2017
RAS: A Robotic Assembly System for Steel Structure Erection and Assembly
In the current state of practice, steel workers must stand on an unfinished structure to assist with the assembly of structural elements manually. To prevent workers from having to work in a high place, we have developed a robotic assembly system (RAS) for steel beam erection and assembly. The RAS consists of four methods: rotation, alignment, bolting, and unloading. The system is built in a scaled experimental construction site to validate its feasibility. The results show that the RAS can operate the assembly process without humans working at risky heights, and can complete faster than the traditional method.
在目前的實務中，工人必須站在未完成的結構上手動協助組裝結構元件。因此為了防止工人在高處工作，我們開發了一種鋼結構自動化組（吊）裝系統（RAS）。 RAS由四種方法組成：旋轉、對齊、螺栓連接和卸載。我們將這個系統建在一個實驗性的施工現場以驗證其可行性。結果顯示，RAS可以在高空無人員作業的情況下操作組（吊）裝鋼結構，並且可以比傳統方法更快地完成。
Using Photometric Stereo Method in Evaluating the Volume of Potholes
For the purpose of avoiding inappropriate pothole patching, we proposed a method to measure the volume of a pothole. Our method applies photometric stereo technique by using only a camera and couples of spotlights to achieve the purpose. By processing a set of a pothole’s top view images taken with exact same viewing angle but different illumination angles, photometric stereo technique can be used to generate the 3D model of the pothole. Result showed that models of potholes can be rebuilt by proposed method; however, it needs further improvement in its accuracy of volume measurement. Furthermore, our method may enhance the possibility of developing an autonomous inspection and repair system as well as a cost estimation method for pothole patching activities.
為了避免不適當的坑洞修補，我們提出了一種測量坑洞體積的方法。此方法利用光度立體技術，僅僅使用相機和幾對聚光燈就能達到目的。相同的視角但不同的照明角度拍攝的一組坑洞頂視圖圖像在經過處理後，便能生成坑洞的3D模型。結果顯示，該方法可以重建坑洞模型，但是需要進一步提高其體積測量的準確性。此外，此方法可以增加開發自主檢查和修復系統以及用於坑洞修補成本估算方法的可能性。
Visual Awareness on Surface Flow Measurement
Flow velocity is one of the key factors in hydrology. Considering workers’ on-site safety, non-contact methods have become the major approach for flow velocity measurement. We proposed a surface flow measurement method that takes advantage of human visual awareness to measure flow velocity. People can mark the flow features on images using the measurement tool we developed to acquire flow velocity.
流速是水文學的關鍵因子之一。考慮到現場工人的安全性，無接觸式方法已成為流速測量的主要途徑。我們提出了一種表面流量測量方法，該方法利用人類視覺感知來測量流速。人們可以使用我們開發的測量工具標記圖像上的流動特徵以獲取流速。
Crowd-Based Velocimetry for Surface Flows
In this research, we developed a method called crowd-based velocimetry (CBV) to incorporate the human perception capacity in the estimation of the flow velocity. CBV includes three main steps: video processing, crowd processing, and statistical processing. We validated CBV by measuring a fast, steady, and uniform river surface flow in an artificial canal. The results show that the deviation of the surface flow rate measured by CBV is smaller than Particle image velocimetry(PIV) which is an image-based flow velocity measurement method. With rapidly improving mobile devices, CBV allows enormous numbers of people to engage in flow measurement, making CBV more reliable, more efficient, and more economical.
在這項研究中，我們將人類感知能力結合到流速的估計中開發了一種基於群眾的速度測量方法（CBV）。CBV包括三個主要步驟：影像處理，群眾處理，以及統計處理。我們通過測量人工渠道中快速、穩定和均勻的河流表面流來驗證CBV。結果顯示，CBV測量的表面流速偏差小於基於圖像的流速測量方法的粒子圖像測速（PIV）。 隨著移動設備的快速發展，CBV可以讓大量人員參與流量測量，使CBV更可靠、高效及經濟。
Early Warning Method and Device to Prevent Wheelchair from Tipping Over
An early warning method and a device for preventing a wheelchair from tipping over are described. The early warning method includes projecting a laser light pattern, scanning the laser light pattern, making a comparison to determine whether the ground is a barrier terrain, and issuing an early warning to the user in situations of risk. The early warning is generated and is one selected from a group consisting of a beep, a warning message and a vibration to alert the wheelchair user to the danger of the barrier terrain.
這是一種用於防止輪椅翻覆的預警方法和裝置。預警方法包括發射激光模式與掃描激光模式，將兩者進行比較以確定地面是否為有障礙的地形，並在有風險的情況下向使用者發出預警。預警由一連串嗶聲、警告信息或振動其中一種來警告輪椅使用者有障礙地形的危險。
Fast Crane and Operation Method for Same
Cranes are one of the most heavily used instruments in construction base sites. Because so many construction activities rely on cranes for moving materials, the efficiency of the crane operation can influence the entire project process. Therefore, we provided a fast crane and an operation method for the same. The operation method includes calculating a pendulum period and moving the object. The pendulum period of the cable is calculated. The object is moved with an acceleration during an active time based on the pendulum period.
起重機是建築基地中使用最多的儀器之一。由於許多建築活動依靠起重機移動材料，起重機操作的效率會影響整個項目過程。因此，我們提供了一種快速起重機及其操作方法。操作方法包括計算鐘擺週期、移動的物體和電纜的擺錘週期。基於擺錘週期，在物體擺盪的期間加速移動它。
