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Single-task construction robots (STCRs) have become a popular research topic for decades. However, there is still a gap in the ubiquitous application of STCRs for onsite construction due to various reasons, such as cost concerns. Therefore, cost&ndash, benefit analysis (CBA) can be used to measure the net economic benefit of the STCRs, compared to traditional construction methods, in order to boost the implementation of STCRs. This paper presents a simple and practical framework for the economic evaluation of STCRs and conducts a case study of a cable-driven facade installation robot to verify the method. The results show that the cable-driven robot for facade installation is worth investing in in the UK, as well as in the majority of G20 countries. Furthermore, other socioenvironmental implications of STCRs and the limitations of the study are also discussed. In conclusion, the proposed method is highly adaptable and reproducible. Therefore, researchers, engineers, investors, and policy makers can easily follow and customize this method to assess the economic advantages of any STCR systems, compared to traditional construction technologies.

The objective of this study is to evaluate the practical application of a digital process for the buildings’ energy rehabilitation using prefabricated modules. The literature is extensive in this aspect, numerous technologies are mentioned for the digitalization of buildings’ rehabilitation process (BIM, laser scanner, drones, etc.), and there are also many prefabricated products for rehabilitation, but its introduction in the market is still very limited. This is due in part to the uncertainty in its practical application, and the difficulties that may entail changing processes, digitizing them, and integrating innovations in a sector as conservative as construction. Within BERTIM project, prefabricated wooden modules that integrate both carpentry and HVAC distribution networks and a methodology for the energy rehabilitation of buildings through a digitalized process have been developed. These developments have been implemented in two buildings which has allowed to identify the main barriers and difficulties that construction companies encounter in the execution. The main difficulties are: i) the method of capturing building data for the generation of its BIM model, ii) the integration of the HVAC distribution networks into the modules iii) the installation procedure of the modules on the existing building façade so that minimum execution times are ensured even in façades with many deviations and a large lack of verticality. This study addresses these difficulties and proposes practical solutions that will allow industrials to implement digital processes and will foster the use of prefabricated modules in the buildings’ energy rehabilitation. The authors want to recognize BERTIM project on Energy rehabilitation of buildings with prefabricated timber modules as the main framework of the present study. The project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 636984. The authors would also like to thank all the members of the consortium for their technical and scientific contributions.

(1) The overall energy requirement of a building may be impacted by the building design, the selection of materials, the construction methods, and lifecycle management. To achieve an optimum energy-efficiency level when dealing with a new building or renovation project, it is important to improve the entire construction process as it is not enough to merely focus on the operational phase. If conventional construction practices do not evolve, compromise, or adapt to necessary changes, then it becomes challenging to deliver an ultimate low energy building. (2) This paper demonstrates the trend of off-site prefabrication and its production principles and the notions of open-building design and Design for X, as well as offering an overview of the development of automation in construction, which provides both insights and evaluations based on the context of the research. (3) Three European Union Horizon 2020 research projects were evaluated, and the outcome of the projects served as the backbone for the research and inspired the design of the proposed integrated fa&ccedil, ade system. Two design scenarios were proposed to demonstrate the potential improvements that could be achieved in a new build as well as in renovation projects. (4) The research lays a foundation for establishing a larger cross-disciplinary collaboration in the future.

Upgrading building envelopes with fully prefabricated 2D modules requires high accuracy during the manufacturing process with tolerances lower than 1 mm. In the research described in this paper, computer designed and accurately manufactured objects have been assembled with robotic arms. However, in previous phases, it was detected that during the assembly process, the placement differed from the planned location due to undesired deviations of the object while being grasped and placed by the robotic tool. The experiments presented in this paper imply correcting this deviation by localizing the grasped object’s position and recalculating the path and final pose of the assembly process. For localizing the deviated grasped object’s location, an intermediate pose was planned. During this pose, the location of the grasped object was estimated by two different means. For the first solution, visual markers have been placed on a known corner of the objects and these have been recognized with a camera. For the second solution, the coordinates of the objects were measured by a digital theodolite. The location of the deviated object was calculated and compared to the planned location so the robot could divert from its original path. The measurable parameter in the experiments was the assembly accuracy. The results in the two experiments have been analyzed and compared. According to the results, the solutions could be implemented not only in the factory, but at on-site processes as well.

Recently, the accurate prefabricated Curtain Wall Modules (CWM) used as building facade are gaining popularity around the world. However, the conventional manual procedure for installation of CWM is dangerous for labour work. More so, it is a time consuming and expensive task. Automation of the CWM installation using a cable robot is an alternatively faster and safer method. The cost saved due to shorter installation time would compensate for initial investment costs of the robotic systems. However, for CWM installation, the cable robot and its modular end-effector (MEE) need to perform several tasks such as positioning within 1 mm accuracy, drilling, installing bracket (connectors), and handling and positioning the CWMs. However, there is no such robotic solution currently available on the market. As a probable solution to CWM installations, the European project "HEPHAESTUS" is designing a cable robot-based automatic system capable of 1 mm positioning accuracy, while performing other tasks such as drilling on the building. Meanwhile, it could carry nearly a tonne in payload in an outdoor environment. As a design phase in this paper, five different conceptual scenarios for such complicated automatic installation process conducted by a cable robot are introduced. The possible concepts are assessed using the Delphi method. Finally, the accuracy, safety, and installation time of the selected scenarios are comparable to the conventional manual procedure of CWM installation. In the future, these systems further improve within the HEPHAESTUS project framework.

A need exists for faster installation of prefabricated modules in the refurbishment market. Current solutions for installing and fitting prefabricated modules on existing buildings are time consuming. The objective of this research is to reduce the time currently required for the installation of timber-based 2D modules by using innovative technologies while improving placement accuracy. A novel installation concept was proposed based on a digitally produced matching kit interface that corrects existing building's irregularities and connector placement deviations. This solution was tested, validated, and compared in several manufacturing contexts. The tests recorded measurable variables such as the manufacturing time and placement accuracy of the modules. The results demonstrate decreases up to 73% in installation time and placement deviations of less than 2 mm.

The BERTIM Research Project is funded by the European Commission in order to develop a system for an efficient building envelope upgrading. The main goal of this envelope upgrading consists on adding a new 2D or 3D module onto the building external layer. The modules are made out of timber, thermal insulation and waterproof layers. These modules can also host some functionalities. In a previous phase, a method for implementing an efficient, integrated, modular and customized manufacturing and installation process of the BERTIM modules has been conceived. This method was achieved based on Axiomatic Design. The goal of this method was to generate and to coordinate three main sub-systems: the parametric design and configuration of the 2D and the 3D modules (1), the automated manufacturing process (2) and the rapid robotic installation process (3). The Axiomatic Design was mainly used in order to detect the possible interferences of the disaggregated Functional Requirements regarding the Independence and Information Axiom and the main risks of a Coupled Design. The first demonstration of the manufacturing and installation process has taken part at the KUBIK experimental building. According to the Axiomatic Design Functional Requirements and the main Design Parameters defined in the previous phase, the demonstrator puts in evidence that the solutions taken don't fulfil the Independence and Information Axioms. The current system can be considered as a Coupled Design. In order to uncouple the system, the TRIZ inventive method has been used, focused on improving loss of time in all sub-systems. The solutions defined with TRIZ methods will be implemented in this three case studies carried out by three different industrial partners. The robotic and automated degree of each case will be adapted to the specifications of each demonstrator.

This document is a review paper of the ongoing BERTIM (Building Energy renovation through Timber Prefabricated Modules) research project, which scopes an automated procedure of prefabricated timber modules for the energetic refurbishment of buildings. The Energy Refurbishment is envisaged as key strategy to reduce the energy impact of the building sector. In addition, it is necessary to enhance the use of materials with low primary energy demand from cradle to grave and carbon-footprints, as timber based building materials, which performance is suitable in terms of global warming potential, carbon footprint, resource use, pollution, solid waste and embodied energy, when considered over a building’s lifetime. In order to foster Energy Efficiency building retrofitting an urgent need for a holistic and integral building energy efficient renovation approach is required, from the data acquisition to the installation of the solutions in the building in order to reduce the renovation operations time. The adoption of prefabricated solutions for a deep building renovation, all together with the implementation of digital tools integrating the whole renovation process, will lead to reduce significantly the time in manufacturing and installation and consequently impact for users as well as get better quality in the process. In this context, BERTIM, a research and development collaborative project, develops a prefabricated solutions that provide the opportunity to renovate, improving energy performance, air quality, aesthetics, comfort, and property value at the same time, while ensuring low intrusiveness during renovation works. The development is based on timber high-energy performance prefabricated modules for energy rehabilitation to ensure important building primary energy consumption reduction through high insulation properties. They also integrate windows, insulation materials, collective HVAC systems, renewable energy systems and energy supply systems. By means of the safeguarding of the existing buildings structure and envelope and integrating the services, the work load on-site is minimised attenuating the inconvenience for the tenants, producing less dust and noise and achieving higher work productivity for the whole process and especially reducing installation time. Prefabricated modules integrate in the factory all the building components (new windows, balconies, pipes and ducts). In order to enable the integration with enough accuracy and effectiveness, a computer tool based in BIM is also being developed to implement the mass manufacturing methodology from design to manufacturing and allow a digital data flow among the involved stakeholders. The platform includes a methodology and support tools to capture a real building data (using laser scanning techniques) transferring it to a BIM-based Web3D environment and a building renovation project definition and communication with CNC manufacturing system, by means of the usage of BIM, minimising the risk of any possible pre-fabrication mistake. As a last step of the procedure, the automated and even robotic installation procedures will be considered in order to reduce time and ensure safety during the on-site installation.

Purpose: building cladding installation process is one of the most important tasks in the construction phase. This paper will focus on the development of a fast and effective method for assembly precast concrete exterior wall panel in high-rise building. The existing method can be described as inefficient, time consuming, expensive and labor intensive. There are various parameters has to take in to consideration when planning and execute the precast concrete wall panel installation task. For instance the size, orientation, weight of the panel, then the ground and weather condition of the site yet the transportation sequence of the panel all need to be carefully planned to ensure smooth operation on-site. Method: the proposed method will investigate the procedure from the following aspects; designing, logistical, assembly and management and then provide an alternative lean construction method. The proposed approach will introduce an innovative installation technology that consists of a ground level loading bay, vertical transportation system, positioning system and intergraded management system. The innovative solution requires minimal alteration of an existing constriction tower crane hence with less additional changes of on-site equipments the cost of such system will remain affordable. Results & Discussion: the proposed solution will impose a fast and effective installation method for installing precast concrete panel in highrise building. It requires further implementation and pilot project in the future to verify the effectiveness and practicality of the system under on-site operation.

The manufacture-installation of prefabricated modules for the refurbishment market needs to be lifted to a more integrated, systemized and automated level, in order to transform the existing buildings stock towards near zero energy consumption at reasonable cost. In building renovation, prefabricated modules have to be industrially customized to each building, and therefore, standard prefabrication and refurbishing approaches have to be re-conceived. In that sense, the automotive industry is a good example of combining modular products and manufacturing processes. Within the research EU-funded research project BERTIM, research institutes and companies are developing an interdisciplinary, cross-country approach for this challenge. In this research project, the goal of a dedicated work package is to ameliorate the existing holistic renovation process, by a combination an integration of robotic, automation and augmented reality technologies. Basically, the final objective is to reduce time and cost of the current process of the manufacturing and installation of 2D and 3D modules significantly (by 30% or more). For the development of this research, the Axiomatic Design method has been used, which is a matrix based method. Here, the main requirements and design parameters are expressed mathematically. The objective of applying this method is to define a scientific approach to the re-conception of the prefab modules and the manufacturing and installation processes, and therefore find an optimal solution for every decomposed requirement.

The manufacture-installation of prefabricated modules for the refurbishment market needs to be lifted to a more integrated, systemized and automated level, in order to transform the existing buildings stock towards near zero energy consumption at reasonable cost. In building renovation, prefabricated modules have to be industrially customized to each building, and therefore, standard prefabrication and refurbishing approaches have to be re-conceived. In that sense, the automotive industry is a good example of combining modular products and manufacturing processes. Within the research EU-funded research project BERTIM, research institutes and companies are developing an interdisciplinary, cross-country approach for this challenge. In this research project, the goal of a dedicated work package is to ameliorate the existing holistic renovation process, by a combination an integration of robotic, automation and augmented reality technologies. Basically, the final objective is to reduce time and cost of the current process of the manufacturing and installation of 2D and 3D modules significantly (by 30% or more). For the development of this research, the Axiomatic Design method has been used, which is a matrix based method. Here, the main requirements and design parameters are expressed mathematically. The objective of applying this method is to define a scientific approach to the re-conception of the prefab modules and the manufacturing and installation processes, and therefore find an optimal solution for every decomposed requirement.

The need for ameliorating the physical properties of existing buildings’ envelopes is growing. For that purpose, a widely used solution is to add new layers on the external face. Each layer performs a function; insulation, moisture barrier or finishing. Energy harvesting devices can be installed on too. Each of these layers don’t need to be assembled on site separately, there are already experiences with the installation of prefab components on the external face of existing facades. Those components can be accurately customized and adjusted to the geometrical irregularities of the existing building wall. Though, the installation of these prefab components is primarily based on manual tools and techniques. A robotic installing performance would facilitate the fixation of these new components on the exterior of the building. This means that the robotic tools must reach every point of the building’s facade with enough stability and accuracy. Therefore, a proper support system (also known as robot body) is needed. Those supporting bodies should host different automated tools for installing the component. Before creating a structure or body from scratch, different existing support systems have been analyzed. First, there are the traditional support systems, where the operator works using manual tools. Second, robots and automated mechanisms that work on the exterior of the building have been studied. And third, technology in other fields has been taken into account. After the results of the virtual simulation have been gathered, those are compared with the data of traditional or manual installation methods. Thus, we can see if the solution is competitive enough in terms of cost and time. Besides, it is remarked the adequacy of each body type to work in different building typologies and it is also pointed out the suitability of each support body type for installing different facade components and materials. Finally, as a conclusion, the article defines possible future research.

The topic of this article is the automation and robotization in refurbishment processes of industrial buildings. The need to mold these production spaces is quite universal. Particularly in the regions with a high industrial development and with a lack of buildable land, there is a need to convert this kind of spaces into an improved production system. The latest developments can be a useful tool for achieving a more efficient way of reforming this type of construction. On the one hand we have the digital or computerized 3D Laser Scanning (Computer Aided Measurement) that allows an accurate 3D modeling of the entire building. On the other hand, the project management using BIM (Building Information Modeling) could provide an easy design of each of the elements of the refurbishment. Finally, through the production of construction elements using robotics as jig or for CNC (Computer Numerical Control) we achieve a neat production of each element. How can be all those technologies applied in the refurbishment or expansion of industrial buildings? The research takes a first approach and analyzes industrial buildings that can be called generic or not specialized. To narrow the field of refurbishment, three major factors are defined. The first is to minimize the bill of the energy consumption of the buildings. This could be done either insulating the envelope, reducing the waste-volume to be conditioned climatically or creating facilities for energy production. The second is that the refurbishment or expansion of industrial buildings should try not to interfere on the production process that takes place in the building. In other words, the assembly of the elements in the construction site should be quick and easy, causing the least of disturbance at the workplace. Finally, the research makes an approach towards a robot integrated industrial or productive building .

Purpose This article was developed in the context of research on a construction system based on CAD-CAM-BIM and CNC (Computer Numerically Controlled) technology and it is focused on the implementation of sustainable refurbishments in historic districts. During field work in historic districts, it was established that more than 25% of the population in these areas is older than 60, and most of them have lived in the same apartment or house their whole live. The problem is that these old timberframed buildings require better equipment to fit elderly peoples’ characteristics. For instance, a better distribution of space in the home would be beneficial to the elderly. To ensure better living conditions for the aging society, comfortable and big bathrooms, corridors, and doors are necessary, instead of the narrow and cramped current spaces. Likewise, more space for the installation of technological equipment is needed to support people who are disabled. Automated homes for the elderly require machinery that take up a significant amount of space. Moreover the installation of new equipment and redistribution of space has to be done rapidly so that the process creates minimum disturbance. The construction system that is being developed gives priority to the preservation of the current timber-framed structure and masonry walls, instead of dismantling the inner structure. This way, the refurbishment works are less traumatizing and the elderly and their elderly neighbors can continue to live in their homes. Method The construction system is designed for different building contexts to demonstrate its universal applicability. Before being applied in a real situation, the first step was to ensure the refurbishment system’s suitability using virtual tools. For this purpose, a BIMbuilding simulator was used. The preliminary works focused on two different building typologies. The first typology is an apartment building (located in Bilbao) with a common staircase where properties are divided horizontally. The second typology is a terraced house located in London. In both cases, the refurbishment system was compared to traditional refurbishment processes. The parameters of comparison have been refurbishment costs, timing, and quantity of used energy. In both cases the project was personalized for a disabled aged person. Results & Discussion A proper refurbishment process grounded on CAD-CAM-BIM and CNC-technology needs to be based on detailed and exact measurements. Moreover, it is advisable to collect data more than once during the refurbishment process because the timberframed building could move some millimeters. To avoid problems due to measurement errors, the CNC-fabricated pieces should offer measurement tolerances in order to facilitate the assembly and staging process. These first steps of the project – the defining of the refurbishment system – take a long time, since all the joints must be designed in 3D. This delay in the design process will be reduced when a detailed BIM-library is set up. However, the duration of the building site process is clearly shortened and that is why how disturbance is minimized. The construction system enables a flexibility of the inner distribution and the BIMsoftware helps with the tracking or monitoring of changes in the future. If the health condition of the elderly person requires more care or supply, modifications in the home can be fixed easily.

Purpose Because of the sharply growing interest worldwide of “hard” physical-mechanical robot systems for the execution of on-site construction tasks [i.e. single-task construction robots (STCRs)], the purpose of this study is to equip development projects with a systematic design-management system model that allows to integrate the different needs and aims of stakeholders. Design/methodology/approach This paper proposes a STCR-technology management system (STCR-TMS) for the complete development cycle of STCR designs. The STCR-TMS is based on established principles from systems engineering and management and STCR-specific activities developed and tested by the authors as standalone elements in previous research work. Findings The application of the STCR-TMS revealed the practicability of the method and the underlying concepts to provide practical guidance for the development process. Additional findings indicate that the method is sufficiently generic and flexible for application to different types of robots and indifferent world regions. This research has also shown that key activities need to be addressed to increase the practicability of the STCR-TMS. Originality/value A unique characteristic of this method is the evolution with each utilization cycle. In addition, individual elements are interchangeable and can be adapted based on external circumstances. These properties allow the TMS to be applied to other fields in construction robotics. With the progression of the verification and validation of the method, know-how and certain elements can be fed into standardization activities (e.g. establishing a management system standard).