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- Volume 1
KEYNOTE SPEECHE
21ST CENTURY DEVELOPED BY ROBOTS
Ichiro Kato
Waseda University (JAPAN)
HIGHPAYOFF AREAS FOR AUTOMATION APPLICATIONS
Richard L. Tucker
Construction Industry Institute (USA) 9
ISSUES IN THE DEVELOPMENT OF A BUILDING ROBOT
Abraham Warszawski
Technion-Israel Institute of Technology (ISRAEL) 17
PANEL DISCUSSION
CURRENT STATUS OF THE DEVELOPMENT AND IMPLEMENTATION OF CONSTRUCTION ROBOTS IN THE FEDERAL REPUBLIC OF GERMANY
Martin-Christoph Wanner, IPA-Stuttgart (F.R.GERMANY) 27
THE CURRENT STATUS OF INDUSTRIALIZED CONSTRUCTION AND CONSTRUCTION ROBOTICS IN FINLAND
Lauri Koskela, Technical Research Centre of Finland (FINLAND) 31
RESEARCH IN AUTOMTAION OF BUILDING IN ISRAEL
Abraham Warszawski, Technion-lsrael Institute of Technology (ISRAEL) 35
THE SURROUNDING OF CONSTRUCTION INDUSTRY AND PROBLEMS OF AUTOMATIZATION AND ROBOTIZATION IN CONSTRUCTION OF JAPAN
Shigeyuki Ohbayashi, Science University of Tokyo (JAPAN) 39
ROBOTS IN THE SWEDISH CONSTRUCTION INDUSTRY
Hans G.Rahm, The Royal Institute of Technology (SWEDEN) 47
INDUSTRIAL ROBOTS IN THE UK - A REVIEW
M M Cusack, Bristol Polytechnic (UK) 51
SPECIAL LECTUBES
DEVELOPMENT OF ADVANCED SYSTEM FOR CONSTRUCTION TECHNOLOGIES WITH PROPER USE OF ELECTRONICS
Kenji Cho Public Works Research Institute, Ministry of Construction (JAPAN) 57
ADMINISTRATIVE MEASURES TO TAKE IN ADVANCEMENT OF ELECTRONICS-ORIENTED BUILDING CONSTR~CTION TECHNOLOGY
Tatsuo Terai Building Research Institute, Ministry of Cpnstruction (Japan) 65
ADVANCED ROBOT TECHNOLOGY PROJECT IN JAPAN '-'''
Yasushi Okada
Agency of Industrial Science and Technology, M.I.T.I. (JAPAN) 71
SPACE ROBOTICS ' ' ' ' - -'
Tsutomu Iwata
National Space Development Agency of Japan'(JAPAN) 81
RESEARCH'AND DEVELOPMENT OF ROBOT FOR REACTOR DISMANTLEMENT - CURRENT STATUS AND PERSPECTIVE OF DEVELOPMENT OF ROBOT THROUGH JPDR DECOMMISSIONING PROGRAM
M. Ishikawa
Japan Atomic Energy Research Institute (JAPAN) 85
Session l-A
DESIGN FOR ROBOTIZED CONSTRUCTION KNOWLEDGE BASE OF COMPONENTS AND CONNECTIONS FOR A CAD/CAM SYSTEM'
Claude Bohatier, Flora Cagnasso, Brigitte Dubois,
& Marie-Claude Thomas
- Lisan Universite de Nice-CNRS'(FRANCE) 95
ELEMENTS FOR SPATIAL REASONING IN CONSTRUCTION
Christian Giraud
IIRIAM (FRANCE) 105
GEOMETRIC REASONING IN COMPUTER INTEGRATED BUILDING CONSTRUCTION
Robert F. Woodbury, Steven J. Fenves, Nelson C. Baker,
Richard W. Quadrel & Clauss B. Strauch
Carnegie Mellon University (USA) 115
BUILDING DESIGN FOR ROBOTIC ASSEMBLY
C.F. Earl & M.M. Cusack
Bristol Polytechnic (UK) 125
ROBOT-ORIENTED DESIGN
Thomas-Alexander Bock
University of Tokyo (JAPAN) 135
Session l-B NEEDS ~ND F~ASIBILITIES OF ROBOTICS IN CONST~UCTION
NEEDS FOR ROBOTS AND ADVANCED MACHINES AT CONSTRUCTION SITE. SOCIAL ASPECTS OF ROBOTICS.
Franz J. Anliker
Fa. Anliker GmbH & Co. KG (F.R.GERMANY) 145
THE CONSTRUCTION OF MAN-MACHINE INTERFACE FOR REMOTE CONTROL ROBOT
Noboru Sugimoto & Hiroyasu Ikeda,
Research Institute of Industrial Safety,
Ministry of Labour (JAPAN) 151
AUTOMATION AND ROBOTICS IN CONSTRUCTION: A FEASIBILITY STUDY
Roozbeh Kangari, Georgia Institute of Technology, Atlanta Daniel W. Halpin, Purdue University (USA) 161
MEN OR MACHINES: THINKING OR DQING
Sidney Newton
University of Technology, Sydney (Australia) 169
CURRENT STATE OF AUTOMATION AND ROBOTICS IN CONSTRUCTION
Shankar Sundareswaran & David Arditi
Illinois Institute of Technology (USA) 175
Session 2-A ROBOTICS IN CONSTRUCTION WORR (1)
CONSTRUCTABILITY FOR SEMI-AUTOMATED PIPING CONSTRUCTION: RESEARCH PROGRESS
J.T. O' Connor & Deborah J. Fisher The University of Texas at Austin (USA) 185
CONCEPTION OF IDEALIZED NEW CONSTRUCTION ROBOT IN CIVIL ENGINEERING WORK
Noboru Okazaki
The Zenitaka Corporation (JAPAN) 195
BUILDING MANUFACTURABILITY AND ROBOTICS
Omer Akin
Carnegie Mellon University (USA) 203
TECHNOLOGIES TO BE DEVELOPED FOR SUCCESSFUL INTRODUCTION OF ROBOTS INTO BUILDING CONSTRUCTION INDUSTRY
Yukio Hasegawa
Waseda University (JAPAN) 213
Se~aion 2-B RESEARCH AND STATUS IN CONSTRUCTION ROBOTS ADAPTING BUILDING TECHNOLOGY TO FACILITATE ROBOTIZATION
Brian Atkin
University of Reading (UK) 221
FEASIBILITY AND POTENTIAL IMPLEMENTATION OF ROBOTS IN CANADIAN BUILDING CONSTRUCTION
Osama Moselhi
Concordia University (CANADA) 229
THE EXISTING STATE AND FUTURE PROBLEMS OF A ROBOTIZATION IN CONSTRUCTION
Shigeyuki Ohbayashi
Science University of Tokyo (JAPAN) 239
SYSTEM PROPOSAL OF AN AUTOMATED VEHICLE CONSIDERING ITS USE IN CONSTRUCTION SITES
Yoshikuni Okawa
Osaka University (JAPAN) 249
Session 3-A ROBOTICS IN CONSTRUCTION WOR~ (2)
WORK STUDY FOR ROBOTIZATION OF CONSTRUCTION PROCESS
N. Miura, Kokushikan University
Y. Tamura, Y. Hasegawa & M. Isozaka, Waseda University (JAPAN) 259
EDUCATING A WORKFORCE FOR ARTIFICIAL INTELLIGENCE AND ROBOTICS IN CONSTRUCTION
Robert W. Dorsey
University of Cincinnati (USA) 269
RESEARCH & DEVELOPMENT ON ROBOTIC SYSTEMS FOR ASSEMBLY AND FINISHING WORK
Takatoshi Ueno, Yasuo Kajioka, Hitoshi Sato, Junichiro Maeda
& Nobuhiro Okuyama
Shimizu Corporation (JAPAN) 279
STUDY ON A ROBOTIC SYSTEM FOR PAVEMENT CUTTING WORK
Tomoki Kobayashi, The Tokyo Electric Power Company Inc.
Syoji Honda, Kandenko Company Ltd.
Yuichi Tsukahara, Takatoshi Ueno, Hitoshi Sato, Tetsuji Yoshida &
Ryuichi Tsutsui
Shimizu Corporation (JAPAN) 289
POTENTIAL APPLICATION OF ROBOTICS IN HIGHWAY CONSTRUCTION
Zohar Herbsman & Ralph D. Ellis, Jr.
University of Florida (USA) 299
THE MANIPULATOR TO TURNS RAW LAND INTO BUILDING LOTS
Sumio Fukuda
Tokyu Construction Co., LTD (JAPAN) 309
Ses~ion 3-B MOBILE ROBOTS AND NAVIGATION SYSTENS (1)
A POSITION AND HEADING MEASUREMENT SYSTEM FOR ROBOTS - LASER NAVIGATOR
Kenichi Nishide, Moritomo Hanawa & Norio Hori
Tokyo Aircraft Instrument Co., Ltd (JAPAN) 317
A SYSTEM FOR MULTIPLE SOUND SOURCE LOCALIZATION
Jie Huang, Noboru Onishi & Noboru Sugie
Nagoya University (Japan) 325
A POSITIONING SYSTEM FOR MOBILE ROBOTS IN CONSTRUCTION APPLICATIONS ("LASER POSITIONER")
Tatsuyuki Ochi & Kouhei Mio
Kajima Corporation (JAPAN) 333
ISSUES IN DOMAIN MODELING OF CONSTRUCTED FACILITIES
Walid T. Keirouz, Daniel R. Rehak, & Irving J. Oppenheim
Carnegie Mellon University (USA) 341
STRUCTURATION ENVIRONMENT AND GUIDANCE OF A MOBILE ROBOT FOR CONSTRUCTION APPLICATIONS
Jean-Luc Salagnac & Sophie Siino
Centre Scientifique et Technique du B3timent (FRANCE) 351
Session 3-C CONSTKUCTION ~NAG~LNT SYST~MS
CONSTRUCTION BAR CODE STANDARDS
George Stukhart & Stephen L. Pearce
Texas A&M University (USA) 361
BUILDING AN ENGINEERING DATABASE AND INTEGRATED INFORMATION SYSTEMS IN CONSTRUCTION INDUSTRY
Toshio Ishii, Yuzo Kato, Osamu Morimoto & Masayuki Amou
Takenaka Corporation (JAPAN) 371
FLEXIBLE CONSTRUCTION SYSTEMS (FCS)
Leonhard E. Bernold
University of Maryland (USA) 381
SITE LAYOUT AND RESOURCE SCHEDULING - AN APPROACH TO MODELLING MOVEMENT AROUND SITES
M.J. Mawdesley, G. Cullingford & A. Haddadi
University of Nottingham (UK) 391
Session 4-A ROBOTICS IN CONSTRUCTION ~ORK (3)
SOFFITO: A MOBILE ROBOT FOR FINISHING WORKS IN BUILDINGS
Jean.-Luc Salaguac & Sophie Siino,CSTB
Georges Gallais & Eric Chevalaz
Institut International de Robotique et d'Intelligence
Artificielle de Marseille (FRANCE) 401
PAINTING ROBOT FOR EXTERIOR WALLS OF HIGH RISE BUILDINGS
Masahiro Takeno, Akira Matsumura, Shigeru Sakamoto,
Yoshihito Sakai & Atsushi Shirato
Taisei Corporation (JAPAN) 411
PAINTING AND FINISHING ROBOT FOR WALL SURFACE
Seigo Tokioka, Katsuya Nishikata, Ryuichi Sekiguchi,
Masafumi Wada, Hiroichi Inagaki & Sachio Sakai
Kumagai-gumi Corporatin (JAPAN) 421
STUDY ON ELEMENTS TECHNOLOGY FOR AUTOMATION OF EXTERIOR WALL SEALING WORK
Teruo Yamamiya & Masahito Mori, Taisei Corporation
Shinji Yoshida, Hitachi Ltd (JAPAN) 431
A ROBOTIZED WALL ERECTION SYSTEM WITH SOILD COMPONENTS
Yuichiro Kodama, Yutaka Yamazaki & Hiroto Kato
Building Research Institute, Ministry of Construction
Yosuke Iguchi & Hideo Naoi
Science University of Tokyo (JAPAN) 441
Session 4-B ~O~ILE ROBOTS AND NAVIGATION SYST~S (2)
FUNDAMENTAL STUDY ON A WALL-CLIMBING ROBOT
Kiichi Ikeda & Taketoshi Nozaki, AIST, MITI
Saburo Shimada, Chemical Housing Co., Ltd.
Yoshio Tajima, Yokohama Rubber Co.~ Ltd. (JAPAN) 44
UNMANNED SYSTEM FOR HEAVY CONSTRUCTION EQUIPMENT
Kiyoshi Sato, Fujita Corporation
Tsuneo Hisataka, Shin Caterpillar Mitsubishi Ltd. (JAPAN) 45
AUTONOMOUS LAND VEHICLE USING MILLIMETER WAVE SENSING SYSTEMS
Hiroshi Yamazaki & Naoki Okamoto, Yamazaki Construction Co., Ltd.
Sumihiro Yamazaki, Nikko Electric Industry Co., Ltd.
Tsuneo Hisatake, Shin Caterpillar Mitsubishi Ltd. (JAPAN) 467
DEVELOPMENT AND APPLICATION OF CLIMBING ROBOT JACK SYSTEM
Wataru Isomura, Shoichi Morimoto & Kiyoshi Sato
Fujita Corporation (JAPAN) 477
FROG FIRE-FIGHTING ROBOT
Yu-Xuan Li, Qing-Kuan Kung, Ming-Yu Yin & Shou-Xin Zu
Dalian Light Industry Institute (CHINA) 483
Se~sion 4-C I~PI~IIT SllSTEtlS IN CONSTRUCTION (1)
CONCRETE OPERATION DECISION SUPPORT SYSTEM (CODSS)
Fabian C. Hadipriono, Robert L. Sierakowski & Charles C. S. Lin
The Ohio State University (USA) 491
CONSTRUCTION NETWORK GENERATION WITH APPROXIMATE REASONING
C.William Ibbs, T.C. Chang & Diego Echeverry
University of California (USA) 501
CONSTRUCTION PLANEX: A KNOWLEDGE INTENSIVE PLANNER FOR CONSTRUCTION PROJECTS
Carlos Zozaya-Gorostiza,~ Chris Hendrickson, Daniel R. Rehak &
Peter Lim
Carnegie Mellon University (USA) 511
AN EXPERT SYSTEM FOR CONSTRUCTION PLANNING MANAGEMENT OF KNOWLEDGE AND INFERENCES
Naruo Kano
Waseda University (JAPAN) 521
Session 5-A ROBOTICS IN CONCRl~TL PLACING ~ND FINISIIING
AN ERGONOMIC ANALYSIS FRAMEWORK FOR CONSTRUCTION ROBOT PERFORMANCE REQUIREMENTS
Miroslaw J. Skibniewski & Jeffrey S. Russell
Purdue University (USA) 531
DEVELOPMENT OF THE HORIZONTAL DISTRIBUTOR FOR CONCRETE PLACING
Hayao Aoyagi & Yasushi Shibata
Takenaka Corporation (JAPAN) 541
THE DEVELOPMENT AND PRACTICE TEST OF THE "MARK" II" MOBILE ROBOT FOR CONCRETE FLOOR SLAB FINISHING <~
Kazuhiko Arai, Bunzo Yamada, Makoto Saito & Kouichi Banno
Kajima Corporation (JAPAN) 551
DEVELOPMENT AND THE RESULT OF PRACTICAL WORKS OF CONCRETE FLOOR FINISHING ROBOT
Kimio Kikuchi, Shuzo Furuta & Takayoshi Imai
Takenaka Corporation (JAPAN) 561
Session 5-B CONTROL SYSTEIIS 17OR ROBOTS (1)
REMOTELY CONTROLLED MACHINE FOR BIOLOGICAL SHIELD CONCRETE DISMANTLEMENT
Hisashi Nakamura, Hidenori Gohda & Mitsuo Yokota
Japan Atomic Energy Research Institute (JAPAN) 571
BIPEDAL WALKING ROBOT CAPABLE OF MOVING ON A VERTICAL WALL FOR INSPECTION USE
Akira Nishi
Miyazaki University (JAPAN) 581
NAVIGATION/POSITIONING CONTROL OF MOBILE ROBOTS FOR CONSTRUCTION
Takashi Shiokawa, Yukio Yamashita & Kozaburo Tsuchiya
Ohbayashi Corporation (JAPAN) 589
Session 5-C X-PE~T SYSTE~S IN CONSTKUCTION (2)
THE EFFECTS OF CONSTRUCTION KNOWLEDGE ON THE AUTOMATION OF PRELIMINARY BUILDING DESIGN
Guillermo F. Salazar & David C. Brown
Worcester Polytechnic Institute (USA) 599
OBJECT ORIENTED APPROACH APPLIED TO CONSTRUCTION
Marc Bourdeau
CSTB (FRANCE) 609
COMPONENT SPECIFIC EXPERT SYSTEM AND ROBOTIC APPLICATIONS FOR BUILDING - TOTAL LIFE CYCLE INTEGRATION THROUGH KNOWLEDGE BASES -
Timothy Cornick
University of Reading (UK) 619
Ses~ion 6-A ROBOTICS FOR ~ATERIAL MANDLING
A MULTI-LINK MULTI-PURPOSE ADVANCED MANIPULATOR WITH A LARGE HANDLING HEMISPHERE FOR OUT-DOOR APPLICATIONS
Dieter Smidt, Christian Blume & Matthias Wadle
Kernforschungszentrum Karlsruhe GmbH (F.R. GERMANY) 625
THE DEVELOPMENT AND SOME APPLICATIONS OF THE HEAD BALANCED MANIPULATOR FOR THE CONSTRUCTION INDUSTRY
Kazuhiko Ohtubo, Hitoshi Tomaru & Shu Takeda
Komatsu Limited (JAPAN) 635
AN INTEGRATED APPROACH TO THE DEVELOPMENT OF CONSTRUCTION SITE CRANE OPERATIONS
Martti Elsila, Lauri Koskela, Heikki Lempinen, Sakari Pieska& Esko Salo
VTT (FINLAND) 643
RESULTS OF THE DEVELOPMENT OF A MANIPULATOR WITH A VERY LARGE REACH
Martin-Christoph Wanner
IPA-Stuttgart (F.R. GERMANY) 653
APPLICATION OF MULTI-DIMENSIONAL WIRE CRANES IN CONSTRUCTION
Toshiro Higuchi, Aiguo Ming & Jaiang Jiang-yu
University of Tokyo (JAPAN) 661
Session 6-B CO~TROL S~Sll~S FOB ROBOTS (2)
DEVELOPMENT OF PROCESS SIMULATION PROGRAM (ORBIC-l), FOR A BUILDING CONSTRUCTlON ROBOTICS SYSTEM
A.sakaguchi~ T.Shiokawa, K.Hamada, Y.Yamawaki, K.lzumi & T. Wakisaka
Ohbayashi Corporation (JAPAN) 669
DESIGN FOR AUTOMATED CONSTRUCTION
Thomas M. Gatton & L. T. Boyer
University of Illinois (USA) 679
BETTER WORKING CONDITIONS ON SITE
Elsebet Frydendal Pedersen
The Technical University of Denmark (DENMARK) 689
THE COMPUTER CONTROLLED SYSTEM OF DEEP SLURRY WALL CONSTRUCTION
Toshio Nakamura & Kozaburo Tsuchiya
Ohbayashi Corporation (JAPAN) 695
Sessio~l 7-A ROISOTICS ~OR E~RTH!WOBI~ UID FOUND~TIOII
THE DEVELOPMENT OF RESEARCH MODELS FOR AUTOMATIC EXCAVATION
Derek Seward, David Bradley, Robert Bracewell
University of Lancaster (UK) 703
OPERATION SYSTEM FOR HYDRAULIC EXCAVATOR FOR DEEP TRENCH WOR~CS
Tomoaki Sakai & Kenji Cho
Public Works Research Institute, Ministry of Construction (JAPAN) . 709
AN OPTIMUM OPERATION OF A BULLDOZER RUNNING ON A WEAK TERRAIN
Tatsuro Muro
Ehime University (JAPAN) 717
RUBBLE LEVELING ROBOT IN UNDERWATER CONSTRUCTION
Toshihisa Naruse, Toshiyuki Sawano & Kazuki lida
Komatsu, Ltd. (JAPAN) 727
Session 7-B CONTROL SYSll~S ~OR ROBOTS (3)
DEFINITIoN OF A PROGRAMMING LANGUAGE FOR TELEROBOTS APPLICATION TO ROBOTICS IN.BUILDING CONSTRUCTION
B. Tondu, R. Fournier, & G. Clement
Comissariat a l'Energie Atomique, CEN/FAR Unite de Genie
- Robotique Avance (FRANCE) 737
CRANE CONTROL SYSTEM WITH AN INDUSTRIAL ROBOT
Tamio Arai, Hisashi Osumi, & Jun Ohta
University of Tokyo (JAPAN) 747
AUTOMATlC CONTROL SYSTEMS FOR CONSTRUCTION MACHINERY
Makoto Kakuzen, Hirokazu Araya, Nobuo Kimura, & Isao Sawamura
Kobe Steel Ltd. (JAPAN) 755
Seasion 8-A ~OBOTICS FO~ INSPECTION AND ~AIN T~NANC~
DEVELOPMENT ON AQUATIC WALKING ROBOT FOR UNDERWATER INSPECTION
Mineo Iwasaki, Junichi Akizono, Hidetoshi Takahashi, Toshifumi Umetan
Takashi Nemoto, Osamu Asakura, & Kazumasa Asayama
Port and Harbour Research Institute, Ministry of Transport (JAPAN) 7
DEVELOPMENT OF AUTOMATIC STEEL PIPE INSPECTION AND ACCEPTANCE SYSTEM APPLICATION OF A CONSTRUCTION ROBOT TO CONSTRUCTION SITE "D"
Masahiko Sawaguchi & Minenobu Nishimura, Fujita Corporation
Koji Doumoto, Shinwa Koki Co., Ltd.
Shigenobu Hyakuta, Nihon Spindle Mfg. Co., Ltd. (JAPAN) 77
DEVELOPMENT OF A FULLY AUTOMATIC CLEAN ROOM MEASURING SYSTEM
Akira Ohsakaya -
Toda Construction Co., Ltd. (JAPAN) 78
LEAK CHECK ROBOT (ABBREBIATION: LEAK ROBO)
Isao Koyama
Hazama-Gumi LTD. (JAPAN) 79
NEW AUTOMATED OPERATION AND FEEDBACK CONTROL IN SOIL IMPROVEMENT METHOD
Takahiro Kawakami, Michio Katsuhara & Tomohiro Isoda
Fudo Construction Co., Ltd. (JAPAN) 801
MEASURING ROBOT OF THE DEGREE OF SOIL-COMPACTION
Teruhiko Umezono, Yoshifumi Nakagawa, Tomonori Takada &
Hiroshi Sakurai, Mitsui Construction
Akiomi Shimazu & Kiyoshi Minami, Ministry of Construction (JAPAN) 811
Sesaion 8-B ROBOTICS FOR TUNNELING (1)
AUTOMATIC SURVEYING SYSTEM FOR SHIELD TUNNELING
Kenichi Nishide, Tokyo Aircraft Instrument Co., Ltd.
Kyosuke Mishima, Okumura Corporation (JAPAN) 821
DEVELOPMENT OF A COMPACT SURVEY SYSTEM FOR SMALL SHIELD TUNNELING
Tadao Mikami, Masanori Kanno, Tsuneyasu Ohnishi, & Takaaki Tsuruoka
Takenaka Doboku Co., Ltd. (JAPAN) 829
AUTOMATIC MEASUREMENT SYSTEM OF TUNNEL PROFILE
Takashi Okada, Yutaka Shyozawa, Motoo Tunoda, & Masami Ishiguchi
Kumagaigumi Co., Ltd. (JAPAN) 839
TUNNELING BY ROBOT SHIELD DRIVING AUTOMATIC CONTROL SYSTEM (VOL. 2)
Tetsushi Sonoda, Akio Fujimoto, Hiroshi Nagura, Ichiro Wakiyama,
Hazama-Gumi, Ltd. (JAPAN) 849
AUTOMATIC SHIELD TUNNELING METHOD WITH A SMALL CROSS-SECTIONAL AREA
Shoji Kondo, Kazuyoshi Matsuzaki, & Masanobu Kuroiwa
NTT Tsukuba Field Engineering Development Center (JAPAN) 859
Session 9-A BOBOTICS FOB INSPECTION AND MAINT~NANCL (2)
THE DEVELOPMENT OF AN APPARATUS FOR DIAGNOSING THE INTERIOR CONDITION OF WALLS
Masaaki Ebihara, Taisei Corporation (JAPAN) 867
ADVANCED ROBOTICS IN THE FIELD OF SURVEY/INSPECTION MAINTENANCE AND REPAIR OF BUILDINGS AND STRUCTURES
R. A. Radevsky,& F-K. Garas, Taylor Woodrow Construction Ltd., (UK) 877
AUTOMATED PIPELINE INSPECTION ROBOT IN CONSTRUCTION
Toshio Fukuda, Hidemi Hosokai & Masashi Otsuka
The Science University. of Tokyo, (JAPAN) 887
APPLICATION OF IN-PIPE VISUAL INSPECTION ROBOT TO PIPING INTERNAL SURFACE LINING
Shoji Nagano, Yoshiyuki Oka, JGC Corporation
Kiyoshi Ozawa & Kazumasa Kato
Nikki Inspection Service Corporation (JAPAN) 897
Session 9-B ROBOTICS FOR TUNN~LING (2)
DEVELOPMENT OF A CONCRETE-SPRAYING ROBOT FOR TUNNEL WORK
Teruhiko Umezono, Yoshito Yamada, Junichi Mihara & Osamu Sakairi
Mitsui Construction Co., Ltd. (JAPAN) 907
DEVELOPMENT OF SHOTCRETE ROBOT
Hitoshi Nakajima, Kouhei Mio, Yukio Ichihara & Yuichi Sagara
Kajima Corporation (JAPAN) 915
SMOOTH BLASTING IN HARD ROCK TUNNEL USING AN AUTOMATIC DRILLING MACHINE
Kenichi Yoshimi, Masayuki Suzuki, Hazama-Gumi, Ltd.
Kohei Furukawa & Koji Nakagawa, Yamaguchi University (JAPAN) 925
SHIELD-SEGMENT ERECTION ROBOT
Masafumi Wada, Tsutomu Nakanishi, Makoto Kouda & Hiroichi Inagaki
Kumagaigumi Co., Ltd. (JAPAN) 935
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