Real-time state synchronization between physical construction robots and process-level digital twins

Liang, Ci-Jyun; McGee, Wes; Menassa, Carol C.; Kamat, Vineet R.

doi:10.1007/s41693-022-00068-1

Cited by 19 publications

(6 citation statements)

References 68 publications

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“…Thus, it can be seen that being able to represent and simulate dynamic articulated equipment from the real-world jobsite concurrently in a 3D digital twin requires a link joining the real and virtual aspects of the operation [ 32 , 33 , 34 ]. There is an added level of complexity due to various types of construction equipment often being present on a jobsite, at any given instant.…”

Section: Overview Of the Proposed Methodologymentioning

confidence: 99%

“…In order to be able to replicate the real-world motion of articulated equipment concurrently in the digital twin, understanding of the underlying equipment motion concepts is essential. This is primarily due to the complexity inherent in equipment such as backhoes and excavators, where it is not feasible to obtain the location of the end-effector in a direct manner [ 32 ]. These limitations in turn are caused by potential damage that the sensors can suffer if placed directly on the end-effector (bucket) where that can come in contact with earth, rocks, and soil over the course of operations.…”

Section: Technical Approachmentioning

confidence: 99%

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Sensor Acquisition and Allocation for Real-Time Monitoring of Articulated Construction Equipment in Digital Twins

Talmaki

Kamat

2022

Sensors

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The visibility available to an equipment operator on a dynamic construction site can often be blocked by various obstacles such as materials, temporary or permanent facilities, other equipment, and workers. Equipment monitoring in real-time digital twins can thus play a crucial role in accident prevention. This paper develops a scalable technical approach and presents a prototype application framework for transmitting real world sensor data to update 3D equipment models inside a graphical digital twin for concurrent visualization of a monitored construction operation. The developed framework and workflow can be extended to visualize any construction operation, as it occurs, inside a dynamic 3D world simply by outfitting the real equipment with appropriate sensors and connecting them to their virtual counterparts. The implemented proof-of-concept interface is described in the context of a real-time 3D digital twin for assisting excavator operators prevent unintended strikes with underground utilities. Experiments to validate the proposed technical approach by simulating the real-time motion of a backhoe loader’s articulated arm using orientation sensors installed on its boom, stick, and bucket are described. The experimental results characterize the scope and potential reasons for spatio-temporal discrepancies that can occur between a monitored real operation and its replicated digital twin. The effect of an operator warning mechanism based on preset safety thresholds is also investigated and described.

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Section: Overview Of the Proposed Methodologymentioning

confidence: 99%

Section: Technical Approachmentioning

confidence: 99%

Sensor Acquisition and Allocation for Real-Time Monitoring of Articulated Construction Equipment in Digital Twins

Talmaki

Kamat

2022

Sensors

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“…A hardware containing the virtual entity in our case could be a real-time target [42], a PC [43], or a machine controller [44]. A necessary condition for the hardware is a sufficient computational power, a communication interface that enables connection to the other devices of the architecture, and the possibility to utilise a Matlab/Simulink model on it.…”

Section: A System Architecturementioning

confidence: 99%

Multibody Simulation Model as Part of Digital Twin Architecture: Stewart Platform Example

Walica,

Noskievič

2024

IEEE Access

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The digital twin is considered a new and promising concept whose added value is seen mainly in end applications. However, the benefit of considering the digital twin application since the early development of the system seems not to be stressed enough. The ability to choose system components, methods, and tools can have a symbiotic effect during system integration. This work describes a development process of a Stewart platform digital twin based on its multibody simulation model created in Matlab/Simulink. Although the multibody simulation model is useful in the design phase, after adjustments and verification, it can also be reused as a virtual entity of the digital twin. This integration is enabled by the methods, tools, and system architecture selected for the purpose of including a digital twin. This is considered to be the main contribution of this paper to emerging methodologies for the development of mechatronic systems and its digital twins. However, practical integration comes with challenges that are related to the model fidelity and synchronisation of the virtual and physical entities and are important to overcome in order to employ the system in the real applications. INDEX TERMS Digital twin, Machine design, Multibody simulation, Stewart platform I. INTRODUCTION

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“…For example, determination of the trust or comfort level of human workers when collaborating with multiple robots and continuous tracking of all entities in the workspace using sensors, computer vision, and the IoT will be needed. Information systems, such as digital twins or building information modeling (BIM), can be useful for monitoring real-time activities in the complex workplace [14,131,132]. Multi-robot deployment and allocation is another research direction in occupational safety and health.…”

Section: Future Directionsmentioning

confidence: 99%

“…In construction sites, human workers and robots can work together on installing building components [13]. Overall, collaborative robots in the workplace typically engage in repetitive, physically demanding, or hazardous tasks, while human workers focus on planning, decision making, or supervising tasks [14,15].…”

Section: Introductionmentioning

confidence: 99%

Trends in Robotics Research in Occupational Safety and Health: A Scientometric Analysis and Review

Liang

Cheng

2023

IJERPH

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Robots have been deployed in workplaces to assist, work alongside, or collaborate with human workers on various tasks, which introduces new occupational safety and health hazards and requires research efforts to address these issues. This study investigated the research trends for robotic applications in occupational safety and health. The scientometric method was applied to quantitatively analyze the relationships between robotics applications in the literature. The keywords “robot”, “occupational safety and health”, and their variants were used to find relevant articles. A total of 137 relevant articles published during 2012–2022 were collected from the Scopus database for this analysis. Keyword co-occurrence, cluster, bibliographic coupling, and co-citation analyses were conducted using VOSviewer to determine the major research topics, keywords, co-authorship, and key publications. Robot safety, exoskeletons and work-related musculoskeletal disorders, human–robot collaboration, and monitoring were four popular research topics in the field. Finally, research gaps and future research directions were identified based on the analysis results, including additional efforts regarding warehousing, agriculture, mining, and construction robots research; personal protective equipment; and multi-robot collaboration. The major contributions of the study include identifying the current trends in the application of robotics in the occupational safety and health discipline and providing pathways for future research in this discipline.

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Real-time state synchronization between physical construction robots and process-level digital twins

Cited by 19 publications

References 68 publications

Sensor Acquisition and Allocation for Real-Time Monitoring of Articulated Construction Equipment in Digital Twins

Sensor Acquisition and Allocation for Real-Time Monitoring of Articulated Construction Equipment in Digital Twins

Multibody Simulation Model as Part of Digital Twin Architecture: Stewart Platform Example

Trends in Robotics Research in Occupational Safety and Health: A Scientometric Analysis and Review

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