2006 Proceedings of the 23rd ISARC, Tokyo, Japan

WaKaGaCAR: Wadokei Karakuri Gattai Construction Automation Robotics

Thomas Bock
Pages 1-4

There is a cultural difference in the perception of robotics. In western culture the society and the human being adjusts itself to to mechanism and therefore fights it. The same happened with religion where christianity overlapped the traditional shamanism in Europe and fought till today with Islam. In Japan Buddhism did not ...

Keywords: WaDokei, Karakuri, Gundam, Gattai, Construction Automation Robot

The Chikyu and Ocean Drilling Science

Asahiko Taira, Shinichi Kuramoto, Daniel Curewith
Pages 5-6

The construction of a Deep Sea Drilling Vessel, the Chikyu began in April 2001 and was completed in the summer of 2005 [Taira, 2005]. The Chkyu is a 210 meter-long vessel, with a gross tonnage of 57,087 tons, and a drilling derrick standing 121 m above sea level. The Chikyu is a state-of-the-art ...

Keywords: No keywords

Automation of Road Construction - The State of the Art in Europe

Rauno Heikkilä, Mika Jaakkola
Pages 7-10

Due to the development of 3-D techniques and methods, the utilization of different automated and 3-D based working methods has increased a lot in Europe during last few years. In the paper, this present situation is introduced based on the practical observations and tests gathered from five different Europe countries. ...

Keywords: Road construction, automation, 3-D machine control

Identifying the Demand for Innovative Future Construction Technology

Hyoungkwan Kim, Kyung Hwan Cho, Hyo-Jin Kim, Moon Kyum Kim, Seung Heon Han, Sang Hyuk Park
Pages 11-14

Construction projects are getting bigger and more complex while the average productivity of the industry is not improving enough. It is essential to look at the means available, in order to improve the efficiency and effectiveness of the construction industry. Fusion of traditional construction technology and new technology is an alternative plan ...

Keywords: Construction industry, Innovation, Technology Fusion

Research Planning Methodology for Technology Fusion in Construction

Seung-Heon Han, Hyo-Jin Kim, Kyung Hwan Cho, Moon Kyum Kim, Hyoungkwan Kim, Sang-Hyuk Park
Pages 15-18

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: Construction Research, Technology Fusion, Technology Foresight, Planning

Deployment of Construction Robots Applying the Information Technology and Network System

Shigeo Kitahara, Yoshida Takashi
Pages 19-23

The future points to the application of IT to the construction robot for the overall processes of civil engineering work from the planning and design stages to the maintenance management. The Civil Engineering Technology Subcommittee in charge of civil engineering work field in the Robotics Committee in Construction of the Japan Society ...

Keywords: construction robots, future perspective, Information Technology, civil engineering work

Introduction to the General Technology Development Project: Research and Development of Advanced Execution Technology by Remote Control Robot and Information Technology

Hiroshi Yamamoto, Yutaka Ishimatsu, Takashi Yamaguchi, Katsumi Uesaka, Koichi Aritomi, Yoichi Tanaka
Pages 24-29

Civil engineering construction work has always been accompanied by a high proportion of tasks that are either dangerous or unpleasant or both. Enhancing the general working environment and boosting safety levels are critical issues for the industry. Meanwhile, the industry has been slow to embrace IT, and there is substantial scope for ...

Keywords: execution technology, information technology, robot technology, three-dimensional information, construction equipment

Themes and Prospects of Automation and Robotics in Urban Infrastructure Renewal

Tadashi Kanzaki
Pages 30-35

Called the urban arteries, the traffic is significantly affected by its congestion. One of the solutions to this is overpass, whose construction is forced to be amidst heavy traffic and thus extending the construction period. To deal with these situations, a crossing-over structure method have been developed in a range of sectors ...

Keywords: crossing-over structure method, cycled construction, folding type erection, rotation erection, air caster erection, construction at greater depths, long-distance transportation systems, conveyance and assembly of segments

Experiment on Teleoperation of Underwater Backhoe with Haptic Information

Taketsugu Hirabayashi, Takashi Yamamoto, Hiroaki Yano, Hiroo Iwata
Pages 36-41

There has already been progress in the development of unmanned construction and inspections of structures on land, mainly because it is possible to use radio waves and optical images that are effective ways to remotely control work and operate robots. In contrast it is not easy to develop unmanned work methods for ...

Keywords: Bilateral control; Underwater backhoe; Teleoperation

Autonomous Underwater Towed Vehicle with Various Navigation Modes

Tetsuya Shiraishi, Jin-Kyu Choi, Toshinari Tanaka
Pages 42-45

This paper introduces an autonomous towed vehicle which has various navigation modes; towed mode, autonomous mode and kite mode, to stand against fast and changeable sea currents. The property assures safe and reliable observation works irrespective of a current speed. Such vehicle must be useful for port area application since ...

Keywords: AUV, Towed vehicle, Port area, Security

Development of Automated Shoreline Surveying System Using Amphibious Walking Robot - The Design Concepts and the 1st Field Experiment -

Toshinari Tanaka, Tetsuya Shiraishi
Pages 46-51

One of the main work is survey work at shoreline in port areas. For instance, harbor-masters survey shorelines to maintain encroached beach, and some work are carried out on weak terrain. Consequently, the primary working force is still human-intensive although the mechanization is desired from viewpoint of the efficiency. Therefore, we are ...

Keywords: Shoreline survey work, Amphibious walking robot, Moduled watertight structure

Evaluation of Operativeness Concerning Interface of Remote Controlled Backhoe

Taketsugu Hirabayashi, Hiroyuki Yasuta, Hiroaki Yano, Hiroo Iwata
Pages 52-55

Operation of the man-machine interface should be easy and intuitive for efficient works when using a remote-controlled underwater backhoe. Moreover, operation is preferable to be unwearying. Tiredness in the operation of the backhoe front part by the similar-figure-interface becomes a serious matter of concern in the site experiment of an underwater backhoe. The ...

Keywords: Interface, Underwater backhoe, Teleoperation

Highly Accurate Guidance Control to Dumping Position by Sea Hunter System -Applied to Mountain-like Mound Construction on Seafloor--

Minoru Masuda, Ei Fujiyama
Pages 56-61

The Sea Hunter system is the next-generation construction management support system that allows highly accurate guidance control for positioning workvessels at any time and any place. Positioning accuracy is achieved by WADGPS. This report describes the construction results and effectiveness of the Sea Hunter system, which were obtained from actual construction of the ...

Keywords: Highly Accurate Guidance Control for Positioning, WADGPS, Deep Water, Artificial Mountain-like Mound on Seafloor

Development of Unmanned Caisson Installation System (UCIS)

Takumi Manabe, Tatsuya Hirayama
Pages 62-65

Unmanned Caisson Installation System (UCIS) is an unmanned and remote-control technology though wireless LAN for performing a series of operation involved in caisson installation, which has been performed on caissons by manpower. The system enables one operator in a remote control room to perform diverse works involved in caisson installation, such as pouring ...

Keywords: UCS(Unmanned Construction System), Caisson Installation, Wireless LAN

Development of a Compact Hybrid Underwater Vehicle Using Variable Vector Propeller

Yutaka Nagashima, Nobuyoshi Taguchi, Takakazu Ishimatsu
Pages 66-71

This paper describes an autonomous underwater vehicle (AUV) with fuzzy controller and PID controller. Our AUV is compact and light in weight by employing variable vector (VARIVEC) propeller and compact controller. The AUV is autonomously controlled by utilizing the electronic compass, collision avoidance sonar, depth sensor and GPS receiver unit. ...

Keywords: AUV, UROV, Variable vector propeller, Maritime archaeology

AUV Navigation Based on Multi-Sensor Fusion for Breakwater Observation

Hayato Kondo, Toshihiro Maki, Tamaki Ura, Takashi Sakamaki
Pages 72-77

Autonomous Underwater Vehicles (AUVs) are suitable for underwater observation, since they can swim freely without an umbilical cable. This paper proposes a robust navigation method for AUVs operating around artificial structures such as piers, quays and breakwaters. This method consists of a State Estimator and a Guidance System, enabling localization in the configuration ...

Keywords: Autonomous Underwater Vehicle, Navigation, Sensor fusion, Particle filter, Mosaic

Interactive Media of Dynamic Sketch

Kuan-Ting Chen, Teng-Wen Chang, Shang-Chia Chiou
Pages 78-82

Our goal is to provide a Multi-Perspective viewpoint interactive interface media of sketch-based for rapid get spatial layout in Show-Window. In traditional way, designer is used to describe concept in early phases of design by Single-Perspective viewpoint via sketch in Show-Window design environment. It usually makes blind spot of spatial ...

Keywords: Multi-Perspective, Sketch, Show-Window, Interactive media

Tangible User Interface Design for Lower Limb Disabled Children - A Composite Function of Toy Accompanying Children at Home

Yu-Shu Chen, Hong-Sheng Chen
Pages 83-85

This study describes the requirement of lower limb disabled children. Lower limb disabled children that limit their movement in nowadays environment. Ubiquitous computing concept is more popular now. This research uses tangible user interface to be a toy accompanying children at home, combine ubiquitous computing concept to help them control ...

Keywords: Disable; disability; tangible; user interface,children; ubiquitous computing

Towards Instant Interaction Environment - A Handy Design Inspiration Object

Yang-Ming Wang, Teng-Wen Chang, Shang-Chia Chiou
Pages 86-89

Nowadays, digital design media have played very important roles in the design field. Designers carry on various stages of design through their assistances. However, those intermediaries should be regarded as not only pure operating practices, but assistances which aid the thinking of design concept with more intelligences and possibilities. Designers ...

Keywords: ubiquitous computing, tangible media, rethinking, interaction

Using DSM and fmGA to Determine the Optimal Design Process for Engineering Design Projects

Chung-Wei Feng, Yu-Chuan Yeh
Pages 90-95

The quality of the design has been recognized as one of the key factors to the success of the engineering project. However, engineers need to repeatedly perform design tasks, such as processing information, to produce an appropriate design result. Such a design process involves many activities and lead into one or several ...

Keywords: Design Planning, Optimization, DSM, fmGA

TRIVERA: An Efficient Tool for Cost Integration into 4D Models

Katherine A. Liapi, Theodora Paschoudi
Pages 96-101

State-of the-art three-dimensional (3D) software allow for information exchange with other software used within the AEC industry. In advanced applications construction schedule has been successfully integrated into 3D projects, and the resulting 4D models provide an innovative decision making tool that can facilitate the construction of large scale projects. Though ...

Keywords: Cost Integration, Construction visualization, Cost Visualization, 4D CAD

System Requirement Analysis of a Construction Delay Analysis System

Jyh-Bin Yang, Chih-Kuei Kao, Yi-Yao Lee
Pages 102-106

When the completion of a project is delayed, how to accurately analyze the impact of a delayed activity on the project is a main problem for construction project managers. Available professional scheduling tools have been widely employed to plan and control construction schedules. They are not designated for delay analysis that requires ...

Keywords: Schedule Delay Analysis, System Analysis, MIS, IDEFØ

A Framework for Exploring ICTM Impact on Building Design and Management Applied to a Hospital Development Project: Proposing ICTM to Building Design and Management for Information Consistent Control of Construction and Service Robots

Anita Moum, Thomas Bock
Pages 107-112

The field of building design is complex, and the successful interplay between iterative and interdependent processes, roles and actions can be seen as a foundation of developing good architectural design solutions and building projects. Over the years, the development of ICTM (Information- and Communication Technologies Management) has led to several changes in the ...

Keywords: building design process, building design management, IFC-based BIM, ICT impact, robotics

Constitution of Design Management System for Curtain Wall

Hong-Kyoon Lim, Sang-Ho Yoon, Sang-Woo Park, Sang-Jun Park, Jae-Youl Chun
Pages 113-117

The curtain wall design process of Korea can be mainly divided into Basic DWG phase performed in architectural design phase and Shop DWG phase performed in the curtain wall design phase. The designing in such process (the process of going over to Shop from Basic) is being performed mainly by ...

Keywords: Curtain wall design management system, process model, product model

Benchmarking Technological Competitiveness of Precast Construction through Patent Map Analysis

Wen-der Yu, Shao-tsai Cheng, You-lin Shie, Shao-Shung Lo
Pages 118-123

Technological advancement plays a key role in business competitiveness of a construction firm in the market. Nowadays, there are many free patent databases worldwide, which provide important sources for information of the technological advancement of construction firms. By combination of patent mapping techniques and properly selected commercial patent analysis software, the knowledge of ...

Keywords: Patent analysis, Patent maps, Technology innovation, Precast construction

Quantifying Benefits of Knowledge Management System -A Case Study of an Engineering Consulting Firm

Wen-der Yu, Pei-lun Chang, Shen-jung Liu,
Pages 124-129

Quantifying the benefits of a knowledge management system (KMS) is a difficult job. Very little literature was found to report the rate of investment (ROI) resulted from a KMS. Quantification of returns from KMS investments involves several tasks: identification of value added knowledge management (KM) activities, identification of benefits generated by the value ...

Keywords: Knowledge management, Quantification, Benefits, Engineering consultant

Assessment and Comparison of Technology Utilization in the Taiwanese and American Industries

Li-Ren Yang, Chung-Fah Huang, James T. O'Connor
Pages 130-133

The purpose of this study was to investigate the extent to which integration/automation technologies are being used in executing projects in the Taiwanese and American industries and to quantify the similarity and difference in technology usage in the two areas. This was accomplished by two industry-wide surveys and analysis of 209 American ...

Keywords: Technology, automation, integration, project, industry

Analysis of Construction Inventive Patents Based on TRIZ

Shao-tsai Cheng, Wen-der Yu, Chih-ming Wu, Ruey-sen Chiu
Pages 134-139

In this research, a specific category of construction technologies, e.g., formwork, is selected for case study. 40 invention principles and 39 engineering parameters were applied with contradiction matrix to find out the “improving” and “deteriorating” parameters for a design case. By consulting the contradiction matrix, innovative principles can be found. It is concluded ...

Keywords: TRIZ, 40 Principles, Construction innovation, Formwork

Life Cycle Management and Assessment of High-Tech Construction Projects

Chih-chiang Chang, Lee-kuo Lin, Chien-chih Lin, Hui-chi Lin
Pages 140-145

The development and performance of construction industry are strongly relative with citizens’ living quality in each country.Such is meaning that the life cycle management (LCM) and life cycle assessment (LCA) are important issues to each construction project. In this 21st century, information technology (IT) is an important issue for economic ...

Keywords: Life cycle management, life cycle assessment, information technology, high-tech

Mandatory Implementation Strategy of the Improvement of Existing Buildings in Taiwan

Wen-Hsiung Hsiao, Sy-Jye Guo, Ming-Teh Wang, Chun-Nen Huang, Chao-Hung Lu
Pages 146-151

As the buildings of Taiwan have been stepping towards the aging stage, the act of after-use maintenance of buildings gradually becomes a mainstream movement. After the serious fire of Welcome Restaurant happened in 1995, Taiwan government has been comprehensively implementing Public Safety Inspection Declaration System for the refuge facilities and the constructed ...

Keywords: seismic resistance, public safety inspection, obstacle-free facilities

Environment Design for Human-Robot Symbiosis - Introduction of WABOT-HOUSE Project -

Shigeki Sugano, Yuko Shirai, Soungho Chae
Pages 152-157

In this article, we would like to introduce the WABOT-HOUSE project. The attraction of the Waseda University, the School of Science and Engineering, through the Gifu prefecture was the cue of the project. In consequence, the WABOT-HOUSE is the co-operation project with industrial and administrative sectors. Its goal is to encourage the ...

Keywords: Symbiosis, Robot, House, Social System

Ubiquitous Spot Service for Robotic Environment

Kenichi Ohara, Bong Keun Kim, Tamio Tanikawa, Kohtaro Ohba
Pages 158-163

Recently, ubiquitous computing is a hot topic. And, ubiquitous computing brings big benefit for robotics. Distributed computers provide much information to robots. And, distributed sensors help the navigation and manipulation of robots based on the sensor network. Moreover, to distribute the actuators at the environment, environment becomes one of the ...

Keywords: Ubiquitous robot, Area sensing, Spot service, Wireless sensor network

Pose Estimation of Construction Materials Using Multiple ID Devices for Construction Automation

Tomohiro Umetani, Kenji Inoue, Tatsuo Arai
Pages 164-169

This paper describes a method of pose (position and orientation) of large object such as construction materials using multiple ID devices for construction automation. Object pose is crucial issue for construction automation, however, the pose can change by the robots and workers that do not have ID reader or measure the object ...

Keywords: parts oriented construction system, data collection and labeling system, radio frequency identification (RFID), pose estimation

Human-Robot Coexistence in Robot-Aided Apartment

R. Correal, A. Jardón, S. Martínez, R. Cabás, A. Giménez, C. Balaguer
Pages 170-175

Historically the kind of technologies used in homes has been in the form of electrical appliances such as washing machines, ovens, etc. Later was introduced the classic “Home Automation” concept, which involves improvements like computer-controlled devices such as lights, alarms, different sensors, etc. The classic devices have always been static, ...

Keywords: Robotics, Ambient Intelligent, Assistive, Disabled, Home Automation

Development of an Adaptable System for Effective Utilization of Architectural Space

Soungho Chae, Naruo Kano, Masayuki Kato, Satoshi Kobayakawa
Pages 176-181

In this paper, the authors referred to the development of the suitable modification technology of architectural space in alignment with change in circumstance surrounding lifestyle of residents as necessary. A design method of architectural space and building elements, and a handling method of structural objects of having used robotic technology are proposed ...

Keywords: WABOT-HOUSE, Adaptability, Space Modifying, Robotic Technology

Cooperative Monitoring by Fixed Cameras and Moving Cameras

Sadaaki Kunimatsu, Hironori Kumeno, Naoko Tsukuda, Tomohito Takubo, Kenji Inoue, Tatsuo Arai, Yasushi Mae, Tomohiro Umetani
Pages 182-187

In this paper we propose a human tracking system for dynamic environments based on the cooperation of fixed and moving cameras to create safe and secure spaces at construction sites. It is difficult for only the fixed cameras to monitor the all of a crowded dynamic environment because of the ...

Keywords: cooperative system, human tracking, safety and security, mobile robot

A Short History of Construction Robots Research & Development in a Japanese Company

Tetsuji Yoshida
Pages 188-193

The starting of the business was a development of a robotic machine for construction site workers, utilizing advanced technologies of computer, sensor and mechanism.

Keywords: construction roboy, space robot, research and development, history

Set Up of a Robotized System for Interior Wall Painting

B. Naticchia, A. Giretti, A. Carbonari
Pages 194-199

Although the use of spraying robotized systems for interior painting was already shown to be feasible and convenient, a lot of experiments must be carried out in the future to deliver a highly autonomous robot for interior painting. A new approach is proposed: two laboratories are set, the former being a full-scale ...

Keywords: painting robot, highly autonomous robot, Pollock #1, scaled laboratory

Development of a Block Transfer Device Using Net Chains for Automation and Labor Saving

Hitoshi Noguchi
Pages 200-205

A device for transferring wave-dissipating blocks was developed using net chains to allow for automation and labor saving. The device spreads net chains over a block and then tightens the net chains using a wire rope connected to a crane to lift the block. A model device was used to conduct ...

Keywords: net chain, block, transfer, labor saving

The Application Research of Mobile Robots with Forklift-Driving-Wheels Capable to Ascend and Descend Stairs

Hirofumi Niimi, Noriyoshi Douhara
Pages 206-209

To ascend and descend stairs, we have developed the robot assembling fork lifts on the front and the rear. Those fork lifts have driving wheels. The FDW robot(mobile robot with Forklift-Driving-Wheels capable to ascend and descend stairs)is divided into three parts (Body, Front Forklift-Wheels, Rear Forklift-Wheels). The robot can move up and ...

Keywords: Mobile Robot, Forklift-Wheel, Stairs, Wheelchair

Development of an Air Volume Measuring Instrument: WINSPEC

Kouetsu Tanaka, Shintaro Sakamoto, Yasunori Abe
Pages 210-214

Prior to completion, the various facilities associated with a building undergo performance testing. For air conditioning facilities, it is necessary to confirm that each apparatus meets the design values for air supply and emission volume. In keeping, rather than a fully automated robot, we developed a human-operated instrument that enables ceiling outlets to ...

Keywords: air volume, anemometer, ceiling, human-operated instrument

Development of Small-Size Window Cleaning Robot by Wall Climbing Mechanism

Tohru Miyake, Hidenori Ishihara, Ryu Shoji, Shunichi Yoshida
Pages 215-220

The objective of this research is to develop the small-size and light weight window cleaning robot. The prototype of window cleaning robot has been developed. The dimensions of prototyped robot are approximately 300mm x 300mm x 100mm and its weight is approximately 3 kg. The prototyped robot consists of two independently driven ...

Keywords: Climbing robot, window cleaning, wall climbing, attitude control, acceleration sensor

A Four-Leg Locomotion Robot for Heavy Load Transportation

Kiyoshi Kuroi, Hidenori Ishihara
Pages 221-224

This paper proposes the new innovated 4-legged Locomotion mechanism with pantograph-jack structure as its leg. This study aims at developing the practical robotic system, especially focusing on the carrying task of heavy load. Transportation of heavy load occupies the important parts among the real applications such as disaster relief and ...

Keywords: 4-leg locomotion robot, Transportation of heavy load, Pantograph Jack, Crawl step

Climbing Up Onto Steps for Limb Mechanism Robot "ASTERISK"

Shota Fujii, Kenji Inoue, Tomohito Takubo, Tatsuo Arai
Pages 225-230

A method for limb mechanism robot “ASTERISK” of climbing up onto steps which are higher than its body is proposed. Basically the robot climbs by wave gait; depending on the step height, the robot dynamically changes its leg stepping sequence. It inclines its body so that its legs can reach ...

Keywords: Six Legged Robot, Climbing Robot, Limb Mechanism Robot, Stability Margin, Joint Compliance

Multi-Arm Mobile Robot for Hazardous Nuclear Decommissioning Tasks

Mohamed J. Bakari, Derek W. Seward, E. M. Shaban, Rahee Y. Agate
Pages 231-236

This paper outlines the selection of hardware and its integration within a mobile delivery platform for application within nuclear decommissioning tasks; it is based on current research being undertaken at Lancaster University, in the United Kingdom (U.K.).

Keywords: Nuclear Decommissioning, Hardware Integration, Kinematics, Software Architecture

Rescue Robot "T-52 Enryu"

Shiro Fujita, Katsuyuki Baba, Daisaku Sudoh
Pages 237-240

“T-52 Enryu” was developed for the purpose of the heavy duty works in disaster spots. It was aimed for heavy labor of a first aid rescue operation in disaster spot and developed large-scale rescue robot “T-52 Enryu” in corporation with Kitakyushu City Fire And Disaster Management Department, National Research Institute of Fire ...

Keywords: Rescue robot, remote control, disaster relief, the measure against snow damage

Using Rescue Robots to Increase Construction Site Safety

Winai Chonnaparamutt, Andreas Birk
Pages 241-245

Robotics technology is continuously gaining in importance in many applications. Especially mobile robots are already widely used in many fields including construction sites. Accidents in the construction industry have been identified as one of the most hazardous incidents compared to other work environments. We therefore propose to consider robotics technology to improve this ...

Keywords: Mechatronics, Tracked Locomotion, Rescue Robots, Construction Site Safety

Productivity in Rail Construction: Lessons Learned from the Development of the RHEDA 2000 Track Construction System

Ger Maas, Theo Winter, Tanja Margarete Rickes
Pages 246-251

Between Amsterdam and Antwerp a new High Speed Rail link with the length of 96 KM is under construction and will be opened in April 2007. Based on the existing Rheda Ballastless Track construction system a new and improved construction method has been developed. New equipment was designed. After two years of ...

Keywords: speed rail, construction method, productivity, quality

Example of Experimental Use of 3D Measurement System for Construction Robot Based on Component Design Concept

Hiroshi Yamamoto, Yutaka Ishimatsu, Syuji Ageishi, Naohiro Ikeda, Ken Endo, Minoru Masuda, Masayuki Uchida, Hiroyoshi Yamaguchi
Pages 252-257

In civil engineering projects, operators run their machine, while monitoring machine operation data, soil conditions, situation around their machines, and so on. They basically follow the work directions that are issued based on the machine design and field conditions, such as topography of the site. An increasing number of construction robots are ...

Keywords: Construction robot, component design, measurement support system, demonstration test

Reminding the Experience of Site Information through Sketch Media

Chun Cheng Chen, Teng Wen Chang
Pages 258-262

At the early design stages in architecture, designers need to go to site frequently and record the contextual information of site with sketches. However, designers still require recalling the significant site information when they go back to their workplace. The main objective of this research is building a mediated workplace ...

Keywords: Experience, Sketch, Contextual Information, Physical Computing

Development of the Construction Waste Management Performance Evaluation Tool (WMPET)

Jee-Hye Kim, Jae-Moon Kim, Hee-Sung Cha, Dong-Woo Shin
Pages 263-268

Despite waste management in construction industry has a significant impact on both economical and environmental issues, the current level of waste management performance in Korean construction is reported as relatively low. To improve any type of management performance, it is necessary to diagnose the current status of the performance level. In this context, ...

Keywords: construction wastes, waste management performance, evaluation tool, sustainable construction environment

Fully Integrated Web-Based Risk Management Systems for Highly Uncertain Global Projects

Seung Heon Han, Du Yon Kim, Hyoungkwan Kim, Yeonil Chung, Heedae Park, Seokjin Choi
Pages 269-274

Overseas construction projects are exposed to diverse and complex risks, including political, economical, social, and cultural issues. They tend to have a high possibility of loss/failure compared to domestic projects. For this reason, risk management is getting more important, emphasized, and systemized so as to improve the project performance. Since each phase of ...

Keywords: Integrated Risk Management System, International Construction, Risks, Web-based system.

Improving Traditional Earned Value Management by Incorporating Statistical Process Charts

Sou-Sen Leu, You-Che Lin, Tao-An Chen, Yann-Yih Ho
Pages 275-280

The earned value management (EVM) approach is considered to be the most objective method available in the measurement of project performances. Nevertheless, the method is limited and does not directly account for variation in individual performance values about a normal or natural level of project performances. Because of that, conventional EVM may cause ...

Keywords: project performance, earned value, statistical control charts, cause-and-effect analysis

A Simulation Based Approach for Designing Optimum Configuration of Complex Processes Influencing Project Level Decisions in Construction Industry

Hemanta Doloi
Pages 281-286

This paper puts forward an integrated framework for proactive and optimal decision making on projects adopting a process simulation approach. Upstream decisions on project selection and scope definition are linked with the downstream operational processes and service delivery of projects. The findings presented in this paper are based on a case study conducted ...

Keywords: Process simulation, decision making, design configuration, life cycle analysis

Ubiquitous Computing: Object Tracking and Monitoring in Construction Processes Utilizing ZIGBEE Networks

Miroslaw J. Skibniewski, Won-Suk Jang
Pages 287-292

A large-scale of civil infrastructure systems is associated with great amounts of project resources and activities interoperated with various participants and organizations. Well-defined methodology for information acquisition and communication became more critical in the management of civil infrastructure than ever before. Rapidly emerging wireless sensor technology has been drawing a log of attention ...

Keywords: Ubiquitous computing, ZigBee sensor network, civil infrastructure, localization systems

Current Situation and Issues Concerning the Maintenance and Management of Underground Lifeline Structures in Japan - Evolving toward the Introduction of Information Technology, Automation and Robotization -

Tadashi Kanzaki, Shigeru Yamaguchi
Pages 293-298

The enormous stock of underground lifeline structures constructed in Japan during the high economic growth period is aging with each passing year. In addition, the need for efficient execution of inspection, diagnosis and repair work is also increasing, as is the severity of the issues involved, including burgeoning repair and renewal costs; ...

Keywords: diagnose and repair of underground structures, repair and renewal, railway tunnel inspection cars, pipe internal inspection

State of the Art and Future Prospect of Maintenance and Operation of Road Tunnel

Hideto Mashimo, Toshiaki Ishimura
Pages 299-302

In Japan, road tunnels have increased in both total length and number, and there are some tunnels still in service that were completed more than 50 years ago. In order to maintain such tunnels efficiently with decreasing public funds, deformation of tunnels should be detected at an early stage, and appropriate measures ...

Keywords: maintenance, repair, inspection, deformation

Guideline for Maintenance of Railway Concrete Structures

Seiichi Tottori, Atsushi Ichikawa
Pages 303-306

Since Japanese railway was firstly laid in 1872, railway network has been highly developed and many railway structures have been constructed. Especially, a large amount of railway structures in such as Shinkansen lines, metropolitan railway lines has been put in place in 1970s corresponded to high economic growth period in Japan. To ...

Keywords: maintenance guideline for concrete structures, performance-verification system, inspection system

Efficiency of Inspection of Sewer-Pipeline Using Mirror Tele-Camera System and Sewer-Inspection Support System

Takayoshi Oosaka, Takeki Kajiura, Kazunori Watanabe, Shinji Numao, Kiichiro Tougou
Pages 307-310

We developed the Mirror Tele-camera System for efficiency improvement of inspection by TV-camera. And we developed the Sewer Internal-Image Conversion System and the Sewer-Inspection Support System by using the image of the Mirror Tele-camera System. 1) The Mirror Tele-camera System, a camera that can obtain a 360-degree side scan image to improve pipeline ...

Keywords: Mirror Tele-camera, conversion, semi-automated inspection

The Outlook and Challenges of 'IT' Applications for Gas Pipelines Maintenance Operations

Kohei Kawano
Pages 311-0

Tokyo Gas Co., ltd, the largest gas company in Japan, supplies city gas to Tokyo Metropolitan area, covering 3000km2 and 9.6million customers. Increasingmaintenance cost and damages of underground utilities let Tokyo Gas start the research and development of digital mapping in 1977. Tokyo Gas developed GIS basic software “TUMSY” in 1983 ...

Keywords: GIS, Mobile computing, CALS/EC, GPS

SPR Method : Rehabilitation Technologies to Revive Decrepit Pipelines

Toshiyuki Deguchi, Hamao Yamashiro, Hiroshi Sugahara
Pages 315-320

In the SPR (Sewage Pipe Renewal) method, a rigid PVC liner is formed inside an existing pipe by using a specially designed winding machine that is placed inside the existing pipe. A rigid PVC profile strip is fed through a manhole entrance above ground, and the winding machine is used to wind ...

Keywords: No-dig method, Self driving machine, Profile, Free Cross-Section SPR Method, Heart SPR Metho

Data Exchange Platform for Bridge Disaster Prevention Using Intelligent Agent

Min-Yuan Cheng, Yu-Wei Wu
Pages 321-326

Due to the location and environment of Taiwan, the frequency of nature disaster is high and the caused damages to the human life, properties and transportation facilities are serious. Considering the disaster prevention of bridge structures caused by earthquake, scour, debris flow, corrosion and senescence, literatures involving the developed bridge management information systems ...

Keywords: Disaster prevention, Data exchange platform, Agent

A Resource-Based Quality Control e-Model for Construction Projects

Choung-Houng Wu, Shang-Hsien Hsieh, Hui-Ping Tserng, Li-Shing Yi
Pages 327-331

In recent years, increasingly more construction companies have adopted the Enterprise Resource Planning (ERP) system in some form for increasing productivity and work efficiency. However, the current practice on construction Quality Control (QC) still centers on quality control of work items associated with construction activities. This makes it difficult to integrate or collaborate ...

Keywords: Construction ERP, Quality Control (QC), Quality Control Breakdown Structure (QCBS), Quality control index

Bridge Condition Monitoring System Using Wireless Network (CDMA and ZigBee)

M.J. Chae, H.S. Yoo, J.R. Kim, M.Y. Cho
Pages 332-334

Advancements in sensor technology have brought the automated real-time bridge health monitoring system. Many long span bridges in Korea and in Japan have adopted this real-time health monitoring system. However, current systemuses complicated and high costwired networkamongst sensors in the bridge and high cost opticalcable between the bridge and the management center, which ...

Keywords: Bridge Health Monitoring, USN, ZigBee, Wireless Sensor Network

Software Agent for Design-Build Process Cooperation

Ming-Hsiu Tsai, Min-Yuan Cheng
Pages 335-340

This paper describes a research project that attempt to develop a process integrating method and finally to create a multi-agent system to support the cooperation in a design-build team. The approach taken is to apply Business Process Reengineering (BPR) philosophy for providing a process-based fast-tracking execution mechanism for design-build teams. An Integrated Design-Build ...

Keywords: design-build, fast-tracking, business process reengineering (BPR), multi-agent system (MAS), workflow

Evaluation of Asphalt Pavement Crack Sealing Performance Using Image Processing Technique

Hyoungkwan Kim, Hamid Soleymani, Seung Heon Han, Hana Nam
Pages 341-345

Crack sealing is a routine and necessary operation of pavement maintenance. Manual observation of road surfaces has been the most common method for evaluating road surface cracks around the world. However it is difficult to objectively and accurately assess the road cracks based on human visual perception. The ultimate objective of this ...

Keywords: crack sealing, image processing, pavement

Construction of the Resource Circulation System which Used the Factory as the Core

Hiroshi Kamikawaji
Pages 346-351

Sekisui House, Ltd. constructed a zero-emissions recycling system which enables 100% recycling of construction wastes discharged from the company’s construction sites. In this system, all construction wastes are recovered at the company’s plants, completely sorted, and consigned to recycling facilities for treatment. Sekisui House has maximized sorting accuracy by adopting a 2-stage sorting ...

Keywords: Zero emission, Sorting, Traceability, Supply chain management (SCM)

Structuring of Sekisui Heim Automated Parts Pickup System (HAPPS) to Process Indivisual Floor Plans

Jun Furuse, Masayuki Katano
Pages 352-356

Sekisui Heim residential houses (herein “Heim”) are made of factory-produced modules called “Units” which can be combined to complete any house plan. All “Units” to compose a house are unique and have different parts in different combinations. It is an important process to select and pick up about 30,000 parts correctly for ...

Keywords: prefabricated house, bill of materials, parts explosion, just-in-time

How Have CAD-CAM Systems Changed Japanese Conventional Wooden Construction in These Three Decades?

Shuichi Matsumura
Pages 357-360

The new house-building market in Japan can be divided into two parts. A half is occupied with detached houses built by large prefabricated house manufacturers as well as rather small local builders. The composition of the detached house-building market is: A little less than 20 % occupied with prefabricated house manufacturers, ...

Keywords: conventional wooden house-building, industrialization, CAD-CAM, precut

The Integrated Project ManuBuild of the EU

Thomas Bock
Pages 361-364

A UK-led construction consortium, ManuBuild, representing ten European countries, has secured 10 million Euros of EU funding for a four year research programme, with a key focus on the supply of housing. It is the largest EU funding ever awarded to the industry and promises a step change from current modern methods ...

Keywords: high prefabrication ratio, on site factory, ergonomic machinery, high productivity

Action-Based 4+1 System of Life Cycle Housing Management

Junichi Yagi, Eiji Arai,
Pages 365-370

The author proposes the action-based 4+1 system for management of a constructed complex or construct, which consists of four operational functions and one integral function. They are “self-descriptive”, “self-sensing”, “self-image over history”, “self-search”, and finally their integral function, “self-judge”. The management system attempts to establish the means of real time adjustment between design ...

Keywords: Ubiquitous 4+1 Management System, RFID, Sensing House, Active Database

A Step Forward to Management Driven Construction Quality

Takashi Saito, Shuzo Furusaka
Pages 371-374

The automobile design in "the Chain of Quality" is finished completely in design phase. On the other hand, in construction projects, the design activity for keeping quality is extended into construction phase after design phase activities. The actual condition in construction industry is carried out not in design phases, but in ...

Keywords: Quality, Construction Management, Project Management, Product process

Development of a Risk Management System for the Project Life Cycle of Super-Highrise Residence

Shuzo Furusaka, Makoto Ohsaki, Kazunori Harada, Sohsuke Arai, Motohiko Yokose, Takashi Kaneta, Hideki Kashii, Katsuki Nakazono, Norikazu Katoh
Pages 375-380

In a super-highrise residence project, the project manager needs to forge a long-term risk management plan which covers any problems which may occur from the beginning of the project to the time of demolition. Development of a system which supports a risk strategy effectively is needed as a project becomes more complex. ...

Keywords: Risk management, Super-highrise residence, Project life cycle, Project management

Risk-Sharing Rule in Project Contracts

Kiyoshi Kobayashi, Toshihiko Omoto, Masamitsu Onishi,
Pages 381-387

In this paper, the risk sharing rules are investigated to characterize the contractual structure of the project contracts.The authors exclusively focus upon theGCWand the FIDICforms,which can be regarded as typical examples of incomplete contract forms.Risks involved in construction works are classified into exogenous and endogenous ones. The paper claims that cleardifferences in both ...

Keywords: Risk sharing, Project Contracts, Incomplete Contracts, Renegotiation

Human-Robot Collaboration: Technical Issues from a Viewpoint of Human-Centered Automation

Tetsuo Sawaragi, Yukio Horiguchi
Pages 388-393

In this article, after surveying the problems incurred by the conventional technology-centered automation in a variety of fields, we put an emphasis on the fact that a concept of “sociality” is really needed to form the ideal human-automation and/or human-robot relations emerging out of active interactions. Then, some key technical issues ...

Keywords: Human-centered automation, human-robot collaboration, sociality, ecological interface design

Risk Allocation of Interfaces between Construction and Core System Contracts: A Case Study on Taiwan High Speed Railroad Project

Tsung-Chieh Tsai, Chia-Cheng Yen
Pages 394-399

Normally, the owner must contract with construction contractors and core system contractor at the same time in the public projects. Especially, for an infrastructure project, the core system contractor and construction contractor may sometimes pass their requests concerning with ambiguous conditions of interfaces to the owner by changing the design, or by modifying ...

Keywords: Risk Allocation, Contract Comparison, THSRP, Construction Contract, Core System Contract

Present Status and Future Prospects of Automated Project Performance Indicators' Measurement

Ronie Navon
Pages 400-405

Currentmonitoring and controlmethods rely on massive manualwork. As a result, control information is expensive to acquire, or is generated irregularly. Additionally, the information is only available infrequently and its quality and integrity are low.The purpose of the work presented in this paper is to improve monitoring and control information, i.e. ...

Keywords: Automation; Data collection; Feedback control; Controlmethods; Monitoring

Control System for a Semi-automatic Façade Cleaning Robot

E. Gambao, M. Hernando
Pages 406-411

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, Robot Control, Cleaning Robots

Development of a Real-Time Control System Architecture for Automated Steel Construction

Kamel S. Saidi, Robert Bunch, Alan M. Lytle, Fredrick Proctor
Pages 412-417

The National Institute of Standards and Technology (NIST) is developing a real-time control system for a robotic crane (the NIST RoboCrane) that will perform automated structural steel pick-and-place operations. The control system architecture is based on the NIST Real-time Control Systems (RCS) reference model, which defines a system development methodology and a hierarchical ...

Keywords: construction automation, real-time control architecture, robocrane, robotic crane, steel construction, task decomposition

Spline Based Trajectory Planning for Cooperative Crane Lifts

S. Vijaya Bhaskar, N. Ramesh Babu, Koshy Varghese
Pages 418-423

This paper reports the work done towards planning the trajectory for cooperative crane lifts. The location of the hook points between the pick and place positions are determined using a path-planner. These are inputs to the trajectory planner. The goal of the trajectory planner is to connect all the path-points while ensuring ...

Keywords: Trajectory planning, Trignometric spline, Cooperative manipulators, Heavy lift planning

Decision Support System for Land Reclamation Using Prefabricated Vertical Drains

Suganya. R, Koshy Varghese, Gandhi S.R, M.A. Ashok
Pages 424-429

The need for additional port capacity has rapidly risen over the last few years due to globalization. Due to high cost of land procurement, land reclamation has become a very promising alternative for expanding and constructing new ports. The presence of soft marine clay poses a major challenge for port development as ...

Keywords: Prefabricated Vertical Drains, Decision Support System, Smear effect, Preloading

Construction Management Tools Using 3D-CAD, Virtual Reality, RFID, and Photography Technologies

Naruo Kano
Pages 430-435

Since the development of the PERT/CPM method in 1958, many planning and controlling tools have been developed; however, no method has exceeded the PERT/CPM to make an epoch-making impact on the methodology for planning and controlling at a construction site. The advanced technologies are strongly expected to serve as platforms for the development ...

Keywords: 3D-CAD, Virtual Reality, RFID, photography, construction management, planning and controlling

Cost Management Using 3D Modeling - Design and Production Process in View of the Client Satisfaction -

Hiromitsu Sone, Makoto Nagao, Hirohiko Fujii
Pages 436-441

With the decline of construction investment, client’s demand for “Quality” “Cost Down” and “Shorter Construction Period” becomes more intense. And some surveys show that most dissatisfied contractor’s service for client goes to cost related matter including cost management and unclear decision making process. This report tries to demonstrate how one ...

Keywords: Design by 3D Model, Client Satisfaction, Cost Management, Integrated Design

User-Oriented Interactive Building Design

S. Martinez, A. Salgado, C. Barcena, C. Balaguer, J.M. Navarro, C. Bosch, A. Rubio
Pages 442-447

The objective of the paper is to presents the 3D VR-based environment for basic design of the apartment buildings. The key issue of the system is the user-in-the-loop philosophy which permits the interactive modification of the building design. The user is able to choose the preferences in order to select ...

Keywords: User oriented, building, architectural design, virtual reality

Summary of NIST's Efforts to Develop Protocols for the Performance Evaluation of 3D Imaging Systems

Geraldine S. Cheok, Alan M. Lytle, Kamel S. Saidi
Pages 448-453

This paper presents a synopsis of the effort at the National Institute of Standards and Technology (NIST) to develop standard protocols for the performance evaluation of 3D Imaging Systems. A 3D imaging system is an instrument used to measure rapidly the 3D coordinates of points on an object or within a ...

Keywords: 3D imaging systems, LADAR, laser scanning, performance evaluation, targets, terminology, test protocols

Development of a Drawing Based Information Sharing Tool Using Handheld Computer (Application to a Finished Work Inspection and a Building Diagnosis)

Tomoya Kaneko
Pages 454-459

A seamless means of distributing information between a job site and a site office is often necessary in construction management. Most information written on drawings shows locations. We developed an information sharing tool with a drawing based interface that runs on both a desktop computer and handheld computer, as well as two ...

Keywords: Drawing, Information Sharing, Handheld Computer, Finished Work Inspection, Building Diagnosis

Application of Laser-Based 3D Imaging to Steel Construction

Alan M. Lytle, Kamel S. Saidi
Pages 460-465

The ability to automatically recognize, locate and track structural steel components during production, fabrication, and erection in real-time using laser-based 3D imaging technologies has the potential to provide a notable improvement in the productivity of the steel industry. This paper provides a review of current practices in the U.S. steel construction industry ...

Keywords: 3D imaging systems, construction automation, laser scanning, steel construction, object recognition

Development of Autonomous System for Loading Operation by Wheel Loader

Shigeru Sarata, Noriho Koyachi, Takashi Tubouchi, Hisashi Osumi, Masamitu Kurisu, Kazuhiro Sugawara
Pages 466-471

An outline of the developed system for autonomous loading operation by wheel loader will be described. The system consists of three sub-systems: (1) Environment measuring and modeling, (2) Planning and (3) Motion control. The environment measuring sub-system measures 3D shape of the environment by stereo-vision system. The shape of the ...

Keywords: loading operation, autonomous system, V-shape path, scooping, wheel loader

Autonomous Scooping of a Rock Pile by a Wheel Loader Using Disturbance Observer

Osamu Kanai, Hisashi Osumi, Shigeru Sarata, Masamitsu Kurisu
Pages 472-475

A controller for a miniature wheel loader is developed to scoop rock piles autonomously. During a scooping task operation, the load of the bucket varies momentarily according to the phase of scooping. Before the insertion of the bucket into the rock pile, the load is just the bucket weight, but ...

Keywords: wheel loader, construction robot, autonomous scooping, disturbance observer

Development of Bucket Scooping Mechanism for Analysis of Reaction Force Against Rock Piles

Yuta Takahashi, Ryohtaroh Yasuhara, Osamu Kanai, Hisashi Osumi, Shigeru Sarata
Pages 476-481

A bucket control mechanism is developed for the simulation of rock pile scooping by wheel loaders. By measuring the reaction forces from the scooped rock pile by a six axis force sensor installed into this mechanism, the reaction force model can be obtained and its parameters are identified. By using ...

Keywords: wheel loader, autonomous scooping, rock pile, reaction force

Tracing Control for a Tracked Vehicle Based on a Virtual Wheeled Mobile Robot

Masamitsu Kurisu, Kazutaka Takahashi, Toyohiro Konishi, Shigeru Sarata
Pages 482-486

Although a tracked vehicle enables stable movements on rough terrain, in a rotating motion no fixed kinematic model such as the model of wheeled mobile robot exists. Hence, it is difficult to realize a autonomous driving control of the tracked vehicle. In this paper, a new tracking control method for a tracked ...

Keywords: Tracked vehicle, Tracking control, Wheeled mobile robot

Massive Rock Handling by a Breaker -Graspless Manipulation and Object Recognition-

Kumiko Tadano, Takashi Tsubouchi, Masamitsu Kurisu, Shigeru Sarata
Pages 487-492

The purpose of this study is automated handling of massive rocks for moving them to a proper place and for breaking them down at a rock quarry. This paper reports our first approach in laboratory environment using a robotic manipulator with a small sized laser range finder(LRF) to handle a relatively small object. For tumbling operation, ...

Keywords: graspless manipulation, tumbling operation, shape recognition

Wireless Sensor-Driven Intelligent Navigation Robots for Indoor Construction Site Security and Safety

Yong K. Cho, Jong-Hoon Youn
Pages 493-498

This paper introduces an on-going research effort at the Peter Kiewit Institute (PKI) at Omaha, Nebraska for developing sensor-aided intelligent mobile robots that provide high-level navigation functions for indoor construction site security and safety using wireless sensor networking (WSN) technology. The ultimate goal of the research is the complete integration ...

Keywords: mobile robot, CAD, wireless sensor network (WSN), security, position tracking

Indoor Navigation and Workpiece Outline Recognition for Autonomous Construction Machinery

Makoto Oshio, Kenniti Hamamoto, Yuji Hiramatsu, Yoshinori Matsunaga
Pages 499-504

We study basic functions for autonomous construction machines, such as indoor navigation, workpiece outline recognitation and machine learning method.

Keywords: Autonomous, Indoor Navigation, Vision System, Recognition, Machine Learning

Reliable Position Estimation Method of the Mobile Robot by Laser Scanner and Indoor GPS System

Hyeyeon Chang, JongSuk Choi, Munsang Kim
Pages 505-510

The robust position estimation has been important issue of mobile robot research for past few years. However, because of physical constraint of each sensor, sensor fusion algorithm arise alternative proposal for solving the problem. In this paper, we proposed a sensor fusion algorithm for probabilistic localization of service robot using laser scanner ...

Keywords: Sensor Fusion, Probabilistic localization, Service robot, indoor GPS system, Range Image Sensor

Demonstration of Robotic Wheelchair in Fukuoka Island-City

Yutaro Fukase, Hiroshi Kanamori, Hitoshi Satoh, Tetsuji Yoshida, Keigo Takeuchi, Junichiro Maeda
Pages 511-0

We have been performing studies on the intelligent space to support various operations of mobile robots. This space will provide several functions, such as recognizing position of robots and objects in the area, searching proper route for robot to proceed, and controlling robots and other equipments. In order to conduct a practical ...

Keywords: Robotic Wheelchair, Ultra Sonic Positioning System, Laser Range Finder, Radio Frequency Identification System

Cylinder Detection and Grasping Application Using Humanoid Robot

Shingo Maeda, Tomohito Takubo, Kenji Inoue, Tatsuo Arai, Shun Nishide
Pages 517-522

Researches on humanoid robots have become more and more active in various fields. One of the purposes is to construct a coexistent and cooperative society between humanoid robots and human. The body of humanoid robots is similar to human beings enabling them to walk with a pair of legs and to work ...

Keywords: Grasping, Cylinder Detection, GUI, Humanoid Robot

Development of a Wearable Robot for Assisting Carpentry Workers

Junpei Naito, Goro Obinata, Atsushi Nakayama, Kazunori Hase,
Pages 523-526

The work of fitting ceiling boards is one of the hardest in carpentry, as it requires large muscular power. Hence there is a need to develop assisting apparatus for such work. In order to use this apparatus anywhere a wearable robot is the most suitable. As the robot must be ...

Keywords: wearable robot, carpentry work, semi-active device

A Suggestion on Product Model Driven Construction Robot

Naohiro Ikeda, Syuji Ageishi, Hiroshi Yamamoto
Pages 527-532

The great majority of robot construction machine currently in service are remotely controlled with the help of video information. Most of these robots are connected to remote-control cameras. In certain circumstances, video images of these robot systems cannot provide clear relative positional relationship between the topography where the job is being done and ...

Keywords: Robot construction machine, top-end device, 3DCAD, product model

Standard Product Models for Supporting Automated Erection of Structural Steelwork

Vineet R. Kamat, Robert R. Lipman
Pages 533-538

A piece of automation equipment such as a robotic crane for steel erection has no intrinsic knowledge of the process it automates. Thus, geometric and spatial information about a component such as a steel member, and the motion sequences that must be executed to move that component from a staging area to ...

Keywords: Automation, CIS/2, Emulation, Structural Steelwork

Operating System of a Double-Front Work Machine for Simultaneous Operation

Akinori Ishii
Pages 539-542

Many kinds of work machines based on hydraulic excavators have been developed for various work fields, e.g. demolition and industrial waste disposal. These work machines have also played an important role in the recovery work after disasters such as earthquakes, typhoons, and floods. We think that adapting these work machines ...

Keywords: double-front work machine, excavator, demolition, disaster recovery

The Analysis of Excavator Operation by Skillful Operator

Yuki Sakaida, Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama
Pages 543-547

In recent years, some unmanned operation systems for the hydraulic excavator are required and some systems are already developed. However, it is difficult to realize effective operation utilizing such systems, because the operator cannot sense ground condition. The skillful operator adaptive their operation to the excavating environment based on the ...

Keywords: hydraulic excavator, autonomous control, operation skill, skill extraction

Real-Time Network Based Bilateral Robot Control System

Yutaka Uchimura, Kouhei Ohnishi
Pages 548-553

This paper describes a bilateral robot control system that uses a real-time network and a prioritization scheme for data transmission via a network. The bilateral robot system is controlled by a new controller that improves impedance matching performance. The network system is implemented by a device named responsive processor which ...

Keywords: Computer network, Real-time network, Bilateral robot, Tele-operation

Adaptive Transparent Force Reflecting Teleoperation with Local Force Compensators

Yushing Cheung, Jae H. Chung
Pages 554-559

This paper addresses the problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions, which are commonly seen in a construction site. The proposed teleoperator used for versatile construction operations keeps human workers from hazardous places. The adaptive bilateral control with a local force ...

Keywords: teleoperation, robotic intelligence assistance, communication delay, and unstructured environment

An Open-Loop vs. Closed-Loop Backhoe Excavator Control System

Eugeniusz Budny, Miroslaw Chlosta
Pages 560-564

The excavation process has got two main features. The first one is the soil digging. It can be regarded as a quasi-static process in fact, in which the acceleration could be neglected. The second one is the soil transportation and bucket discharging. It can be considered as a dynamic process. Some parts ...

Keywords: excavator, control system, open closed loop

Construction Automation and Robotics in the 21st Century

Yukio Hasegawa
Pages 565-568

Construction automation and robotization effort was started in around 1980 as ISACR and IAARC promising great progress by promoted technologies in the 21st century.

Keywords: automation, robotics, construction, technologies

Development of a Vehicle-Mounted Road Surface 3D Measurement System

Kiichiro Ishikawa, Takashi Onishi, Yoshiharu Amano, Takumi Hashizume, Jun-ichi Takiguchi, Takashi Fujishima, Yoichi Tanaka
Pages 569-573

In recent years, automation system based on IT technology becomes very popular not only for manufacturing industries but also for the construction and civil engineering industries. The conventional location survey method in the civil engineering construction site is pinpoint location survey for a broad objective area. The conventional method has severe constraints when ...

Keywords: GPS-Gyro/IMU, Mobile Mapping System, as-built management, 3D mesurement

Research on the Extendable Data Exchange Standard in Information Integrated Construction of Filling Work

Yoshitaka Minami, Hiroshi Yamamoto, Atsuro Oyama, Toshiyuki Kamei
Pages 574-579

Efforts to promote the information integrated construction of civil engineering work include the study and development of systems for efficiently conducting work and saving labor. However, such systems are often designed for a specific construction site or machinery, so construction information cannot be fully applied to other work sites or ...

Keywords: Information integrated construction, Information sharing and linking, Information model, Data exchange standard

Construction Management Using Position Measuring Technology of Construction Equipment in Paving Work

Tamotsu Ogasawara, Tetsuya Kanazawa, Koichi Kobayashi, Takashi Fujishima
Pages 580-585

Ministry of Land, Infrastructure and Transport has been promoting computerized construction for the purpose of rationalization of construction and improvement of supervision and inspection work with regard to improvement of efficiency of construction, enhancement of safety, quality assurance and conservation of environment, etc. by effective use of information in relation to construction where ...

Keywords: Computerized construction, earth work, paving work, construction management

Interaction of Virtual and Physical Space in Contemporary Life of Iranian Traditional Cities

Mir Saeed Moosavi
Pages 586-591

By the last decade of 20th century a new type of urban life was created. The new situation which was the result of radical modifications of interpersonal communications, transformed the human relationships and led to the introduction of “virtual dimension of being”. Advances in multimedia technology urged people to accept virtual relations ...

Keywords: No keywords

Productivity Assessment of Rock Transportation Trucks Using Simulation Technology

Julian H. Kang, Sung-Mo Ahn, Ji-Hyun Nam
Pages 592-595

By the last decade of 20th century a new type of urban life was created. The new situation which was the result of radical modifications of interpersonal communications, transformed the human relationships and led to the introduction of “virtual dimension of being”. Advances in multimedia technology urged people to accept virtual relations ...

Keywords: Simulation, Visualization, Excavation

Bridge Maintenance Robotic Arm: Capacitive Sensor for Obstacle Ranging in Particle Laden Air

Nathan Kirchner, Dikai Liu, Gamini Dissanayake
Pages 596-601

This paper describes an Adaptive Capacitive Sensor Network for Obstacle Ranging (ACSOR) that is intended to provide entire arm encompassing obstacle range data for a robotic arm conducting the task of sandblasting a bridge. A multi-channel capacitive sensor capable of dynamic obstacle ranging in air heavily laden with lead contaminated sandblasting refuse has ...

Keywords: Capacitive, range sensor, obstacle avoidance, harsh environment

Motion Analysis of Hydraulic Excavator in Excavating and Loading Work for Autonomous Control

Takashi Yamaguchi, Hiroshi Yamamoto
Pages 602-607

Civil engineering executions still involve extensive dangerous distressful work, so improving the safety of these wretched work environments must be ensured. In Japan, construction site workers are aging and there is fear of shortages of experienced workers and young workers. Improving civil engineering work by executing it using computers and robotic technology is ...

Keywords: hydraulic excavator, excavation and loading work, autonomous control, motion analysis

Development of a System for Measuring Volume of Earth Transported on a Barge Using Digital Cameras

Masaharu Masutani, Hideki Sugimoto
Pages 608-613

To measure the volume of earth on the barge accurately and efficiently, a systemwas developed for accepting earth using digital cameras. The developed systemhas been applied at actual sites. The system measures the volume of earth on the barge using the technique of aerial photogrammetry. Stereo images are taken by two digital ...

Keywords: digital cameras, aerial photogrammetry, measuring volume,three-dimensional coordinates

Wireless Vibration Sensor for Tunnel Construction

Soon-Wook Kwon, Jung-Yeol Kim, Hyun-Seok Yoo, Moon-Young Cho
Pages 614-620

To measure the volume of earth on the barge accurately and efficiently, a systemwas developed for accepting earth using digital cameras. The developed systemhas been applied at actual sites. The system measures the volume of earth on the barge using the technique of aerial photogrammetry. Stereo images are taken by two ...

Keywords: Mems, Sensor Networks, Structural Health Monitoring

Applications of Computer Aided Design to Evaluate the Zoning of Hazard Prevention in Community Neighbors

Kuo-Chung Wen, Chih-Fan Hsu
Pages 621-625

The city government will provide the enough emergence routes, parks, and so on to reduce the hurtful accidents during the escape by making the urban plan. The proportions of the Zoning of Hazard prevention will be influenced by some main policy such as the develop direction, population and some effects, and ...

Keywords: Emergence shelter, Zoning of Hazard prevention, Emergence Evacuation, Escape Behavior

Discussion of Influence on Pile Quality by Removing Pile Foundation Casing with Vibrator

Yan-Chyuan Shiau, Shu-Jen Sung, Chung-Piao Chiang, Shiau-Mei Wang, Jung-Yi Tsai,
Pages 626-631

The process of pile sleeve removal will affect the quality of piles directly. In general, there are three types of working method to remove pile casing and the equipment also has significant effect on the quality of pile after casing removal. Recent years, Non-destructive Testing methods were used to assess the quality ...

Keywords: pile, ultrasound, Non-destructive Testing method

Identification of Elastic Constants of the Reinforced Orthotropic Composite Ground from Field Measurements

Hyu-Soung Shin, Gyan N. Pande
Pages 632-635

In this paper, a new methodology for identifying numerous elastic parameters of an orthotropic ground material from field measurements is presented. For a better understanding, a simpler problem, which, however, is in the same concept, is adopted for describing the strategy, which is to identify an orthotropic material from a ...

Keywords: Neural Network, Identification, Orthotropic Material, Field Measurement, Tunnel

Adaptive Sliding Mode Control for Civil Structures Using Magnetorheological Dampers

T.H. Nguyen, N.M. Kwok, Q.P. Ha, J. Li, B. Samali
Pages 636-641

An adaptive sliding mode controller for vibration control is proposed in this paper for structures embedded with magnetorheological (MR) dampers. Civil structures and buildings are liable to damages during earthquake periods. The application of structural control methodologies is important in order to suppress vibrations due to seismic phenomena and dynamic loading. The ...

Keywords: Structural control; MR damper; adaptive sliding mode control

Examination of Practical Utility of Remotely Controlled Robots in Disasters

Naoki Kimura, Sunao Inoue, Akira Fujioka, Katsuhiko Kawakami
Pages 642-647

The Technical Office of Kyushu (in the Kyushu Regional Development Bureau, Ministry of Land, Infrastructure and Transport) and Fujita Corporation have jointly developed a remotely controlled robot that can be rapidly installed in conventional commercially-available construction vehicles such as backhoes, bulldozers and crawler dump trucks. This paper examines the practical utility (operability and ...

Keywords: Remote Control, Robot, Wireless Local Area Network, Disaster

An Innovative Ooze Dredging for Environmental Preservation

Youichi Kogure, Yuuji Hodohara, Shuuhou Yano, Kaoru Kamachi
Pages 648-653

Up to now, ooze dredging has presented many problems: because the mud content ratio is low and has a wide variation and the positioning of the dredger and operation of the ladder is done by hand, ooze dredging has been of poor precision, with the dredging being either too deep or too ...

Keywords: Ooze dredging, Kasumigaura, Improvements for dredging automation Automation for dredging work managing system

Development of Sand Bypass System Using a Self-Sinking Suction Pipe with Holes for Automation and Labor Saving

Hitoshi Noguchi, Yuji Fujita
Pages 654-659

Many coastal areas in Japan are in a distressed condition due to beach erosion. Sand bypass systems offer one countermeasure for beach erosion. In the conventional sand bypass method, heavy equipment such as a backhoe is used to collect sand when the location is above sea level, and a dredging ship ...

Keywords: self-sinking, suction pipe, sand-bypass, labor saving

Prototyping and Automating a Concrete Surface Grinding Machine for Improving Infrastructure Conditions

Jongwon Seo, Sungwoo Moon, Sangju Kim, Wonsik Lee, Jongkwon Lim
Pages 660-664

A remote-controlled and automated concrete surface grinding machine is introduced in this paper. The machine is designed to grind the unsmoothed concrete surface of bridge decks, airport runways, and road pavement. The remote control was required because of the hazardous working condition created by the concrete dust. A graphical man-machine ...

Keywords: Concrete Surface Grinding, Graphic Control Interface, Wireless Remote Control, Global Positioning System

Technical Aspects Concerning a Robot Used for Checking the Sewer Pipes

Daniel Popescu, Dan Sever Ionescu, Adrian Bruja
Pages 665-668

The work shows the principles and techniques that were the base of conceiving the control equipment to drive the robot mechanism, to align the video camera used for the checking of the pipe and the way of taking over the video images on a computer. The driving of the robot moving system ...

Keywords: Check the sewer pipes, Control equipment, Control of video camera

Research on Emergent Soil Exploration System Using Remotely Operated Robot

Mikio Okano, Kazuhiro Chayama, Hiroshi Mayuzumi, Takuo Muroyama, Katsuyuki Baba, Shiro Fujita
Pages 669-674

Following typhoons, floods, earthquakes and volcanic eruptions, it is often necessary to undertake emergency works under the continual threat of secondary disasters. In order to execute these works as safely as possible, it is important to rapidly characterize ground conditions at the disaster sites. In order to achieve this, a portable cone ...

Keywords: Soil exploration, remote control, portable corn penetration test, robot, disaster prevention and restoration

Precise Road Line Localization Using Single Camera and 3D Road Model

Kiichiro Ishikawa, Takashi Onishi, Yoshiharu Amano, Takumi Hashizume, Jun-ichi Takiguchi, Shogo Yoneyama
Pages 675-680

In the near future, precise road line location data is said to be applied to car navigation system and ITS to increase the driving safety. It is important to maintain road data freshness and accuracy. A MMS(Mobile Mapping System) can acquire this road database, while offering an unbeatable productivity with the combination ...

Keywords: Mobile Mapping System, GPS- Gyro /IMU, Road line survey, GIS

Omni-Directional Robot for Pavement Sign Painting Operations

Woo-Chang Lee, Dongnam Kim, Daehie Hong, Woo Chun Choi, Tae-Hyung Kim, Sang Hoon Lee
Pages 681-686

The current pavement sign marking operations are manually carried out, which are labor-intensive. This method requires blocking traffic for a long period of time resulting serious traffic jam. Also, the workers are exposed to possible injury and even death by passing traffic. This paper deals with the development of a robotic system ...

Keywords: omni-directional robot, pavement sign painting, traffic signs

The Research of Construction Common Product Coding System

Nai-Hsin Pan
Pages 687-692

Automatic data identification (Auto ID) technology such as bar code has grown rapidly in various industries. However, the focus of these applications has primarily been limited to the internal operations of a few larger companies. One of the major barriers to adopt modern Auto ID technologies in the construction industry is the ...

Keywords: construction; AUTO ID; materials management; standard coding

Information Exchange of Curtain Wall Work for the Application of Supply Chain Management System

Doo Won Hwang, Sung Wook Choi, Young Woong Song, Yoon Ki Choi
Pages 693-697

The SCM system must apply to the curtain wall work because many stakeholders are participated in this work. By the way, each participant has its own system. Although the system is helpful for them to control its enterprise, it isn’t available between one another system. The SCM system is necessary ...

Keywords: Supply Chain Management(SCM), Information Management, Information Exchange, Unit type Curtain Wall

First Numerical and Experimental Results on Active Controlled Glazed Facades

B. Naticchia, A. Carbonari
Pages 698-703

Both recent legislation codes and the evidence of the effects of high noise levels on human health have directed research activities towards the problem of the improvement of Sound Transmission Loss (STL) of glazed facades in the frequency range (low-medium) where passive means were already shown to be not effective. Adopting active ...

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

Development of Adaptive Structure by Variable Geometry Truss (Application of Movable Monument in Expo 2005)

Fumihiro Inoue, Kohei Kurita, Ryuichi Moroto, Noriyuki Furuya
Pages 704-709

This paper describes the large-scale movable monument exhibited at the International Expo 2005, Aichi, Japan, as the first application of an adaptive structure using a VGT mechanism. This monument is composed of three identical movable towers comprising four truss members combined by VGT at joints. The VGT is an adaptive truss with ...

Keywords: Variable Geometry Truss, Adaptive Structure, Movable Monument, Safe Mechanism, Expo2005 Aichi Japan

Automation System for Curtain Wall Installation (ASCI)

Jong Ho Choi, Seung Yeol Lee, Chang Soo Han, Kye Young Lee, Sang Heon Lee
Pages 710-715

As a trial of automation for a curtain wall which is one of heavy materials, the prototype of an ASCI(Automation System for Curtain wall Installation) was proposed and applied in real construction site. Human-robot cooperation is one of the solutions to improve ASCI. The aim of this paper is to develop a ...

Keywords: Automation system, Curtain wall, Installation

Web-Based Graphic Service Request System for Operation and Maintenance for Residential Complex

Kwang Jun Lee, Jin Su Jeong
Pages 716-721

This research investigates the feasibility of web technology as a means of handling service requests for delivering high quality service in building operation and maintenance. This research proposes a web-based graphic service request (WGSR) system as a pragmatic solution to the limitations of current computerized maintenance management system (CMMS) processes. ...

Keywords: Service request, Computerized maintenance management system, Customer satisfaction, Facility information

Application of the Automated Building Construction System Using the Conventional Construction Method Together

Yuichi Ikeda, Tsunenori Harada
Pages 722-727

The Automated Building Construction System (ABCS), which was developed for the construction of high-rise structural-steel buildings, applies the ideas of factory automation to the construction site and allows work to be done in a comfortable factory. It applies automation, robotics, and computer technology to building construction. ABCS integrates the Super Construction ...

Keywords: Steel Structure, High-rise Building, Factory Automation, All-weather, Welding

Assembling Wall Panels with Robotic Technologies

Frans van Gassel, Pascal Schrijver, Jos Lichtenberg
Pages 728-733

Robots are only incidentally used to assemble wall panels in high-rise buildings, even though robotic technologies for various applications are available. These applications can improve construction site safety and increase the productivity of the assembly process. A research project initiated at Eindhoven University of Technology (TU/e) in the Netherlands aims to ...

Keywords: curtain wall, wall panels, robot technologies, construction site safety

Development of RFID-Based Flow Examination System

Tetsu Kondo, Shigeru Uchida, Tomoya Kaneko, Koji Hamada, Shinichi Miyaura, Masahiro Okura
Pages 734-739

Flow examination of a drainage system is one of the typical tests when installing piping at construction sites in Japan. A huge amount of work is required for the examination, because it must be carried out for the entire pipeline of the drainage system, and the examination cannot be executed efficiently. Therefore, the ...

Keywords: RFID, PDA, flow examination, drainage system

Using MD CAD Objects to Automatically Generate a Contract-Driven Schedule

Chung-Wei Feng, Yi-Jao Chen
Pages 740-745

To efficiently and effectively manage projects in the construction phase, project managers have to transfer information within the drawings to obtain a project schedule. However, practically, the result is usually arbitrary depending on the project scheduler’s experiences. This research employs MD CAD objects as basic scheduling components to develop a model that can ...

Keywords: MD Model, Construction Schedule, Genetic Algorithm (GA)

Applying Knowledge Map for Junior Construction Engineer

Meng Hsueh Lee, H. Ping Tserng
Pages 746-750

It is important that how to improve junior engineers efficiently acquire construction project’s experience. For junior employee’s training, how to effectively reuse the tacit knowledge through information technology becomes an important subject in construction. If the knowledge map could be applied in construction, it would achieve the following spots: (1) enhance the knowledge ...

Keywords: Knowledge Management, Knowledge Map, IDEF0

Knowledge Sharing Model and its Implication on Knowledge Categorization and Management

S. Ping Ho, Pei-Chi Wu, Yaowen Hsu
Pages 751-756

Recently, Knowledge Management (KM) has been applied to business management practice. Surprisingly, there are few studies that address the most fundamental problem in KM: people may prefer not to share their knowledge in order to preserve their intellectual or proprietary values in the organization. Without the premise of each individual’s willingness to ...

Keywords: Knowledge Management, Knowledge Sharing, Knowledge Categorization, Game Theory

Designing Virtual Construction Worksite Layout in Real Environment via Augmented Reality

Xiangyu Wang, Henyi Jen,
Pages 757-761

Current construction worksite layout planning heavily relies on 2D paper media where the worksite planners sketch the future layout adjacent to their real environment. This traditional approach turns out to be ineffective and prone to error because only experienced and well-trained planners are able to generate the effective layout design with paper ...

Keywords: Augmented Reality, construction worksite planning, construction rules, simulation, tangible user interface

An Ontology-Based Knowledge Management Framework for Performance Improvement of Construction Project Managers

V. Paul Christopher Charlesraj, Satyanarayana N. Kalidindi
Pages 762-767

'Knowledge Management' (KM) is a promising business management concept that is gaining wide acceptance and is being implemented in various sectors to achieve improved level of performance and competence. Project management competence is one of the most significant criteria upon which the project performance is dependent on. Further, effective project management relies ...

Keywords: Project manager, Performance improvement, Knowledge management, Ontology

Critical Success Factors for Knowledge Management Studies in Construction

Yu-Cheng Lin, Lee-Kuo Lin
Pages 768-772

Knowledge management (KM) is the organization, creation, sharing and flow of knowledge within organizations. The reuse of information and knowledge minimizes the need to refer explicitly to past projects; reduces the time and cost of solving problems, and improves the quality of solutions during the construction phase of a construction project. The knowledge ...

Keywords: Knowledge Management; Critical Success Factors (CSFs); Construction Projects

Workflows in Constructions Modelled with Stochastic Artificial Social Systems

Calin Ciufudean, Constantin Filote, Daniel Popescu
Pages 773-779

This paper focuses on evaluation of the performance characteristics of workflows in constructions modeled with stochastic Petri nets (SPN). This goal is achieved by focusing on a new model for Artificial Social Systems (ASS) behaviors. ASS exists in practically every multi-agent system, and play a major role in the performance and effectiveness ...

Keywords: Workflow, Artificial Social Systems, Stochastic Petri nets

An Application Model of RFID Technology on Progress Measurement and Management of Construction Works

Su-Won Yoon, Sangyoon Chin, Yea-Sang Kim, Soon-Wook Kwon
Pages 779-783

Accurate progress management is one of the critical factors for successful project management in the sense that it enables forecasting risks and taking corrective action by monitoring project status. However, the existing progress measurement methods have limits on accuracy and reliability due to ad-hoc measurement based on the personal experience of the ...

Keywords: Progress Management, RFID, Application Model

Design of a Schema-Driven Environment for Facilitating Application of Construction Information Standards

Hsien-Tang Lin, Shang-Hsien Hsieh
Pages 784-788

This paper presents the design of an XML schema-driven, tool-building environment, named XsEnvironment, to facilitate application of construction information standards. XsEnvironment is designed to take an XML Schema of a construction information standard, as input information, and then automatically build the corresponding form-based XML information processing applications, which may include XML information editor, ...

Keywords: XML Schema, Construction Information Standards, Information Sharing and Exchange

The Verification on the Effect of Automated Life Cycle Management System for Curtain Wall

Chul-Woo Lim, Jung-Ho Yu, Chang-Duk Kim
Pages 789-793

The Automated Life Cycle Management System (ALMS) is a web based system that is devised to manage a curtain wall from design to installation and maintenance using Radio Frequency Identification (RFID) tags on the curtain wall units. ALMS is not yet completed, but the prototype was implemented to analyze the effects. It ...

Keywords: Curtain Wall, Automated Life Cycle Management System, Verification of system effect

Developing Advanced Experience Management System in Construction Projects Using Experience Maps

C.S. Chen, Yu-Cheng Lin, Y.K. Tsui, S.H. Hung
Pages 794-799

In order to enhance experience management for engineers participating in construction projects, it is helpful to provide engineers the experience exchanging and sharing platform to understand important issues form the previous executed projects during the construction. The proposed experience maps help engineers better to illustrate what they have previous earned experience to “real-life” ...

Keywords: Experience management; experience maps; construction project

Development of Visualization System of Construction Process

Yoichi Yuasa
Pages 800-805

This technology displays each 3-dimensional stage of construction based on building model, construction plan model and process model, and is utilizable for the presentation in order-received stage and work directions in construction management stage. Moreover, this method not only can reduce input time sharply as compared with the method using conventional CAD and ...

Keywords: Building Model, Construction Planning Model, Process Model, Construction Process, and Simulation

Cement Production at Deva Cement Factory from Romania

Susana Arad, Victor Arad,Bogdan Bobora
Pages 806-809

This paper describes the experiences relating to the modernization of the production process and environmental protection at Deva Cement Factory, Carpatcement Holding S.A. The production process, equipments and installations improvement was considered. Besides the technological flow modernization measures, the company adopted certain solutions for improving the performances linked to the technological process automation ...

Keywords: Control system, automation, renewing, environment

Automation of Incineration Plant Demolition and Utilization of Information Technology

Takuya Gokyuu, Mitsuo Niihara, Toshiji Kanai, Shouji Gotou, Youichi Aoki, Kazunori Shibano
Pages 810-815

In 1999,“Law Concerning Special Measures against Dioxins” was enacted. An incineration plant exceeding the effluent standard of dioxins stops operation and the plan of demolition is carried out. When demolish an incineration plant polluted by dioxins,it is necessary to ensure worker’s safety, neighbor’s health and their living environment. Authors have developed an automatic ...

Keywords: Dismantlement, Incineration Plant, Toxic Waste, Removal, Risk Communication

Development of Automatic Chimney Cleaning and Brick Dismantling Equipment

Keishi Nishiyama, Keiji Kobayashi
Pages 816-821

We have developed automatic chimney cleaning and brick dismantling equipment that allows even and efficient removal of dioxin and other toxic compounds adhered to the inner surfaces of chimneys. The equipment keeps spray distance constant by enabling spray nozzles to move in accordance with the varying diameter of the chimney. ...

Keywords: dioxin, chimney cleaning, brick dismantling

Operability Assessment of Indoor Dismantlement Assistance Machine

Yasuhiro Shimoi, Keisuke Kanemaru, Kazuo Fujishima, Kunitsugu Tomita, Ayato Iwasaki, Toshio Morita
Pages 822-827

Hydraulic crushers are available in dismantlement circumstance for example office buildings. Because the crushers weigh 35 to 50kg, adopting new accessory functions were highly expected for saving work/worker and improvements on safety. In this study, an indoor dismantlement assistance machine, which could be stably controlled by a single worker, was ...

Keywords: Manipulability Ellipsoid, Jib-crane, Balancer, and Operability

Filter Leak Tester for Semiconductor/LCD Clean Rooms

Shintaro Sakamoto, Kouetsu Tanaka
Pages 828-833

Previous leak tests for ceiling filters of semiconductor/LCD clean rooms were performed manually and so it was difficult to reduce their time and cost. Therefore, we developed a filter leak tester with an automatic probe scanner and a manual lift mechanism on a truck. One of the merits of the tester ...

Keywords: Clean Room, Filter Leak Test, Particle Counter, Scanning

A Truly Autonomous Robotic System through Self-Maintained Energy

Trung Dung Ngo, Henrik Schiøler
Pages 834-839

World research in autonmous robots has focused on behaviors inspired by natural animal such as flocking, foraging, collecting, and sharing of ants, birds, and insects.

Keywords: Truly Autonomous, Sociable Robots, Probailistic Energy, Neighbourhood

Particle Swarm Optimization-Based Coordination of a Group of Construction Vehicles

N.M. Kwok, Q.P. Ha, V.T. Ngo, S.M. Hong
Pages 840-845

The problem of coordinating construction vehicles in formations is tackled using the particle swarm optimization algorithm. Coordinated multi-vehicles are anticipated to outperform single vehicles in terms of economy and flexibility. A possible approach is to apply control theoretic methods to vehicle coordination but this may require complicated system models to be employed. The ...

Keywords: Multi-vehicle coordination, particle swarm optimization, behaviour-based control, construction site automation.

Control Architecture Characteristics for Intelligence in Autonomous Mobile Construction Robots

Rahee Agate, C. Pace, Derek W. Seward, Mohmed J. Bakari
Pages 846-851

This paper details the implementation of a hierarchial control architecture based on Real-time Control System-Reference Model Architecture (RCS-RMA), for autonomous operation of mobile construction robots.

Keywords: RCS-RMA, Mobile robot, POMDP, PID

Modular Structure Assembly Using Blackboard Path Planning System

Yuzuru Terada, Satoshi Murata
Pages 852-857

Construction work should be simplified by introducing modularity into both structural components and means of assembly. Based on this idea, we have proposed a novel concept of fully automated construction system called Automatic Modular Assembly System (AMAS), which drastically reduces the difficulty of automated construction task. In this paper, we focus on distributed ...

Keywords: Automatic Modular Assembly System (AMAS), Swarm Robotics, Gradient field, Distributed Autonomous Systems (DAS)

Construction Project Buffer Management in Scheduling Planning and Control

Shu-Hui Jan, S. Ping Ho
Pages 858-863

In construction projects, one of the main problems in the schedule planning and control is the determination of the project schedule, especially, when the resources required are limited. Project managers or schedulers have used an estimated time to assure the completion time of either an activity or a project. However, this traditional ...

Keywords: Buffer Management, Theory of Constraints, Critical Chain, Scheduling and Control

Optimization Model of External Resource Allocation for Resource-Constrained Project Scheduling Problems

Kuo-Chuan Shih, Shu-Shun Liu
Pages 864-871

Construction project scheduling is crucial to project success. From the perspective of contractors, a practical schedule based on engineering experience not only improves the accuracy of project duration and cost estimation during the bidding process, but also facilitates the operation during project execution. This study employs Constraint Programming (CP) techniques to resolve resource-constrained ...

Keywords: Project scheduling, Resource-constrained scheduling, External resources, Constraint programming

Assignment Buffer Control for Construction Projects

Jeongki Kim, Hyunsoo Lee, Moonseo Park, Hanguk Ryu
Pages 872-877

Buffer in construction management means a cushion that protects the planned project schedule from uncertainty. Traditional buffer management, however, often fails to perform its purpose, hence reducing efficiency in schedule management. Such failure has been mainly attributed to the fact that traditional buffering is based on experience rather than being made in a ...

Keywords: Buffering, Scheduling, Uncertainty, Manager’s Assignment

Pre-Project Planning and its Practice in Industry

Yu-Ren Wang, G. Edward Gibson
Pages 878-883

Pre-project planning is the project phase encompassing all the tasks between project initiation to detailed design. The development of a project scope definition packages is one of the major tasks in the pre-project planning process. Project scope definition is the process by which projects are defined and prepared for execution. It is ...

Keywords: Scope Definition, Project Success, Pre-Project Planning, Project Processes, Industry Practice

Construction Planning Assist Method Used Construction Model

Yoshihisa Masamura
Pages 884-889

The study of construction planning assist method using information technology is being continued steadily. However, the practical planning assist methods like a automatically checking construction plan instantaneously have not been proposed. The purpose of this paper is to provide functional and practical new construction planning assist method using construction model. Authors developed Erection ...

Keywords: construction model, construction planning, assist method, activity checking method, information technology

Multiobjective PSO Algorithm in Project Staff Management

I-Tung Yang
Pages 890-895

The assignment of staff to projects is a regular activity for many contractors, government agencies and consulting firms. Whereas the primary objective of the assignment is to maximize the overall profit, issues dealing with manpower management must also be incorporated to ensure strong morale and to enhance competitiveness. Such issues include to ...

Keywords: PSO, Multiobjective optimization, Assignment problem, Manpower management