The goal of Building Information Modeling (BIM) is the integral and comprehensive digital modeling of all properties regarding a building, its planning and construction process as well as maintenance and use. This is combined with the overarching objective within BIM to integrate and support all involved experts aiming towards an improved collaboration. Currently the necessary data often only exists in a very fragmented and uncoordinated way throughout different subsections, as well as planning and construction phases. A lack of organized information management is especially noticeable in finalized built objectives during questions of conversion and refurbishment. BIM tries to mediate between the different views of its users and allows for a coordinated accumulation of data, as well as synchronously keeping the planning status up to date. However, in most cases essential information is missing or not used throughout the complete lifecycle of the building. Consequently, there are clear gaps between the different phases of planning, construction and maintenance. Within this paper, we give an evaluation of applicable methods for data collection and modeling of the actual inventory of components with regard to position, geometry and semantics (e.g. material) for the purpose of a comprehensive and BIM-compliant as-built documentation. This allows the analysis of missing interfaces and data. Considered from a process automation viewpoint, we identify missing BIM data e.g. for assembly processes within construction in order to create a BIM-aided planning process that continues into actual fabrication and construction. Based on this, we discuss possibilities for the implementation of user requirements in order to develop a comprehensive semi-automated decision support tool for BIM users. Primary goal is to provide concepts for the integration of construction processes as well as options for conversion planning and construction of buildings. These targets imply a continuous updating of the BIM models (including the semantic parameters) from a continuous 'as-built' acquisition and modeling of the construction progress. While BIM primarily is being discussed as a cooperative working methodology in the new planning of buildings, we also consider the required information for future conversion and refurbishment of the building and the required level of development, in order to complete the lifecycle approach of BIM.
Additive manufacturing enables industries with a new production typology. For the metal manufacturing industry, this new means of production extends the spectrum of achievable building parts that can be fabricated and integrated into architectural designs. Consequently, this process is becoming increasingly relevant for construction industries. The application of additive manufacturing in metal fabrication industries requires high performance technology and extensive knowledge of material and process. Within this paper, we focus on the implementation of incremental point welding as a metal additive arc welding strategy. The goal is the realization and optimization of a manufacturing method which implements adaptive strategies in the control of this production process. In this research, incremental point welding is used for the production of branching structures. Incremental point welding is a type of metal arc additive manufacturing which deposits material by adding individual welding points rather than layering welding seams. This process is interesting for a number of reasons. The incremental application of individual metal drops simplifies the analysis and forecast of residual stress and temperature developments. Consistent arc initialization within point welding is hard to control and, therefore, requires further exploration. This led to the following research in developing an adaptive process. Furthermore, the potential of the process is increased by the possibility of tool-path adaptivity for a robotic system enabling the robot to produce welds at complex approach angles. This research developed a novel approach, able to manufacture complex branching structures while compensating for inaccuracies caused by the welding process using image processing and an adaptive strategy. First experiments showed the possibility to work at a range of overhang angle in addition to multiple approach angles up to 50°. This adaptive process increases the potential application of this technology for the extensions of existing structures as well as repair of metal structures through incremental point welding.
Robot assisted construction processes in the architectural domain which include assembly are uncommon due the size difference of the robot with respect the scale of the output. In order to extend the workspace of industrial robots, these can be mounted on top of a mobile platform. However industrial mobile robotics currently focuses on the utilization within clearly defined and structured production environments. Nevertheless, due to increasing product variety, a paradigm shift away from repetition of static task towards dynamic human robot collaboration is noticeable. Especially mobile robots face very specific challenges such as inaccuracy, dynamic on-site adaptability and predictability of whether the design is producible within the constraints of the robot. In this paper we discuss these challenges encountered due to onsite construction through a built project and illustrate the solution taken forward to address these challenges. In this research we propose a new methodology for onsite construction of non-standard components using mobile robots. The demonstrated project comprises of complex space frame timber system where every component of the structure is unique in its shape and size. For this we combine pre-planning of design with human-robot collaboration for on-site adaptation. The approach utilizes force torque sensors embedded within the robot in combination with haptic fiducials, in order to improving accuracy of the robotic fabrication and allow for human-robot collaboration within assembly. Employing the a-priori design knowledge the robot places the work-piece at the correct angle, while allowing for human adaptation of the path in order to increase accuracy. The paper illustrates the various optimization techniques developed to predict design manufacturability including potentially necessary adaptions. The research envisions a safe and automated large-scale construction methodology for complex systems and opens to new gateways for construction, allowing the collaboration between human workers and mobile robots within unstructured environments.
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