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1989 Proceedings of the 6th ISARC, San Francisco, USA

The Cutting Edge in North America

Timothy S. Killen
Pages 16-23

Abstract: Automation and robotic applications for use in the North American construction industry are currently under development at numerous university and industry laboratories. A number of these applications have been tested under simulated or actual jobsite conditions; some have provided enough information to determine technical success or economic feasibility of the ...

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The Cutting Edge in Western Europe

Martin-Christoph Wanner
Pages 24-26

Abstract: Within Western Europe we do not have a general approach from manufacturers and users comparable to the approach in Japan. We do have some quite remarkable individual efforts. Furthermore national and multinational organizations have realized the importance of robotics in construction. More structured efforts and stronger market demands might had ...

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"Cutting Edge" of the State of the Art of Construction Robotization in Japan

Yukio Hasegawa
Pages 27-32

Abstract: The newest status of robotization in Japanese construction industry is reported based on Construction Industry Institute classification. And the recent result of a questionaire survey for promoting automatization and robotization of construction industry by Ministry of Construction is introduced. Finally the author discusses strong necessity of international co-operation for break-throughing ...

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New Capability for Remote Controlled Excavation

William P. Wohlford, F.D. Griswold, B.D. Bode
Pages 33-40

Abstract: Remote controlled operation of construction equipment has been state-of-the-art for some years. The availability of remote controls which have been designed and developed for general use on commercial machines is a recent development that is the subject of this paper. The John Deere teleoperated excavator represents a new capability that ...

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Development of Fully Automatic Crawler Jumbos for Use in Tunnel Excavation

Masaharu Noma, Masao Matsuyama
Pages 41-48

Abstract: Because the operation of drilling for tunnel excavation by blasting is performed in a severe work environment and the degree of worker skill shows a declining tendency in recent years, it is becoming difficult to obtain a high degree of precision in drilling and this could become a major problem ...

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Shield Method Automation System

Kiyoshi Sato
Pages 49-55

Abstract: The automation system has been developed based on the purpose of unmanning the operation in shield work through robotization of excavation data collection, automatic surveying and stance controlling. The data collecting section gathers and analyzes various data such as on earth pressure, thrust and speed during excavation performed by the ...

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Development of Small-Bore, Long-Distance, Curved-Conduit Tunneling Robot

Tadashi Sugi, Yutaka Ichinohe, Hideto Abe, Hidekazu Tanaka
Pages 56-63

Abstract: This paper describes the application of pipe-tunneling robots for constructing small-bore (1-2m) tunnel conduits for underground power cables. The system makes possible long-distance, curved-conduit tunneling. The development consists of the following basic technology; (1) an automatic position–measuring system via gyro car; (2) a self-propelled, semi-shielded machine for long-distance, curved-conduit tunneling; ...

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A Laboratory Study of Force-Cognitive Excavation

Darcy M. Bullock, Irving J.Oppenheim
Pages 64-72

Abstract: Excavation is characterized by the development of unmodelled forces between the bucket and the soil; the surface conditions are generally uncertain, and the development of these forces is only revealed during the very act of disturbing the medium. A human operator typically exerts control to keep such forces within limits ...

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The Cross Fertilization of Construction and Manufacturing through Computer Integration

Victor E. Sanvido, Deborah J.Medeiros
Pages 73-79

Abstract: This paper compares the process similarities between the manufacturing and construction industries and identifies areas for cross fertilization through techniques that have been effectively applied to solving productivity problems. ...

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The Feasibility of Construction Robotics in Finland and Norway

Lauri Koskela, Heikki Lempinen, Esko Salo
Pages 80-86

Abstract: This paper reports on the results of a Norwegian-Finish feasibility project on construction robotics, carried out in 1988. The aim of this project was to determine and evaluate the most suitable robotization themes from the point of view of the construction industries in the respective countries. Functional requirements and preliminary ...

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Six Years Experience of Developing Robotized Building Construction System - WASCOR Reasearch Project Peport (Part 1)

Yasushi Tamura, Yuki Hasegawa, Nobuyasu Miura, Kinya Tamaki
Pages 87-94

Abstract: For rationalizing building construction systems with robots, we organized WASCOR (WASeda Construction Robot) research project at System Science Institute, Waseda University in 1982. The project team is composed of 10 university professors in the field of civil, mechanical, industrial engineering and system science, management and engineers from 9 general contractors ...

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Task Identification for Construction Automation

Laura Demsetz
Pages 95-102

Abstract: Recent work in construction automation has proceeded in two directions: the development of automated and robotic equipment, and the identification of construction tasks that are good candidates for automation. Previous task identification studies have focused on total automation using robotic manipulators. However, approaches to automation in manufacturing and success of ...

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Barriers to the Application of Robotics and High Level Automation within the United Kingdom Construction Industry

Michael A Brown
Pages 103-110

Abstract: The British construction industry has scarcely begun to consider the application of robotics and advanced automation to the building process. It is both the traditional organization and the culture of the building site which inhibit advanced technological development and its application in the UK. Organizational forms are based on separateness, ...

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Systematic Design Analysis for (ROD) Design Synthesis Shown at the Example of a Structural Joining System Suited for Robotic Assembly

Thomas Bock
Pages 111-118

Abstract: Based on the concept of “Robot Oriented Design” which was presented at the 5th international symposium on robotics in construction in June 1988, this paper proposes a design analysis for the “ROD” robot-oriented-design synthesis of structural elements. The structural elements are beam and column including their joining system. A systematic ...

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A New Direction in Automating Construction

Brian Atkin, Peter Atkinson, Colin Bridgewater, Javier Ibanez-Guzman
Pages 119-126

Abstract: The majority of work in the field of construction robotics has focused on the adaptation of existing industrial robots to automate traditional construction processes that use basic material. This paper introduces a new approach, that of construction based on a factory-produced ‘parts-set’ especially suited to a range of on-site purpose-designed ...

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Partially Automating the Design-Construction Interface: Constructibility Design Rules for Reinforced Concrete Structures

Martin Fischer, C.B. Tatum
Pages 127-134

Abstract: Design and construction are highly fragmented for many types of projects in the US construction industry. This vertical and horizontal fragmentation leads to inefficiencies during construction. Knowledge based systems provide a means to partially automate the process of construction input to design and assist in reducing the adverse impact of ...

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The Design and Fabrication of an Automated Shear Stud Welding System

Andrew Glenn Ziegler, Alexander Henry Slocum
Pages 135-142

Abstract: Stud welding is process used in the construction industry to anchor concrete slabs to underlying steel substructures. This is highly repetitive and, thus, a good candidate for automation. A robotic device, the Studmaster, has been developed which will automate stud welding currently done in the construction of industrial buildings. This ...

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Outlines of Two Masonry Robot Sytems

Hannu Lehtinen, Esko Salo, Heikki Aatlo
Pages 143-150

Abstract: Functional requirements, technical specifications and economical feasibility on masonry robotic theme have been investigated. Two alternatives are discussed: a modular SCARA-based system and a six D.O.F. articulated configuration. Market prices of $310000 and $350000 respectively have been estimated for the systems with a payback period of 6 years with realistic ...

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Underwater Pipeline Construction Using the B.B.T

T.W. Lively, H.R. Woodhead, S.F. Andersen
Pages 151-159

Abstract: On February 24, 1987, the Greater Vancouver Sewerage and Drainage District awarded an $8.5 million contract to Dillingham-Manson. A Joint Venture for construction of the Iona Outfall-Submarine section. The work to be done under this contract involved the installation of approximately 10,500 ft. of twin 90 inch diameter steel outfall ...

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Piping Erection Constructability Issues in a Semi-Automated Environment (Field Operations Phase)

Deborah J.Fisher, James T. O'Connor
Pages 167-174

Abstract: This research endeavor focuses on how semi-automated piping construction for process plants may become both technically and economically viable through constructability enhancement. This paper answers the question regarding how field operations need modifying in order to support the automated field effort and thus achieve the overall success objective. The semi-automated ...

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An Internal Welding Robot System for 600 mm Steel Pipelines

Akikazu Osagawa, Takashi Hazama, Kenji Kitano, Yukihiko Sato, Takashi Fuseda
Pages 175-182

Abstract: To increase safety and reduce costs in maintaining buried pipelines, we have been studying various types of robots capable of inspecting and repairing such pipelines from inside, and we have recently succeeded in developing automatic welding robots to reinforce welds from the inside of a steel pipe with a diameter ...

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Robotics for Construction and Maintenance of Pipes

Heinz G. Roehrich
Pages 180-186

Abstract: More stringent requirement on the integrity of safety-related components in power plants with a view to ensuring the availability of these installations and to rationalizing in-service inspections and repairs have resulted in the continuous and rapidly advancing enhancement of the inspection and repair methods used. This ...

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Development and Simulation of an Ergonomic Control System for Large Construction Manipulator

D.G. Alciatore; P.J. Hughes; A.E. Traver; J.T. O'Connor
Pages 183-188

Abstract: This paper discusses the development and implementation of a new ergonomic manual control system for a large construction manipulator. The manipulator consists of a 22 ton rough terrain hydraulic crane with a multifunction manipulator attachment. The combined device gives a single operator hydraulic control over eight independent joint axes allowing ...

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A Least-Commitment Approach to Planning Construction Projects with Repeated Cycles of Operation

Nabil A. Kartam, Raymond E. Levitt
Pages 189-196

Abstract: Knowledge representation and reasoning techniques derived from Artificial Intelligence (AI) research permit computers to generate plans, not merely analyze plans generated by human planners. They explicitly represent knowledge about how generate plans in the form of initial and goal states, descriptions of actions along with their preconditions and effects, and ...

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An A.I. Approach to Automating the Recognition and Evaluation of Logic Classes in Construction Scheduling

W H Askew, M J Mawdesley, J A N Booth
Pages 197-203

Abstract: Construction schedules exist in many forms to serve many purposes. They are prepared by various means by different individuals either manually or aided by computer software. Work which is underway to automate the production of schedules is now being supplemented by the development of an evaluation package for general usage. ...

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A Neural Network Approach to the Sequencing of Construction Tasks

Ian Flood
Pages 204-211

Abstract: The paper describes the development of a neural network based method for solving complex construction operational problems. A brief introduction to neural networks is provided. Particular reference is made to the mechanics and properties of the technique and its potential as a management problem solving tool. Following this, the optimal ...

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Impact of Automation on Construction Fixed Plant Operations

A. Hijazi, S. AboutRizk, D.W. Halpin
Pages 212-219

Abstract: Most operations in construction take place at the job site and involve installation and erection of materials. Certain materials, however, are prepared in fixed plant facilities either on or off-site and then moved to the site to be installed or erected. These fixed plant facilities have many similarities to traditional ...

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Generation of Construction Schedules. A Knowledge Based Approach

Diego Echeverry, C. William Ibbs, Simon Kim
Pages 220-227

Abstract: The generation of construction schedules is a time consuming task that requires the participation of experienced personnel and is mostly unsupported by today’s computer software. The objective of this research effort is to utilize a knowledge based approach to produce better tools for providing added support to the construction scheduler. ...

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Control Systems for Computer Integrated Construction

Leonhard E.Bernold, Dulcy M. Abraham
Pages 228-236

Abstract: The concept of Computer Integrated Construction (CIC) creates many challenges in developing an integrated system which links vertically and horizontally all the different participants on a construction project. In addition to the sharing of information, CIC provides new opportunities for construction management which include integrated planning and control. Researchers at ...

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Control and Operational Strategies for Automatic Excavation

D. A. Bradley, D. W. Seward, R. H. Bracewell, R. V. Chaplin, M. B. Widden
Pages 237-244

Abstract: The automation of the excavation process requires consideration not only of the design and operation of the excavator drive and control systems but also of the mechanics of the excavation process itself. The paper therefore discusses the developments necessary in these areas in relation to the operation of a simple ...

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Study of the Various Means of Perception in Mobile Robotics Applied to the Building Industry

D. Juge, A. Schmitt
Pages 245-252

Abstract: A project, named ROBAT, of design and realization of an autonomous mobile platform for the building industry, achieving tasks at the end of carcass work, is currently developed within the ECOLE DES MINES DE DOUAI. Generally, it is possible to give a model for third generation mobile robots, which is ...

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Design Differences between Robotic Manipulators and Construction Equipment

Gerry B. Andeen
Pages 253-259

Abstract: Robotic manipulators and construction equipment come from different traditions that have different objectives. The differences impede use of robotics in construction and use of construction technology in robotics. Robots come from the machine tool tradition where the objective is to hold the position of a tool independent of the forces ...

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Drawbar-Pull Control System of a Flexible Tracked Vehicle on Weak Terrain

Tatsuro Muro
Pages 260-267

Abstract: To establish a drawbar-pull control system to obtain a maximum productivity of a flexible tracked vehicle i.e. bulldozer running on a super weak marine sediment, the traffic performance of vehicle could be clarified by the use of a micro-computer in robotics for construction from the initial information of terrain properties ...

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Automated Inspection of Earthworks for Hazardous Waste Storage

Gregory B. Baecher, Philip G. Greenspun, Walter E. Gillett
Pages 268-276

Abstract: Construction inspection for quality control and quality assurance is central to ensuring compliance to contract standards and to assuring owners that work has been done right. This is especially true on critical facilities where inadequate performance can have severe consequences, for example, in the construction of earth works to contain ...

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Mock-Up Test of Remote Control Machine for the JPDR Biological Shield Concrete Dismantlement

Mitsuo Yokota, Makoto Ichikawa, Seishi Suzuki
Pages 277-284

Abstract: A diamond sawing and coring technique is a dismantling method developed in the JPDR Decommissioning Program conducted by JAERI. The dismantling system for this technique, consisting of a cylindrical geometric robot equipped with a sawing unit and a coring unit, concrete block/core handling devices and so on, will be applied ...

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Practical Uses of Painting Robot for Exterior Walls of High-Rise Buildings

Masahiro Takeno, Akira Matsumura, Shigeru Sakamoto, Yoshihito Sakai, Atsushi Shirato
Pages 285-292

Abstract: The robot automates the operation painting on exterior walls of high-rise buildings. The robot is designed to ensure safety during work at high elevations, assure the quality of the coating, enhances efficiency and maintain the privacy of guests in the building. At the Shinjuku Center Building (54 above-ground storeys, 220 ...

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Remote Dismantling of Activated Reactor Internals with Plasma Arc Torch

F. Hiraga, H. Nakamura, I. Miki
Pages 293-300

Abstract: The decommissioning program of the Japan Power Demonstration Reactor (JPDR) has been carried out since 1981 in the Japan Atomic Energy Research Institute (JAERI) in order to develop techniques applicable to future commercial power reactor decommissioning. In this program, a technical development for an underwater plasma arc cutting system has ...

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Dismantling the Damaged Three Mile Island Reactor Vessel by Remote Plasma Arc Cutting

Mark D. Hebner
Pages 301-308

Abstract: The use of remote robotic equipment has proven invaluable in the task of removing the fuel from Germany Public Utility’s damaged Three Mile Island Unit 2 reactor. The March 28, 1979 accident at Three Mile Island redistributed an estimated 300,000 pounds of core debris throughout all regions of the reactor ...

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On Solving Network Fixed Logic Problem-Resource - Driven CPM Scheduling

T. C. Chang, C. William Ibbs
Pages 309-316

Abstract: Logic relationships of activities in a CPM network can be categorized into highly dependent and largely independent. The current available CPM scheduling techniques, however, equally treat the logic relationships and, thus, is considered as one of its major deficiencies. This paper proposes an approach that starts from a preliminary network ...

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Automation Index for Evaluation of Robotics Implementation in Construction

Paul Fazio, Stanley Hason
Pages 317-324

Abstract: The Canadian construction industry must carefully consider the use of robotics if it is to meet its changing needs. This paper presents an approach for evaluating the implementation of robotics in construction activities. Each activity is considered in terms of strategic, tactical and operating needs. Since these needs may vary ...

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An Object-Oriented Approach for Scheduling of Construction Projects

Alan T Axworthy, Raymond E. Levitt
Pages 325-331

Abstract: Robotic construction equipment will need to plan and replan in response to rapidly changing site and external market conditions of a project. A group of researchers at Standford University is conducting research on the potential of artificial intelligence (AI) techniques to develop enhanced tools for generating plans and schedules automatically ...

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Design and Construction Automation: Competitive Advantages and Management Challenges

C. B. Tatum
Pages 332-339

Abstract: Many new demands in the construction industry encourage increased automation of design and construction, but realizing the opportunity presents many management challenges. One of the greatest is awareness of potential advantages for the firm. The purpose of this paper is to describe the possible competitive advantages from advanced technologies for ...

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Sightplan: An Artificial Intelligence Tool to Assist Construction Managers with Site Layout

Iris D. Tommelein, Raymond E. Levitt, Barbara Hayes-Roth
Pages 340-347

Abstract: SightPlan is an expert system that performs construction site layout. The system contains an explicit representation of the strategy it follows to construct a solution. Based on the assumption that the cognitive capabilities of ana agent have an impact on the strategy that agent follows during problem-solving, we decided to ...

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A Knowledge-Based Simulation System for Construction Process Planning

David Y. Chang; Md. Saiful Hoque
Pages 348-355

Abstract: Discrete event simulation has not yet been accepted by the construction industry as a tool for process, or field level operations, planning. This may be attributed to the fact that its use requires considerable knowledge of both the construction process and simulation technique. To overcome these impediments, a new knowledge-based ...

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Mobile Robots - A new Generation of Production Tasks for Robots

Detlef Spee
Pages 356-363

Abstract: Mobile robots – a wide range of tasks await them – but what forms can this type of tool make? The design of the robot tools is determined by the most important functions, i.e. transporting in order to move the robot, and handling. Depending on the combination of these components ...

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Automation and Robotics: The Design and Operational Planning of Construction Projects

M M cusack; C F Earl
Pages 364-370

Abstract: The potential for robotic assembly in construction is examined with particular reference to the evaluation of the building design. The broad issues of design for construction assembly are explored and the relation to manufacturing assemblies identified. The paper presents the idea of representing the building design in a generative way ...

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RTRAK - A First Generation Automated Construction Vehicle

Carl L. Begley, H. Robert Meyer, Patrick M. Coddington, T. Michael Knasel
Pages 371-378

Abstract: RTRAK is a mobile, computer based, gamma scanning and radiation mapping system developed by Chem-Nuclear Systems and MK-Ferguson Company for use on the Uranium Mill Tailings Remedial Action Project. Verification of large land areas contaminated with ...

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Bulldozer Tracking and Navigation Using Servo-Controlled Laser Range Finding Technique

Sakari Pieska, Anssi Makynen, Juha Kostamovaara, Martti Elsila, Riso Myllyla
Pages 379-386

Abstract: Most of the positioning and navigation systems developed for construction machines have been focused on satisfying 2D navigation requirements. In this paper, a system is proposed for continuous and accurate tracking of a bulldozer or corresponding moving machine. Tracking is based on 3D coordinate determination using a time-of-flight laser range ...

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The Computer Aided Positioning System (CAPSY). A Low Cost Positioning System for Construction

Leon de Vos, Hans Schouten
Pages 387-395


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A General Purpose Positioning System for Construction Robotics

Jean-Luc Salagnac
Pages 396-403

Abstract: Mobility has been early identified as a key function for future construction robots. It is then essential to develop navigation modules, pilot modules and positioning modules that fit with the constraints of the work site. Concerning the positioning modules (that provides coordinates and orientation of the mobile robot related to ...

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Construction Robotic Equipment Management System (CREMS)

Miroslaw Skibniewski, Jorge Vanegas, Jeffrey Russell
Pages 404-411

Abstract: Robotics application to the execution of construction tasks has been attracting attention in the engineering community since early 1980’s, both in Japan and in other highly industrialized nations. First working prototypes of construction robots have been appearing in Japan on a number of construction sites operated by several leading Japanese ...

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The Functional Analysis: An Original Approach to the Robotization of Construction Tasks

Jean-Luc Salagnac, Sophie Siino, Andre Morel, Gabriel Bensimon
Pages 412-419

Abstract: Robotics techniques in operation in the industry or under development in laboratories supply basic functions to carry out many different operations. Some of these techniques are compatible with construction sites operations under reasonable economic constraints, some other are not (too fragile, too costly, …). Obviously, construction site operations are ...

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Automation of Existing Tower Cranes - Economic and Safety Examination

Y. Rosenfeld, S Berkovitz
Pages 420-426

Abstract: The geometric configuration of construction tower cranes - with well defined joints and degrees of freedom - allows to transform them, via robotic technologies, to semi -automatic equipment. We wish to add a fast and accurate navigation option to be used by the operator, mainly for cyclic, routine tasks. We report here on the ...

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Bi-Lateral Manipulator for Construction Works

Shu Takeda, Hiroshi Yoshinada, Kazuhiko Ohtsubo, Toshihisa Naruse
Pages 427-434

Abstract: In this paper, we describe the bi-lateral manipulator for construction works, in which the large scale manipulartor with remote operation is needed. Though the experiments, it was verified that the bi-lateral master-slave manipulator enables sensitive ...

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The Development of a New Reinforced Concrete Work System through the Application of the Robot Module Concept - WASCOR Research Project (Part 2)

Yukio Hasegawa, Nobuhiro Okuyama, Haruo Hoshino, Tohru Shinozaki, Ryoji Yoshitake, Shinji Yamashita, Hiroshi Asano, Tatsuo Kobayashi, Kinya Tamaki
Pages 435-442

Abstract: In this paper, a system which employs robots in the automation of construction work is proposed. Specifically, the methodology of a robotized system design in reinforced concrete work are described. Reinforced concrete work involves various works such as mold and reinforcement assembly, concrete placement, straight finish, and mold demolition. The ...

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Development of a Pavement Cutting Robot System

Tomoki Kobayashi, Syoji Honda, Takatoshi Ueno, Yuichi Tsukahara, Ryuichi Tsutsui
Pages 443-450

Abstract: A pavement cutting robot system was constructed on a trial basis to automate pavement cutting when a road is to be cut and recovered. The system consists of the robot itself, the control panel, and a cooling water supply and recovery unit. All the units are electrically power driven and ...

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An Automated System for Concreting in Building Sites - Development of Automated Consolidation Subsystem

Yasushi Takemoto, Yasuyoshi Nagai, Shozaburo Shimaguchi, Yasuo Inoue, Takaaki Matsunami
Pages 451-458

Abstract: An "Automated Consolidation Subsystem" has been developed as part of an effort to establish an integrated structure for mechanization and automation of concrete work of Ohbayashi Corporation. This system consists of performing the necessary vibration consolidation by automatically detecting from outside forms the level of concrete that has been placed. ...

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Development of a Concrete Screeding Robot

Hajime Nomura, Yauo Kajioka, Akira Okada, Kazumi Okuzumi
Pages 459-466

Abstract: This paper describes the characteristics of a newly developed concrete screeding robot and the results of fundamental experiments conducted. There were four principal aims of this development: 1) to improve on screeding working conditions over conventional methods; 2) to increase productivity; 3) to assure the quality of concrete floors; and ...

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Design of an Interior Finishing Robot with a Simulation Model

A. Warszawski, R. Navon
Pages 467-474


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Simulating the Knowledge Environmnet for Autonomous Construction Robot Agents

Boyd Paulson, Thomas Froese, Lai-Heng Chua
Pages 475-482

Abstract: Future intelligent construction machines must harness considerable knowledge to plan and control autonomous tasks in spite of the fact that they will be limited in their own pre-defined knowledge. This paper first describes the need to discover and formulate a general core of theory and software for such machines so ...

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Simulation for Management and Organization of Construction Machinery

Yoshikazu Sasaki, Eiji Muro, Osamu Furukawa, Shuza Furusaka, Kazuyoshi Endoh
Pages 483-490

Abstract: The development of machinery becomes successful only with their popular use which is greatly influenced by the rate of operation. This requires workable policy decisions which address the possession and allocation of machines in conformity with various project environments and the nature of the machines. This paper dealt with the ...

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Animation/Simulation for Construction Planning and Scheduling

Stephen Ditlinger, Kermit Gates
Pages 491-498

Abstract: Construction CAE is a simulation, planning, and scheduling software system that integrates a Computer Aided Design (CAD) system with a relational database management system (RDBMS) and cost control tools. The system takes the CAD three-dimensional model data as input and stores it in the RDBMS. The data is then extracted ...

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A Knowledge-Based Simulation System for Construction Process Operations

Naruo Kano
Pages 499-506

Abstract: The author points out that the existing simulation systems cannot represent precisely the ill-structured logic in construction operations without if-then representation. He also discusses the methodologies of system simulation which are based on artificial intelligence methods. The author then presents a prototype system developed of the simulation system, and shows ...

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Development of an Indoor Mobile Robot for AGV

Tomofumi Morita, Hiroyuki Takahashi, Yoshikazu Maruya, Akihiro Okuno
Pages 507-514

Abstract: This paper presents the development of a mobile robot for the autonomous AGV (Automated guided Vehicle) which has no external guiding systems and navigates by vision. We chosen indoor environments for autonomous AGV and the environment was modified according to their structural complexity and artificial landmarks were used to modify ...

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Development of a New Steel Erection System - WASCOR Research Project Report (Part 3)

Yukio Hasegawa, Yusuke Matsushita, Toshio Nakamura, Toshikazu Miyazima, Masayuki Terao, Masahiro Nishimura, Yoshinari Mizoue, Junji Taira
Pages 515-522

Abstract: This paper introduces a new erection system of steel beams and columns by applying robots for building construction. This system is composed of crane, positioning, adjusting, welding, climbing scaffold robot and so forth. Features of this system are shown by the following items. a) Robots for positioning, adjusting ...

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Robotized Painting by the Wall Surface-Finish Robot (FR 1)

Seigo Tokioka, Shinya Ishigami, Ryuichi Sekiguchi, Masafumi Wada, Hiroichi Inagaki, Sachio Sakai
Pages 523-530

Abstract: In order to improve the hand-based finishing works, a wall-surface finishing robot (FR-1) is developed, enabling us to achieve labor-saving. The system as a whole is multifunctional robot, composed basically of a carriage with sucker which can move freely on the concrete-made wall, and of a diagnosis function of wall ...

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Development and Practical Use of a Tower Interior Surface Coating Robot

Masahiko Sawaguchi; Bun'ya Ishiguro; Yoshinori Kumita; Kei Inoue
Pages 531-536

Abstract: This paper deals with the development of a fully automatic tower interior surface coating robot and results of its application to the spray-coating work at an actual construction site. The coating subjects were the partition walls of reinforced concrete, angular-shaped product silos at a flour mill currently under construction in ...

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Carrier Robot for the Transportation of Materials in Steep Mountains

Akio Terai; Kazumi Uchida; Richard Montgomery
Pages 537-544

Abstract: With 67% of Japan’s total land mass covered by forests, 70% of which comprise steep forest slopes of more than 15 degrees (see fig. 1), the transportation of materials to and from mountain areas is a subject of vital importance. The needs for such transportation range from the supply of ...

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Symbolic Unified Project Representation (SUPR) Model: an Environment for Automated Construction

Francois Grobler, Simon Kim, LeRoy T. Boyer
Pages 545-552

Abstract: The Symbolic Unified Project Representation (SUPR) Model was developed to achieve integration of construction information. It provides modular units, and the environment necessary to model project information in a unified manner, thus enabling diverse systems to collaborate and share information. Construction robots are becoming increasingly important construction resources, and their ...

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A Strategic Planner for Robot Excavation

Humberto Romero-Lois, Chris Hendrickson, Irving Oppenheim
Pages 553-560

Abstract: This paper describes the implementation of a domain-specific strategic planner for an autonomous excavator, called EXCAVATION PLANEX. As a knowledge-based epert system, the planner is designed to assist in the automation of a power-shovel robotic excavator that performs open-cut excavation. The system has been applied in laboratory simulations independently as ...

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Construction Activity Modelling for Automation

Sotiris A. Pagdadis; James T. O'Connor
Pages 561-568

Abstract: Modeling of global work environments requires the implementation of techniques capable of explicitly defining and capturing interrelationships amongst the individual components that comprise the system. A construction environment creates particular modeling challenges that are a result of its loosely defined working infrastructure. In a detailed effort to develop a methodology ...

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Heuristics for the Knowledge Base of a CAD System in Architecture

Hanrot S. Gamsau
Pages 569-576

Abstract: We have developed a knowledge base for a CAD system in architecture using an object oriented environment associated to Prolog. The aim of this research was to make the system a true assistant for the architect. The mock-up we have done shows that this approach is possible if the user ...

Keywords: AI, heuristic, CAD, architecture, project, object and logical modelling

Automated Knowledge Acquistion for Building Diagnosis Expert Systems

Thomas M. Gatton; Frank W. Kearney
Pages 577-583

Abstract: The knowledge acquisition process in traditional knowledge engineering methods has been identified as the bottleneck in the development of expert systems. A system called the Interactive Domain Model (IDM) has been developed to automate the development of diagnostic expert systems. The IDM embodies meta-knowledge about the diagnosis of physical systems, ...

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