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.

A crowd-sourcing urban air quality monitoring system with bikes

Kaiwen Hong, Zhengxin Jiang, Haofan Lu, Haoqiang Zhu

Featured Project

**Problem**

For public bike users, someone may concern about the air quality in which they are currently riding, as well as the places they are going to. However, currently there is no such an air quality monitoring system which provides air quality information in specific areas inside a city such as Haining.

**Solution Overview**

The idea is to apply air quality monitoring devices on the public bike system. The public bike system in Haining is a perfect carrier for IoT (Internet of Things) devices and urban sensing since it has a large and stable user group and all bikes are managed by official organization which means unified modification on all bikes can be done. A monitoring device integrated on the bike can provide the real-time information that users want to know and share data with other users through a cloud server. A real-time air quality map can be created for users with the contribution from all running bikes.

**Solution Components**

Subsystem 1 – on-bike air quality monitoring device. The subsystem is a stm32 microcontroller based design, integrated with air contaminant sensor, speed meter and data transmission modules. Once connected to a smartphone, the subsystem will keep transmitting real-time data to the smartphone.

Subsystem 2 – Software include a user interface and a server. The user interface can be either an app or a website on smartphone. The user interface receives sensor data from the hardware subsystem, displays the real-time statistics, uploads sensor data to server and receives the air quality map from server. The server processes data from all running bikes, creates a real-time air quality map and returns it back to users.

**Criterion for Success**

1. Success of data collection: stable real-time statistic display on user interface, stable data collection on server.

2. Air quality visualization: The air quality map correctly reflects the air quality in Haining city. For example, the concentration of air contamination should be higher in heavy traffic than in intl campus.

3. Speed control: The on-bike device or smartphone should give an alert when the monitored speed exceeds the upper limit or the user set range. This is not the core function of our design, but we add it as we think the function makes sense for safety purpose.