2005 Proceedings of the 22nd ISARC, Ferrara, Italy

An Overview of Automated Project Performance Control Research at the Technion

Ronie Navon

Current monitoring and control methods rely on massive manual work. As a result, control information is expensive to produce, or generated irregularly. Additionally, the information is only available infrequently - in many cases after the controlled activity was completed - and its quality and integrity are low. The purpose of ...

Keywords: Automation; Data collection; Feedback control; Control methods; Monitoring

Computer-Integrated Construction: Background and a Case Project

Luca Caneparo

Computer-Integrated Construction (CIC) is the capability of a computer system to create models of certain aspects of the design and construction processes and consequently to direct them into reality. The premise of CIC is that the clear-cut separation between the competencies, know-how and responsibilities has now been turned upside down by the introduction of information technology in ...

Keywords: computer-integrated construction, project modelling, glued laminated timber, computer numeric control, distributed collaboration, concurrent design

The Use of Robotics and Automation in Nuclear Decommissioning

Derek W. Steward, Mohamed J. Bakari

The paper reviews the scope for automation and robotics in the rapidly expanding field of nuclear decommissioning. The basic strategies for decommissioning are discussed together with the essential physical steps. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure ...

Keywords: automation, decommissioning, nuclear, robotics

An Innovative Construction Process-Contour Crafting (CC)

Dooil Hwang, Behrokh Khoshnevis

This paper describes an innovative construction automation approach using a new Layered Manufacturing (LM) process called Contour Crafting (CC), which has been developed at the University of Southern California. In the CC construction process, a precise amount of mortar mixture is delivered to make a concrete mold using robotic techniques. Mortar mixture is added in a ...

Keywords: Contour Crafting, construction automation, fabrication, rapid prototyping, layered fabrication process

An IT Infrastructure and Safe Collaboration in Modern Construction Site

M. Abderrahim, R. Diez, S. Boudjabeur, J.M. Navarro-Suñer, C. Balaguer

This paper deals with machine collaboration in modern construction sites like that proposed in the FutureHome building system and suggests a scenario for implementing a safe collaborative system. The collaboration is meant to happen between automatic machines and between machines and operators. Safety issues are discussed and treated as part of ...

Keywords: CIC Construction, IT infrastructure in Construction Site, Machine collaboration in the construction site.

Direction of Construction Robot in Space Development

Tai Sik Lee, Ja Kyung Koo, Dong Wook Lee

Mankind has continued challenging to the universe with curiosity since mid-1950s, and, as a result, the mankind could step on the moon and launch the satellites and exploration robots to several planets including Mars to collect desired information. The construction has contributed to the mankind’s development and abundant life for a long time. The interests ...

Keywords: Space Development, Construction Robot(CR), Space Construction, Space Construction Robot(SCR

Parallel Robots in Construction

Kamel S. Saidi, Alan M. Lytle

Parallel robots have been in existence since the first half of the 20th century. Applications of parallel robots have ranged from tire testing machines to robots for performing surgery. The high load-to-weight ratio and high stiffness of parallel mechanisms sets them apart from more common serial robots. This presentation will ...

Keywords: Terms—Parallel robots, construction automation, Stewart/Gough platform

Parallel robots used in passive and active protection of the buildings

Cornel Brisan

The paper presents some aspects related to the passive and active protection of the buildings. It is well know that Stewart platform is a mechanism with six degrees of freedom. This main property leads to the idea of its utilization in order to simulate fully the movements of earthquakes. On ...

Keywords: Parallel robots, Earthquakes, Protection of the buildings.

An Application of a 3-DOF Parallel Manipulator for Earthquake Simulations

Marco Ceccarelli, Erika Ottaviano, Gianni Castelli

In this paper a novel application is presented for a parallel manipulator to be used as an earthquake motion simulator. A formulation and experimental results are presented for a 3-DOF CaPaMan (Cassino Parallel Manipulator) prototype to simulate point seismograms and 3D earthquake motion. The rigid body acceleration (linear acceleration, angular velocity and acceleration) has been experimentally ...

Keywords: Parallel Manipulators; Experimental Robotics; Earthquake Simulators

Design and Control of the Quadruped Walking Robot ALDURO

Daniel Germann, Manfred Hiller, Dieter Schramm

Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands (joystick) into actuator space by coor- dinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main ...

Keywords: Walking Robot, Quadruped, Modular Con- troller Structure, Hardware Abstraction Layer, Free-Gait, Realtime

Link Length Control using Dynamics for Parallel Mechanism with Adjustable Link Parameters - Verification with Experiment using Actual Mechanism

Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Tomohito Takubo

There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length. This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the ...

Keywords: Parallel Mechanism, Dynamics, Adjustable Mechanical Parameters, Passive Joint Control

Mathematical Models Construction for Building Robots with Due Account of Elastic Deformations of Mechanisms

Alexej Bulgakov, Thomas Bock

The paper presents the formulation of general approach to construction of structural models for elastic manipulators, which can be presented in the form of collection of connected in series bodies experiencing elastic deformation, and suggests the methods of changing over to such structure. The paper describes in detail the method of constructing mathematical models ...

Keywords: building robots, mathematical models, elastic deformations

Applied Robust Control for Vibration Suppression in Parallel Robots

Stephan Algermissen, Ralf Keimer, Michael Rose, Elmar Breitbach, Hans Peter Monner

Automation within the range of handling and assembly applications requires qualified solutions due to the complex technological processes. The long-term goals are the reduction of cycle time and an increase of the process quality. They can be achieved by innovative concepts which are based on parallel kinematics, realizing higher speeds and accelerations with constant accuracy compared ...

Keywords: Adaptive Systems, Adaptronic, Parallel Robot, Robust Control, Robust-Gain-Scheduling, Smart Structures

Forward Position Analysis of the SP-PS-RS Architectures

Raffaele Di Gregorio

A wide family of parallel manipulators (PMs) is the one that groups all the PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive prismatic pair (P) or a passive revolute pair (R) when the actuators are locked. The topologies of the ...

Keywords: kinematics, position analysis, parallel mechanisms, parallel structure

Analytic Form Solution of the Forward Position Analysis of Three-Legged Parallel Mechanisms Generating SR-PS-RS Structures

Raffaele Di Gregorio

Spatial parallel mechanisms (SPMs) become parallel structures when the actuators are locked. Parallel structures are constituted by two rigid bodies (platform and base) connected by a number of kinematic chains (legs) with only passive kinematic pairs. A set of SPMs is the one collecting the mechanisms which become SR-PS-RS structures. Such structures have three legs: one ...

Keywords: kinematics, position analysis, parallel mechanisms, parallel structure.

GA-based Fuzzy Controller Design for Tunnel Ventilation Systems

Baeksuk Chu, Dongnam Kim, Daehie Hong, Joongyoung Park, Jin Taek Chung, Tae-Hyung Kim

The main purpose of tunnel ventilation system is to maintain CO pollutant concentration and VI (visibility index) under an adequate level to provide drivers with comfortable and safe driving environment. Moreover, it is necessary to minimize power consumption used to operate ventilation system. To achieve these purposes, FLC (fuzzy logic controller) has been usually utilized because ...

Keywords: FLC (fuzzy logic controller), real-valued GA (genetic algorithm), tunnel ventilation control

Evaluation of Wireless Sensor Node for Measuring Slope Inclination in Geotechnical Applications

Karen M. Furlani, Patrick K. Miller, Michael A. Mooney

Digital inclinometers are used in geotechnical engineering to monitor lateral deformations of excavation walls, retaining walls, embankments and landslide areas. Current conventional slope inclination measurement requires a person to manually lower a probe into a grooved casing and record inclination at prescribed intervals as the probe is drawn upwards. Developing an automated inclinometer system would enable continuous ...

Keywords: Accelerometers, Automation, Inclinometers, Wireless Sensor Nodes

Performance Evaluation of a High-Frame Rate 3D Range Sensor for Construction Applications

Alan M. Lytle, Itai Katz, Kamel S. Saidi

The NIST Construction Metrology and Automation Group (CMAG) has ongoing research in the application of laser imaging technologies in construction. Previous work has primarily focused on terrestrial LADAR scanning for applications such as terrain characterization, earthmoving analysis, and targeted object localization. The LADAR systems used in those research efforts can be characterized by long scan intervals and ...

Keywords: construction automation, LADAR imaging, 3D range camera, performance evaluation

A low-cost Home Automation System based on Power-Line Communication Links

Elena Mainardi, Stefano Banzi, Marcello Bonfè, Sergio Beghelli

In this paper we present a feasible Home Automation System scenario based on a very cheap distributed microcontroller architecture, rather than on devices interconnected by an expensive commercial bus. The means used for data communication is the home powerline, so that the system doesn’t require placing other cables in addition to standard electrical facilities.

Keywords: AC Powerline Commnication, Home Automation, Domotics, S.N.A.P. Protocol

A Location System with RFID Technology in Building Construction Site

Soungho Chae, Naruo Kano

In this paper, the authors explained the overview of data sampling method for development of a location system for workers using RFID technology. Data is the RSSI (Receive Signal Strength Indication) from RFID tag attached to the worker installing a rolling shutter, and was obtained from antennas and RFID readers set around the construction site. ...

Keywords: Location system, RFID Technology, Building construction site, Discriminant analysis model

Development of MEMS-Based Vibration Sensor for Tunnel Construction and Maintenance Monitoring System

Jung-Yeol Kim, Soon-Wook Kwon, Hyun-Seok Yoo, Moon-Young Cho

Recently, the demand for sensor technology has increased remarkably in all industrial fields. Sensor technology is closely related to cutting-edge technologies such as semiconductor technology and minute structure building technology, and thus, the high demand for small and light devices with high performance provides the impetus for conducting studies in order to develop sensors with much ...

Keywords: MEMS, Accelerator, Sensor, Measurement, Tunnel Monitoring, Automation

Automation of the Technological Flow in Casial Cement Factory

S. Arad, V. Arad, Petrosany University, Romania, V. Cosma

Cement production is an energy intensive process that consumes a significant portion of world energy. Significant optimization of the traditional cement grinding process can be achieved. Control system, automation and monitoring software assure means of improving the efficiency of the technological flow and of optimizing the energy consumption in Casial Cement Plant.

Keywords: Automation, Microprocessor applications, Process control, Programmable logic devices

Integration of an automated active control system in building glazed facades for improving sound transmission loss

B. Naticchia, A. Carbonari

In buildings, windows and glazed facades are often the weak link in protecting the interior from exterior noise. Since passive means for improving the Sound Transmission Loss (STL) of glazed facades are very expensive and are effective only at high frequencies, an active controller that increases the STL in the low frequency range is an ...

Keywords: ASAC system, Sound Transmission Loss, building glazed facades, piezoceramic actuators, stack actuators, feedback control

Interaction of Virtual and Physical Space in Contemporary Urban Design

Mir Saeed Moosavi

Predicting the environment people will be living in during the next millennium is not easy task, even at all possible. Film makers continually portray baffling urban decay where chaos takes over amidst convulsive and apparently uncontrollable growth. When this is coupled with a grotesque transformation of human relationships –the consequence of a generalized mistrust in mankind’s ...

Keywords: physical, space, virtual, urban planning

Low cost techniques for building surveying and their 3D representation

Andrea Chiorboli, Marco Gatti

The fast improvement and the latest years cost decrease of digital cameras allow the use of photogrammetic solutions for 3D modelling, even in not specialized companies.

Keywords: 3D, Close range, Low cost, Representation, Surverying

Real-Time, Three-Dimensional Object Detection and Modeling in Construction

Jochen Teizer, Frederic Bosche, Carlos H. Caldas, University of Texas, USA, Carl T. Haas, Katherine A. Liapi

This paper describes a research effort directed to produce methods to model three-dimensional scenes of construction field objects in real-time that adds valuable data to construction information management systems, as well as equipment navigation systems. For efficiency reasons, typical construction objects are modeled by bounding surfaces using a high-frame rate range sensor, called Flash LADAR. The ...

Keywords: No keywords

Comparison of construction photograph and VR image in construction progress

Hyungeun Kim, Naruo Kano

A photograph always makes an image of objects as they are without any alteration, so that a photograph is recognized as highly accurate information. Thus the photograph has been widely used as a record of site, routine work particularly for construction control and inspection. As a characteristic of photograph, the point of view for a photo ...

Keywords: Virtual reality, Progress control, Construction photograph, Image comparison

Automatic Assembly System for Modular Structure

Yuzuru Terada, Satoshi Murata

Automated construction is in high demand in many applications in the extreme environments such as space structure construction. In order to avoid exposure of human workers, construction machines are usually remote-controlled for such applications. Because of communication delay and narrow communication bandwidth, such systems require high-level expertise and also are ineffective and frustrating to the operators. We ...

Keywords: Terms—modular robot; assembly; self-organize; connector

An Innovative Aided Virtual Approach to the Recomposition of Fragments

F. Renna, N. Mosca, G. Carlomagno, G. Attolico, A. Distante

The recomposition of fragments is a challenging task that must exploit all the available information about fragments and the whole skill of human operators. A new approach to the recomposition of fragmented artworks is presented. It has being developed working on the problem of recomposing the St. Matthew fresco, painted by Cimabue in the Upper ...

Keywords: Virtual aided recomposition, Internet application, Colour correction

Image Processing For Construction Equipment Idle Time Analysis

Junhao Zou, Hyoungkwan Kim

Accurate analyses of equipment idle time is crucial for the efficient utilization of construction equipment in a large construction project. The less idle time the equipment has, the higher productivity the construction can achieve. However, it is not practical to measure construction equipment idle time by human visual observation. This ...

Keywords: Construction, Digital imaging, Equipment, Idle time

The Role and Benefits of Visualization in 3-D Street and Bridge Design

Rauno Heikkilä, Mika Jaakkola

The role and benefits of visualization in street and bridge design is introduced and evaluated on account of real experiments in some Finnish design projects. New 3-D design methods and CAD tools offer total new possibilities for cooperative design as well as concurrent design. The features of MicroStation CAD and Tekla Structures CAD ...

Keywords: Cooperative visualization, Concurrent design, Construction, street design, bridge design

A 3D Laser Scanner model as virtual database for integrated analyses

Claudio Alessandri, Marcello Balzani, Nicola Zaltron, Federico Uccelli, DIAPReM Centre

Some recent experiences of integrated analyses based on the use of 3D laser scanning and related 3D models will be presented. In the first place the idea of a 3D model as a multipurpose virtual database will be focused in relation to specific case studies where the contributions of surveyors, historians, engineers and restorers are ...

Keywords: 3D laser scanner, 3D modelling, integrated procedures

Intelligent Excavator for Hydraulic Mobile Machine

Otso I. Karhu, Jani M. Vilenius, Jarno R. A. Uusisalo, Javier Moya Cid, Kalevi J. Huhtala

Attachments and their controls can be connected to hydraulic mobile machines in different ways. The traditional approach is to install hydraulic valves of the attachment close to the operator. Thereby levers of the valves can be reached from the operator seat. This, however, restricts the size and number of the ...

Keywords: CAN, intelligence, mobile machine, proportional valve

Automated Bucket Stabiliser for Hydraulic Mobile Machine

Jarno R. A. Uusisalo, Jani M. Vilenius, Tomi R. Krogerus, Otso I. Karhu, and Kalevi J. Huhtala

A small general-purpose teleoperated hydraulic mobile machine is studied at the Institute of Hydraulics and Automation at the Tampere University of Technology. The boom and the bucket of the machine are normally controlled with a joystick. Horizontal movement of the joystick controls the bucket and vertical movement controls the boom. ...

Keywords: CAN, hydraulic, proportional valve, stabilizer

Remote control and monitoring of an underground robotic drilling equipment for landfill remediation

Vittorio Belotti, Rinaldo C. Michelini, Matteo Zoppi

Pollution control and landfill remediation are urgent incumbents, and robot technology is effective means to supply safe and worthy solutions, on condition to figure out reliable task-oriented architectures and to enable remote-steered duty cycles by implementing the appropriate software-hardware information aids. The paper presents a noteworthy example achievement, specially addressing ...

Keywords: Remote sensing and control, robot drilling, environment pollution, micro-tunneling

Modeling and controlling for hydraulic excavator's arm

Daqing Zhang, Qinghua He, Peng Hao, HaiTao Zhang

Controlling of excavator’s arm is an important and basic task in autonomous research of hydraulic excavator at present, but the behavior of the excavator’s arm is dominated by the nonlinear dynamics of the hydraulic actuators. To find a feasible way to control excavator’s arm and realize autonomous excavation, firstly, Full kinematic and dynamic models of ...

Keywords: adaptive robust control, autonomous excavation, dynamic model, hydraulic excavator, kinematic model, motion control

Development of Hardware In the Loop System (HILS) for Hydraulic Excavator

Tae-Hyeong Lim, Hyun-Chul Cho, Hong-Sun Lee, Soon-Yong Yang

Hydraulic excavators have been popular devices in construction field because of its multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of nonlinear opening characteristics and dead zone of main control valve, oil temperature variation, etc. Actual test is needed when new component or control algorithm is developed but many restrictions exist. ...

Keywords: Hydraulic Excavator, HILS, Paper map, AMESim

Virtual Prototyping and Real-Time Simulation of Heavy Equipment Manipulators including Elastic Deformations and Hydraulics

D. Schramm, D. Franitza, W. Lalo

The efficient and unerring development of sophisticated manipulation machinery strongly relies on the efficient use of CAE (Computer Aided Engineering) methods. Meanwhile these methods more and more spread into areas, which have been so far domains of so called VR (Virtual Reality). This encompasses the design aspect as well as the simulation of an already defined ...

Keywords: CAE, Real-time simulation, multibody systems

A Heavy Climbing Robotic Platform For Geotechnical Applications

Rezia M. Molfino, Roberto P. Razzoli, Matteo Zoppi

The paper deals with the consolidation of rocky slopes and walls and proposes enhanced automation and original solution to avoid risky undertakings, when firming-up is accomplished to safeguard peopled areas, highways, dwelling houses or public works. The topic shows growing environmental concern, aiming at removing human operators, unless, possibly, for preliminary in-site set-ups. The prospected solution ...

Keywords: Design methodology, Legged locomotion, Mechatronics, Telerobotics.

A Robotized Drilling System for Rocky Wall Consolidation

Rezia M. Molfino, Roberto P. Razzoli, Matteo Zoppi

The paper proposes a new highly automated drilling system able to create holes up to 20 m depth in rocky walls using standard 1.5 m length rods. The drilling system, to be used to automate rocky walls consolidation, has to be positioned in the points of the map earlier defined by the geologist; for ...

Keywords: Automation, Construction Robotics, Drilling system, Remote handling

Nonlinear Control System Design For Construction Robots: Estimation, Partial Linearization By Feedback And State-Dependent-Parameter Control

E.M. Shaban, K. Zied, C.J. Taylor, D.W. Seward

This work is concerned with the development of State Dependent Parameter, Proportional-Integral-Plus (SDP-PIP) control of a prototype robotic arm called Starlifter.

Keywords: PIP Control, Construction Robotics, SDP-PIP control, Partial Linearization by feed back

The development of a concept for a Dutch construction system for high-rise buildings

Frans van Gassel

During the eighties, the construction industry in Japan was in trouble. The image was bad, too many fatal accidents happened on the construction sites and craftsmen preferred to work in other industries. In addition, the space for constructing high-rise buildings was minimal, especially in the big cities. This is why in the nineties, the leading ...

Keywords: Construction Systems, High-rise Buildings, Process Design, Process Simulation

An Analytic Study of Architectural Design Style by Fractal Dimension Method

Kuo-Chung Wen, Yu-Neng Kao, Chinese Culture University

The design style form, is the different current thought and the local characteristic, the penetration idea but gradually develops into has the representative design form. One kind of typical style form usually is and the local humanities factor and the natural condition close correlation also must have in the creation the idea and the model ...

Keywords: architectural master, designing style, fractal dimension, architecture analysis

Technical developments in high-rise building

Ger Maas

What are the considerations when opting for high-rise building? What construction techniques for the logistics are applied in Europe? What ecological innovations are applied? What are the technical conditions for combined use of high-rise building seen from a vertical point of view? What are the differences in technical aspects of high-rise construction in the world? What ...

Keywords: High-rise building, development, clients, differences between continents, combined use in a vertical way, innovations, ecology

Implementation of a computer algorithm for an interactive 3D CAD generation of tensegrity structures

Jason E. Charalambides, Katherine A. Liapi

Tensegrity is a technology that can be applied to structures and its use can influence the construction time efficiency and project management in general. A significant drawback for a systematic application of tensegrity structures in the construction industry is the particularly complex geometry that engineers and architects have to generate in a two or three dimensional ...

Keywords: No keywords

IFD Buildings as design and delivery innovation

Roberto Di Giulio, Maddalena Cuccagna, Geert Jan van den Brand, Lee Quah Kiang

The building construction industry in Europe is now experiencing new forms of procurement and production systems, reflecting a matured market client/user-dominated, where the demand of new building is both for high-quality and low costs. The current state-of-the-art in building procedures must be improved, according to the dynamism of economic, social and technological factors that greatly affect ...

Keywords: industrial, flexible, demountable, buildings, customer satisfaction, collaborative engineering, comakership, product development

On the Economy and Benefits of 3-D Design Method in Bridge Engineering

Rauno Heikkilä, Mika Jaakkola, Oulu University, Pekka Pulkkinen

The paper examines the economy and benefits of 3-D design method in 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 some conclusions for future ...

Keywords: bridge design, 3-D CAD

Towards Automated Total Process in Road Construction

Rauno Heikkilä, Mika Jaakkola

Information technology can be generally understood as techniques and methods needed for creating, processing, refining, transferring and utilizing information through different working processes of construction. For managing information process different measurement, software, modeling, information communication as well as numeric control technologies are needed on the operational level. A visionary model of automated total process ...

Keywords: Construction, Total process, Information technology, automation.

Robotic Systems for Pavement Lane Painting Operations

Sangkyun Woo, Daehie Hong, Woo-Chang Lee, Tae-Hyung Kim

This paper deals with fully automating the pavement lane painting operations utilizing robotic technology. This study includes a novel design of robot structure that can be easily installed on support commercial truck and image processing algorithms that can recognize deteriorated lane marks. With this robot system, a single operator within a cab is capable of ...

Keywords: onstruction Robots, Kalman Filter, Lane Mark, Lane Painting Robot

Simulation and locomotion control for the Alicia³ climbing robot

Domenico Longo, Giovanni Muscato, Salvatore Sessa

this work simulation and implementation of the locomotion control of a single sliding suction cup robot, named Alicia3, is described. The main purpose of this kind of system is to explore vertical walls to search for potential damages or problems on oil tanks or dams. By using this system as carrier, it will be possible ...

Keywords: Climbing robot, locomotion control, maintenance, inspection

Control Issues of an Autonomous Vehicle

Q.P. Ha, T.H. Tran, University of Technology, S. Scheding, G. Dissanayake, H.F. Durrant-Whyte

This paper addresses some control issues of a robotic amphibious vehicle that can serve as a general framework for automation of tractors used in construction. These include the vehicle’s low-level dynamic equations, the development of its braking control system, kinematics in interactions with ground and the slip problem. Simulation and real-time results to date are presented.

Keywords: Unmanned Ground Vehicle, dynamic and kinematic modelling, skid-steering, sliding mode control, slip

On-machine Control and Documentation Systems for the Quality Management of Roads

Jochen Wendebaum, Johannes Fliedner

Quality management of the construction process is finding its way into the construction industry and authorities. with the goal of higher profitability, increased efficiency, reduced cycle-time, decreased call-backs and warranty work, and increased customer satisfaction. To reach a total quality management throughout the whole lifecycle of a construction (consisting of the steps 'planning', 'design', 'construction', ‘operation and ...

Keywords: Automation, ISO, Life cycle costing, Quality assurance, Quality control.

The Analysis of the Curtain Wall Installation Robot: Based on the Test in the Construction Site

Seung Nam Yu, Chong-Ho Choi, Seung Yeol Lee, Chang-Soo Han, Kye-Young Lee, Sang-Heon Lee

Automation in construction is one of the important issues in the field of robotics, but is distinct from factory automation (FA). Because of variations in materials and management, the role of automation in construction is often limited. A curtain wall is a large, heavy breakable object and requires precision installation, making it a better candidate ...

Keywords: Curtain-wall, Automation in Construction, Progress Management, Optimal Mechanic Design, TRIZ Method, Curtain-wall installation Robot, Construction Process Analysis

Control and Guidance of a Pipe Inspection Crawler (PIC)

Majid M. Moghaddam, Alireza Hadi

Inspection robots are used in many fields of industry. One application is monitoring the inside of the pipes and channels, recognizing and solving problems through the interior of pipes or channels. This ability is necessary especially when one should inspect an underground pipe. In addition, many sensors are used on these robots to improve the ...

Keywords: control, inspection, monitoring, nondestructive test

Design, Modeling and Prototyping of a Pipe Inspection Robot

Majid Mohammady Moghaddam, Mohammad Reza Arbab Tafti

one of the most important requirements in repairing and maintaining of pipelines is the ability to monitor and evaluate the pipes interior. This work deals with the design and prototyping of an apparatus to traverse piping systems for inspection, cleaning and or examination of the piping systems. At first, the existing pipe crawlers are studied ...

Keywords: In-pipe inspection, Nondestructive test, Robot mechanism

Multiconfigurable Inspection Robots for Low Diameter Canalizations

E.Gambao, M. Hernando, A. Brunete

Pipe inspection is a very important issue in construction. The inspection of low diameter canalizations is a pending issue nowadays, however it would help to repair and maintain a large amount of installations. In this article the lines that are followed to build a robot that is capable to move inside pipes of less than ...

Keywords: microrobot, inspection, modular, multiconfigurable

Application of robots for inspection and restoration of historical sites

Michela Cigola, Assunta Pelliccio, Omar Salotto, Giuseppe Carbone, Erica Ottaviano, Marco Ceccarelli

In this paper a study of feasibility is presented for using robots or robotic systems in novel applications concerning with activities related to analysis and restoration of historical sites of architectonic interest. The work has been developed within a collaboration between DART and LARM Laboratories, of University of Cassino. Design requirements and peculiarities of operation of ...

Keywords: Automation, architecture Analysis and survey, Non-industrial applications of Robots

Automation and Robotisation in Construction and Transition Management

Frans van Gassel, Ger Maas

A number of problems in the construction industry could be solved with the aid of automation and robotisation technologies. There are indications that automation and robotisation processes are similar to transition processes. Recent years have seen a good deal of research into these kinds of often complex processes and how to manage them. This knowledge may ...

Keywords: No keywords

Petri Net Based Diagnosis for Construction Design

Calin Ciufudean, Adrian Graur, Constantin Filote, Daniel Popescu, Camelia Petrescu

In this paper we propose a Petri net within a diagnosis system for construction design. We assimilate the construction process with an assembly process that composes parts and/or subassemblies into a unique product. We assume that the assembly supervisor (AS) system is distributed, and it solves several local AS attached to the nodes of the ...

Keywords: Petri nets, diagnosis, assembly process, objective function

Building A Dynamic Path Choice Model of Flooding Evacuation in Urban Area

Kuo-Chung Wen, Chih-Fan Hsu, Inst. of Architecture and Urban Planning, Chinese Culture University

This research has shown the difficulties associated with the GIS and the flooding evacuation path search through the huge searching space generated during the network analysis process. This research also presents an approach to these problems by utilizing a search process whose concept is derived from natural genetics. Genetic Algorithms (GA) have been introduced in the ...

Keywords: Genetic Algorithms, Network Analysis, GIS, Evacuation Path

Analysis of Incentivised Remuneration Schemes in Construction Industries

Hemanta Doloi

This paper puts forward a framework for benchmarking appropriate remuneration schemes for optimum labour productivity in highly unique construction industries in modern engineering practice. Socio-economic motivational factors among the various stakeholders have been identified and analyzed in order to incorporate in overall decision making process. The research aims to develop an automated decision support system (DSS) forecasting ...

Keywords: Multi-criteria decision analysis, AHP, fuzzy preference modeling, incentive program

A Structured Approach to Form Dependency Structure Matrix for Construction Projects

J. Uma Maheswari, Koshy Varghese

The sequence of design activities is vital, particularly in interdisciplinary projects. Sequencing of activities is influenced by the information dependency among the activities. The dependency relationships among the design activities in a project are of three types – independent, dependent and interdependent or loops. Interdependent activities (or loops) require assumed information to start and progress. If ...

Keywords: Dependency Structure Matrix, Project Planning, Information Flow, Construction Design Projects

Cross-Organization Process Integration in Design-Build Team

Min-Yuan Cheng, Ming-Hsiu Tsai, National Taiwan University of Science and Technology

Combining the design-build and fast-tracking delivery methods, this study aimed to reengineering the fast-tracking processes across both organizations of designer and constructor, so that fast-tracking processes in the design-build team can span across organizational boundaries and are composed of cooperating workflows executed in different organizations. For this purpose, two subjects are described in this study, namely, ...

Keywords: design-build, fast-track construction, business process reengineering (BPR) , virtual enterprise (VE), intelligent agent (IA)

Construction Conceptual Cost Estimates Using Support Vector Machine

Min-Yuan Cheng, Yu-Wei Wu, National Taiwan University Of Science And Technoloy

Conceptual cost estimate plays an essential role in project feasibility study. In practice, it is performed based on estimator’s experience. However, due to the inaccuracy of cost estimate, budgeting and cost control are planned and executed inefficiently. Support Vector Machines (SVMs), an Artificial Intelligent technique, is used to conduct the construction cost estimate. The algorithms of ...

Keywords: Construction Cost, Conceptual Cost Estimate, Support Vector Machines

Evacuation in Buildings: Path-Finding for Real-Time Evacuation Systems

Po-Han Chen, Feng Feng

Finding the shortest path between any two nodes in a network is a classical problem in a number of research areas. Although some general shortest path algorithms have already been developed, such as Dijkstra’s shortest path algorithm, in some situations, their computation complexity is too high to be of any ...

Keywords: 1-IRS, dynamic interval routing schemes, large indoor area routing, shortest path finding

Mobile Robotics Tecnique For 3D Environment Reconstruction

Annalisa Milella, Mario Foglia, Giulio Reina

Mobile robotics can be successfully applied for 3D environment exploration and reconstruction. Here, a vehicle tracking system is described based on combining laser and camera information aiming at building maps of unstructured environments. The proposed system integrates a ground-fixed CCD camera with a phase-shifting laser to follow the vehicle moving across the environment. The method comprises two ...

Keywords: Mobile robotics, laser measurements, environment reconstruction, mapping.

Planar Map and 3D Model Construction Using a Mobile Robot

Tommaso Gramegna, Giovanni Attolico, and Arcangelo Distante

Building the planar map and a 3D model of the environment is a fundamental task for a mobile robot that , using several and properly configured equipments and appropriate software modules, can reach these goals with high precision and in an automatic way. Such capability can increase the efficiency and the quality of 3D reconstruction ...

Keywords: Autonomous Robot Navigation, Range Sensing, Planar Map Construction, 3D Reconstruction

Laser Energy Transmission for a Wireless Energy Supply to Robots

Nobuki Kawashima, Kazuya Takeda, Hisanori Matsuoka, Yasuo Fujii, Masahiko Yamamoto

The importance of the wireless energy transmission is emphasized for the actual operation of robots. Examples of application such as a lunar rover mission for the ice exploration, rescue robot for nuclear accident and laser driven kite plane are shown. Problems to be solved are discussed for more extensive utilization of the technology.

Keywords: laser, energy transmission, solar cell, laser diode, rescue robot, lunar rover

Automatic control system for the declivity angle of the finishing beam

Mircea V. Nemescu, Mitica Temneanu

The paper presents a new system for automatic control of the position of finishing beam of a machine for the deposition of asphaltic mixtures. The system uses an inertial transducer for measuring the inclination angle of the beam. The transducer’s functioning is without mechanical contact, the variations of the inclination angle being directly transformed into phase ...

Keywords: control system, declivity angle, finishing beam, inertial sensor

A visual manipulation approach over constructive process management-interactive circles biosphere

Chi-Hsin Liang, Wei-Hao Huang, Chun-I Chen, Teng-Wen Chang

With the complexity of construction process, process information visualization and representation is often key research issues. Among those issues, when the problematic events occurred and need attentions of responsible persons, the notice methods are often applying multiple communication media such as vocal communication, SMS messages and pictures taken from the ...

Keywords: Ambient interface, construction information management, information visualization, intuitive manipulation

Anti-Sway System for Slewing Cranes

Stefan Palis, Frank Palis, Mario Lehnert, CePLuS GmbH

In the last few years, automation of slewing cranes is gaining more and more importance in transport and handling processes. However, each operation of crane with rope-suspended loads provokes swaying movements of load. Neutralization of these swaying movements represents a key problem when high handling speeds, operational reliability, accurate traveling ...

Keywords: slewing crane, modeling, anti-sway, optimal control

Study on the Storage and Transportation Optimization of Pre-fabrication Factory

Kuo-Chuan Shih, Chun-Nen Huang, Shu-Shun Liu, Tao-Sheng Wu, Ming-Teh Wang

Within the scope of construction supply chain, various uncertainties arising in the processing procedure lead to difficulties and impracticality in structural planning. As a result, consistency in individual job function and standardization of components of the production process, which is also known as "industrialized construction," become the major topic for discussion in the last few years. ...

Keywords: industrialized construction, prefabrication storage and transportation, supply chain, optimization

The Mobile Production of Prefab Wood Houses

L. Lunin, A. Bulgakow, Y. Panibratov, T. Bock, M. Kuehnet

The mobile automated production line for the manufacturing of prefab wood houses permits to organize the output of required quality products in a distance from industrial centers without engineering operational bases and high-skilled staff. It is capable to meet the requirements of various designs, to maintain the high effectiveness and reduce different forms of ...

Keywords: mobile production, wood house, robotic, automation

Constructing a Unique and Complex Tilt-Up-Panel Structure Utilizing 3D CAD and Animation

Juan D. Manrique, Mohamed Al-Hussein, , Avi Telyas, Geoff Funston

This paper presents the concept used to construct a complex residential Tilt-Up-Panel structure utilizing 3D-Modeling and animations. The residence is comprised of 108 panels of varying rectangular shapes with "dog legs" and window and door "cutouts" that look like an assembled jigsaw puzzle. The erection and installation procedure calls for ...

Keywords: Complex structure construction, 3D Animations, 3D Visualizations, Layout Optimization, Crane Selection

Development and Effects of New Method of Conveying Materials for Construction of Cast-in-place Concrete Slabs

Yu Moroyama, Yukihiro Kurata, Hajime Yamashita, Toujyuro Nishi, Ishikawajima-Harima Heavy Industries Co.

In construction of bridges with cast-in-place concrete slabs, we often observe that materials of floor slabs are conveyed by human power in construction sites where transportation of materials by cranes or other large and heavy equipments are restrained. Since a possibility of substantial cost reduction was anticipated through rationalization of such conveyance work, we developed the ...

Keywords: Cast-in-place concrete slabs, Method of conveying materials, Monorail, Self-propelling carriage, Rationalization of construction

Refitting, Reorganization and Use for New Purposes with Prefabricated Construction Elements Based on the Fast-Connector-System

Jana Timmermans, Ron Unser

Topics such as reorganization, use for new purposes and refitting gain more and more significance in the building sector. The stock of existing buildings often suffices concerning quantity and amount of space. Usually there is a solid basic substance, which demands only a repair of surfaces and above all an actualization of the technical building ...

Keywords: fast-connector, installation, prefabrication, refitting, reorganization, subsystems, technical instrumentation

Instrumentation of a Roller Compactor to Monitor Vibration Behavior during Earthwork Compaction

Robert V. Rinehart, Michael A. Mooney

Among the goals of intelligent soil compaction is feedback control of vibration frequency, force amplitude, and forward velocity to optimize the compaction of soil. The development of a robust model structure for feedback control and/or soil parameter identification for continuous quality control/quality assurance requires comprehensive information about the machine's behavior, e.g., vibration characteristics. This paper describes the ...

Keywords: Intelligent Compaction, Vibration Monitoring, Accelerometers, Hall Effect Sensors

The Possibility of Directional Stability Improvement of Articulated Tool-Carriers

Marian J. Lopatka, Tomasz Muszynski, Military University Of Technology

Our research shown that there are two main reasons of poor directional stability of articulated tractorstoolcarriers: a small frame articulation which always occur due to different reason and limited perception of driver which has insensitivity zones of lateral and angular location. On this basis the principle for stabilization of steering system was worked out. In this ...

Keywords: Articulated frame vehicle, directional stability, driver aid system, simulated investigation

Planning of scooping position and approach path for loading operation by wheel loader

Shigeru Sarata, Yossewee Weeramhaeng, Takashi Tsubouchi

Our group developed a method for planning of scooping point and approach path as a part of our ongoing research on autonomous loading operation of wheel loader at construction sites. The planning of scooping position and direction is obtained through processing pile model. The pile model represents shape and volume of ...

Keywords: loading operation, path generation, scooping wheel loader

Simulation Study of a Control Procedure for Automated Loading of Bulk Media

Ahmad Hemami, Ferri Hassani

Automation of loading of bulk media, or autoloading by an excavator, implies that an excavator for soft rock or particulate material loads its bucket successfully without the intervention of an operator. The subject has been under investigation for several years now. Nevertheless, the result of research has not yet reached to the level of implementation ...

Keywords: Autoloading, Automation of excavation, simulation Front-end loader, Simulation of soil digging

Formation of geometrical structure of manipulator for mechanized bridge

F. Kuczmarski, J. Zelkowski, M. Gontarczyk, Military University of Technology

The Army use bridges to cross narrow water and terrain obstacles. The bridges are carried on wheel or caterpillar vehicles then they are laid on obstacle. Generally the bridges are not put by crane, but by special manipulator - called manipulator of mechanized bridge. This manipulator structure depends on kind of bridge and way of ...

Keywords: kinematic structure, manipulator, mechanized bridges

Hydrostatic Transmission with a Traction Control

Massimo Martelli, Luca G. Zarotti

The paper addresses a typical application of the hydrostatic transmissions, i.e. the locomotion of vehicles. It is proved that if a full traction scheme is adopted (with hydraulic motors on both axles) the contribution of the front and rear axle to the overall traction capacity can be changed by acting on the displacement setting of ...

Keywords: fluid power, hydrostatic transmission, modelling and simulation, traction control

Cutting and Impedance Model of Soil-Excavator Interaction

Fiorenzo Malaguti

The present work considers a double wedge soil cutting model, suitable to describe the soil-tool interaction in automated digging processes. This one or a similar model will be the base to reach a set of equations by which to fit online typical soil and tool parameters, instead to fit these ...

Keywords: Automation, digging, soil, online fitting

Smart GA-Based Cost-Scheduling Model for Resource-Constrained Projects

Haijie Weng, Po-Han Chen

In construction scheduling, problems can arise when each activity can be started at different time points and the resources needed by the activities are limited. Moreover, activities have required conditions to be met, such as precedence relationships, resource demands, etc. To resolve these problems, a two-phase GA (genetic algorithms) model is proposed in this paper, in ...

Keywords: Resource-constrained project scheduling; genetic algorithms; time-cost trade-off; resource scheduling

Integration of CMIS and MS Project in Construction Schedule Control

Hsi-Chi Yang, Yan-Chyuan Shiau, Ging-Jae Huang, , Chih-Kun Chu, Tsung-Pin Tsai

The Application of IT is not as popular as other areas at Construction Industry in Taiwan. Since IT can help enterprises to integrate most complex information, we can make big progress in cost, quality and service. Construction Industry has to integrate surveying, planning, design, structural design, shop drawing, contracting, valuation, and so on, we need ...

Keywords: Estimate, MS Project, Schedule Control, Site Records

The Development of Monitoring & Management System for Environment Index of Ecological Engineering

Yan-Chyuan Shiau, Da-Jen Chu, Jen-Chen Jao, Chih-Kun Chu, Tsung-Pin Tsai, Miao-Ling Huang

In order to maintain ecological environment, protect limited natural resources, promote the quality of life, and advance the eternally usage of all precious resources, we have some good achievement in both industrial circles, government official areas, and academic communities. Since each engineering method will cause different impact, we need to effectively grasp the biological information for ...

Keywords: Database, Ecological Engineering, ER Model, GIS

Inadequate Interoperability: A Closer Look at the Costs

Robert E. Chapman

The 2004 NIST interoperability cost study estimated an annual cost burden of $15.8 billion due to inadequate interoperability in the capital facilities segment of the U.S. construction industry. The $15.8 billion estimate is the sum of individual annual cost burdens for four key stakeholder groups: architects and engineers ($1.2 billion); general contractors ($1.8 billion); specialty fabricators ...

Keywords: buildings, economic impact evaluation, industrial facilities, integration and automation technologies, interoperability

Real-Time Decision-Making with Partial Information for Construction Management

Wen-der Yu, Shao-Shung Lo, Gang-wei Fan

Real-time decision-making with partial information is commonplace in the daily tasks of a construction manager/engineer. However, traditional decision support systems (DSSs) do not support partial information inference. Data pre-processing was adopted to solve the data-incompleteness problem. Unfortunately, such approach may be biased. This paper presents a newly developed neuro-fuzzy system, named Variable-attribute Fuzzy Adaptive Logic Control Network (VaFALCON), ...

Keywords: neuro-fuzzy system, real-time decision making, partial information, AI

Integrating Site Conditions in a Web-Based Intelligent Cost Estimator (WICE) System for Highway Construction Projects

Wen-der Yu, Gang-wei Fan, and Shao-Shung Lo

This paper presents an integrated Web-based Cost Estimator (iWICE) system. The iWICE incorporates the influence of site conditions into a previous developed Web-based Intelligent Cost Estimator (WICE) system for highway construction projects. A VaFALCON neuro fuzzy system is employed to construct the site condition knowledge-based system that provide modifications for work unit costs from WICE. Moreover, VaFALCON ...

Keywords: conceptual cost estimating, neuro-fuzzy system, site conditions, highway

Establishment of Contract Management System for Construction Company & Subcontractor

Yan-Chyuan Shiau, Cheng-Wei Liu, Shu-Jen Sung, Chih-Kun Chu, Tsung-Pin Tsai

The Construction environment has been changed tremendously for last few years in Taiwan. Since the capital has been flowed to China, real estate has no more good market. By the way, the practice of volume ratio makes the problem of vacant houses worse. In order to solve the land investment pressure, build companies need ...

Keywords: Contract Administrating, Construction Specification, Construction Industry, Purchasing

REPAC information system

Massimo Cataldi, Daniele Ganapini, Nuova QUASCO, Ilaria Travaglini

In Italy, monitoring presences in the building site represents an important problem for technical and organising aspects and at the same time from the economical and administrative point of view. The existance of a social clause concerning the respect of the terms of the national contract signed by trade unions in the contracts of public ...

Keywords: Building Industrial District, Monitoring, Public Works, Social Responsability

Robotics and Automation in Japanese Construction Industry

Tatsuo Arai

Although the Japanese industrial robot companies are proud of their number and sales of commercial industrial robots, the advanced research and developments are to look at the future robotics used in new applications. The term “Robot Technology (RT)” suggests rather broad meaning not limited to the conventional robot arm and its applications. It ...

Keywords: No keywords

Construction Automation in North America

Carl Haas, Kamel Saidi

Keywords: No keywords