The International Association for Automation and Robotics in Construction
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Abstract: This article describes a method for analyzing mechanized and robotized production processes on the building site. The method is based on the theory of system analysis, which describes information, material and energy transformation processes. The basic diagram of the Worker-Equipment System was developed for this purpose. The concepts of mechanization ...
Abstract: This paper examines the problem of the development of industrially useful general purpose robotic construction agents and discusses number of key intellectual constructs used to create them. A new abstract form, umbrella notion based around the idea of systems deployment structures is presented. The implications of thinking with this new ...
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Abstract: One of the frequently cited drivers for automation and robotics in construction is the potential improvement in safety. Much of the publicity funded research in this area is the exotic and very hazardous applications such as space construction, underwater construction, and clean-up of nuclear and other contaminated sites. These applications, ...
Abstract: The aim of the paper is to review and evaluate current legislation on health and safety and environmental protection in the context of proposed technologies in bridge restoration. Concerning health and safety, the main considerations are a new method of access, the use of robotic manipulators in surface preparation and ...
Abstract: The purpose of the automated, computer-integrated building realization process is to generate, automatically, all the information and the related documents for the design and the construction of a built facility. The paper reviews the concept of the computer controlled realization process and describes the knowledge base of the system employed ...
Abstract: Quality control of asphalt pavements is an important concern of highway agencies and contractors. Compaction is an important step in this process as it leads to an increase in pavement strength and durability. While there are a number of factors that influence the in-situ pavement density, the number of passes ...
Abstract: The first part of the paper gives a definition of positioning in the context of road worksites and stresses the advantages brought by the new positioning systems. A logical classification of these systems is also proposed. One technique in particular which seems to be more promising at the moment : ...
Abstract: The construction workers and operators associated with the sanitary waste landfilling operation are at high health risks because of constant expose to harmful solids and gases. Automation of spreading and compacting processes during landfilling operation can result in improved safety due to reduction in exposure of workers to harmful environment. ...
Abstract: Intelligent Vehicle Highway Systems are currently a high-priority area of research and development in many countries and can make significant improvements in mobility, safety, and productivity of transportation systems by utilizing advanced technologies from electronics, communications, and computer science. There are many research thrust areas that are useful to both ...
Abstract: Application of Geographic Information Systems (GIS) in construction disaster relief planning is presented. A case study of GIS developed for Fulton counted in the state of Georgia is presented. The project identifies potential resource allocations and accessible roads network using TranCAD GIS computer program. This model could be used for ...
Abstract: The paper deals with integration of the data processing problems in the complex design construction process, aiming to minimize the total time spent on data processing. Sequence of the basic tasks under observation is: quantity surveying and estimating, drawing up the technological models and calendar plans of Construction (including ...
Abstract: Production budget planning in the building products industry is the process of committing and allocating resources to manufacture building products for 12 months ahead in order to satisfy certain criteria set by top management. It is a highly complicated and time consuming process and demands experienced production managers to handle ...
Abstract: Use of wall-climbing robots for inspection or maintenance of wall surface has been anticipated for a long time. Four quite different models have been developed in our laboratory. The present model can move on a wall by using the thrust force of the propellers and can fly whenever it is ...
Abstract: Research into the development of robotic modules is discussed in the context of cost-effective, small bore, non-man entry (NME) sewer renovation. With an associated sensing system previously reported [1], interest herein is centred upon suitably robust task kinematics and control, where predictive modeling is implemented employing the GRASP robotic simulation ...
Abstract: In the paper one of crucial point in the condition assessment strategy-fatigue life diagnosis has been discussed. The non-linear cumulative fatigue model has been presented.
Abstract: A series of laboratory tests by using a model excavator for the diaphragm wall method were carried out in order to investigate the interaction between the model excavator and the surrounding ground. The behavior of excavator is theoretically formulated and the theoretical values were compared with the experimental data. As ...
Abstract: Application of hydrostatic travel drive system in tractor earth-moving machines enables a precise control of digging process according to given requirements and limits. A paper present some problems connected with this subject which have been chosen by the authors as the most important ones.
Abstract: This paper describes the mechanical equipment, hydraulic and measuring system for the microcomputer controlled test stand for backhoe excavator. Stand has been developed in Institute of Heavy Machinery Engineering. The paper also presents main features of hardware and software of the on-board system.
Abstract: The structure of experimental heavy machine operators assistant system is described. Main part of the system was built using factory made VME modules and programmed in C under OS-9. First version of system was implemented on an excavator while advanced versions are under development. The paper describes the architecture of ...
Abstract: Unlike most civil engineering projects, trenching schemes are not confined to a recognized site but, by their nature, connect distant locations and involve working ina variety of rural and urban environments. In trench construction, one of the tasks for the engineers is to select a suitable route to minimize construction ...
Abstract: The aim of this paper is an experimental determination of the most efficient tool trajectories and tool shapes from energy consumption point of view, for heavy machines tools during the filling process. Laboratory tests were performed under plane strain conditions on a constant slope made of cohesive soil, using various ...
Abstract: The Brawal excavators have original proprietary structure protected by numerous patents. The sliding working accessories enabling optimization of the parameters of cutting and of additional functions, for example exact scarping. Energy-recuperation system decreases the cost of operation and temperature of the hydraulic oil, thus increasing the machines capacity to work ...
Abstract: This paper presents a concept of a microprocessor control system with flexible structure and parameters, designed for steering and positioning working components of machines driven by electro-hydraulic systems. An idea for decomposition of a block structure of the control system was presented, as well as the idea of transposing block ...
Abstract: The roof push up construction method is a construction method whereby the roof floor is erected first, then the building is constructed by pushing up the roof floor successively by one floor with hydraulic oil jacks. Because the roof floor is built first by this construction method, the working environment is ...
Abstract: The Arrow-up System (AUS) is a new building construction method developed to complete a whole building, from structural to finishing work, all at the ground storey level. First, principal building production plants will be provided at the ground storey level on its construction site. The structural work and exterior finishing ...
Abstract: This paper is based on a research project undertaken by a consultancy company, a research institute, and six construction component manufacturing firms. The goal was to draw up a methodology foe initiating lean production activities in construction component manufacturing, and to verify the potential of lean production in this industry ...
Abstract: Japanese railway tunnels are currently inspected by using destructive testing. The inspection procedure consists of three important inspecting items, such as lining thickness, voids between a lining and the natural ground, and compressive strength. This method has difficulties in measuring accuracy, cost and Efficiency of inspection. In order to solve these ...
Abstract: This paper discusses theoretical concept and principles of the theory assessing the technological development of working tasks in construction. The relationship between the complexity of tasks, cost of manual labour, technological advancement of the equipment and other factors is studied and quantified. Using the Fisher-Pray models, the dependence is established ...
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Abstract: The application of that robot system for the automatic assembly of commercial cavity blocks is the subject of the following report. What is characteristic of cavity blocks is the fact that they are at first assembled dry, without cementing material, and the masonry is later filled with mortar. As to ...
Abstract: In this article we present several important aspects of a software system control. This is designed and developed for a wall assembly robot in an European Espirit III project called ROCCO, RObot assembly system for computer integrated construction. The system consists of an off-line program for planning of complex assembly tasks ...
Abstract: The application of that robot system for the automatic assembly of commercial cavity blocks is the subject of the following report. The entirely different characteristics and abilities of assembly robots are not taken into consideration. However, their dimensional tolerance is relatively small (0.5 mm). Furthermore as cavity bricks, they have ...
Abstract: This paper presents a process for automated masonry construction on a building site by means of a mobile robot. A scenario for the on-site operation of a man-machine-system comprising the mobile bricklaying and a skilled worker is outlined. An automated method for the application of thin-bed mortar is presented and ...
Abstract: Starting from a specific task requirement a Brick Laying Robot has been designed. The tight performance claims which have been imposed by the task specification, constitute the basis for the research on control of hydraulically driven manipulators. The main goal is to increase robot efficiency and task suitability by application ...
Abstract: The stability of operation of heavy machines is one of the main factors determining their working ability and safety. This problem is of a major importance for articulated frame machines that have worse stability than machines with the conventional steering system. So far the problem has not been solved satisfactorily. ...
Abstract: The paper describes the development of the special industrial multi-axis anthropomorphic angular robots, of ALR type their design, computer control and the intelligence. Human interaction and the robot control versus management control ( the management factory control) are also addressed. At the institute of production machines and the systems ...
Abstract: Planning heavy lifts is a time consuming and costly activity. Several systems have recently been developed for computer aided heavy lift planning that increase planning productivity and dependability of lift plans. These systems must handle a wide range and growing volume of both graphical and non graphical data, including information ...
Abstract: This paper presents the results of theoretical analysis of all-wheel drive kinematic discrepancy influence on drawbar pull for wheeled working machines. The research project was undertaken to verify and confirm theoretical solutions. Presented analysis shows possibilities for improvement of wheeled machines and dynamic and energetic as well as exploitational way ...
Abstract: In this paper we present work in progress to examine the use of two machine learning techniques to determine the gait of a wall climbing root. We describe the use of the genetic algorithm and then that of the reinforcement learning technique Q-learning, within a multiple-agent framework, for this task. ...
Abstract: A detailed dynamic model of hydraulically driven mobile large-scale manipulators is presented. The model can be used as simulation model, for the calculation of the forces in the design process and for the development of the controllers, which are required for tracking given trajectories, but also to avoid vibrations. It ...
Abstract: Studies of the use of advanced technology in manufacturing have given clear indication of the need for simultaneous changes in organization and management practices if a successful and sustainable implementation of advanced technology is to be assured. It can also be shown that it is sometimes counterproductive to introduce new ...
Abstract: This paper discusses the dependability of machines with particular reference to construction equipment in relation to increasing levels of automation. Various strategies are presented and their impact on utilization systems. Finally, reducing health hazards and environmental protection are in dependability assessments.
Abstract: In this paper, the author conducted survey on two construction planning processes in an attempt to establish a system of CAP(Computer aided planning) for construction projects. The surveys were followed by a discussion of the structure and characteristics of planning. The author concluded that current systems for computer-aided construction plans, ...
Abstract: This paper describes the research results and the experience gained by applying pen-computers to the area of construction quality. A pen-based computer system has been developed to include the functions of signature, error detection, drawing capability, form navigation, user instruction, and decision making. The system eliminates the required effort ...
Abstract: Essential difficulties in the operation of a single-bucket excavators is the fact that they are multi-functional machines. They can be fitted out with a range of various working features. Hence, elaborate automatic control system is being indispensible. It makes possible, the flexible co-operation with the operator in carrying ought to ...
Abstract: The aim of this paper is to present the simulation system for analysis of the specialized mobile systems, which are equipped with a human operator supported computer system (on board or tele-operator ). Simulation is performed in real time, using a computer system and a mobile robot. Visualization of ...
Abstract: In order to define the requirements for automation and robotics technologies as applied to the construction industry it is necessary to consider the task structures within which these technologies are to be applied. This in turn implies that any particular task or activity for which automation is to ...
Abstract: Methods and appropriate engineers- oriented tools DINA and LMS have been developed for the automated simulation of flexible robot dynamics, including those with closed kinematic loop and changing structure. The typical example of such mechanism is robot, performing assembly operations in industry or construction.
Abstract: Successful robotic and automated systems require a well defined, structured and controlled work environment. It is therefore clear that before automation in the construction process can be effectively implemented, uniformity and clarity of the various tasks to be automated must be introduced. The structuring of the process must be addressed ...
Abstract: The paper describes the development of a fully automated rebar manufacturing machine, using current technology of computerized numerically controlled machines. The development involved a graphic simulation system. The resulting machine receives the raw material in a discrete form and finite lengths. The raw material is fed to the machine, bent, ...
Abstract: This paper provides a comprehensive comparison between two groups of nondeterministic scheduling methods: 1) probabilistic and 2) fuzzy set based methods. A numerical example is used to demonstrate the differences between the two groups of methods. The comparison is conducted considering three aspects: 1) theoretical assumptions, 2) data acquisition and ...
Abstract: This paper describes methods of testing of stability of building construction machinery and equipment using an automatized data acquiring and processing system. This method allows to determine on-line the machinery stability with respect to a choosen tipping edge(line) and in accordance to corresponding standards.
Abstract: For the development of automated building construction system with robots, the WASCOR (WASeda Construction robot) research project has been organized since 1982 by the system science institute, waseda university. The WASCOR IV project started in 1992. The research theme of the wascor IV project is to develop automated construction systems ...
Abstract: The WASCOR research project was organized in 1982 by the system science institute, Waseda university, Tokyo, japan, aiming at automizing building construction by robotics. This is collaborated by nine general contractors and a construction machinery manufacturer. WASCORIV has been working on the automized building interior finishing system. In the symposium ...
Abstract: Autonomous map making is becoming a widely used tool in robotics for various applications. One of the major problems to be dealt with in the development of this tool is the tolerance of coordinates obtained of mapping. This paper presents an analysis of tolerances of a map created by a ...
Abstract: This paper deals with a new kind of mechanical structure for robotic arm based on elements made of thin, inflatable shells. Our approach offers the advantage of increasing the strength to weight ratio of the robot. Moreover, it allows compact packaging and ease of robot deployment, critical in hard to ...
Abstract: The paper presents in economic quality and technical terms several aspects of the robotics manufacturing of GRC panels, based on actual measurements of performance rates and real estimates of all cost items. The comparison of robotics versus manual performance is also presented. The system has been finished, and is now ...
Abstract: To operate an autonomous vehicle in off-road terrain is one of the most difficult problems in robotic. Since it is not possible to build a high resolution model(3d map) of an unstructured terrain, in particular of an industrial area or a construction site, a robot, driving through this terrain, in ...
Abstract: Sufficient work has now been done in the general area of automation and robotics in construction to allow the identification of more general principles and guidelines to begin. The current paper represents a first attempt to determine some of those guidelines. Consideration is given to the application of robotics. Conclusions ...
Abstract: This paper describes a group of technology for automatic data acquisition in construction, which is referred as keyless data acquisition(KDA) technology, including bar coding, magnetic strip, optical character recognition, radio frequency identification and voice recognition. First, past literature related to this area is reviewed and briefly discussed. Then KDA ...
Abstract: Significant progress in the analysis and design of adaptive tracking control schemes for rigid robot manipulators was achieved in the last decade. Many of these schemes have been designed at the torque input level. That is, the dynamics associated with the actuators is neglected. Moreover to design adaptive control at ...
Abstract: The cutting tool trajectory of a hydraulic excavator during working with traditional machine results from experience and intuition of an operator. To allow the excavator for an automatic execution of planned trajectories, the machine should be provided with control system of fixtures motion. Such a digital control system for single ...
Abstract: Previous efforts have been directed towards provision of a visual sensing facility capable of the detection of lateral pipe entries in non-man-entry(NME) sewers. Attention is now turned to lateral description. A novel variant of the established vision technique photometric stereo is presented. The current goal of the new technique, reflective ...
Abstract: This paper presents a novel method of obtaining an accurate estimate of the shape of a sewer from a sequence of images captured by a camera moving along its length. An image flow technique is first applied. This gathers information from the whole image plane to produce a global description ...
Abstract: Application of automatic control into compaction equipment is one of the most complex problem compared with other machines used in civil engineering works. This is due to the difficulties in getting proper feedback, consisting of a transfer to the compactor and information on the state of soil being just under ...
Abstract: A ground evaluating method was suggested which makes use of the behavior of an exciter that vibrates on the ground. Numerical simulations were carried out to investigate the relationship among the vibrating behavior of the exciter, the ground stiffness and the vibrating conditions of the exciter. A method that evaluates ...
Abstract: The tele-earthwork system is intended to ensure the safe performance of a series of earthwork, from the excavation of soil to the loading, transportation and the disposal of excavated soil, through the remote control steered from a centralized control room located away from the working areas, by using a variety ...