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(Volume 1 )
Keynote Lectures
Constructability and Automation
Richird Tucker (The University of Tecas at Austin (USA))
Technology Innovation
Mathew M Cusack (Bristol Polytechnic (U.K.))
Panel Discussion
Current Status of Construction Automation and Robotics in the United States of America
Miroslaw. J. Skibniewski, (Purdue University (USA)) 17
Current Status of Automation and Robotics in Construction in Germany
M.C. Wanner, (IPA-Stuttgart (GERMANY)) 25
Automation of the Building Process-Research and Development in Israel
Abraham Warszawski (Technion Israel Institute of Technology (ISRAEL)) 29
Current Status of Automation and Robotics in Construction in Sweden
Par. Ahman (Swedish Construction Federation (SWEDEN)) 35
Current Status on Automation and Robotics in Construction: Situation in France
Jean-Luc Salagnac (Centre Scientifique et Technique due Batiment (FRANCE)) 43
Automation and Robotics in Construction an Overview of R & D in the United Kingdom
Fikry. K. Garas, Taylor Woodrow Construction (U.K.)) 45
Automation and Robotics in Construction: State of the Art in Finland
Pentti Vaha (Technical Research Centre of Finland (FINLAND)) 51
Robotics and Intelligent Machines in Australia-A State of the Art Report
Jonathan O'Briem (University of New South Wales (AUSTRALIA)) 55
Problems and Effects of Automation and Robotization
Shigeyuki. Ohbayashi (Science University of Tokyo (JAPAN)) 63
<A-1> Design and Future Prospect for Construction Automation
Diffusion of Construction Technology: A Communications Approach
J. Wald, & C. B. Tatum, Stanford University, USA - 73
Study on Method Improvement for Construction Work in Civil Engineering
T. Takatsu, M. Nomura & A. Sugiyama, Ministry of Construction, JAPAN 83
The Study of the Building Construction Robots through the New Movement
F. Shintani & F Ishizuka, Japan Research Institute Lttd, JAPAN 89
(A-2) Design and future Prospect for Construction Automation
Development of Models and Methods for Research on Robotics in the Construction Process and Design
M. Costantini Univcrsity of Pavia
R Vinci ConSiglio Nazionale delle Ricerche, ITALY 99
Process Improvement and Automation in Construction:Opposing or Complementing Approaches?
L. Koskela, Stanford UniversitY, USA 105
Module Robot Application for Flexible Building Construction
Y. Hasegawa & T. Onoda, Waseda University
K. Tamaki & H. Takada, Aoyama Gakuin University, JAPAN 113
Robot Oriented Modular Constructjon System
T. Tezuka & H. Takada, Shimizu Corporation, JAPAN - 123
<A-3> Needs and Feasibilitits of Robots in Construction
Identification of Human Barriers to the Successful Implementation of Construction Automation
R. Navon,National Building Research Institute, ISRAEL
P. W. Kelly, U. S. Army Corps.
D. W. Johnston, North Carolina State University, USA 133
Initial Task Selection for Detailed Robotic Evaluation
S. F. Bashford, W. H. Askew, M. J. Mawdesley & A. E. Aldridge, University of Nottingham, UK 141
A proposed Language, Syntax and Structure for Communication between the Robotics and Construction Communities
J. M. Jones & M. M. Cusack, Bristol Polytechnic
W. H. Askew, University of Nottingham U. K. 151
Constructjon Robotics and Standardization
J. L. Salagnac, CSTB, FRANCE 161
Prospects for Applying Automation/Robotization in Concrete Dam Construction
Japan Society of Civil Engineers, JAPAN 165
<A-4> Evaluation of Robot Systems
Prospects for Applying Automation/Robotization of Life-Line Piping Construction Work
K. Yoshida & Y. Nojiri, Japan Society of Civil Engineers, JAPAN 171
A Quantitative Method to Evaluate Automated Constructability
T. M. Gatton, The University of TeTas, USA 181
Economic Evaluation of Robotized Interior Finishing Works Based on Full-Scale Experiments
Y. Rosenfeld, A. Warszawski & U. Zajicek, National Building Research Institute, ISRAEL 191
Economic Evaluation of Robots in Construction
F. T. Najafi & X. Fu, University of Florida, USA 201
Evaluation of Robotics in the Application of PUF Roofing
D. T. Kashiwagi, W. C. Moor, J. P. Nuno & W. W. Badger, Arizona State University, USA 207
<B-1> Man-Machine System
Development of an Advanced Way of Improvement of the Maneuverability of a Backhoe Machine
E. Nakano, N. Tsuda, K. Inoue, K. Kayaba, H. Kimura & T. Matsukawa, Tohoku University
S. Okuda, Yamazaki Construction Co., Ltd., JAPAN 215
Technical Solutions of Hydraulic Force Reflection at Master-slave Manipulators
A. Bencsik, Banki Donat Polytechnic, HUNGARY 223
Gravity Center Control for Manipulator/Vehicle System for Man-Robot Cooperation
T. Fukuda, Y. Fujisawa, K. Kosuge & F. Arai, Nagoya University
E. Muro, H. Hoshino, & T. Miyazaki, Takenaka Corporation
K. Ohtsubo & K. Uehara, Komatsu Ltd, JAPAN 233
Control of Manipulator/Vehicle System for Man-Robot Cooperation Using Fuzzy Logic
Y. Fujisawa, T. Fukuda, K. Kosuge & F. Arai, Nagoya University
E. Muro, H. Hoshino, T. Miyazaki, Takenaka Corporation
K. Ohtsubo & K. Uehara, Komatsu Ltd., JAPAN 243
<B-2> Sensing
A Rebar Detection Robot
D. A. Chamberlain, City University, UK 251
A Vision System for Rock Surface Using Ultrasonic Range Finder and Image Processing
H. Takahashi, K. Kobayashi, H. Ito, & T. Masuyama, Tohoku University
S. Sarata, National Institute for Resources and Environment, JAPAN 261
Development of Robot for Surveying and Investigating Output of Harbor Structures
M. Onizawa, M. Itamura & Y. Ikeda, Construction Machinery Center Hokkaido Development Bureau, JAPAN 271
(B-3) Manlpulator
Multi-Arm Manipulation Planning
Y. KoP T. Lastennet J. C. Latombe & T. Y. Li, Stanford University
Full Scale Trials of a Large General Purpose Construction Manipulator with Precise Motion Capabilities
J. O' Brien, University of New South Wales, AUSTRALIA 289
System of Automated Design of Control Mechanism for Manipulators Having High Dynamic Accuracy
V. F. Filaretov & P. I. Mimohod, far Eastern Politechnic Institute, RUSSIA 295
Grippcrs for Adaptive Robotic Assembly
Z. Kolibal & P. Holec, Technical University of Brno, CZECHOSLOVAKIA 305
<B-4> RobotiCs for Road ConstructiOn
A Field Prototype of a Robotic Pavement Crack Sealing System
C. Haas, University of Texas, S. McNeil & D. Bullock, Carnegie Mellon University, USA - 313
Development of Advanced Asphalt Finisher,
F. Goto ate Engineering. Co., Ltd.,
T. Saitoh, Nippon Hodo Co., Ltd, JAPAN 323
Automation of Snowplow
N. Fukuda, H. Kamimura & T. Nakagawa, Ministry of Construction
Y. Sasaki, Nichijo Manufacturing Co., Ltd., JAPAN 333
RCCP Travelling Continuous Measurement System Concrete Quality Control System of Using Scattered Rl Method
T. Takada, & Y. Nakagawa, Mitsui Constrution Co., Ltd
M. Uchida, Ministry of Construction, JAPAN 341
Robotic Soil Sampler for Hazardous Waste Clean Up
E. J. Jaselskis lowa State University M. S. Anderson, Ames Laboratory, USA - 347
<C-2> Information between Design and Construction
Advanced Information Technology and Management in Construction
T. Bock & W. Steck, University of Karlsruhe, GERMANY 357
A Construction System with Standard Connections
A. Adini, Adini R&D Enterprise, USA 367
Optimization of Service Routes in a Restricted Environment
S. F. Bashford & W. H. Askew, University of Nottingham, UK 375
Automating and Integrating The,Management Function
W. H. Askew, M. J. Mawdesley & J. A. N. Booth, University of Nottingham, UK 388
<C-3> Construction Mana~ement Systems
Management of Spatial Information for Construction Planning and Design Using Geographical Information Systems (GIS)
M. Y. Cheng, K. Varghese & J. T. O'Connor, The University of Te2as, USA 393
Artificial Reality in Robotics and A/E/C Firms
R. Kangari, Georgia Institute of Technology, USA
M. Akimoto, Shimizu Corporation., JAPAN 403
Activity-Level Space Scheduling
1. D. Tommelein & P. P. Zouein, University of Michigan, USA 411
Construction Robotics Management with a Personal Computer
M. J. Skibniewski & J. E. Thomaz, Purdue University, USA
K. Tamaki, Waseda University, JAPAN 421
Automated Decision-Making-Examples from Practice
A. Gaarslev, Technical University of Denmark, DENMARK 431
Time-dependent Evolution of Work Packages
Y. L. Huang & C. W. Ibbs, University of California, USA
Y. Yamazaki, Shimizu Corporation., JAPAN 441
<C-4> System Simulation in Construction Planning
Simulation of a Panel Positioning Robot
J. I. Guzman, B. Atkin & P. Atkinson, University of Reading, UK 451
COOPS-Construction Object- Oriented Process Simulation System
P. G. Ioannou, University of Michigan
L. Y. Liu, Project Management Associates, Inc., USA 459
An Object-Oriented Simulation System for Construction Operations
N. Kano, Waseda University
N. Minami, Mitsubishi Estare Co., Ltd, JAPAN 469
(Volume 2)
(A-5> RobotiCs for Finishing Work
AutOmation of Robot Operation Planning Based on Product Modelling Case Study for Suspended Ceiling Installation Robots)
R. Krom & F. Tolman, TNo-guilding and Construction Research, Delft University of Technology, The NETHERLANDS 497
Development of the Ceiling Board Installation Machine
S. Tokioka, S. Nakamura, K. Kobayashi, S. Sakai, T. Nagao, & M. Naito, Kumagai gumi Co., Ltd., JAPAN 507
A Material-Handling System in the Building Site
T. Honda, T. Okano, H. Nomura & H. Takano, Simizu Corporation
T. Matsumoto, H. Wada, Y. Yuzaki & N. Minami, Mitsubishi Heavy Industries, Ltd., JAPAN 517
Development of a Desk/Chair Arrangement Robot,
Y. Kumita, T. Takimoto, A. Nozue & K. Murakoshi, Fujita Corporation, JAPAN- - 525
<A-6> Robotics for Inspection and Maintenance
Development of a Multi-Purpose Mobile Robot for Concrete Surface Processing
R. Berlin & F. Weiczer, Chalmers University of Technology, SWEDEN 535
Essential Factors in the Automation of Building Inspection
T. C. K. Wong, Housing Department
D. A. Chamberlain, City University, UK 545
Wall Climbing Robot for the Inspection and Maintenance of Buildings
M. M. Cusack & J. G. Thomas, Bristol Polytechnic, UK 555
Development of Wall Coating Removal Robot
M. Ashikawa, T. Adachi, H. Katano, T. Miyashita, & S. Matsui, Nishimatsu Construction Co., Ltd
M. Kakikura, Tokvo Denki Universitv. JAPAN 565
<A-7> Robotics for Structural Work
Masonry Constrution by an Experimental Robot
D. Chamberlain, S. Ala, J. Watson, J. Reilly & P. Speare, City University, UK - 573
An Automated Construction Erection System
B. V. Viscomi, Lafayette College
N. D. Perreira, Lehigh University, USA 583
Development of System Capable of Spraying Fireproof Covering Materials
H. Miyamoto, T. Sawada, R. Yoshitake & J. Iimori, Fujita Corporation, JAPAN 593
Development of the Automatic Screeding Machine Mounted on a Girder for Concret e Placing Work
K. Okuda, Y. Yanagawa & T. Kawamura, Takenaka Corporation, JAPAN 603
Development of the Automatic Reinforcing Steel Placing Robot
K. Kubo, S. Nemoto & T. Miyamoto, Kajima Corporation, JAPAN 611
Development of Automatic Exterior Precast Concrete Wall Panel Construction System
H. Tanijiri & K. Sato, Fujita Corporation, JAPAN 619
<B-5> Robotics for Tunnellin~
Development of Tunnel Face Matking System
R. Murakami, & K. Yamazaki, Toa Corporation, JAPAN 629
The Three-Dimensional Marking Robot for Tunnel Driving
K. Nakano, M. Sasaki, A. Suzuki & T. Kanzaki, Taisei Corporation, JAPAN - 635
A New System for Marking off on the Face in a Tunnel
T. Kaneda & H. Fukuda, Obayashi Corporation, JAPAN 645
Total Control System for Shotcreting
T. Terada & R. Murakami, Toa Corporation, JAPAN 651
<B-6> Robotics for Tunnelling
Prospects for Applying Automation Robotization of Shield Method Work
S. Hashiba, Japan Society of Civil Engineers, JAPAN 659
Development of Automatic Bolt Supply and Tightening Robot for Automatic Segment Assembly System
K. Nakashima, & N. Kondou, Kawasaki Heavy Industries, Ltd.
T. Nomoto & Y. Kuwabara, Nishimatsu Construction Co., Ltd., JAPAN -669
Automatic Control System for the Shield Tunnelling Machine
T. Nakanishi & M. Hirabayashi, Kumagai gumi Co., Ltd., JAPAN 675
Total Shield Construction Control System
K. Takemura & T. Nemoto, Kajima Corporation. JAPAN 683
<B-7> Robotics for Tunnelling
Automatization in Expansion of Slurry Feed and Outflow Pipes in Shield Tunnelling Construction
Y. Ohara, Y. Kikuchi & K. Miyazawa, Shimizu Corporation, JAPAN 693
Automatic Extension Robot for Slurry Transport Pipes
T. Mimura. S. Abe & M. Wada, Kumagai gumi Co., Ltd-. JAPAN 701
Development of An Unmanned Prelining Machine Using the Pre-Arch Shell Support (PASS) Method
A. Nagaoka, T. Mori, H Ue, Y. Mimura & T. Kanda, Fujita Corporation~ JAPAN - 709
Development of Discharged Soil Measuring Device for Shield Tunneling Machines
Y. Ooishi, S. Murakawa A. Hatakoshi & T. Mori, Mitsub~shi Heavy Industries Ltd., JAPAN 717
Development of an Automatic Shield Excavation System
T. Sato, Kajima CorPoration, JAPAN 725
An Automatic Vibrating Roller Roller Operation System
K. Utsuka, & Y. Kurihara, Ministry of Construction
M. Fujiwara, Mitsuoishi Heavy Industries Ltd., JAPAN 735
<B-8> Robotics for Excavating Work
Controlling an Intelligent Excavator for Autonomous Digging in Difficult Ground
D. Seward, D. Bradley, J. Mann, & M. Goodwin, Lancaster University, UK 743
Study on Underground Space Excavating Machine
H. Adachi, T. Arai & K. Honma, AISI, MITI
T. Nakamura, Mie University
H. Yoshinada, Komatsu Ltd., JAPAN 751
Forces Prediction of Underwater Soil Cutting by Excavating Robots
1. Nedorezov, All-Union Research Institute of Transport ConstructiOn, RUSSIA 759
Development of a Measuring System for the Underground Pipelines
T. Takatsu, & H. Takebe, Ministry of Construction
S. Ohsumi & J. Nishio, Sumitomo Metal Industries Ltd., JAPAN 767
Research on Control Method of Planning Level for Excavating-Robot
F. Pei-en, Y. Yi, Q. Zhong-Wei & S. Shou-qian, Zhejiang University, CHINA 777
<C-5> Locomotion
Stability of Mobile Manipulators
M. C. Wanner & K. D. Rupp, IPA Stuttgart, GERMANY 787
Automatic Level Control of Bulldozer Blade Based on Fuzzy Theory.
R. Fukagawa, & T. Muro, Ehime University, JAPAN 793
Automatic Wheel Loader in Asphalt-plant
T. Gocho, N. Yamabe, & T. Hamaguchi, Nippon Hodo, Co., Ltd
S. Hitomi, T. Ono, H. Oshima & M. Mori, Kornatsu Ltd
M. Fukuda, Kornatsu MEC Co. JAPAN 803
Traffic Performance of Crawler from Viewpoint of Energy Analysis
K. Kogure, N. Moriyama & T. Shogaki, Nationa~ Defense Academy, JAPAN 813
<C-6> Locomotion
Application Height Control System of a Tractor Carrying up Weak Slope at Driving State
T. Muro, Ehime University, JAPAN 823
Direction Controlled Lifting System
M. Nishimura & N. Yoshihama, Taisei Corporation
S. Yamashita, Tokirnec Engineering Inc JAPAN 833
Unmanned Surveying System Using Automatic Moving Vehicle
T. Kishishita, K. JO, S. Sako & S. Koga, Fujita Corporation, JAPAN 843
An Engineering Approach to Carriage Automation System at Construction Site (the First Report)
O. Hatakeyama, H. Sugiura & H. Saito, Hazama Corporation
K. Nishide, Tokyo Aircraft Instrument Co., Ltd.
H. Arasawa, System Architect & Network, Inc., JAPAN 849
<C-7> Control System for Robots
Towards Computer Integrated Road Construction
P. Francois & P. Herve, Laboratoire Central des Ponts et Chaussees, FRANCE 859
Planning for Automatic Excavator Operations
A. J. Koivo, Purdue University, USA 869
Construction System of Heavy Parts by the Coordinated Control between a Crane and a Robot
T. Arai & H. Osumi, The University of Tokyo, JAPAN 879
Design and Implementation of Multiple Autonomous Robots Cooperative Behavior Based on Modest Cooperation
S. Yuta & S. Premvuti, University of Tsukuba, JAPAN - 887
Task and Motion Planning Technique for Designing Group Control System In Robotic Construction Work
K. Tamaki, Aoyama Gakuin University
Y. Hasegawa, Waseda University, JAPAN
M. J. Skibniewski, Purdue University, USA 897
<C-8) Robotics for Underground/Underwater Works
Automated Construction of Underground Tank
H Aoki 7'o~yo Gas Co., Ltd
Y Tsukahara, Y. Kajioka, T. Odawara, K. Kubota, Y. Tanaka, K. Sazuki, A. Kaiya & M. Sunahara Shmizu Corpration, JAPAN - 907
Automatic Preassembling System for Reinforcement of Underground LNG Tank
H. Sato, Y. Kajioka, Y. Kikuchi & S. Makono, Shmizu Corporation
Y. Tsutsumi, Tokyo Gas Co., Ltd. JAPAN - 915
Prospects for Applying Automation/Robotization of Underwater Foundation Work
T. Kanzaki, Japan Society of Cirlil Engineers, JAPAN 921
Development of Riprup Supply Type Mound Levelling Machine
Y. Suzuki, T. Hirakata & K. Onodera, Ministry of Transport
R. Okude, Port and Harbor Research Institute, JAPAN 931
Development of A Computer Aided Construction System for Submarine Excavation Works
M. Tsunoda, M. Hirano,H. Inoue & M. Harada, Kumagai gumi Co., Ltd., JAPAN 939
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