1993 Proceedings of the 10th ISARC, Houston, USA

Study on simulation for roof pushup construction method

Masahiro Morita, Eijji Muro, Tetsuo Kanaiwa, Hiroyuki Nishimura
Pages 1-8

In the construction industry, both construction and management technology have been developed, as well as industrization, automation. However, many problems were found in the process of applying such technologies for each construction projects in which it is required to move to the different work place and forced to construct at ...

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Automated construction in the ATLSS integrated building systems

B. Vincent Viscomi, William D. Michalerya, Le-Wu Lu
Pages 9-16

The AIBS (ATLSS Integrated Building Systems) program was developed to coordinate on-going research projects in automated construction and connections systems. The objective of this program is to design, fabricate, erect, and evaluate cost-effective building systems with a focus on providing a computer integrated approach to these activities. A family of ...

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A lift up intelligent control system

Takehito Tezuka, Hiroo Takada
Pages 17-22

The important subject that the construction industry should be accomplished today and in the future is in the rationalization of the construction processes and how to improve the labor-intensiveness of construction sites. The authors have carried out research on the rationalization of the construction of a structure having a long-span ...

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Functional profile of a wall assembly robot system and different solution approaches

Thomas Bock, Friedrich Gebhart, Werner Steck
Pages 23-30

The presented robotic system is based on the idea of Computer Integrated Construction (CIC). This means the integration of all trades and processes from architectural planning to execution of construction work. It contains computer aided design and computer aided generation of robot programs, custom made prefabrication of small building components ...

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Analysis of the development and application of automation technology in building production

Yuji Hirabayashi
Pages 31-38

The purpose of this research is to examine current and future trends in the use of automation technology at advanced construction sites. At the start of this study, we established basic concepts to enable a working group to share a common understanding of construction automation. Based on these concepts, research ...

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Automation needs determination using AHP approach

Sy-Jye Guo and R.L. Tucker
Pages 39-46

There is consensus among researchers that identification of automation needs is necessary for any further hardware developments. To accomplish this goal, a clear division of automation levels, a comprehensive breakdown of construction activities to task levels, and a method for measuring automation concern are essential. This paper presents an automation ...

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Lean production in construction

Lauri Koskela
Pages 47-54

In manufacturing, great gains in performance have been realized by a new production philosophy, which leads to “lean production”. This new production philosophy is a generalization of such partial approaches as JIT, TQM, time-based competition, and concurrent engineering. In construction, lean production is little known. The concepts, principles and methods ...

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Application of large-scale manipulators in the construction environment

Hsieh, Ting-Ya, Dr.Haas, Carl T.
Pages 55-62

Large-Scale Manipulators (LSMs) are gaining attention in construction automation research because of their long reach and positioning capabilities. A case study based on the Model Plant data compiled by the Construction Industry Institute indicates that LSMs have very high potential in industrial construction. They can be used for pipe, cable ...

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A robot for levelling and compaction of concrete

Yngve Alvarsson, Larissa Molina
Pages 63-70

The modern attempt in the construction industry is to reduce and replace heavy labor and messy activities with ergonomic methods. Placing and compaction of fresh concrete on a building site is one of such areas. Today it is difficult to recruit young people for this kind of work. For the ...

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Practical tile-setting robot for exterior walls

Kazuya Kikawada, Shigeaki Ashikaga, Seiichirou Ishikawa and Shigeomi Nishigaki
Pages 71-75

Hazama Corporation, the Japan Ceramic Tile Association and Komatsu Ltd. have been and are developing tile-setting robots to automatize the process of tile-setting operations on the exterior wall of building. This paper describes an improved tile-setting robot and reports the observations in the indoor and outdoor experiments of its operations.

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A system of vertically sliding and installing exterior curtain walls of a building

Masaaki Iwamoto, Masayoshi Nakagawa, Hidetoshi Oda
Pages 77-84

This system, referred to as a "shuttle system," has been developed to enable the vertical sliding and subsequent installation of panels on the exterior walls of a building, starting from its uppermost story, while repeating a series of such operations as (1) sliding a carrier stage down to the ground, ...

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Configurable control system of a mobile robot for on-site construction of masonry

G. Pritschow, M. Dalacker, J. Kurz
Pages 85-92

The dramatic shortage of skilled workers and a strong need of improving productivity and efficiency characterizes the situation of masonry construction in Germany today. Therefore, the construction enterprises affected must strengthen their efforts to develop and introduce automation technology for use on the construction site. Such concepts, however, can only ...

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Generic crane and hoist automation with the application of advanced control architectures

N.A. Armstrong, P.R. Moore, R.H. Weston
Pages 93-100

Crane and hoist systems can potentially benefit from contemporary advances made in electronics based enabling technologies and control systems engineering. This paper describes the design and implementation of a modular distributed control system for crane and hoist automation in manufacturing and construction. The distributed control platform has been realised using ...

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Intelligent control for robotic rebar bending

P.S. Dunston, L.E. Bernold
Pages 101-108

Computers are becoming essential tools for integrating design, planning, fabrication, and construction. Computer-controlled construction equipment are poised to receive information from data generated in the design phase. The robotic execution of construction operations, however, depends on complex models for autonomous and intelligent control. This paper discusses the implementation of a ...

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Safety critical systems for robot excavation

LiLi Zhang, D.A. Bradley, D.W Seward
Pages 109-116

A number of mathematical and analytical tools are available to assist in risk assessment for industrial and other robots. This paper is concerned with the use of a hazard and operability study (HAZOP) methodology to analyse the range of hazardous conditions and to assess the degree of risk associated with ...

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Evaluation of the position accuracy of the excavator tool

Fiorenzo Malaguti
Pages 117-123

The automation and robotics for earth moving machines were introduced to reduce labor cost and increase machines performances, the increment of position accuracy of the excavator bucket obtained by laser and/or automatic control systems meets both objects. Experimental tests and simulations have shown excavating accuracy to be about two centimeters, ...

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Technology strategy for construction automation

Keith D. Hampson and C.B. Tatum
Pages 125-132

Automation technology can provide construction firms with a number of competitive advantages. Technology strategy guides a firm’s approach to all technology, including automation. A more formal approach to the concept of technology strategy can benefit the construction manager in his efforts to remain competitive in increasingly hostile markets. This paper ...

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Robot implementation decisions in the australian construction industry

Cecily Neil, Gustav Salomonsson, Miroslaw Skibniewski
Pages 133-140

This paper presents a model for managers to use to assess the feasibility of robotising particular tasks on a construction site. A case study illustrates the applications of the model with respect to the use of concreting robots on a construction project. This case study highlights the importance of taking ...

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Simbase: A decision support system for economic justification of automated construction technology

Jae-Jeung Rho, Deborah J. Fisher, Michael W. O'Neill
Pages 141-148

Methodology for the economic justification of automated technology has already been developed in the manufacturing arena. This paper discusses the modifications required for application of this methodology to the construction industry. Modifications are necessary due to the industry’s conservative nature in adapting new technology, the fact that the construction process ...

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Robotic systems for the processing of residual soil from construction projects

K. Saito, S. Obayashi
Pages 149-156

In recent years there has been an increase in the amount of soil removed from construction sites. Factors contributing to this trend include a steady expansion in construction demand, larger structures, and greater use of underground spaces. In urban areas such as Greater Tokyo, processing of the residual soil from ...

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Construction cladding joining methods: A guide to design for automatic assembly

B.L. Atkin, P. Atkinson, C. Bridgewater, B.L. Davies and R.D. Wing
Pages 157-164

One of the fundamental lessons learnt by manufacturing industry was that assembly tasks must be redesigned to suit the strengths and weaknesses of machines vis a vis human workers. The basic principles of Design for Automation and Design for Assembly can be applied to construction tasks in order to improve ...

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Robotized system of GRC panels for construction industry

C.Balaguer, F.J. Rodriguez, J.M. Pastor, R. Aracil, A. Barrientos, E.A.Puente, J. Florez, M.Esteban, J.A. Comas, E. Marquez
Pages 165-171

This paper presents a robotized system that produces high quality GRC panels in an automatic way. The system is installed in a Dragados y Construcciones factory near Zaragoza. The input of the system are the 3D AUTOCAD drawings of the panels. The output of the system are the robots paths, ...

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An experiment in semi-automated spray fireproofing

Iwao Uchizaki, Yasuaki Uchida
Pages 173-180

Fireproofing material spraying is one of the labor intensive construction works under inferior working environment. Toward improvement of the working surroundings as well as the work efficiency, a semi-automatic fireproof material spraying robot has been experimentally constructed. It features a double-nozzle design and a man-machine cooperative system. Small-scale spraying tests ...

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Robotics and automation in the construction of the sliding domes of king Fahd's extension of the prophet's holy mosque in Madinah, kingdom of Saudi Arabia

Khalid A.H. Taher, Bakr M. Binladin, Fuad A. Rihani, Mahmud Rasch
Pages 181-188

The King Fahd’s extension of the Prophet’s Holy Mosque in Madinah, Saudi Arabia, is the largest and most complex addition in the Mosque history. One of the most innovative features in this landmark project remains to be the unique twenty seven sliding domes, 18m x 18m each, covering its twenty ...

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Propeller type wall-climbing robot for inspection use

A. Nishi, H. Miyagi
Pages 189-196

Use of a wall-climbing robot for inspection or maintenance of wall surfaces has been anticipated for a long time. Three quite different models have been developed in our laboratory. The present model can move on a wall by using the thrust force of a propeller and can fly whenever it ...

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Autonomous learning in vertical environments

Prof. Matthew Cusack and Dr. Terence Fogarty
Pages 197-203

This paper describes the further development of earlier work on wall climbing robots and recent research on the development of control systems, to enable the robots to learn the best strategies for climbing and carrying out various inspection and maintenance tasks on civil engineering and building structures. There are three ...

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A sensor based autonomous climbing vehicle for unstructured environments

N.R. Bevan, Prof. A.A. Collie, B.L. Luk, T.S. White
Pages 205-212

This paper describes the latest developments to Robug IIs and in particular the modifications and additions to its sensor system and how this has helped to increase its autonomy in unstructured environments. The configuration of Robug IIs’ local intelligence is described along with the system for control of each leg. ...

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Graphical site simulation using and object oriented CAD model

Toshihiko Aoki, Takahiko Kimura, Kazuhiro Momozaki, Aketo Suzuki
Pages 213-220

Recently, CAD research has concentrated on shifting CAD systems from the traditional line based structure to a more intelligent and object oriented structure. Most work in this area, however, has concentrated on developing applications for design work, leaving construction phase applications largely ignored. The authors of this paper have begun ...

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A knowledge representation for construction operations

Naruo Kano
Pages 221-228

This paper proposes a semantic structure representing construction operations with advanced equipment and robotics and a methodology to implement it as a knowledgebase for planning and controlling the operations.

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Path planning and sensing for an experimental masonry building robot

D.A. Chamberlain, S, Akrawi, J. Watson
Pages 229-236

An experimental robot cell is being used to investigate the enabling technology for a masonry tasking robot. A CAD/CAM facility has been devised by which wall designs are translated into the robot’s ‘theoretical task’. However, this cannot be directly implemented without real-time adjustments derived from sensors. A further complication is ...

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Modeling of building construction activities using forms

Amr A. Oloufa
Pages 237-244

In the course of improving the efficiency of building construction activities, the application of discrete event simulation tools may be extremely beneficial. Simulation is used to evaluate construction scenarios and allows the construction manager to evaluate between alternatives. Selection of an optimum mix of equipment and crews may also be ...

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Research on components of underground excavation robot

Keiko Homma, Tatsuo Arai, Hironori Adachi, Tatsuya Nakamura
Pages 245-252

This paper describes the basic research for an underground excavation robot. This robot consists of three system components: the manipulation system, the locomotion system, and the task planning system. In order to keep the operator away from the hazardous worksite, the task should be performed through teleoperation or performed autonomously. ...

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Autonomous dump trucks system for transporting and positioning heavy-duty materials in heavy construction sites

H. Sugiura, S. Yuta, K. Nishide, O. Hatakeyama, S. Nishigaki
Pages 253-260

This paper describes an autonomous dump trucks system being developed to overcome worker shortage problems and to prevent accidents in heavy construction sites (i.e., dam construction, road constructions, etc.). The major distinctive functions of this system are: (1) The autonomous driving function: -this system enables unmanned dump trucks to autonomously drive at ...

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Development of a robot asphalt paver

R. Umeda, H. Ikeda, H. Yasu, Y. Masuyama, Y. Takagi, F. Goto, M. Fukukawa, S. Kinosita, T. Gocho
Pages 261-268

Frequent changes in the paving conditions of general roads in japan require considerable labor. This demands a heavy work load and a high level of skill to the asphalt paving operators and screedmen, and also affects the work load of subsequent manual operations, such as shovelling and raking. In this ...

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Towards the development of a bridge inspecting automated device

Anna McCrea, Denis A. Chamberlain
Pages 269-276

There are, as yet, no commercially viable robotic or automation solutions in the field of reinforced concrete bridge inspection, these structures suffering from deterioration of both their concrete and steel reinforcement elements. In the manual inspection activity for defect diagnosis and repair specification, visual assessment is supplemented by a range ...

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Design of a machine which rotates hoist elements around its vertical axis

F.J.M. Van Gassel
Pages 277-284

On construction site hoist elements are rotated by the hands of assembly workers. This work is dangerous. To get better working circumstances, the elements can be rotated by a machine. On the principle based on Newton’s third law “action and reaction” there is designed and built a machine. The result ...

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Development of exterior wall painting robot capable of painting walls with indentations and protrusions

Shin Terauchi, Toshikazu Miyajima, Takezo Miyamoto, Kazuhiko Arai, Seiichiro Takizawa
Pages 285-292

We developed an exterior wall painting robot for the purpose of automating this painting operation. The robot is mounted on equipment which permits it to move up and down, left and right along the exterior walls of a building. It is computer controlled and activated simply by the operator pressing ...

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An evaluation of the pipe manipulator performance in a material handling yard

Hsieh, T.Y, Fulton, C,Dr.Gibson, G.E, Dr.Haas, C.T
Pages 293-300

The purpose of this paper is to compare the productivity between a prototype pipe manipulator and a telescopic rough-terrain crane in handling pipes in a piping material laydown yard. Productivity data where collected by video-taping identical operations done by two machines in the field. The productivity data are evaluated in ...

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Performance evaluation model for construction manipulators

Ting-Ya Hsieh; Dr. Carl T Haas
Pages 301-308

This paper describes a model for evaluating the performance of construction manipulators. It involves four steps: (1) constructing the operation plan, (2) evaluating task and machine related parameters, (3) evaluating time components and, (4) total time study. Each of these steps is described in detail, and a hypothetical example is ...

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Robot oriented modular construction system - part II: Design and logistics

H. Kurita, T.Tezuka, Dr.H.Takada
Pages 309-316

The 3-Dimensional Modular Unit Construction System involves constructing a) in fixed cycle time using b) 3-D Modular Unit Building Blocks which are assembled at a c) “factory” automated staging area on the jobsite prior to be lifted into place on the building. This system has great potential to facilitate the ...

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Description method of required motion specification for construction modularized robot

Yukio Hasegava, Takumi Onoda, Kinya Tamaki, Zhu Yuwn
Pages 317-325

The research and development of modularized robot are indispensable to successful introduction of robot into building construction, which includes a great many job types. As the first start of modularized robot research, we previously presented a conceptual design framework, data collection and analysis techniques, and key technologies to be developed ...

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Automated access planning on construction sites: an expert GIS approach

Koshy Varghese, James T. O'Connor
Pages 325-332

The use of prefabrication to enhance constructability necessitates careful planning for access of the prefabricated modules within a construction site. Current planning tools are inadequate for representing the integrated information required for planning access. Hence developing a reliable plan using these tools is time consuming. This paper presents a computerized ...

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A remote measuring system for the mapping of the hazardous environments

N.S. McPhater
Pages 333-340

Close range photogrammetric measurement is a proven method for the mapping of industrial structures and has been widely employed within the process plant and nuclear industries. Unfortunately the radiological conditions encountered within active parts of many nuclear installations may severely contain any measurement system which depends on photo-chemical imaging. ...

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Air Force Construction Automation/Robotics

A. D. Nease, E. F. Alexander
Pages 341-347

The air force has several unique requirements that are being met through the development of construction robotic technology. The mission associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and more stringent construction ...

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The development of a drilling robot for the installation of railway tracks

Ronald Krom, Ruud Kloek, Prof.Charles Vos
Pages 347-354

TNO Building and Construction Research is developing an autonomous drilling robot. This robot is to be used for drilling holes for anchor bolts which fasten rail to concrete slabs. Special features of the drilling robot are: it’s high precision and the relative large diameter of the holes it can drill. ...

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Robotic rock handling during backhoe excavation

X. D. Huang, L. E. Bernold
Pages 355-362

Excavation of solid and rock is a high volume and repetitive construction operation. Research in robotic excavation has been focusing mainly on path planning and path control. Very little is known about how to detect and handle underground obstacles such as rocks or utility lines robotically. This paper introduces a ...

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Multi-joined pile driving machine with a computer assisted guiding system

Toru Uchino, Junichi Narisawa, Yuhei Sato, Koji Kumazawa
Pages 363-370

Today, in big cities of Japan such as Tokyo, a number of urban renewal and infrastructure development projects are on. Because of restrictive work site conditions in urban areas, such as overhead roads or railways, compact construction machines with high mobility are favored. To meet this need, we developed a ...

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Images of the future development of automated construction technology

Kazuhiko Arai
Pages 371-378

The purpose of the study is to indicate the future direction of automation technology as applied to rationalization of building construction. To achieve this purpose, we administered questionnaires to building engineers who had on-site experience with advanced construction technologies. We where thus able to clarify the approach we should take ...

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The study on the development of Building construction robots in Japan

Fumio Shintani, Masaki Yamamoto
Pages 379-382

At The ninth ISARC held in Tokyo, we introduced thirteen construction robots for the building construction being developed by “Construction Robots Consortium in Japan”. This is the second report to introduce the progress of the development of each robots and the possible program for the robots to be used at ...

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Feasibility analysis of robotized vs manual performance of interior finishing tasks

Abraham Warszawski, Yechiel Rosenfeld
Pages 383-390

The paper presents results of a feasibility analysis of a robot developed for performance of interior finishing tasks. Productivity and cost of robotized construction is compared with manual construction of the same tasks.

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Design-fabrication interface: construction Vs manufacturing

John G. Everett
Pages 391-397

Fundamental cultural differences between industries helps explain why automation and robotics have been successful in manufacturing but have largely failed in construction. In construction there has traditionally been a clear separation between a project design phase and its field operations. In manufacturing engineering design and shop floor fabrication are highly ...

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Site layout of construction temporary facilities using enhanced-geographic information system (GIS)

Min-Yuan Cheng, James T. O'Connor
Pages 399-406

This paper focuses on developing an automated site layout system for temporary construction facilities. The site layout of temporary facilities (TF) is an important preplanning task that can either enhance or adversely affect the construction productivity. An efficient TF layout can significantly reduce construction conflicts and improve project efficiency. In ...

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Motion planning for automated construction

Raghavan Kunigahalli, Jeffrey S. Russell, Miroslaw J. Skibniewski
Pages 407-414

Increasing research and development in the area of construction robotics and computer-aided-construction has resulted in large number of automated construction equipment applications. Full potential of such construction equipment can be realized by providing the collision avoidance motion planning capabilities. Models used in motion planning can be categorized into two types: ...

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Space scheduling for construction progress planning and control

I. D .Tommelien, P. P. Zouein
Pages 415-422

Space scheduling pertains to allocating the work space to resources associated which activates in a schedule as it changes over time. This is an important aspect of materials management in dynamic environments in which many pieces of equipment, crews, and possibly robots move about, as congestion and interference would seriously ...

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Integration in design and simulation

Robert F. Sullivan
Pages 423-430

Today, the three dimensional (3D) solids modeling design technology and the deployment of integrated relational databases on projects in construction industry have provided the opportunity for advancing the level of achievable integration and automation in the design, construction, and operation of major industrial facilities. The key development has been linking ...

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Field testing of an automated surface finishing system for large diameter storage tanks

Dailey, C. M.; Traver, A. E.; Wesley, G.l.; Hass, C.T.; O'Connor, J.T
Pages 431-438

Surface finishing of large storage tanks represents a typical area in which construction automation techniques can yield significant improvements over conventional methods. Current techniques are costly and laborious, and they expose workers to significant health and safety risks. Automation offers potential improvements in each of these areas and is well ...

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Automatic machine welding of the primary circuit of the sizewell 'B' nuclear power station

M. D. Austick, S.Thompson
Pages 439-446

GEC Alsthom Engineering Systems, Who were required to weld the Main Loop Pipe work as the part of the mechanical erection contract on the sizewell 'B' PWR, where approached by its client to make a significant reduction in the program schedule for this particular task. This paper will describe how, ...

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RLAB: A remotely operated laboratory for improved management of hazardous spills

Laura A. Demselz, Elisa C. Bass, Eron Ersch, James Ash
Pages 447-454

Highway spills of hazardous substances expose emergency response personnel and the public at large to the risk of explosion, fire, and contamination. When the spill is of an unknown substance, response personnel must first determine its identity. Problems of human exposure make automated or remotely controlled sampling and analysis as ...

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Study of a new 3-D measuring method for diaphragm walls

Tetsuya Kikuchi, Saloru Miura
Pages 455-462

Measurement of the shape of an excavated wall, which is one of the control items in diaphragm wall construction, is an absolute necessity during and after excavation in order to detect local surface collapse of the wall and areas of dissipation, and to control the final form.

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Field Applications with CAPSY

Leon DeVos, Bob Hasara
Pages 463-470

In June 1989 CAPSY has been introduced for the first time at the ISARC’89 in San Francisco. CAPSY (Computer Aided Positioning SYstem) is intended to be low-cost real-time location toll for construction. Operating in working area with dimensions like 300 by 500 feet it is capable of locating itself to ...

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Development of earthwork progress measurement system using global positioning system

Mikio Okano, Akimasa Waku, Akira Fujioka, Katuyuki Kikuta
Pages 471-478

In this study a new system for earthwork measurements using the Global Positioning System (GPS) has been developed. This paper describes the development of a device to automatically hold an antenna level and a computer program developed for the transformation of coordinates obtained by GPS surveying to the ordinary plane ...

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Survey robot using satellite GPS

Tadashi Kanzaki, Shuiti Nishizawa, Hiroshi Toida
Pages 479-486

In Japan, many large projects have been undertaken such as the 513-hectare artificial island of Kansai International Airport and the about 1,000-hectare offshore development project of Haneda International Airport. In case of civil engineering works involving such a wide area, it is important from the view point of construction management ...

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Application of 3-D CAD and 3-D coordinate meter in frame erection

Pentti Vaha, Klaus Kansala, Iikka Kaisto, Rauno Heikkila
Pages 487-494

A method of applying 3-D CAD design tool and 3-D measuring device in frame erection is described. The method links together the design data of the building and the as-built measurement data. The Cartesian measurement for each points on the site can thus easily be defined. The preparatory phase of ...

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Construction process simulation with rule-based robot path control

R. Stouffs, R. Krishnamurti, S. Lee, I. Oppenheim
Pages 495-502

A rule-based simulation program is developed for application to building construction. From a specified task schedule, the program generates and simulates a motion path for each robot action, avoiding obstacles and incorporating interaction safety and other considerations.

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Dynamic interface simulation for construction operations (DISCO)

Rong-Yau Huang, Daniel W.Halpin
Pages 503-510

Application of visual simulation technique (VS) to assist in the planning and analysis of construction operations has become increasingly important in research community in recent years. Benefits of applying VS have been reported in several publications. Nevertheless, the effort required to design and construct an “appropriate” representative display for the ...

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The potential of a "virtual" construction site for automation planning and analysis

Chris Hendrickson, Daniel R.Rehak
Pages 511-518

Existing simulation models for construction operations typically rely on geometric objects moving through an abstract space or on monte carlo simulation models without specific geometric representations. Physically based models of such operations coupled with new technologies for user interaction offer tremendous potential for improving the realism and usefulness of simulation ...

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Simulation analysis of process piping construction

Min-Yuan Cheng, James T. O'Connor
Pages 519-526

Previous research has demonstrated the automation can improve the industrial pipe lifting productivity. However, there is little information on finding how much productivity can be improved in other parts of pipe erection process to coordinate with the productivity improvement in pipe lifting. The processes of piping construction include pipe delivery, ...

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Development of segment bolt tightening robot

Keizo Kazama, Hisateru Uyeda, Akihiro Higashide, Susumu Nunomura, Toshiaki Morii, Hirotoshi Shimoda
Pages 527-534

We have developed a manipulator for handling large, heavy objects for construction work, and applied it to bolt tightening work form shielded tunnel segments. The manipulator is vertical multi-articulated type, with 6axis of freedom, and handling capacity of 500kgf by a 2.5m long arm. The robot equipped two set of manipulator with ...

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Self-supported segment assembly robot for the shield tunneling method

Keizo Kazama, Hisateru Uyeda, Akihiro Higashide, Yoshimitsu Kumao
Pages 535-542

The self supported segment assembly robot, [O-SERO]*, has been developed through several fundamental equipments and a series of assembly tests in the factory, then applied to a real project. 70 no.s of segment ring (inside diameter: 6.0 meters) where assembled in the tunnel. The assembly process is full automatically done ...

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Hyper-shield system achieves automate excavation

Kiyosi Sato, Sekiya, Kazuhiro Higaki
Pages 543-550

The hyper-shield system developed by Fujita Corporation is used to perform automatic excavation of tunnels. The system, applicable to either the slurry or the earth-pressure method, employs the pivotal technologies of artificial intelligence and fuzzy logic to automatically control excavation of tunnels. Also the system allows for its travel along ...

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The development of "gyro runner" a totally unmanned shield guiding system

T. Nozava, F. Sato N.Nishino
Pages 551-558

This paper reports on development of gyro runner a totally unmanned shield guiding system. Consisting of automatic survey system and the automatic shield guiding system. More than 90% of current shield tunnels are small-bore and of curved geometry. Where a gyrocompass mounted in the machine have been frequently used. However, the ...

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