2004 Proceedings of the 21st ISARC, Jeju, South Korea

Sensors and Sensor Networks

Carl Haas

Recently, sensing technology has been experiencing quantum leaps in price reduction and in performance. This has occurred because of simultaneous advances in new materials, cheap computing power, micro to nano-level integrated fabrication, wireless networking, and sophisticated information technology. At the same time, the pace of business and the pace of change have been ...

Keywords: No keywords

3D Vision Techniques and Applications to Photorealistic Scene Reconstruction

Jun-Sik Kim, Ho-Won Kim, In-So Kweon

We present some novel concepts for the scene geometry recovery by a multi-camera system. A new global appearance measure is introduced for a novel generalized scene recovery methodology, called “the appearance-cloning.” For the efficient calibration of the multi-camera system, we investigate the projective properties of the concentric circle pattern. Specifically, two algebraic constraints from ...

Keywords: photorealistic 3D reconstruction, volume based approach, camera calibration

Future Innovative Construction Technologies: Directions and Strategies to Innovate Construction Industry

Yusuke Yamazaki

The paper aims to discuss future direction of management of innovative technologies toward construction innovation. Our focus here is technology and knowledge fusions. At first technology and knowledge fusions in building construction are described. Secondary processes of technology and knowledge fusions are analyzed focusing on automation technology and information technology. Thirdly, a strategy ...

Keywords: innovation construction fusion technology knowledge automation information management strategy

Event-Based Distributed Planning & Control Systems for Project Delivery

Hyun Jeong (James) Choo, Todd Zabelle

As modern projects become increasingly complex, dynamic, and pressed for time, delivering them on time and on budget using traditional means is becoming more and more challenging. Strategic Project Solutions, Inc. (SPS) has successfully extended Lean Manufacturing techniques to complex production-based project environments, namely large construction and industrial projects. To support large and complex ...

Keywords: Production Control, Project Management, Distributed Planning and Control, Remote and Real-Time Collaboration

Evaluation of Physical Modeling and 3-D Simulation for Planning Accropode Placement

Vivek Verma, Koshy Varghese, A.L. Sekar

Accropodes are non- reinforced artificial concrete blocks used for the protection of the breakwaters and other coastal structures. There are numerous conditions that should be satisfied for the successful placement of the Accropode. In the study done two tools are developed for the understanding of the various placement conditions of Accropode. Experiments are ...

Keywords: 3D Simulation, Construction Planning, Breakwater Construction

AMT Co., Ltd - Presentation

Jeoung Tae Kim

AMT Co., Ltd., which was founded in November 5th 1998, possessesoutstanding skills in designing, manufacturing and operating computer-based motion systems. In particular, the company is recognized as promising in business areas such as hydraulic system, robot using the servomotor system, automated construction machine and animatronics. In the company, the R&D ...

Keywords: No keywords

Multi-Disciplinary Socio-Technical Management: Integrating Robot Technology and Management Issues

Kristian Wasén

Optimal integrated design is potentially the most significant consequence of recent advances in service robotic technologies, enabling novel organizational forms to evolve. This paper provides a broad vision of the advent of a novel multi-disciplinary organizational function in the manufacturing and service sectors. Socio-technical management means an appreciation of the ...

Keywords: robotics, technological management, industrial engineering, automation and socio-economic issues, work and organizational design, organizational effectiveness

Proposal for Applying Telematics Concept and Analyzing Economical Model in Site

Tai Sik Lee, Dong Wook Lee, Ja Kyung Koo

Nowadays, the dependence of productivity on construction equipment is getting bigger and the mass of equipment cost is increase, those are indirect evidence of important of equipment. But construction field has the characteristic that is the various activities and wide work area. These make many problems in the operating of equipments. These problems ...

Keywords: Construction equipment, Telematics, Site characteristic, Economical analysis model

Nowadays Trends in Robotics and Automation in Construction Industry: Transition from Hard to Soft Robotics

C. Balaguer

The actual research trends in robotics and automation in construction industry (RAC) are much different in comparison with the last decade. While during the 90s the R&D activities were focused in the development of new robotic systems (most of them teleoperated) and in existing machinery automation, the actual efforts are concentrated more in ...

Keywords: Automation, hard and soft robotics, civil infrastructures, house building, research trends

Comparative Study on Supervision System in South Korea and Japan

Yoshimasa Yoshida, Shuzo Furusaka, Takashi Kaneta, Yue Li, Junseok Lee, Takashi Saito, Hyeong Geun Park

Recently, the construction industry is increasingly internationalized. Especially in the Northeast Asian region, there are opportunities in which companies from various countries collaborate in projects more and more. And a lot of problems are caused by the differences between Western project management and local project management. The aim of this study is, as ...

Keywords: supervision, supervisor, construction law, Korea, Japan

Quality Management Through Construction Process in China

Yue Li, Shuzo Furusaka, Takashi Kaneta, Takashi Saito, Yoshimasa Yoshida, Hyeong Geun Park

This paper introduces the result of a survey aimed at identifying the factors that affect the quality management system of construction process in China. This research was carried out to analyze the factors and to rank them according to their degree of importance. Two phases (design phase and construction phase) of ...

Keywords: Quality management, Construction process, Factors, China

3-D Real-Time Accuracy Control of Automated Road Construction Machines

Rauno Heikkilä, Mika Jaakkola

This research studied the possibilities for utilizing different a priori types of measuring algorithms in order to improve accuracy and reliability of automated machine control in road construction. Generally in measurement science different a priori types of algorithms have widely been used to estimate beforehand the propagation of randomly appearing errors. While the ...

Keywords: automation in construction, accuracy control, stochastic models, intelligence in automation

Towards Model Based Automation - Different Types of 3-D Machine Control Models for the Automatic Control of Road Construction Machinery

Mika Jaakkola, Rauno Heikkilä

In this paper the type of CAD model-based automation is studied for the domain of infra construction tasks. The needs for machine control models vary from machine to machine. This paper describes as examples the machine control models needed for road graders, asphalt pavers, excavators, milling machines and steamrollers – the most typical ...

Keywords: automation in road construction, 3-D CAD, machine control models

Application of 3D-MC for Road Construction Machine

Mitsuo Fukukawa, Tatsuya Yamaguchi

Rapid development of computer or communication technology brought the IT, Information Technology, to the road construction field also. IT may include possibility for rationalization of job site work. Among them, new technology 3D-MC, 3 Dimensional Machine Control system, can unify following data, field design, survey, and machine control. Therefore 3D-MC is able to ...

Keywords: Information Technology, 3 Dimensional-Machine Control system, Auto tracking, Total Station, System flow, High Accuracy

New Tunneling Information System and its Application to Road Tunnel Construction Sites in Korea

C. Y. Kim, K. Y. Kim, S. W. Hong, G. J. Bae

Ground and rock mass considered in tunnelling have characteristics such as uncertainty, heterogeneity and structural complexity because they have been formed undergoing various geological events for a long period. So, it is difficult for engineers to predict behaviors of rock mass in tunneling. In the paper the authors describe the ...

Keywords: tunnel, database, GIS, real time, artificial neural network, virtual reality

Fuzzy Logic Approach for the Design of Reinforcement in Tunnel Excavation

C. Y. Kim, S. W. Hong, G. J. Bae, K. Y. Kim

Specification of reinforcement method was suggested according to the ground condition and tunnelling environment such as adjacent building and surface settlement. Tunnel database consists of 8 different groups of data according to the tunnel construction situations and major problems of ground. A tunnel countermeasure expert system based on client/server system ...

Keywords: tunnel failure, countermeasure, fuzzy quantification II theory, tunnel reinforcement design

Modeling Measurements and Measuring Models – Problems and Solutions of 3-D Geometrical Control in Concrete Bridge Engineering

Rauno Heikkilä, Mika Jaakkola, Pekka Pulkkinen

The paper introduces a model and procedure of 3-D geometric process for concrete bridge engineering. New 3-D CAD design tools and 3-D measurement methods were developed and tested in the several real bridge construction projects in Finland during 2001-2004. The paper describes these observations and suggests the first conclusions for future developments as ...

Keywords: concrete bridge design, 3-D CAD, 3-D measurements

Modeling Information Flows for Automated Road Rehabilitation Process

Rauno Heikkilä, Mika Jaakkola, Timo Saarenketo, Fiorenzo Malaguti

This paper introduces information flow models for the total process of automated road rehabilitation. Only superstructure layers of roads are considered in this examination. The practical processes and tools used in the common construction processes in Finland and Italy are examined. The purpose is to demonstrate the comprehensive development of automation into rehabilitation ...

Keywords: Automation, old road structures, rehabilitation

Analysis and Utilization of Quality Cost in Construction Projects

Sang-Hoon Song, Hyun-Soo Lee

In the customer-focused paradigm, high quality products or services can strengthen competitiveness, raise market-share, and provide a basis for long-term relationship with owners. But in most cases, the lack of quantitative data makes it difficult for managers to judge the current status of quality appropriately during a construction phase. Although quality is one ...

Keywords: Quality, Quality Control, Quality Cost, Multi-Dimensional Analysis

Application of Engineering Management Information on Construction Disputes and Claims

Min-Yuan Cheng, Chi-En Chang

The high risk, uncertainty and complicated interface for division of work in the construction industry have resulted in endless engineering dispute issues. Submitting claims during the performance of construction contracts can be money wasting and time-consuming process. This paper summarizes dispute issues occur often on construction site, clarifies what responsibility each party should ...

Keywords: Construction Disputes and Claims, Daily Records, Construction Claim Decision Making System (CCDMS)

Valuation and Computing Algorithm for Bot Associated Business

S. Ping Ho, Li-yu Tang

It is not unusual that BOT firms are granted to develop or operate certain business/project beyond the main scope of a BOT project, such as the surrounding land development. By granting these BOT project associated business, government can improve the project expected return and financial viability, and encourage potential developers to participate in ...

Keywords: BOT,Mechanism Design,Real Option Theory

Building a Web-Enabled Data Warehouse for Decision Support in Construction Equipment Management

Hongqin Fan, Hyoungkwan Kim

Construction equipment management and performance data are valuable assets for large contractors that need such historical data for decision making about resource allocation and equipment replacement; however, with large amounts of accumulated data, traditional data analysis based on a transactional system becomes increasingly inefficient. This paper summarizes a web-enabled data ...

Keywords: data warehouse, equipment management, decision support system, web application

Mining of Conceptual Cost Estimation Knowledge with a Neuro Fuzzy System

Wen-der Yu, Yu-ru Lee

Conceptual cost estimation during the early stage of a construction project plays important role for feasibility analysis and project planning. Traditional approaches rely heavily on experienced engineers, and may cause loss of conceptual estimation knowledge of the firm. This paper proposes a method integrates a previous developed conceptual cost estimation method (PIREM) with the ...

Keywords: Conceptual cost estimation; Neuro-fuzzy; Data mining, KDD; China

The Application of Knowledge Map in Construction Knowledge Management

Meng-Hsueh Lee, Yu-Cheng Lin, H. Ping Tserng

Knowledge map is one of the most important and useful tools in the knowledge management field. Knowledge map can be used to effectively plan the implementation of a knowledge management strategy for a term, department, and enterprise. With the assistance of knowledge map, users cannot only easily understand and identify where the knowledge ...

Keywords: Knowledge Management; Knowledge Map; Construction Industry; Construction Project

Cost-Effective Robots for Façade Cleaning

E. Gambao, M. Hernando, F. Hernández, E. Pinilla

In the last years, several robots for building façade cleaning have been designed and some prototypes have been developed. However, most of these robotics systems are too expensive to be introduced in the market or are only able to cope with very simple completely flat glass façades. Funded by the European Commission, ...

Keywords: Automatic Façade Cleaning, Climbing Robots, Cleaning Robots

An Inspection System for Detection of Cracks on the Concrete Structures Using a Mobile Robot

Sung-yul An, Jae-ho Jang, Chang-soo Han, Pyung-hwa Kim

To assess safety, cracks in concrete structure are measured by inspectors, who observe cracks with their naked eyes and record them. But manual inspection is slow, and measured crack data is subjective. Therefore, this study proposes inspection system for measuring cracks in concrete structure and providing objective crack data to be used in ...

Keywords: crack, inspection, image processing, mobile robot

Prioritization System for Building Maintenance Applications in Public Universities

Chih-Yuan Chang, Yuan-Chu Chang, Shyh-Meng Huang

This research present a system named Prioritization System (PS) to support the maintenance engineers while they are making the decision about the priorities for maintenance applications of school buildings. Distinguished from the other research done before, which built the priority model only with historical data, the PS presented in this research bases both ...

Keywords: Prioritization System, Maintenance, School Building, Knowledge Base, University

The Development of a Machine Vision Assisted, Teleoperated Pavement Crack Sealer

Jeong-Ho Lee, Hyun-Seok Yoo, Young-Suk Kim, Jun-Bok Lee, Moon-Young Cho

Crack sealing is a maintenance technique commonly used to prevent water and debris penetration and reduce future degradation in pavement. The conventional crack sealing operations are, however, dangerous, costly and labor-intensive. Labor turnover and training are also increasing problems related to crack sealing crews. Automating crack sealing will improve productivity and quality, and ...

Keywords: Crack sealing, Pavement, Automation, Machine Vision, Path Planning

Experimental Studies of Two Force Control Algorithms for a Crack Sealing Robot in Highway Maintenance Technology

Seul Jung, Poong woo Jeon

This paper presents experimental studies of force control algorithms for a crack sealing robot. The crack sealing robot is built as a test-bed to regulate contact force on the ground for a better task. Force tracking performances of two main force control algorithms, explicit force control and impedance force control, ...

Keywords: crack sealing robot, impedance force control, explicit force control

Development of Automatic Road Marking Removing Equipment Using High Pressure Water-Jet

Kyung-Min Park, Young-Bog Ham, Soon-Wook Kwon, Kyoon-Tai Kim, Jae-Goo Han, Jeoung-Tae Kim

Present removal work for road markings has been time-consuming and labor intensive because it has been performed manually using shaving type equipment. The traditional process causes traffic delay due to the passing control, resulting in unexpected accidents to workers working at dangerous road circumstance. Besides, the current shaving method leads ...

Keywords: work process analysis, water-jet system, road marking, intensifier, lever system

Dynamic Prediction Model for Financial Distress in Construction Industry Using Data Mining

S. Ping Ho, Fang Ying Lin

The early awareness of a potential financial distress is crucial to firm’s managers for understanding their clients, suppliers and their own firms, and crucial to fund suppliers for assessing the construction firm’s credit worthiness. The purpose of this paper is to develop a dynamic prediction model for financial distress in construction industry using ...

Keywords: Financial Distress, Distress Prediction, Data Mining, CART (Classification and Regression Tree), Construction Industry

A Neuro Fuzzy System for Knowledge Discovery of Incomplete Construction Data

Wen-der Yu, Han-wen Lin

This paper tackles problems encountered in mining of incomplete data for knowledge discovery of construction databases. As historical construction data are expensive to collect, any waste of incomplete data means not only loss of knowledge but also increase of costs for knowledge discovery of construction engineering. Unfortunately, incompleteness is commonplace in the existing construction ...

Keywords: Construction; KDD; Data mining; Neuro-fuzzy; Incomplete data

The Application of Knowledge Management in Taiwan Construction Industry

Ming-Da Tsai, H. Ping Tserng

Knowledge management has already demonstrated a number of benefits and has offered justification for further implementation. The Internet facilitated its development and growth via fast and timely sharing of knowledge. By sharing knowledge, a enterprise can creates exponential benefits from the knowledge and experience as employee learns from it. In Taiwan, the construction industry ...

Keywords: Knowledge Management; Knowledge Sharing; Strategies; Construction Project

Schedule Management Process Model Based on CSDM

Han-guk Ryu, Hyun-Soo Lee

The duration of a construction project must be an important item in construction contracts. If a contractor can work in the planned parameter, the contractor can finish the construction project in a timely manner. However, when construction industry is compared to other industries, it is difficult to complete a construction project in which ...

Keywords: CSDM(Construction Schedule Data Mart), Schedule Process, Impact Factor, Schedule Risk, CBR(Case-Based Reasoning)

Action-Based Union of the Temporal Opposites in Scheduling: Non-Deterministic Approach

Junichi Yagi, Eiji Arai, Shinji Matsumoto

It is the time resource that one deals with in scheduling. The task is how one can achieve the optimal allocation of a given time resource over a set of assigned activities. Most of the existing scheduling methods use a parametric time by which the activities are orderly allocated in accordance with ...

Keywords: union of opposites, internal and external order of time, initial and final conditions, dichotomy, temporal symmetry and asymmetry, certainty and uncertainty, entropy

Scheduling Model Considering Construction Interfaces for Building Projects

Wei-Chih Wang, Yu-Ting Lai

Practitioners often manage construction interfaces and scheduling separately. However, poor management of construction interfaces frequently causes delays in project duration. This work develops an innovative scheduling model that incorporates management of construction interfaces for building projects. The proposed model comprises five steps, including generating an integrated schedule, establishing interface work groups, identifying front- and ...

Keywords: Interface management, construction interface, network scheduling, and schedule control

Construction Management Process Rngineering - Organizational Human Resource Planning for Multiple Projects

Min-Yuan Cheng, Ming-Hsiu Tsai

Applying the business process engineering and organization planning philosophy, this study focuses on the human resource planning for the construction management process reengineering to develop the team-based human resource planning (THRP) method for humanpower allocation, which assists construction companies for scheming, and assaying humanpower al lo c a t ion alternatives as the ...

Keywords: human resource planning, business process reengineering (BPR), computer simulation

GIS-Based Roadway Construction Planning

Sanghyeok Kang, Jongwon Seo

Roadway construction planning processes involve a large amount of information regarding design, construction methods, quantities, unit costs, and production rates. GIS (Geographic Information System) is a very effective tool for integrating and managing various types of information such as spatial and non-spatial data required for roadway construction planning. This paper proposes a GIS-based ...

Keywords: GIS, Construction planning, Information integration, Space scheduling

Planning and Monitoring the Tact of Work Flow

Jung-Ho Yu, Hyun-Soo Lee, Sun-Kuk Kim, Chang-Duk Kim, Sang-Wook Suh, Jae-Ho Kim

To ensure a continuous and smooth work flow, this research proposes (1) Tact Scheduling Method as an alternative to traditional ones and (2) Work Flow Monitoring System (WFMS). Tact scheduling is intended to balance the unit activities of relevant work trades in terms of the duration and the labor input ...

Keywords: Tact, Work Flow, Scheduling, Planning, Monitoring

Supply Chain Management System for Construction Material Planning

Pao H. Lin, H. P. Tserng, W. Y. Lin, H. S. Hsu

This study relies on integrated inventory theory which merges with the supply chain concept and aims at the steel bar material of precast factory’s twoechelon supply chain system. In order to consider the variable demand rate, unfixed supply time, unfixed supply frequency and unfixed supply quantity, this study builds a strategic model that minimizes ...

Keywords: supply chain, integrated inventory, precast, material planning

Approach to Multi-Objective Evolutionary Compitation Method for Generating Variable Walking Patterns

J.Y. Lee, M.S. Kim, J.J. Lee

The generation of the optimal walking trajectory is an important question for a biped robot to keep walking stably. This paper is proposed for generating the walking trajectories resulted in best performance of the biped robot using multi-objective evolutionary computation. We formulate a trajectory generation problem as a multi-objective optimal problem. We obtain ...

Keywords: Multi objective, evolutionary computation, Pareto optimal, walking pattern, ZMP

Telerobotic Mini-Golf: Interactive Learning Performance of Human Teleoperators

Sudath R. Munasinghe, Ju-Jang Lee, Tatsumi Usui, Masatoshi Nakamura, Naruto Egashira

A telerobotic test-bed has recently been built between KAIST(Korea) and Saga University(Japan). This paper presents its first research work on investigating the interactive learning performance of human teleoperators. For this purpose, the telerobotic test-bed was re-shaped to a telerobotic golf system. Eleven players were participated, and their interactive performance with the telerobot was ...

Keywords: Teleoperation, Interactive learning, Telerobotic mini-golf

Butler: A Visitor Guide Robot

Sung-on Lee, Nak-ju Do, Dong To Nguyen, Myung Hwangbo, Bum-jae You, and Sang-rok Oh

This paper describes the major components of software architecture of an autonomous visitor guide robot with the brief explanation of its hardware system. This robot, “Butler,” was deployed in a real office environment, Intelligent Robot Research Center at KIST, where it guided many visitors successfully. To make the robot navigate the office and ...

Keywords: guide robots, mobile robots, service robots, navigation, HRI

Basic Consideration on Preshaping for Capturing a Rotational Object

M. Higashimori, M. Kimura, I. Ishii, M. Kaneko

Preshaping is an important issue for a robot hand to grasp a moving object successfully. Generally, a moving object in 3D space has rotational motion as well as translational one. This study discusses dynamic preshaping issue for such an object changing the posture momentarily. In this paper, we focus on determining the timing ...

Keywords: preshaping, high speed capturing robot, rotational object

Walking and Climbing Robot for Locomotion in 3D Environment

Hyungseok Kim, Taehun Kang, Hyoukryeol Choi

One of the traditional problems of the walking robot moving in 3D environment is how to negotiate the boundary of two plain surfaces, which may be convex or concave. In this paper the planning method in the transition region of the boundary is proposed in terms of geometrical view. In each case such ...

Keywords: Walking Robot, Quadruped, Slope, MRWALLSPECT

A Novel Serial/Parallel Pole Climbing/Manipulating Robot: Design, Kinematic Analysis and Workspace Optimization with Genetic Algorithm

M. Tavakoli, G.R Vosoughi, S. Bagheri, M.R. Zakerzadeh, H. Salarieh

This paper introduces an optimized multi-task novel 4 DOF pole climbing/manipulating robot for construction works. The robot can travel along poles with bends, branches and step changes in cross section. It is also able to perform manipulation, repair, testing and maintenance tasks after reaching the target point on the pole. A ...

Keywords: Design, Optimization, Genetic algorithm, Parallel robots, Pole climbing

Automation of an Excavator Based on a 3D CAD Model and GPS Measurement

Tomi Makkonen, Kalervo Nevala, Rauno Heikkilä

This study examines the possibilities of controlling a six degrees of freedom excavator with the final objective of controlling the movements of the excavator by using a CAD model of the road surface. Compared to the traditional excavator with 4 DOF, the excavator was provided with two additional degrees of freedom by applying ...

Keywords: robotic excavator, path generation, dig planning, modeling, simulation, triangular terrain model, CAD

Identification of Partially-Exposed Metal Object

Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

This paper describes a method of automated type and pose (position and orientation) identification of partially exposed metal objects that makes excavation of hazardous materials safe and efficient. The object pose is estimated by matching a model of the object to the area that is extracted from the range image using ...

Keywords: This paper describes a method of automated type and pose (position and orientation) identification of partially exposed metal objects that makes excavation of hazardous materials safe and efficient. The object pose is estimated by matching a model of the object to the area that is extracted from the range image using the characteristics of metal objects. Experimental results show feasibility of type and pose identification of partially exposed objects.

Proportional-Integral-Plus (PIP) Gain Scheduling Control of an Intelligent Excavator

Jun Gu, James Taylor, Derek Seward

This paper considers the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University Computerised and Intelligent Excavator (LUCIE). The excavator is being developed to autonomously dig trenches without human intervention. Here, a gain scheduling design, based on Proportional-Integral-Plus (PIP) control methods, is utilised ...

Keywords: robotic excavator; model-based control; gain scheduling control; proportional-integral-plus

Prospects for Automation and Robotics Revolutionizing Ordinary Construction Systems Through Advanced Information Technology

Tadashi Kanzaki

The wave of advanced information technology will drastically change the ordinary construction systems in the Japanese construction industry. The procurement and delivery systems of the Ministry of Land, Infrastructure and Transportation will also be computerized. Construction robots need to be regarded as a construction system in the context of the sophistication of information ...

Keywords: future vision of earthwork, unattended construction work , advanced information systems, Tunnel Boring Machine, future prospect for construction robots

A Bucket Discharge Control for a Backhoe Excavator

E. Budny, M. Chlosta, W. Gutkowski

The study presents a practical, optimal control system of the discharge process of a backhoe bucket. The process begins when the bucket is filled and ends when the bucket come back to the digging position. In the process, several geometrical constraints are considered, such as, clearance dimension, and obstacles in the excavator working ...

Keywords: excavator, multi body systems, optimal control, hydraulic actuators, recursive multi body dynamics

Development of a Construction Work Cell for Cooperative Lift Planning

M.S. Ajmal Deen Ali, S. Vijaya Bhaskar, N. Ramesh Babu and Koshy Varghese

Cooperative crane lifts are considered as an alternative to specialized heavy crane lifts. However, in executing a cooperative crane lift, the precise coordination among the cranes is critical. This level of precision is better assured through automation of the lift operation. However, due to the drawbacks in current crane technology ...

Keywords: Crane lift, Cooperative manipulator, Automated path planning, Computer controlled execution

Procedure for the Implementation of Autonomous Mobile Robots on the Construction Site

Thomas Bock

The implementation of industrial robots in construction industry has proven to be difficult. The problem is not the technique but rather the difficulties in mixing human and robot labour in the dynamic, unstructured environment on site. Both systems need their specific basic conditions, which are impossible to provide on the ...

Keywords: Assembly Robots, (On Site-) Automation, Autonomous, Man/Machine Sys-tems, Process Automation, Simulation

Value Creation by Automation and Robotics in Construction: An Introduction

Ger Maas, Frans van Gassel

In the decades to come, building production will concentrate in the metropolitan centres of the world due to the migration of the world’s population to the major cities. An improvement of the construction process in densely populated inner cities will be the task of the future. This focuses on performance management, construction ...

Keywords: value creation, performance management, construction engineering, construction management, automation, metropolis

Multi-DOF (Degree of Freedom) Construction Robot for a Curtain Wall Installation of a Skyscraper

Seung-Nam You, Seung-Yel Lee, Hyeun-Seok Choi and Chang-Soo Han, Kye-Young Lee, Sang-Heon Lee

Recently, the trend in architectural forms has been toward larger and taller building. The building materials, therefore, are getting larger and heavier as well. Typical construction machineries are, however, not adequate for handling these materials and most of the construction works have been still managed by a human operator. Construction processes are, therefore, ...

Keywords: Curtain wall, Skyscraper, Multi-DOF Construction Robot (MDCR), Modularization, a macro-micro motion manipulator, Human machine cooperative system

Robotic Mounting System for Large-Panel Building

Thomas Bock, Alexej Bulgakow, Dimitry Parshin, Sergej Tkachev

The paper presents the principles of construction and structural organization of the robotic mounting system. The concept of developing models of manipulators with elastic couplings has been suggested in terms of which we have obtained mathematical description of the crane. The problems of constructing mathematical models of the system manipulators ...

Keywords: construction, large-panel building, mounting, robotization

Concrete Wall Fabrication by Contour Crafting

Dooil Hwang, Behrokh Khoshnevis

The feasibility of CC along with its unique capabilities and key performance characteristics (speed, surface quality, material variety, possibility of embedding reinforcement, etc…) have been demonstrated in the construction of relatively large geometrical shapes and structural components using a variety of construction materials. Construction and testing of full-scale concrete wall ...

Keywords: Contour Crafting; automation; construction; structures; dwellings; fabrication; rapid prototyping

Applicable Possibility Studies on a Humanoid Robot to Cooperative Work on Construction Site with a Human Worker

Junichiro Maeda, Hiroo Takada, Yoshio Abe

Humanoid robot walks by a pair of legs and works using two hands. About this humanoid robot, authors investigate about the possibility of its application to various works on site. Investigation is conducted by the following three methods. The first one is an investigation of matching the demand function of the latest ...

Keywords: Applicable possibility study, Humanoid robot, Cooperative work on site, Cooperative work with a human worker

Teleoperation of Construction Machines with Haptic Information for Underwater Applications

Junichi Akizono, Taketsugu Hirabayashi, Takashi Yamamoto, Hiroshi Sakai, Hiroaki Yano, Masaki Iwasaki

Mechanization is necessary for safer and more efficient underwater construction work in port areas. Teleoperated underwater construction machines are under developing. The problem is that conventional TV camera system is useless in water because of turbidity. Haptic information is introduced as the aid to control construction machines substituting for visual information. Components of ...

Keywords: Underwater Construction Machine, Visualization of Haptic Image, Force Feedback, Similar Figure Controller, Leveling Experiment

A Study on Development of the Automated Vertical Controllable Pilot-Type Equipment for PHC Piles

Chang-Yeon Cho, Jae-woo Park, Junbok Lee, Han-Soo Kim, Jeoung-Tae Kim

This research is intended to develop a pilot type of automated pile verticality control equipment for PHC piles and motivated by a desire to address problems inherent in as-is verticality control exercise during pile driving. The paper provides understanding of the current verticality control methods and associated problems, design and manufacturing of the ...

Keywords: PHC pile, vertical control, pile driver, automated equipment, servo system, pilot type

A Development of Stewart Platform Based Pipe Manipulator

Jae-Goo Han, Kyoon-Tai Kim, Young-Suk Kim, Junbok Lee, Jeoung-Tae Kim

The concrete pipe laying works are conducted in most of the construction sites. Several automated systems for the pipe laying works have been developed in advanced countries to improve productivity, safety, and quality, and to gain potential savings in costs. They mainly focused upon easy handling and clamping system for the pipes. ...

Keywords: concrete pipes, pipe installation, stewart platform, pipe manipulator, robot, construction automation

Neural Network Based Identification of Nine Elastic Constants of an Orthotropic Material From a Single Structural Test

H. S. Shin, S.W. Lee, C. Y. Kim, G. J. Bae

In this paper, a new methodology for identifying numerous elastic parameters of an orthotropic material from a single structural test is presented. At the heart of the methodology is the self-learning algorithm which is to extract various stress-strain relationships from a single structural test and train a neural network with ...

Keywords: neural networks, constitutive relationship, orthotropic material, material identification, self-learning algorithm

Non-Trench Guided Holes Drifting by the Static Pin-Hole Method

Thomas Bock, Alexander Drovnikov, Sergej Menshenin, Yuri Popkov, Irina Bulgakova

Now there is a requirement in the simple and reliable, universal and effective systems providing given accuracy of conducting of holes. At creation of commercial plants of the directed lining of holes it is necessary to correlate integrally a design of head gear (HG) and installations as a whole, ways ...

Keywords: robotization, construction, control algorithms, visual sensor, mobile robots, planning of the robot’s movement, kinematics

Development of a Revolutionary Advanced Auto-shackle, A Construction Equipment

Keon Young Yi, Jong Eun Lee, Sam Yong Chung, Song Soo Han

In the field of construction work, shackle is one of the most essential tools to build up a structure on the foundation. The process of setting up the beam to its up-right position starts from linking the end of the beam and the shackle by a construction worker. Then the ...

Keywords: Auto-shackle, construction tool, shackle, clamp, revolutionarily advanced auto shackle

Robot Oriented Design of Reusable Partition Walls with Integrated Building Automation Capabilities

Thomas Bock, Helga Meden, Jana Timmermans, Ron Unser

In the long run reusable partitions walls have lower costs and are more economical and especially more variable compared to convenient post-and-beam-structures. Because room requirements – mainly in office and administration building – change faster and faster, an extensive potential on future markets for these technologies exists.

Keywords: Flexibility, Economic Efficiency, Non-supporting removable wall-unity, Media- and electric wiring, Put-and-slide-technology, Relocate systems, Cost, Different Elements, Adapted assembly robot system.

A Mechatronic Slip Robotic System with Adaptive Control for Erecting Monolith Objects

Thomas Bock, Alexej Bulgakow, Oleg Parshin, Dimitry Parshin

The paper considers technological features of erecting monolith objects with a variable cross-section, presents the formulated requirements to the mechatronic complex and the principles of its construction and gives the complex structure. Great attention is paid to the problems of the mechatronic complex movements planning taking into account restrictions on ...

Keywords: monolith construction, slip forms, mechatronic robotic system, planning, control algorithms, visual sensor, mobile robots, planning of the robot’s movement, kinematics

Developing a Convenient Balance Beam for Unknown Loads

Keon Young Yi, Yong Jun Kim, Sam Yong Chung, Song Soo Han, Sang Heon Lee

Balance beam, a controller that is built adopting the gyro effect, can freely control the attitude of an unstructured object by means of the position controlling of an inner gimbal. However in the former research, the weight (inertia) of a load should be known to issue a proper command for ...

Keywords: gyro effect, balance beam controller, construction equipment, load estimation, gimbal

Remote Management of LonWorks Based Control System for Air Conditioner

Eun-Cheol Shin, Byoung-Wook Choi

In this paper, we describe implementation and test result for a LonWorks based control system in which air conditioner is handled by LonWorks node. The LonWorks based control system for handling air conditioner remotely is integration of control nodes because LonWorks is a communication protocol which is adopted as a standard protocol in ...

Keywords: Remote monitoring and control, Distributed control, system, Embedded Linux, Protocol converter, LonWorks network

Mixed Reality Technology Applications in Construction Equipment Operator Training

Xiangyu Wang, Phillip S. Dunston, Miroslaw Skibniewski

This paper provides information on Mixed Reality (MR), and more specifically Augmented Reality (AR) and their potential applications in heavy construction equipment and operator training. Mixed Reality involves the use of special display and tracking technologies that are capable of seamlessly merging digital (virtual) content into a real environment. Conceptual ...

Keywords: mixed reality, augmented reality, machine operator training, heavy construction equipment management

Graphical Simulation System for Planning and Visualizing Construction Processes

Yeonghwan Kim, Jongwon Seo

Three-dimensional graphical simulation is very useful for construction planning with its geometric analysis and visualization capability. This technique can further contribute to the improvement of construction planning processes by visualizing the numerically expressed results of process simulation(discrete-event simulation). This paper describes a graphical simulation system that has links to construction ...

Keywords: Construction graphical simulation, Visualization, Virtual Reality, Discrete-event simulation

Simulation of Construction Planning or High-Rise RC Buildings a Process Plan Considering Overtimework

Kazuyoshi Endo, Yi-Feng Chien, Kenji Kimoto

The study is aimed at better planning the cycle process that considers production characteristics in high-rise RC building construction and at establishing a better method by a simulation system using computer-aided tools. A special emphasis of this study is placed on examining the effect for shortening the cycle term of site works and ...

Keywords: High-Rise RC Building, Simulation, Cycle Term, Line Balancing, Resource Leveling, Overtime Work

Applying Simulation Technique to Model Design Iterations

Wei-Chih Wang, Tzong-Shiun Liau, Jang-Jeng Liu

Improving the scheduling of the design project can greatly reduce the total duration of the project. However, appropriately representing the schedule of a design project is complicated chiefly because the design activities often have different degrees of information dependencies between each other. That is, design process involves a number of iterations ...

Keywords: design iteration, simulation, design schedule, and design process

Automatic Design Mechanism for Resource Distribution for Construction Operations Simulation

T. M. Cheng, M. Y. Hsu, P. C. Chen, C. C. Lin

A planner may use simulation for in the analysis and design of construction operation processes to optimize overall performance of a construction system. Normally, the basic elements used in construction operation process simulation system such as CYCLONE (CYCLic Operation NEtworks) are activities and queues. Activity is used to model the execution of the ...

Keywords: GA, simulation, resource distribution

The Development of Remote-Controlled Grab System for Unclear Environment

Makoto Utsumi, Hiroshi Sakai, Junichi Akizono

Hydraulic Grabs are capable of placing and removing of underwater structures without hitch by divers. However, grab operators are unable to observe states of the grabs and the objects when the turbidness of water disturbs observation by TV cameras. For this reason, operators still need support and observation of divers during positioning of ...

Keywords: Grab, Remote Control, Grasp Works, VR, Underwater Construction

A Study on the Application of VR Technique to Building Construction - Comparisons of Site Photo and VR Image in Construction Progress

Hyungeun Kim, Soungho Chae, Naruo Kano

Photo taking at an actual job site provides a very useful tool for the record of construction progress and the inspection of built-up members. The photos are also utilized as essential data to carry out the control of construction progress in virtual space. Besides, the situation of construction progress at an ...

Keywords: Virtual reality, 3D progress control, Site photo, Construction planning

Integrated 3D Object Transformation and Simulation for Tower Crane Operations on Construction Sites

Muhammad Athar Niaz, Mohamed Al-Hussein, Hyoungkwan Kim

This paper presents a methodology for integrating 3D (three-dimensional) object transformations with simulation in order to build a 4D model to aid practitioners to visualize tower crane operations on the computer screen. Since the detailed project schedule is already divided into work-packages, the proposed methodology will further divide each work-package ...

Keywords: 3D Transformation, Tower Cranes, Simulation, 3D-animation

Six-Sigma Based Approach for Productivity Improvement in Construction Projects

Seung Heon Han, Ho Dong Ryu, Myung Jin Chae, Han Him Kim, Do Yon Kim, Sun Hee Kim

In order to improve the productivity of construction projects and achieve reliable workflow, it is necessary to quantify the eventual goals for the target process assessment. This research explores the feasible solutions for the construction performance improvement by use of the six-sigma principle, which provides appropriate boundaries of controlling critical ...

Keywords: performance, six-sigma principle, variation control, buffer size, simulation

The Integrated RMC Dispatching System Based on the Dispatching Center Approach

Chung-Wei Feng, Hsien-Tang Wu

Along with the development of the supply chain for the construction industry, an efficient system that coordinates cement trucks to deliver RMC (Ready Mixed Concrete) to various construction sites becomes important. This paper presents an integrated RMC dispatching model based on the dispatching center approach, which utilizes fast messy genetic algorithms ...

Keywords: RMC dispatching, fmGA, GPS, optimization, simulation

Door Detection Algorithm of Mobile Robot in Hallway Using PC-Camera

Jung-Suk Lee, Nakju Lett Doh, Wan Kyun Chung, Bum-Jae You, Young Il Youm

In this paper, an algorithm for door detection using a cheap PC-camera is developed based on the Bayesian network in a hallway where doors are located at various depth. The open/close status of the door is also important in developing a GVG-SLAM and we extracted five important door features from the ...

Keywords: GVG- SLAM, door detection, low-cost sensor system, Bayesian-network

A Study on Path Guidance System of Guide Robot for Visually Impaired

Dong Fan Shen, Se Kee Kil, Tae Jin Jang, Eung Hyuk Lee, Seung Hong Hong

In this paper, earth coordinate of the guidance robot for the visually impaired is detected by using GPS (Global Position System), and the system which leads the visually impaired to position information (TM coordinate) in Korea is achieved through map-matching with electronic map. The visually impaired need more information about the walking path than ordinary people when ...

Keywords: Guide Robot, GPS, Map-matching, GIS

Pose of I-Beams for Construction Site Automation

David E. Gilsinn, Geraldine S. Cheok, Alan M. Lytle

Automation of construction processes can result in reduced project costs and increased worker safety. A process that lends itself to automation is the picking and placing of objects. However, determining the pose (position and orientation) of an object is critical. LADAR (laser detection and ranging) data provides 3D information of ...

Keywords: Binning, LADAR, object recognition, object segmentation, pose determination

Automatic Tunnel Monitoring System to Prevent Structural Failures & Collapses

Jung-Yeol Kim, Soon-Wook Kwon, Moon-Young Cho

Keywords: No keywords

Real-Time Adaptive Color Snake Tracker Using Condensation Algorithm

Kap-Ho Seo, Ju-Jang Lee

Motion tracking and object segmentation are the most fundamental and critical problems in vision tasks such as motion analysis. An active contour model, snake, was developed as a useful segmenting and tracking tool for rigid or non-rigid objects. Snake is designed on the basis of snake energies. Segmenting and tracking can be executed ...

Keywords: Active contours, adaptive color snake model, condensation algorithm, object tracking, image segmentation, energy minimization, optical flow, Kalman filter

Human-Assisted 3D Spatial Modeling of Construction Sites Using Sparse Range-Point Clouds

Changwan Kim, Carl T. Haas, Katherine A. Liapi

3D spatial-modeling can be used in various safety-enhancement applications and for as-built data acquisition in project-control systems. The objective of the research reported herein was to provide spatialmodeling methods that represent construction sites in an efficient manner and to validate the proposed methods by testing them in an actual construction environment. Algorithms to ...

Keywords: Sparse range-point cloud, 3D spatial-modeling, convex hull, workspace partitioning

Implementation Information Technology in the Nuclear Power Plant (NPP) Construction

Woobang Lee, Boknam Lee, Hyounseung Jang, Seokin Choi

Nuclear Power Plant (NPP) Construction is a long-term project with huge scales of construction data and it requires a large number of materials, labor and equipment. Also it is a grand scale project that invested with billions to build a major power supply system. To effective manage NPP construction project, it is essential ...

Keywords: Nuclear Power Plant, Project Management, Information Technology

Use Object Oriented, Visual Modeling, PDA to Construct Specification Inquiring, Quality Inspection and Site Recording System

Yan-Chyuan Shiau, Miao-Ling Huang, Tsung-Pin Tsai

The construction market has been declined significantly for last few years in Taiwan. In order to survive in such difficulty environment, we have put some efforts on improving construction methods, creating new materials, and some other aspects. However, the most important factor to assure the success for construction companies is ...

Keywords: Object Oriented, Visual Modeling, Construction Management, PDA, Quality Inspection

Developing Analysis Models for Implementing Construction Enterprise Resource Planning System

Meng-Hsueh Lee, Meng-Hsueh Tserng

To face the worldwide competition and pervasively use of new information technologies, enterprise resource planning (ERP) systems are executed and implemented to enhance their competition capabilities. In order to implementing ERP systems successfully in construction industries, an appropriate analysis model ICE-PP (IDEF0 in Construction Engineering with The Proven Path) is presented in the ...

Keywords: Enterprise Resource Planning; Construction Industry; Analysis Models

Development of an XML Schema Repository System for Public Construction Information Sharing

Choung-Houng Wu, Shang-Hsien Hsieh, I-Chen Wu, Hui-Ping Tserng, Tzung-Yu Wen

The Public Construction Commissioner (PCC) in Taiwan is sponsoring a project to establish the mechanism for developing information standards, in terms of XML schemas, for public construction work and develop an XML Schema repository system for managing and publishing the standardized XML schemas. Parts of the ebXML (Electronic Business using eXtensible Markup Language) ...

Keywords: XML schema, Repository, Information standardization and sharing, ebXML, Public construction

An Object-Oriented Database for Project Cost Compilation

Chul Soo Kim

Larger construction companies generally have several on-going projects at one time, many internationally. The ability to make corporate decisions in a timely manner for these companies becomes critical to avoid costly corrective measures. The information necessary for making such decisions comes from a large pool of corporate data. In order to efficiently process ...

Keywords: Construction, Cost, IT, Database, Object-oriented, Information, Multiple Project Management

An Application of PDA and Barcode Technology for the Improvement of Information Management in Construction Projects

Se-Wook Oh, Hee-Jin Chang, Young-Suk Kim, Jun-Bok Lee, Han-Soo Kim

Work information in a construction project can be effectively used to analyze the project status related to schedule, cost, productivity etc. The purpose of this research is to develop a computer-based system using PDA and barcode technology to measure and monitor the amount of workforce resources and productivity. The developed system is expected ...

Keywords: PDA, Barcode, ASIMO, Labor management, Productivity, Schedule management

Exploring the Money Left on Table for Construction Procurement Negotiation

Ren-Jye Dzeng

Most contractors negotiate with suppliers for their construction procurement according to negotiators’ experiences instead of extensive exploration of negotiable options and negotiators’ preferences. Consequently, negotiators often reach suboptimal agreements, and leave money on the table. This research developed an agentbased computer system that find optimal agreements using the genetic algorithm, compared the ...

Keywords: intelligent agent, genetic algorithm, e-commerce, artificial intelligence, construction management

An Estimating Method of Worker's Task with 6-DOF Sensors

Soungho Chae, Naruo Kano

Recently construction workers tend to work alone and are getting older. In such working atmosphere, monitoring their works at the site is necessary for keeping task performance quality and accuracy. However, the management and evaluation of workers’ performance can only be done by supervisors’ physical observation. Understanding of their works ...

Keywords: 6-DOF sensor, estimation, worker’s task, monitoring

Digital Imaging in Assessment of Construction Project Progress

Y. Wu, H. Kim

This paper presents a research effort designed to produce a digital imaging-based method to efficiently assess the level of construction project progress. Cameras are widely used to monitor and record various activities on a construction site. The images produced by the cameras can be processed with digital imaging techniques to ...

Keywords: Canny Edge, Digital Imaging, Morphological Transformations, Project Control

Rapid Graphical Registration for 3D Complex Objects for Construction Workspace Automation

Yong K. Cho

Although considerable achievement has been made to the development of methods of extracting 3D geometrical information of objects from a scene, there are still major difficulties to visualize complex objects into descriptive CAD models. This paper introduces a new framework for rapid 3D modeling for complex planar objects which would enable automated material ...

Keywords: construction automation, 3D, CAD, complex model, laser range finder

As-Built Point Cloud Review of a Ceiling Plumbing System

Naai-Jung Shih, Pin-Hung Wang

This research used a 3D scanner to retrieve the geometric information of finished pipe layout inside ceiling space and used the 3D point clouds to facilitate follow-up building management. The presence of as-built pipes enables the measurement of relative locations between various pipes, pipes and slabs, or pipes and walls. ...

Keywords: 3D scanner, point cloud, plumbing, as-built shop drawings, facility management

Development of Location-Based Indoor Facilities Management System

Julian Kang, Kampanart Tejavanija

Many facilities management systems depend on location information for identifying facilities of interest. However, obtaining location information in a large open space is not sometimes easy due to lack of landmarks. Although Global Positioning System (GPS) is well known for its ability to provide accurate positioning when used outdoor, it was seldom intended ...

Keywords: Facilities Management, Indoor Location System

Efficient Localization System for Mobile Agents Using Active Beacons

Suyoung Shin, Jongsuk Choi, Mignong Park

In this paper we propose an efficient method of localization for mobile agents by using the active beacon. Active beacons include the ultrasonic sensor, RF module and 8bit microprocessor. Existent systems have the constraint that one beacon cannot cover wide area since ultrasonic sensors have limits in the angle of ...

Keywords: active beacon, mobile agent, indoor localization, time of flight, ultrasonic, pan-tilt

XsForm: A Schema-Driven Form-Based XML Information Processor

Shang-Hsien Hsieh, Hsien-Tang Lin

A form-based XML information processor, named XsForm, has been developed in this work. XsForm takes an XML schema as input and generates the corresponding Windows forms automatically to facilitate gathering, editing, sharing, and management of XML information. The information processed in XsForm is then saved into a well-formed and valid XML file for ...

Keywords: XML, Schema, UIML, Form-based information processing, e-business

Methodology of Mobile Computing in Construction Management

Kenji Kimoto, Mitsuhiro Fujiwara, Takahiro Kataoka, Shuichi Matsumura, Kazuyoshi Endo

This paper reports the development of mobile computing in construction management. The paper focuses on the methodology of the development based on EUC. First, the paper indicates the effectiveness of EUC in construction projects. The authors introduce design pattern of user interface and the use of UML for EUC. Secondly, the paper describes ...

Keywords: Construction Management, Mobile Computing, PDA (Personal Digital Assistants), EUC (End User Computing), Design Pattern, UML (Unified Modeling Language)

Integration of Automated Data Collection Technologies for Real-Time Field Materials Management

Carlos H. Caldas, David G. Torrent, Carl T. Haas

This paper describes a research study that is investigating data and technology requirements for the implementation of integrated real-time materials management on construction job sites. Specifically, the research aims (1) to formalize methods for accurate and timely materials tracking and (2) to define data integration needs between sensing technologies, materials ...

Keywords: materials management, information technology, sensing, computer integrated construction

A Project Progress Measurement and Management System

Sangyoon Chin, Suwon Yoon, Yea-Sang Kim, Youngsoo Jung, Soon-Chan Park, Moonhun Chung

A progress management in construction projects plays an important role in providing as-built information for project planning, control, cost engineering, and many others. However, progress information has not been collected through objective methods or criteria but mainly based on an individual’s own experience or subjective judgment, which results in the limits of consistency, ...

Keywords: Progress management, Progress measurement, Information system

Wireless Data Acquisition System for Measuring the Curing Temperature of Mass Concrete

Jun-Hyung Shin, Gwang-Hee Kim, Kyung-In Kang, Hyung-Rae Kim, Ho-Kyoo Jo

Timely temperature control in curing newly placed mass concrete is one of the major factors in forming quality concrete. Quick action is necessary to ensure proper designed strength of concrete and avoid cracking when the temperature of the concrete constantly changes. Generally, an automatic recording thermo-hygrograph is used to measure ...

Keywords: Wireless Data Acquisition System, Concrete Temperature, Curing Management, Mass Concrete

Information Sharing System for Process Management

Atsuto Kura, Junichi Yagi, Yoshiaki Kamura

In one construction production process, a huge quantity of data is used and it has complicated relation among companies and systems. But the system environment which associates it is not established by the present construction production. Therefore, when the event which blocks a process plan occurs, great cost occurs in change of a ...

Keywords: Glue Logic, Parts and Packets, Active Data Base, RFID, XML, SVG

Study of ZMP Measurement for Bipedrobot Using FSR Sensor

Bong Gyou Shim, Eung Hyuk Lee, Hong Ki Min, Seung Hong Hong

This paper discuss a method measuring ZMP for biped robot. We obtained feet-bottom pressure distribution using FSR sensors attaching feet-bottom. We calculate value of ZMP coordinates that is the center of gravity for biped robot using their pressure distribution. Value of Biped Robot ZMP coordinates always exists in feet-bottom. When ...

Keywords: Biped Robot, FSR Sensor, ZMP, feet-bottom

Development of Vision System on Humanoid Robot HRP-2

Yutaro Fukase, Junichiro Maeda, Yoshihiro Kawai, Takashi Yoshimi, Fumiaki Tomita

Ministry of Economy, Trade and Industry of Japan had run an R&D project on humanoid robotics since 1998 for five years. In the first two years, platforms for humanoid robotics research were developed. In the next three years, researches were carried on for five different applications. We joined a group of the ...

Keywords: humanoid robot, HRP-2, stereo vision, 3D image processing, VVV

Developments with the NIST Automated Construction Testbed

Alan M. Lytle, Kamel S. Saidi, Nicholas A. Scott

The NIST Construction Metrology and Automation Group is researching structural steel pick-andplace operations using a robotic crane coupled with sensor data distribution and construction component identification and tracking systems. This paper outlines new developments in this research including the addition of an automated gripper mechanism for RoboCrane and 4D-CAD sequenced multi-component placement. In addition, ...

Keywords: construction automation, laser tracking, LADAR imaging, robotic crane

Simultaneous Obstacle Detection for Mobile Robots and its Localization for Automatic Battery Recharging

Sang-Il Gho, Jong-Suk Choi, Ji-Yoon Yoo, Mun-Sang Kim

In this paper, we will research the simultaneous performing of both the obstacle detection for mobile robots and the localization for automatic battery recharging. And also, this research suggests the new-concept of sensor system using the ultrasonic devices for performing the above mentioned tasks. Robots with this new sensor system can not only ...

Keywords: Obstacle detection, Localization, Mobile robot

Reliable Detection of Sound's Direction for Active Audition

Hyun-Don Kim, Jong-Suk Choi, Chang-Hoon Lee, Munsang Kim

In this paper, we propose reliable detection of sound’s direction for human robot interaction. Compared with previous researches, this system comprises simpler algorithm and a proposed nonlinear amplifier which has advantages to increase a detectible distance of sound signal in spite of simple circuits. Moreover, we propose the new performance index using ...

Keywords: sound localization, voice activity detection, human robot interaction, intelligent robot

Fast Markov Localization in Indoor Environment Using SFM Angle-Histogram

Jung-Hyun Moon, Bum-Jae You, Hagbae Kim, Sang-Rok Oh

Localization is one of the most important issues for mobile robots since all tasks are commanded to a mobile robot based on the assumption that the mobile robot knows its position. Even though non-probabilistic techniques are faster than probabilistic approaches, those are sensitive to measurement errors and a mobile robot may lose its ...

Keywords: global localization, fast probabilistic localization, sensor remodeling, angle-histgram

CITIS as a Collaborative Virtual Organization for Construction Projects

Seung Heon Han, Kyungho Chin, Myung Jin Chae

The recent use of information technology (IT) has effectively promoted integration of fragmented information under the distributed construction environment. However, to date, many Internet based system for online project collaboration solutions do not provide standard formats in transmitting contractual documents and project-related information specifically for public projects. This paper provides ...

Keywords: CITIS, virtual organization, information technology, fully integrated collaborative system, electronic collaboration, online project collaboration solutions

Integrated Process Manangement System for Part-Manufacturing and Building Construction

Masayuki Takata, Eiji Arai, Junichi Yagi

This paper describes an implementation of the Integrated Construction Process Management System, which includes manufacturing process management features for building parts, and also includes construction process management features at construction site.

Keywords: integrated process management system, part-manufacturing process management, building construction process management, intensive data management system

A Development of Interactive Task Generator Based on Task Location Information Analysis

Sangyoon Chin, Woo-Young Kang, Yea-Sang Kim, Kyungrai Kim, Jai-Do Shin

A daily report is one of the critical documents in construction projects, since it helps them keep track of various as-built information such as task performed, manpower, equipment, and material used on a daily basis. Despite the important role in progress management, the daily reporting process is time-consuming, and the representation of task ...

Keywords: Daily Reports, Task, Location, Space, Information Model, Information System, Database

Model Development of the Material Tracking System for High-Rise Building Construction Project Using RFID Technology

Soon-Wook Kwon, Min-Woo Lee, Jae-Goo Han, Moon-Young Cho, Jae-Woo Park

Current study of material management on construction site insists that the ratio of material handling costs to total project costs varies in 30 to 80% depends on the type of construction and the cost of materials [1]. Site layout planning and material management are fundamental to reduce materials handling and ...

Keywords: RFID, high-rise building, finishing work phases, procurement, material tracking

A Web Agent for Conceptual Cost Estimation of Highway Construction Projects

Wen-der Yu, Jia-wei Fu

Accurate cost estimation in the early stage of project lifecycle is essential for both effective financial planning and cost control of construction projects. Previous efforts by the research team have developed a Web-based Intelligent Cost Estimator (WICE) system. This paper describes a further step of WICE research to develop a special-purpose web agent for ...

Keywords: Web agent; Neuro-fuzzy; Conceptual estimation; Highway construction; WICE

Field Trials of RFID Technology for Tracking Pre-Fabricated Pipe Spools

Jongchul Song, Carlos Caldas, Esin Ergen, Carl Haas, Burcu Akinci

The FIATECH Smart Chips project, in conjunction with Shaw Pipe Fabricators and Fluor Corporation, undertook field tests of current RFID technology to determine its technical feasibility for automatically identifying fabricated pipe spools in a laydown yard and tracking shipment through portals. The results indicate the technology could work effectively in the field environment ...

Keywords: Automated Data Collection, RFID, Technical Feasibility, Materials Management

An Application of Auto-Identification System in Steel Structural Construction Process

Chun-Nen Huang, Doxon Wu, Ming-Teh Wang

Being an integral part of accessing the modern automated system, Auto-ID (Automatic Identification) system is a proven technology of providing a more accurate, detailed, timely and advanced information for architectural operation. Currently, the various technologies that are used for Auto-ID are: barcodes, optical character recognition (OCR), radio frequency identification (RFID), magnetic stripe and ...

Keywords: Aut-ID, Bar Code, and Steel Structural Construction Process

Synchronous Chat for Knowledge Sharing in a Distributed Design Environment

Jeong-Han Woo, Mark Clayton, Robert Johnson

The knowledge of design experts, mostly tacit, holds tremendous value if made reusable for the right project at the right time. With emerging CMC (Computer-Mediated Communication) technologies, architectural practice has been transformed and faces new opportunities for capturing and reusing tacit design knowledge in a distributed design environment. This paper ...

Keywords: tacit design knowledge, Computer-Mediated Communication, Synchronous Chat, Knowledge Mapping

A Computer-Aided Evaluation System for Integrating Design- and Ordering-Principles into Product Models

Seung Yeon Choo

It is true that the commercial applications used in architectural offices have mainly focused on CAD as a drafting tool, although the primary functions of computers in architecture have been changed from the computer-aided drafting to its 2D or 3D graphic representation and in recent years to the collaborative design among different specialists, ...

Keywords: Design- and Ordering-Principles, Collaborative Design, Product Model, IFC2x, Integration, CAAD

Experiences with a Course on Collaborative Design on Distance

Frans van Gassel, Jos van Leeuwen, Ad den Otter

In conceptual design of architectural artefacts, designers from different disciplines work together. Multi-disciplinary collaboration is required when buildings and their construction have a complex nature. If this collaboration is not effective and efficient, it might lead to the construction of buildings that clients disapprove cost too much regarding the delivered quality and extend ...

Keywords: Construction Management, Collaborative Design, ICT Tools, Experiential Learning.

Artificial Life-Based Housing Design Assistant for New Construction Paradigm Using Smart Parts

Risa Nishiyama, Makoto Ebisui, Ken Tomiyama, Junichi Yagi

This paper proposes a life cycle oriented construction system that considers each construction parts; walls, bath units, kitchen utilities and other facilities as primitive artificial life (AL) forms consisting of a more complicated artificial life form, i.e. the house. As a start, we developed AL-based housing design assistant software that let AL-forms connect ...

Keywords: Artificial Life, Life cycle oriented construction system, smart parts, Movable Finite Automata, Housing design, Remodeling, Design preferences of customers, RFID

Development of an Intelligent 3D Parametric Modeling System for fhe North American Precast Concrete Industry: Phase II

Ghang Lee, Rafael Sacks, Charles Eastman, Ragnar Wessman

3D parametric modeling technology was first introduced about 15 years ago, but still only a few sectors in Architecture, Engineering, and Construction (AEC) have successfully adopted the technology in production. This paper reports the second phase of an early successful collaboration project between an industry sector, academia and a CAD ...

Keywords: parametric modeling, intelligent CAD, precast and prestressed concrete

Multi-Criteria Optimization of Up-To-Date Construction Technology

Ruta Miniotaite

The article analyzes the methods of multi-criteria alternative technological solution evaluation in construction environment. Methodology, which is used, allows to complexically evaluate the efficiency of construction designed decisions at the stage of preparation phase. There has been done a practical technological modeling of installation process of concrete floor as well as there have ...

Keywords: multi-criteria optimization, method of proximity to an ideal point, rational trusses