The International Association for Automation and Robotics in Construction
Search papers
Abstract: In this paper we propose a Petri net within a diagnosis system for construction design. We assimilate the construction process with an assembly process that composes parts and/or subassemblies into a unique product. We assume that the assembly supervisor (AS) system is distributed, and it solves several local AS attached to the nodes of the ...
Abstract: With the complexity of construction process, process information visualization and representation is often key research issues. Among those issues, when the problematic events occurred and need attentions of responsible persons, the notice methods are often applying multiple communication media such as vocal communication, SMS messages and pictures taken from the ...
Abstract: The paper presents a new system for automatic control of the position of finishing beam of a machine for the deposition of asphaltic mixtures. The system uses an inertial transducer for measuring the inclination angle of the beam. The transducers functioning is without mechanical contact, the variations of the inclination angle being directly transformed into phase ...
Abstract: The importance of the wireless energy transmission is emphasized for the actual operation of robots. Examples of application such as a lunar rover mission for the ice exploration, rescue robot for nuclear accident and laser driven kite plane are shown. Problems to be solved are discussed for more extensive utilization of the technology.
Abstract: Building the planar map and a 3D model of the environment is a fundamental task for a mobile robot that , using several and properly configured equipments and appropriate software modules, can reach these goals with high precision and in an automatic way. Such capability can increase the efficiency and the quality of 3D reconstruction ...
Abstract: Mobile robotics can be successfully applied for 3D environment exploration and reconstruction. Here, a vehicle tracking system is described based on combining laser and camera information aiming at building maps of unstructured environments. The proposed system integrates a ground-fixed CCD camera with a phase-shifting laser to follow the vehicle moving across the environment. The method comprises two ...
Abstract: Finding the shortest path between any two nodes in a network is a classical problem in a number of research areas. Although some general shortest path algorithms have already been developed, such as Dijkstras shortest path algorithm, in some situations, their computation complexity is too high to be of any ...
Abstract: Conceptual cost estimate plays an essential role in project feasibility study. In practice, it is performed based on estimators experience. However, due to the inaccuracy of cost estimate, budgeting and cost control are planned and executed inefficiently. Support Vector Machines (SVMs), an Artificial Intelligent technique, is used to conduct the construction cost estimate. The algorithms of ...
Abstract: Combining the design-build and fast-tracking delivery methods, this study aimed to reengineering the fast-tracking processes across both organizations of designer and constructor, so that fast-tracking processes in the design-build team can span across organizational boundaries and are composed of cooperating workflows executed in different organizations. For this purpose, two subjects are described in this study, namely, ...
Abstract: The sequence of design activities is vital, particularly in interdisciplinary projects. Sequencing of activities is influenced by the information dependency among the activities. The dependency relationships among the design activities in a project are of three types independent, dependent and interdependent or loops. Interdependent activities (or loops) require assumed information to start and progress. If ...
Abstract: This paper puts forward a framework for benchmarking appropriate remuneration schemes for optimum labour productivity in highly unique construction industries in modern engineering practice. Socio-economic motivational factors among the various stakeholders have been identified and analyzed in order to incorporate in overall decision making process. The research aims to develop an automated decision support system (DSS) forecasting ...
Abstract: This research has shown the difficulties associated with the GIS and the flooding evacuation path search through the huge searching space generated during the network analysis process. This research also presents an approach to these problems by utilizing a search process whose concept is derived from natural genetics. Genetic Algorithms (GA) have been introduced in the ...
Abstract: In the last few years, automation of slewing cranes is gaining more and more importance in transport and handling processes. However, each operation of crane with rope-suspended loads provokes swaying movements of load. Neutralization of these swaying movements represents a key problem when high handling speeds, operational reliability, accurate traveling ...
Abstract: A number of problems in the construction industry could be solved with the aid of automation and robotisation technologies. There are indications that automation and robotisation processes are similar to transition processes. Recent years have seen a good deal of research into these kinds of often complex processes and how to manage them. This knowledge may ...
Abstract: In this paper a study of feasibility is presented for using robots or robotic systems in novel applications concerning with activities related to analysis and restoration of historical sites of architectonic interest. The work has been developed within a collaboration between DART and LARM Laboratories, of University of Cassino. Design requirements and peculiarities of operation of ...
Abstract: Pipe inspection is a very important issue in construction. The inspection of low diameter canalizations is a pending issue nowadays, however it would help to repair and maintain a large amount of installations. In this article the lines that are followed to build a robot that is capable to move inside pipes of less than ...
Abstract: one of the most important requirements in repairing and maintaining of pipelines is the ability to monitor and evaluate the pipes interior. This work deals with the design and prototyping of an apparatus to traverse piping systems for inspection, cleaning and or examination of the piping systems. At first, the existing pipe crawlers are studied ...
Abstract: Inspection robots are used in many fields of industry. One application is monitoring the inside of the pipes and channels, recognizing and solving problems through the interior of pipes or channels. This ability is necessary especially when one should inspect an underground pipe. In addition, many sensors are used on these robots to improve the ...
Abstract: Automation in construction is one of the important issues in the field of robotics, but is distinct from factory automation (FA). Because of variations in materials and management, the role of automation in construction is often limited. A curtain wall is a large, heavy breakable object and requires precision installation, making it a better candidate ...
Abstract: Quality management of the construction process is finding its way into the construction industry and authorities. with the goal of higher profitability, increased efficiency, reduced cycle-time, decreased call-backs and warranty work, and increased customer satisfaction. To reach a total quality management throughout the whole lifecycle of a construction (consisting of the steps 'planning', 'design', 'construction', operation and ...
Abstract: This paper addresses some control issues of a robotic amphibious vehicle that can serve as a general framework for automation of tractors used in construction. These include the vehicles low-level dynamic equations, the development of its braking control system, kinematics in interactions with ground and the slip problem. Simulation and real-time results to date are presented.
Abstract: this work simulation and implementation of the locomotion control of a single sliding suction cup robot, named Alicia3, is described. The main purpose of this kind of system is to explore vertical walls to search for potential damages or problems on oil tanks or dams. By using this system as carrier, it will be possible ...
Abstract: This paper deals with fully automating the pavement lane painting operations utilizing robotic technology. This study includes a novel design of robot structure that can be easily installed on support commercial truck and image processing algorithms that can recognize deteriorated lane marks. With this robot system, a single operator within a cab is capable of ...
Abstract: Information technology can be generally understood as techniques and methods needed for creating, processing, refining, transferring and utilizing information through different working processes of construction. For managing information process different measurement, software, modeling, information communication as well as numeric control technologies are needed on the operational level. A visionary model of automated total process ...
Abstract: The paper addresses a typical application of the hydrostatic transmissions, i.e. the locomotion of vehicles. It is proved that if a full traction scheme is adopted (with hydraulic motors on both axles) the contribution of the front and rear axle to the overall traction capacity can be changed by acting on the displacement setting of ...
Abstract: 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 ...
Abstract: In Italy, monitoring presences in the building site represents an important problem for technical and organising aspects and at the same time from the economical and administrative point of view. The existance of a social clause concerning the respect of the terms of the national contract signed by trade unions in the contracts of public ...
Abstract: The Construction environment has been changed tremendously for last few years in Taiwan. Since the capital has been flowed to China, real estate has no more good market. By the way, the practice of volume ratio makes the problem of vacant houses worse. In order to solve the land investment pressure, build companies need ...
Abstract: This paper presents an integrated Web-based Cost Estimator (iWICE) system. The iWICE incorporates the influence of site conditions into a previous developed Web-based Intelligent Cost Estimator (WICE) system for highway construction projects. A VaFALCON neuro fuzzy system is employed to construct the site condition knowledge-based system that provide modifications for work unit costs from WICE. Moreover, VaFALCON ...
Abstract: Real-time decision-making with partial information is commonplace in the daily tasks of a construction manager/engineer. However, traditional decision support systems (DSSs) do not support partial information inference. Data pre-processing was adopted to solve the data-incompleteness problem. Unfortunately, such approach may be biased. This paper presents a newly developed neuro-fuzzy system, named Variable-attribute Fuzzy Adaptive Logic Control Network (VaFALCON), ...
Abstract: The 2004 NIST interoperability cost study estimated an annual cost burden of $15.8 billion due to inadequate interoperability in the capital facilities segment of the U.S. construction industry. The $15.8 billion estimate is the sum of individual annual cost burdens for four key stakeholder groups: architects and engineers ($1.2 billion); general contractors ($1.8 billion); specialty fabricators ...
Abstract: In order to maintain ecological environment, protect limited natural resources, promote the quality of life, and advance the eternally usage of all precious resources, we have some good achievement in both industrial circles, government official areas, and academic communities. Since each engineering method will cause different impact, we need to effectively grasp the biological information for ...
Abstract: The Application of IT is not as popular as other areas at Construction Industry in Taiwan. Since IT can help enterprises to integrate most complex information, we can make big progress in cost, quality and service. Construction Industry has to integrate surveying, planning, design, structural design, shop drawing, contracting, valuation, and so on, we need ...
Abstract: In construction scheduling, problems can arise when each activity can be started at different time points and the resources needed by the activities are limited. Moreover, activities have required conditions to be met, such as precedence relationships, resource demands, etc. To resolve these problems, a two-phase GA (genetic algorithms) model is proposed in this paper, in ...
Abstract: The present work considers a double wedge soil cutting model, suitable to describe the soil-tool interaction in automated digging processes. This one or a similar model will be the base to reach a set of equations by which to fit online typical soil and tool parameters, instead to fit these ...
Abstract: The paper examines the economy and benefits of 3-D design method in concrete bridge engineering. New 3-D CAD design tools and 3-D measurement methods were developed and tested in the several real bridge construction projects in Finland during 2001-2004. The paper describes these observations and suggests some conclusions for future ...
Abstract: The Army use bridges to cross narrow water and terrain obstacles. The bridges are carried on wheel or caterpillar vehicles then they are laid on obstacle. Generally the bridges are not put by crane, but by special manipulator - called manipulator of mechanized bridge. This manipulator structure depends on kind of bridge and way of ...
Abstract: Automation of loading of bulk media, or autoloading by an excavator, implies that an excavator for soft rock or particulate material loads its bucket successfully without the intervention of an operator. The subject has been under investigation for several years now. Nevertheless, the result of research has not yet reached to the level of implementation ...
Abstract: Our group developed a method for planning of scooping point and approach path as a part of our ongoing research on autonomous loading operation of wheel loader at construction sites. The planning of scooping position and direction is obtained through processing pile model. The pile model represents shape and volume of ...
Abstract: Our research shown that there are two main reasons of poor directional stability of articulated tractorstoolcarriers: a small frame articulation which always occur due to different reason and limited perception of driver which has insensitivity zones of lateral and angular location. On this basis the principle for stabilization of steering system was worked out. In this ...
Abstract: Among the goals of intelligent soil compaction is feedback control of vibration frequency, force amplitude, and forward velocity to optimize the compaction of soil. The development of a robust model structure for feedback control and/or soil parameter identification for continuous quality control/quality assurance requires comprehensive information about the machine's behavior, e.g., vibration characteristics. This paper describes the ...
Abstract: Topics such as reorganization, use for new purposes and refitting gain more and more significance in the building sector. The stock of existing buildings often suffices concerning quantity and amount of space. Usually there is a solid basic substance, which demands only a repair of surfaces and above all an actualization of the technical building ...
Abstract: In construction of bridges with cast-in-place concrete slabs, we often observe that materials of floor slabs are conveyed by human power in construction sites where transportation of materials by cranes or other large and heavy equipments are restrained. Since a possibility of substantial cost reduction was anticipated through rationalization of such conveyance work, we developed the ...
Abstract: This paper presents the concept used to construct a complex residential Tilt-Up-Panel structure utilizing 3D-Modeling and animations. The residence is comprised of 108 panels of varying rectangular shapes with "dog legs" and window and door "cutouts" that look like an assembled jigsaw puzzle. The erection and installation procedure calls for ...
Abstract: The mobile automated production line for the manufacturing of prefab wood houses permits to organize the output of required quality products in a distance from industrial centers without engineering operational bases and high-skilled staff. It is capable to meet the requirements of various designs, to maintain the high effectiveness and reduce different forms of ...
Abstract: Within the scope of construction supply chain, various uncertainties arising in the processing procedure lead to difficulties and impracticality in structural planning. As a result, consistency in individual job function and standardization of components of the production process, which is also known as "industrialized construction," become the major topic for discussion in the last few years. ...
Abstract: The paper presents the formulation of general approach to construction of structural models for elastic manipulators, which can be presented in the form of collection of connected in series bodies experiencing elastic deformation, and suggests the methods of changing over to such structure. The paper describes in detail the method of constructing mathematical models ...
Abstract: In buildings, windows and glazed facades are often the weak link in protecting the interior from exterior noise. Since passive means for improving the Sound Transmission Loss (STL) of glazed facades are very expensive and are effective only at high frequencies, an active controller that increases the STL in the low frequency range is an ...
Abstract: Cement production is an energy intensive process that consumes a significant portion of world energy. Significant optimization of the traditional cement grinding process can be achieved. Control system, automation and monitoring software assure means of improving the efficiency of the technological flow and of optimizing the energy consumption in Casial Cement Plant.
Abstract: Recently, the demand for sensor technology has increased remarkably in all industrial fields. Sensor technology is closely related to cutting-edge technologies such as semiconductor technology and minute structure building technology, and thus, the high demand for small and light devices with high performance provides the impetus for conducting studies in order to develop sensors with much ...
Abstract: In this paper, the authors explained the overview of data sampling method for development of a location system for workers using RFID technology. Data is the RSSI (Receive Signal Strength Indication) from RFID tag attached to the worker installing a rolling shutter, and was obtained from antennas and RFID readers set around the construction site. ...
Abstract: In this paper we present a feasible Home Automation System scenario based on a very cheap distributed microcontroller architecture, rather than on devices interconnected by an expensive commercial bus. The means used for data communication is the home powerline, so that the system doesnt require placing other cables in addition to standard electrical facilities.
Abstract: The NIST Construction Metrology and Automation Group (CMAG) has ongoing research in the application of laser imaging technologies in construction. Previous work has primarily focused on terrestrial LADAR scanning for applications such as terrain characterization, earthmoving analysis, and targeted object localization. The LADAR systems used in those research efforts can be characterized by long scan intervals and ...
Abstract: Digital inclinometers are used in geotechnical engineering to monitor lateral deformations of excavation walls, retaining walls, embankments and landslide areas. Current conventional slope inclination measurement requires a person to manually lower a probe into a grooved casing and record inclination at prescribed intervals as the probe is drawn upwards. Developing an automated inclinometer system would enable continuous ...
Abstract: The main purpose of tunnel ventilation system is to maintain CO pollutant concentration and VI (visibility index) under an adequate level to provide drivers with comfortable and safe driving environment. Moreover, it is necessary to minimize power consumption used to operate ventilation system. To achieve these purposes, FLC (fuzzy logic controller) has been usually utilized because ...
Abstract: Spatial parallel mechanisms (SPMs) become parallel structures when the actuators are locked. Parallel structures are constituted by two rigid bodies (platform and base) connected by a number of kinematic chains (legs) with only passive kinematic pairs. A set of SPMs is the one collecting the mechanisms which become SR-PS-RS structures. Such structures have three legs: one ...
Abstract: A wide family of parallel manipulators (PMs) is the one that groups all the PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive prismatic pair (P) or a passive revolute pair (R) when the actuators are locked. The topologies of the ...
Abstract: Automation within the range of handling and assembly applications requires qualified solutions due to the complex technological processes. The long-term goals are the reduction of cycle time and an increase of the process quality. They can be achieved by innovative concepts which are based on parallel kinematics, realizing higher speeds and accelerations with constant accuracy compared ...
Abstract: Predicting the environment people will be living in during the next millennium is not easy task, even at all possible. Film makers continually portray baffling urban decay where chaos takes over amidst convulsive and apparently uncontrollable growth. When this is coupled with a grotesque transformation of human relationships the consequence of a generalized mistrust in mankinds ...
Abstract: There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length. This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the ...
Abstract: Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands (joystick) into actuator space by coor- dinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main ...
Abstract: In this paper a novel application is presented for a parallel manipulator to be used as an earthquake motion simulator. A formulation and experimental results are presented for a 3-DOF CaPaMan (Cassino Parallel Manipulator) prototype to simulate point seismograms and 3D earthquake motion. The rigid body acceleration (linear acceleration, angular velocity and acceleration) has been experimentally ...
Abstract: The paper presents some aspects related to the passive and active protection of the buildings. It is well know that Stewart platform is a mechanism with six degrees of freedom. This main property leads to the idea of its utilization in order to simulate fully the movements of earthquakes. On ...
Abstract: Parallel robots have been in existence since the first half of the 20th century. Applications of parallel robots have ranged from tire testing machines to robots for performing surgery. The high load-to-weight ratio and high stiffness of parallel mechanisms sets them apart from more common serial robots. This presentation will ...
Abstract: Mankind has continued challenging to the universe with curiosity since mid-1950s, and, as a result, the mankind could step on the moon and launch the satellites and exploration robots to several planets including Mars to collect desired information. The construction has contributed to the mankinds development and abundant life for a long time. The interests ...
Abstract: This paper deals with machine collaboration in modern construction sites like that proposed in the FutureHome building system and suggests a scenario for implementing a safe collaborative system. The collaboration is meant to happen between automatic machines and between machines and operators. Safety issues are discussed and treated as part of ...
Abstract: This paper describes an innovative construction automation approach using a new Layered Manufacturing (LM) process called Contour Crafting (CC), which has been developed at the University of Southern California. In the CC construction process, a precise amount of mortar mixture is delivered to make a concrete mold using robotic techniques. Mortar mixture is added in a ...
Abstract: The paper reviews the scope for automation and robotics in the rapidly expanding field of nuclear decommissioning. The basic strategies for decommissioning are discussed together with the essential physical steps. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure ...
Abstract: Computer-Integrated Construction (CIC) is the capability of a computer system to create models of certain aspects of the design and construction processes and consequently to direct them into reality. The premise of CIC is that the clear-cut separation between the competencies, know-how and responsibilities has now been turned upside down by the introduction of information technology in ...
Abstract: Pollution control and landfill remediation are urgent incumbents, and robot technology is effective means to supply safe and worthy solutions, on condition to figure out reliable task-oriented architectures and to enable remote-steered duty cycles by implementing the appropriate software-hardware information aids. The paper presents a noteworthy example achievement, specially addressing ...
Abstract: The building construction industry in Europe is now experiencing new forms of procurement and production systems, reflecting a matured market client/user-dominated, where the demand of new building is both for high-quality and low costs. The current state-of-the-art in building procedures must be improved, according to the dynamism of economic, social and technological factors that greatly affect ...
Abstract: Tensegrity is a technology that can be applied to structures and its use can influence the construction time efficiency and project management in general. A significant drawback for a systematic application of tensegrity structures in the construction industry is the particularly complex geometry that engineers and architects have to generate in a two or three dimensional ...
Abstract: What are the considerations when opting for high-rise building? What construction techniques for the logistics are applied in Europe? What ecological innovations are applied? What are the technical conditions for combined use of high-rise building seen from a vertical point of view? What are the differences in technical aspects of high-rise construction in the world? What ...
Abstract: The design style form, is the different current thought and the local characteristic, the penetration idea but gradually develops into has the representative design form. One kind of typical style form usually is and the local humanities factor and the natural condition close correlation also must have in the creation the idea and the model ...
Abstract: During the eighties, the construction industry in Japan was in trouble. The image was bad, too many fatal accidents happened on the construction sites and craftsmen preferred to work in other industries. In addition, the space for constructing high-rise buildings was minimal, especially in the big cities. This is why in the nineties, the leading ...
Abstract: This work is concerned with the development of State Dependent Parameter, Proportional-Integral-Plus (SDP-PIP) control of a prototype robotic arm called Starlifter.
Abstract: The paper proposes a new highly automated drilling system able to create holes up to 20 m depth in rocky walls using standard 1.5 m length rods. The drilling system, to be used to automate rocky walls consolidation, has to be positioned in the points of the map earlier defined by the geologist; for ...
Abstract: The paper deals with the consolidation of rocky slopes and walls and proposes enhanced automation and original solution to avoid risky undertakings, when firming-up is accomplished to safeguard peopled areas, highways, dwelling houses or public works. The topic shows growing environmental concern, aiming at removing human operators, unless, possibly, for preliminary in-site set-ups. The prospected solution ...
Abstract: The efficient and unerring development of sophisticated manipulation machinery strongly relies on the efficient use of CAE (Computer Aided Engineering) methods. Meanwhile these methods more and more spread into areas, which have been so far domains of so called VR (Virtual Reality). This encompasses the design aspect as well as the simulation of an already defined ...
Abstract: Hydraulic excavators have been popular devices in construction field because of its multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of nonlinear opening characteristics and dead zone of main control valve, oil temperature variation, etc. Actual test is needed when new component or control algorithm is developed but many restrictions exist. ...
Abstract: Controlling of excavators arm is an important and basic task in autonomous research of hydraulic excavator at present, but the behavior of the excavators arm is dominated by the nonlinear dynamics of the hydraulic actuators. To find a feasible way to control excavators arm and realize autonomous excavation, firstly, Full kinematic and dynamic models of ...
Abstract: Current monitoring and control methods rely on massive manual work. As a result, control information is expensive to produce, or generated irregularly. Additionally, the information is only available infrequently - in many cases after the controlled activity was completed - and its quality and integrity are low. The purpose of ...
Abstract: A small general-purpose teleoperated hydraulic mobile machine is studied at the Institute of Hydraulics and Automation at the Tampere University of Technology. The boom and the bucket of the machine are normally controlled with a joystick. Horizontal movement of the joystick controls the bucket and vertical movement controls the boom. ...
Abstract: Attachments and their controls can be connected to hydraulic mobile machines in different ways. The traditional approach is to install hydraulic valves of the attachment close to the operator. Thereby levers of the valves can be reached from the operator seat. This, however, restricts the size and number of the ...
Abstract: Some recent experiences of integrated analyses based on the use of 3D laser scanning and related 3D models will be presented. In the first place the idea of a 3D model as a multipurpose virtual database will be focused in relation to specific case studies where the contributions of surveyors, historians, engineers and restorers are ...
Abstract: The role and benefits of visualization in street and bridge design is introduced and evaluated on account of real experiments in some Finnish design projects. New 3-D design methods and CAD tools offer total new possibilities for cooperative design as well as concurrent design. The features of MicroStation CAD and Tekla Structures CAD ...
Abstract: Accurate analyses of equipment idle time is crucial for the efficient utilization of construction equipment in a large construction project. The less idle time the equipment has, the higher productivity the construction can achieve. However, it is not practical to measure construction equipment idle time by human visual observation. This ...
Abstract: The recomposition of fragments is a challenging task that must exploit all the available information about fragments and the whole skill of human operators. A new approach to the recomposition of fragmented artworks is presented. It has being developed working on the problem of recomposing the St. Matthew fresco, painted by Cimabue in the Upper ...
Abstract: Automated construction is in high demand in many applications in the extreme environments such as space structure construction. In order to avoid exposure of human workers, construction machines are usually remote-controlled for such applications. Because of communication delay and narrow communication bandwidth, such systems require high-level expertise and also are ineffective and frustrating to the operators. We ...
Abstract: A photograph always makes an image of objects as they are without any alteration, so that a photograph is recognized as highly accurate information. Thus the photograph has been widely used as a record of site, routine work particularly for construction control and inspection. As a characteristic of photograph, the point of view for a photo ...
Abstract: This paper describes a research effort directed to produce methods to model three-dimensional scenes of construction field objects in real-time that adds valuable data to construction information management systems, as well as equipment navigation systems. For efficiency reasons, typical construction objects are modeled by bounding surfaces using a high-frame rate range sensor, called Flash LADAR. The ...
Abstract: The fast improvement and the latest years cost decrease of digital cameras allow the use of photogrammetic solutions for 3D modelling, even in not specialized companies.