A Digital Framework for Fragmented Modern Tile Wall Assembly System

This study proposes an innovative system for the automated assembly of Fragmented modern tiles (FMT) walls, which integrates intelligent recycling techniques with robotic technologies. This research creates a comprehensive dataset to extract geometric information from broken tiles and applies a multi-objective optimization algorithm (NSGA-II) to maximize waste utilization and optimize tile arrangements. Two UR10E robot arms collaborate to assemble the tiles and extrude cement, which works simultaneously without colliding with each other. This method improves the speed of construction and prevents cement from drying out due to long exposure to air during each layer assembly of the FMT wall. Experimental results demonstrate significant improvements in utilization rates and reducing gaps between tiles with irregular shapes. Utilization rate achieves 100%. The successful construction of the FMT wall consisting of six layers of tiles and cement confirms the feasibility of the workflow from algorithm-based tile matching to dual-robot collaborative construction for sustainable construction practices. This research contributes to advancing waste material utilization in building practices, offering a scientifically grounded approach to reduce environmental impact and improve the sustainability of construction methodologies.