Proceedings of The 13th International Symposium on Automation and Robotics in Construction. ll-13,june 1996 Tokyo, Japan

Transcription

1 Proceedings of The 13th International Symposium on Automation and Robotics in Construction ll-13,june 1996 Tokyo, Japan International Organized by : International Association for Automation and Robotics 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 Industry Ministry of Construction The Associated General Contractors of Japan, Inc. The Building Center of Japan, Foundation Building Contractors Society International Robotics and Factory Automation Center Japan Civil Engineering Contractors' Association, Inc Japan Federation of Construction Contractorsjnc Technology Research Center for National Land Development UNIVERSITATSB1BLIOTHEK HANNOVER TECHNISCHE INFORMATIONSBIBLIOTHEK

2 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

3 <A2> MANIPULATOR (2) A New Approach to Construction Robot Programming R.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 Robot T.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 Rig B.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 Wires Hisashi 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 Prefabrication Ting-Ya Hsieh(National Central University, TAIWAN, R.O.C.) 121 Questionnaire on Robotization in Building Work for Chartered Architects Hikoichi Katano, Tatsuya Wakisaka, Toru Shinozaki, Takashi Takimoto(Construction Robotics Committee, Building Contractors Society, JAPAN) 131 Study on Development and Utilization of Construction Robots Masao Kameda, Akio Suzuki, Jun'ichi Watanabe, Masaro Nishigami(Construction Robotics Committee, Building Contractors Society, JAPAN) 141 Construction Robot Development Using Genetic Algorithm Technique Anna 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 Robotization Noriaki 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 Automation Roozbeh Kangari(Geogia Institute of Technology, U.S.A.) 195 Survey of Building Robots AWarszawski, R.Navond.I.T. and National Building Research Institute, ISRAEL) 205

4 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

5 Development of an Excavation Accuracy Control System for Diaphragm Walls Hideaki Asai, Roji Ogawa, Yuji Akasaka, Yuichiro Miyazaki(Maeda Corporation, JAPAN) 295 A Motion Planning Sofrware System for Automated Landfill Compaction on Rough Surfaces Hui-Ping Tserng, Jeffrey S.Russell, Dharmaraj Veeramani,(University of Wisconsin-Madison, U.S.A.) Raghavan Kunigahalli(Bentley Systems, Inc., U.S.A.) 305 Application of Water Jet Cutting to Treatment for Obstructive Piles Soichi 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 Method Yoshitomo Tani, Hiizu Isa(PC Caisson Method Research Committee, JAPAN) Masanori Nakano, Moriyuki Okoshi(Public Works Research Institute, Ministry of Construction, JAPAN) Satoshi Maeda(Advanced Construction Technology Center, JAPAN) 323 Development of the Automatic System for Pheumatic Caisson Katsumi Kodaki(Ohmoto Gumi Co., Ltd. JAPAN) Masanori Nakano, Toshiaki Nanasawa(Public Works Research Institute, Ministry of 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 Embankment Tomonori Takada, Tatsunori Sada(Mitsui Construction Co., Ltd. JAPAN) Syouzou Naemura, Noriaki Aoyama(Public Works Research Institute, Ministry of Construction, JAPAN) 343 An Operations Planning System for Asphalt Pavement Compaction Hui-Ping Tserng, Jeffrey S.Russell, Bharath K.Krishnamurthy, Robert L.Schmitt(University of Wisconsin-Madison, U.S.A.) 349 An Operator Aiding System for Compactors Michel Froumentin(Road Test Center, FRANCE) Francois Peyret(Public Works Research Institute.FRANCE) 359 Development of Advanced Dredger Tamotsu Ogasawara, Tamiya Fukushima(Kanto Regional Construction Bureau, Ministry of Construction, JAPAN) Masahide Murase(Mitsubishi Heavy Industries, Ltd. JAPAN) Yuzuru Nakamura(MEC Engineering Service Co., Ltd. JAPAN) 369

6 Bank-foot Water Channel Cleaning Work Truck-Sediment Absorbing Robot and Dehydration 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) 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 Environment Chotchai Charoenngam(Asian Institute of Technology, THAILAND) 475

7 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 of Crane Operation- Masahiro Ikeda(Komatsu Ltd, JAPAN) Mitsunori Yoneda,Fumihito Arai, Toshio Fukuda(Nagoya University, JAPAN) 581

8 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

9 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

10 <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

11 <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

12 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 Frame Housing Construction Michael A.Mullens(University of Central Florida, U.S.A.) 991 Planning and Execution of Life-Up Construction for Roof of Large-Scale Single-Layer Latticed Dome Takashi Miyazaki, Naoto Okazaki, Shigeo Iinuma, Atsushi Ichikawa(Takenaka Corporation, JAPAN) 999 Development of Automated Weather-Unaffected Building Construction System Hideo Tanijiri, Bunya Ishiguro, Takashi Arai, Ryoji Yoshitake, Masao Kato, Yasuto Morishima, Nobuhiro Takasaki(Fujita Corporation, JAPAN) 1009 Mechanization and Automation by the Manufacturing of Removable Modular Buildings Frans van Gassel(Eindhoven University of Technology, THE NETHERLANDS) 1019