Proceedingsof

The 13th InternationalSymposium on Automation

and Roboticsin Construction

ll-13,June 1996Tokyo, Japan

International Organized by :International Association for Automation andRobotics in Construction(IAARC)

Organized by:Japan Society of Civil Engineers(JSCE)Architectural Institute of Japan(AIJ)Robotics Society of Japan(RSJ)Advanced Construction Technology Center(ACTEC)Japan Construction Mechanization Association(JCMA)Japan Robot Association(JARA)

Supported by:Ministry of International Trade and IndustryMinistry of ConstructionThe Associated General Contractors of Japan, Inc.The Building Center of Japan, FoundationBuilding Contractors SocietyInternational Robotics and Factory Automation CenterJapan Civil Engineering Contractors' Association, IncJapan Federation of Construction ContractorsjncTechnology Research Center for National Land Development

UNIVERSITATSB1BLIOTHEKHANNOVER

TECHNISCHEINFORMATIONSBIBLIOTHEK

CONTENTS

KEYNOTE LECTURES

• Overview of The National Project"Friendly Network Robotics"

Masayuki Kondo{AIST,Ministry of International Trade and Industry, JAPAN) 1

• Current Developments and Issues in Construction Robot Technology

Haruyoshi Okazaki(Public Works Research Institute, Ministry of Construction,

JAPAN) 9

PANEL DISCUSSION

• Construction Automation and Robotics in Australia-A State of the Art Report-

Jonathan O'Brien(University of New South Wales, AUSTRALIA) 15

• The Current Status and Key Issues in the Future on Automation and Robotics in

Construction in Germany

T.Bock, J.Fliedner, H.Weingartner(University of Karlsruhe, GERMANY) 23

• Current Status and Key Issues in the Future of Automation and Robotics in

Construction in Israel

Yehiel Rosenfeld(National Building Research Institute, ISRAEL) 33

• Current Status and Key Issues for Construction Automation and Robotics in Japan

Yukio Hasegawa(Waseda University, JAPAN) 37

• Automation of the U.K. Construction Industry-Current Status and Key Issues

Fikry K Garas(Taylor Woodrow, UK) 43

• Current Status and Key Issues for Construction Automation and Robotics in the USA

Miroslaw J. Skibniewski(Purdue University, USA) 51

<A1> MANIPULATOR (l)

• Study on Super Long Distance Space Telerobotics

Hiroaki Ujiie, Fumio Yasumoto, Kenji Ogimoto(Kawasaki Heavy Industries, Ltd., JAPAN)

Shigeoki Hirai.Kazuo Machida.Yujin Wakita{Electrotechnical Laboratory,AIST,MITI,JAPAN)

S.Peters, P.Backes(Jet Propulsion Laboratory, NASA, U.S.A.) 59

• Site Assembly in Construction Industry by means of a large Range Advanced Robot

C.BalagueKUniversidad Carlos 111 de Madrid, SPAIN)

E.Gambao, A.Barrientos, E.A.Puente, R.Aracil(Universidad Politecnica de

Madrid, SPAIN) 65

• Development of a Mobile Manipulator for Underground Excavation Task

Hironori Adachi, Tatsuo Arai, Noriho Koyachi, Keiko Homma(Mechanical

Engineering Laboratory, AIST, MITI, JAPAN)

Ken'ichiro Nishimura(Nisshinbo Co., Ltd, JAPAN) 73

• Research on the Field of the Intelligent Robot System Control for the Construction

Pavel. Belohoubek, Zdenek. Kolibal,(TechnicaI University of Brno, CZECH REPUBLIC)

Otakar. Vystrcil(Research Institute of Construction Materials, CZECH REPUBLIC) 81

<A2> MANIPULATOR (2)

• A New Approach to Construction Robot ProgrammingR.Navon.fl.I.T. and National Building Research Institute, ISRAEL)A.Retik(University of Strathclyde, U.K.) 87

• Mechanism and Control of a Dynamic Lifting RobotT.Ueno,N.Sunaga(Shimizu CorporationJAPAN)K.Brown,H.Asada(Massachusetts Institute of Technology.U.S.A.) 95

• Concepts of an Advanced Cartesian Control System for a Redundant Twin Boom Drill RigB.Fink, M.Hiller, H.Krolls, S.Schweikart(IMECH GmbH, GERMANY) 103

• Heavy Object Handling System by Cooperation of a Robot and a Crane with Multiple WiresHisashi Osumi(Chuo University, JAPAN)Tamio Arai(The University of Tokyo, JAPAN) 113

<A3> AUTOMATION & ROBOTICS IN CONSTRUCTION INDUSTRY• The Impact of Subcontracting Practice on Building Construction Automation:

A Case Study on Building PrefabricationTing-Ya Hsieh(National Central University, TAIWAN, R.O.C.) 121

• Questionnaire on Robotization in Building Work for Chartered ArchitectsHikoichi Katano, Tatsuya Wakisaka, Toru Shinozaki, Takashi Takimoto(ConstructionRobotics Committee, Building Contractors Society, JAPAN) 131

• Study on Development and Utilization of Construction RobotsMasao Kameda, Akio Suzuki, Jun'ichi Watanabe, Masaro Nishigami(ConstructionRobotics Committee, Building Contractors Society, JAPAN) 141

• Construction Robot Development Using Genetic Algorithm TechniqueAnna M.McCrea(South Bank University, U.K.),Ronie NavonQ.I.T. and National Building Research Institute, ISRAEL) 151

• What is a Robot?Melanie Richardson, Derek TrowelKUniversity of Sheffield, U.K.) 161

<A4> DEVELOPMENT OF CONSTRUCTION ROBOTICS• Robotic Assembly System for Computer Integrated Construction

Thomas Bock(University of karlsruhe, GERMANY) 169• Holistic-Automation of Construction Projects

Jonathan O'Brien(University of New South Wales, AUSTRALIA) 179• Simplification of Concrete Structure Shape and Utilization of Precast

Concrete for RobotizationNoriaki Aoyama, Yukihiro Tsukada, Tadashi Yoshida, Hirotaka Kawano, Toru Abe(Public Works Research Institute, Ministry of Construction, JAPAN) 189

• Re-engineering Construction Work-processes for Building AutomationRoozbeh Kangari(Geogia Institute of Technology, U.S.A.) 195

• Survey of Building RobotsAWarszawski, R.Navond.I.T. and National Building Research Institute, ISRAEL) 205

• The Application of Automation and Robotics at BRE's Cardington Large Building

Test Facility, U.K.

David Cobb(Building Research Establishment, U.K.) 213

<B1> ROBOT SYSTEM (l)

• System Architectures and Safety for Mobile Construction Robots

D.W.Seward, S.D.Quayle(Lancaster University, U.K.) 223

• Development of a Vibratory Roller with Automatic Compaction Date Processing Functions

H.Fujikawa(Kawasaki Heavy Industries, Ltd, JAPAN)

T.Kiriyama(Public Works Research Institute, Ministry of Construction, JAPAN)

M.Fukuda(Advanced Construction Technology Center, JAPAN)

N.Inaba(Nippon Hodo Co., Ltd. JAPAN) 231

• Development of Fully Automatic Both-Side Welding(GMAW)for Pipeline

Kenji Kitano, Masahito Ikebe(Sumitomo Metal Industries, Ltd.JAPAN)

Hiromi Shiraishi, Tatsuya Kasatani(Sumitomo Metal Plantec Co., Ltd. JAPAN) 239

• A Practical Development of Automated Cleaning System for Construction

Aluminum Scaffolding Boards

Fumihiro Inoue, Kyouichi Hishikawa, Tatsuya Wakisaka(Obayashi Corporation, JAPAN)

Manabu Tanaka.Kaoru Endo(Ebara Corporation, JAPAN) 247

<B2) ROBOT SYSTEM (2)

• Supervision and Control of Working Fixtures Position of the Single Bucket

Excavator with Regard to Displacement of Their Undercarriage and Outriggers'

Characteristics

Adam Bartnicki.Stanislaw Konopka, Franciszek Kuczmarski, Andrzej Typiak,

Jozef Wrona(Military University of Technology, POLAND) 255

• Posture Control of Six-legged Integrated Locomotion and Manipulation Robot

Haruo Hoshino, Eiji Muro(Takenaka Corporation, JAPAN)

Toshio Fukuda, Yuji Adachi(Nagoya University, JAPAN) 261

• Automated Maintenance Robot for Expressway-tunnel

Motohisa Sato, Akira Kobayashi, Eiji Mori(Japan Highway Public Corporation,

JAPAN) 271

• Development of a Fully-Mechanized Welding Robot System on Construction Site

Masataka Koyama, Hiroyuki Wada(Kawasaki Heavy Industries, Ltd. JAPAN)

Hideo Tanijiri, Takashi Arai(Fujita Corporation, JAPAN) 279

<B3) AUTOMATION IN FOUNDATION WORK

• Development of Automatic System for Diaphragm-Wall Excavator

Takashi Matsuike, Yoshiyuki Sawa, Akira Ohashi, Shinji Sotozono(Konoike Construction

Co., Ltd. JAPAN)

Ryoichi Fukagawa, Tatsuro Muro(Ehime University, JAPAN) 285

• Development of an Excavation Accuracy Control System for Diaphragm WallsHideaki Asai, Roji Ogawa, Yuji Akasaka, Yuichiro Miyazaki(Maeda Corporation,JAPAN) 295

• A Motion Planning Sofrware System for Automated Landfill Compaction on RoughSurfaces

Hui-Ping Tserng, Jeffrey S.Russell, Dharmaraj Veeramani,(University ofWisconsin-Madison, U.S.A.)Raghavan Kunigahalli(Bentley Systems, Inc., U.S.A.) 305

• Application of Water Jet Cutting to Treatment for Obstructive PilesSoichi Kohashi, Kazuhiko Matsui, Akira Ohashi, Takashi Matsuike, Yoshiyuki Sawa(Konoike Construction Co., Ltd. JAPAN)Hajime Takasaki(Osaka Municipal Transportation Bureau, JAPAN) 315

• Research & Development of Automatic System for Open Caisson MethodYoshitomo Tani, Hiizu Isa(PC Caisson Method Research Committee, JAPAN)Masanori Nakano, Moriyuki Okoshi(Public Works Research Institute, Ministry ofConstruction, JAPAN)Satoshi Maeda(Advanced Construction Technology Center, JAPAN) 323

• Development of the Automatic System for Pheumatic CaissonKatsumi Kodaki(Ohmoto Gumi Co., Ltd. JAPAN)Masanori Nakano, Toshiaki Nanasawa(Public Works Research Institute, Ministryof Construction, JAPAN)Satoshi Maeda(Advanced Construction Technology Center, JAPAN)Masamitsu Miyazawa(Daiho Construction Co., Ltd. JAPAN) 333

<B4) AUTOMATION IN CIVIL WORKS

• The Development of Quality Control System for the EmbankmentTomonori Takada, Tatsunori Sada(Mitsui Construction Co., Ltd. JAPAN)Syouzou Naemura, Noriaki Aoyama(Public Works Research Institute, Ministryof Construction, JAPAN) 343

• An Operations Planning System for Asphalt Pavement CompactionHui-Ping Tserng, Jeffrey S.Russell, Bharath K.Krishnamurthy, Robert L.Schmitt(Universityof Wisconsin-Madison, U.S.A.) 349

• An Operator Aiding System for CompactorsMichel Froumentin(Road Test Center, FRANCE)Francois Peyret(Public Works Research Institute.FRANCE) 359

• Development of Advanced DredgerTamotsu Ogasawara, Tamiya Fukushima(Kanto Regional Construction Bureau, Ministryof Construction, JAPAN)Masahide Murase(Mitsubishi Heavy Industries, Ltd. JAPAN)Yuzuru Nakamura(MEC Engineering Service Co., Ltd. JAPAN) 369

• Bank-foot Water Channel Cleaning Work Truck-Sediment Absorbing Robot andDehydration Plant-

Tamiya Fukushima.Tamotsu Ogasawara, Minoru Kubota(Kanto Regional

Construction Bureau, Ministry of Construction, JAPAN)

Masaru Totsuka(DMW Corporation, JAPAN) 379

• Example of Application of Mechanized Digging Work Method for Collector Well

Yoshitaka Yanagihara, Masayuki Takasu, Sumio Fukuda(Tokyu Construction Co.,

Ltd. JAPAN) 389

<C1) BUILDING WORKS

• Monitoring and Warning Computerized System for a Semi-automatic Lift-up

System of Pre-assembled Roof Floor

Yoshio Maruyama, Shigeomi Nishigaki(Hazama Corporation, JAPAN) 399

• Simulating Construction Process with an Animation

Naai-Jung Shih(National Taiwan Institute of Technology, TAIWAN, R.O.C.) 405

• An Object-Oriented Environment for the Construction Planning of High-Rise Buildings

Masaaki Ikeda, Yasunari Sekihara(Fujita Corporation, JAPAN)

Amr A.Oloufa(The Pennsylvania State University, U.S.A.) 411

(C2> CIVIL ENGINEERING WORKS

• Construction Quality Control through Voice Recognition Technology

Luh-Maan Chang, Tao-ming Cheng(Purdue University, U.S.A.) 421

• Automated Inspection Planning through CAD Modeling for Steel Bridge

Painting Construction

Machine Hsie(National Chung Hsing University, TAIWAN, R.O.C.) 431

• Road Robot Project-An Experience using STEP in Construction-

R.Jardim-Gonqalves, J.Pimentao, M.Vital, P.Sousa, H.Silva, Steiger-Gargao

(UNINOVA, PORTUGAL) -.• 441

• Development of Multi-media Management System for Tunnel Construction and

its Practice

Keiji Ono, Shigeyuki Kohno, Hideo Fukai, Takatoshi Ueno,(Shimizu Corporation,

JAPAN) 451

<C3) SCHEDULING • SITE LAYOUT

• An Integrated Intelligent Planning Approach for Standardised Prefabricated Components

Nashwan Dawood(The University of Teesside, U.K.) 457

• A Case-Based Reasoning Approach for Construction Planning

Nie-Jia Yau, Jyh-Bin Yang(National Central University, TAIWAN, R.O.C.) 467

• Planning and Scheduling Consideration and Constraints in Automated

Construction EnvironmentChotchai Charoenngam(Asian Institute of Technology, THAILAND) 475

• Constraint-Directed Scheduling for Multi-Storey Building Projects

Pasit Lorterapong(King Mongkut's Institute of Technology Thonburi, THAILAND)

Osama Moselhi(Concordia University, CANADA) 483

• An Intelligent Virtual Reality Model for Site Layout Planning

A.H.Boussabaine(The University of Liverpool, U.K) 493

• First Results of the Hybrid Object-Oriented System for the Optimization of the

Construction Site Layout; ESBE

Kunibert Lennerts(University of Karlsruhe, GERMANY) 501

<C4) DESIGN, CONSTRUCTION • PLANNING & MANAGEMENT

• Automation and Integration of the Design and Construction of Concrete Buildings

Mohammad Alfares(Kuwait University, KUWAIT),

Ali Seireg(The University of Wisconsin-Madison, U.S.A.) 511

• Geometric and Topological Representation of Reinforcement Detail for Reinforced

Concrete Framed Structures

Raghavan Kunigahalli(Bentley Systems, Inc., U.S.A.) 521

• Construction Planning and Manageability Prediction

Tetsuya Miyagawa(Takenaka Corporation. JAPAN) 531

• Automation-Equipped Working Place of a Construction Firm Management Engineer

Tatyana Bobrova, Vladimir Nikitin(The Siberian Automobile and Highway

Institute, RUSSIA) 541

<A5> SENSING

• Detection of Underground Obstacles by Using Vision and Force for Excavation

Kataro Kayaba, Eiji Nakano(Tohoku University, JAPAN) 547

• Communication System of Realtime Two-dimensional Position Data with Scanning

Laser Beam

Shigeru Tonaki, Tomonori Takada(Mitsui Construction Co., Ltd. JAPAN) 555

• An Outdoor Stereo Vision Brick Recognition System for Construction Robots

Lynne A.Slivovsky, Kris Rahardja, Jeff Edwards, Avi Kak(Purdue University, U.S.A.)

Yasuo Tanaka(Hitachi Construction Machinery Co.Ltd.JAPAN) 561

• Development of Virtual Survey Marking System(VSMS)for Remote Control of

Construction Machinery

Yoshikatsu Miyauchi, Toshikazu MiyajimaToshifumi Sato, Motohisa Hirose(Kajima

Corporation, JAPAN) 571

<A6) CONTROL, SIMULATION & PROGRAMMING (l)

• The Crucial Information for Improving Manipulater Operation-No.l: In Case ofCrane Operation-

Masahiro Ikeda(Komatsu Ltd, JAPAN)

Mitsunori Yoneda,Fumihito Arai, Toshio Fukuda(Nagoya University, JAPAN) 581

• Numerical Simulation on Control of the Cutting Edge of the Scraper

Hiroshi Takahashi, Yasuhiro Seyama(Tohoku University, JAPAN) 587

• Dam Concrete Automatic Transfer System

Keizo Kazama, Eiji Takahashi, Michio Nakao(Obayashi Corporation, JAPAN) 597

<A7) CONTROL, SIMULATION & PROGRAMMING (2)

• Development of a Bulldozer Operation Simulator

Shigeo Mimura, Yutaka Ishimatsu, Tadashi Yoshida(Public Works Research Institute,

Ministry of Construction, JAPAN) 607

• Advanced in Control Systems for Construction Manipulators

Greer R, Hass c, Gibson G., Traver A, Tucker, R.L.(The University of Texas at Austin,

U.S.A.) 615

• The Prediction of the Interaction between an Excavator for the Diaphragm Wall

Method and the Surrounding Ground

Ryoichi Fukagawa(Ritsumeikan University, JAPAN)

Tatsuro Muro, Hajime Yamamoto(Ehime University, JAPAN)

Takashi Matsuike(Konoike Construction Co., Ltd. JAPAN) 625

• Self-programming Construction Machines

Robert L.Winter, Jonathan O'Brien(University of New South Wales, AUSTRALIA) 635

• Evaluation of Ground Properties and its Application to the Automatic Adjustment

System for Vibrating Conditions in Vibratory Soil Compaction

Kazuyoshi Tateyama(Kyoto University, JAPAN)

Tetsuo Fujiyama(Maeda Corporation, JAPAN) 645

• Robotic Handling of Gamma-Ray Sources in Site Radiography of Steel Storage Tanks

Denis A Chamberlain, Robert Edney, Graham Bleakley(City University, U.K.) 653

<A8) CONTROL SYSTEMS FOR CONSTRUCTION EQUIPMENT

• Crane Operating Field Control System

Jun Nishimura, Kazumi Okuzumi, Takaji Imamura Tomio Kishino

(Shimizu Corporation, JAPAN) 663

• Kinematically Induced Excavation by Backhoe Excavator

Eugeniusz Budny, Witold Gutkowski(Building Mechanization and Rock Mining

Research Institute, POLAND) 673

• Development of Prevention System from Hitting for Hydraulic Excavators

Masaharu Moteki, Tadashi Yoshida(Public Works Research Institute, Ministry

of Construction, JAPAN) 681

• Visualisation Technique for Robotic Component Connection Systems

B.L.Atkin(Atkin Research & Development Ltd., U.K.)

S.O.Popo-OIa, R.D.Wing(Imperial College of Science, U.K.) 691

• A Trajectory Following Control for a Miniature Wheel Loader

Takashi Tsubouchi, Hidefumi Ishimoto, Shin'ichi Yuta(University of Tsukuba, JAPAN)

Shigeru Sarata(National Institute of Resources and Environment, JAPAN) 699

(B5) AUTOMATION FOR SURVEYING AND POSITIONING

• Development of Surveying Robot

Masayuki Takasu, Tsutomu Sato, Shigeyuki Kojima, Kazuhiro Hamada

(Tokyu Construction Co., Ltd, JAPAN) 709

• A New Technique of Position-Fixing for Site Vehicles

Barry Gorham(University of East London, U.K.) 717

• The Automation of Piling Rig Positioning Using Satellite GPS

D.W.Seward, J.R.Ward(Lancaster University, U.K.)

J.D.Findlay, H.Kinniburgh(Stent Foundations Ltd., U.K.) 727

• Automatic Surveying System of the Geographical Feature Utilizing Newly

Developed Long-distance and Angle Measuring Instrument without Target Prism

Yukihiro Tsukada, Noriaki Aoyama(Public Works Reasearch Institute, Ministry

of Construction, JAPAN)

Satoshi Maeda(Advanced Construction Technology Center, JAPAN)

Tamotsu Nozawa, Keizo Shimazaki(Aoki Corporation, JAPAN)

Minoru Kato(Kawasaki Heavy Industries, Ltd., JAPAN) 733

(B6) AUTOMATION IN SHIELD TUNNELING WORK

• Application of Wireless Telemeter Multiplex Transmission System to Shield Tunneling

Masakazu Iijima, Shiro Shiba, Takaichi Yamazaki, Tuguo Iwasaki(Tekken Corporation,

JAPAN) 743

• Development of Driving Jack System for Tunnel Boring Machine

Fumihiko Ishise, Shiro Honmura, Makoto Sameshima(Mitsubishi Heavy Industries, Ltd,

JAPAN)

Keizo Kazama(Obayashi Corporation, JAPAN) 751

• Development of the Electromagnetic Induction Welding Device for Isolation Sheets

Kazuomi Deguchi, Kazuo Miyazawa(Shimizu Corporation, JAPAN)

Tohru Haba(KFC Ltd, JAPAN)

Hiroshi Sakurai(Carbofol Japan CO., Ltd, JAPAN)

Shigemasa Tsubone(Seidensha Electronics Co., Ltd, JAPAN) 761

• Decision Process of a Control Limit for Micro-Tunnelling Robots

Tomoji Takatsu(Nagoya National Highway office, Ministry of Construction,

JAPAN) 769

<B7> AUTOMATION FOR MATERIAL HANDLING ASSEMBLY IN SHIELD TUNNELING• Fully Automated System for Shield Tunneling under Integrated Control

Hiroshi Ohno, Keizo Kazama, Akihiro Higashide, Akira Tomioka, Kozaburo Tsuchiya

(Obayashi Corporation, JAPAN) 779

• Development of an Automatic Transportation System Intended for Long Tunnels

Hitoshi Suzuki, Toshifumi Umegae, Kuniaki Fujita, Satoru Kozuki, Satoru Saito,

Hiroshi Takahashi, Yuji Murakami(Sato Kogyo Co., Ltd, JAPAN) 789

• The Application of the Automated Transit System to Construction Sites

Kazuhiro Funatsu, Toshio Mori, Yasutaka Nakai, Satoshi Iwaoka, Katsuhiko Kawakami,

Hiroyoshi Watabe(Fujita Corporation, JAPAN) 797

• The Development of the Automatic Segment Erection System

Masataka Onuki, Mitsuo Makita, Minoru Mano, Mitsuo Shibuya, Makoto Takitani

(Fujita Corporation, JAPAN) 805

• Development of Automatic Segment Assembly Robot for Shield Tunneling Machine

Yukihisa Hirasawa, Hisayoshi Hashimoto, Yasuo Mori, Takami Kusaki, Takeshi Kamei

(Hitachi Construction Machinery Co.Ltd, JAPAN) 813

• Development of Effective Segment Erection System for Shield Machine

Shinichiro Aoe, Tomoaki Sato, Kenichi Murano, Shuichiro Nomura(NKK Corporation,

JAPAN) 821

(B8> AUTOMATION AND ROBOTICS IN TUNNELING

• Development of an Automatic Direction Control System for TBM

Sumio Uematsu, Tsutomu Nakanishi, Shigeru Takamizawa, Kotaro Matsueda

(Kumagai Gumi Co., Ltd, JAPAN)

Toyoichi Nanbu, Satoshi Fukuhara(Komatsu Ltd, JAPAN) 831

• Total Automatic Excavation System for TBMs

Takayoshi Nakayama, Satoshi Inoue, Yasuhide Seno(Okumura Corporation, JAPAN) ••• 841

• New Rock-Fracturing Excavation Method for Hard Rock Tunneling by FON Drill

and FASE Method

Tatsuya Noma, Mitsutaka Hada, Toshiro Tsuchiya(Fujita Corporation, JAPAN)

Shinji Nakayama(Bridgestone Corporation, JAPAN) 851

• The Integrated Rock Tunnel Data Logging and Decision-Aid System

Sou-Sen Leu, Chung-Chin Dai(National Taiwan Institute of Technology, TAIWAN,

R.O.C.) 859

• Development of a New Dimension and Computer-Aided Construction System for

Shotcreting Robot

Min-Yuan Cheng, Jenn-Kuen Choujiann-Chyun Chen(National Taiwan Institute

of Technology, TAIWAN, R.O.C.)

Yueh Liang, Ching-Ming Wey(Ret-Ser Engineering Agency, TAIWAN, R.O.C.) 867

<C5) BUILDING CONSTRUCTION ROBOT (l)

• Development of Board Placing Robot

Hiroshi Yoshinada, Toshiyuki Sawano, Ikukazu Takahashi, Hidetaka Suzuki

(Komatsu Ltd, JAPAN)

Eiji Muro, Haruo Hoshino(Takenaka Research & Development Institute, JAPAN)

Jiro Hakamazuka(Japan Interior Constructors Association, JAPAN)

Minoru IichiQapan Gypsum Board Association, JAPAN) 877

• Development and Application of the Light Weight Manipulator for Interior Finish Work

Kenji Nanba, Masayuki Takasu, Tutomu Sato, Sigeyuki Kojima(Tokyu

Construction Co., Ltd. JAPAN) 887

• Practical Sensor Strategies for On-Site Positioning of a Mobile Bricklaying Robot

G.Pritschow, J.Kurz, S.E.McCormac, M.Dalacker,(University of Stuttgart,

GERMANY) 895

<C6) AUTOMATION OF BUILDING CONSTRUCTION (l)

• Development of a High Accuracy Harmonious Control Method for Push-up Jack

System for Building Construction

Tsutomu Tomita, Sumihiro Ueda(Kawasaki Heavy Industries, Ltd, JAPAN)

Yukitada Ogihara, Takezo Miyamoto(Kajima Corporation, JAPAN) 905

• Development of Automated Exterior Curtain Wall Installation System

Isao Seo, Hidetoshi Oda, Nobuhiro Tasaki, Hideo Tanijiri(Fujita Corporation,

JAPAN) ••• 915

• Framework of Production Information Management System for Automated

Construction-WASCOR IV Research Project Report(Part IV)-

Kinya Tamaki(Aoyama Gakuin University, JAPAN)

Yukio Hasegawa, Hisashi Matsuda(Waseda University, JAPAN) 925

• Application of High Performance Concrete on a 85-Story High Rise Building in Taiwan

Sy-Jye Guo(National Taiwan University, TAIWAN, R.O.C),

Tung-Ho Tsai(T.Y.Lin Consultant Company, TAIWAN, R.O.C.) 933

(C7> BUILDING CONSTRUCTION ROBOT (2)

• Concept of a Robot for Interior Building Trades by the Example of Wall Slits in Masonry

Dieter Spath, Jurgen Andres(University of Karls'ruhe, GERMANY) 941

• Development of Wall Painting Robot

Takuya Gokyu, Masayuki Takasu, Sumio Fukuda(Tokyu Construction Co., Ltd,

JAPAN) 949

• Development of a Gondola Type External Wall Painting Robot

Toshikazu Miyajima, Shin Terauchi, Kazuhiko Arai, Takezou Miyamoto(Kajima

Corporation, JAPAN) 957

• Development of a Fireproof Insulation Spray Robot System

Yukihiro Watanabe, Hideo Tanijiri, Muneyoshi Matsuo, Ryoji Yoshitake, Masao Kato

(Fujita Corporation, JAPAN) 963

• Development and Implementation of Troweling Robot for Concrete Floor Finishing

Masaaki Kobayashi(Hazama Corporation, JAPAN)

Masaru Soma(Mitsubishi Corporation, JAPAN)

Takanori Shigihara(Eroica Corporation, JAPAN) 973

• Vision Based Navigation System of Air Conditioning Equipment Inspection Robot-Position/

Orientation Control by Landmark Recognition with Plus and Minus Primitives-

Yasunori Abe.Kouetsu Tanaka, Yoshio Tanaka(Shinryo Corporation, JAPAN)

Toshio Fukuda, Yasunari Yokoyama, Fumihito Arai, Koji Shimojima, Shigenori Ito

(Nagoya University, JAPAN) 981

<C8> AUTOMATION OF BUILDING CONSTRUCTION (2)

• A Flexible Manufacturing Approach to Wood F r a m e Housing Construction

Michael A.Mullens(University of Central Florida, U.S.A.) 991

• Planning and Execution of Life-Up Construction for Roof of Large-Sca le

Single-Layer Lat t iced Dome

Takashi Miyazaki, Naoto Okazaki, Shigeo Iinuma, Atsushi Ichikawa(Takenaka

Corporation, J A P A N ) 999

• Development of Automated Weather-Unaffec ted Building Construction System

Hideo Tanijiri, Bunya Ishiguro, Takashi Arai, Ryoji Yoshitake, Masao Kato, Yasuto

Morishima, Nobuhiro Takasaki(Fujita Corporation, J A P A N ) •••• 1009

• Mechanization and Automation by the Manufactur ing of Removable Modular Buildings

Frans van Gassel(Eindhoven University of Technology, T H E NETHERLANDS) 1019