FW-HTF-P: Inspector Assistant Robot for Future Construction Progress Monitoring

FW-HTF-P：用于未来施工进度监控的巡检助理机器人

• 批准号: 2128948
• 负责人: Kereshmeh Afsari
• 金额: $ 15万
• 依托单位: Virginia Polytechnic Institute and State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-10-01 至 2023-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2128948&HistoricalAwards=false
• 关键词: FW; HTF; Inspector; Assistant; Robot

This convergent research employs the joint perspectives of construction engineering, human factors psychology, and robot control and autonomy to advance the fundamental understanding of future construction progress monitoring work. Nearly $1.3 trillion worth of structures are constructed each year in the U.S., while more than 53% of typical construction projects are behind schedule, and more than 66% suffer from cost overruns. Construction progress monitoring incorporates a set of regular inspections of construction work to prevent schedule delays and unpredicted costs or rework. But currently, construction progress monitoring is a manual process with repetitive in-person visual inspections of construction work that has resulted in inconsistent, time-consuming, labor-intensive, and error-prone inspection. The main goal of this research is to provide a deeper basic understanding of the human-technology partnership in future progress monitoring work by enabling human inspectors to use their assistant legged robots with high mobility and agility capabilities to help them with performing progress monitoring tasks in dynamically changing job sites. This project will create new knowledge of future work with human-robot inspector teams that can also be applied to future inspection in other domains. Findings from this research can transform future construction by creating new career opportunities that will be inclusive of individuals with disabilities. The project will also provide opportunities for education and outreach plans for middle-school and high school students. Partnerships with industry stakeholders will specifically guide discovering potential social and economic consequences of the human-robot inspector teams in future construction work.This research aims to (i) develop autonomous and resilient quadrupedal robots that can traverse dynamically changing and unstructured construction environments for monitoring construction progress in human-robot inspector team performance, (ii) develop a conceptual framework for human-in-the-loop and human-robot teaming in future construction progress monitoring leveraging aspects of psychology, human-centered design, and usability engineering, and (iii) rethink the future of construction progress monitoring work within a socio-technical evolution through fostering engagement with industry stakeholders. This research creates new knowledge in (a) designing intelligent control and motion planning algorithms that enable safe and agile cooperative tasks of quadrupedal robots and human inspectors in unstructured environments of construction sites, (b) identifying human-centered design strategies in construction progress monitoring utilizing methodologies of human factors psychology for effective human-robot inspector teaming, and (c) understanding the fundamental transformation that the future of construction progress monitoring will encounter in transitioning from manual processes to human-robot inspector teaming.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这种融合的研究采用了建筑工程，人因心理学，机器人控制和自主的联合观点，以推进未来施工进度监测工作的基本理解。美国每年建造价值近1.3万亿美元的建筑，而超过53%的典型建设项目进度落后，超过66%的项目成本超支。施工进度监控包括一系列对施工工作的定期检查，以防止进度延误和不可预测的成本或返工。但目前，施工进度监控是一个人工过程，对施工工作进行重复的人工目视检查，导致检查不一致、耗时、劳动密集且容易出错。这项研究的主要目标是通过使人类检查员能够使用具有高机动性和敏捷性的辅助腿机器人来帮助他们在动态变化的工作现场执行进度监控任务，从而在未来的进度监控工作中提供对人类-技术伙伴关系的更深入的基本理解。该项目将为未来的人机检验团队工作创造新的知识，这些知识也可以应用于其他领域的未来检验。这项研究的结果可以通过创造包容残疾人的新职业机会来改变未来的建设。该项目还将为初中和高中学生提供教育和推广计划的机会。与行业利益相关者的伙伴关系将专门指导发现人类机器人检查员团队在未来建筑工作中的潜在社会和经济后果。本研究旨在（i）开发自主和弹性四足机器人，可以穿越动态变化和非结构化的施工环境，以监控人类机器人检查员团队的施工进度，（ii）在未来的施工进度监测中，利用心理学、以人为本的设计和可用性工程等方面，为人在回路和人-机器人合作开发概念框架，及（iii）透过加强与业界持份者的合作，在社会技术发展的范畴内，重新思考建筑进度监察工作的未来。本研究在以下方面创造了新的知识：（a）设计智能控制和运动规划算法，使四足机器人和人类检查员在建筑工地的非结构化环境中能够安全和敏捷地协作任务，（B）利用人因心理学的方法，在施工进度监控中确定以人为本的设计策略，以实现有效的人机检查员团队合作，以及（c）了解施工进度监控的未来在从人工流程过渡到人工流程时将遇到的根本性转变-该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响进行评估，被认为值得支持审查标准。

项目成果

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion

• DOI: 10.1109/icra48891.2023.10160914
• 发表时间: 2022-11
• 期刊: 2023 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Randall T. Fawcett;Leila Amanzadeh;Jeeseop Kim;A. Ames;K. Hamed

Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study

施工检验

• 发表时间: 2023
• 期刊: Journal of building engineering
• 影响因子: 6.4
• 作者: Halder, Srijeet;Afsari, Kereshmeh;Chiou, Erin;Patrick, Rafael;Akbari Hamed, Kaveh
• 通讯作者: Akbari Hamed, Kaveh

Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models

四足运动的鲁棒预测控制：学习缩小降阶模型和全阶模型之间的差距

• DOI: 10.1109/lra.2022.3176105
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Pandala, Abhishek;Fawcett, Randall T.;Rosolia, Ugo;Ames, Aaron D.;Hamed, Kaveh Akbari
• 通讯作者: Hamed, Kaveh Akbari

Real-time Construction Inspection in an Immersive Environment with an Inspector Assistant Robot

使用检查助理机器人在沉浸式环境中进行实时施工检查

• DOI: 10.29007/ck81
• 发表时间: 2022
• 期刊: EPiC Series in Built Environment
• 作者: Halder, Srijeet;Afsari, Kereshmeh
• 通讯作者: Afsari, Kereshmeh

Toward a Data-Driven Template Model for Quadrupedal Locomotion

• DOI: 10.1109/lra.2022.3184007
• 发表时间: 2022-07
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Randall T. Fawcett;K. Afsari;A. Ames;K. Hamed