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Related Concept Videos

Stone Masonry01:29

Stone Masonry

110
Stone masonry is a construction technique that uses individual stones to build structures and can be categorized into two main types: rubble and ashlar. Rubble masonry uses uneven, naturally shaped stones such as river rocks or fragments from quarries. This method often requires the mason to select and possibly shape each stone to fit the designated space, ensuring a proper build, even with irregular stone sizes and shapes. Ashlar masonry, on the other hand, employs uniformly cut stones that...
110
Quarrying of Stone01:15

Quarrying of Stone

117
Quarrying is the process of extracting stone from a quarry, where specialized techniques are employed to remove large blocks of stone safely and efficiently. This process can involve controlled explosions or more precision-oriented methods such as cutting and drilling.
One common method involves using a diamond belt saw to cut large blocks from the quarry face. These blocks can be about 50 feet long and 12 feet high. After the initial vertical cut, drilling is performed at the base of the...
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Manufacture of Concrete Masonry Units01:27

Manufacture of Concrete Masonry Units

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The process of manufacturing concrete masonry units begins by mixing stiff concrete composed of Portland cement, aggregates, and water. This mixture is then poured into metal molds. To ensure the concrete settles uniformly and to avoid separation of its components, the mixture in the molds is subjected to vibration. Shortly after, the still-wet blocks are removed from the molds and placed on racks.
These wet blocks are then transported for curing, which can occur in one of two environments: a...
103
Brick Masonry01:12

Brick Masonry

109
Brick masonry uses bricks as the building blocks and involves building walls from individual bricks laid in mortar. The basic building block of brick masonry is the wythe, a vertical layer of bricks with a thickness of one brick. Within a wythe, bricks can be laid in various courses or patterns, with the most common being the stretcher course, where bricks are laid with their long edge horizontal and face parallel to the wall.
For thicker walls, multiple wythes are bonded together using...
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Laying Concrete Masonry01:16

Laying Concrete Masonry

101
Constructing a concrete masonry wall involves a series of steps designed to ensure durability, stability, and alignment. The construction starts with preparing the base, which includes cleaning the area where the wall will be erected. The next step involves spreading mortar where the first row of concrete blocks will be laid, typically starting at a corner section to help define the wall's boundaries.
Mortar application focuses on the face shells of the blocks, the sides that face outward,...
101
Types of Building Stone01:30

Types of Building Stone

106
Building stones, essential materials for construction, are extracted from natural rock deposits and processed into specific forms and dimensions suitable for various building applications. These stones are broadly classified into three types based on their geological formation: igneous, sedimentary, and metamorphic.
Igneous rocks are formed from the solidification of magma or lava. An example is granite, known for its durability and resistance to weathering, making it ideal for parts of...
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A framework for robotic excavation and dry stone construction using on-site materials.

Ryan Luke Johns1,2, Martin Wermelinger1, Ruben Mascaro3,4

  • 1Robotic Systems Lab, ETH Zurich, Zurich, Switzerland.

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This study introduces a robotic construction system for building walls and landscapes using local stones. The automated process efficiently utilizes in situ resources, offering a sustainable and carbon-reducing building alternative.

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Area of Science:

  • Robotics and Automation
  • Construction Engineering
  • Sustainable Materials

Background:

  • Traditional construction relies on resource-intensive processes and transportation.
  • In situ resource utilization (ISRU) offers a sustainable alternative for construction.
  • Robotic systems can enhance efficiency and precision in building processes.

Purpose of the Study:

  • To develop and demonstrate a robotic construction pipeline for building with heterogeneous local stone materials.
  • To enable autonomous planning and execution of freeform stone wall and landscape construction.
  • To showcase the potential of robotic excavators for in situ resource utilization in construction.

Main Methods:

  • A robotic excavator equipped with a shovel and gripper was utilized.
  • The system employs machine learning for stone detection, segmentation, and 3D scanning.
  • A geometric planning algorithm with constrained registration and signed-distance-field classification was developed for stone placement.
  • Autonomous terrain-shaping capabilities were integrated.

Main Results:

  • Successful construction of a freestanding stone wall (10m x 1.7m x 4m).
  • Demonstrated a permanent retaining wall (65.5m x 1.8m x 6m) integrated with robotically contoured terraces (665 sqm).
  • Validated the system's ability to handle highly irregular and heterogeneous local materials.

Conclusions:

  • Robotic systems can effectively perform complex manipulation tasks for dry stone construction.
  • Autonomous heavy construction vehicles offer adaptive building potential with sustainable, locally sourced materials.
  • The developed pipeline significantly reduces the need for material transportation and preprocessing, contributing to carbon reduction.