Robotic explosive charging in mining and construction applications

Describes the development and testing of a robotic system for charging blast holes in underground mining. The automation system supports four main tactical functions: detection of blast holes; teleoperated arm pose control; automatic arm pose control; and human-in-the-loop visual servoing. We present the system architecture, and analyse the major components, Hole detection is crucial for automating the process, and we discuss theoretical and practical aspects in detail. The sensors used are laser range finders and cameras installed in the end effector. For automatic insertion, we consider image processing techniques to support visual servoing the tool to the hole. We also discuss issues surrounding the control of heavy-duty mining manipulators, in particular, friction, stiction, and actuator saturation.

Swing load stabilization for mining and construction applications

This paper discusses the issue of sensing and control for stabilizing a swinging load. Our work has focused in particular on the dragline as used for overburden stripping in open-pit coal mining, but many of the principles would also be applicable to construction cranes. Results obtained from experimental work on a full-scale production dragline are presented.

Developing a mobile visualization environment for construction applications

There is a renewed interest in immersive visualization to navigate digital data-sets associated with large building and infrastructure projects. Following work with a fully immersive visualization facility at the University, this paper details the development of a complementary mobile visualization environment. It articulates progress on the requirements for this facility; the overall design of hardware and software; and the laboratory testing and planning for user pilots in construction applications. Like our fixed facility, this new light-weight mobile solution enables a group of users to navigate a 3D model at a 1:1 scale and to work collaboratively with structured asset information. However it offers greater flexibility as two users can assemble and start using it at a new location within an hour. The solution has been developed and tested in a laboratory and will be piloted in engineering design review and stakeholder engagement applications on a major construction project.

Research and application of Building Information Modelling (BIM) in the Architecture, Engineering and Construction (AEC) industry : a review and direction for future research

With an increasing level of collaboration amongst researchers, software developers and industry practitioners in the past three decades, building information modelling (BIM) is now recognized as an emerging technological and procedural shift within the architect, engineering and construction (AEC) industry. BIM is not only considered as a way to make a profound impact on the professions of AEC, but is also regarded as an approach to assist the industry to develop new ways of thinking and practice. Despite the widespread development and recognition of BIM, a succinct and systematic review of the existing BIM research and achievement is scarce. It is also necessary to take stock on existing applications and have a fresh look at where BIM should be heading and how it can benefit from the advances being made. This paper first presents a review of BIM research and achievement in AEC industry. A number of suggestions are then made for future research in BIM. This paper maintains that the value of BIM during design and construction phases is well documented over the last decade, and new research needs to expand the level of development and analysis from design/build stage to postconstruction and facility asset management. New research in BIM could also move beyond the traditional building type to managing the broader range of facilities and built assets and providing preventative maintenance schedules for sustainable and intelligent buildings

Construction timbers in Queensland. Book 1 and Book 2: Properties and specifications for satisfactory performance of construction timbers in Queensland. Class 1 and Class 10 buildings (houses, carports, garages, greenhouses and sheds). 2013 edition.

This publication lists the more important wood properties of commercial timbers used for construction in Queensland. It also provides requirements and conditions of use for these timbers to provide appropriate design service life in various construction applications. The correct specification of timber considers a range of timber properties including, but not limited to, stress grade; durability class; moisture content and insect resistance. For the specification of timber sizes and spans, relevant Australian Standards and design manuals should be consulted—e.g. Australian Standard AS 1684 series Residential timber—framed construction parts 2 and 3 (Standards Australia 2006a;b.) Book 1 explains the terms used; with reference to nomenclature; origin and timber properties presented under specific column headings in the schedules (Book 2). It also explains target design life; applications and decay hazard zones; presented in the Book 2 Schedules. Book 2 consists of reference tables; presented as schedules A; B and C: • Schedule A contains commercial mixtures of unidentified timbers and of some Australian and imported softwoods. Index numbers 1–10 • Schedule B contains Australian-grown timber species; including both natural forests and plantations. Index numbers 11–493 • Schedule C contains timbers imported into Australia from overseas. Index numbers 494–606 Each schedule has two parts presenting data in tables. • Part 1: Nomenclature, origin and properties of imported timber species • Part 2: Approved uses for commercial mixtures of imported timber species The recommendations made in this publication assume that good building practice will be carried out.

Comparative study of vision tracking methods for tracking of construction site resources

Vision tracking has significant potential for tracking resources on large scale, congested construction sites, where a small number of cameras strategically placed around the site could replace hundreds of tracking tags. The correlation of vision tracking 2D positions from multiple views can provide the 3D position. However, there are many 2D vision trackers available in the literature, and little information is available on which one is most effective for construction applications. In this paper, a comparative study of various vision tracker categories is carried out, to identify which one is most effective in tracking construction resources. Testing parameters for evaluating categories of trackers are identified, and benefits and limitations of each category are presented. The most promising trackers are tested using a database of construction operations videos. The results indicate the effectiveness of each tracker in relation to each parameter of the test, and the most suitable tracker needed to research effective 3D vision trackers of construction resources.

Three-Dimensional Tracking of Construction Resources using an On-Site Camera System

Vision trackers have been proposed as a promising alternative for tracking at large-scale, congested construction sites. They provide the location of a large number of entities in a camera view across frames. However, vision trackers provide only two-dimensional (2D) pixel coordinates, which are not adequate for construction applications. This paper proposes and validates a method that overcomes this limitation by employing stereo cameras and converting 2D pixel coordinates to three-dimensional (3D) metric coordinates. The proposed method consists of four steps: camera calibration, camera pose estimation, 2D tracking, and triangulation. Given that the method employs fixed, calibrated stereo cameras with a long baseline, appropriate algorithms are selected for each step. Once the first two steps reveal camera system parameters, the third step determines 2D pixel coordinates of entities in subsequent frames. The 2D coordinates are triangulated on the basis of the camera system parameters to obtain 3D coordinates. The methodology presented in this paper has been implemented and tested with data collected from a construction site. The results demonstrate the suitability of this method for on-site tracking purposes.

2nd generation concrete construction: carbon footprint accounting

Purpose – Construction contractors and facility managers are being challenged to minimize the carbon footprint. Life cycle carbon‐equivalent (CO2‐e) accounting, whereby the potential emissions of greenhouse gases due to energy expenditure during construction and subsequent occupation of built infrastructure, generally ceases at the end of the service life. However, following demolition, recycling of demolition waste that becomes incorporated into 2nd generation construction is seldom considered within the management of the carbon footprint. This paper aims to focus on built concrete infrastructure, particularly the ability of recycled concrete to chemically react with airborne CO2, thereby significantly influencing CO2‐e estimates.

Design/methodology/approach – CO2‐e estimates were made in accordance with the methodology outlined in the Australian National Greenhouse Accounts (NGA) Factors and were based on the energy expended for each life cycle activity from audited records. Offsets to the CO2‐e estimates were based on the documented ability of concrete to chemically react with airborne carbon dioxide (“carbonation”) and predictions of CO2 uptake by concrete and recycled concrete was made using existing predictive diffusion models. The author's study focused on a built concrete bridge which was demolished and recycled at the end of the service life, and the recycled concrete was utilized towards 2nd generation construction. The sensitivity of CO2‐e and carbonation estimates were tested on several different types of source demolition waste as well as subsequent construction applications using recycled concrete (RCA). Whole‐of‐life CO2‐e estimates, including carbonation of RCA over the 1st and 2nd generations, were estimated and contrasted with conventional carbon footprints that end at the conclusion of the 1st generation.

Findings – Following demolition, CO2 capture by RCA is significant due to the more permeable nature of the crushed RCA compared with the original built infrastructure. RCA also has considerably greater exposed surface area, relative to volume, than a built concrete structure, and therefore more highly exposed surface to react with CO2: it therefore carbonates more comprehensively. CO2‐e estimates can be offset by as much as 55‐65 per cent when including the contribution of carbonation of RCA built within 2nd generation infrastructure. Further offsets are achievable using blended fly ash or slag cement binders; however, this study has focused on concrete composed of 100 per cent OPC binders and the effects of RCA.

Originality/value – Construction project estimates of life cycle CO2‐e emissions should include 2nd generation applications that follow the demolition of the 1st generation infrastructure. Life cycle estimates generally end at the time of demolition. However, by incorporating the recycled concrete demolition waste into the construction of 2nd generation infrastructure, the estimated CO2‐e is significantly offset during the 2nd generation life cycle by chemical uptake of CO2 (carbonation). This paper provides an approach towards inclusion of 2nd generation construction applications into whole‐of‐life estimates of CO2‐e.

Applications of precast concrete in repair and replacement of civil works structures /

Mode of access: Internet.

A lysimeter experimental study and numerical characterisation of the leaching of incinerator bottom ash waste

Incinerator bottom ash (IBA) is a residual produced from incinerating municipal solid waste. In the past, IBA presented a big waste disposal problem; however, various recycling approaches have been adopted in recent years to mitigate this problem, as well as to provide a useful alternative to using primary aggregate resources. The use of IBA as an alternative to conventional aggregates in different civil engineering construction applications helps to conserve premium grade aggregate supplies; however, when IBA is in contact with water in the field, as a consequence of precipitation events or changes in water table, elements, such as salts and heavy metals, may be released to the soil and ground water. In this work, IBA waste was mixed with limestone aggregate to produce a blend with acceptable mechanical properties and minimum environmental risks for use as road foundation. The study focused on evaluating potential environmental impacts of some constituents, including sulphate, chloride, sodium, copper, zinc and lead in IBA blends using a lysimeter as a large scale leaching tool. Moreover, a specific scenario simulating field conditions was adopted in the lysimeter to assess the potential impact of changing conditions, such as IBA content in the blend, liquid to solid ratio (L/S) and pH value, on long-term release of heavy metals and salts. Then, numerical modelling was used to predict the release of the aforementioned constituents from IBA based on initial measurement of intrinsic material properties and the kinetic desorption process concept. Experimental results showed that zinc and lead were released in very low concentrations but sodium and sulphate were in high concentrations. The control limestone only blend also demonstrated low release concentrations of constituents in comparison to IBA blends, where constituent concentrations increased with increase in IBA content. Experimental results were compared with numerical results obtained using a non-equilibrium desorption model. Good agreement was found between the two sets of data. 

Influence of aggregate and curing regime on the mechanical properties of ultra-high performance fibre reinforced concrete (UHPFRC)

A new generation of concrete, Ultra-high performance fibre reinforced concrete (UHPFRC) has been developed for its outstanding mechanical performance and shows a very promising future in construction applications. In this paper, several possibilities are examined for reducing the price of producing UHPFRC and for bringing UHPFRC away from solely precast applications and onto the construction site as an in situ material. Recycled glass cullet and two types of local natural sand were examined as replacement materials for the more expensive silica sand normally used to produce UHPFRC. In addition, curing of UHPFRC cubes and prisms at 20 degrees C and 90 degrees C has been investigated to determine differences in both mechanical and ductility.

Irish Timber – Characterisation, Potential and Innovation

In order to increase the utilisation of Irish timber in construction and novel engineered wood products, the mechanical and physical properties of the material must be established. For timber products used for structural applications, the fundamental properties are the modulus of elasticity, bending strength, density and dimensional stability, as these define the structural grade of the material. In order to develop engineering design models for applications such as reinforced timber, knowledge of the nonlinear stress-strain behaviour in compression is also required.
The paper presents the programme and results of an ongoing research project ‘Innovation in Irish Timber Usage’ which focuses on the characterisation of Sitka spruce as it is the most widely grown species in Ireland. In the past, a number of studies have been conducted to determine the properties of Irish-grown Sitka spruce. Nevertheless, due to the changes that have taken place in silvicultural practices since the publication of these studies, there is a need to determine how these properties have changed. This paper presents the data gathered from historical studies together with the results of an extensive test programme undertaken to characterise the properties of the present resource.
Moreover, the study preliminary examines the potential use of Irish grown Sitka spruce in novel timber products. Construction applications, such as fibre-reinforced polymer reinforced timber elements and connections, and cross-laminated timber are investigated.

Estudo da adição de argila expandida na formulação de concretos leves

Lightweight concrete has been the subject of several studies towards the development of new building materials. Emphasis has been given on the particle size effect and nature of aggregates used as raw materials. The present study includes an analysis of the materials that make this kind of concrete, analyzes of mechanical properties such as compressive and tensile strength, in addition to assessments of the interface concrete aggregate/matrix interface, porosity and absorption profile of chloride ions in lightweight concrete based on expanded clay. The experiments were carried out by molding cylindrical samples 100 mm in diameter and 200 mm in height. The dosage experiments were performed without additives or with the addition of minerals: (T1) 1: 2.01: 1.10: 0.78 (T2) 1: 2.00: 1.32 : 0.62 - (T3) 1 :1.93 :1.54: 0.47 (cement : sand : expanded clay 0500 : expanded clay 1506).The water to cement ratio was set to 0.43. Expanded clay minerals with different average particle sizes were used, i.e., 9.5 mm/0500 and 19 mm/1506. The larger aggregate was coated by a glassy layer, yielding lower water absorption characteristics to the concrete. The results showed that the use of light expanded clay aggregates is a technically interesting solution to the production of lightweight concrete for construction applications

On two-current realization of KP hierarchy

A simple description of the KP hierarchy and its multi-hamiltonian structure is given in terms of two Bose currents. A deformation scheme connecting various W-infinity algebras and the relation between two fundamental nonlinear structures are discussed. Properties of Faá di Bruno polynomials are extensively explored in this construction. Applications of our method are given for the Conformal Affine Toda model, WZNW models and discrete KP approach to Toda lattice chain.