Autonomous System for Construction Robotic Machinery (3D Printing)

Abstract

The research area of collective construction where we prepare user specified structure through
autonomous multi robot system. For construction of 3D structure here we will present a high level
control scheme and hardware system by noticing the condition of gravity. The hardware consists
of a mobile robot and its special passive blocks.to build up the required structure robot has the
ability to manipulate it.it can maneuver on all these unstructured structures.it can demonstrate its
ability to perform complicated tasks. That’s why it is capable to construct a ten block stair case
that is taller than kit self. For this we decentralize a simple control algorithm that help to robot to
understand the user specified structure. Active robot could autonomously work from a high level
description that is input for it.

Introduction structure that is human scale structure. In this

To improve measure like speed, efficiency
and to make construction easy for that places
which are dangerous for human to work
automation is introduced. Word automation
is a simple way to express that we can
implement that thing which we think through
Artificial Intelligence.
Traditional construction requires humans for
operation of tools and equipment, and they do
preplanning carefully. They have no concept
of automation. Our goal is to develop a
construction system where large number of
autonomous robot build user specified
paper we will describe TERMES that is
hardware system which is a first step toward
the goal of automated construction through
robot. The system will be consisting of
mobile robot and set of specialized passive
blocks for building that will be manipulated
through automatic robot. They will build
structures with it and they have capability to
maneuver on those structures that are in
unstructured environment. To demonstrate
the robot performance to do complex task we
illustrate its abilities by combing these
capabilities regarding climbing, navigation
and manipulation of structure and report its
reliabilities. We decentralize a simple control
algorithm that help to robot to understand the
user specified structure. That’s why it is
capable to construct a ten block stair case that
is taller than itself.
Structure that is built is at much larger scale
than that of autonomous robot which built
that structure according to user specified
instruction as input. Actually robot is
designed on the philosophy of simplicity.it
has to perform designed task that is based on
sensors and actuators and they response when
they are called according to designed
language.it reacts independely and they
response as necessary in the presence of other
like human and each carry out its own task
and have capability to construct the building.
Choices varied due to influence e of social
insect colonies that inspired our work. Now
we can incorporate passive devices into both
in order to mechanical intelligence by
designing the robot and building material
together. Through this robot are more reliable
to perform t5he user defined task because
they are designed according to construction
instruction. So that features make an easy
approach which we believe will be beneficial
and feasible for automated construction
system using robot.
Literature Review
Different group have already discussed
hardware system intend for automatic
construction through distributed robot but
they are generally used for construction of
one dimensional and two dimensional
structures. They have potential capability to
construct three dimensional. On a large scale
construction, it requires automatic robot that
can manipulate building materials and the
structure they create for them.
Swarm robotics and mobile manipulation
both are a large analysis program and their
region overlap is not relatively scant. They
may be in part due to difficult problems of
each poses on its own. Those Robots which
have the capability to manipulate and
maneuvering over specialized block [6,10]
that are two dimensional systems their robot
manipulate and assemble structure and
cooperative assembling is done through
sophisticated robot. A strut climbing robot
that form the structure together through
passive strut and they are component of
system. Theoretically several algorithm has
been proposed that approach toward
automatic building with struts in three
dimension for collective construction but
physical realization of that system had been
limited.
 Fig 1 system overview
Not only its software studies but also its
hardware have mentioned its problem in
reliable form for practicing. Now we assume
about constraints of robot movement that it is
difficult to understand the is issue of
reliability of mechanism or understand the
gravitational difficulties with three
dimensional. Mostly system remained in
simulation only. This demonstration has not
proceeded beyond a few step for three-
dimension system with climbing robot. We
can present a hardware system of millirobot
version that could automatically build user
specified structure for autonomous
construction of three dimensional solid
structure under the condition of gravity. We
can estimate it is significant step with several
important qualities like sensing that is
entirely on board and this information is not
available like a GPS system or any other
structure state. The robots are designed to act
individually that’s why they are fully
decentralized control robot. Classical
approaches overcome such limitations by
utilizing richer sensor readings from. For
example, RGBD cameras (21 or 3D laser
scanners in or by fusing data between
different sensors These approaches often
suffer from a limited field of view and higher
computational requirements of the sensors
they employ. Instead. We propose a method
for inferring the robot-to-obstacle distance
directly from 2r) laser data This is
accomplished in framing the problem as a
learning task where the input is raw 2D laser
distance and the output is the correct 2D robot
to-Obstacle distance. In essence. The
network hallucinates the corresponding range
data as if the 2D laser scanner could detect
the full shape of the obstacles; hence the
name Hallucinating robots'. The main
contributions of this work are a novel
approach to estimate the robot-to-obstacle
distance from raw 2D laser data by training
an auto encoder and a quantitative study over
the impact on the network performance of
different hyper parameters, specifically skip
connection. A novel activation function
tailored for the domain at hand and data
augmentation with random Gaussian noise. A
method to generate ground truth robot-to-
obstacle distances by fusing raw 2D laser
scans with overlapping depth images. A
qualitative evaluation of the proposed
technique per-formed online on the real robot
showing the method working in complex
environments and in 360° around the robot.
To the best of our knowledge. The work
presented here is the first one focusing on
learning distance to otherwise invisible
obstacles in 2D laser data. The hallucinated
laser data is not to replace raw laser data, but
instead acts as an additional source of
information to enrich environment awareness
and increase robot safety.
Methodology
Recent developments in robotic systems have
led to a wide-range of automated
construction applications that are mostly bed
on civil infrastructure and house building, for
instance. Automation of road. Tunnel and
bridge construction, earthwork or house
construction including building skeleton
erection and assembly. Concrete compaction.
And interior finishing. Typically, a pure
construction consists of a finite number of
sub-tasks such as handling. Concreting.
Coating. Attaching. And measuring. The
robot can perform one or more of these sub-
tasks depending on situations and robotic
capabilities. The main purpose is to develop
a system of autonomous robots that collect
the building material firstly and then use this
material to build a target structure on a
required place. they have the capability to
detect the obstacle and path which they have
to follow. We will use decentralized
algorithm robot built structure by termite
colonies where many insects assist to
construct a large scale building. For the
building structure we are using square blocks
that are fabricated. They are easy to handle to
robots for manipulation and to build a
rectilinear building that is common in human
construction. Blocks are lined up as in a grid
structure where every block is supported to
the stack of other block directly. When robot
has to climb then it is designed as it is able to
carry block to climb as tall as possible. We
required that robot have the capability to
locomote the surface both on and off
structure but it should not have additional
hardware to do this or have a complex algo
 Fig 2 Test Robot
for climbing. For testing of all these
possibilities we build a general robot that is
capable of reconfiguring into many different
schemes through different size of steel. our
robot is using four-wheel drive and it is
length of the base is adjusted above the
ground and it weight is distributed through
three 45 grams’ weight. The robot has self-
contained power and control. Robot has
capability to climb a block in 30 s of a given
height. Height is multiplied with 0.05 of
robot height.it is demonstrated in fig 2. Fig 2
shows that the tallest height for different trial
is successfully achieved. Sometime in trials
robot have to face the misalignment up to 15
degrees from orthogonal to reach the tallest
block, while he reaches in the last trial. For
this mis alignment we will add angle notches
to the block edges that will assist to take step
the robot to climb still taller than its height. If
a robot is slightly misplaced it will slide back
to the center of notch. Wheels are in curved
shape to make its ability better to turn in
place.it will prevent it from falling from the
height it will make it turn easy for it. For the
improvement its position as shown in fig six
infrareds sensors are placed in it and blocks
are colored with black and white crosses in
them. If a robot is facing block one of its
edges when it sits in center the other four IR
sensors in the corners are facing think
prematurely. The combination of this
feedback with passive features in block allow
the robot to perform its navigation easily.
Most robot’s codes simulate on processor.
For convenience it is simulated on a separate
laptop to avoid debugging and to battery pack, three led’s for debugging, and a
communicate a robot with laptop.it enhance programming plug for interfacing with the
its reliability. Block are built up with foam microcontroller are all accessible from the
with magnets and plastics that is inserted outside.
embedded. The on/off switch, a replaceable

Conclusion incorporating passive mechanical features,

enables a simple robot to reliably perform the
In this paper Structure that is built is at much
requisite tasks of climbing, navigation, and
larger scale than that of autonomous robot
manipulation without sophisticated sensors
which built that structure according to user
or control mechanisms
specified instruction as input. Actually robot
is designed on the philosophy of simplicity.it
has to perform designed task that is based on
sensors and actuators and they response when
they are called according to designed
language This method allows the
autonomous construction of multiple 3-D
structures based on the Learning Automata
an algorithms using a quad-rotor. This
approach reduces substantially the effort
employed for developing a task and motion
planning that permits a robot to efficiently
assemble and construct multiple 3-D
structures. The use of reinforcement learning
for finding different set of actions to build a
3-D structure is very promising. Designing
the robot and blocks together, and

References