A Method for Analyzing Mechanized and Robotized Production Processes on the Building Site
Ir F.J.M. van Gassel /Netherlands 1

System Deployment Structures - A New General Formof Robotic Construction Agent
J.B.O'Brien 9

Automation in Construction - The Implementation Prospects
A.Warszawski 17


1-A HEALTII AND SAFETY AND SOCIAL ISSUES

True Costs of Construction Accidents: Hidden Incentive for Construction Automation and Robotics
J.G.Everett 19

Worker Safety and Environmental Protection in Automated Steel Bridge Restoration
A.M.McCrea, D.A. Chamberlain 27

Computer Integrated Construction
A.Warszawski, R.Sacks 39


l-B ROAD CONSTRUCTION

Development of an Automated Real Time Tracking System for Pavement Compaction
Cheng-Che Li, H.R. Thomas, A.A. Oloufa 49

SESSYL The Study of the Positioning Systems for Road Construction Robotics
F.Peyert 55

OPSALC: An Operations Planning System for Autonomous Landfill Compaction
H-P.Tserng, R.Kunigahalli, J.S.Russell 63

Construc~ion Automation and Intelligent Vehicle Highway Systems: Common Thrust Areas
R.Kunigahalli, J.S.Russell, M.Skibniewski 71


1-C HAZARDOUS WASTE HANDLING AND DISASTER RELIEF

GIS Applications in Construction: Planning for Disaster Relief
RKangari, S.Sani 77


1-D ECONOMICS AND MANAGEMENT ASPECTS IN AUTOMATION TECHNOLOGY

Integrated Information Technology of Design and Construction Management
J.Sutt, T.Nuuter 85

An Intelligent Approach to Automate Production Budget Planning in the Building Products Industry
Dr. Dawood N.N: 93


2-A INSPECTION, REPAIR AND MAINTENANCE

Development of Wall Inspection Robots
A.Nishi, H.Miyagi, K.Ishihara 103

Robotic Kinematic Simulation for Sewer Renovation
S.J.Broadhurst, G.Cockerham, N.Taylor, T.Pridmore 109

Automatic Diagnosing of Fatigue Life of Machine Parts
K.M.Golos, S.Oziemski 117


2-B EXCAVATIONS AND SOIL HANDLING

Interaction Between a Model Excavator and the Surrounding Ground During Positioning Control Tests
R.Fukagawa, T.Muro, K.Hozumi, T.Matsuike 123

Control of Hydrostatic Travel Drive System in Earth Moving Machines
J.Bialy, J.Krasuski, M.Lopatka, T.Przychodzien 131

Microcomputer Controlled Test Stand for Backhoe Excavator
J.Szlagowski, D.Dabrowski, W.Lasota, M.Poncyliusz 139

On-board Computer System for an Excavator
H.Dobrowolski 143

Automated Routing and Obstruction Detective System for Trench Construction: A GIS Approach
M-Y.Cheng, G L.Chang 151

The Optimisation of Tool Shapes and Trajectories in Heavy Machines
A.Jarzebowski, M.Maciejewski, D.Syba, W.Trampczynski 159

Brawal 1611 and Brawal 4011 Energy-Economical Hydraulic Excavators with the Artificial Intelligence Elements
R.Walczewski 167

Concept of a Flexible Microprocessor System of Controlling Electro-hydraulic Drives of Building Machines
E.Budny, M.Bartys 179


2-C INDUSTRIAL, BUILDING AND HOUSING CONSTRUCTION

Development of Roof l?ushup Construction Method
T.Fujii, Ch.Hagiwara, M.Morita, M.Miyaguti 193

Development of a New Building Construction Method, the Arrow-up System for Completing the Whole Building at the Safe Ground Level
H.Tanijiri, T.Arai, S.Tomoda, K.Ishikawa, Y.Enomoto, A Sakura 203

Implementation of Lean Production in Construction Component Manufacturing
L.Koskela, J.Leikas 211

Development of Tunnel Lining Inspection Method by the Eleastic-Wave Transfer Function

Method (ETFuM)
H.Morishima, H.Koyama, Y.Higo, S.Tumoda, Y.Kiuchi 221

Technological Aspects of Automation and Robotics in Construction
J.A.Villman 229

Development of Marking Robot Working at Building Sites
K.Tanaka, M.Kajitani, Ch.Kanamori, H.Itoh, Y.Abe 235


2-D MASONRY CONSTRUCTION

Characteristic of a Robot Oriented Building Block System
T.Bock, W.Leyh 243

Object-Oriented Planning- and Controlling- System for a Wall Construction System
T.Bock, D.Stricker, T.Huynh, J.Fliedner 259

The Robotic Building Construction System
T.Bock, W.Leyh 267

Technological Aspects in the Development of a Mobile Bricklaying Robot
G.Pritschow, M.Dalacker, J.Kurz, M.Gaenssle 281

Controlled Hydraulics for a Direct Drive Brick Laying Robot
J.Heintze, P.C.Teerhuis, A.J.J.v.d.Weiden 291


3-A LARGE SCALE AND HEAVY MANIPULATION

Dynamic Stability of Machines with Articulated Frame Steering in Automatic Warning System Aspect
P.Dudzinski, R.Cieglak, K.Pieczonka 299

The Development of the Intelligent Multiaxis ALR Robot
P.Belohoubek, Z.Kolibal, Z.Kadlec, O.Vystrcil 307

An Interactive Database System with Graphical Linkage for Computer Aided Heavy Lift Planning
C.T.Haas, K.L.Lin 313

The Influence of a Four Wheel Drive of a Working Machine on Some of Its Traction Properties
G.Tyro, L.Knap, Z.Zebrowski, J.Zebrowski 325


3-B ROBOT INTELIGENCE AND EXTERNAL SENSING

Adaptive Gait Acquisition using Multi-agent Learning for Wall Climbing Robots
L.Bull, T.C.Fogarly, S.Mikami, J.G.Thomas 333

Dynamic Symulation, Nonlinear Control and Collision Avoidance of Hydraulically Driven Large Redundant Manipulators
M.Schneider, M.Hiller, S.Wagner 341


3-C QUALITY, PRODUCTIVITY AND PLANNING

Can Construction Learn from Experiences of Other Sectors in Achieving the Appriopriate Balance between Organisational and Technological Innovation?
J.M.Jones, M.Saad 349

Interaction between Automation and Available Level of Technology
S.Oziemski 357

Computer Aided Planning in Construction, Survey and Analysis of Construction Planning Procedures
N.Kano 365

A Neural Network System for Productivity Forecasting
A.H.Boussabaine 375

Construction Quality Control Through Pen-Based Computers
M.Hsie, L.M.Chang, M.T.Wang 383


3-D SIMULATION, CONTROL, PATH PLANNING AND POWER

Computer Aided Operation of the Single Bucket Excavator with the Remote Control and Laser

Control System of Positioning
A.Bartnicki, S.Konopka,.F.Kuczmarski, A.Typiak, J.Wrona 391

Hybrid Simulation System for Analysis of the Specialized Mobile Systems
A.Maslowski, A.Andrzejuk, A.Czerniewska-Majewska, P.Synkarczyk 399

Task Decomposition in Support of Automation and Robotics in Construction
A.N.B.Ahmad, J.N.Scott, D.A.Bradley 407

Methods and Software Engineering Tools for Simulation of Robot Dynamics
J.Auzinsh, P.Sliede 415


4-A CAD/CAM AND COMPUTERINTEGRATED CONSTRUCTION

CAD Environment for Automated and Robotic Construction
R.J.Luke, M.M.Cusack, J.M.Jones 423

Development and Field Experiments with a Fully Automated Rebar CAD/CAM System
R.Navon, Y.Rubinovitz, M.Cof~er 431

Fuzzy vs Probabilistic Scheduling
O.Moselhi, P.Lorterapong 441

CAT - Computer Aided Testing in Automation of Stability Tests of Mobile Building Construction and Earth Moving Machinery
K.Szymanski, J.Ratajczak, W.Mijakowski 449


4-B OFF-SITE MANUFACTURING, FABRICATION, ASSEMBLY AND FINISIIING