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1998 Proceedings of the 15th ISARC, Munchen, Germany

Trend Analysis of ISARC

T. Ueno
Pages 5-12

Abstract: International Symposium on Automation and Robotics in Construction was firstly held in Pittsburgh in 1984. From this year, the symposium has been held yearly in various countries in the world. More than one thousand papers were presented at fourteen symposiums. These papers are valuable data for researches and engineers in ...

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Construction Automation & Robotics in Europe - State of the Art 1998

R. Wing
Pages 13-26

Abstract: Changes in construction processes are opening the way for automation and robotics. Also, research in this sector is now seeing a more structured approach through the efforts of European Union central funding bodies and those in individual countries.The diversity of applications and many specWc issues such as navigation, vision, etc. ...

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Ongoing Developments in Advanced Robotics in the U.S.A.

M. Skibniewski
Pages 27-32

Abstract: Over the many years, developments in advanced robotics in the U.S. have been driven by the needs of hazardous work environments, including those related to construction. However, as reported in the previous ISARC proceedings, the primary technology drivers include applications in the cleanup of hazardous waste, unexploded ordnance, autonomous navigation ...

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Automation and Robotics in Construction in Japan - State of the Art

T. Ueno
Pages 33-36

Abstract: Construction industry is one of major industries in Japan. Although Japanese economy is severe condition in these days, research and development for automation and robotics in construction is still active. Automatcd building construction systems are developed and applicd to actual projects. Many types of automated systems are developed for tunneling. ...

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Automation and Robotics in Building Construction

T. Bock
Pages 37-46

Abstract: The development in the field of construction is being predominantly characterized by increasing shortage of skilled labour. This shortage will have to be compensated for by an increase in the level of prefabrication to be achieved in the manufacture of pre-cast concrete, wooden, steel frame and brick wall building elements. ...

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Integrated Planning, Prefabrication and Logistics

P. Maack
Pages 47-54

Abstract: In recent years demand for low-cost housing construction — to these the following paragraphs are to relate — has been increasingly requested by politics and management. A lot of examples have shown that quite a considerable reduction of costs of production can be achieved without loss of quality, and that ...

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Robotic On-Site Construction of Masonry

G. Pritschow, J. Kurz, T. Fessele, F. Scheurer
Pages 55-64

Abstract: This paper presents the prototype realisation of a mobile bricklaying robot designed for use on the construction site and controlled by a skilled operator. The complete working process of automated masonry construction is described from the beginning of the brickwork planning based on the layout of the architect up ...

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Flexible Production of Precast Concrete

U.P. Klein
Pages 65-68

Abstract: In the course of the development of efficient and economical production methods and aiming at the increase of the precasting degree in the precast factory, the SUBA group started in the eighties to amplify and to complete the already existing production program in order to precast, when rcquestcd, complete single-storey ...

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Affordable Automation in the System Part Production

W. Reymann
Pages 69-70

Abstract: The International Symposium on Automation and Robotics in Construction (ISARC) has been convened at the right time. The construction industries are actually in a difficult stage of reorganization and is looking for new orientations. It is evident, that only low-cost constnuction with a high degree of modern logistics and automation ...

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Equipment for Prefabrication - Modern Production System for Concrete Precast Parts

H. Weckenmann
Pages 71-77

Abstract: In 1995, there have been produced more than 9 million tons big-sized floor slabs and wall elements as concrete precast parts up to a value of 2 billions Deutsch Marks [1]. In 1979 it was only 3 million tons and a value of 500 million Deutsch Marks, respectively [2]. That ...

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Construction Method Selection and Simulation

H. Tabai, Y. Sasaki, Y. Yuasa
Pages 79-88

Abstract: In Construction Planning, it is necessary to select the most suitable construction method for the requirements oy the design. However, as information on the construction method chiefly depends on individual experience, the construction method might not have always been selected properly. In this pap er the overall concept of the ...

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R&D Activities on Future Construction Systems in Japan

S. Matsumoto
Pages 89-92

Abstract: R&D activities on construction technology in Japan are mainly carried out by large general contractors. Thcy have their own R&D staffs and facilities. Almost all subjects of their R&D are related to the improvement productivity and quality. In this paper I mention about R&D activities on productivity improvement of construction. ...

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A Mobile Robot System for Assembly Operations at Interior Finishing

K. Feldmann, M. Koch
Pages 93-102

Abstract: This paper presents the fundamental concepts for automation of assembly processes at interior finishing. First the technological and organizational workflows and influence parameters of typical process chains at interior finishing are analysed. Then, potentials of rationalization utilizing hybrid configurations of automation systems are derived. Taking into consideration the fundamental requirements ...

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Facade Cleaning by Service Robots

U. Schmucker, N. Elkmann, T. Böhme, M. Sack
Pages 103-109

Abstract: The paper describes a service robot which has been developed and realized for glass facade cleaning. It is the world-wide first fully automatic system for cleaning vaulted glass facades. The shape of the building which has to be cleaned is a special semi cylinder of glass and steel. The robot ...

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Application of Climbing Robot RoSy II in the Business of Building Conservation

H.J. Yberle
Pages 111-120

Abstract: This paper intends to give a short overview about existing climbing robot systems and projects, the techniques of climbing robots and especially a description of the robots RoSy I and RoSy II. Furthermore it shows some aspects and arguments for the use of climbing robots and what climbing robots are ...

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Surface Preparation System BIBER (Beaver)

T. Schulz, R. Manzke
Pages 121-126

Abstract: The Groh, Prischmann & Schulz, rorschungs-, Entwicklungs- und Vertriebsgesellschaft mbH & Co. KG has invented a total new technology for the removal of roughcast, paint, dust, dirt and other coatings on vertical or nearly vertical surfaces. By combining a toolhead, a telescoping device and a vacuum cleaner completed with microelektronics ...

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Motion Control and Supervision of a Drill Rig for Underground Mining

W. Risse, H. Kroells, S. Weissbuch, M. Hiller
Pages 127-135

Abstract: The efficient and precise operation of heavy machines with coordinated motion in multiple axes requires advanced computer-based control approaches. Furthermore, the increasing complexity of such systems demands for comprehensive user assistance as well as for extensive monitoring. This paper presents a Cartesian control system of a drilling boom for blasting ...

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Cable Based Robotic Work Platform for Construction

T. Richter, S. Lorenc, L.E. Bernold
Pages 137-144

Abstract: The following paper introduces a mechanism working as a suspension and positioning tool on the construction site. It is a highly variable tool which can be hooked to a wide range of cranes, where there is a stiff base from which to suspend a multitude of workcells. The design and ...

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Electronic Planning Tools for Tower Cranes

F. van Gassel
Pages 145-151

Abstract: The right tower crane operated correctly allows the contractor to build quickly and cheaply. The choice or a tower crane is a complex matter. Many variables have to be discussed at an early stage. The Eindhoven University of Technology is conducting three research progects to develop a set of tools ...

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A New GPS-Based Guiding System for Compactors

L.H. Pampagnin, F. Martinez, F. Peyret, K. Backlund, J. Fliedner, B.J. Gorham, J.P. Marchand, J.M. Becker
Pages 153-162

Abstract: The paper is about a novel operator-aiding system, specially designed for the road compactors, in the frame of a European project called “Computer Integrated Road Construction". After having recalled the main objectives, which are closely related to the mechanical quality of the road, the paper gives a general overview of ...

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Autmated Hot Mix Asphalt Construction System by Integrating Productivity and Material Quality

H. Lee, R. Schmitt, H.-P. Tserng, J.S. Russel, H.U. Bahia, P. J. Bosscher
Pages 163-172

Abstract: This paper describes the current progress on the development of an automated Hot Mix Asphalt (HMA) construction system that integrates productivity and material quality to achieve the cost-effective construction operation within material specification criteria. It is a challenging task to analyze HMA operation, as its elements are complex and dynamic. ...

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A Benefit-Cost Analysis Model for Implementing Construction CALS

M. Wang, H.-P. Tserng, S.-H. Hsieh
Pages 173-182

Abstract: The objective of this paper is to discuss why Construction CALS (C-CALS, in short) is needed for complex construction projects and to propose a benefit-cost analysis model for justifying the implementation of C-CALS from the viewpoint of economy. This paper identifies six different Cases of data standardization for the delivery ...

Keywords: Construction Automation; CALS; Cost-Benefit Analysis; Information Technology

Remote Maintenance and Service Support Systems for Construction Machinery

U. Strunz
Pages 183-190

Abstract: Remote maintenance and on-site support of operators and maintenance personnel is becoming increasingly important for efficient use of complex machinery. For enterprises active in global markets. the provision and support of a worldwide service network produces high cost on top of product prices and service cost. Both imply major drawbacks ...

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A Unified Theory of Construction Robotics

J. O'Brien
Pages 191-200

Abstract: Presented is a unified theory df construction robotics based upon the idea of behaviour programmable physical action units and modules. The theory covers both animate and inanimate construction machines and the paper gives examples of the theory's use to model dynamic systems composed of. disparate-form, active agents. Some new ideas ...

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A Petri Net Based System for the Modeling and Computer Simulation of Automated Construction Operations

R.R. Wakefield, J. Damrianant, J.B. O'Brien
Pages 406-414

Abstract: Simulation and modeling of construction systems has been the subject of much research over the past twenty years however there is still remains a need for a user friendly, high accuracy modelling method that comprehensively represents the complex dynamics and often time varying logics of the field construction process. This ...

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Research on the Intelligent Construction System - Distributed Automatic Construction Planning System with JAVA

Masahiro Morita
Pages 415-421

Abstract: As a result of automated construction methods, which many construction companies have worked on these days. Consequently, the following construction planning systems are needed: I) the best framework partition plan, 2) the best layout plan of the hardware and the best usage plan of workers at the construction site, ...

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Computer-Integrated Methodologies for Real-Time Control of Asphalt Paving Operations

Heejune Lee, Jeffrey S. Russell, Robert L. Schmitt, Hui-Ping Tserng, Awad S. Hanna, Hussain U. Bahia
Pages 423-431

Abstract: A real-time control system is needed for measuring and improving productivity and quality in asphalt pavement operations. This paper presents four computer integrated methodologies necessary to develop a real-time control system for asphalt paving operation. These methodologies include: (I) simulation modeling for optimal allocation of resources. (2) automatic truck dispatching ...

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Development of a Robotic Bridge Maintenance System

Steven J. Lorenc, Brian E. Handlon, Leonard E. Bernold
Pages 432-436

Abstract: This paper will expand on the Robotic Bridge Maintenance System (RBMS) developed by the Construction Automation and Robotics Laboratory (CARL) at North Carolina State University (NCSU). The system consists of a 4-degree-of-freedom robot designed and built at NCSU mounted on the end of a truck mounted peeper crane. Additionally, a ...

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GA Performance in Parametric Selection of Bridge Restoration Robot

A. McCrea
Pages 437-442

Abstract: This paper is a follow-up to the last year's ISARC paper of mine and presents the process and the results of verifying the previously described concept (of using GA as optimisation method in parametric design of robots) using the customised Fortran GA driver. The adaptive search technique, known as the ...

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A Productivity Model for Performance Evaluation of the UT Automated Road Maintenance Machine

Young-Suk Kim, Jason K. Husbands, C.T. Haas, Richard Greer, Angela Reagan
Pages 443-450

Abstract: An Automated Road Maintenance Machine (ARAMM) for automatically sealing pavement cracks has been developed by the University of Texas at Austin. Automating pavement crack sealing can improve safety, productivity and quality and reduce road user costs as well. Recent initial field trials of the full scale crack sealer have indicated ...

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A Simulator for Road Construction Equipment

David Betaille, Francois Peyret
Pages 451-458

Abstract: The current practices on the road construction worksites have begun to change rapidly and fundamentally since the arrival on the market of new real-time positioning systems. These systems mean it is now possible to overcome the main weakness existing on construction sites today, e.g .. the huge gap between the ...

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Development of an Advanced Control System for Shield Tunnelling Machines

Ronald P. Krom, W. J. Vlasblob, Peter Kole
Pages 460-465

Abstract: This paper describes the development of a control system for shield tunnelling machines. The purpose of this control system is to avoid soil stress reductions during the shield tunnelling process that are due to sub optimal machine control. In the current situation, this sub optimal control can occur because the ...

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Improving the Dynamic Behavior of a Servodriven Electro-Hydraulic Robotic Manipulator

Gunter Pritschow, Stephen E. McCormac, Bernhard Hiller, Jorg Zeiher
Pages 466-472

Abstract: The authors detail two servo-control strategies which improve the performance of servodriven electro-hydraulic robotic manipulators. The first servo-controller is pragmatic approach based on both empirical controller design and fuzzy logic and results presented demonstrate that its performance clearly surpasses that of the conventional P-controller. The second servo-controller is a robust ...

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Mechanics of Tensegrity Prisms

Irving J. Oppenheim, William O. Williams
Pages 473-479

Abstract: Tensegrity prisms are three-dimensional self-stressing cable systems with a relatively small number of disjoint compression members, invented by Buckminster Fuller. They form novel structural geometries and they constitute a class of mechanisms that have not been previously studied for possible application as variable geometry truss (VGT) manipulators. They have a ...

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Motion Planning and Fuzzy Reactive Control for Excavating-Robot

Yi Yang, Jian-zi Wang
Pages 480-485

Abstract: Excavating- robot differs from industrial robot due to unstructured working environment, the changeable soil mechanics and heavy loading . Thus, the motion planning for excavating-robot is different from traditional planning methods. In this paper, the motion planning strategy and the fuzzy reactive control method for excavating-robot are proposed. By preliminary ...

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A Practical Development of the Suspender Device that Controls Load Rotation by Gyroscopic Moments

Fumihiro Inoue, Kouji Watanabe, Yuichi Ikeda, Tatuya Wakisaka, Akira Wakabayashi, Yoshitsugu Nekomoto
Pages 486-495

Abstract: In the transportation of construction material using tower cranes, the hanging loads are frequently rotated by external disturbances. This lowers the efficiency and the safety of this kind of work. For the purpose of reducing load rotation and dangerous works, a suspender device activated by a gyroscope has been developed. ...

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Cartesian Controlled Heavy Machines Supported by Advanced Human-Machine-Interfaces

B. Fink, M. Hiller, H. Krolls, W. Risse, S. Schweikart
Pages 496-501

Abstract: This paper presents an approach to Cartesian controlled heavy machines. The system under investigation is a drill rig equipped with two drilling booms each actuated by eight hydraulic drives. To improve accuracy and efficiency in both possible operation modes, drilling and bolting, a Cartesian control system has been implemented, which ...

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Development of a 3-D Graphical Database System (GDS) for Landfill Operations Using GPS

Hui-Ping Tserng, Jeffrey S. Russell, Dharmaraj Veeramani
Pages 502-510

Abstract: Landfill space is an important commodity for landfill companies. It is desirable to develop an efficient tool to assist space management and monitor space consumption. When recyclable wastes or particular waste materials need to be retrieved from the landfill site, the excavation operations become more difficult without an efficient tool ...

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Development of Marking System for Construction

Hideyuki Takada, Tetsuo Yano
Pages 511-518

Abstract: In the history of construction, marking has been one of the most critical work items, including some difficult and troublesome points which need to be solved urgently; basically, marking work has been performed resorting to human labor by two workers, necessitating complicated preparation steps especially for marking at higher positions. ...

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Development of Virtual Survey Marking System for Remote Control of Construction Machinery II

Yoshikatsu Miyauchi, Kenji Shibata, Toshifumi Sato, Motohisa Hirose
Pages 519-527

Abstract: The authors are developing the Virtual Survey Marking System (VSMS) for use in remote control construction of structures such as erosion control dams. Tests of the performance of this system in slope grading operations were recently conducted at Mt.Fugen at Unzen in Nagasaki Prefecture. In these tests it was ...

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Performance Testing of a Large Scale Manipulator to Determine Relative Utility of Several Operator Interfaces

Frank C. Owen, Gwan Park, Carl T. Haas, I. Edward Gibson, Alfred E. Traver
Pages 528-535

Abstract: Performance tests were conducted on the University of Texas's Large Scale Manipulator (LSM) while it was being operated via three input command interfaces. Two of the interfaces were manual interfaces-a conventional eight-lever operator console and a six-degree of freedom (DoF) spaceball. The third input interface was preprogrammed motion, in which ...

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