| Project Reference: | PRP/048/24LI |
| Project Title: | Hybrid Pose Adjustment (HyPA) Robot for Assembly Process in Modular Integrated Construction (MiC) |
| Hosting Institution: | The University of Hong Kong (HKU) |
| Abstract: | Impacts & Benefits: This project will enhance safety and reduce the labor used in the modular integrated construction (MiC) assembly process. Currently, it requires 5-7 workers operating at height, under large-scale and heavy modules, or at blind spots with elevated risks of collision and falling, particularly during extreme weather conditions. In addition, this project will improve the precise control of MiC modules for efficient and quality-assured installation. The current assembly process relies on crane operators’ mechanical operations in cooperation with installation workers’ assistance by manually pulling and dragging the attached rope, which struggles with collaborative tasks, e.g., module alignment, positioning, balanced lifting, and high-precision connections. Research Aim: To design and develop a hybrid pose adjustment (HyPA) robot for achieving safe, quality-assured, and productive assembly of large-scale and heavy modules under complex construction environments in Hong Kong and other parts of the world. Key Objectives with Innovations: (1) To design and configure optimal HyPA robot through modeling MiC assembly process and HyPA behavior mechanism, analyzing motion space of crane-HyPA-environment, configuring HyPA topology, developing HyPA servo system; (2) To develop novel collaborative control methods and precision compensation mechanisms with optimal sensor network for HyPA; (3) To develop multi-sensing-based positioning and alignment methods with LiDAR and multi-vision camera; (4) To develop the engineering prototype with evaluation method, experimental platforms, and pilot tests for maximizing its impacts. 4. |
| Project Coordinator: | Prof Xiao LI |
| Approved Funding Amount: | HK$ 4.77M |
| Project Period: | 1 Dec 2024 - 30 Nov 2026 |
