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- SESSION I
KEY NOTE SPEECHES
THB CUTTING EDGE IN NORTH AMERICA
Timothy S. Killen Bechtel Group, Inc. (USA) 16
THE CUTTING EDGE IN WESTERN EUROPE
Martin-Christoph WannerIPA - Stuttgart (FRG) 24
THE CUTTING EDGE IN JAPAN
Yukio Hasegawa System Science Institute (JAPAN) 27
- SESSION II-A APPLICATIONS Heavy Construction and Tunneling
NEW CAPABILITY FOR REMOTE-CONTROLLED EXCAVATION
William P. Wohlford, F. D. Griswold, and B. D. Bode Deere & Company (USA) 33
DEVELOPMENT OF FULLY AUTOMATIC CRAWLER JUMB0S FOR USE IN TUNNEL EXCAVATION:
Masaharu Noma and Masao Matsuyama Kajima Corporation (JAPAN) 41
SHIELD METHOD AUTOMATION SYSTEM:
Kiyoshi Sato, Ichiken, Fujita Corporation (JAPAN) 49
DEVELOPMENT OF SMALL-BORE, LONG-DISTANCE, CURVED-CONDUIT TUNNELING ROBOT:
Tadashi Sugi and Yutaka Ichinohe, Tokyo Electric Power Company
Hideto Abe and Hidekazu Tanaka Kandenko Co., Ltd. (JAPAN) 56
A LABORATORY STUDY OF FORCE-COGNITIVE EXCAVATION:
Darcy M. Bullock, Intec Controls Corp.Irving J. Oppenheim Carnegie-Mellon University (USA) 64
- SESSION II-B THEORY AND S0FTWARE Evaluation - 1
THB CR0SS FERTILIZATION OF CONSTRUCTION AND MANUFACTURING THROUGH COMPUTER INTEGRATION:
Victor E. Sanvido and Deborah J. Medeiros, The Pennsylvania State University (USA) 73
THE FEASIBILITY OF CONSTRUCTION ROBOTICS IN FINLAND AND NORWAY:
Lauri Koskela, Heikki Lempinen, and Esko Salo, Technical Research Centre of Finland Thorvald Wetlesen, Bever Control Ltd (FINLAND/NORWAY) 80
SIX YEARS EXPERIENCE OF DEVELOPING ROBOTIZED BUILDING CONSTRUCTION SYSTEM:
Yasushi, Tamura, Yukio Hasegawa, Nobuyasu Miura, and Kinya Tamaki, Wasada University (JAPAN) 87
TASK IDENTIFICATION FOR CONSTRUCTION AUTOMATION:
Laura Demsetz, Massachusetts Institute of Technology (USA) 95
BARRIERS TO THE APPLICATION OF ROBOTICS AND HIGH LEVEL AUTOMATION WITHIN THE UNITED KINGDOM CONSTRUCTION INDUSTRY:
Michael A. Brown, The Polytechnic of Central London (UK) 103
- SESSION II-C DESIGN AND CONTROL:Design for Automation
SYSTEMATIC DESIGN ANALYSIS FOR (ROD) DESIGN SYNTHESIS SHOWN AT THE EXAMPLE OF A STRUCTURAL JOINING SYSTEM SUITED FOR ROBOTIC ASSEMBLY:
Thomas Bock, The University of Tokyo (JAPAN) 111
A NEW DIRECTION IN AUTOMATING CONSTRUCTION:
Brian Atkin, Peter Atkinson, Colin Bridgewater, and Javier Ibanez-Guzman,University of Reading (UK) 119
PARTIALLY AUTOMATING THE DESIGN-CONSTRUCTION INTERFACE:CONSTRUCTIBILITY DESIGN RULES FOR REINFORCED CONCRETE STRUCTURES:
Martin Fischer and C.B. Tatum, Stanford University (USA) 127
THE DESIGN AND FABRICATION OF AN AUTOMATED SHEAR STUD WELDING SYSTEM:
Andrew Glenn Ziegler and Alexander Henry Slocum, Massachusetts Institute of Technology (USA) 135
OUTLINES OF TWO MAS0NRY ROBOT SYSTEMS:
Hannu Lehtinen, Esko Salo, and Heikki Aalto, Technical Research Centre of Finland (FINLAND) 143
- SESSION III-A APPLICATIONS
Piping and Pipeline
UNDERWATER PIPELINE CONSTRUCTION USING THE B.B.T:
T.W.Lively and H.R.Woodhead Dillingham Construction Ltd. (CANADA) S.F. Andersen, Constructors Engineering Co., Inc. (USA) 151
ROBOTICS FOR CONSTRUCTION AND MAINTENANCE OF PIPES:
Heinz G. Roehrich, Siemens AG KWU Group (FRG) 160
PIPING ERECTION CONSTRUCTABILITY ISSUES SEMI-AUTOMATED ENVIRONMENT (FIELD OPERATIONS PHASE):
Deborah J. Fisher, University of Houston; James T. O'Connor, University of Texas at Austin (USA) 167
AN INTERNAL WELDING ROBOT SYSTEM FOR 600 MM STEEL PIPELINES:
Akikazu Osagawa and Takashi Hazama, Osaka Gas Co., Ltd; Kenji Kitano, Sumitomo Metal Industries, Ltd; Yukihiko Sato, NKK Corporation; Takashi Fuseda, Nippon Steel Corporation (JAPAN) 175
DEVELOPMENT AND SIMULATION OF AN ERGONONIC CONTROL SYSTEM FOR A LARGE CONSTRUCTION MANIPULATOR:
D.G. Alciatore, P.J. Hughes, A.E. Traver, and J.T. O'Connor, The University of Texas at Austin (USA) 183
- SESSION III-B THEORY AND S0FTWARE
Project Nanagement - 1
A LEAST-COMMITMENT APPROACH TO PLANNING CONSTRUCTION PROJECTS WITH REPEATED CYCLES OF OPERATION:
Nabil A. Kartam and Raymond E. Levitt, Stanford (USA) 189
AN A.I. APPROACH TO AUTOMATING THE RECOGNITION AND EVALUATION OF LOGIC CLASSES IN CONSTRUCTION SCHEDULING:
W H. Askew, M.J. Mawdesley, and J.A.N. Booth, University of Nottingham (UK) 197
A NEURAL NETWORK APPROACH TO THE SEQUENCING OF CONSTRUCTION TASKS:
Ian Flood, National University of Singapore (SINGAPORE) 204
IMPACT OF AUTOMATION ON CONSTRUCTION FIXED PLANT OPERATION:
A. Hijazi, S. AbouRizk and D. W. Halpin, Purdue University (USA) 212
GENERATION OF CONSTRUCTION SCHEDULES A KNOWLEDGE BASED APPROACH:
Diego Echeverry - University of Illinois, C. William Ibbs - University of California Simon Kim, US Army Construction Engr. Res. Lab. (USA) 220
- SESSION III-C DESIGN AND CONTROL
Robot Hardware and Control
CONTROL SYSTEMS FOR COMPUTER INTEGRATED CONSTRUCTION:
Leonhard E. Bernold and Dulcy M. Abraham, University of Maryland (USA) 228
CONTROL AND OPERATIONAL STRATEGIES FOR AUTONATIC EXCAVATION:
D.A. Bradley, D.W. Seward, R. H. Bracewell, R.V. Chaplin, and M.B. Widden, University of Lancaster (UK) 237
STUDY OF THE VARIOUS MEANS OF PERCEPTION IN MOBILE ROBOTICS APPLIED TO THE BUILDING INDUSTRY:
D.Juge and A.Schmitt, Ecole Nationale Superieure des Techniques Industrielles (FRANCE) 245
DESIGN DIFFERENCES BETWEEN ROBOTIC MANIPULATORS AND CONSTRUCTION EQUIPMENT:
Gerry B. Andeen. SRI International (USA) 253
DRAWBAR-PULL CONTROL SYSTEM OF A FLEXIBLE TRACKED VEHICLE ON WEAR TERRAIN
Yatsuro Muro, Ehime University (JAPAN) 260
- SESSION IV-A APPLICATIONS
Hazardous Environments
AUTOMATED INSPECTION OF EARTHWORKS FOR HAZARDOUS WASTE STORAGE:
Gregory B. Baecher, Philip G. Greenspun, and Walter E. Gillett, ConSolve Incorporated (USA) 268
NOCK-UP TEST OF REMOTE CONTROL NACHINE FOR THE JPDR BIOLOGICAL SHIELD CONCRETE DISMANTLENENT:
Mitsuo Yokota, Japan Atomic Energy Research Institute, Makoto Ichikawa and Seishi Suzuki, Shimizu Corporation (JAPAN) 277
PRACTICAL USES OF PAINTING ROBOT FOR EXTERIOR WALLS OF HIGH-RISE BUILDINGS:
Masahiro,Takeno, Akira Matsumura, Shigeru Sakamoto, Yoshihito Sakai, and Atsushi Shirato, Taisei Corporation (JAPAN) 285
REMOTE DISMANTLING OF ACTIVATED REACTOR INTERNALS WITH PLASMA ARC TORCH:
F. Hiraga, H. Nakamura, and I. Miki, Japan Atomic Energy Research Institute (JAPAN) 293
DISMANTLING THE DANAGED THREE MILE ISLAND REACTOR VESSEL BY REMOTE PLASMA ARC CUTTING:
Mark D. Hebner, Bechtel North American Power Corporation (USA) 301
- SESSION IV-B THEORY AND S0FTWARE
Project Management - 2
ON S0LVING NETWORR FIXED LOGIC PROBLEN - RES0URCE-DRIVEN CPM SCHEDULING
T. C. Chang and C. William Ibbs, University of California (USA) 309
AUTOMATION INDEX FOR EVALUATION OF ROBOTICS IMPLEMENTATION IN CONSTRUCTION
Paul Fazio, Osama Moselhi, and Stanley Hason, Center for Building Studies (CANADA) 317
AN OBJECT-ORIENTED APPROACH FOR SCHEDULING OF CONSTRUCTION PROJECTS:
Alan T. Axworthy and Raymond E. Levitt, Stanford University (USA) 325
DESIGN AND CONSTRUCTION AUTOMATION: COMPETITIVE ADVANTAGES AND MANAGEMENT CHALLENGES:
C. B. Tatum, Stanford University (USA) 332
SIGHTPLAN: AN ARTIFICIAL INTELLIGENCE TOOL ASSIST CONSTRUCTION MANAGERS WITH SITE LAYOUT:
Iris D.Tommelein, Raymond E.Levitt, and Barbara Hayes-Roth, Stanford University (USA) 340
- SESSION IV-C CONSTRUCTION AUTONATION CONCEPTS
Special Topics in Automation
A KNOWLEDGE-BASED SIMULISATION SYSTEM FOR CONSTRUCTION PROCESS PLANNING:
David Y. Chang, Texas A&M University (USA), Md. Saiful Hoque, Gulf Interstate Enqineering (USA) 348
MOBILE ROBOTS - A NEW GENERATION OF PRODUCTION TASKS FOR ROBOTS:
Detlef Spee, Fraunhofer Institute for Transport (FRG) 356
AUTOMATION AND ROBOTICS: THE DESIGN AND OPERATIONAL PLANNING OF CONSTRUCTION PROJECTS
M. M. Cusack and C. F. Earl, Bristol Polytechnic (UK) 364
RTRAR - A FIRST GENERATION AUTOMATED CONETRUCTION VEHICLE:
Carl L. Begley, Health Physics Instrumentation; H. Robert Meyer, Chem-Nuclear Systems, Inc.; Patrick M.Coddington and T. Michael Knasel, MK-Ferguson Company (USA) 371
- SESSION V-A APPLICATIONS
Navigation and Location
BULLDOZER TRACRING AND NAVIGATION USING SERVO-CONTROLLED LASER RANGE FINDING TECHNIQUE:
Sakari Pieska, Martti Elsila, and Risto Myllyla, Technical Research Centre of Finland, Anssi Makynen and Juha Kostamovaara, University of Oulu (FINLAND) 379
THE COMPUTER AIDED P0SITIONING SYSTEM (CAPSY) A LOW C0ST P0SITIONING SYSTEM FOR CONSTRUCTION:
Leon de Vos and Hans Schouten, TNO-IBBC (THE NETHERLANDS)
A GENERAL PURP0SE P0SITIONING SYSTEM FOR CONSTRUCTION ROBOTICS:
Jean-Luc Salagnac Centre Scientifique et Technique du Batiment (FRANCE) 396
- SESSION V-B THEORY AND SOFTWARE
Evaluation - 2
CONSTRUCTION ROBOTIC EQUIPMENT MANAGEMENT SYSTEM (CREMS)
Miroslaw Skibniewski, Jorge Vanegas, and Jeffrey Russell Purdue University (USA) 404
THE FUNCTIONAL ANALYSIS: AN ORIGINAL APPROACH TO THE ROBOTISATION OF CONSTRUCTION TASKS:
Jean-Luc Salagnac and Sophie Siino, Centre Scientifique et Technique du Batiment, Andre Morel and Gabriel Bensimon, Centre Experimental de Recherches et d'Etudes, du Batiment et des Travaux Publics (FRANCE) 412
AUTOMATION OF EXISTING TOWER CRANES - ECONOMIC AND SAFETY EXAMINATION:
Y. Rosenfeld and S. Berkovitz, Technion - Israel Institute of Technology (ISRAEL) 420
- SESSION VI-A APPLICATIONS
Concrete Placement and Disposal
BI-LATERAL MANIPULATOR FOR CONSTRUCTION WORKS:
Shu Takeda, Hiroshi Yoshinada, Kazuhiko Ohtsubo, and Toshihisa Naruse, Mechatronics Research Center, Komatsu Ltd. (JAPAN) 427
THE DEVELOPMENT OF A NEW REINFORCED CONCRETE WORK SYSTEM THROUGH THE APPLICATION OF THE ROBOT MODULE CONCEPT:
Yukio Hasegawa, Nobuhiro Okuyama, Haruo Hoshino, Tohru Shinozaki, Ryoji Yoshitake, Shinji Yamashita, Hiroshi Asano, Tatsuo Kobayashi, and Kinya Tamaki, System Science Institute, Waseda University (JAPAN) 435
DEVELOPMENT OF A PAVEMENT CUTTING ROBOT SYSTEM:
Tomoki Kobayashi, The Tokyo Electric Power Company Inc.; Syoji Honda, Kandenko Company, Ltd.; Takatoshi Ueno, Yuichi Tsukahara, and Ryuichi Tsutsui, Shimuzu Corporation (JAPAN) 443
AN AUTOMATED SYSTEM FOR CONCRETING IN BUILDING SITES - DEVELOPMENT OF AUTOMATED CONS0LIDATION SUBSYSTEM:
Yasushi Takemoto, Yasuyoshi Nagai, Shozaburo Shimaguchi, Yosuo Inoue& Takaaki Matsunami, Technical Research Institute, Ohbayashi Corporation (JAPAN) 451
DEVELOPMENT OF A CONCRETE SCREEDING ROBOT:
Hajime Nomura, Yasuo Kajioka, Akira Okada and Kazumi Okuzumi, Shimizu Corporation (JAPAN) 459
- SESSION VI-B THEORY AND S0FTWARE
Simulation
DESIGN OF AN INTERIOR FINISHING ROBOT WITH A SIMULATION MODEL:
A. Warszawski and R. Navon, Technion - Israel Institute of Technology (ISRAEL) 467
SIMULATING THE KNOWLEDGE ENVIRONMENT FOR AUTONOMOUS CONSTRUCTION ROBOT AGENTS:
Boyd Paulson, Thomas Froese, and Lai-Heng Chua, Stanford University (USA) 475
SIMULATION FOR MANAGEMENT AND ORGANIZATION OF CONSTRUCTION MACHINERY:
Yoshikazu Sasaki and Eiji Muro, Technical Research Laboratory, Takenaka Corporation;Osamu Furukawa, Shuzo Furusaka, and Kazuyoshi Endoh, Kyoto University (JAPAN) 483
ANIMATION/SIMULATION FOR CONSTRUCTION PLANNING AND SCHEDULING:
Stephen Ditlinger and Kermit Gates, Bechtel Power Corporation (USA) 491
A KNOWLEDGE-BASED SIMULATION SYSTEM FOR CONSTRUCTION OPERATIONS:
Naruo Kano, Stanford University (USA) 499
- SESSION VII-A APPLICATIONS
Construction Applications
DEVELOPMENT OF AN INDOOR MOBILE ROBOT FOR AGV:
Tomofumi Morita, Hiroyuki Takahashi, Yoshikazu Maruyaand Akihiro Okuno,Technical Research Center - Mazda Motor Corporation (JAPAN) 507
DEVELOPMENT OF A NEW STEEL ERECTION SYSTEM:
Yukio Hasegawa, Yusuke Matsushita, Toshio Nakamura, Toshikazu Miyazima, Masayuki Terao, Masahiro Nishimura,Yoshinari Mizoue, and Junji Taira, System Science Institute, Waseda University (JAPAN) 515
ROBOTIZED PAINTING BY THE WALL SURFACE-FINISH ROBOT (FR-1):
Seigo Tokioka, Shinya Ishigami, Ryuichi Sekiguchi,Masafumi Wada, Hiroichi Inagaki, and Sachio Sakai,Kumagai Gumi Co., Ltd.(JAPAN) 523
DEVELOPMENT AND PRACTICAL USE OF A TOWER INTERIOR SURFACE COATING ROBOT
Masahiko Sawaguchi, Bun'ya Ishiguro, Yoshinori Kumita and Kei Inoue Fujita Corporation (JAPAN) 531
CARRIER ROBOT FOR THE TRANSPORTATION OF MATERIALS IN STEEP MOUNTAINS:
Akio Terai, Komatsu Zenoah Co. (JAPAN); Kazumi Uchida, The Kansai Electric Power Co. (JAPAN); Richard Montgomery, Komatsu Zenoah America, Inc. (USA) 537
- SESSION VII-B THEORY AND S0FTWARE
Environment/AI for Robots
SYMBOLIC UNIFIED PROJECT REPRESENTATION (SUPR) MODEL:AN ENVIRONMENT FOR AUTOMATED CONSTRUCTION:
Francois Grobler and Simon Kim, U.S. Army Corps of Engineers, LeRoy T. Boyer, University of Illinois at Urbana-Champaign (USA) 545
A STRATEGIC PLANNER FOR ROBOT EXCAVATION:
Humberto Romero-Lois, Chris Hendrickson, and Irving Oppenheim, Carnegie Mellon University (USA) 553
CONSTRUCTION ACTIVITY MODELLING FOR AUTOMATION:
Sotiris A. Pagdadis and James T. O'Connor, The University of Texas at Austin (USA) 56
HEURISTICS FOR THE KNOWLEDGE BASE OF A CAD SYSTEM IN ARCHITECTURE:
S.Hanrot, (ura CNRS) and GRTC (CNRS) (FRANCE) 569
AUTOMATED KNOWLEDGE ACQUISITION FOR BUILDING DIAGNOSIS EXPERT SYSTEMS:
Thomas M. Gatton and Frank W. Kearney, US Army Corps of Engineers (USA) 577
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