Worker-in-the-Loop Cyber-Physical System for Safe Human-Robot Collaboration in Construction

Yizhi Liu, Mahmoud Habibnezhad, Houtan Jebelli, Vishal Monga

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Efficient implementation of robots in dynamic, human-populated construction sites will require the assistance and supervision of workers. Several hazards exist when workers are within the robots' working envelope, including high mental stress induced by the robot as well as the risk of physical collision. To mitigate these risks, this study proposes a cyber-physical system (CPS) for safe, worker-centered human-robot collaboration (HRC). The physical components of the CPS include a wearable biosensor for assessing workers' mental conditions and a video camera for evaluating the risk of collision accidents. The cyber component incorporates a machine learning layer that employs a kernelized logistic regression to translate worker bio-signals into distinct physiological states. Simultaneously, the system monitors the relative distance between workers and robots by applying computer vision techniques (i.e., video frame differencing, dilation, and contour detection). To test the feasibility of the proposed CPS, six subjects were asked to perform a series of bricklaying tasks jointly with a vehicle robot with different risks of collision (various distances from the robot) and at different levels of cognitive load (various tasks' complexity). The findings revealed that the proposed CPS allows the co-bot to adjust its speed relative to the subject's physiological states with 93.70% accuracy. In addition, the proposed system shows promising performance in collision avoidance with the accurate monitoring of position between robots and humans. The results unfold the feasibility of the proposed CPS in enhancing safe and intelligent HRC in construction under the trend of Industry 4.0.

Original languageEnglish (US)
Title of host publicationComputing in Civil Engineering 2021 - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2021
EditorsR. Raymond A. Issa
PublisherAmerican Society of Civil Engineers (ASCE)
Pages1075-1083
Number of pages9
ISBN (Electronic)9780784483893
DOIs
StatePublished - 2021
Event2021 International Conference on Computing in Civil Engineering, I3CE 2021 - Orlando, United States
Duration: Sep 12 2021Sep 14 2021

Publication series

NameComputing in Civil Engineering 2021 - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2021

Conference

Conference2021 International Conference on Computing in Civil Engineering, I3CE 2021
Country/TerritoryUnited States
CityOrlando
Period9/12/219/14/21

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Worker-in-the-Loop Cyber-Physical System for Safe Human-Robot Collaboration in Construction'. Together they form a unique fingerprint.

Cite this