s*ow" Dirt! and Un&"easant The )onstr+)tion work p*a)e is o0ten dirt' and the work tasks are (enera**' +np*easant" A))ess to the work p*a)e is o0ten severe*' )onstrained" #resent )onstr+)tion pra)ti)e with its *a)k o0 )oordinated materia* mana(ement o0ten )a+ses the work p*a)e to .e )*+ttered with too*s and materia*s" Rare*' there is an e00i)ient, re(+*ar method 0or removin( the waste materia* 3wood shavin(s, de0e)tive nai*s and .oards, pa)ka(in( materia*s, et)"4 The )onstr+)tion worker sometimes has to work with heav', nois' or potentia**' dan(ero+s too*s and has to wear spe)ia* )*othes, 0ootwear and head(ear as sa0et' pre)a+tions" These )an )a+ses di00i)+*t' in movement and a)tions, and a*so )reate ph'si)a* dis)om0ort, pra)ti)a**' in hot weather, +nder(ro+nd )onstr+)tion,", e"(", t+nne*in( is +np*easant d+e to )onstant e5pos+re to dirt and hi(h press+res and 0ew )han)es o0 .ein( o+t in the open air" .a'ardous to .ea"th To eva*+ate )onstr+)tion pro)ess in terms o0 hea*th ha,ard, the 0a)tors s+)h as d+st, (ases, harsh temperat+res, *eve* and intensit' o0 e5pos+re to noise, radiation, press+re have to )onsidered" 6inishin( a)tivities, *ike .+sh hammerin( and sand.*astin( are rated hi(h d+e to the )onstant e5pos+re o0 the workers to d+st parti)*es" T+nne**ers, in )ontrast, are e5posed to (ases and to5i) 0+mes +nder(ro+nd" Certain 0inishin( )ompo+nds )hemi)a*s +sed in )onstr+)tion )an a*so de)ompose into (ases when the temperat+re

and press+re )onditions )han(e" 6re-+ent e5pos+re to these to5i) 0+mes )an )a+se respirator' diseases and in )ertain )ases )an a00e)t the nervo+s s'stem" One o0 the primar' (oa*s o0 a+tomation7ro.oti,ation in )onstr+)tion is to red+)e the *eve* o0 ph'si)a* dan(er to whi)h the worker is e5posed" #h'si)a**' dan(ero+s in)*+des in a** work pro)ess that )a+ses death instantaneo+s*' or )a+se 0ata* a))idents" The ha,ard in )onstr+)tion in)*+des those asso)iated with 0a**s, *ar(e masses, and e-+ipment" 2orkin( on hi(h rise .+i*din(s espe)ia**' on e5terior is ph'si)a**' dan(ero+s, d+e to the )onstant dan(er o0 0a**s" Ob/ectives

The o.1e)tive o0 this paper is to present a s'stemati) pro)ess 0or )ond+)tin( resear)h in )onstr+)tion a+tomation and ro.oti)s, 0o)+sin( on 0ie*d imp*ementation" To identi0' possi.*e app*i)ations o0 ro.oti)s to the vario+s .+i*din( )onstr+)tion tasks" To spe)i0' ro.ot re-+irements ne)essar' 0or per0orman)e o0 these tasks" To e5amine the (enera* 0easi.i*it' o0 ro.oti) app*i)ation at the present and 0+t+re state o0 .+i*din( and ro.oti) te)hno*o('" To o+t*ine a pro)ed+re 0or detai*ed p*annin( and eva*+ation o0 ro.oti) app*i)ation to per0orman)e o0 the desired a)tivities"

LIT0RATUR0 R01I02 The ro.ots emp*o'ed in )onstr+)tion have 0o**owed the same )on)ept as those

emp*o'ed in man+0a)t+rin( with the task o0 .oth .ein( de0ined and )ontro**ed .' a )omp+ter" The )on0i(+ration o0 )onstr+)tion ro.ots )an .e ro+(h*' divided as e5terior hand*in( ro.ots, hori,onta* 0inishers, verti)a* 0inishers and interior 0inishers" 8ppa* 39:8;4 reported +sin( video e-+ipment to s+pp*ement vis+a* inspe)tion 0or )ond+)tin( and do)+mentin( )+*vert inspe)tions" A two part )+*vert inspe)tion 0or the rai* road ind+str' is a*so avai*a.*e in his report" 6or sma** )+*vert )*eanin(, hi(h< press+re water<1et s'stems are in *imited +se" The main )+*vert )*eanin( te)hni-+e, however, is man+a* )*eanin( and some times assisted .' hi(h press+re<water and va)++m s'stems" =ho+ 39::94 des)ri.ed that with the in)reasin( rate o0 work<,one a))idents there is more interest in a+tomatin( some 0+n)tions to red+)e the n+m.er o0 workers e5posed to ha,ardo+s sit+ations s+)h as p*a)in( and a 0+**' a+tomated )one p*a)in( and retrievin( s'stem has .een deve*oped 0or ha,ardo+s sit+ations"

)+*vert wa**s" The so+nd te)hni-+es )onsidered were +*trasoni) 0or interior wa** inspe)tion and wa** tappin( te)hni-+es 0or thro+(h<the<wa** inspe)tions" Gro+nd penetratin( radar s'stems are we** deve*oped and )ommer)ia**' avai*a.*e" A+di.*e te)hni-+es ma' a*so work to determine whether a )+*vert is 0+** o0 de.ris" Stokoe 39::94 mentioned that )+rrent methods o0 meas+rin( densities 3and thi)kness4 o0 )on)rete and aspha*t pavements )onsist primari*' o0 n+)*ear devi)es" !ethods +sin( (ro+nd<penetratin( radar, 0a**in( wei(ht de0*e)tometers and spe)ia* ana*'sis o0 s+r0a)e waves are a*so in *imited +se and .ein( resear)hed" Th+s, new resear)h is needed in the +se o0 ro.ots to deve*op a))+rate means to prevent ma1or pro.*ems in the )onstr+)tion ind+str'" This paper dea*s with ro.oti) app*i)ations in the )onstr+)tion ind+str'" ROBOTS IN CONSTRUCTION INDUSTR3 The red+)tion in the ski**ed )ra0tsmen, in)rease in sophisti)ation o0 )onstr+)tion materia*s, and the )onstant )*aim 0or in)rease in -+a*it' and red+)tion o0 )onstr+)tion )ost demands (reater de(ree o0 a+tomation in the )onstr+)tion ind+str'" Some o0 the app*i)ations are: Cu"vert C"ean4Out and Ins&ection Ro.oti) s'stems e5it to inspe)t interiors o0 pipes and draina(es )ond+its and some work has .een done to dete)t voids aro+nd sewers and +nder o00shore pipe*ines" 6or sma** )+*vert )*eanin(, hi(h<press+re water<1et s'stems are in *imited +se" The main )+*vert< )*eanin( te)hni-+e, however, is man+a* )*eanin( and assisted .' hi(h<press+re water and va)++m s'stems" The main s+((estions .' te)hno*o(' e5perts are 0or )raw*er<

Craw0ord 39:884 mentioned that inspe)tion ideas are 0o)+sed on three te)hno*o(ies< opti)a*, so+nd, and radar" The opti)a* te)hni-+es in)*+ded *aser pro0i*in( s)anners and video )ameras" Laser pro0i*in( wo+*d 'ie*d a more -+antitative res+*t whi*e the video s'stems o00er a more +ser<0riend*' .+t more -+a*itative so*+tion"

The main disadvanta(e o0 a** opti)a* te)hni-+es is their ina.i*it' to e5amine the soi* )onditions .ehind the )+*vert wa**s" The so+nd te)hni-+es show their ina.i*it' to e5amine the soi* )onditions .ehind the

mo+nted )*eanin( s'stems with a s)oop7shove*, water<1et, rotar' pipe )*eaner, and a saw to )+t +p *ar(e o.1e)ts" Snake *ike devi)es are not as pop+*ar as the )raw*ers .e)a+se o0 the di00i)+*t' o0 detai*in( with.ends in )+*verts" The idea is to os)i**ate a )hain with 0o*din( s)oops .a)k and 0orth thro+(h the )+*vert" The .a)k< and< 0orth motion o0 the )hain rat)hets de.ris o+t o0 the )+*vert" $nspe)tion ideas 0o)+sed on three te)hno*o(ies > opti)a*, so+nd, and radar" The opti)a* te)hni-+es in)*+de *aser pro0i*in( s)anners and video )ameras" Laser pro0i*in( wo+*d 'ie*d a more -+antitative res+*t whi*e the video s'stems o00er a more +ser<0riend*' .+t more -+a*itative so*+tion" The main disadvanta(e o0 a** opti)a* te)hni-+es is their ina.i*it' to e5amine the soi* )onditions .ehind the )+*vert wa**s" The so+nd te)hni-+es are their ina.i*it' to e5amine the soi* )onditions .ehind the )+*vert wa**s" The so+nd te)hni-+es )onsidered were +*trasoni)?s 0or thro+(h > the > wa** inspe)tions" Gro+nd > penetratin( radar s'stems are we** deve*oped and )ommer)ia**' avai*a.*e" A+di.*e te)hni-+es determine whether a )+*vert is 0+** o0 de.ris 3Craw0ord<9:884" Dri""ed 5 Sha%t Ins&ection And *easurements$ ri**ed > sha0t inspe)tion presents some o0 the same pro.*ems en)o+ntered in )+*vert inspe)tion" Re(ard*ess o0 the diameter, it is )onsidered +nsa0e 0or a h+man inspe)tor to des)end into the sha0t +n*ess the sha0t is )ased" 6or -+a*it' inspe)tions, there0ore, a vision devi)e is re-+ired to @seeA the )ondition o0 the .ottom and the side wa**s" 6or vision in air<0i**ed sha0ts, man' video )amera s'stems, s+)h as 0rom #L , )an .e

+sed" %ideo<e-+ipped divin( .e**s have .een +sed in water<0i**ed ho*es" 6or s*+rr'< 0i**ed sha0ts, sensors other than video are re-+ired" A ro.oti) e5)avator 0or s*+rr'<0i**ed 0o+ndation e5)avations that +ses +*trasoni) sensors to determine the *o)ation o0 the wa**s and a )omp+ter to (+ide an e5)avator is +nder deve*opment in Bapan 3&ik+)hi and !i+ra 9::C4" The ma1or inspe)tion te)hni-+e +ses a mirror and s+n*i(ht or other *i(ht so+r)e" $nspe)tions are per0ormed 0rom the top o0 the ho*e or .' *owerin( a man into the ho*e" The te)hno*o(' e5perts? options are that the main pro.*em with .oth the )amera and mirror s'stem is the res+*t is -+antitative rather than -+a*itative" A s)annin( *aser to pro0i*e the ho*e is s+((ested" Simi*ar*', s)annin( +*trasoni)?s )o+*d .e +sed to map the sha0t" Doth methods wo+*d provide (ood -+antitative re)ords o0 the sha0t pro0i*e" 6or s*+rr'<0i**ed ho*es, sonar was s+((ested" An arra' o0 *istenin( sensors with a sin(*e pin(er )o+*d *ike*' provide an a))+rate -+antitative map o0 the sha0t" Another possi.i*it' 0or the s*+rr' >0i**ed ho*es is (ro+nd >penetratin( radar" P"acement and Retrieva" o% Tra%%ic Cones

2ith the in)rease rate o0 work<,one a))idents, there is more interest in a+tomatin( some 0a)tions to red+)e the n+m.er o0 workers e5posed to ha,ardo+s sit+ations s+)h as p*a)in( and retrievin( tra00i) )ones" Tra00i)<)one p*a)ement and a 0+**' a+tomated )one p*a)in( and retrievin( s'stem have .een deve*oped"

Nondestructive testin o% Road#a! *ateria"6s Durin Construction C+rrent methods o0 meas+rin( densities 3and thi)kness4 o0 )on)rete and aspha*t pavements )onsist primari*' o0 n+)*ear devi)es" !ethods +sin( (ro+nd<penetratin( radar, 0a**in( wei(ht de0*e)tometers and spe)ia* ana*'sis o0 s+r0a)e waves are a*so in *imited +se and .ein( resear)hed" The te)hno*o(' e5perts s+((ested that one a*ternative method determinin( pavement thi)kness was the +se o0 ma(neti) te)hno*o('" Sma** meta* disks )o+*d .e +sed to meas+re the pavement thi)kness a.ove ea)h disk" The e5perts a*so noted that e5istin( s'stems, +sin( vi.ration or radio*o(i)a* emission, appear to .e va*id te)hni-+es and sho+*d .e eva*+ated 0+rther"

water is a )on)ern .e)a+se most )ommer)ia* s'stems +se video )ameras 0or *o)a* navi(ation and operation" Two ideas are s+((ested to address mo.i*it' )on)ernsE an)hors and str+)t+re (ra..in(" +e to the *ar(e variations in str+)t+res, str+)t+re (ra..in( was viewed as di00i)+*t .+t not impossi.*e" 6or new )onstr+)tion, it was s+((ested that ro.ot<0riend*' an)hor points )o+*d .e inte(rated dire)t*' into the str+)t+re" The inspe)tion task s+((estions were in two (enera* )ate(oriesE a+tomation s+((estions in)*+ded ro.oti) )*eanin( o0 +nderwater s+r0a)es, a)o+sti) s+r0a)e ima(in(, and a ro.oti) test pro.e to )he)k 0o+ndations soi* )onditions" Other s+((estions in)*+ded (ro+nd penetratin( radar, shaker e5)itation and a)o+sti) response ana*'sis" The 0o**owin( are some o0 ro.ots +sed in the )onstr+)tion $nd+str'" Demo"ition Robot $t is +sed in the )on0ined spa)e and se*e)tive demo*ition works" The pre)ise )ontro* ena.*es demo*ition needed se)tion, whi*e *eavin( the remainin( se)tions +ns)attered and is shown in 0i(" Robot %or Renovation o% Genera" Areas This is emp*o'ed where the renovation are most )ommon in *ar(e +r.an areas and is shoen in 6i(" Robot %or Cement Industr! $t is emp*o'ed 0or strippin( *inin( and )*eanin( ki*ns even .e0ore the ki*n has )omp*ete*' )oo*ed down " Autonomous P"asterin Robot

Under#ater Structure Ins&ection %or Scour and Corrosion

$nspe)tion methods in)*+de man+a* 3vision and to+)h4 and remote sensin( 3sonar and video4" An a+tomati)a**' )ontro**ed s'stem with a soni) pro.e has .een deve*oped to determine meta* thi)kness" The te)hno*o(' e5perts? dis)+ssion on +nderwater > str+)t+re inspe)tion 0o)+sed on two iss+esE mo.i*it' and inspe)tion te)hni-+es" An' method +sed m+st over)ome pro.*ems s+)h as stron( water )+rrent, t+r.id or .*a)k water, deep water, marine (rowth, )omm+ni)ations and data re)ordin(, and 0*oatin( de.ris" is)+ssions a*wa's started with interest in +sin( one o0 the man' )ommer)ia**' avai*a.*e +nderwater inspe)tion ro.ots" There were two areas o0 )on)ern with present +nderwater ro.ots: possi.*e ins+00i)ient thr+st and .*a)k<t+r.id water operation" !an' s'stems *ike*' desi(ned 0or o)ean or *ake operation where 0ast )+rrents are not )ommon" A ro.ot wo+*d re-+ire stron( thr+sters to operate in the 0ast<movin(, o0ten t+r.+*ent waters" T+r.id

This is the 0irst p*asterin( ro.ot protot'pe" $t has s+))ess0+**' p*astered the wa** at an a)t+a* .+i*din( site and is shown in 0i(" APPLICATION OF ROBOTS IN CONSTRUCTION INDUSTR3 The )onventiona* pro)ess o0 e5e)+tin( the )onstr+)tion work re-+ires hi(h*' ski**ed workmen in order to a)hieve s+00i)ient and )onsistent -+a*it'" This *a.or intensive )onstr+)tion pro)ess res+*t in re*ative hi(h )osts" To a)hieve hi(her rationa*i,ation, di00erent methods have .een tested" 6or e5amp*e, one o0 the approa)hes, whi)h is +sed .' the sand<*ime .ri)k and )e**+*ar )on)rete ind+str', is the en*ar(ement o0 the si,e o0 the .+i*din( .*o)ks" The en*ar(ed dimensions o0 these .*o)ks however )oin)ide with their in)reased ph'si)a* wei(ht +p<to C;;k(" Ro.ot dea*s with the deve*opment and rea*i,ation o0 an inte(rated a+tomation s'stem" Th+s )onventiona* )ontro* strate(ies are +ns+ita.*e and prove )omp*ete*' per0orman)e with a reasona.*e time )ons+min( a*(orithm, whi)h is +se0+* in rea* time )ontro* s'stem" The 0o**owin( resear)h methodo*o(' is adapted to 0or the app*i)ation o0 ro.ots in .+i*din( )onstr+)tion" Research *ethodo"o ! The methodo*o(' 0or the app*i)ation o0 ro.ots )onsists o0 the 0o**owin( steps:

work stations and *o)ation o0 work in ea)h station" $denti0' the parameters dependent on the task to .e per0ormed in)*+din( o+tp+t7ho+r, materia*s and the a+5i*iar' work" Ca*)+*ate the )ost o0 ro.ot +sin( parameters in)*+din( depre)iation, interest on investment, maintenan)e and operatin( e5pense"

Ana"!'e the cost &er hour 7C6 %or usin robot$ C F 3# G pr 3$, n4 H Cm4 7 3H H Co4 2here, # is investment in the ro.ot 3in)*+din( the )ost o0 )arria(e, e00e)tors, sensors and other adaptations4 #r 3$, n4 is )apita* re)over' 0a)tor 3depre)iation and interest 0a)tor, ass+min( ann+a* interest $ and e)onomi) *i0e In? in 'ears" Cm F Cost o0 repairs and hi(h *eve* maintenan)e o0 the ro.ot per 'ear" Co F operatin( )osts 3in)*+din( some wear e00e)ted parts4 per ho+r, and H F N+m.er o0 ro.ot emp*o'ment ho+rs 7 'ear"

Se*e)t the ro.ot )on0i(+ration s+)h as rea)h, pa' *oad )apa)it', sensin( attri.+tes and )ontro* s'stem 0or ea)h task" $denti0' the p*a)es where ro.ot )an reprod+)e the e*ement" $denti0' the parameters dependin( on the nat+re o0 .+i*din( in)*+din( the nat+re o0 the tasks to .e per0ormed, -+a*it', n+m.er o0 trans0ers .etween

eve*op the ro.oti) s'stem 0or 0+** s)a*e e5perimentation 0or rea*isti) assessment o0 prod+)tivit'" Compare the )osts o0 the a)tivities o0 ro.oti,ed vs" man+a* per0orman)e"

Compare the )ost o0 work per0ormed with )onventiona* man+a* method3identi0' the 0easi.i*it' o0 +sin( the .+i*din( ro.ots in D+i*din( )onstr+)tion4

The 0o**owin( )ase st+d' assesses the ro.oti) 0easi.i*it' +sin( the a.ove resear)h methodo*o(' and its impa)t on )ost"

CAS0 STUD3

A shoppin( ma** is identi0ied 0or the app*i)ation o0 ro.ots in this st+d'" The pro1e)t is o0 9; storied )omp*e5 with a 0a)i*it' o0 two resta+rants" The tota* )ost o0 the pro1e)t is Rs" J; )rores" The e5terna* paintin( work o0 the )omp*e5 is )onsidered 0or the app*i)ation o0 ro.ots" A s'stemati) and detai*ed )omparison .7w the traditiona* )onstr+)tion pro)ess and the e5e)+tion with the ro.ots has .een ana*',ed" The net paintin( areas have .een )a*)+*ated d+*' ded+)tin( the str+)t+ra* (*a,in( areas" The paintin( time inp+t o0 the ro.ot, i"e" 9"; min7mJ o0 wa**" S+pp*' o0 materia*s needs )are0+* pre<p*annin( and ver' (ood or(ani,ation o0 work on site" $t is ass+med here that two workers are needed 0or p*aster mi5in( near the ro.ot" Spe)i0i)ations o0 the work 0or e5terna* p*asterin(<sno)em paintin( o0 J )oats over a primer )oat o0 .est -+a*it' paint" The detai*s o0 the paintin( areas in di00erent sides o0 the .+i*din(, d+*' indi)atin( the (ross, ded+)tion and net area are shown in ta.*e<9" The detai*s o0 the sta(es o0 the wok, time s)hed+*es 0or ea)h sta(e o0 the work are shown in ta.*e<J" Ta.*e<C shows the )omparison o0 ro.oti) vs" man+a* per0orman)e in E5terna* #aintin( and Ta.*e<K shows the )ost .ene0it ana*'sis"

The )onstr+)tion ind+str', whi)h is (enera**' ver' )onservative in adoptin( the new te)hno*o(i)a* )han)es, has .een .ene0ited immense*' with the introd+)tion o0 Ro.ots" The .ene0i)ia* 0a)tors are dependin( on the t'pe o0 ro.ots, and how we** the' are invo*ved in the )onstr+)tion operations" $n addition, the e)onomi) and so)ia* iss+es are ranked in order to (+ide the a+tomation pro)ess" The' are *ike sa0et' .ene0its, red+)tion o0 *a.or )osts, e*imination o0 dan(ero+s 1o.s, in)rease in o+tp+t rate, improvement in prod+)t -+a*it', in)rease in prod+)t 0*e5i.i*it' and red+)tion in materia*s waste, )omp*' with OSHA, red+)tion in *a.or t+rnover and red+)tion o0 )apita* )ost" The 0o**owin( )on)*+sions are made .ased on the resear)h work:

The emp*o'ment o0 ro.ot 0or interior 0inishin( works has )onsidera.*e potentia* 0or prod+)tivit' improvement on the .+i*din(" Ro.oti,ation is an important e*ement 0or an inte(rated and a+tomation .+i*din( rea*i,ation s'stem" The e00i)ien)' o0 the ro.ot emp*o'ment wi** .e ver' m+)h a00e)ted .' the share o0 indire)t a)tivities asso)iated with its work" Ro.oti,ation red+)es the )onstr+)tion time, )ost and e00orts" The )ase st+d' revea*s that an amo+nt o0 Rs" K,:J,;:;7< )an .e made as savin( amo+nt d+*' +sin( the ro.ot 0or paintin( work, in )omparison with the )onventiona* work, i"e"8;L" The time period a*so )an .e drasti)a**' )+t down, 0rom MJ da's to Nda's, th+s )ontri.+ted as ma1or savin( in *a.o+r )osts with no

CONCLUSIONS

a))idents or in1+ries to the *a.o+r 0or)e"

S"$No Direction Tota" area Deduction Net area 89: %or each %or G"a'in %or side8m;: &aintin ; 8;: 8m;: 8m : S"$No 0ast 8conventiona": 0ast 8#ith Robots: 8=: 8<: 9

es)ription o0 work
6ronta(e 7 M;KM East

a's es)ription o0 9K9: COJO work C;9K9: Ere)tionCOJO o0 Ro.ot 98 ;K >;

K9K K9K

a's ;J ;K

9 J
C K

Ere)tion M;KM 2est

North

s)a00o*din(

J C

#aintin( 3e5terna*4 So+th CMJO Remova* o0 s)a00o*din( Tota"

COJO

p*asterin(

CJ9J CJ9J

Removin( the ;9 Ro.ot Tota" ?@ Ta.*e J The etai*s o0 Time S)hed+*es

Ta.*e C )omparison o0 Ro.oti) vs" !an+a* #er0orman)e in E5terna* #aintin( A"La.o+r Dreak down

Ta.*e 9 The etai*s o0 #aintin( Areas

S"$No 1ariab"e 89:

Robotic 8;:

*anua" *anua" 8brush 8s&r!: #or+: 8=: 8<:

9 J C

ire)t *a.o+r

;"CCmin7mJ 8 C"Kmin7mJ min7mJ <<<< <<<<

!ovement ;";Mmin7mJ <<<< .7w stations #ositionin( ;"NMmin7mJ <<<< at work station Trans0er .etween 0*oor ;";Jmin7mJ <<<<

<<<<

M O

Set+p at site ;";Mmin7mJ <<<< !aintenan)e ;";Nmin7m <<<< Tota"

J

<<<< <<<<

9$;@minDm; E <$= minDm; minDm; AA B B C 9$C@ minDm; A E minDm; B <$= minDm; D"Tota* *a.o+r re-+ired S"$No 1ariab"e Robotic *anua" *anua" 89: 8;: 8brush#or+: 8s&ra!: 8<: 8=: 9 Ski**ed *a.o+r inp+t 9"JN 8 min7mJ J min7m C"K min7mJ "Tota* )ost o0 hi(her *a.o+r rate 3e5)*+din( materia*4 E"Tota* )ost at *ower *a.o+r rate"

J A+5i*iar' <<<< S"$No 1ariab"e ;"K Robotic <<<< *anua" *anua" J inp+t 89: min7m 8;: 8brush#or+ 8s&ra!: 8<: 8=: 9 J J;;;hrD'r 9"9:mJ C"CC mJ " 9M;;hrD'r ;"K mJ " C"CC mJ 9"MCmJ 9"MCmJ Ta.*e K" Cost Dene0it Ana*'sis Conventiona" North 9 S)a00o*din( materia*s assem.*in( )ost3Rs4 2ith Robots North )ost3Rs4

S"$No 1ariab"e Robotic *anua" *anua 89: 8;: 8brush#or+ " : 8s&ra!: 8<: 8=: 9 J J;;;hrD'r ;"8OmJ 9"OO mJ " 9M;;hrD'r 9";K mJ 9"OO mJ " ;"NNmJ ;"NNmJ

:O,CO;7< Assem.*in( o0 K,KM;7< )omp*ete s'stem 0or

p*a)in( in position / ere)tion

ro.ots, ere)tion in points, p*a)in( in position, operation o0 ro.ots / de <assem.*in( the entire s'stem"

Demo"ition robot

J #aintin( in two 9,O;,O;; #aintin( in two )oats 3materia* H 7< )oats 3on*' *a.o+r4P M;7< !ateria*4PCM7 s-"m" mJ C Cost o0 )ompensation to the worker made mistakes / 0a+*t s)a00o*din( / 1ointin(" K Le(a* e5penses J,JM,;;; <<<< 7<

Robot %or renovation #or+s

M;,;;;7< <<<<

M Hospita*7Am.+*an NM,;;;7< <<<< )es )har(es Cost<.ene0it ana*'sis 3E)onomi) )omparison4 !ost*' depends on .+i*din( site parameters" !ode* )a*)+*ation 0or s)a00o*din( 3item no"94 !an+a* 3)onventiona*4 > Tota* Area > CJ9J mJ Rate7 mJ >Rs C;7< Tota* )ost > CJ9J 5 C; F :O,CO;7< Ro.ots < tota* area > CJ9J s-"m"

8nit )ost > 9"ONmin7 mJ 5 CJ9J F MCOKmin F 8:hrs" Tota* )ost > 8:hrs" P Rs"M;7< F Rs" KKM;7<

Robot %or &"asterin

#ro)eedin(s o0 $CACC<J;;K Cho, Y", Haas, C"T", Liapi, &" and Sreenivasan, S"%" 3J;;J4" A 0ramework 0or rapid *o)a* area mode*in( 0or )onstr+)tion a+tomation, A+tomation in Constr+)tion, 99, O, OJ:<OK9 A"T"#" and Chan, 2"L" 3J;;J4" LAN< .ased .+i*din( maintenan)e and s+rvei**an)e ro.ot, A+tomation in Constr+)tion, 99, O, O9:<O !aas, G" and van Gasse*, 6" 3J;;M4" The in0*+en)e o0 a+tomation and ro.oti)s on the per0orman)e )onstr+)tion, A+tomation in Constr+)tion, 9K, K, J;th $nternationa* S'mposi+m on A+tomation and Ro.oti)s in Constr+)tion: The 6+t+re Site, KCM<KK9" !i'ama, A", Sawada, !" and S+,+ki, $" 39::K4" eve*opment o0 a m+*ti0+n)tiona* ro.ot 0or insta**ation o0 .+i*din( e5terior and interior 0inishin( materia*s, #ro)eedin(s o0 the 99th $nternationa*S'mposi+m on A+tomation and Ro.oti)s in Constr+)tion 3$SARC4, Dri(hton, 8&, N;:<N9O" Con)rete )onstr+)tion ro.ot, Series o0 )onstr+)tion ro.ots whi)h have .een awarded pri,es 0rom the Ar)hite)t+ra* $nstit+te o0 Bapan, www"takenaka")o"1p7"""7MCQ)ro.o7MCQ)ro.o" htm Hasegawa, Y., Robotization of Construction Work Robot No. 38 (1 83!. Hasegawa, Y. et a"., Robotization of #ui"$ing Construction, %art 1 Robot No. 33 (1 8&!.

Robot %or cu"vert c"eanin

R0F0R0NC0S

 Hasegawa, Y. et a"., Robotization of #ui"$ing Construction, %art & Robot No. 3' (1 8&!. (atsubara, )., *"oor C"eaning Robot Robot No. 38 (1 83!. #ui"$ing Construction Cost +ata 1 8', (R.). (eans Co., #oston, (ass., 1 8&!. ,-oog"e )c.o"ar/