The International Association for Automation and Robotics in Construction
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Abstract: A gantry type robot is being developed for performing masonry tasks, a traditional and extensive activity. For this, vision is considered to be the prime sensor mechanism for inspection and guidance. A CAD model of the block component has been investigated for use in the design, vision and planning tasks. ...
Abstract: The paper is devoted to the climbing robot developed in the Institute for the problems in Mechanism, USSR Academy of sciences. This robot has a number of pneumatic grippers and can ove along vertical walls. Several versions of this robot were created which can be used for purposes of inspection, ...
Abstract: The Portsmouth climbing robot, robug II is a prototype research vehicle designed to demostrate the feasibility of an articulated-limb climbing machine. Its architecture mirrors the structure of an insect. A central body which will support inspection or other equipment is carried to the required location by four(or more) fully articulated ...
Abstract: Research in construction automation has become fairly well established. Teaching the subject to tomorrrow's researchers and practitioners has, however, received little comprehensive course on construction automation. Two graduate level courses are presented as examples; it is hoped that they will provide the starting point for further discussion. To solicit the ...
Abstract: The paper deals with the problem of developing an automatically controlled complex of equipment to mechanize brick wall laying-one of the most difficult operations in construction. A research into economic and social aspects of this type of job enabled us to say that the system can be quite effective. An ...
Abstract: In general, the gravity concrete dam construction site requires a combination of a transfer car, a cable crane and a concrete bucket. The transfer car operation bears some element of risk resulting from a possible, simple error of the operator as it is repetitious, monotonous work in the confines ...
Abstract: The article describes some developmental aspects of the multi purpose interior robot(MPIR), a mobile construction robot. The analysis of specific attributes of the robot at the early stage of the conceptual design is discussed. Because numerous designs had to be compared, the analysis 'appraoch is one of simplicity, allowing quick ...
Abstract: The objective of this paper is to identify and study object oriented constrsucts exhibiting feedback mechanisms required for the operational simulation of construction projects. To illustrate the concepts involved, we choose a demonstration in earthmoving operations. Contrary to manufacturing operations, the "factory floor", i.e. the construction site, has a profound ...
Abstract: The paper describes the technological development of full-scale robotic execution, at construction sites, of several types of interior finishing tasks, the latest stage in the evolution of a multipurpose interior finishing robot. The robot will perform various building tasks, adaption of a mobile carriage, working tools, material feeding systems, and ...
Abstract: In june 1988, the first test model(FR-1) of the painting robot was developed, its painting robotization was subjected to a demostration test which, in the Fukushima No.2 Nuclear power plant of the Tokyo Electrical power company was conducted on the outer walls of the sea water heat exchanger building. Based ...
Abstract: Ohbayashi corporation has been engaged in the construction of a block of flats which, upon its completion, will be the tallest reinforced concrete building in Japan. A computerised comprehensive control system was developed for the reinforcement work for efficiency in the management work and, at the same time, mechanisation and ...
Abstract: Developments in automating traditional construction methods have been fraught with difficulty. In part, this has been due to attempts at adapting conventional robotic manipulators to suit the construction plant and equipment have evolved from different origins and there are significant differences in the requirements of each. This paper discusses these ...
Abstract: It is possible to devise a components-based approach to the design and construction of industry and commerical buildings without compromising architectural quality. Modular building systems, based on the components of the parts-set proposed in this paper, could provide an answer for building owners and users requiring flexible, highly-serviced space. This ...
Abstract: Total control over the design, management and construction of a building eludes most project teams. The magnitude of the resolved prevent it happening. Certainty is sought but rarely achieved because of the ill-defined nature of the design problem. Rekindled interest in component-based modular building systems provides a timely oppurtunity to ...
Abstract: The paper presents the description of the basic model of the Wall Climbing robot consisting of three main modules: transport, technological manipulator and control. The experience of the designing and rational attaching methods and devices are analyzed. The main devices of the robots like drives, sensors, control, grippers are discussed. ...
Abstract: At TNO we are investigating how a number of recent technologies can provide construction robotics with standard components (reference models, standard interfaces, standard components). Currently we are investigating the following 'Standard components': standardised product models, based in the standard STEP, standardised communication and control, based on the standard MAP-MMS and ...
Abstract: After an analysis of the needsand problems of measurements in construction, a general concept of using 3-D measurements in outlined. To study the suitability of advanced measurement techniques in construction, the flow of measurement data during automatic construction is examined. The general concept is adapted repair construction and an verified ...
Abstract: Technology for increasing a economy opf construction work, the integrated construction system has been developed. This system has a expert system as a useful tool for calculation, graphics and drafting to design the optimum conditons for construction planning. This results in economy. The logistics of minimizing manpower, temporary materials and ...
Abstract: This paper proposes that the effective introduction of robots into building construction will require new techniques for component connections. A survey of current techniques used for the jointing structural components through to the attachment of finishing panels indicates that few of these are ...
Abstract: Aquatic walking robot named "AQUAROBOT" has been developed. Main purpose of the robot is to carry out underwater inspecting works accompanied with port construction instead of divers. This robot has two main functions. One is the measurement of the flatness of rock foundation mound for breakwaters by the motion ...
Abstract: This paper proposes the integrated system in which the segments may be automatically conveyed from the shaft to the erector postioned at the rear of the shield machine. Procedures of the system are summarized as follows: 1.Segments are automatically loaded into the battery-operated carriages by the segment-stock-rack device located on ...
Abstract: Pneumatic caisson is characterized by its unique working condition that the working site is full of compressed air. Therefore, as the pressure goees up, working efficiency deteriorates because of being restrained by the environmental and safety factors of site conditions. thus, as the excavation depth gets deeper, the working conditions ...
Abstract: The design requirements of machines to be used for dismantling biological shield concrete in a commercial nuclear power plant and two concepts of dismantling machines are discussed. The concrete structure surrounding the reactor is irradiated during operation and the radiation inside the structure is quite high. Therefore, dismantling work should ...
Abstract: The purpose of this development is to create a repairing robot which is able to perform chipping the deteriorated lining concrete in the wall of the power cable tunnel, exposing and derusting the reinforcement simultaneously. As a chipping method, a super high pressure water jet method as actually used ...
Abstract: The traditional methods used in the construction of primary linings in tunnels have the disadvantages that, because the lining materials are sprayed directly on to the excavated rock face, concrete materials rebound and dust is genetrated, leading to deterioration of the working conditions, as well as rendering the process uneconomic ...
Abstract: The shield tunneling method has been developed as a method of constructing tunnels in soft ground. The constructing process is that the shield machine drills the tunnel space, and a ring of segments is built by few number of workerrs using nuts and bolts. Recently, tunnel diameters increased, so that ...
Abstract: As part of its Advanced technology programme, the DTI has introduced an advanced initiative to assess economic benefits across a diverse range of application areas and to develop technological sub-systems which are not specific to a particular industry. The AR initiative has been spearheaded by the tunnelling collaborative group which ...
Abstract: During the past several years, the automation of design of construction projects has taken major leaps that affeted construction. Construction drawings are now produced with CAD programs using standard data, specifications are generated with expert systems that influses requirements of testing standards, while construction contracts are derived from ...
Abstract: This paper describes the main requirements for, implementation details of and philosophy behind, the controller currently being implemented on a 1/5th scale model "JCB sytle" backhoe arm at Lancaster University. It is somewhat unconvectional in its use of the Harrid RTX2000 microprocessor and FORTH language, which offers great potential for ...
Abstract: Based on the notion of robot oriented design, which was presented at the 5.ISRC, this paper proposes a concept for modifyable building kits show at the example of houses and apartment buildings. It is tried to design a marketable product, which is industrially produced by robots. The principles of nodifying ...
Abstract: With the enormous expenses associated with the construction of a new building, it is necessary to take every possible precaution to see that the building endures for the longest possible period, with the minimum of unschedules maintenance and repairs. The need to eliminate unforeseen problems, from unscheduled machinery downtime, to ...
Abstract: The status of advanced construction techonology, like computer integarted construction and construction robotics, varies widely in different countries. The goal of the paper is to find the determinants to the development of computer integrated constructiion. This is achieved by comparing the current status and development plans in two countries: ...
Abstract: Ultra-sonic sensors are very popular in laboratories caryying out work about mobile robot. This good reputationcomes from attractive low prices of sensors and from a rather simple implementation. CSTB also used this technique to position the SOFFITO robot (first experimental mobile robot for building construction sites in Europe developed jointly ...
Abstract: In the construction of large-scale structures such as nuclear power plants, an enormous amount of large-diameter reinforcement bars are used, and generally thousands of drawings are required to fabricate them. The installation and fabrication of heavy reinforcng bars are laborious and dangerous for woekers. To facilitate drawing preparation and ...
Abstract: This paper introduces the problem of vibrations in manipulating flexible beam and sheet materials in the construction industry. Analysis and experimentation investigations show that translation and rotation of components can set up vibrations that are unacceptable in terms of damage to the parts or unnecessarily long settling times at the ...
Abstract: A micro-computer based expert system in field of construction planning of hose building has been developed. This system encapsulates some of the knowledge experts in the field use for programming the used by construction planners as a decision making supporting tool. The evalution processer device for this system has ...
Abstract: A pull system for planning and control coupled with Just-In-Time (JIT) production creates a well integrated manufacturing operation characterized by exemplary productivity, and low work-in-process. The construction industry is also well suited for this approach using many of the techniques required by a pull system, such as JIT and team-style ...
Abstract: Adaption of new and exciting computer technologies such as knowledge based( KBS), object-oriented databases (OODBs), and robotics will dramatically alter projects. The premise of this paper is however that we need to re-think how many of these automation technologies should be developed and inter-related. A generalized core theory is vital ...
Abstract: This paper describes an expert system aiming at creating the environment for engineers to generate construction plans efficiency based on the Down from the top planning methodology. An experiment for a building project was studied to investigate the competence of the methodology. A prototype system has been implemented in KEE ...
Abstract: A computer program, ATOP, for generating and managing construction schedules is presented. The program includes tools for interactive project breakdown into locations. The activities needed to accomplish each location are defined using an activity type library which also forms a knowledge source for initial schedule calculation. The initial schedule can ...
Abstract: This paper represents an integrated software approach to the development of a computerised knowledge based system for construction planning and scheduling. The system, ESCHEDULER embraces hybrid methodology to make use of and to build on available experimental knowledge in construction planning, and to enhance currently available project management software and ...
Abstract: Within the academic and construction communities, there has been growing concern about how to deal accurately with the ever-changing nature of the whole construction business. In order to deal with the hostile construction environment, there is a great need in the construction industry to develop and implement a practical monitoring ...
Abstract: This paper illustrates a system prototype development for integrating estimating data and planning information, based on the standard method of measurement of building works (SMM) and bills of quantities. This results in the integration of estimating data and planning information for management. Sensitivity of the system prototype to changing conditions ...
Abstract: This paper presents the development of a Heuristic application-Specific path planner (HASPP) that can be used to automatically plan trajectories for a manipulator operating around obstacles. Since the implementation of HASPP is inherently application-specific, the application of HASPP to an eight degree of freedom pipe manipulator is presented as an ...
Abstract: The purpose of this paper is to describe the methods currently in use to build a knowledge base capable of intelligently controlling an autonomous robotic excavator. The current aim is that such a robot will be capable of safely and efficiently executing a rangeof excavation tasks with superior performance to ...
Abstract: In order for an item of robotic construction plant to function it must be precisely located on site relative to its task. This can be achieved through the provision of a global or site reference framework and of a local or task speicific reference framework. In green field applications in ...
Abstract: Reductions in the size and cost of sensors, microprocessors, and transmission and data storage devices permit the development of construction tools with built-in sensing and data processing capabilities. Such "smart tools" could assess installation conditions and respond accordingly, allow inspection at the time of installation, and, with appropriate data transmission ...
Abstract: The paper describes the development of an efficient method of simulation construction activity using artificial neural networks. A brief introduction to construction simulation is provided, and a major limitation of the technique, that of unaccepatably lengthy processing periods, is highlighted. This is followed by a description of the main mechanisms ...
Abstract: A great number of large scale marine construction projects have been undertaken in Japan. One example of such a project, the Akashi Kaikyo Bridge, wil be the largest suspension bridge in the world when complete. One of the great projects of the century, it has gigantic main tower foundations 81 ...
Abstract: After having shown the necessity to locate in the three dimensions the civil engineering machines whose tasks are to be automated, the authors recall the advantages and disadvantages of the different existing systems and methods. The main point of the system is about an original location system using an on-board ...
Abstract: Of all industrial groups, construction represents one of the most challenging sectors for the implementation of robotics. There is subset of construction related activities - notably those involving work in hazadous environments such as tunnelling, undesea tasks, and nuclear installations - where there are very strong incentives to develop robotics. ...
Abstract: This apparatus is not in contact with the pavement, but measures the gamma radiation re-emitted by the material. The small telecontrolled from a tender. The use of radioactive material in an outdoor environment with traffic on nearby lanes and construction plant and labour in the vicinity required reliable safety procedures. ...
Abstract: As the flexibility of track belt running on a weak terrain affects the shape of contact pressure distribution, the flexibility is dominant not only over the trust developed under the track but over the amount of slip linkage at the rear sprocket. Here, the relations between track tension, normal ...
Abstract: The knowledge needs of an agent may be met by exploiting the knowledge environment. In particular, knowledge can be obtained from other agents or a variety of knowledge repositories such as databases. Humans readily satisfy much their knowledge needs in the way just mentioned, but there is still a lack ...
Abstract: This paper focuses on the problems associated with instructing assembly robots to perform tasts in an autonomous, reliable, and component way within a real world environment. In the context of achieving these objectives we identify two major limiting factors directly affecting the efficiency, task reliability, and economic viability of robotic ...
Abstract: A mobile robot of the fourth generation requires an on-line, real-time sensory feedback system to guide the robot, to stay on planned path, or to avoid unexpected obstacles. The study we oresent in this paper concerns a multisensors and multiprocessors fusion in order to create a new model of the ...
Abstract: It is the general consensus in the literature that the potential that the potential for the development and use of advanced robotics in construction is promising. It is belived that automation and robotics will put a stop to the decline in construction productivity that occured in the last 20 years ...
Abstract: This paper describes work which is taking place into the use of artificial intelligence techniques to evaluate construction project schedules. Following an introduction to the topic in which the need for evaluation is explained and possible types of evaluation are examined, two methods of checking completeness are presented: one in ...
Abstract: Remote manipulator operations require a high level of telepresence. This can be achieved by a combination of tactile audio and visual links used in association with an effective deployment system for the slave arms. The combination of these elements has been termed the 'bridge between master and slave' by the ...
Abstract: This paper outlines the national automatio strategies for a small internationalised economy like Singapore's. It then proceed to give a breif profile of the Singapore construction industry and the issues and challenges it faces in terms of quality demands, labour shortages and safety and productivity concerns. The concerns are all ...
Abstract: In order to develop a robot which can be applied for contruction work, it is necessary to verify the natural needs of construction companies, contruction machiner manufacturers, and subcontractors as well as seed technology. This report collects and analysis the opinions of subcontractors who will be in the position of ...
Abstract: This paper reports the results of the attitude surve carrie out on the parties commisioning construction work in Japan to the introduction of construction robots. The results of study show the attitudes of engineers from parties commissioning construction work at construction sites in Japan today where systemization of construction procedures ...
Abstract: This paper discusses results of a SERC sponsored investigation of the impacts and problems of automation in materials management on large construction sites. Surveying five large construction firms in U.K. with structured questionaires and formal interviews, the investigation centred around an evaluation of the level of automation in materials planning, ...
Abstract: Project parties need to contribute their efforts throughout the project life-cycle. This is especially the case in fast-tracked projects that have become commonplace in construction industry. The crude methods available currently have become inadequate for these severe demands. in this paper, we describe the utility of constraint management theory as ...
Abstract: What does object oriented programming have to offer project management software systems? This question is examined by first seeking out those development trends and directions that will be of importance for project management systems in the future. These are ability to the flexibility, integration and intelligence. The basic characteristics of ...
Abstract: Construction processes involving the manipulation and assembly of small components are ver ancient. These traditional processes, among which masonry is the most developed (but not the only one) have undergone very slight progress until the last decades. Improving the efficiency of the process was the main incentive to such progress. ...
Abstract: Among the methods developed in different research centres and construction association to answer the questions: which construction tasks are to be robotized? How can these tasks be robotized? The functional analysis is an original and complementary answer to more traditional enquiries carried out in working groups. The basic principle of ...
Abstract: This paper describes the implementation and experience with a construction scheduling procedure incorporating knowledge based techniques. The system works from a site layout drawing and whilst the process can be operated almost 'automatically' experience so far indicates that it is necessary to be able to use the system in its ...
Abstract: Robotics implementatio on construction sites poses significant challenges to both contractor firm management as well as technical staff. Only a few large construction firms in Japan currently utilize fleets of robotics in diverse work tasks. Similar equipment is expected to be implemented by large construction firms in other industrialized nations. ...
Abstract: The management of construction automation androbotics are as important as the technological aspects for the successful implementation of the tecnology in the construction industry. Quality, reliability, productivity, and competitiveness are commonly advanced as the motivation for implementing robots and automation in construction operations. However, the emphasis has been mostly on ...
Abstract: Productivity is a very important consideration in any process like construction because it influences cost and output greatly. A firm creates wealth by combining resources from its domicile economy which enter the wealth creation process constitute 'internal participation' while those from other economies make 'external participation'. Increased understanding of the ...
Abstract: The increasing concern within te construction industry over the future decline in the labour market has prompted a need to investigate alternative construction methods, particularly automated or robotized ones. A method for researching these issues in relation to the work of a major contractor and for identifying the technical and ...
Abstract: One strategy to improve construction productivity and safety is to develop and use automation. This paper proposes a rational and systematic methodology for selecting construction work suitable for automation. The United States construction industry is organized into several levels. Short term efforts to introduce automation should be applied to the ...
Abstract: This paper describes a research proposal intended to evaluate the viability of construction automation and robotic applications by the introduction of a two component model consisting of product and automation variables with each interact with their environment. the intention is that obth a qualitative and quantitative evaluation can be made ...
Abstract: The influencing factores which favor or hinder the development, market penetration and use of robotics and other forms of automation on construction sites were studied by the author and collegues in the United States, Canadam Japan, England, West Germany and Sweden from 1985 to 1987. Data collection was accomplished through ...
Abstract: The multi coater described in this report is an automatic spraying equipment of suspension type for exterior walls, and is a labor-saving machine developed not aiming for a completely unmanned system, but use in combination with a conventional painting method using moving scaffold. For lateral movement of the equipment, the ...
Abstract: Inspection, testing, maintainance and civil engineering and building structures has been identified as a prime candidate for robotization. This paper examines the factors which will determine the economics of proposed robot for the inspection and testing of buildings. The perspectives of both the prospective developer of the device and ...
Abstract: The identification and specification of construction operations and the selection of construction methods, including equipment and labour resources, are central activities in the production planning of construction projects. The decisions taken are complex and the choice of construction method and estimate of production output have serious consequences for the effectivesness ...
Abstract: The creation of building designs is examined in the context of in the context of increasing potential for auomation of assembly processes. The general requirements of design for construction assembly are identified. The paper explores the potential for bringling the design and assemble operations into closer relationship by the use ...
Abstract: Automation in robotics in construction are integral to the techno-economic paradigm founded on the developments in microelectronics and telecommunications. Technological change is not uniquely a technical phenomena, it also requires a complex of social and institutional factors to be satisfied for its effective implementation. There has to be a synergy ...