Project name: ENergy aware BIM Cloud Platform in a COst-effective Building REnovation Context - ENCORE
Project acronym: ENCORE
Dates: 01.01.2019 - 30.06.2022
Total budget: 5.562.382,50 EUR
Funding: EC Horizon 2020
Grant Agreement Number: 820434
Website: encorebim.eu
The main objective of ENCORE is to increase the share of renovated stock in Europe and worldwide by providing effective and affordable BIM tools that cover the whole renovation life-cycle (from data collection to project execution, and commissioning/delivery). ENCORE will also provide mechanisms for the dwellers or owners to validate the project, either on-site with Augmented/Mixed Reality solutions, or on-line. Once the project is validated, ENCORE will automatically generate the work planning for the construction works, and once finalized, ENCORE will provide continuous monitoring of the energy consumption to ensure the non-degradation of the renovation works.
LARICS main task in ENCORE is to develop Data Acquisition Service (DAS) as a part of BIM based Support Tools. DAS is considered as an External System that belongs to the Data Sources layer within the ENCORE architecture. As a part of the Data Sources layer, UAVs should autonomously collect point-clouds and photographs that will be uploaded into the Data Capture layer for off-line processing in the ENCORE Engine.
DAS validation in Gazebo simulator has been successfuly completed, followed by experiments in real environment at the University campus Borongaj.
Upon completion of tasks related to validation of developed DAS components in a simulator (Fig. 1), we sucessfully executed experiments related to autonomous data collection with a single vehicle.
Gazebo simulator was used to test DAS functionality in the process of autonomous collection of images by three UAVs simultaneously.
The trajectory planning algorithm designs a trajectory in a way that UAV is always at the specified distance from the building. As input, the algorithm receives GPS coordinates (WGS84) of the building corners, i.e. the points that can be linearly interpolated to get the shape of the building. The idea behind the algorithm is the Huygens' principle. When interpolated, each point of the building is the source of a circular wave, so we can imagine a little circle of specified radius from each interpolated point of the building and an outer envelope of those circles is used as a trajectory.
Experiments in a real environment (Fig. 2) have been done by autonomous flight of a single UAV (experiments with multiple UAVs are planned for mid of 2021). All software moduls have been validated and expected functioning have been confirmed.