TY - JOUR

T1 - Graphical programming and the development of construction robots.

AU - Seward, Derek W.

AU - Zeid, Khaled

N1 - The paper proposes a systematic development process for complex robots based on the use of off-the-shelf graphical software tools. The development is based on Lancaster's contribution to 'Starlifter', a unique heavy manipulator designed for use in construction. The work was done in collaboration with a commercial company, Construction Robotics Limited, (who as a result of the work and this paper obtained a DTI feasibility award for further development - SIC code 45.25.) (Contact: John Rhiel, jr@kingstar.co.uk). RAE_import_type : Journal article RAE_uoa_type : General Engineering

PY - 2004/1

Y1 - 2004/1

N2 - Complexity, multidisciplinarity, and algorithmic inherency are characteristics of construction robotic systems. Controlling the development process of such systems requires the adoption of a development model based on Systems Engineering principles. The software-development process is an important aspect of the system, which requires a development environment that can cope with this complexity. Using traditional programming languages (textual) requires highly trained programmers for this purpose, which involves high cost and long development time. In the present work Graphical Programming (iconic) is used as the software development environment because it is highly modular and allows concurrent development, both of which save on time and cost. It also enables nonexpert programmers to produce software capable of coping with the system complexity. A detailed case study of the software development process for an existing tool manipulation robot known as Starlifter is presented. Use of the LabVIEW package is demonstrated for both onboard system control and off-line project management.

AB - Complexity, multidisciplinarity, and algorithmic inherency are characteristics of construction robotic systems. Controlling the development process of such systems requires the adoption of a development model based on Systems Engineering principles. The software-development process is an important aspect of the system, which requires a development environment that can cope with this complexity. Using traditional programming languages (textual) requires highly trained programmers for this purpose, which involves high cost and long development time. In the present work Graphical Programming (iconic) is used as the software development environment because it is highly modular and allows concurrent development, both of which save on time and cost. It also enables nonexpert programmers to produce software capable of coping with the system complexity. A detailed case study of the software development process for an existing tool manipulation robot known as Starlifter is presented. Use of the LabVIEW package is demonstrated for both onboard system control and off-line project management.

U2 - 10.1111/j.1467-8667.2004.00338.x

DO - 10.1111/j.1467-8667.2004.00338.x

M3 - Journal article

VL - 19

SP - 64

EP - 80

JO - Computer-Aided Civil and Infrastructure Engineering

JF - Computer-Aided Civil and Infrastructure Engineering

SN - 1093-9687

IS - 1

ER -