Khaled Zied

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID) and Proportional-Integral-Plus (PIP) control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

The Development of a Robotic System for Tool Deployment in Hazardous Environments

The factors that need to be present in order to justify the economic use of robotics in construction are listed. A particular prototype robotic device, Starlifter, is described in some detail. A case study is then presented in which a contract to drill over a thousand holes into the underside of a motorway bridge is analysed. It is concluded that, in this particular case, automated methods would probably be more economic.

Data interpretation from Leuze RotoScan sensor for robot localisation and environment mapping.

Two applications for the use of a laser-scanning device are currently under investigation at Lancaster University. Lancaster University Computerised Intelligent Excavator (LUCIE) is an autonomous excavator which navigates using GPS and compass readings. Work is currently concentrating on navigational safety, for which the rotoscan sensor is employed for obstacle detection, and for possible self-localisation and environment comprehension in ambiguous operational states. Starlifter is a robotic arm built by Construction Robotics Ltd. The rotoscan sensor in this instance is to be mounted on the tool head and used as a final positioning navigation tool. Both these applications rely heavily on the interpretation of the received data, and the ability to filter out any interference. This paper initially outlines the mode of utilisation of the laser range finder within such applications and then proceeds to investigate the implications and potential limitations of such a sensor following the analysis of the sensory data from external field trials.

The Use of Simulation Results in the Economic Analysis of Robotized Construction Tasks

Adequate economic justification is a key requirement for the implementation of robotic systems in the construction industry. In the present work the concept of off-line simulation is used to provide the user with a rational approach for economic decision making with regard to the use of robotics. The proposed off-line simulation process helps the user in planning, scheduling and costing the whole job. With the aid of a graphical simulation package, the user can estimate the whole job time that reflects the cost of the individual tasks. A simple criterion is developed to estimate the task cost based on the task simulation time. The criterion takes into account the individual costs of the robotic system components, labour, transportation, site preparation and office work. This work is applied to Starlifter, a heavy tool deployment manipulator.

An Augmented Framework for Practical Development of Construction Robots

The use of robotic systems in performing construction tasks has great potential; however the development of such systems remains problematic. This is due to the lack of a suitable feasibility analysis that can help the decision-makers to justify the use of robots and problems in the development process of the system itself. The multidisciplinary and complex nature of construction robotic systems requires a robust development framework for such systems. An augmented framework for the development of construction robots is explained in detail and practically applied to the Starlifter robotic system which is mainly designed to carry heavy tools for construction tasks. The framework consists of two models; the feasibility analysis model and the development process model. The feasibility analysis principles, methodology and tools are explained and discussed in detail. Systems Engineering model is used in the development of the system which allows complete analysis of the system hardware and software components. The purpose of the current project is to develop a general purpose robot that can be employed to perform different jobs to justify its use economically. The presented tools and processes can be utilised in the development of any similar systems.

Towards a comprehensive feasibility analysis for the use of robots in the construction industry.

Feasibility studies must cover different disciplines such as need-based feasibility, technological feasibility and economical feasibility. In the present work a comprehensive feasibility analysis model for the use of robots in performing construction tasks is presented. This model is mainly focussed on the need analysis in order to present criteria for decision making. The decision making is performed using the (give in full?)AHP process as a judgement tool for multiple criteria decision-making problems. Four criteria are developed for the decision-making process based on the parties involved in the construction process such as labour criteria, process criteria, site criteria, and management criteria. Safety risk assessment tools are used to emphasize the motivation for task automation from the safety point of view. Simulation tools and existing robot prototypes are used to demonstrate solutions for resolving the safety and technical problems involved in the elected tasks, and to identify the required level of automation. A case study is presented based on the use of the Starlifter robot in heavy tool deployment such as diamond core drilling and plunge sawing in hazardous environments.

Criteria for Selection of Software Development Environment for Construction Robotic Systems

The selection process for a suitable programming environment for construction robotic systems should satisfy a range of requirements identified from both a users and systems point of view. In the present work two different object-oriented programming environments are chosen for comparison, namely MATLAB as an example of text-based programming and LabVIEW as iconic-based programming. The selection of the appropriate development environment is performed using the AHP process for decision-making. Several criteria and subcriteria are identified and used for the selection process. A complete hierarchy of the problem is constructed and priority vectors are identified. Sensitivity analysis on the results is performed to identify the factors affecting the final decision. For the entered values of the priority vectors, the obtained result shows a preference for LabVIEW over MATLAB as a software development environment for construction robotic systems.