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Message to Editor,

Thank you very much for your email, The authors read the reviewers' comments thoroughly and did their best
to reply to each comment. Kindly note that the changes in the manuscript are highlighted in light green _____.

Editor’s comments to the authors

- The changes made to the manuscript during revision must be highlighted/tracked for the benefit of the
editors and reviewers who may then clearly note the updates in the manuscript. ]

Author’s reply:
Thank you very much for your comment, we submitted “iFOBOT2_Anonymous_Highlighted.doc” file
highlighting all the new changes as recommended.

- The keywords are not included on the first page of the article.

Author’s reply:

We included the Keywords on the first page of the manuscript “iFOBOT2_Anonymous.doc” file.

- You are not currently using the correct reference style i.e., Vancouver style required by the journal. Please see
the manuscript submission guidelines for more information on the journal’s referencing style. Kindly change
the citations of the references to superscript numbers.

Author’s reply:
Thank you for the notification. The authors revised the manuscript reference style and modified it according to
the journal’s author guidelines.

Reviewer(s)' Comments to Author:

Reviewer: 1

Comments to the Author

This paper introduces the iFOBOT software system which is applicated on the construction site. Furthermore,
the research integrates environment and robot manufacturing process on the construction site. The paper
explains the implementation principle of the iFOBOT system, include four parts: 1) the first part is the iFOBOT
environment design, which is mainly used to conduct thermal experiments on the surrounding building walls to
detect the most suitable perforation location; 2) the second part is the iFOBOT design, which is mainly used to
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determine the parameters, perforation location, distance, etc., and transmit them to the mechanical arm
module; 3) the third part, the iFOBOT system construction, is responsible for controlling the mechanical arm to
complete the drilling process; 4) the fourth part named iFOBOT monitor, which models the whole operation
process through 3D scanning and point cloud data.

In addition, the office staff can utilize VR technology to monitor drilling process by robot simultaneously. So,
many charts are used to clearly depict the relationship between each module in the paper. There are some
statements unclear and must to be modification. Details are as follow:

Author’s reply:

Thank you very much for the academic summary of the manuscript. The authors considered each comment and
tried their best to address it. Kindly note that the changes are highlighted in light green color code _____.

the relationship between part i, j and l in Figure 4 is vague,

Author’s reply:

Thank you for this comment, The authors explained each step of iFOBOT-monitor and clarified the connections
between the mentioned parts by the reviewer.

Refer to Methodology/C.iFOBOT-monitor/paragraph 4:
Tarsier (g) is then employed for point cloud management, and Speckle (h) handles real-time broadcasting of the collected data.
Additionally, a 3D PARAMETRIC ENVIRONMENT (i) is established using Grasshopper, a graphical algorithm editor. Within this
environment, engineers have the capability to remotely inspect the construction site from their office, facilitated by the Mindesk library
integrated into Grasshopper (i). Rhinoceros (j), a 3D Nurbs modeling software, plays a pivotal role by converting the point cloud data
from (i) into 3D geometry and subsequently feeds it into (i) for viewing in virtual reality. The building information modeling (BIM)
model, represented in (k), serves as a crucial reference point in the construction office.

Transitioning to the construction office (Location 2), the workflow continues with Step 3, which is centered on inspection through the
utilization of virtual reality. In this phase, Mindesk (l), a real-time VR platform within Grasshopper, is employed in conjunction with an
Oculus Rift S VR headset (m). Step 3 enables engineers to perform progress checks, conduct quality assessments, add pertinent notes,
view project schedules, and make direct comparisons with the 3D BIM model.

plus the workflow of the pink line drawn in Figure 4 is not clear.

Author’s reply:

Thank you for this highlight. The authors reviewed Figure 4 and clearly identified each one of the [Arrow
indicates data passing; Arrow indicates geometric feedback; Arrow indicates analysis feedback].

Kindly refer to Methodology/C.iFOBOT-monitor/Figure 4

In order to let audience to better understand your paper, The Figure 7 need to add some presentation, for
example, control robot path tracking, the data from construction on-site processing method,

Author’s reply:
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Thank you for your comment, the authors added a necessary description to Figure 7 and added it to the
manuscript Case study validating iFOBOT-monitor.

and the relationship between the two diagrams in the construction office, etc.

Author’s reply:
The authors added a description for each diagram in Figure 7/construciton office: Digital Model
(preview of the robot arm movement simulation in the computer); As-Built model data overlap
(synchronize point cloud captured robot arm in a digital and real environment).

In experiment, some contents on VR and AR parts within the whole modeling process are difficult to
comprehend by audience in Figure 4 and Figure 7.

Author’s reply:
Thank you for this comment, The authors revised both figures and found it necessary to add figure 8 with a
focus on the AR/VR work process description to clarify the point raised by the reviewer.

Kindly refer to the Case study validating iFOBOT-monitor Paragraph 3

In the iFOBOT-monitor module's "Inspect" phase, virtual reality functionalities are facilitated through
the Mindesk library, enabling remote inspection by engineers situated in the office. Through this VR
interface, engineers possess the capability to: visualize the 3D progress model in a mesh format;
conduct detailed examinations of the model; superimpose and juxtapose it with the BIM model;
annotate the model with notes; highlight specific segments; and perform measurements, among other
available features. Subsequently, the inspector transmits the revised data back to the construction site.
In the ensuing "Feedback" stage, the worker leverages augmented reality technology managed by the
Fologram library within the iFOBOT-monitor module. Here, the worker can: employ QR codes to
superimpose the digital model onto the actual wall; access comments provided by the inspector; and
explore the BIM digital model through layered visualization. The amalgamation of mixed reality
technologies enhances visual communication between the office and the construction site throughout
the construction process as shown in Figure 8.
in addition: Figure 8.

Reviewer: 2

Comments to the Author

The topic is interesting but current manuscript is not well-organized, the format is mess to affect the
presentation with lots of half figure and lack of the result.
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Author’s reply:
Thank you for your comment, The authors considered the reviewer’s comment and revised the format of the
manuscript carefully, the figures and fixed, and the results are stated clearly at the end of the case study and
discussion section.