Construction robotics State of the art in France 53
Salagnac, J.L.: CSTB; Et. de Sophia Antipolis, 06651 Valbonne France

Research and development in automation of building in Israel 59
Warszawski,A.:National Building Research Institute Technion, Israel Institute of Technology, Haifa 32000 Israel

Automation and robotics in construction State of the Art in Finland 65
Koskela, L.: Technical Research Center of Finland, 02100 Espoo Finland

Robotics in the swedish construction industry 71
Rahm, H.:, Dept. of Building Economics & Organization,10044 Stockholm Sweden

Construction automation and robotics in Australia a state of-the art review 75
O Brien, J.: Civil Engineering Dept.; University of South Wales, Sydney Australia


1.0-1 Concrete and Steel 1

Shotcrete robot tor improving workingconditions, quality and economy in civil engineering and tunnelling 85
Maidl, B.: Fakultat for Bauingenieurwesen; Ruhr Universitat Bochum, 4630 Bochum Germany

Computer controlled production in the precast works 2000 95
Orth, W.: Reymann Technik GmbH, 6832 Hockenheim Germany

Computer controlled concrete distribution 111
Benckert, H.: Putzmeister Werk, 7447 Aichtal Germany


2.0 Market & Economic Implications

Stance of machinery manufacturers and leasing companies fordevelopment and application of construction robots 123
Wakisaka, T.; Muro, E.; Arai, K.; Miura, N.: Building contractors society, Tokyo 104 Japan

Towards site 2000 developments in automation and robotics in construction 131
Bradley, D.; Seward, D.; Garas, F.: Dept. of Engineering; University of Lancaster, Lancaster LAI 4 YR UK

Automated shotcrete techniques are improving the working conditions 139
Scholbeck, R.: Tiefbau-Berufsgenossenschaft, 8000 Monchen Germany


3.0 Supervision and Control

Automated devices to eliminate undesirable performance in mobile 4 WD construction machines 151
Dudzinski, P.; Pieczonka, K.: Institut of machine design and operation, 50370 Wroclaw Poland

Wheeled robots to overcome ground unevenness in construction areas 159
Tani,K.; Matsumoto,O.; Kajita,S.; Shirai,N.: Mechanism Division, Robotics Dept.; Mechanical Engineering Laboratory Tsukuba-City, Ibaraki 305 Japan

Design of a sensor-supported mobile working platform for rough terrain 167
Zimmermann, M.; Truninger, R.; Schweitzer, G.: Institut fur Robotik Eidgenossische Technische Hochschule, Werder, M.: siltec Verfahrenstechnik 8048 Zurich Switzerland


1.0-2 Concrete and Steel 2

Automation and robotics of underwater concreting in huge scale steel caisson - the main tower foundations of the akashi kaikyo bridge 179
Nakagawa, Y. Kashima, S.; Sakamoto, M.; Okada, R.; Iho, T.: Akashi Kaikyo Bridge Office; Taisei Corporation, Tokyo Japan

Automated surface finishing of large diameter storage tanks 189
Freund, M.A.; Traver, A.E.; Wesley G.L.; O'Connor, J.T.; Rowland, R.S.: Dept. of Mechanical Engineering; University of Texas Austin USA

Research and developrnent of totally mechanized construction system for high-rise buildings 197
Sakamoto, S.; Kumano, T.: Taisei Corporation, Tokyo 163 Japan


2.1 Public Funding

EC research funding in robotics 209
Robrock, K.: Commission of the European Community, Bruxelles 1049 Belgium

New developments on the sanitation of sewer pipes - a research programme of the federal minister for research and technology (BMFT) 213
Fuhrmann,D.: BMFT-Projekttrager for Wassertechnologie Kernforschungszentrum Karlsruhe, 7500 Karlsruhe Germany

Research development for the improvement of working conditions in the building industry - a priority area of the programme "work and technology" 227
Spannhake, B.: Projekttrager Arbeit und Technik, 5300 Bonn Germany


3.1-1 Handling & Handling Systems 1

A new robotic manipulator in construction based on man-robot cooperation work 239
Fukuda, T.; Arai, F.; Fujisawa, Y.; Muro, E.; Hoshino, H.; Miyazaki, T.; Uehara, K.; Ohtsubo, K.; Mikami, T.: Nagoya University, Nagoya 464-01 Japan

Practical application of master-slave manipulator with force reflection 247
Bencsik, A.; Kegl, T.: Banki Donat Politechnic, Budapest Hungary

Robots for cleaning and decontamination of building constructions 257
Gradetsky, V.; Rachkov, M.Y.; Uljanov, S.V.; Nandi, G.: Academy of Sciences of the USSR, Moscow 117526 USSR

A wall climbing robot for inspection use 267
Nishi ,A.: Faculty of Engineering; Miyazaki University, Miyazaki 88~21 Japan


1.1-1 Automation in Earthworks 1

Automatic excavator 277
Kikuchi, Y.; Tochizawa, M.; Takeda, S.; Kamada, S.; Hirosawa, K.;Wada,T.; Ito, S: Technology Dept.; Shimizu Corporation, Tokyo 108 Japan

Control fusion in bulldozer 285
Muramatsu,T.; Yakusizi,N.: Publik Works Research Institute: Ministry of Construction, Tsukuba-City, Ibaraki 305 Japan

Excavator dynamics and effect of soil on digging 297
Vaha, P.K.; Koivo, A.J.; Skibniewski, M.J.: Electronics Laboratory; Technical Research Centre of Finland, Oulu Finland


2.2 Social Aspects
Social requirements for the use of robots on building sites 309
Eisenbach, B.; Schutt, B.; Reus, J.: Bundesverband IG Bau-Steine- Erden, 6000 Frankfurt Germany

The short-term social implications for construction workers of introducing robotics onto australian building sites 317
Neil, C.; Salomonsson, G.; Sharpe, R.: CSIRO Div. of Building; Construction and Eng., Victoria 3190 Australia

Survey results and further issues in construction automation education 327
Navon, R.: National Building Research Institute Technion; Israel Institute of Technology Haifa 3200 Israel, Demsetz, L.:, Dept. of Civil Engineering, University of California Berkley CA 94720 USA


3.1-2 Handling & Handling Systems 2

Development of an interior finish work robot 335
Kojima, S.; Fukuda, S.; Takasu, M.: Tokyo Construction Ltd., Tokyo 150 Japan

Interior finishing building robot TAMIR 345
Rosenfeld,Y.; Warszawski,A.,; Zajicek,U.: National Building Research Institute Technion: Israel Institute of Technology, Haifa 32000 Israel

Development of automatic conveyor systerns at construction sites 355
Nojima, H.; Nakata, Y.; Kakuyama, M.; Shibyama, S.; Okamoto, T.; Isomura, W.: Technical Research Institute; Fujita Corporation, Yokohama-City, Kanagawa Japan


1.1-2 Automation in Earthworks 2

Towards intelligent autonomous digger 367
Szuba, T.: Institute of Computer Science; University of Mining and Metallurgy Cracow Poland

System of digging force monitoring and backhoe tip localization for medium-sized hydraulic excavator 379
Pcncyliusz, M.; Szlagowski, J.: Institute of Cranes & Heavy Machinery: Warszaw University of Technology, Warszwa Poland

Optimum design basis of digging equipment ot earth moving machines on example of a backhoe attachment 387
Budny, E.: Institute of building mecanization and rock mining, Warszwa Poland


2.31 Expert Systems 1

An integrated construction management system for site precast concrete 399
Sasaki, Y.; Kanaiwa, T.: Takenaka Corporation, Tokyo136 Japan

To using predicate/transition nets as instrument of inference in expert systems 409
Koerner, H.; Franz, V.; Boettcher, P.: Institut fur Bauwesen; Universitat Kassel, 3500 Kassel Germany

Using design drawings and project plans to construct discrete event simulation networks 419
Tommelein, l.D.; Odeh, A.M.; Iris, D.; Carr, R.l.: Dept. of Civil Engineering; University of Michigan, Ann Arbor USA


3.1 3 Handling & Handling Systems 3

Development of macro-manipulator based robotic systems for general construction use 431
O'Brien, J.: University of South Wales, Kensington Australia

Enabling technologies for large manipulators ESPRIT ll project LAMA 439
Wanner,M.C.; Engeln,W.; Rupp,K.D.: IPA, Stuttgart; Fraunhofer-Gesellschaft, 7000 Stuttgart; Germany

Position and anti-collision sensor systems for large manipulators 447
Johannessen, F.; Kristensen, F.; Rasmussen, J.: Dept. of Automation; Danish Technological Institute, Taastrup 2630 Denmark

Towards an autonomous heavy lift robot for field applications 455
Johnson, D.; Szabo, S.; McClellan, H.; De Bellis, W.: US Army Laboratory Command; Aberdeen proving Ground, Maryland USA


Volume 2

1.2 Road Construction

Automatic levelling in road construction 467
Ulrich, A.: Joseph Vogele AG, 6800 Mannheim Germany

Modellinsl and controllinSl the road finishing process 479
Gourdon, J.L.; Peyret, F.: Road Building Materials & Equipment Div.: Laboratoire Centrale des Ponts & Chaussees, Nantes France

Simulation of soil compaction with vibratory rollers 489
Pietsch, D.: Fachgebiet Konstruktion und Baumaschinen TU Berlin, 1000 Berlin Germany


2.3 2 Expert Systems 2

Development of an expert system for the determination of the span of control of the construction foreman 507
Shohet, l. M.; Laufer, A.: National Building Research Institute Technion, Israel Institute of Technology, Haifa 32000 Israel

A hybrid neural network methodology for cost estimation 519
Moselhi, O.; Hegazy, T.; Fazio, P.: Centre for building studies; Concordia University, Montreal Canada

Automated budgeting for construction 529
Askew, W.; Booth, J.; Mawdesley, M.: Dept. of Civil Engineering; University of Nottingham, Nottingham NG7 2RD UK


3.2 1 Components for Construction Robots 1

Determination of the six degrees of freedom of a moving civil engineering vehicle 541
Le Corre, J.F.; Garcia, G.: Laboratoire d Automation de Nantes; Ecole Nationale Superieure de Mecanique, Nantes 44072 France

Control of a track vehicle for construction automation 551
Matikainen, M.; Lethinen, H.: Laboratory of electrical and Automation Eng., Technical Research Centre of Finland, (VTT) Espoo 02151 Finland

The panorama project approach first results and potential applications 561
Lemarquand, Ph.: Sagem, Paris 75512 France

Development of automated construction work execution technology using laser beams 569
Yoshitake,R. .; Muneyoshi, M.; Katsuhiko, K.: Fujita Corporation Tokyo Japan


1.3 Highpressure Water Applications

Automatic hydrodemolisher system 581
Sollinger, M.; Schneider, W.: Sollinger- Wasser-Hochdrucktechnik, 7000 Stuttgart Germany

Development of an automatic bitance cleaning machine 589
Ohta, H,; Ouchi, S.; Sirai, K.; Sibuya; M.: Dams Dept. Civil Engineer Div.; Fujita Corporation, Tokyo Japan

Integrated autornated system for concrete rehabilitation on large building sites 599
Gengenbach, U.; Bolliger, J.; Reger, A.: Institut fur Reaktorentwicklung; Kernforschungszentrum Karlsruhe GmbH, 7500 Karlsruhe Germany

Modelling and Control of a hydraulic large range robot 609
Hirsch, U.; Jacubasch, U.; Kuntze, H.B.; Eberle, F.; Goller, X.; Fhl fur Informations- und Datenvearbeitung; Fraunhofer-Gesellschaft 7500 Karlsruhe Germany


2.4 Quality Control

Use of robots for quality control of precast elements 623
Bischoff, W.; Vogt, E.P.: Institut fur Baumaschinentechnik; Universitat Magdeburg 3010 Magdeburg Germany

An automated measuring system of cracks in concrete which uses image processing techniques and artificial intelligence theory 631
Miura, M.; Miyajima, T.; Miura, S.; Ogasawara, K.: Kajima Corporation, Tokyo 182 Japan

Process driven autornated rebar bending 639
Bemhold, L.E.: North Carolina State University, Raleigh NC USA


3.2-2 Components for Construction Robots 2

Electronic systerns for modern construction machines 649
Walzer, W.: Liebherr-Werk Biberach GmbH, 7950 Biberach Germany

Application of electrohydraulic control systems with earth moving machinery 665
Leidinger, G,: O&K Orenstein & Koppel, 8901 Kissing, Germany

Flexible robot control for the building industry 685
Wunderlich, H.: Fachbereich Produktion Sautomatisierung; AEG AG, 7030 Boblingen Germany


1.41 Automation in Tunnelling 1

Automatic, geodatic TBM-guidance at the Storebelt tunnel 697
Poltinger, A.: Dyckerhoff & Widmann AG, 8000 Munchen Germany

An automatic direction control system for shield tunneling 705
Mikami, T.; Hanamori, Y.; Ohmishi, T.; Kanno, M.: Technical Research Lab.; Takenaka Corporation, Tokyo136 Japan

High-accuracy position control system forunderground diaphragm walls 715
Arai,M. Naitoh, T.: Construction technology dept.; Taisei Corporation, Tokyo 163 Japan


2.5 Computer Simulation

Intuitive simulation modelling using object oriented constructs 727
Oloufa, A.: Dept. of Civil Engineering; University of Hawai, Honolulu USA

Integrated product and process modelling for construction robot control 737
Krom, R.; Tolman, F.: Dept. of Computer Integrated Construction; TNO-Building and Construction Research, Delft 2600 Netherlands

Simulation analysis of automated earth boring methods 747
Halpin, D.W.; Gonzalez-Quevedo, A.A.: Div. of construction engineering; Purdue University, West Lafayette, Indiana USA Abourizk, S.: Dept. of Civil Engineering; University of Alberta, Edmonton Canada


3.2-3 Components for Construction Robots 3

A system for determining the location of construction equipment on the working site 757
Malinovsy, Y.; Rufov, V.; Kovalev, V.: NPO VNllstroydormasch, Moscow USSR

3-d sensor system 767
Schaefer, C.; Lux, P.; Eibert, M.: Dornier Luftfahrt GmbH 7990 Friedrichshafen Germany

GPS application for positioning ol earthwork equipments 779
Sada,T.; Nakagawa,Y.; Takada,T.: Technical Research Institute; Mitsui Construction Co. Nagareyama-City, Chiba-Pref Japan


1.4-2 Automation in Tunnelling 2

Laser-controlled machines for microtunneling 789
Herrenknecht, M.: Herrenknecht GmbH, 7635 Schwanau-Allmannsweiler Germany

Manipulator system for the redevelopment of gaps in brick sewers 801
Muller, W.: Hochtief AG: 2000 Hamburg Germany SchlieBmann, A.: Fraunhofer-lnstitut IPA, 7000 Stuttgart Germany

Robots repair damaged drains 807
Palaske, Th.: Kanaltechnik Kunz GmbH, 8000 Munchen Germany


2.6.1 Automated Masonry 1

The mason's elevator handling-machine 819
Bohm, D.: modern technik, 7305Altbach Germany

Limits to profitability of automated masonry 833
Drees, G.; Laukemper, J.: Institut fur Baubetriebslehre; Universitat Stuttgart 7000 Stuttgart Germany Pritschow, G.; Dalacker, M.: Institut fur Steuerungstechnik; Universitat Stuttgart 7000 Stuttgart Germany

Automation of design and construction of single-family houses of brickwork 843
Anliker, A.; Anliker, F.; Rothenbacher, K.: Anliker GmbH 7940 Riedlingen Germany


3.3-1 Automation in Related Areas 1

A robot climbing vehicle and its man-machine interface for use in the nuclear industry 851
White, T.S.; Collie, A.A.; Billingsley, J.; Luk, B.L.; Moseley, D.A.: Dept. of systems enginieering; Portech Ltd., Portsmouth Polytechnic Portsmouth P03 1 DJ UK

Remotely-operated dismantling of the reactor internals at Niederaichbach power plant using manipulators 861
Grunanger, G.: Noell GmbH, 8700Wurzburg Germany

Remote control system of the concrete cutting machine 871
Takahashi, K.; Hasegawa, T.: Shimizu Corporation, Tokyo 108 Japan


1.43 Automation in Tunnelling 3

Automatic inspection system for piping corrosion 883
Kurosaki, Y.: Technical Research Institute; Mitsui Construction Co. Ltd., Nagarey-City Japan

Directional control employing fuzzy reasoning of a microtunnelling system 893
Takatsuka, T.: Nippon Telegraph and Telephone Corporation, Tsukuba-City, Ibaraki 305 Japan

Computer aided remote control for a manipulator system to repair sewers 901
SchlieBmann, A.; Bley, B.: IPA Stuttgart; Fraunhofer-Gesellschaft, 70~0 Stuttgart Germany


2.6-2 Automated Masonry 2

Progress in a masonry tasking robot 9O9
Chamberlain,D.; Speare, P.; Seshagiri, A.: Construction Robotics Unit City University London EC1 V OHB UK

Development of mobile tile cladding robot system 919
Lethinen, H.; Sainio, H.; Matikainen, M.; Seren, K.J.; Koskela, L.: Laboratory of electrical and Automation Eng., Technical Research Centre of Finland (Vrr) Espoo 02151 Finland

Tile setting robot for exterior wall 929
Tomaru, H.; Haino, H.; Ishikawa, S.: Research Div.; Komatsu Corporation, Hiratsuka Kanagawa 254 Japan


3.3-2 Automation in Related Areas 2

Handling systems in the hardcoal industry 939
Czwalinna, J.; Sonnenschein, D.: Abt. Forschung und Entwicklung; Ruhrkohle AG 4690 Herne Germany

New manipulator concept for handling tasks in coal-mining 951
Harzer, J.: Schachtanlage Heinrich Robert; Ruhrkohle Westfahlen, 4700 Hamm Germany

Automatic directional drilling system 963
Schwidder, K.: Schwing Hydraulik Elektronik GmbH & Co, 4690 Herne Germany


3.3.3 Automation in Related Areas 3

Development in underwater robots 973
Schultheiss, G.: Institut fur Anlagentechnik, GKSS-Forschungszentrum Geesthacht 2054 Geesthacht Germany

Manganese nodule deep sea mininl~ 981
Gehbauer, F.; Bock, T.; Dorfler, G.; Leyh, W.: Institut fur Maschinenwesen im Baubetrieb; Universitat Karlsruhe, 7500 Karlsruhe Germany

Development of inspection robots for headrace tunnels 991
Sasaki, M.; Kanzaki, T.: Technical Development Dept.; Taisei Corporation Tokyo Japan


Appendix

Research on operation of task process of hydraulic excavator with microcomputer 1003
Feng, P.E.: Dept. of Mechanical Engineering; Zheijang University Hangzhou PR China

Designing and investigation of pneumohydraulic drive of a vibratory compactor 1013
Yemelianenko, N.G.; Tokarev, V.A.: Dept. of Mechanization of Construction Processes Kharkov Civil Engineering Institute Kharkov USSR

Concreting with rotor throwers 1014
Nazarenko, l.l.; Yemelianova, l.A.: Dept. of Mechanization of Construction Processes Kharkov Civil Engineering Institute Kharkov USSR

Necessity of automation and robotics in construction 1015
Stiglocher, H.:
Baumaschinen- und GerateausschuB;
Zentralverband des
deutschen Baugewerbes
8263 Burghausen Germany

Mobile robots on building construction sites: specifications based on tasks requirements and geometrical analysis 1021
Salagnac, J.L.; Vinot B.:
Centre Scientifique et Technique du Batiment
06561 Valbonne France
Schrive, E.:
DM Developement SA
38610 Gieres France
Bras, P.:
Institut International de Robotique et dlntelligence Artificielle de Marseille
13013 Marseille France