基于A*和改进动态窗口法的建筑移动机器人路径规划

针对基于麦克纳姆轮移动底盘的建筑移动机器人在建筑施工作业场景下存在的路径偏离全局安全路径过大等问题,提出一种基于A*和改进动态窗口法的路径规划算法。首先,根据麦克纳姆轮运动全向性的特点,优选A*算法中节点扩展的方向和启发函数,得到全局最优路径;其次,在构建速度窗口和建立轨迹预测模型时,只考虑线速度,并结合全局路径和滑移角以及航向角信息对评价函数进行优化,提高运动速度的平滑性,减少跟踪误差;最后,实验结果表明,改进后降低了全局路径跟踪误差,保证了运动的稳定性和安全性。验证了该文所提算法的有效性。

查士丁尼统治时期拜占廷帝国建筑资金问题探析

查士丁尼一世在位期间,在帝国境内进行了大规模的建筑活动,这些建筑主要是民用工程和军事设施,特别是修建了大量的教堂,尤以首都圣索菲亚教堂的建筑规模最大,并耗费了大量的人力和物力。当时帝国巨额的军费开支占去了大量的国库收入,帝国大规模的建筑活动又使帝国政府面临巨大的资金压力,为此,帝国政府想方设法进行筹措。中外学者对庞大的建筑资金来源问题历来众说纷纭,争论不已。这是一个值得探讨的问题。

超高层智能建筑中突发事件预测方法研究

基于超高层智能建筑突发事件的先兆特征,建立突发事件的自动机模型,利用该模型讨论突发事件是否可预测的问题,得到判定突发事件是否可预测的算法。进一步讨论如何正确地估计突发事件发生的概率大小,并通过对自动机模型增加变迁的发生概率参数,得到准确计算该概率大小的方法。

Simulating the dynamics of fluid-cylinder interactions

We present the simulation of the dynamics of fluid-cylinder interactions in a narrow three-dimensional channel filled with a Newtonian fluid, using a Lagrange multiplier based fictitious domain methodology combined with a finite element method and an operator splitting technique. As expected, a settling truncated cylinder turns its broadside perpendicular to the main stream direction and the center of mass moves to the central axis of the channel. In the case of two truncated cylinders, they first move around each other for a while and then stay together in a "T" shape. After the "T" shape has been formed for a long enough time, we found no vortex shedding behind the cylinders. When simulating the fluidization of 60 truncated cylinders, we captured the features of interactions among fluidized cylinders as observed in experiments.

Architectural Planning Living with Robotics

This paper seeks to envision future architectural planning as it relates to living with robots and to clarify the research theme for it. Living with robots is no longer a fantasy seen just on TV or in movies. The concept of the intelligent space emerged from the field of robotics in the mid-1990s. The idea of the intelligent space is that the robot will support the architecture and users of the space by keeping in close contact with architectural space equipped with intelligent technologies. The benefit of the intelligent space is that the robot can be smaller and less intelligent because the robot will be assisted by advanced technologies embedded in the architectural space, such as sensors and actuators. Therefore, the robot can consequently assist user＇s activities with delicate care. This paper describes the vision and possibility for architectural planning as it relates to live with robots who can support the inhabitants＇ lives. This paper introduces the study of the relationship between humans and moving robot in architectural space, especially support region for humans by desktop mobile robot.

Optimised Pattern Recognition for Robotic Weldment Geometry Measuring

Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction of automated solutions is just at the beginning of providing economic efficiency. While weld seam tracking is well established for the described problem, geometric recognition of weldments is not yet solved satisfactorily. This paper will present an optimisation approach of a laser sensor guided and programmed robot welding system which was developed within the project ROPROF at the TU Dortmund. With this development, a working prototype of a robot weld system was built by a steel construction company as well as additional demonstration software showing the potential and transferability of adjusted geometric location of weldments for industrial applications.

Responses of wind-induced internal pressure in a two-compartment building with a dominant opening and background porosity Part 2:Parameter analyses and design equations

Analyses of the effects of some parameters were performed to determine the admittance functions in a common two-compartment building with background porosity by the imposed excitation method.Variations of the magnification factors of fluctuating internal pressures were analyzed using 96 model cases under random fluctuating external pressure,and then corresponding design equations were fitted.The results show that the Helmholtz resonance peaks of the admittance functions in both compartments increase with increasing the area of windward or partition wall opening.With increasing the volume of the compartment with an external opening,the resonance peak in this compartment at the higher Helmholtz frequency significantly decreases,at the same time,the resonance peak in the other compartment at the lower Helmholtz frequency also decreases.With increasing the volume of the compartment with background porosity,both resonance peaks in this compartment at the lower and higher Helmholtz frequencies decrease,meanwhile,the resonance peak at the lower Helmholtz frequency for the other compartment also decreases,whereas the resonance peak at the higher Helmholtz frequency increases.Both resonance peaks of the admittance functions in the two compartments decrease with increasing the amplitude of fluctuating external pressure coefficients or reference wind speed.

Research on the safety evacuation near the building exit

The paper presents an improved cellular automaton model according to the feature of evacuation near the outlet. We studied friction and turning factors that affect pedestrian evacuation speed. By using mathematical methods to derive expressions of friction function and turning function. The average pedestrian outflow of the simulation that includes the effect of both the frictional function and the turning function agrees well with experiment result. On the contrary, the simulation results that only include the effect of the frictional function are not corresponding to the experiment results well. Simulation results show that friction and turning can not be ignored. By analyzing the simulation results, it verified that the model can accurately reflect the actual evacuation process and has practical value.

A Study about the Effect of Space Size on the Individual Distance

This study is the design guidelines for the living space with robots. The study can be applied to the architectural planning and focused on the basic environmental primary factor. The authors focused on space size, specifical distance from the wall in the front direction, position, and distance between an individual as factors affecting individual distance. The authors research the distances a small mobile robot moves to a six mats space compared with that toward a distances 5 m or more （space less physical factors）. The following three results were obtained： （1） The individual distance is smaller than 30 cm in both the approach angle in the experiment space of six mats; （2） The distance from the wall in the front increased, and the individual distance between a participant and a robot also increased; （3） In terms of body position, the upright positioning was clarified and the individual distance was small.

Technologies Applied to Cultural Heritage： A Robot Application in Architectural Survey

In this work a study of feasibility is illustrated to design and build a mobile robot for inspection and analysis of historical sites of architectonic interest. This novel application for robotic systems can be considered of great interest because nowadays the need of more and more accurate and efficient survey activity requires enhancement and even development of procedures with more reliable, innovative, and advanced characteristics. Within this expectation robots and robotic systems seem to be suitable solutions even with the purposes of： operating in environments that cannot be reached by human operators. The study of feasibility concerns with the analysis and simulation of a robotic system that can be used for operating in historical sites. Basic features of such mobile robots, either legged or wheeled, are well known, but specific requirements should be considered for the proposed applications in archaeological/architectural sites, which can be considered as a novelty in the field of Robotics. Basic features of the proposed robotic system can be summarized as follows： the robot should be able to move inside the archaeological and/or architectural sites by carrying surveying devices and by avoiding damage of the surface and other parts of the site.

Readiness of a Developing Nation in Implementing Automation and Robotics Technologies in Construction： A Case Study of Malaysia

The Malaysian government＇s vision to be a developed nation by 2020 has pushed forward the use of innovative technologies in most sectors and industries, including the construction industry. Through the ETP （Economic Transformation Programme）, major projects launched are expected to provide a great catalyst for the economy, and may become the platform for increasing the use of automation and highly enhanced plants and machineries in the construction industry. Innovations in most countries are mostly driven by the need to find revolutionary solutions to problems, such as a shortage of skilled labor, decreasing quality of product and processes, inferior working conditions, declining productivity and increasing costs of labor and materials. Automation and robotics technologies encompass a wide range of innovative technologies using technologically advanced machineries to improve the speed and efficiency of a given process. This paper discusses the readiness of a developing country in embracing construction automation and robotics, by exploring industry perception, suggested practices and barriers to its implementation using a questionnaire survey and semi-structured interviews directed at Malaysian construction finns of contractors, specialist sub-contractors, developers and consultants. The findings show that the Malaysian construction industry is ready, to a certain extent, for implementing the technologies in limited areas such as prefabrication and assembly and in the design, planning and costing phases.