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- 1 - A. HEALTH AND SAFETY
Safety of Programmable Machinery and the EC Directive
S. P. Gaskill
Safety Problems in On-Site Construction Work Processes
S. Nishigaki and K. H. Law 13
Ergonomics, Health, and Safety in Construction: Opportunities for Automation and Robotics
J. G. Everett 19
Alarm System to Prevent the Overtuming of Truck Cranes Considering Possible Ground Failure
R. Fukagawa and T. Muro 27
Hazard Analysis Techniques for Mobile Construction Robots
D. W. Seward, D.A. Bradley and F. W. Margrave 35
Generic Health and Safety - EC Directives and Technical Policy Implications
B.S.Neale 43
- I - B. ROAD CONSTRUCTION AND DRILLING OPERATIONS
Development of Three Dimensional Positioning Automatic Control Asphalt Paver
T. Nakamura, T. Kiriyama, M. Fukuda, Y. Takagi, T. Maeda, M. Fukukawa S. Nagasaki, Y. Fujiwara, K. Sugano, F. Goto, Y. Namekawa, K. Denda and Y. Ageishi 47
Automatic Control System of Temporary Traffic Signals at Pipeline Laying Work
Site
Yamamoto and K. Wada 55
The Development and Testing of a Mobile Drilling Robot
R. P. W. J. Kloek, J. Bos and R. M. S. v.d. Marck 63
Providing a Drilling Robot with the Right Instructions
R . P. Krom 7
Robotization of Road Construction: Current Technologies and Economic Analysis
M. Salem and J. D. Lutz 79
- I - C. MASONRY CONSTRUCTION
First Results of the Development of the Masonry Robot System ROCCO: A Fault Tolerant Assembly Tool
J. Andres, T. Bock, F. Gebhart and W. Steck 87
Application Specific Realisation of a Mobile Robot for On-Site Construction of Masonry
G. Pritchow, M. Dalacker, J. Kurz, M. Gaenssle and J. Haller 95
Computer-Aided Planning in Masonry Construction
H. Abdul-Sater and A. Delchambre 103
PC - Controlled Fexible Production of Brickwork
B. Bley and F. Anliker 111
- 2 - A. CONCRETE CONSTRUCTION AND SURFACE PROCESSING
Concplanner: An Automated Process Planning System for Concrete Construction
R. Kunigahalli and J. S. Russell 117
Computer Simulation of Concrete Slab-on-Grade Construction
O. Moselhi and S Hanson 125
Development of a Multi-Purpose Mobile Robot for Concrete Surface Processing
R. Berlin 133
Visibilty Graph Approach to Detailed Path Planning in CNC Concrete Placement
R. Kunigahalli and J. S. Russell 141
Robotized Mould Milling and Precast Concrete Polishing
A. Nurminen 149
- 2 - B CAD/CAM INNOVATION AND APPLICATIONS
Rebar Computer-Aided Design and Manufacturing
R. Navon, Y. Rubinovitz and M. Coffler 155
Development of an Automated Design Aid (ADA) for Improved Buildability and Accelerated Learning
D. R. Moore and A. Tunnicliffe 163
The Role of Object Oriented CAD in a Generic Simulator for the Industrialized Housing Industly
R. Armacost, M. Mullens and W. Swart 171
Automated Case-Based Scheduling for Power Plant Boiler Erection: Use of Annotated Schedules
I. Tommelein and R.-J. Dzeng 179
- 2 - C. EXCAVATION, GROUNDWORKS AND UNDERGROUND TRANSPORT
Soil Machine Interaction in Digging and Earthmoving Automation
F. Malaguti 187
Automation of Working Unit on a Bucket Loader
P. Dudzinski, K. Pieczonka and Z. Wyslouch 193
TRUST Method - Thin Slurry Walls
M. Ariyama, T. Naito, H. Ohya and M. Arai 199
Development of a Remote-Control Transportation System for use in Underground Space
S. lwaoka, T. Mori, Y. Nakai, K. Funatsu and H. Watabe 207
- 3 - A, NATIONAL VIEWS AND EXPLOITATION ISSUES
Driving Forces and Status of Automation and Robotics in Construction in Europe
W. Poppy 215
Automation and Robotics in Construction: Social and Cultural Differences Between Japan and the United States
J. G. Everett and H. Saito 223
Prior-use Evaluation of the Impact of Company Work Procedures of Using Robots on Construction Sites
C. C. Neil and G. D. Salomonsson 231
- 3 - B. VIRTUAL REALITY AND MAN-MACIIINE INTERFACE
A 'Virtual Reality' Type Simulation System for Construction Automation System Development
R.R.Wakefield and J. B. O'Brien 239
Use of Virtual Reality in Scheduling and Design of Construction Projects
C. Bridgewater, M. Griffin and A. Retik 249
The Communication within Heavy Machine Operator Assistant System (HMOAS)
D. Dabrowski, H. Dobrowolski, M. Poncyliusz, A. Selenta and J. Szlagowski 257
- 3 - C. EXCAVATION AND GROUNDWORKS
Variable Structure Control in Excavator Robot
F. Malaguti 263
Development of a Tele-Earthwork System
M. Minamoto, K. Nakayama, H. Aokage and S. Sako 269
Technical Note: Statistical Estimates of Soil Cutting Resistances for Excavating Robots
I. Nedorezov 277
- 4 - A. CONSTRUCTION PLANNING, PROCESS CONTROL AND SYSTEMS ARCHITECTURE
Flow Process Analysis in Construction
L. Koskela and R. Sharpe 281
Results using PrT-nets for Controlling Complex Building Progresses
P. D. P. Boettcher and H. Koerner 289
Materials Handling and Site Layout Control
1. D. Tommelein 297
- 4 - B. MAPPING, MEASUREMENT AND GUIDANCE SYSTEMS
An Intelligent Task-Planning System for Autonomous Interior-Robots
1. M. Shohet, Y. Rosenfeld and A. Warszawski 305
Automatic Laser-Controlled Erection Management System for High-Rise Buildings
T. Kanzaki, K. Nakano and M. Matsumoto 313
A Three-dimensional Positioning System using Laser Beams and its Application to Undulation Measurement of a Golf Course Green
T. Ochi, Y. Higuchi and T. Satta 319
The Laserguide System of Automatic Machine Guidance
B. J. Gorham 327
- 4 - C. STRATEGY, ECONOMICS AND JUSTIFICATION
A Critical Appraisal into Critena Concerning the Application of Automation and Robotics in Construction
S. G. Naoum 333
SIMBASE I & II: Project-Based Simulation for Economic Justification and Sensitivity Analysis of Automated Technology
J.-J. Rho and D. J. Fisher 341
Unstable Market Forecasting and Management Techniques for a Precast Component Fabricator
N. Kano and M. Kaku 349
Productivity Analysis of Bridge Inspection Robots
A. McCrea 357
- 5 - A. ROBOT CONTROL, PATH PLANNING AND POWER
Control Architectures and Operational Strategies for Intelligent High-Powered Manipulators
D.A.Bradley, D. W. Seward, T. Heikkila and P. Vaha 367
Time Optimal Collision Free Motion Planning for Multi-Robot Systems
C.A.Czarnecki 373
Energy Storage for Construction Robots
P. Claiden 381
- 5 - B. CONSTRUCTION PLANNING, PROCESS CONTROL AND SYSTEMS
Planning of Integrated Interior Finishing Work System -WASCOR IV Research ProJect Report (Part I)
K. Tamaki, H. Matsuda and Y. Hasegawa 391
Design for Automation - A Generic System Architecture for Civil Engineering Applications
A. P. Middlebrook 399
Automating Dynamic Layout Construction
P. P. Zouein and I. D. Tommelein 409
- 5 - C. TUNNELLING AND VENTILATION
Remote Concrete Spraying in Shafts and Tunnels
B. Mason, M.Bishop and E. Appleton 417
Measurement of Earth Pressure Acting on a Shield Machine and its Application to Automatlc Advancing Control of the Shield
K. Tateyama, R. Fukagawa, K. Tsuchiya, S. Nishitake and Y. Ooishi 425
Fuzzy-Controlled Tunnel Ventilation System
S. Kohno and Y. Kikuchi 433
- 6 - A1. TUNNELLING
Development of Fully Automatic Robotic System for Small Diameter Construction: 'Development of the ACE MOLE 1200-M2 Construction Method'.
Y. Kimura, T. Saito and T. Sakurada 441
An Invert Concrete Screeding Machine for Shield Tunneling
M. Suzuki, H. Sakurai, T. Ohnishi, M. Kanno, K. Kikuchi and T. Mikami 449
- 6 - A2. BUILDING AND LARGE SCALE CONSTRUCTION
Development and Application of the SMART System
J. Maeda 457
Totally Mechanized Construction System for High-rise Buildings (T-UP System)
S. Sakamoto and H. Mitsuoka 465
Assembly Techniques for Large Construction Components
B. L. Atkin, P. Atkinson, C. Bridgewater, B. L. Davies and R. D. Wing 473
- 6 - B. UNMANNED VEHICLES & MOBILE CONSTRUCTION SYSTEMS
Unmanned Vehicle Enabling Technology for the Construction Industry
P. Bateman 481
Development of Multi-Purpose Mobile Robot Capable of Travelling along Columns and Beams
R. Kamei, K. Ogasawara and R. Katamura 487
Application Height Control System of a Wheeled Vehicle Running on a Loose Sandy Soil
T. Muro and R. Fukagawa 495
A Method of Control of Plural Autonomous Dump Trucks in Heavy Construction Sites
H. Sugiura, O. Hatakeyarna and S. Yuta 503
Essay: A Macro Machine for Large Scale Construction
A. B. Khawand 511
- 6 - C. EXPLOITATION OF INFORMATION TECHNOLOGY
AEC Collaborative Information Systems: From Requirements to Architecture
H. El-Bibany 575
Construction Automation Research Database (CARD)
L. A. Ochoa-Franco, C. T. Haas, C. M. Dailey and A. E. Traver 523
Information Technology in Support of Construction Site Automation and Robotics
J. N. Scott, D.A.Bradley, R. M. Adelson, M. Pengelly and D. W. Seward 531
The Fujita Integrated Environment for Automation
A. A. Oloufa and M. lkeda 539
Managing Construction Drawing Documents with an Automatic Index System
N.-J. Shih 547
- 7 - A. MANlPULATORS AND CRANES
Comparison between Industrial Robotic Manipulators, Agricultural and Construction Plant and Equipment
J. Ibaliez-Guzman 555
Concepts for a Sensor-Guided Redundant Heavy Manipulator
B. Fink and M.Hiller 563
Enhancing Existing Cranes by a Semi-Automatic Navigation System
Y. Rosenfeld 571
- 7 - B. OFF-SI~E MANUFACTURING AND MATERIAL HANDLING
Automatic Robot Path Planning for GRC Spraying Cell
C. Balaguer, J. M. Pastor, A. Garcia, L. F. Penin, F. J. Rodriguez, A. Barrienteos, R. Aracil, J. Florez, N.Esteban, J. A. Comas and E. Marquez 579
Modularity of PRM type Cartesian Robots and their Application in the Production of Construction Materials
Z. Kolibal, P. Belohoubek, P. Holec and O. Vystrcil 587
A Gripper for Handling Flat Non-Rigid Materials
A. Karakerezis, Z. Doulgeri and V. Petridis 593
- 7 - C. INSPECTION AND MAINTENANCE ROBOTS
Portable Robot for Scour Survey Below Highway Bridges
W. R. Bath 603
A Robotic Manipulator for Inspection and Maintenance of Tall Structures
N. R. Bevan, A. A. Collie, T. S White and B L. Luk 609
Robot Control System for Window Cleaning
M. Farsi, K. Ratcliff, P. J. Johnson, C. R. Allen, K. Z. Karam and R. Pawson 617
Control SoiSrware and Hardware for a Wall Climbing Robot
M. M. Cusack and J. Thomas 625
- 8 - A. NATIONAL VIEWS AND SOCIAL ISSUES IN EXPLOITATION
A Japanese View on The Role of Automation and Robotics in Nex Generation Construction 633
T. Ueno
The Men and the Machine
M. Richardson and D. Trowell 641
Essay: The Conflict Between Accepted Maintenance Practice and Evolving Robotic System Maintenance on Large Groups of Tower Blocks
R. Weston 651
- 8 - B. IMAGE PROCESSING AND ROBOT VISION
Identifying Key Features in a Building Using a Single Uncalibrated Camera
A. M. Paterson, G.R.Dowling and D.A.Chamberlain 657
Development of Air Conditioning Equipment Inspection Robot with Vision Based Navigation System
Y. Abe, K. Tanaka, Y. Tanka, T. Fukuda, F. Arai and S. Ito 665
Sensing for Feature Identification in Sewers
S. J. Broa&urst, T. P. Pridmore and N. Taylor 675
Imaging Technology for Robot Maintenance and Calibration
A. G. Starr, 1. Kennedy and R. J. Wynne 683
- 8 - C MANIPULATORS TOOLS AND MATERIAL HANDLING
Robotic Action-Heads - New Forms of Device for Attachment to Existing Construction Machines
J. B. O'Brien 691
New Concepts in Manipulators
Y. Kikuchi, T. Terajima, T. Odawara, Y. Tanaka, T. Kanda and K. Hirosawa 701
Development of a Mutifunctional Robot for Installation of Building Exterior and Interior Finishing Materials
A. Miyama, M. Sawada and 1. Suzuki 709
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