Reclaiming Construction Waste: An interface for robotic stacking of irregular components in compression-only structures

Construction and demolition activities generate approximately one billion tons of waste every year in the world. While the majority of these materials can be either reused or recycled, they are often disposed of in landfills which leads to long-term environmental issues. This thesis investigates the reuse of construction and demolition waste through robotic stacking of irregular components in compression-only structures. Previous works have emphasized the environmental and economic benefits of using as-found materials, however, the practicality of this strategy has remained low due to increased complexity of non-standard waste components and their assembly systems. This research attempts to tackle this issue by employing an adaptive and automated stacking workflow. A mechanism is designed with off-the-shelf technologies to enable a six-axis collaborative robot with perception, real-time physics simulation, and motion planning. Two compression-only structures, a column and a wall, are digitally prototyped to assess the efficiency and usability of the interface. Reclaiming waste materials through an adaptive fabrication process can benefit the construction industry by minimizing residue, reducing costs, and decreasing the environmental footprint of buildings. Moreover, this interface can be used to build durable disaster relief shelters and enable construction during expeditions to inaccessible locations

Optimal Packing of Irregular 3D Objects For Transportation and Disposal

This research developed algorithms, platforms, and workflows that can optimize the packing of 3D irregular objects while guaranteeing an acceptable processing time for real-life problems, including but not limited to nuclear waste packing optimization. Many nuclear power plants (NPPs) are approaching their end of intended design life, and approximately half of existing NPPs will be shut down in the next two decades. Since decommissioning and demolition of these NPPs will lead to a significant increase in waste inventory, there is an escalating demand for technologies and processes that can efficiently manage the decommissioning and demolition (D&D) activities, especially optimal packing of NPP waste. To minimize the packing volume of NPP waste, the objective is to arrange irregular-shaped waste objects into one or a set of containers such that container volume utilization is maximized, or container size is minimized. Constraints also include weight and radiation limits per container imposed by transportation requirements and the waste acceptance requirements of storage facilities and repositories. This problem falls under the theoretical realm of cutting and packing problems, precisely, the 3D irregular packing problem. Despite its broad applications and substantial potential, research on 3D irregular cutting and packing problems is still nascent, and largely absent in construction and civil engineering. Finding good solutions for real-life problems, such as the one mentioned above, through current approaches is computationally expensive and time-consuming. New algorithms and technologies, and processes are required. This research adopted 3D scanning as a means of geometry acquisition of as-is 3D irregular objects (e.g., nuclear waste generated from decommissioning and demolition of nuclear power plants), and a metaheuristics-based packing algorithm is implemented to find good packing configurations. Given the inefficiency of fully autonomous packing algorithms, a virtual reality (VR) interactive platform allowing human intervention in the packing process was developed to decrease the time and computation power required, while potentially achieving better outcomes. The VR platform was created using the Unity® game engine and its physics engine to mimic real-world physics (e.g., gravity and collision). Validation in terms of feasibility, efficiency, and rationality of the presented algorithms and the VR platform is achieved through functional demonstration with case studies. Different optimal packing workflows were simulated and evaluated in the VR platform. Together, these algorithms, the VR platform, and workflows form a rational and systematic framework to tackle the optimal packing of 3D irregular objects in civil engineering and construction. The overall framework presented in this research has been demonstrated to effectively provide packing configurations with higher packing efficiency in an adequate amount of time compared to conventional methods. The findings from this research can be applied to numerous construction and manufacturing activities, such as optimal packing of prefabricated construction assemblies, facility waste management, and 3D printing

Using Unmanned Aerial Systems for Deriving Forest Stand Characteristics in Mixed Hardwoods of West Virginia

Forest inventory information is a principle driver for forest management decisions. Information gathered through these inventories provides a summary of the condition of forested stands. The method by which remote sensing aids land managers is changing rapidly. Imagery produced from unmanned aerial systems (UAS) offer high temporal and spatial resolutions to small-scale forest management. UAS imagery is less expensive and easier to coordinate to meet project needs compared to traditional manned aerial imagery. This study focused on producing an efficient and approachable work flow for producing forest stand board volume estimates from UAS imagery in mixed hardwood stands of West Virginia. A supplementary aim of this project was to evaluate which season was best to collect imagery for forest inventory. True color imagery was collected with a DJI Phantom 3 Professional UAS and was processed in Agisoft Photoscan Professional. Automated tree crown segmentation was performed with Trimble eCognition Developer’s multi-resolution segmentation function with manual optimization of parameters through an iterative process. Individual tree volume metrics were derived from field data relationships and volume estimates were processed in EZ CRUZ forest inventory software. The software, at best, correctly segmented 43% of the individual tree crowns. No correlation between season of imagery acquisition and quality of segmentation was shown. Volume and other stand characteristics were not accurately estimated and were faulted by poor segmentation. However, the imagery was able to capture gaps consistently and provide a visualization of forest health. Difficulties, successes and time required for these procedures were thoroughly noted

Phase 1 of the automated array assembly task of the low cost silicon solar array project

The state of technology readiness for the automated production of solar cells and modules is reviewed. Individual process steps and process sequences for making solar cells and modules were evaluated both technically and economically. High efficiency with a suggested cell goal of 15% was stressed. It is concluded that the technology exists to manufacture solar cells which will meet program goals

Geophysical methods to detect tunnelling at a geological repository site : Applicability in safeguards

ABSTRACT Generating power with nuclear energy accumulates radioactive spent nuclear fuel, anticipated not to be diversified into any unknown purposes. Nuclear safeguards include bookkeeping of nuclear fuel inventories, frequent checking, and monitoring to confirm nuclear non-proliferation. Permanent isolation of radionuclides from biosphere by disposal challenges established practices, as opportunities for monitoring of individual fuel assemblies ceases. Different concepts for treatment and geological disposal of spent nuclear fuel exist. Spent nuclear fuel disposal facility is under construction in Olkiluoto in Southwest Finland. Posiva Oy has carried out multidisciplinary bedrock characterization of crystalline bedrock for siting and design of the facility. Site description involved compilation of geological models from investigations at surface level, from drillholes and from underground rock characterization facility ONKALO. Research focused on long term safety case (performance) of engineered and natural barriers in purpose to minimize risks of radionuclide release. Nuclear safeguards include several concepts. Containment and surveillance (C/S) are tracking presence of nuclear fuel through manufacturing, energy generation, cooling, transfer, and encapsulation. Continuity of knowledge (CoK) ensures traceability and non-diversion. Design information provided by the operator to the state and European Commission (Euratom), and further to IAEA describes spent nuclear fuel handling in the facility. Design information verification (DIV) using timely or unannounced inspections, provide credible assurance on absence of any ongoing undeclared activities within the disposal facility. Safeguards by design provide information applicable for the planning of safeguards measures, e.g., surveillance during operation of disposal facility. Probability of detection of an attempt to any undeclared intrusion into the repository containment needs to be high. Detection of such preparations after site closure would require long term monitoring or repeated geophysical measurements within or at proximity of the repository. Bedrock imaging (remote sensing, geophysical surveys) would serve for verifying declarations where applicable, or for characterization of surrounding rock mass to detect undeclared activities. ASTOR working group has considered ground penetrating radar (GPR) for DIV in underground constructed premises during operation. Seismic reflection survey and electrical or electromagnetic imaging may also apply. This report summarizes geophysical methods used in Olkiluoto, and some recent development, from which findings could be applied also for nuclear safeguards. In this report the geophysical source fields, involved physical properties, range of detection, resolution, survey geometries, and timing of measurements are reviewed for different survey methods. Useful interpretation of geophysical data may rely on comparison of results to declared repository layout, since independent understanding of the results may not be successful. Monitoring provided by an operator may enable alarm and localization of an undeclared activity in a cost-effective manner until closure of the site. Direct detection of constructed spaces, though possible, might require repeated effort, have difficulties to provide spatial coverage, and involve false positive alarms still requiring further inspection

Site Characterization Using Integrated Imaging Analysis Methods on Satellite Data of the Islamabad, Pakistan, Region

We develop an integrated digital imaging analysis approach to produce a first-approximation site characterization map for Islamabad, Pakistan, based on remote-sensing data. We apply both pixel-based and object-oriented digital imaging analysis methods to characterize detailed (1:50,000) geomorphology and geology from Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) satellite imagery. We use stereo-correlated relative digital elevation models (rDEMs) derived from ASTER data, as well as spectra in the visible near-infrared (VNIR) to thermal infrared (TIR) domains. The resulting geomorphic units in the study area are classified as mountain (including the Margala Hills and the Khairi Murat Ridge), piedmont, and basin terrain units. The local geologic units are classified as limestone in the Margala Hills and the Khairi Murat Ridge and sandstone rock types for the piedmonts and basins. Shear-wave velocities for these units are assigned in ranges based on established correlations in California. These ranges include Vs30-values to be greater than 500 m/sec for mountain units, 200–600 m/sec for piedmont units, and less than 300 m/sec for basin units. While the resulting map provides the basis for incorporating site response in an assessment of seismic hazard for Islamabad, it also demonstrates the potential use of remote-sensing data for site characterization in regions where only limited conventional mapping has been done