The International Association for Automation and Robotics in Construction
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Abstract: In the frame of its research about real-time positioning and control of road construction equipment, the « Laboratoire Central des Ponts et Chaussees, has carried out in 1996 a study to know more about the actual vertical accuracy that a RTK1 GPS2 could reach under worksite conditions. This ...
Abstract: This paper presents two localization fusion techniques for civil-engineering machines. The first one concerns 2D localization and the second one is intended to 6 dof position and attitude determination. The system uses an optical instrument called SIREM which provides azimuth and elevation angles of known landmarks. The approach is based ...
Abstract: The use of Real Time Kinematic (RTK) GPS has made real-time decimeter and centimeter positioning possible. Standalone GPS, however, does have shortcomings: At least four satellites must be visible at all times to maintain positioning. If satellite view is obstructed, position information is no longer available. When satellites become again ...
Abstract: A good metrology system in the automated environment must. (1) measure the three dimensional position and attitude of any component to a reasonable degree of accuracy; (2) acquire these data fairly rapidly; and (3) be capable of making reliable measurements anywhere on site. A significant limitation for existing surveying systems ...
Abstract: The evolution toward sensors/metrology systems with embedded processing holds great potential for construction automation, provided that effective, standard communications and data-exchange techniques can be developed. Unfortunately, most metrology systems have limited interfaces that slight the communications/data- exchange issues. Serial, hardwired links (e.g., RS-232,422) are a common, low denominator.The ...
Abstract: At this stage of the floor-tiling robot's development it was decided to concentrate on the autonomy at a workstation, which means that all operations at a workstation - stabilizing and calibrating at a workstation, loading tiles, etc. - including real-time quality assurance (QA) are done without human intervention, while the ...
Abstract: This paper considers an on-board system for construction machines to measure weight of handling or excavated materials and/or contact force of machine tool or end effector for construction robot.Weight and force are measured indirectly by the differential pressure of hydraulic actuators of machines, driving the machine arms. This system improves ...
Abstract: This paper presents a novel approach to solving the problem of detecting, locating, and removing buried unexploded ordnance. The locating system consists of an active electromagnetic sensor coil mounted on a backhoe excavator. The system has the unique ability that the coil is capable of eliminating the metallic effect of ...
Abstract: Imaging sensor systems are inevitable components of intelligent and automated machinery. Imaging sensor systems based on the laser radar (ladar) principle are proposed to provide advanced machine capabilities such as collision avoidance, obstacle detection, object recognition and position determination. This paper describes the adaption of a 3-d ladar camera to ...
Abstract: A non-prism laser measurement system using image control is described. The device combines imaging, non- prism laser measurement, and computer control techniques to achieve an early understanding of topography and the amount of earthworks required as well as improved work safety. Consisting of CCD cameras, non-prism laser measurement equipment, rotational ...
Abstract: Traditional scheduling software such as P 3, OPENPLAN and Microsoft Project have been widely used for schedule. planning for various construction projects. However, these software do not employ the effects of rains in the scheduling process. . Thus, two identical projects would yield the same total project duration even though ...
Abstract: This paper discusses a survey on construction planning conducted in an attempt to establish a computer- aided support system and identify the newly established system's structure and method for construction planning and scheduling. After videotaping four engineers developing a given construction plan through group discussion, the minutes of the discussions ...
Abstract: Based on our experience, an emphasis in construction scheduling is not always same. Then we surveyed various opinions of construction engineers about construction scheduling. As a result it was clarified that methods of construction scheduling were different in each phase of projects and each type of projects. We classified construction ...
Abstract: The all-weather automated construction system has been developed to reduce the total cost of high-rise reinforced concrete building construction, and was applied to a 26-story reinforced concrete condominium project located in Chib a prefecture in 1995 for the first time in the world. This automated construction system consists of four ...
Abstract: This paper relates to the development of a method for the total automation and site robotisation of the concrete frame production process on real world, non- standardised, commercial building structures. The proposed method uses currently available technology and is an improvement on the highly successful Progressive Strength System developed ...
Abstract: In order to meet the increasingly sophisticated requirements for large-scale construction projects, in 1993, Penta-Ocean Construction began to develop a comprehensive system that would facilitate building construction work in all weather with minimum disturbance to the surrounding neighborhood. We call this system FACES: Future Automated Construction Efficient System. The system ...
Abstract: A variety of improvements have been added to the Shimizu Manufacturing system by Advanced Robotics Technology (SMART) developed by Shimizu Corporation based on evaluation of the results from the system's application in the construction of a building in Nagoya, Japan several years ago. The improved system was used this time ...
Abstract: This research project is a part of IMS IF7 titled "Innovative, Intelligent Field Factory," which is one of IMSresearch projects in Japan. The research program of IF7 consists of the three work packages. In work package 1, particular emphasis will be placed on realization of modularized construction system. Work ...
Abstract: Though the construction industry was one of the first to adopt aspects of Information Technology (IT) in the areas such as drafting and design, its introduction at the site level remains sparse. One of the reason for this is believed to be the suspicions that exists in the industry as ...
Abstract: The purpose of this paper is to study how to incorporate current modeling data with design under constraints of current computational capability and applied software and hardware of local architecture firms. The study is made to facilitate the review of newly designed buildings and evaluating their possible impact on the ...
Abstract: The majority of automated construction research and development has been bottom-up, from the construction / engineering side rather than top-down from the design end. The first part of this paper is devoted (0 the design of a research programme which seeks to address topics related to the conceptual design of ...
Abstract: The paper presents a complete and a simplified model for the economic analysis of robots employment on building sites. Four generic types of building robots are analyzed with the aid of the model and of the available productivity data, which have been published to-date by developers and users of building ...
Abstract: The article deals with the operation of robot systems for the onsite construction of residential buildings and their integration in a semi-automated construction process. On one hand the integration and necessary work preparation tasks will be described for a mobile onsite masonry robot developed in the European project ROCCO (Robot ...
Abstract: Faced by a need to overcome work force shortage and vanishing skill replacement, to avoid dangerous works and to reduce cost, a semi-automated sliding system of assembled roof is developed to build a roof of machine room within underground power plant. The semi-automated sliding system will improve working conditions, since ...
Abstract: The authors have previously proposed a new method to prevent the overturning of truck cranes considering possible ground failures in the 11th ISARC at Brighton. The first aim of this study was to create an alarm system which can predict and judge the degree of danger from the data between ...
Abstract: Automation and robotics in construction field are being undertaken in views of shortage and aging of construction workers and skilled workers, improvement of working environment and maintenance of good conditions free from hard work and danger. In-depth examination has been carried out at alomost all the sites and surveyed as ...
Abstract: In order for construction robots to become accepted on site it will be necessary for them to achieve demonstrable levels of operation safety at least equivalent to and probably higher than the equivalent manually operated system. In order to achieve the required levels of performance it will be necessary to ...
Abstract: The paper describes an underwater climbing robot for inspection of underwater constructions. It contains an overview of design and technical parameters of the robot. The technological module for inspection is considered. Pecularities of underwater application and different transport modes of robots motion to initial working position are presented. Experimental characteristics ...
Abstract: Deep founadtions, because of their economical merits, are used as foundation for steel transmission towers and bridges which are provided in mountain areas, as well as for landslide-restrainig pile at scarps. However, the most of the works, such as excavation are implemented in a narrow circular vertical shaft by human ...
Abstract: On-orbit assembly technology is a key for future large scale structure construction. For several decades, many concepts of space structures have been proposed and some of them have the idea of Robotic construction systems. Authors have developed a concept of a truss joint system for large scale orbital structures and ...
Abstract: This paper describes a 1,500 metric ton, mobile, remotely operated worksystem that has been designed to excavate and retrieve buried hazardous and low level nuclear waste. The mobile work system includes seven independent, multi-degree-of-freedom, telerobotic excavation tools and four remotely operated, double-lid transfer systems to move the waste through the ...
Abstract: The problem addressed is plastering of walls and ceilings during the construction of apartment and office buildings. The concrete wallls are to be covered by a smooth layer of plaster, a few millimeters thick. The workplace is structured enough that map generation, navigation and motion planning can be performed autonomously. ...
Abstract: Several factors can affect the bond strength of brick masonry units. Some of these factors include: Initial rate of absorption (IRA) of water for bricks, brick porosity, brick texture, type of mortar, type of sand, mix proportions, mortar water content, mortar workability, mortar viscosity, time between the application of mortar ...
Abstract: This paper presents basic concepts and enabling technologies for a mobile plastering robot used on the construction site and controlled by a skilled operator. Economic aspects of the German plastering industry, requirements for semi-automated plastering, alternative robotic end-effectors, various kinematic structures as well as suitable drive technologies for a plastering ...
Abstract: An automated CAD/CAM -system for wood frame wall panel manufacture is presented. The paperless plant -philosophy based Computerized Wall Panel -system is blueprint free and utilizes leading edge CAD and Automation technologies resulting in increased productivity, labor savings and increased quality of the end products.
Abstract: New large range robots with hydraulic actuators play a key role in the automation of sevaral important construction tasks and its demand is increasing nowadays. However the steps for design of this type of robots are not structured today, and it is performed in an individual way. This paper presents ...
Abstract: Because of the high development costs of an item of automated or robotic construction plant there is a need for a low cost rapid prototyping system which can support the early stages of the design and development process and provide feedback to the designer of the effect of different kinematic ...
Abstract: Clinkers are waste material in the bottom ash hopper of furnaces of lignite fired power plants. Workers are requierd to wear cubersome, hot suits and manipulate a long heavy steel rod connected to an air hammer to clear clinkers. A tele-operated maintenance robot has been designed to perform the dangerous ...
Abstract: In this paper, mathematical modelling of vehicle tractive performance was developed and various center of gravity and height of application force movement effects were analyzed by mathematical simulations. For given set of vehicle dimensions and terrain-wheel system constants, the simulation calculated, effective tractive effort and rear wheel sinkage, slip ratio ...
Abstract: The "AMURAD" system developed by Kajima Corporation is so-called "building factory". The first to fourth floors function as a factory where low level construction work is performed utilizing integrated construction information. When one floor is completed, it is pushed up by special computer-controlled jacks. The first application of this system ...
Abstract: The FCF construction method (Fast Failsafe Climbing Form) with the climbing robot jack as a nucleus, was developed for construction of high rise concrete structures, such as a tower-shape or a cylindrical tall bridge pier, etc. This construction method uses a plural number of the climbing robot jacks to ascend ...
Abstract: This paper will introduce a multi-designer and multi-construction machine system which has a realizeability capacity. It also provides a cooperative creation environment from design activity to prototype construction, which is indispensable for product development and the predictive simulation of complex construction projects.The requirements, the necessary functions and the implementation of ...
Abstract: The idea of the robot system for the assembiing of the reinforcement cages for reinforced concrete beams and columns and the assembling process are presented. The process of the assembling requires the moving of the rebars, which are rather flexible and therefore deformed due to their dead-weight. Additionally the accelerations ...
Abstract: This research is aimed at developing a seismic measurement based method for estimating pile bearing capacity. By modeling the rigid body motion of the pile-soil system. the pile bearing capacity is analytically derived as a function of mass. natural frequency. damping ratio. and soil quake. Tltis paper presents the procedure ...
Abstract: In order to automate the scooping task, it is necessary to obtain the resistive forces acting on the bucket before the scooping is performed. In this study, empirical equations to predict the friction coefficient between the bucket and rocks, the friction coefficient among rocks and particle diameters were obtained by ...
Abstract: As one of the studies on automatization in the deep soil improvement method, theoretical and experimental studies were carried out to develop a method to estimate soil properties in real-time during construction. In the theoretical study, the resistance acting on the improving machines from the ground was studied with soil ...
Abstract: This paper deals with research into the possibility of using the vibratory responses of a soil/asphalt compactor to determine the relative density of the material being compacted.
Abstract: This study focuses on developing an automated schedule monitoring system for precast building construction. Erection of prefabricated structural components is the major critical activity for the precast building construction. An efficient lifting schedule plan and control can significantly reduce construction conflicts and project delay. In this research, the system, ArcSched, ...
Abstract: A methodoöogy and several algorithms for interactive motion planning are deveLoped for multiequipment Landfill operations in an automated Landfill system (ALS). A system for establishing ALS is aLso proposed in the paper. To deveLop a multi-truck/multicompactor automated Landfill system, the major probLems can be classified into three principal categories: (1) ...
Abstract: To support the utilization of discrete-event simulation in the analysis and planning of heavy construction operations, this research investigation has established a framework for a more simplified simulation environment. This framework is a resource operation cycle-based simulation modeling approach using an object-oriented information system to support project managers. This approach ...