Project

# Title Team Members TA Documents Sponsor
28 A climbing robot for building 3d printed concrete wall
Benhao Lu
Jianye Chen
Shenghua Ye
Zhenghao Zhang
design_document1.pdf
final_paper1.pdf
final_paper2.pdf
proposal1.pdf
Binbin Li
## Members:

- Jianye Chen (jianyec2)
- Zhenghao Zhang (zz84)
- Shenghua Ye (sye14)
- Benhao Lu (benhaol2)

## Project title
A climbing robot for building 3d printed concrete wall

## PROBLEM:
Current 3D printing construction, while effective in reducing construction waste and improving efficiency, faces challenges in adapting to complex architectural forms and constructing tall buildings. The existing equipment is limited in spatial adaptability, especially when dealing with the irregularities and textures of 3D printed concrete structures. The need for a versatile climbing and printing system for high-rise and complex architectural construction is a pressing issue in the construction industry.

## SOLUTION OVERVIEW:
This project proposes an innovative climbing and self-supporting 3D printing system for construction. The system comprises a versatile mobile unit, including a climbing device for adapting to complex facades and a movable support system for irregular plans. The climbing device ensures stable ascent through power-driven surface adaptation and load-bearing anchors. The support system includes telescopic rails, pulleys, lifting columns, and a robotic arm for diverse construction needs. The construction system integrates material feeding, real-time printing feedback, and precise steel bar placement. The control system, based on GPS, facilitates targeted positioning, enabling intelligent construction of complex spatial structures. Overall, this solution aims to enhance 3D printing adaptability, revolutionizing construction methods for diverse architectural forms.

## SOLUTION COMPONENTS:
The proposed solution consists of the following components:

## MOBILE SYSTEM:
Climbing and lifting device with power drive, surface climbing, and load-bearing anchor lock modules. Construction support device with telescopic rails, universal pulleys, rigid lifting columns, and a multifunctional construction robotic arm.

## CONSTRUCTION SYSTEM:
Material feeding device for adjusting material flow. Printing device for real-time feedback on additive construction accuracy. Reinforcement device for positioning and laying steel bars.

## CONTROL SYSTEM:
GPS-based control system for precise positioning and printing control.

In summary, this project aims to revolutionize 3D printing construction by providing a climbing and self-supporting printing system capable of adapting to complex architectural forms and surface textures, offering a new paradigm for industrialized building construction.

## CRITERION OF SUCCESS
1. INITIALIZATION AND PRINTING COMMAND:
Receive input for architectural details and parameters.
Perform self-checks and initiate the printing command.
2. PRINTING CONSTRUCTION EXECUTION:
Execute printing at 0-1m height with moving and printing devices.
Wait for concrete to reach the desired strength.
3. SELF-CLIMBING AND CONNECTION TO SMART FEEDING SYSTEM:
Move to the self-climbing start.
Lift to the designated position.
4. HORIZONTAL MOVEMENT AND PRINTING ADJUSTMENT:
Detect and compensate for X-Y-Z oscillations.
Use TOF camera for accuracy and adjust concrete flow.
5. TASK COMPLETION AND SELF-CLIMBING:
After printing, perform downward pressure.
Retract the horizontal movement device.
## DISTRIBUTION OF WORK
1. JIANYE CHEN: MECHANICAL DESIGN AND MANUFACTURE
a) Jianye specializes in mechanical design and manufacturing aspects of the project. b) His expertise includes creating detailed mechanical plans, prototyping, and ensuring the physical components are well-crafted.

2. ZHENGHAO ZHANG: MECHANICAL DESIGN AND MANUFACTURE
a) Zhenghao complements Jianye's skills in mechanical design and manufacture. b) Together with Jianye, they form a strong team handling the physical aspects of the project, ensuring its mechanical components are robust and functional.

3. SHENGHUA YE: PCB AND DIGITAL HARDWARE
a) Shenghua focuses on the PCB and digital hardware aspects of the project. b) His expertise includes designing and implementing the electronic components, ensuring seamless integration with the mechanical elements.

4. BENHAO LU: SOFTWARE
a) Benhao specializes in the software part related to printing. b) His role involves developing the necessary software for the printing process, optimizing functionality, and ensuring a user-friendly interface.

Remote Driving System

Bo Pang, Jiahao Wei, Kangyu Zhu

Featured Project

#### TEAM MEMBERS

Jiahao Wei (jiahaow4)

Bo Pang (bopang5)

Kangyu Zhu (Kangyuz2)

## REMOTE DRIVING SYSTEM

#### PROBLEM:

In daily life, people might not be able to drive due to factors like fatigue and alcohol. In this case, remote chauffeur can act as the driver to make the driving safe and reduce the incidence of traffic accidents. Remote chauffeuring can improve the convenience of driving. In the case of urban traffic congestion and parking difficulties, remote chauffeurs allow drivers to park their vehicles in parking lots away from the city center and then deliver them to their destination via remote control.

#### SOLUTION OVERVIEW:

The remote driving system is designed to provide real-time feedback of the car's external environment and internal movement information to the remote chauffeurs. Through the use of advanced technologies, the remote chauffeurs can remotely operate the car's movement using various devices. This system is capable of monitoring the car's speed, distance from obstacles, and battery life, and transmitting this information to the remote chauffeurs in a clear and easy-to-understand format.

#### SOLUTION COMPONENTS:

##### Modules on TurtleBot3 :

- The mechanical control system: to achieve the basic motion functions of the TurtleBot3 car.

- The distance sensing system used for monitoring the surrounding environment: Using LiDAR to detect the distance of the car in different directions.

- The system used for monitoring the vehicle's status: real-time monitoring the car's battery power, speed, etc., and uploading the data to the PC server in real-time.

##### Server Modules:

- The transmission system used to remotely control the car: implemented using Arduino IDE.

- The system used to build an AR-based information interaction system: implemented using Unity.

- The system used to output specific car motion commands: implemented using ROS to control the car.

##### HRI modules:

- The gesture recognition system used to recognize gestures given by people and feed back to the central PC server.

- The device used for interaction between the car and people: transmitting real-time surrounding information of the car to the Hololens 2 glasses in video form.

#### CRITERION FOR SUCCESS:

- Functionality: The remote driving system needs to be able to facilitate interaction between the user and the vehicle, enabling the user to remotely control the vehicle's steering, acceleration, and deceleration functions.

- User experience: The user can obtain real-time information about the surrounding environment while driving the vehicle through the glasses, and control the vehicle's movement through gestures.

- Environmental parameter detection: The vehicle can obtain distance information about the environment and its own real-time information.

- Durability and stability: The server needs to maintain a stable connection between the vehicle and the user.

#### DISTRIBUTION OF WORK:

- ECE STUDENT PANG BO:

Implementing the ROS interaction with the PC, using the ROS platform to control the car's speed and direction.

- ECE STUDENT WEI JIAHAO:

Building the car, implementing environmental monitoring and video transmission, ensuring stable transmission of environmental information to the user.

Implementing speed measurement, obstacle distance detection, and battery level monitoring for the car.

- EE STUDENT ZHU KANGYU:

Designing the AR interaction, issuing AR information prompts when the car is overspeeding or approaching obstacles.

Implementing hand gesture recognition for interaction between hololens2 and PC.