Testing in harsh conditions: Tracking resources on construction sites with machine vision

When tracking resources in large-scale, congested, outdoor construction sites, the cost and time for purchasing, installing and maintaining the position sensors needed to track thousands of materials, and hundreds of equipment and personnel can be significant. To alleviate this problem a novel vision based tracking method that allows each sensor (camera) to monitor the position of multiple entities simultaneously has been proposed. This paper presents the full-scale validation experiments for this method. The validation included testing the method under harsh conditions at a variety of mega-project construction sites. The procedure for collecting data from the sites, the testing procedure, metrics, and results are reported. Full-scale validation demonstrates that the novel vision tracking provides a good solution to track different entities on a large, congested construction site.

Auto-calibration of a camera system using Image Alignment

Calibration of a camera system is a necessary step in any stereo metric process. It correlates all cameras to a common coordinate system by measuring the intrinsic and extrinsic parameters of each camera. Currently, manual calibration of a camera system is the only way to achieve calibration in civil engineering operations that require stereo metric processes (photogrammetry, videogrammetry, vision based asset tracking, etc). This type of calibration however is time-consuming and labor-intensive. Furthermore, in civil engineering operations, camera systems are exposed to open, busy sites. In these conditions, the position of presumably stationary cameras can easily be changed due to external factors such as wind, vibrations or due to an unintentional push/touch from personnel on site. In such cases manual calibration must be repeated. In order to address this issue, several self-calibration algorithms have been proposed. These algorithms use Projective Geometry, Absolute Conic and Kruppa Equations and variations of these to produce processes that achieve calibration. However, most of these methods do not consider all constraints of a camera system such as camera intrinsic constraints, scene constraints, camera motion or varying camera intrinsic properties. This paper presents a novel method that takes all constraints into consideration to auto-calibrate cameras using an image alignment algorithm originally meant for vision based tracking. In this method, image frames are taken from cameras. These frames are used to calculate the fundamental matrix that gives epipolar constraints. Intrinsic and extrinsic properties of cameras are acquired from this calculation. Test results are presented in this paper with recommendations for further improvement.

Remote Wireless Communications for Construction Management: A Case Study

The recent advances in urban wireless communications and protocols that spurred the development of city-wide wireless infrastructure motivated this research, since in many cases, construction sites are not conveniently located for wired connectivity. Large scale transportation projects for example, such as new highways, railroad tracks and the networks of utilities (power-lines, phone lines, mobile towers, etc) that usually follow them are constructed in areas where wired infrastructure for data exchange is often expensive and time-consuming to deploy. The communication difficulties that can be encountered in such construction sites can be addressed with a wireless communications link between the construction site and the decision-making office. This paper presents a case study on long-range, wireless communications suitable for data exchange between construction sites and engineering headquarters. The purpose of this study was to define the requirements for a reliable wireless communications model where common types of electronic construction data will be exchanged in a fast and efficient manner, and construction site personnel will be able to interact and share knowledge, information and electronic resources with the office staff.

Automated 3D Vision Tracking for Project Control Support

On-site tracking in open construction sites is often difficult because of the large amounts of items that are present and need to be tracked. Additionally, the amounts of occlusions/obstructions present create a highly complex tracking environment. Existing tracking methods are based mainly on Radio Frequency technologies, including Global Positioning Systems (GPS), Radio Frequency Identification (RFID), Bluetooth and Wireless Fidelity (Wi-Fi, Ultra-Wideband, etc). These methods require considerable amounts of pre-processing time since they need to manually deploy tags and keep record of the items they are placed on. In construction sites with numerous entities, tags installation, maintenance and decommissioning become an issue since it increases the cost and time needed to implement these tracking methods. This paper presents a novel method for open site tracking with construction cameras based on machine vision. According to this method, video feed is collected from on site video cameras, and the user selects the entity he wishes to track. The entity is tracked in each video using 2D vision tracking. Epipolar geometry is then used to calculate the depth of the marked area to provide the 3D location of the entity. This method addresses the limitations of radio frequency methods by being unobtrusive and using inexpensive, and easy to deploy equipment. The method has been implemented in a C++ prototype and preliminary results indicate its effectiveness

Correlating Multiple 2D Vision Trackers for 3D Object Tracking on Construction Sites

Tracking methods have the potential to retrieve the spatial location of project related entities such as personnel and equipment at construction sites, which can facilitate several construction management tasks. Existing tracking methods are mainly based on Radio Frequency (RF) technologies and thus require manual deployment of tags. On construction sites with numerous entities, tags installation, maintenance and decommissioning become an issue since it increases the cost and time needed to implement these tracking methods. To address these limitations, this paper proposes an alternate 3D tracking method based on vision. It operates by tracking the designated object in 2D video frames and correlating the tracking results from multiple pre-calibrated views using epipolar geometry. The methodology presented in this paper has been implemented and tested on videos taken in controlled experimental conditions. Results are compared with the actual 3D positions to validate its performance.

Content Based Integration of Construction Site Images in Architecture, Engineering, Construction, and Facilities Management (AEC/FM) Model based Systems

This book explores the processes for retrieval, classification, and integration of construction images in AEC/FM model based systems. The author describes a combination of techniques from the areas of image and video processing, computer vision, information retrieval, statistics and content-based image and video retrieval that have been integrated into a novel method for the retrieval of related construction site image data from components of a project model. This method has been tested on available construction site images from a variety of sources like past and current building construction and transportation projects and is able to automatically classify, store, integrate and retrieve image data files in inter-organizational systems so as to allow their usage in project management related tasks. objects. Therefore, automated methods for the integration of construction images are important for construction information management. During this research, processes for retrieval, classification, and integration of construction images in AEC/FM model based systems have been explored. Specifically, a combination of techniques from the areas of image and video processing, computer vision, information retrieval, statistics and content-based image and video retrieval have been deployed in order to develop a methodology for the retrieval of related construction site image data from components of a project model. This method has been tested on available construction site images from a variety of sources like past and current building construction and transportation projects and is able to automatically classify, store, integrate and retrieve image data files in inter-organizational systems so as to allow their usage in project management related tasks.

Long Distance Wireless Networking for Site - Office Data Communications

Effective data communications between the project site and decision making office can be critical for the success of a construction project. It allows convenient access to centrally stored information and allows centrally located decision makers to remotely monitor the site and collect data in real-time. However, high bandwidth, flexible data communication networks, such as wired local area networks, can often be time-consuming and costly to deploy for such purposes especially when project sites (dams, highways, etc.) are located in rural, undeveloped areas where networking infrastructure is not available. In such construction sites, wireless networking could reliably link the construction site and the decision-making office. This paper presents a case study on long-distance, site – office wireless data communications. The purpose was to investigate the capability of wireless technology in exchanging construction data in a fast and efficient manner and in allowing site personnel to interact and share knowledge and data with the office staff. This study took place at the University of Michigan’s campus where performance, reliability, and cost/benefit tests were performed. The indoor and outdoor tests performed demonstrated the suitability of this technology for office-site data communications and exposed the need for more research to further improve the reliability and data handling of this technology.

Embodied energy and gas emission of geotechnical infrastructure

Construction of geotechnical structures produces various environmental impacts. These include depletion of limited natural resources, generation of wastes and harmful substances during material productions and construction, ineffective usage of energy during processing of raw materials into construction materials, and emissions of unwanted gasses during transportation of materials and usage of equipments. With increasing interests in sustainability at the global scale, there is a need to develop a methodology that can assess environmental impacts at such scale for geotechnical construction. Using embodied energy and gas emission, quantitative measures of environmental impact are evaluated using a case study of a new high speed railway line construction in the UK. Based on the results, the keys to energy savings are (a) to optimise the usage of materials with high embodied energy intensity value (b) to optimise the transportation network and logistics for processes using primarily low embodied energy intensity materials and (c) to reuse as much materials on-site as possible to minimise the quantity of spoils or distance to disposal sites. The evaluated embodied energy and embodied carbon values are compared to those of other types of structures and of other activities and carbon tax values. Such comparisons can be used to discuss among various interested parties (clients, contractors, consultants, policy makers, etc) to make the construction industry more energy efficient. © Springer Science+Business Media B.V. 2011.

Sensitivity analysis and optimization of the nuclear fuel cycle

A sensitivity study has been conducted to assess the robustness of the conclusions presented in the MIT Fuel Cycle Study. The Once Through Cycle (OTC) is considered as the base-line case, while advanced technologies with fuel recycling characterize the alternative fuel cycles. The options include limited recycling in LWRs and full recycling in fast reactors and in high conversion LWRs. Fast reactor technologies studied include both oxide and metal fueled reactors. The analysis allowed optimization of the fast reactor conversion ratio with respect to desired fuel cycle performance characteristics. The following parameters were found to significantly affect the performance of recycling technologies and their penetration over time: Capacity Factors of the fuel cycle facilities, Spent Fuel Cooling Time, Thermal Reprocessing Introduction Date, and incore and Out-of-core TRU Inventory Requirements for recycling technology. An optimization scheme of the nuclear fuel cycle is proposed. Optimization criteria and metrics of interest for different stakeholders in the fuel cycle (economics, waste management, environmental impact, etc.) are utilized for two different optimization techniques (linear and stochastic). Preliminary results covering single and multi-variable and single and multi-objective optimization demonstrate the viability of the optimization scheme.

Cement bentonite cutoff walls for polluted sites

Cement-bentonite (CB) cutoff walls have long been used to control ground water flow and contaminant migration at polluted sites. Hydraulic conductivity and unconfined compressive strength are two short-term properties often used by industry and owners in CB specification and are important parameters discussed in this paper. For polluted sites, long-term compatibility is also an important issue. These properties are coupled to a number of external factors including the mix design, construction sequence, presence/absence of contaminants at the site. Additional short-term properties for engineering assessment include the stressstrain characteristics in both drained and undrained shear in both with and without confinement as well as one-dimensional consolidation properties. Long term CB properties are affected by aging, reaction chemistry, drying, in situ stress state, and interaction with the polluted environment. © 2013 Taylor & Francis Group.