Introduction to the practice of statistics, (3rd edition), by David S. Moore and George P. McCabe. Pp. 825 (with appendices and CD-ROM). £27.95. 1999. ISBN 0 7167 3502 4 (W. H. Freeman).

Wearable technology for personalized construction safety monitoring and trending: Review of applicable devices

A device for optically scanning and measuring an environment is provided. The device includes a movable scanner having at least one first projector for producing at least one uncoded first pattern on an object in the environment. The scanner includes at least one camera for recording images of the object provided with the pattern and a controller coupled to the first projector and the camera. The device further includes at least one second projector which projects a stationary uncoded second pattern on the object while the scanner is moved. Wherein the controller has a processor configured to determine a set of three-dimensional coordinates of points on a surface of the object from a set of images acquired by the camera based at least in part on the first pattern. The controller is further configured to register the set of images relative based in part on the stationary second pattern.

Device for optically scanning and measuring an environment

Performance evaluation of ultra wideband technology for construction resource location tracking in harsh environments

Building information modelling for off-site construction: Review and future directions

Error modeling for an untethered ultra-wideband system for construction indoor asset tracking

https://www.koreascience.or.kr:443/article/JAKO201620340446444.pdf

A BIM and UWB integrated Mobile Robot Navigation System for Indoor Position Tracking Applications

This paper presents an on-going research on a light-weight 3-dimensional (3D) laser distance and ranging (LADAR) system development at the Peter Kiewit Institute (PKI) in University of Nebraska–Lincoln. The developed LADAR can be readily applied to several construction applications related to automated or robotic tasks, mobile robot navigation, reverse engineering, quality assurance/control, schedule control, and safety. A design concept of a LADAR system on a dynamic mobile platform is introduced which is especially designed for precise construction robotic operations such as welding, bolting, and connecting materials. Barriers for rapid 3D graphical workspace visualization at construction sites are discussed as well. The preliminary laboratory test results demonstrate that the 3D LADAR scanner developed in this study provides reliable scanned data. Unlike most of the heavy and bulky commercial LADAR products, the developed economical LADAR system can be used on mobile platforms and manipulators or confined area scanning applications due to its small size and light-weight characteristics.

/pdf/light-weight-3d-ladar-system-for-construction-robotic-3s323v95vp.pdf

Light-weight 3D LADAR System for Construction Robotic Operations

As on-going research, this paper presents a framework to improve wireless mobile robot’s navigational accuracy in diverse indoor environments where the signals are affected by various types of interference including electromagnetic, multi-path, and fading and scattering. In particular, indoor construction environments pose unique challenges to accurate wireless navigation due to their relative complexity and inherently dynamic nature. Several integrated location and orientation sensors including a digital compass, a gyroscope, wheel encoders, an accelerometer, and Ultra Wideband (UWB) position tracking sensors are introduced in this paper. A distinct cause of error for each sensor is studied based on location, traveling distance, and rotational angle. To improve the position data accuracy, statistical methods such as outlier analysis and the Kalman Filter are applied in this research. A framework for position and orientation error compensation between relative and absolute sensors is described with preliminary research results indicating that position and orientation errors can be statistically adjusted in real time.

Framework to Improve Mobile Robot's Navigation Using Wireless Sensor Modules

Autonomous navigation in dynamic environments is a nowadays unsolved challenge. Several approaches have been proposed to solve it, but they either have a low success rate, do not consider robot kinodynamic constraints or are not able to navigate through big scenarios where the known map information is needed. In this work, a previously existing planner, the Strategy-based Dynamic Object Velocity Space, S-DOVS, is modified and adapted to be included in a full navigation stack, with a localization system, an obstacle tracker and a global planner. The result is a system that is able to navigate successfully in real-world scenarios, where it may face complex challenges as dynamic obstacles or replanning. The final work is exhaustively tested in simulation and in a ground robot. 

Diego Martinez

Papers

Error modeling for an untethered ultra-wideband system for construction indoor asset tracking

A BIM and UWB integrated Mobile Robot Navigation System for Indoor Position Tracking Applications

Light-weight 3D LADAR System for Construction Robotic Operations

Framework to Improve Mobile Robot's Navigation Using Wireless Sensor Modules

Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios