1999 Proceedings of the 16th ISARC, Madrid, Spain

The paradigm of computer integrated construction applied to civil-engineering

Francois Peyret
Pages 3-9

The main issue which has to be addressed, when one considers the robotisation of civil engineering tasks, is the paradigm of computer integrated construction. This paper first stresses the advantages that a common digital data base, managing all the geometry of the structure all along its construction, could bring. Then, ...

Keywords: robotics; civil engineering; computer integrated construction; positioning;GPS

Global integration of construction automation and robotics

Derek Seward, Stephen Quayle, Norman Mure, Jason Scott
Pages 11-16

Construction animation and robotics devices need to be fully integrated with the company IT infrastructure if they are to be of real value.Object technology provides the most effective means of achieving this,but an industry-wide protocol must be agreed.Two attempts at achieving this,the STEP and IAI initiatives are reviewed.Two case studies ...

Keywords: No keywords

Automated quality control of hot-mix asphalt construction operation

Heejune Lee, Robert L. Schmitt, Hui-Ping Serng, Jeffrey S. Russell, Hussain U. Bahia
Pages 17-22

The quality of finished Hot-Mix Asphalt (HMA) pavement is important to owners, contractors, and highway users. Primary factors affecting quality of HMA pavement are material properties, mix volumetrics, compaction energy, temperature, moisture content, thickness of mat, and subgrade support. A systems approach is necessary to control these multiple and often-changing ...

Keywords: quality control; hot-mix asphalt; systems approach; construction operation

Oresund bridge temperature and cracking control of the deck slab concrete at early stages

Dragados y Construcciones, Geotecnia y Cimientos
Pages 23-30

High Performance features are required of the concrete for the deck slab of the bridge over Oresund Straight between Denmark and sweden and among them,great durability.To guarantee this,it is necessary to assure in advance and control during the construction of the deck slabs,that the maximum temperatures and the traction stresses ...

Keywords: No keywords

Laser technology applied to earthworks

Hadi Daoud
Pages 33-40

Keywords: No keywords

GPS-based control of a land vehicle

L.Cor desses,P. Martinet, B. Thuilot, M. Berducat
Pages 41-46

An accurate localization system (Carrier Phase differential GPS receiver) allows the design and implementation of an absolute vehicle guidance system. The preliminary work, presented in this paper, was aimed at validating the use of one GPS receiver in a vehicle guidance system, without any orientation sensor. We designed and implemented ...

Keywords: GPS sensor; mobile robot; non linear robot control; localization

Knowledge learning system for slurry wall construction

Ren-Jye Dzeng; Vi-Shan
Pages 47-52

This research proposes an inductive learning model for acquiring the knowledge about the pre-construction planning of a slurry wall system. The model is suitable for the engineering problems where human experts rely on past experience, rule-of-thumbs, or subjective judgement. The system can be used to facilitate human experts to solve ...

Keywords: slurry wall construction; planning; induction; artificial intelligence; generalisation

A closed-loop controlled equipment for soil consolidation tests

G. Conte, S. Mignozzetti, G. Scarpelli, F. Tenti
Pages 53-58

A novel equipment for consolidation tests of soil samples is described.The equipment consists of a press and an oedometric cell equipped with a closed-loop control architecture.Closed loop control is used for regulating the compression process of a soil sample according to the dynamical behavior of the interstial pressure in such ...

Keywords: closed-loop control; soil consolidation tests

Dynamic modelling and identification of a compactor

E. Guillo, M. Gautier
Pages 61-66

This paper deals with the design and identification of the dynamic model of a compactor,an articulated frame steering mobile engine for use in road construction.A classical approach based on an ordinary Least Squares identification method is used.A survey of these techniques is given and applied to estimate dynamic parameters of ...

Keywords: Dynamic modelling; identification; Multisensory data fusion; mobile robots

An automated system for quality control of compaction operations: receiver tests & algorithms

Amr A. Oloufa, Won-seok Do, H. Randolph Thomas
Pages 67-71

When other conditions such as roller frequency, wheel load, and compactor speed are the same, the density of asphalt pavement is dependent on the number of coverages of the compactor. If the mat is compacted with less than the determined number of passes, there may be a large volume of ...

Keywords: Quality Control; Pavements; Asphalt; GPS; Receivers

Performance evaluation of proprioceptive sensors for compactor localisation

Denis Bouvet, Gaetan Garcia
Pages 73-78

This paper presents several localisation algorithms based on the Extended Kalman Filter approach and compares their respective performances. The main interest lies in the proposal of two different instrumentations able to replace odometry, unusable on work sites. Results are presented using data obtained on trials carried out at the Centre ...

Keywords: No keywords

Development of an unmanned autonomous concrete floor robotic troweling system

Myung Hwang-Bo, Bum-jae You, Sang-Rok Oh, Keon Young Yi, SeokHo Kim, SamYong Chung, SongSoo Han, IllHong Suh, Wan-Kyun Chung
Pages 79-84

It is natural to introduce an automatic floor troweling system to a spacious concrete floor from the point of construction cost and time.Among several methods it would be the efficient to modify an existing available ride-on trowel into an unmanned and remote controlled troweling robot.The handling mechanism of a power ...

Keywords: No keywords

Development of virtual and real-field construction management systems in innovative,intelligent field factory

Shigcomi Nishigaki, Yoshio Maruyama, Yoichiro Iwase, Kazuo Koga, Junichi Yagi, Hiroo Takada, Naohisa Sunaga, Takashi Ito, Kinya Tamaki
Pages 87-92

In this study developed is virtual and real-field construction management system(VR-Coms) where integrated are virtual construction simulation,planning,scheduling and performance management system to evaluate productivity and safety in virtual simulated and real-field construction.VR-coms offer supporting modules for learning and discovering solutions with objective to manage construction at right speed with improved ...

Keywords: Construction management; planning; scheduling; construction simulation; collaboration

Concrete reinforcement assembled at the workshop a specific information management system

Jose Miguel, Simone Rupoli, Iproin Sistemas S.L. Schnell
Pages 93-96

First of all,introducing the topic we would like to describe how information management system for reinforcement of structural concrete has changed since the beginning as a solution for public works,till the last improvement of Schnell and Iproin.Both of them oriented towards building structure with reinforcement assembled on the workshop instead ...

Keywords: No keywords

BCOF: an integrated object framework for realization of ISO building construction core model

Chien-Cheng Chou, Shang-Hsien Hsieh; Ming-Teh Wang
Pages 97-102

An integrated object framework, called BCOF (Building Construction ObjectFramework), for realization of ISO Building Construction Core Model (ISO BCCM or ISO PartJ06) is proposed in this paper to address the multidisciplinary problems of information integration in the AEC (Architecture, Engineering, and Construction) industry. Discussions are given first on both the ...

Keywords: AEC Industry; Building Constitution; STEP; SDAI; Object framework

Simulation model probability distribution functions - relationships between input data and goodness-of-fit tests

Cristiano Maio; Cliff Schexnayder
Pages 103-108

Advances in computer technologies now allow for the accumulation of construction processdata in large quantities. The disadvantage of having a large number of observations is that there are problems with goodness-of-fit tests. This paper addresses the issue of the effect goodness-of-fit tests have on selecting a probability distribution function for ...

Keywords: Probability; Distributions; Functions; Construction; Simulation; Chi-square; Kolmogorov-smirnov;Anderson-Darling

A construction schedule controlling system using web-based knowledge technology

Will Y. Lin; H. Ping Tserng
Pages 111-116

Schedule controlling is a critical task in managing construction projects.However, in practice most contractors do not control and update schedule frequently due to the lack of proper controlling method. In the real construction world. most decision-making rules are not based on the mathematical method, but on the contractor's assumptions, limitations ...

Keywords: Scheduling; Expert System; Web-based; Internet; Object-oriented

Toward open network data exchange protocols for construction metrology and automation:liveview

Lawrence E.Pfeffer, DeWitt T.Latimer
Pages 117-122

A significant problem in construction automation is the difficulty of interfacing and integrating subsystems(eg.sensors,databases,visualization systems) into a useful whole.In this paper,we describe our past and present efforts toward the design and implementation of network protocols to address this problem.Our current design efffort concentrates on communicating,"who.what,where and when"data over internet-protocol(IP)networks,and is ...

Keywords: Automation; Construction; Data-Exchange; distributed; metrology,protocol

MACIV - a multi-agent system for resource management on civil construction companies

Jose Manuel Fonseca, Eugenio de Ollveira, Adolfo Steiger-Garcao
Pages 123-130

Motivated by the interest of a civil construction company and the very attractive scenario characteristics for the application of Distributed Artificial Intelligence techniques, we are developing MACIV, a Multi-Agent System for Resource Management in Civil Construction Companies CCCC). This system is based on Distributed Artificial Intelligence techniques that allow a ...

Keywords: Automation; Artificial Intelligence; Multi-Agent Systems; Negotiation

Simulation in large-scale precast operations

Edmundo Balbontin-Bravo
Pages 131-136

This document details a rationalisation study on the production of shop-prefabricated parts supported by simulation to analyse potential operating alternatives, The goal was quite specific: to improve productivity and so reduce production costs. Since the study was carried out while the workshop was fully operational, no changes that would have ...

Keywords: No keywords

A decision support system for a crane plan as part of a generic construction plan

Frans van Gassel; Wim Schaefer
Pages 139-144

After a building has been designed the construction process necessary to make the building also has to be designed. The theoretical framework of the "Construction Plan" has been adapted to our research project in order to structure the design of this process. The crane plan exists in this framework as ...

Keywords: Crane Plan; Construction Plan; Decision Support Systems

Design of an object oriented environment for planning mobile crane lifts

K. Govinda Roa, Koshy Varghese, N. Ramesh Babu, K. N. Satyanarayana
Pages 145-150

This paper describes the work done towards designing a c;omputer aided system for planning crane operations on a construction site using object-oriented programming concepts. The use ofobject-oriented programming concepts [or design is important as it faciiities robust design, distributed development, modularity. reusabilitv and easy extension of features. Based on the ...

Keywords: No keywords

3-D animation for planning crane operations

Mohamed Al-Hussein,Sabah Alkass, Osama Moselhi
Pages 151-156

This paper illustrates thr benefits of using 3-D animation in planning crane operations for heavy and critical lifts on construction sites.A methodology for crane selection,location,and on site utilization is presented.The methodology is incorporated into a computer system that integrates a selection module,3-D animation module and three databases,dedicated respectively for cranes,rigging ...

Keywords: 3-D animation; Database; crane selection; planning of critical and heavy lifts

Parallel flow shops scheduling problem using genetic algorithms

Hali Pang, Binglin Zheng, Xinhe Xu
Pages 157-161

In this paper, a general parallel flow shops problem with the objective of minimizing total earliness and tardiness has been addressed. In view of the intractable nature of the problem, a Genetic Algorithms (GAs) based approach is proposed to solve the problem. This algorithm has been tested on some randomly ...

Keywords: Parallel Flow shops; Scheduling; Total earliness and tardiness; Genetic algorithms

Kit-of-parts:a review of object-oriented construction techniques

A. Scott Howe, Ismau Ishii, Tomohiro Yoshida
Pages 165-172

In pursuing construction and design concepts apporpriate for the information age,the authors have considered kit-of-parts theory.A kit-of-parts is a collection of discrete building components that are preengineered and designed to be assembled in a variety of ways to define a finished building.Since a well designed component can be mass-produced and ...

Keywords: Kit-of-parts; architectural design; automated construction; design grammar

Primates - An expert system for selecting the optimal hall assembly method

Milan Trivunic
Pages 173-179

The production of prefabricated structures implies following certain regulations and applying certain work management in order for the process to proceed within the framework of the set requirements (deadline, costs, building and process quality). The application of inappropriate technology and management eliminates the advantages offered by prefabricated construction. Since the ...

Keywords: modeling; expert system; assembly management; concrete assembly halls

Architectural constraints for design automation of multi-storey timber houses in Sweden

Patrik Svanerudh
Pages 181-186

This paper describes some of the characteristics of the constraints, caused by the architects' decisions that affect the choice of technical solutions in timber engineering and especially in design of multi-storey houses. The constraints serve as requirements on design automation algorithms that are supposed to select the most cost-effective technical ...

Keywords: Design automation; timber houses; design parameters; constraint; object-oriented

Architectural design and construction in the xx century: from mechanisation to automation

Marfa Aurora Florez de la Colina
Pages 187-189

Introducing methods of Construction Automation in Architectural Design faces problems not always related to technical issues. This paper studies some of the past experiences which have transformed the Architecture of the XXth Century: how some of the changes in the industry have been interpreted by artists and society,their influence in ...

Keywords: Architecture Design; Construction Automation

Processes simplifying reproduction rather than automation and robotization

Roger Bruno Richard
Pages 191-196

Keywords: No keywords

Achieving integration on capital projects with enterprise resource planning systems

James T. O'Connor, Steven C. Dodd
Pages 199-204

Keywords: No keywords

Implementation of an integrated 3-D information system for EPC projects

Shannon Holy, Ben Song Rob, Wubbenhorst
Pages 205-210

The process of engineering, procurement, and construction (EPC) project execution uses a great amount of diversified information. A means to integrate the various sources of data and concisely display this information is needed. An advanced object-oriented system developed by Jacobus Technology, Inc. and customized by Fluor Daniel, Inc., allows data ...

Keywords: Construction Visualization; Integrated Project Information; InVision

Measuring automation and integration in the construction industry

James T. O'Connor, Mark E. Kumashiro, Keith A. Welch
Pages 211-216

Project work process automation and integration technologies and advancements are emerging rapidly and yet fragmented,limited in functionality and not yet cost-beneficial in many areas.The construction industry's application of these advancements varies widely and is not well understood.This paper proposes a data gathering process and summary metrics that can be used ...

Keywords: automation; integration; metrics; construction technologies

A study on contractual information sharing system

Yie-ting Chen, Ming-Teh Wang, Shang-Hsien Hsieh
Pages 217-222

Traditionally the contractually required data are delivered with paper format,which could cause many problems such as waste of papers,difficulties in managing documents,error-prone in data processing etc.If the owner and contractors in a construction project do not share the information specified in their contract efficiently and consistently,their communication cannot be effective ...

Keywords: Document management, contractual information system; CITIS; Information Model; construction CALS

Space truss handling experiment on ETS-VII

Kohtaro Matsumoto, Sachiko Wakabayashi, Masahiro Noumi, Tetsuji Yoshida, Hiroshi Ueno, Yutaro Fukase
Pages 225-230

Keywords: No keywords

Truss deployment by ETS-VII robot arm using force control

Masahiro Nohml, Kohtaro Matsumoto, Hiroshi Ueno, Tetsuji Yoshida
Pages 231-236

Experiment for teleoperation of a truss structure on engineering test satellite no 7 (ETS-VII) is performed as a part of space robotics missions.Truss is effective for a space structure because of its lightness and compactness.Recently a space robot operated from the ground is expected to construct space structure.This paper ...

Keywords: Space robot; Truss Structure; time delay; force accommodation control

A humanoid-robotics method for predicting construction work performance

Jonathan O'Brien
Pages 237-242

A major obstacle to the refinement of modem construction engineering practice is the inability of the industry to exactly predict (in some theoretical rigorous manner) the before- the-event performance of construction workers in the execution of particular tasks or to account for the actual method or systems of work employed ...

Keywords: Robotics; construction; simulation; virtual reality; digital people; ergonomics

Wearable exo-skeleton robot: skil mate

Yoji Umetani, Yoji Yamada, Tetsuya Morizono, Tetsuji Yoshida, Shigeru Aoki
Pages 243-248

Keywords: No keywords

Dynamic optimisation in the gait analysis in normal and pathological situations

V.Crupi, G.La Rosa, R.Sinatra
Pages 249-252

Keywords: No keywords

Automation systems in housing construction

Ing, Tokio Thomas Bock, Dipl-Ing Frank O. Prochiner
Pages 255-261

Keywords: No keywords

Development of hybrid drive parallel arm for heavy material handling

Tatsuo Arai, Kei Yuasal, Yasushi Mae,Kenji Inoue, Kunio Miyawaki, Noriho Koyachi, Isamu Ishii, Hirokazu Abe, Kazuya Kigawada
Pages 263-268

This paper presents a hybrid cylinder/wire drive parallel arm.Its workspace is analyzed for the application of manipulating heavy materials in construction and ship building industries.The conventional Stewart platform and a multiple wire drive mechanism are compared and hybrid drive mechanisms are considered in analysis and designing.The total number of cylinder ...

Keywords: heavy material handling; manipulation; parallel mechanism; kinematics; statics

Cable suspended manipulation robots

Stefan Havlik
Pages 269-274

This paper deals with the design study of cable suspended robotic manipulation systems for manipulation with heavy weight objects in relatively large operation workspace. A concept based on three cable winch systems working in mutual coordination is presented. Principal mathematical relations for kinematic and force analysis are shows as well ...

Keywords: Robotic manipulator; Cable crane - robot; Kinematics; Control

Improved tools for robotic interior painting

B. Kahane, Y. Rosenfeld
Pages 275-280

This paper presents new ideas for executing interior painting tasks by a robot.A unique end-effector was developed utilizing the advantages of the robotic system by an appropriate work-method.An analysis of the painting task,accompanied by full-scale experiments,was conducted in order to examine the integration between humans and the robot in their ...

Keywords: No keywords

Robots and construction automation

Guillermo Morales, Zohar Herbzman, Fazil T. Najafi
Pages 283-288

The United States lacks in the research and development of robots and construction automation.In comparision,construction companies in Japan take more aggressive stand in the research and development of this technology.This paper studies both Japan and US basic construction activities,research and development,social implications,automation technology and construction robots economic feasibility.Construction robot productivity ...

Keywords: No keywords

Architecture for discrete construction component tracking

Karen M. Furlani; William C.Stone
Pages 289-294

Accurate and timely identification and tracking of construction components are critical to operating a well-managed and cost efficient construction project.,Establishing standards to support identification and tracking technologies has the potential to enable the construction industry to seamlessly integrate work processes at the jobsite.This paper discusses on-going research at NIST ...

Keywords: Component tracking; global positioning system; metrology sensors; real-time tracking; RFID communications standards; wireless data transfer

Fully automated masonry plant

Christian Hanser
Pages 295-300

During the last years much effort was invested to develop an automated plant for prefabricating masonry elements. Partly automated systems were improved, but up to now none of them can be compared to the automation standards known from concrete precasting plants. In 1996 the first fully automated and highly flexible ...

Keywords: No keywords

Control of heavy load manipulators in varying environments

Artur Komainda; Manfred Hiller
Pages 301-306

The aim of this paper is to present concepts for the motion control of redundant manipulators in a changing environment. In order to be able to avoid collisions with unexpected and moving obstacles,an intelligent control concept is required which combines the off-line planned paths with on-line sensor information. ...

Keywords: Motion control, redundancy; large scale manipulators

Optimizing human-robot integration in block-laying task

B. Kahane; Y. Rosenfeld
Pages 309-314

This paper presents a comparison of various ways to use a robotic system for building a wall. This task is analyzed in order to introduce a few optional systems that differ from each other by their level of autonomy and the task allocation between humans and the robot. An economic ...

Keywords: No keywords

Initial steps to vibration control of a concrete pump

Dirk Nissing, Werner Bernzen, Torsten Wey
Pages 315-320

Concrete pump robots are used for very wide operating ranges, so elastic deformations of the links must be taken into account. Concrete pumps demand actuators with a high power density, able to produce large forces which can be achieved by the use of hydraulically driven actuators. Hydrostatic differential ...

Keywords: concrete pump; flexible links; vibration damping; hydraulic actuators; nonlinear control

Robotized cell of prefabricated panels

J. Penades, F. Moliner, J. Florez
Pages 321-326

A robotized manufacturing cell of pre-fabricated GRC (Glass Reinforced Cement) panels for construction industry has been developed by construction company Dragados, S.A. The main contribution of the developed system is the automatic programming and control of the whole plant. As input serves the architect's 3D-drawing of the building facade done ...

Keywords: Robots; path planning; prefabrication; automatic control

Computer-aided design and construction of glued laminated timber structure

Luca Cancparo
Pages 327-332

The paper presents the computer-aided design and construction of a large glued laminated timber structure in Aosta, Italy. The structure was completely computer modeled with in-house developed software, which considers both torsion and curvature constraints of timber. Further proprietary software was used to develop, on a plane, the shape of ...

Keywords: computer-aided construction; glued laminated timber structure; computer numeric control cut

Automation analysis of energy performance in building facades

M. Casals, M. Etxeberrla, P. Alavedra, P. Antentas
Pages 333-337

At the initial stages of the construction projects, the objectives are to be clearly explanated. The later phase always depends of the first stages. Into these initial studies, one of the most important preoccupations is to improve the energy response of the buildings. This paper introduces a program developed in ...

Keywords: Building design automation; designer productivity; facades energy performance; energy passive design

Automated cleaning of windows on standard facades

R. D. Schraft, U. Braeuning, T. Orlowski, M. Hornemann,
Pages 341-346

The aim is a cleaning robot which automatically cleans the outside of windows on a facade with vertical jambs and horizontal bars. The facade has to possess certain constructive properties. This "interface" enables the cleaning robot - which is detachable from the building and portable - to operate on any ...

Keywords: automatically cleaning facades; modular standard facade; cleaning robot

Path planning strategy of autonomous climbing robot for inspection applications in construction

C. Balaguer, V.M. Padron, A. Gimenez, J.M. Pastor, M. Abderrahim
Pages 347-352

The construction sector has a large number of highly dangerous manual operations related to inspection, assembly and maintenance. A significant part of these operations takes place in large scale environments formed by metallic structures. Specially developed self-supported robots have been introduced for this purpose during the last years. This paper ...

Keywords: Robots; autonomous systems; robot path planning; optimum planning

SURFY: a low weight surfaces climbing robot (design, control, assembly and preliminary tests)

Guido La Rosa, Michele Messina, Giovanni Muscato
Pages 353-358

Climbing and Walking Robots can be used to resolve some problems of maintenance, inspection and safety ill industry. The first prototypes already developed have proved able to perform tasks in hostile environments and serve as a work platform for manipulators in inaccessible areas. The inspection of storage tanks is a ...

Keywords: Climbing Robot; NDT Controls; Fuzzy Logic; Pneumatic systems; Industrial Inspections

Parallel climbing robots for construction, inspection and maintenance

R. Saltaren, R. Aracil, O. Reinoso, J. M. Sabater, M. Almonacid
Pages 359-364

In this paper we propose the use of parallel platforms as climbing robots considering the big load capacity that this structures have and their ability to progress on the workspace. In the first part we suggest .a theoretical framework where dynamics and kinematics relationships that characterize these 'robotics structures are ...

Keywords: Robotics: climbing robots; construction robots; parallel robots; field robotics

Swing load stabilization for mining and construction applications

Peter I. Corke, Jonathan M. Roberts, Graeme J. Winstanley
Pages 367-372

This paper discusses the issue of sensing and control for stabilizing a swinging load. Our work has focused in particular on the dragline as used for overburden stripping in open-pit coal mining, but many of the principles would also be applicable to construction cranes. Results obtained from experimental work on ...

Keywords: dragline; crane; control; load stabilization; mining; construction

Electromagnetic measurement system for underground tunneling robot identification

Takeshi Tsujimura, Seiji Shirogane, Michito Matsumoto, And Tetsuya Manabe
Pages 373-378

This paper proposes a newly developed thin arrayed magnetic receiver system and describes an especially designed 1.3mm thick high sensitive magnetometer. The former enables remote position sensing of underground mobile robots using electromagnetism. It features a sensor sheet spread over the ground above the construction site. The robot position is ...

Keywords: Tunneling robot; Magnetometer; Electromagnetics; underground; remote sensing print circuit; estimation; ferromagnetic; magnetic flux density; band path filter

Kinematic fundamentals for the semi-utomated drilling of vertical blast holes in salt mines

Prof. Dr.-Ing. J. Hesselbach, Prof. Dr.-Ing. N. PlitealJ, Dr.-Ing. M. Walter, Dipl-Ing. C. Reekers
Pages 379-384

To increase the accuracy of drilling in salt diapir a software module with kinematic equations was integrated into the control of a drilling vehicle. Despite the complex hybrid serial-parallel structure the HD-notation is used for the kinematic equations. DKP and IKP (with the method of Paul) are calculated analytically. The ...

Keywords: Drilling vehicle; blast holes; salt mines; J-ID-notation; methods of Paul

Fully automated shotcrete robot

Dipl. Ing. ETH Stefan Moser, Prof. Dr.-Ing. G. Girrnschcid
Pages 385-390

The situation of the shotcrete application was unsatisfactory. With the development of the "Fully Auto mated Shotcrete Robot" the user will have a very effective manipulator at his disposal to spray concrete (fully automated) with the best combination of the important parameters with regard to rebound and time of spraying.Quality ...

Keywords: No keywords

Integrated monitoring system for madrid underground

Dipl. Ing. ETH Stefan Moser, Prof. Dr.-Ing. G. Girrnschcid
Pages 385-390

The situation of the shotcrete application was unsatisfactory. With the development of the "Fully Auto mated Shotcrete Robot" the user will have a very effective manipulator at his disposal to spray concrete (fully automated) with the best combination of the important parameters with regard to rebound and time of spraying.Quality ...

Keywords: No keywords

Integrated monitoring system for madrid underground

Manuel J. Melis, Prof. Pedro R. Sola Casado, Pedro J. Romo Alcafiiz
Pages 393-395

Keywords: No keywords

Issues in obstacle detection for autonomous mining and construction vehicles

Jonathan M. Roberts, Graeme J. Winstanley, Peter I. Corke
Pages 397-402

This paper discusses a Dumber of key issues for the development of robust, obstacle detection systems for autonomous mining and construction vehicles. A taxonomy of obstacle detection systems is described; An overview of the state-of- the-art in obstacle detection for outdoor autonomous vehicles is presented with their applicability to the ...

Keywords: obstacle detection; terrain mapping; mining; construction; fail-safe

Path planning algorithm of a lot of mobil autonomous objects in unknown constrained environment

N.I. Yussupova, L.E. Gonchar
Pages 403-407

A problem of path planning providing for mobile objects group (train), which consists or a large number of autonomous object, is considered. Trains of this type may be used to operate in construction plant, which often is uncertain environment with a number of obstacles. Possibility of iterative recursive algorithm application, ...

Keywords: path planning; mobile objects group; iterative recursive algorithm; unknown constrained environment

The identification of the dynamic model in the mining pressure regime in order to assure the stability of the underground mining constructions

Associate Prof. eng. Vietor Arad D.Se, Associate Prof. eng. 'Susana Arad D.Se, Assistant eng. Monica Rndulescu, Dana Cosma
Pages 409-413

The paper presents some theoretical considerations regarding the evaluation of the underground mining constructions' stability and practical aspects about identifying experimentally the dynamic regime of the pressure. The identification represents an experimental technique to determinate the dynamic models of the process, an important stage in designing and implementing an elastic ...

Keywords: identifying; Dynamic; mining pressure; stability; underground construction

Swing-free cranes via input shaping of operator commands

Kenneth N. Groom, Gordon G. Parker) Rush D. Robinett, Frank Leban
Pages 417-421

This paper presents an open-loop control method for suppressing payload oscillation or swing caused by operator commanded maneuvers in rotary boom cranes and the method is experimentally verified on a one-sixteenth scale model of a Hagglunds shipboard crane. The crane configuration consists of a payload mass that swings like a ...

Keywords: No keywords

Stability domains in the feedback gains space for an overhead crane with flexible cable

A. M. Fonnalsky
Pages 423-428

The problem of stabilization of desired crane position and load at the flexible cable tip is considered. The stabilizing control is linear feedback. This control law depends on the platform position, velocity and integral of this position. It contains also the information about the angle between the vertical and the ...

Keywords: overhead crane: flexible cable: desired equilibrium: linear feedback control: boundary value problem: asymptotic stability: eigenvalues

Kinematic analysis of cranes using neural networks

Sahin Yildirim Ibrahim Uzmay
Pages 429-432

Due to load uncertainties of cranes, it is necessary to find exact kinematic parameters of crane mechanisms.This research is concerned with application of neural network to the kinematic analysis of a crane mechanism. The type of network investigated is a Radial Basis Neural Network (RBNN). The crane mechanism is considered ...

Keywords: No keywords

Fast obstacle evaluation of the configuration space for a construction towercrane

B. Curto, V. Moreno, R. Theron, J. Blanco
Pages 433-438

In this paper it is shown a practical method which lets evaluate the full set of crane configurations that produce collisions between the construction environment and the crane and its load. The method is based on a sound mathematical formalism so the feasibility of the results is guaranteed. Moreover, a ...

Keywords: No keywords

Preliminary design study of a fuzzy tracking controller applied to a crane type manipulator

R, Ferreiro Garcia, X. Pardo Martinez, J. Vidal Paz
Pages 441-444

The main purpose of a control system is usually to force the output to follow a reference input with zero steady state error while satisfying certain transient requirements such the settling time for rapid following, overshoot and smoothness of the transient response. This paper is concerned with finding a fuzzy ...

Keywords: No keywords

Dynamic modelling and stimulation of a hydraulic stepper cylinder used in manipulators and robots

Ryszard Dindorf
Pages 445-450

The present paper describes dynamic modelling, results of simulation and experimental investigation of a hydraulic stepper cylinder, which find application in manipulators and robots. The method of bond graph is used for modelling of the dynamics of the considered cylinder design. First, an initial digital simulation is performed in order ...

Keywords: Hydraulic stepper cylinder: dynamic modelling: digital simulation: bond graph method.

End position control of long non-rigid arms

William J O'Connor, Be Phd Ceng Fiei
Pages 451-456

The position control of a load at the far end of a long, non-rigid arm by an actuator at the near end is considered. The actuator must integrate two tasks: position control of the load and active absorption of vibration to steady it in position. A control strategy based on ...

Keywords: Position control: active vibration absorption: mechanical waves: flexible robot arms

Implementing an automated road maintenance machine (ARMM): lessons from the field

Young-Suk Kim, Carl T. Haas, Ken Boehme, Yong-Kwon Cho
Pages 459-464

Crack sealing, a routine and necessary part of pavement maintenance, is a dangerous, costly, and labor-intensive operation. Within North America, about S200 million is spent annually on crack sealing, with the Texas Department of Transportation (TxDOT) spending about $7 million annually (labor alone accounts for over 50 percent of these ...

Keywords: No keywords

Sensor and locomotion concepts for sewage inspection and repair robots

H. Roth, K. Schilling
Pages 465-468

Sewerage is a very large and important infrastructure in water industry. Because around 20% of the municipal pipe network is estimated to be significantly damaged it is of high priority to inspect, maintain, and repair public sewers. During the last years mobile robots have been developed to inspect but also ...

Keywords: Robotics: Vision: Sensors: tele-operation

Global matching for air conditioning inspection robot

Yasunori Abe, Toshio Fukuda, Masaru Shikano, Fumihito Arai,Yoshio Tanaka, Shintaro Sakamoto
Pages 469-474

This paper proposes the navigation system of autonomous mobile robot. The conventional robot was moved in the navigation method based on the landmark recognition. But, the landmark was often lost sight of, as the result the robot's self-position was lost. The authors propose the method that the error that was ...

Keywords: Autonoous Mobile Robot: Navigation System: Error Recovery: Landmark Recognition: Vision Recognition

Mobile optoelectronic measurement of a contact net construction in railways

Rav. M. Galiuiin, Rish. M. Galiulin, J. M. Bakirov, V. V. Bydanov, D. R. Bogdanov, D. V. Naumov
Pages 475-479

The technical characteristics, advantages and applications of an automated optoelectronic measuring system designed in "Optel" company, Ufa State Aviation Technical University are presented in this paper. The mobile measuring system applied for inspection contact net constructions in electrified railways. It is a non-contact optoelectronic computer-aided system, allowing rapid measurements of ...

Keywords: optoelectronic: Measurement: railways: contact net: Construction: wire: wear height: zigzag: quality of slide surface: software

Force and position control for electrohydraulic systems of a robotic excavator

Q. P. Ha, Q. H. Nguyen, D. C. Rye, and H. F. Durrant-Whyte
Pages 483-490

In impedance control of hydraulic excavators the piston position and ram force of each hydraulic cylinder for the axis control of the boom, arm, and bucket can be determined. The problem 'is thus how to find the control voltage applied to the servovalves to track these commands to the hydraulic ...

Keywords: force and position control: electrohydraulic systems: discontinuous observer: robust sliding mode control: robotic excavator

Teleoperaded backhoe excavator with haptic control

A. Barrientos, O. Lucngo, A. Mora
Pages 491-496

Teleoperation has demonstrated its utility to work in hazardous and non­ structured environments. Nuclear and spatial applications have used telerobotics for remote manipulation in assembly or inspection tasks. In the near future, new tasks related with soil movements and other construction and civil engineering activities will be necessary in nuclear ...

Keywords: Teleoperation: Bilateral control: Haptic devices

Scaling teleoperation robust to valuable time-delays

Platon A. Prokopiou; Spyros G. Tzafestas
Pages 497-502

This paper presents a general technique for variable time delay compensation in teleoperation, which is based on the prediction of the human arm position and force, i.e. effectively the master state. The method is illustrated within an architecture previously proposed by Yokokohji and Yoshikawa. Scaling of master variables is also ...

Keywords: teleoperation: rime-delays: scaling: human arm: master state prediction: passivity
Fulltext not available

Some experimental force analysis for automation of excavation by a backhoe

Ahmad Hemami, Derek W.Seward, Stephen Quayle
Pages 503-508

Automating the excavation function of an excavator is a complex control, problem, because of the nature of the interaction between the cutting tool and the medium and the many parameters that are involved in the process. A fundamental question that is not yet resolved is the choice of parameters to ...

Keywords: Automation: excavation: force measurement:, kinematics: backhoe

Control of a single bucket excavator working processes using the operator's computer aided system

Stanislaw Konopka, Franciszek Kuczmarski, Jozef Wrona
Pages 509-514

The functional structure of operator's computer aided system in control of single bucket excavator's work is presented. There is described two control algorithms making possible the realization of earth moving process and copying of working motions by computer aided system that were showed earlier by operator. The exemplary results of ...

Keywords: No keywords

Analysis of resistive forces acting on the bucket of LHD in the scooping task

Hiroshi Takahashi, Yoshiaki Tsukamoto And Eiji Nakano
Pages 517-522

In order to automate the scooping task, it is desirable that the resistive force acting on the bucket be obtained before the scooping is performed. The objective of this study is to derive theoretically the resistive forces acting on the bucket during scooping of piled rock fragments. First, the changes ...

Keywords: No keywords

Improved model of soil for environment-robot excavator interaction

Fiorenzo Malaguti
Pages 523-527

Planning of automated digging processes meets difficulties, because is difficult to describe operating environment (soil) - digging robot interaction, here a double-wedge model is proposed as improvement of traditional wedge model generally used. The double-wedge model doesn't introduce sham variables, preserves real geometric dimensions, puts in evidence the inf1uence of ...

Keywords: environment-robot interaction: soil model: trajectory planning

Sensitivity of the optimum bucket trajectory in controlled excavation

Eugeniusz Budny, Miros Chosta, Witold Gutkowski
Pages 529-533

Keywords: No keywords

Trajectory control performance analysis of excavator-based sheet-piler-system

Erno Keskinen and Sirpa Launis, Michel Cotsaftis, Yrjo Raunisto
Pages 535-540

Sheet-piling process poses the problem of prescribing the pile a fixed trajectory in order to drive it correctly into the ground. When representing the complete system of the supporting boom with hydraulic actuators, the gripper and the vibratory unit, the large number of system variables implies the use of assisted ...

Keywords: sheet piling: trajectory performance control: electro-hydraulic servo control

A path planning algorithm for automated construction equipment

By Seungho Lee; Teresa M. Adams
Pages 543-548

This paper presents a new sensor-based path planning algorithm, the ACE algorithm, in unknown environment with multiple moving obstacles. The ACE algorithm is designed for an automated construction equipment (ACE). The algorithm is based on the practical assumptions that tit to the construction environment. It is assumed that the robot ...

Keywords: ACE algorithm: multiple moving obstacles: Composite obstacle

Construction robot systems using mobile manipulators-piling up blocks with real systems and positioning accuracy

Masatoshi Hatano, Mamoru Minami, Toshiyuki Asakura, Tsuyoshi Ohsumi
Pages 549-554

This research is concerned with a construction robot system that uses a mobile manipulator in order to make a large fence made up of concrete blocks. One of problems in making such a fence by a mobile manipulator is the existence of stacking errors caused by traveling errors under nonholonomic ...

Keywords: Mobile Manipulator: Construction Robot System: Block: Hand-eye Camera: Positioning Accuracy: Landmark

Path planning of construction manipulators using genetic algorithms

PL. Sivakumar, Koshy Varghese, N. Ramesh Babu
Pages 555-560

This paper presents the work done to investigate the potential of applying Generic Algorithms for path planning of construction manipulators. Construction manipulators can rake the shape of specialized equipment such as the pipe manipulator or common equipment such as cranes. The need for automating the path of construction has been ...

Keywords: No keywords

Fuzzy control based on a reflex avoidance for a mobile robot

K. Belmekki
Pages 561-564

In this work, a robot A is moving in a dynamically changing space W, with imprevisible static obstacles and moving objects. We propose for that and in order to control the robot's movement, a reflecting loop based on an analysis of the robot's space. This technique leads to a better ...

Keywords: No keywords

Guidance method for mobile manipulators preventing carrying objects from slipping

Masatoshi Hatano, Mamoru Minami, Toshiyuki Asakura and Tsuyoshi Ohsurni
Pages 565-570

This research is concerned with a guidance method for mobile manipulators preventing carrying objects from slipping on a mobile manipulator while traveling, In this report, a new guidance method, III which translational and rotational accelerations for preventing slip are determined by considering analytically a mass and a position of a ...

Keywords: Mobile Manipulator: Construction Robot System: Nonholonomic: Guidance Control: Slip

Futurehome - manufactured housing for Europe

Professor Brian Atkin
Pages 573-578

The provision of housing in Western Europe is characterised by stark contrasts. On the one hand, Sweden considers its housing needs in terms of requiring in the region of 30,000 dwellings per year. Compare this with the UK, where more than two million homes are presently regarded as unfit. Elsewhere, ...

Keywords: No keywords

The BRITE-EURAM III "remote robotic NDT" research project

Simone Reto, Giuseppe Casalino, Brian Bridge
Pages 579-584

The goal of this Brite-EURAM EC research project is to fulfill a need throughout industry for automated robotic systems that perform remote operations on large and complex vertical surfaces and ceilings with far more versatility and task repeatability than has been achieved hitherto. The final system will comprise of a ...

Keywords: Robotics: Non-destructive inspection techniques: intelligent control

HEROIC: a concept robotics system for hydro-erosion in concrete reapir preperation

Denis A. Chamberlain, Erensto Gambao, Strephen
Pages 585-590

The definition of the excavation geometry in concrete removal has a considerable effect on the longevity of the subsequent replacement repair material. Also, when removing defective material, it is important to use methods that do not cause micro-cracking and other structural damage. The hydro-erosion concept, a controlled version of hydro-demolition, ...

Keywords: HEROIC: concrete: repair: hydro erosion: robot: sensing: control

The computer integrated road construction project

Francois Peyret
Pages 593-598

This paper is about the “Computer Integrated Road construction” project, which is a Brite-EuRam III funded project, lasting 1997-1999, aiming at introducing a new generation of control and monitoring tools for road pavements construction. These new tools will bring significant improvements in terms of management of the work and control ...

Keywords: No keywords

A robotic system for automated masonry

E. Gambao, C. Balaguer, F. Gebhart
Pages 599-602

The traditional methods for masonry have reached their system limits and cannot contribute to further effectiveness. Further rationalisation can only be achieved by the reduction of labour and construction times. Therefore a certain innovative leap is required by a system approach that combines the already existing construction technologies with new ...

Keywords: Computer Integrated Construction:Robotized masonry:Large Range Robots:Adaptive control

Robotic welding of tubular nodes

Ms S.Rivas, Dr A.Greig, Mr S.Blackman, Dr W.Tazani
Pages 603-607

Tubular space frames (frameworks with members orientated in 3D) are highly efficient systems from the structural point of view. Designs using such structures are being developed for major bridges. They can provide overall cost-effective solutions, as this form can achieve a much lower weight than that of an alternative conventional ...

Keywords: Automated welding:space frame:complex node:laser seam tracking:FCAW

Design for reliability of the construction robots using genetic algorithm

A. M. McCrea, G. J. Bleaklry
Pages 611-616

Construction robot design for reliability is of particular importance due to the robots interaction with the environment and high level of human involvement, which impose additional safety hazards. Many methods tools and approaches exist, however none offers full and exhaustive reliability analysis or the given system. Research presented in this ...

Keywords: Design for Reliability:Dynamic Modelling:Genetic Algorithms. Construction Robot

Elements of built-in diagnostics for resonance drive with adaptive control system

Akinfiev T, Armada M
Pages 617-621

Resonance drives are considered with adaptive control for robotics. The use of these drives allows increasing machine's quickness several times and decreasing energy expenses simultaneously 10-50 times, Elements of artificial intellect are introduced into the drives. It has been shown that micro-controller used for adaptive control, can be also ...

Keywords: Start-stop movement:resonance drive:adaptive control:built-in diagnostic:robotics

Adaptive predictive control in intelligent buildings

J. Martin Marcos, J. L. Lorenzo, J. M. Martin Sanchez
Pages 623-630

This paper discusses the various problems which an integrated facilities management system in an intelligent building must deal with in order to optimize the various building services as well as the consumption of energy. Air conditioning control and energy management are covered as fundamental aspects. The PID traditional control system ...

Keywords: No keywords

Active structural control for frame seismic vibrations

Dejan Lj. Milutinovic, Slobodan B. Furundzic
Pages 631-636

A theory of frame beam displacement control by active tendons is presented in this paper. A dynamic loading is horizontal displacement of supports, such as one occurring during an earthquake. The frame is approximated by a single-degree-of-freedom system. The state equation is obtained from the system equation of motion. The ...

Keywords: active structural control:structural dynamics:concrete frame vibrations

Two-arm coordination control by learning on a b-spline model

Jianwei Zhang, Markus Ferch, Alois Knoll
Pages 637-642

To enable a two-arm manipulator system to perform complex cooperating tasks such as carrying a rigid object, establishing a contact to a surface, grinding, etc.. a non- linear multiple input system should be solved. We apply an approach to on-line automatic learning of a B-spline fuzzy controller: This controller model ...

Keywords: No keywords

Non-interactive scanning technology for construction assessment

Gerldine S. Cheok, William C. Stone
Pages 645-650

Work at the National Institute of Standards and Technology on laser radar imaging of a construction site is described. The objective of the research is to make measurements required in a construction project quicker and cheaper than current practice and to do so without impacting existing operations. This can be ...

Keywords: 3D Models:construction automation:cut-and-fill calculation:laser radar:terrain modeling

A new optical technique for machines guidance

Prof. Barry Gorham
Pages 651-656

After briefly reviewing earlier developments by IMRU of automatic theodolites that were based on the projection of shaped laser beams, the paper describes a novel design of automatic electronic theodolite that operates entirely as an optical receiver. The theoretical basis for the measurement process is introduced in terms of instrument ...

Keywords: optical instruments: theodolite: surveying:machine guidance

Installation and analysis of sensors used in the full scale test track of the road studies centre (CEDEX)

Bernardo Mingo Villalobos, Javier Perez Ayuso, JavierAleixandre Campos, Jose Bueno Perze, Jaime Tamarit Rodriguez
Pages 657-663

One internationally accepted definition of pavements test tacks defines them as "those facilities devoted to the study of problems related to the structural dimensioning of roads pavements". That the pavements arc tested at real scale, that they are tested in accelerated way and with controlled loads has to be added ...

Keywords: Roads:Instrumentation:Sensors:Computer-aided analysis:Experimental Data Base

Sensors driven mapping of reinforcement bars

Igal M. Shohet, Chen Wang, Abraham Warszawski
Pages 665-671

Non destructive mapping of reinforcement may be needed in concrete elements of old buildings where changes or an extensive maintenance is required. It is needed if reliable design drawings are not available.The mapping will indicate the location of reinforcement bars, their size and depth of cover. The objectives of the ...

Keywords: Reinforcement bars:Mapping:Sensors:Automation:Construction

On-line measurement of quality parameters of bentonite based drilling muds

J.L. Gareia, J.L. Fuentes-Cantillana
Pages 673-677

Different measurement systems have been developed for the automatic, on-line monitoring of the parameters that define the quality of the bentonite muds used in drilling and excavation works: Plastic viscosity, yield value, filter capacity, sand content, and ion content. These systems enable a continuous control of the mud characteristics, so ...

Keywords: Bentonite:drilling mud:rheology:plastic viscosity:yield value:filter capacity:ion content

Automated data acquisition for on-site control

Ronie Navon, Eitan Goldschmidt
Pages 681-686

The purpose of this paper is to highlight the need for automated real-time project control, as well as to present a model for such control, based on Automated Data Acquisition (ADA). The idea behind the present development is to determine if measuring the location of workers, or other mobile agents ...

Keywords: No keywords

Data acquisition real time system for the fast testing track facility of the center of roads studies of CEDEX

Jaime Tamarit Rodriguez, Jose Bueno Perze, Javier Aleixandre Campos, Bernardo Mingo Villalobos, Javier Perez Ayuso
Pages 687-692

This paper describes the real-time data acquisition system specially developed for this test facility. This system is able to address up to 256 sensors and synchronise the measuring with the test car position. The layout of the system allows an optimal signal to noise ratio.This communication is complemented with a ...

Keywords: Instrumentation:Data Acquisition Systems:Real time:Microprocessors

Automated quality assessment of constructed surfaces through intelligent image processing

Yassir AbdelRazig, Luh-Maan, Miroslaw Skibniewski
Pages 693-699

Computerized intelligent systems can simulate human expertise, as well as analyze and process vast amounts of data instantly. This paper presents a hybrid intelligent computerized model for constructed surfaces quality assessment. The assessment of steel bridge coating is used to exemplify the model. The model will automate the assessment process ...

Keywords: Quality assessment:image processing:pattern recognition:neural networks

Sensorial interference avoidance by multi mobile robot sensor coordination

B. L. Boada, L. Moreno, M. A. Salichs, J. M. Armingol
Pages 701-706

One way to automate dangerous work at construction sites could be to use mobile robots able to move around the framework of a building or a road. This paper presents an algorithm, which permits synchronization of active sensors, such as ultrasonic sensors, IR, laser, etc., firing and reception of signals ...

Keywords: Mobile Robots:Sensor Coordination:Sensor Interference

Position Estimation of a car-like mobile robot using a gyroscope and disturbance conditions

Min Chul Kim, Wan Kyum Chung, Youngil Youm, SangRok Oh
Pages 709-714

In this paper, we propose an improved dead-reckoning method for estimating current position and orientation of the mobile robot using wheel-rotation sensors and a gyroscope. Up to now, pre-identified model is usually used to get more accurate posture from the gyroscope. However, this model can lose its accuracy during the ...

Keywords: Posture estimation: Odornetry:Uncertain parameters of a gyroscope:Disturbance Condition:Real-time identification

A cost effictive approach to real time video-surveillance of outdoor scenes

Inaki Goirizelaia, Juan Jose Igarza, Federico Perez, Koldo Espinosa, Pedro Iriondo
Pages 715-718

Real time interpretation of outdoor scenes for video-surveillance applications is a complex task. These kind of systems are supposed to work day and night, 365 days per year, under changing environmental conditions, variable weather and lighting conditions, with a minimum ratio of false alarms. Video-surveillance systems should be able to ...

Keywords: video motion detection:image processing:video-surveillance

Design and implementation of an intelligent remote centre compliance (IRCC) as a means of intelligent position feedback for a construction robot

Glen Bright, Craig Duebler
Pages 719-723

An intelligent Remote Centre Compliance (IRCC) system integrates manipulator position sensors into the robots control routine. The feedback provided gives the robot the ability to react to its environment. With the improvement in the robot's ability to interact with its surroundings, the manipulator becomes self-aware making it more efficient by ...

Keywords: No keywords

A low cost passive acoustic resonator for insect-like microrobotic systems

Pitikhate Sooraksa, Satoshi Miyamoto, Hisayuki Aoyama
Pages 725-729

This paper presents a novel implementation of a low-cost passive acoustic resonator for observing and amplifying inaudible sound produced by a microfork of an insect-like microrobot. The implementation demonstrates all alternative way of finding a simple yet practical, low cost, and effective solution for amplifying sound by fundamental of physics, ...

Keywords: microrobot:microrobotic system:passive resonator:insect-like robot:acoustic resonator:low-cost resonator:sound amplifier

Integral system for remote control of buildings & services (SITES)

Carlos de Castro Lozano, Jose Antinio Ramos Fernandez, Abdul Ghafoor Chaudhry, Cristobal romero Morales
Pages 731-736

SITES provides a system to maintain, administer and control industrial plants. Keeping in mind the nstallation's maintenance cost. To obtain a system with optimum and versatile control, several Master modules that control a series of Slave modules are provided; the Slaves acquire data at the field level. In each installation ...

Keywords: industrial:installation:control:administration:maintenance:Master:Slave:Personal Computer:RS-232:RS-485