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Construction project management requires frequent inspections to ensure the quality and progress of the construction work. Multiple stakeholders are involved in the inspection process during the project lifecycle. Some project stakeholders, such as architects, owners, structural engineers are involved with multiple construction projects at a time and are responsible to conduct timely inspection and monitoring tasks. This paper studies the potential of Virtual Reality (VR) and robotics for real-time remote inspection. The benefits and challenges of using VR for construction inspection and monitoring were identified and ranked through a systematic literature review. The top 5 benefits were found to be enhanced collaboration, realistic and immersive visualization, remote presence, reduction in inspection time, and support for decision-making. The top 5 challenges identified in this study include low- resolution displays, limited integration with existing technologies (such as BIM), causing disorientation and dizziness for the user, cost of adoption, and job site internet access limitations. Finally, a new approach was investigated for using VR to enable an immersive experience in remote inspection with an inspector assistant robot for real-time remote construction inspection. The experimental investigation verified the identified benefits and challenges.
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A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective
Abstract Mobile manipulators that combine base mobility with the dexterity of an articulated manipulator have gained popularity in numerous applications ranging from manufacturing and infrastructure inspection to domestic service. Deployments span a range of interaction tasks with the operational environment comprising minimal interaction tasks such as inspection and complex interaction tasks such as logistics resupply and assembly. This flexibility, offered by the redundancy, needs to be carefully orchestrated to realize enhanced performance. Thus, advanced decision-support methodologies and frameworks are crucial for successful mobile manipulation in (semi-) autonomous and teleoperation contexts. Given the enormous scope of the literature, we restrict our attention to decision-support frameworks specifically in the context of wheeled mobile manipulation. Hence, here, we present a classification of wheeled mobile manipulation literature while accounting for its diversity. The intertwining of the deployment tasks, application arenas, and decision-making methodologies are discussed with an eye for future avenues for research.
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- PAR ID:
- 10393722
- Date Published:
- Journal Name:
- Journal of Mechanisms and Robotics
- Volume:
- 15
- Issue:
- 2
- ISSN:
- 1942-4302
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1115/1.4054611
