Robot-Enabled Construction Assembly with Automated Sequence Planning based on ChatGPT: RoboGPT

Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in realizing the full potential of these robotic systems is the need for effective and efficient sequence planning for construction tasks. Current approaches, including mathematical and heuristic techniques or machine learning methods, face limitations in their adaptability and scalability to dynamic construction environments. To expand the ability of the current robot system in sequential understanding, this paper introduces RoboGPT, a novel system that leverages the advanced reasoning capabilities of ChatGPT, a large language model, for automated sequence planning in robot-based assembly applied to construction tasks. The proposed system adapts ChatGPT for construction sequence planning and demonstrate its feasibility and effectiveness through experimental evaluation including Two case studies and 80 trials about real construction tasks. The results show that RoboGPT-driven robots can handle complex construction operations and adapt to changes on the fly. This paper contributes to the ongoing efforts to enhance the capabilities and performance of robot-based assembly systems in the construction industry, and it paves the way for further integration of large language model technologies in the field of construction robotics.Comment: 14 pages, 20 figures, submitted to IEEE Acces

Survey on assembly sequencing: a combinatorial and geometrical perspective

A systematic overview on the subject of assembly sequencing is presented. Sequencing lies at the core of assembly planning, and variants include finding a feasible sequence—respecting the precedence constraints between the assembly operations—, or determining an optimal one according to one or several operational criteria. The different ways of representing the space of feasible assembly sequences are described, as well as the search and optimization algorithms that can be used. Geometry plays a fundamental role in devising the precedence constraints between assembly operations, and this is the subject of the second part of the survey, which treats also motion in contact in the context of the actual performance of assembly operations.Peer ReviewedPostprint (author’s final draft

Task planning with uncertainty for robotic systems

In a practical robotic system, it is important to represent and plan sequences of operations and to be able to choose an efficient sequence from them for a specific task. During the generation and execution of task plans, different kinds of uncertainty may occur and erroneous states need to be handled to ensure the efficiency and reliability of the system. An approach to task representation, planning, and error recovery for robotic systems is demonstrated. Our approach to task planning is based on an AND/OR net representation, which is then mapped to a Petri net representation of all feasible geometric states and associated feasibility criteria for net transitions. Task decomposition of robotic assembly plans based on this representation is performed on the Petri net for robotic assembly tasks, and the inheritance of properties of liveness, safeness, and reversibility at all levels of decomposition are explored. This approach provides a framework for robust execution of tasks through the properties of traceability and viability. Uncertainty in robotic systems are modeled by local fuzzy variables, fuzzy marking variables, and global fuzzy variables which are incorporated in fuzzy Petri nets. Analysis of properties and reasoning about uncertainty are investigated using fuzzy reasoning structures built into the net. Two applications of fuzzy Petri nets, robot task sequence planning and sensor-based error recovery, are explored. In the first application, the search space for feasible and complete task sequences with correct precedence relationships is reduced via the use of global fuzzy variables in reasoning about subgoals. In the second application, sensory verification operations are modeled by mutually exclusive transitions to reason about local and global fuzzy variables on-line and automatically select a retry or an alternative error recovery sequence when errors occur. Task sequencing and task execution with error recovery capability for one and multiple soft components in robotic systems are investigated

Modeling, design and scheduling of computer integrated manufacturing and demanufacturing systems

This doctoral dissertation work aims to provide a discrete-event system-based methodology for design, implementation, and operation of flexible and agile manufacturing and demanufacturing systems. After a review of the current academic and industrial activities in these fields, a Virtual Production Lines (VPLs) design methodology is proposed to facilitate a Manufacturing Execution System integrated with a shop floor system. A case study on a back-end semiconductor line is performed to demonstrate that the proposed methodology is effective to increase system throughput and decrease tardiness. An adaptive algorithm is proposed to deal with the machine failure and maintenance. To minimize the environmental impacts caused by end-of-life or faulty products, this research addresses the fundamental design and implementation issues of an integrated flexible demanufacturing system (IFDS). In virtue of the success of the VPL design and differences between disassembly and assembly, a systematic approach is developed for disassembly line design. This thesis presents a novel disassembly planning and demanufacturing scheduling method for such a system. Case studies on the disassembly of personal computers are performed illustrating how the proposed approaches work

Complexity and algorithms related to two classes of graph problems

This thesis addresses the problems associated with conversions on graphs and editing by removing a matching. We study the f-reversible processes, which are those associated with a threshold value for each vertex, and whose dynamics depends on the number of neighbors with different state for each vertex. We set a tight upper bound for the period and transient lengths, characterize all trees that reach the maximum transient length for 2-reversible processes, and we show that determining the size of a minimum conversion set is NP-hard. We show that the AND-OR model defines a convexity on graphs. We show results of NP-completeness and efficient algorithms for certain convexity parameters for this new one, as well as approximate algorithms. We introduce the concept of generalized threshold processes, where the results are NP-completeness and efficient algorithms for both non relaxed and relaxed versions. We study the problem of deciding whether a given graph admits a removal of a matching in order to destroy all cycles. We show that this problem is NP-hard even for subcubic graphs, but admits efficient solution for several graph classes. We study the problem of deciding whether a given graph admits a removal of a matching in order to destroy all odd cycles. We show that this problem is NP-hard even for planar graphs with bounded degree, but admits efficient solution for some graph classes. We also show parameterized results.Esta tese aborda problemas associados a conversões em grafos e de edição pela remoção de um emparelhamento. Estudamos processos f-reversíveis, que são aqueles associados a um valor de limiar para cada vértice e cuja dinâmica depende da quantidade de vizinhos com estado contrário para cada vértice. Estabelecemos um limite superior justo para o tamanho do período e transiente, caracterizamos todas as árvores que alcançam o transiente máximo em processos 2-reversíveis e mostramos que determinar o tamanho de um conjunto conversor mínimo é NP-difícil. Mostramos que o modelo AND-OR define uma convexidade sobre grafos. Mostramos resultados de NP-completude e algoritmos eficientes para certos parâmetros de convexidade para esta nova, assim como algoritmos aproximativos. Introduzimos o conceito de processos de limiar generalizados, onde mostramos resultados de NP-completude e algoritmos eficientes para ambas as versões não relaxada e relaxada. Estudamos o problema de decidir se um dado grafo admite uma remoção de um emparelhamento de modo a remover todos os ciclos. Mostramos que este problema é NP-difícil mesmo para grafos subcúbicos, mas admite solução eficiente para várias classes de grafos. Estudamos o problema de decidir se um dado grafo admite uma remoção de um emparelhamento de modo a remover todos os ciclos ímpares. Mostramos que este problema é NP-difícil mesmo para grafos planares com grau limitado, mas admite solução eficiente para algumas classes de grafos. Mostramos também resultados parametrizados