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Conference on Autonomous and Robotic Construction of Infrastructure June 2-3 Ames, IA Iowa State University of Science and Technology Conference on Autonomous and Robotic Construction of Infrastructure June 2-3 Ames, IA Iowa State University of Science and Technology Proceedings of the 2015 Conference on Autonomous and Robotic Construction of Infrastructure Edited by David J. White, Ahmad Alhasan, and Pavana Vennapusa About CEER Notice The mission of the Center for Earthworks Engineering 7KHFRQWHQWVRIWKLVUHSRUWUHÀHFWWKHYLHZVRIWKH Research (CEER) at Iowa State University is to be the authors, who are responsible for the facts and the nation’s premier institution for developing fundamental accuracy of the information presented herein. The knowledge of earth mechanics, and creating inno- RSLQLRQV¿QGLQJVDQGFRQFOXVLRQVH[SUHVVHGLQWKLV vative technologies, sensors, and systems to enable publication are those of the authors and not necessar- rapid, high quality, environmentally friendly, and eco- ily those of the sponsors. nomical construction of roadways, aviation runways, railroad embankments, dams, structural foundations, This document is disseminated under the sponsorship IRUWL¿FDWLRQVFRQVWUXFWHGIURPHDUWKPDWHULDOVDQG of the U.S. DOT UTC program in the interest of infor- related geotechnical applications. mation exchange. The U.S. Government assumes no liability for the use of the information contained in this About MTC document. This report does not constitute a standard, The Midwest Transportation Center (MTC) is a region- VSHFL¿FDWLRQRUUHJXODWLRQ al University Transportation Center (UTC) sponsored E\WKH86'HSDUWPHQWRI7UDQVSRUWDWLRQ2I¿FHRI The U.S. Government does not endorse products the Assistant Secretary for Research and Technology or manufacturers. If trademarks or manufacturers’ (USDOT/OST-R). The mission of the UTC program names appear in this report, it is only because they is to advance U.S. technology and expertise in the are considered essential to the objective of the docu- many disciplines comprising transportation through ment. the mechanisms of education, research, and technol- Quality Assurance Statement ogy transfer at university-based centers of excellence. Iowa State University, through its Institute for Trans- The U.S. Department of Transportation (U.S. DOT) portation (InTrans), is the MTC lead institution. provides high-quality information to serve Govern- ment, industry, and the public in a manner that pro- About InTrans motes public understanding. Standards and policies The mission of the Institute for Transportation (In- are used to ensure and maximize the quality, objec- Trans) at Iowa State University is to develop and tivity, utility, and integrity of its information. The U.S. implement innovative methods, materials, and tech- DOT periodically reviews quality issues and adjusts its QRORJLHVIRULPSURYLQJWUDQVSRUWDWLRQHI¿FLHQF\VDIHW\ programs and processes to ensure continuous quality reliability, and sustainability while improving the improvement. learning environment of students, faculty, and staff in WUDQVSRUWDWLRQUHODWHG¿HOGV ISU Nondiscrimination Statement Iowa State University does not discriminate on the basis of race, color, age, ethnicity, religion, national origin, pregnancy, sexual orientation, gender identity, genetic information, sex, marital status, disability, or status as a U.S. veteran. Inquiries regarding non- GLVFULPLQDWLRQSROLFLHVPD\EHGLUHFWHGWR2I¿FHRI Equal Opportunity, Title IX/ADA Coordinator, and Af- ¿UPDWLYH$FWLRQ2I¿FHU%HDUGVKHDU+DOO$PHV ,RZDHPDLO HRRI¿FH#LDVWDWHHGX Technical Report Documentation Page 1. Report No. 2. Government Accession No. 3. Recipient’s Catalog No. 4. Title and Subtitle 5. Report Date Proceedings of the 2015 Conference on Autonomous and Robotic Con- June 2015 struction of Infrastructure 6. Performing Organization Code 7. Author(s) 8. Performing Organization Report No. Editors: David J. White, Ahmad Alhasan, and Pavana Vennapusa 9. Performing Organization Name and Address 10. Work Unit No. (TRAIS) Center for Earthworks Engineering Research Institute for Transportation 11. Contract or Grant No. Iowa State University Research Park 2711 S. Loop Drive, Suite 4700 Ames, IA 50010-8664 12. Sponsoring Organizations 13. Type of Report and Period Covered Midwest Transportation Center U.S. Department of Transportation Proceedings 2711 S. Loop Drive, Suite 4700 OĜ ce of the Assistant Secretary for 14. Sponsoring Agency Code Ames, IA 50010-8664 Research and Technology DTRT13-G-UTC37 Caterpillar, Inc. 1200 New Jersey Avenue, SE P.O. Box 1875 Washington, DC 20590 Peoria, IL 61656 15. Supplementary Notes Visit www.intrans.iastate.edu and www.ceer.iastate.edu/carci/proceedings/ for pdfs of this and other publications. 16. Abstract This is a proceedings of 21 papers presented at the 2015 Conference on Autonomous and Robotic Construction of Infrastructure at Iowa State University, Ames, Iowa, on June 2–3, 2015. The conference provided information on how autonomous robotics systems are being applied in practice, discussed emerging technologies, and described theories that will no doubt shape the future of this ę eld. The papers cover a range of topics including mobile robotic operations, visual analysis, terrain modeling, simulations inspired by natural processes, multi-dimensional modeling, 3D printing, sensors, data processing, and new applications for construction technologies like photogrammetry. An underlying theme for many of the papers is data analytics—trying to make sense of and bring value to the deluge of data now being generated during construction operations (e.g., machine telematics, digital photos, weather data, sensors, etc.). 17. Key Words 18. Distribution Statement automated machine guidance—autonomous construction—earthworks engineering—robotic construction—transportation construction 19. Security Classię cation (of this 20. Security Classifi cation (of this 21. No. of Pages 22. Price report) page) 2 NA Unclassię ed. Unclassifi ed. Form DOT F 1700.7 (8-72) Reproduction of completed page authorized Proceedings of the 2015 Conference on Autonomous and Robotic Construction of Infrastructure June 2015 Edited by David J. White Ahmad Alhasan Pavana Vennapusa Sponsors Caterpillar, Inc. Iowa Department of Transportation Center for Industrial Research and Service, Iowa State University Department of Civil, Construction, and Environmental Engineering, Iowa State University Midwest Transportation Center, Iowa State University Proceedings of the 2015 Conference on Autonomous and Robotic Construction of Infrastructure ,RZD6WDWH8QLYHUVLW\ Copyright and reprint permission: Abstracting is permitted with credit to the author and source. Copying LQGLYLGXDOSDSHUVLQZKROHRULQSDUWIRUQRQSUR¿WFODVVURRPHGXFDWLRQDOSXUSRVHVLVSHUPLWWHGZLWKFUHGLW to the author and source. For all other purposes, all rights, title, and interest, including copyright, in indi- vidual papers herein are owned by the author(s) of the individual papers. /LEUDU\RI&RQJUHVV,661 ,6%1 An electronic version of the proceedings is available online, http://www.ceer.iastate.edu/carci/proceedings/. The accuracy and validity of the text and data presented in the papers are the responsibility of the various authors and not of the Center for Earthworks Engineering Research, the Institute for Transportation, Iowa 6WDWH8QLYHUVLW\RURWKHUVSRQVRUVRIWKH&RQIHUHQFHRQ$XWRQRPRXVDQG5RERWLF&RQVWUXFWLRQRI Infrastructure. 0DUFLD%ULQN3URGXFWLRQ(GLWRU Institute for Transportation Iowa State University 6/RRS'ULYH6XLWH $PHV,$ ACKNOWLEDGMENTS The Center for Earthworks Engineering Research would like to thank the following organizations for spon- VRULQJWKH&RQIHUHQFHRQ$XWRQRPRXVDQG5RERWLF&RQVWUXFWLRQRI,QIUDVWUXFWXUHDQGWKHUHODWHG proceedings of papers: Caterpillar, Inc. Center for Industrial Research and Service, Iowa State University Department of Civil, Construction, and Environmental Engineering, Iowa State University Iowa Department of Transportation Midwest Transportation Center, Iowa State University 86'HSDUWPHQWRI7UDQVSRUWDWLRQ2I¿FHRIWKH$VVLVWDQW6HFUHWDU\IRU5HVHDUFKDQG7HFKQRORJ\ iv Contents vii Foreword David J. White 1 Integrated Mobile Sensor-Based Activity Recognition of Construction Equipment and Human Crews 5H]D$NKDYLDQ/LDQQH%ULWRDQG$PLU%HK]DGDQ 21 Terrestrial Laser Scanning Roughness Assessments for Infrastructure Ahmad Alhasan and David J. White 34 Autonomous Construction of Separated Artifacts by Mobile Robots Using SLAM and Stigmergy +DGL$UGLQ\6WHIDQ:LWZLFNLDQG)UDQFHVFR0RQGDGD 47 A Comparison of Automated and Semi-Automated Compressed Earth Block Presses Using Natural and Stabilized Soils -HGDGLDK)%XUURXJKV7RGG65XVKLQJDQG&3KLOOLS5XVFKH 56 Virtual Operator Modeling Approach for Construction Machinery <X'X0LFKDHO&'RUQHLFK%ULDQ/6WHZDUG(ULF5$QGHUVRQ/DZUHQFH).DQHDQG %ULDQ-*LOPRUH 67 Vision-Based Machine Pose Estimation for Excavation Monitoring and Guidance &KHQ)HQJ.XUW0/XQGHHQ6X\DQJ'RQJDQG9LQHHW5.DPDW 85 A User-centered Approach to Investigate Unmanned Aerial System (UAS) Requirements for a Department of Transportation Applications Masoud Gheisari and Javier Irizarry 105 Simulation of Biologically-Inspired Control Algorithms for Teams of Ground Vehicles &KULVWRSKHU*RRGLQ=DFKDU\3UHYRVWDQG%HUWUDQG/HPDVVRQ 112 Case Study on 3D Modeling and AMG Practices Fangyu Guo, Yelda Turkan, and Charles T. Jahren 118 A Formalism for Utilization of Autonomous Vision-Based Systems and Integrated Project Models for Construction Progress Monitoring .HYLQ.+DQ-DFRE-/LQDQG0DQL*ROSDUYDU)DUG ([SORUDWRU\6WXG\RQ)DFWRUV,QÀXHQFLQJ8$63HUIRUPDQFHRQ+LJKZD\ Construction Projects: as the Case of Safety Monitoring Systems 6XQJMLQ.LPDQG-DYLHU,UL]DUU\ 149 The Current State of 3D Printing for
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