ADVANCED ROBOTICS & MECHATRONICS AND THEIR APPLICATIONS IN CONSTRUCTION AUTOMATION

Tatsuo Arai*

Department of Systems Innovation,

School of Engineering Science, Osaka University, Osaka, Japan * Corresponding author (arai@sys.es.osaka-u.ac.jp)

ABSTRACT: The keynote provides the sate-of-the-art Japanese R&D in robotics and mechatronics closely related to the construction automation. There are three major domestic robot conferences in Japan. Judging from the number of papers and participants the generic robotic research and development is still very active. Even though the construction industry has been confronting to the severe economic situation, we are trying to keep our R&D activities in the construction automation. First, generic robotics technologies are surveyed from some Japanese domestic conferences, and new application topics are introduced showing some examples in the construction automation. Keywords: Robotics & Mechatronics, Autonomous, Unmanned, Robotic House 1. INTRODUCTION The research and development in Japanese construction

robotics was once very active up to early 90s. The major general constructor companies lead the developments and supported the academies in the fundamental researches. After the collapse of the economic bubble in middle 90s the activities rapidly went down along with the dull economy itself. Since then the research and development stayed in stagnation and the Lehman Shock in 2008 accelerated this inactivity. Looking at the 20 year history of the Symposium on Construction Robot (SCR) in Japan shows this situation clearly as shown in Fig.1 [1].

Fig.1. Statistics of SCR in Japan.

The Tohoku massive earthquake & tsunami and the following explosion of Fukushima Nuclear Power Plant are damaging the total Japanese activities. Of course, the construction machines are capable of cleaning and rebuilding the destroyed houses, buildings, infrastructures, etc. Stabling the damaged NPP requires mostly tele-operated construction machines. These are some chances to vitalize the utility of the construction robots. On the contrast, the generic researches and developments

in robotics and mechatronics are still very active. As an evidence there are quite a lot of related conferences involved; just limited in IEEE sponsorship e.g., ICRA, IROS, ICAR (Advanced Robotics), CASE (Automation Science and Engineering), ROMAN (Robot and Human Interactive Communication), ICMA (Mechatronics and Automation), AIM (Advanced Intelligent Mechatronics), so many international conferences are held in every year. The Japan has its own domestic relevant conferences such as RSJ, ROBOMEC, SI. The ROBOMEC in this year boasted the record of 1,153 papers, featuring robotics & mechatronics key technologies, mobile robot system, novel mechanism & control, sensing & perception, nano/micro, human-robot coordination, medical & welfare, ambient intelligence, RT middleware and open system, human

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centered robot, biomimetics, agriculture, service, field robotics as well as construction robotics[2]. In this keynote the speaker would address the Japanese

state-of-the-art of robotics and mechatronics technology and its construction applications, then introduce some of the future applications. 2. RECENT ADVANCEMENT IN ROBOTICS & MECHATRONICS Fundamental technologies are surveyed briefly from the

2011 ROBOMEC conferences. 2.1 Sensing The 3 D measurements are useful for autonomous mobile robot to recognize its environments as well as the reconstruction of 3 D information of large scale structures in construction sites. The combination of a LRF and a camera can reconstruct the inside of a building. Images from the camera are mapped on the corresponding 3D scan data from LRF by using texture mapping technique [3] as shown in Fig.2

. (a) Robot & environment (b) Reconstructed 3D mapping

Fig.2. Combination of LRF and camera data for 3D map. The SLAM is useful technique to achieve map building

and robot localization at the same time. The unique 6-DOF SLAM by using scan matching based on the 3-D distance information acquired by omnidirectional stereo vision. Acquired scan is evaluated by the Iterative Closest Point (ICP) algorithm, and the result is integrated by the extended Kalman filter [4]. 2.2 Actuation The dexterous hand mechanisms are capable of

manipulating and handling various objects in construction sites. A unique finger mechanism is proposed with omnidirectional driving roller to realize the two active rotational axes on the surface of the grasped object. The

cylindrical tracked unit can be applied as roller and the fingers can manipulate the grasped object in the arbitrary axes [5] as in Fig.3. Another example is omnidirectional enfolding gripper

which is capable of grasping various objects with deformable bag as shown in Fig.4 which contains any materials switching coagulation and dissolution phases, e.g. media (gas, liquid) and particles, functional fluid, etc. Changing its mode from liquid-like state to solid-like can enlarge grasping force and the grip can hold even complicated shape objects stably [6]. Energy saving in power supply is another crucial aspect in

the on-site construction. A variable volume tank is capable of driving pneumatic actuator with low discharged pressure in a tank [7].

Fig.3. Omnidirectional finger. Fig.4. Enfolding gripper.

Fig.5. ASTERISK in monitoring. Fig.6. Quince on rough. 2.3 Mobile robot Mobile manipulation is one of the active research areas. A new mobile manipulator platform was designed and built in the NEDO Intelligent Robot Project to promote development of so-called intelligent robot modules (RTM) for generic robot motion programs and application tasks [8]. The omnidirectional mobile capability is useful in complicated construction environments [9]. The mobility can be more enhanced by introducing an active caster mechanism [10]. The active-caster wheel features simple

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mechanism and high positioning accuracy, and will allow a robot to carry out more accurate object transportation. Development of leg robot is still active and expected in

the rough terrain tasks as well as in narrow and small spaces in the inside of buildings and large structures for inspection and monitoring tasks (Fig.5) [11]. The crawler mechanism is promising mobile platform to achieve high-speed stable locomotion on rough terrain. Many prototypes have been proposed relating to rescue operations. The recently developed platform, Quince (Fig.6) is expected to work in the inside of Fukushima NPP for monitoring and light duty tasks. 2.4 Power assist The power assist system has its long history in its development starting in early 1960s at General Electric. The recent advancement of the computer technology has brought a chance to realization of practical power assist mechanism. There are more than 15 research activities in Japanese universities. The main objective is to support weakened senior people and the disabled in their daily life as well as to assist workers in heavy duties which are common in construction sites. The key issues are compact actuation mechanism design, human interface, portable energy source, and so on [12] (Fig.7 & 8).

Fig.7. HAL by Tsukuba Univ. Fig.8. Muscle suit.by

Tokyo Univ. of Science

2.5 Humanoid The humanoid research and development are one of the most active robotics in Japan. HONDA ASIMO, TOYOTA Partner Robot, and AIST HRPs are well established

humanoid platforms. The HRP2 (Fig.9) is used as a common platform in universities and institutes where they carry out fundamental researches such as stable walking with energy consumption [13], practical use of vision for object recognition, manipulation strategy, etc, in order to make the robot securely introduced in our daily support. Safety is also a crucial issue. Mental safety of humanoid

causing no fear, no discomfort, no uneasiness, is psychologically evaluated as well as establishing physical safety [14].

Fig.9 HRP2 in pushing work with its whole body motion.

Fig.10. Mental safety evaluation with ASIMO.

3. APPLICATIONS IN ACTUAL CONSTRUCTION SITES Some topics will be introduced which are directly related

to practical construction works. 3.1 Autonomous wheel loader Autonomous wheel loader Yamazumi-4 (Fig.11) has succeeded in unmanned autonomous pile loading operation. The precise traveling control is required to repeat loading operations. Although actual wheel loader machines have

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the problem in controlling their precise traveling speed, the path planning and the path following control have been successfully designed by utilizing the odometer which can achieve precise geometric shape of the path [15].

Fig.11. Autonomous wheel loader.

3.2 Unmanned construction The unmanned construction is mostly required in the

restoration of damaged local infrastructures as well as the prevention of further land erosions and damages to ensure workers safety after natural disasters. In 1990 large volcanic eruption at Unzen-Fugen-Dake brought significant damages to the surrounding area, and the unmanned construction methods have been applied for restoration works in upstream areas of the Mizunashi river where preparation of roads for construction, removal of soil and rock from earth accumulation basins, demolition of damaged factories, installation of blocks, construction of sand-trap dams, guide walls and flow control banks since 1994.

Fig.12. HRP in teleoperation task on construction machine. (NEDO Humnoid Project)

Recently the unmanned transportation and the installation of a pre-cast arch culvert of about 15t in weight have been achieved [16]. An arch was carried by the unmanned track to the site, and the unmanned shovel car with large gripper picked up the arch and fixed it in the pre-planned position with manual bolting, and then finally the unmanned survey was accomplished. It would be worthwhile to point out that humanoid may

be applied in commercial machines to be transformed into remote-controlled construction machines as shown in Fig.12. 4. ROBOTIC HOUSE One of the most promising markets is robotic house, or house automation with robotic components. Current house has come to be equipped with automatically controlled actuators such as auto-shatter, auto window as well as remote controlled electric appliances. These devices can be regarded as a sort of Robotic Technology (RT) part. It will be beneficial if they are connected to a network, since users can obtain more services with RT collaborated motions and functions. A standard network device is crucial in order to achieve such a robotic house. The New Energy and Industrial Technology Development Organization (NEDO) has promoted the national robot project, Open Innovation Promotion by Utilizing Basic Robotic Technology, that aims to develop common network modules for connecting RT parts in robotic house. A model room with intelligent window system has been designed and its prototype was built in AIST Tsukuba, to demonstrate security and energy saving air conditioning facility for robotic house [17]. Two types of RTCs have been proposed to facilitate smart and robust local network system in the robotic house. Power Line Communication (PLC) technology has been applied as basic infrastructure network in the robotic house. Based on two-layered network structure, robust home network system has been realized. For the feasibility of achievement on this project, several

RT products have been released as a practical trial in actual use. Area type human detection sensor by Kyokko Electronics, and motor driver unit by Okatech are first application products. Long term operation test has been

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accomplished to evaluate the robustness of developed network and RTCs framework.

Fig.13. Intelligent window system.

Motordriver

actuatorsensor

RTC management

module

Ethernet CAN Zigbee

sensor

A/D, DIO

switch

Ethernet

RTC-LiteComponent module

RTC-LiteComponentmodule 2

Wirednetwork Wirelessnetwork

Motordriver

actuatorsensor

RTC management

module

Ethernet CAN Zigbee

sensor

A/D, DIO

switch

Ethernet

RTC-LiteComponent module

RTC-LiteComponentmodule 2

Wirednetwork Wirelessnetwork

Fig.14 Network configuration and two type of RTCs.

(a) motor driver (b) human detector

Fig.15. Examples of device with mini RTC.

5. CONCLUSIONS The Japanese recent advancements in robotics and mechatronics field and their applications in construction automation are surveyed briefly. The construction robotics and automation are still expected in actual construction sites since we are confronting serious man power problems in the aged society. The recent massive earthquake and tsunami has brought quite a lot construction works for the restoration. The autonomous and unmanned construction techniques are mostly expected in dangerous restoration sites. We need to apply useful techniques not limited in our own but adopting any of overseas. The author would express his appreciations to Dr. Hiroshi Furuya, Obayashi Co., Prof. Tamio Tanikawa, AIST, Prof. Kenichi Ohara, Osaka University, for their suggestive discussions. REFERENCES [1] Proceedings of the 12th Symposium on Construction

Robotics in Japan, 2010.

[2] Proceedings of the ROBOMEC 2011, 2011 (in Japanese

with English abstracts and captions).

[3] Toshinori FUKUNAGA, et.al.: 3D shape reconstruction in the inside of a building using a LRF and a camera by a mobile robot, Proc. ROBOMEC 2011, 1P1-D05, 2011. [4] Tomofumi Nonaka, et.al.: 6DOF-SLAM using

Omnidirectional Stereo Vision with Scan-Matching, Proc.

ROBOMEC 2011, 1P1-M05, 2011.

[5] Kenjiro TADAKUMA, et.al.: Finger Mechanism

Equipped Omnidirectional Driving Roller with Two Active

Rotational Axes, Proc. ROBOMEC 2011, 1A1-J07, 2011.

[6] Kenjiro TADAKUMA, et.al.: Mechanism of the

Omnidirectional Enfolding Gripper, Proc. ROBOMEC

2011, 1A1-J08, 2011

[7] Tatsuyuki Iwawaki, et.al.: Development of Portable

Energy-Saving Type Air Supply System using Variable

Volume Tank, Proc. ROBOMEC 2011, 2A2-J10, 2011

[8] Satoshi IDE, et.al.: 3 Dimensional Trajectory Planning

for Mobile Manipulator Using Model Predictive Control

with Constraints, Proc. ROBOMEC 2011, 1P1-O03, 2011.

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[9] Shukei MATSUOKA, et.al.: Analysis of Position Error

of End-Effecter of An Omni-Directional Mobile

Manipulator Due to Suspension Mechanism, Proc.

ROBOMEC 2011, 1P1-O04, 2011.

[10] Masayoshi WADA, et.al.: A Transportation System

using Omnidirectional Mobile Robots with Active-Casters,

Proc. ROBOMEC 2011, 1P1-O01, 2011.

[11] Kenji Tsukamoto, et.al.: Virtual Impedance Model for

Obstacle Avoidance in a Limb Mechanism Robot, 2010

IEEE International Conference on Information and

Automation, pp.729-734, Harbin, China, Jun. 20-23, 2010.

[12] Hiroshi KOBAYASHI, et.al.: Development of Muscle

Suit for the Sacroiliac SupportProc. 12th SCR, pp.173-180, 2010.

[13] Nobuya Yao, et.al.: Gait Planning for a Biped Robot by a Nonholonomic System with Difference Equation

Constraints, The IEEE/RSJ 2010 International Conference

on Intelligent Robots and Systems, pp.4471-4476, Taipei,

Taiwan, Oct. 18-22, 2010.

[14] Hiroko Kamide, et.al., Comparative Evaluation of

Virtual and Real Humanoid with Robot-Oriented

Psychology Scale, Proc. ICRA2011, pp.599-604, 2011

[15] Noriho KOYACHI, et.al.: Path Planning and Path

Following for Autonomous Wheel LoaderProc. 12th SCR, pp. 3-10, 2010.

[16] Fumito WATANEBE, et.al.: Results of precast arch

culvert installation construction by unmanned constructionProc. 12th SCR, pp.57-66, 2010.

[17] Tamio TANIKAWA, et.al.: Smart home for security

and low power consumption with common network

modules based on RT middleware, Proc. 5th International

Conference on Advanced Mechatronics, pp.551-556, 2010

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MainInformationTable of ContentsKEYNOTE LEUCTURESKeynote I Robotizing Workforce in Future Built EnvironmentsKeynote II Advanced Robotics and Mechatronics and Their Applications in ConstructionKeynote III HUMAN-ROBOT COOPERATION TECHNOLOGY AN IDEAL MIDWAY SOLUTION HEADING TOWARD THE FUTURE OF

ORAL PRESENTATION(S1,S7)Energy EfficiencyS1-1 AUTOMATED SYSTEM OF BUILDING MACHINE GROUP SELECTION FROM THE POINT OF ENERGYCONSUMPTION MINIMIZATIONS1-2 MAPPING SYSTEM BETWEEN PROPERTY OF BIM SOFTWARE AND MATERIAL OF ENERGY PLUS FOROPEN BIM-BASED ENERGY PERFORMANCE ASSESSMENTS1-3 DESIGN APPROACH OF ENERGY EFFICIENT READY MADE GARMENTS FACTORY IN VIEW OF THERMALCOMFORTS1-4 VISUAL REQ CALCULATION TOOL FOR GREEN BUILDING EVALUATION IN TAIWANS1-5 A COMPARATIVE STUDY ON THE RELATIONSHIP BETWEEN RESIDENTIAL DENSITY AND VEHICULARENERGY USE IN FLORIDAS7-1 ASBUILT RESIDENTIAL BUILDING INFORMATION COLLECTION AND MODELING METHODS FOR ENERGYANALYSISS7-2 MODELLING AND OPTIMIZATION OF DIRECT EXPANSION AIR CONDITIONING SYSTEM FORCOMMERCIAL BUILDING ENERGY SAVINGS7-3 DAYLIGHT PERFORMANCE AND ENERGY CONSUMPTION IN A SIMPLE ROOM OF RESIDENTIALBUILDING IN DHAKA CITY, BANGLADESHS7-4 HVAC INTEGRATED CONTROL FOR ENERGY SAVING AND COMFORT ENHANCEMENTS7-5 TOWARDS OPTIMIZATION OF BUILDING ENERGY AND OCCUPANT COMFORT USING MULTI-AGENT SIMULATIONS7-6 HI-FLEX : MODULARIZED AND AUTONOMOUS BUILDING SKIN SYSTEM FOR MAXIMIZED ENERGYEFFICIENCYS7-7 DESIGN AND VERIFICATION OF A NEW ENERGY SAVING ELECTRIC EXCAVATOR

(S2, S8, S14, S20)Automation and Robotics in Building ConstructionS2-1 DECENTRALISED PREDICTIVE CONTROL WITH ENERGY DISSIPATION BOUNDS FOR WIRELESSSTRUCTURAL CONTROL APPLICATIONSS2-2 THE VIRTUAL ENVIRONMENT FOR FORCE-FEEDBACK EXPERIMENT OF EXCAVATOR USING A NOVELDESIGNED HAPTIC DEVICES2-3 DEVELOPMENT OF FUNCTIONALITY-ORIENTED ROBOTIC ENVI-RONMENTS THROUGH PROCESSANALYSIS AND PROCESS MODIFI-CATIONS2-4 LASER MARKING SYSTEM BASED ON 3D CAD MODELS2-5 INTEGRATED ENVIRONMENTAL DESIGN AND ROBOTIC FABRICATION WORKFLOW FOR CERAMICSHADING SYSTEMSS2-6 DEVELOPMENT OF DOUBLE ARM WORKING MACHINE FOR DEMOLITION AND SCRAP PROCESSINGS2-7 PROPOSAL OF INSTALLATION METHOD OF HEAVY DUTY GLASS USING INTUITIVE MANIPULATIONDEVICES8-1 APPLICATION OF IMAGE PROCESSING TO DETECION OF WORKERS AROUND heavy equipmentS8-2 INTEROPERABLE APPROACH IN SUPPORT OF SEMI-AUTOMATED CONSTRUCTION MANAGEMENTS8-3 DEPLOYING & MANAGING PERVASIVE COMPUTING ON CITY SCALES8-4 ICT ADOPTION IN THE IRANIAN CONSTRUCTION INDUSTRY : BARRIERS AND OPPORTUNITIESS8-5 MULTI-AGENT-BASED APPROACH FOR REAL-TIME COLLISION AVOIDANCE AND PATH RE-PLANNING ONCONSTRUCTION SITESS8-6 APPLICATION OF ROBOTIC OBSTACLE AVOIDANCE IN CRANE LIFT PATH PLANNINGS8-7 EXPERIMENTAL STUDY ON HYDRAULIC SIGNAL COMPENSATION FOR THE APPLICATION OF A HAPTICINTERFACE TO A TELE-OPERATED EXCAVATORS14-1 PLANE-BASED COARSE REGISTRATION OF 3D POINT CLOUDS WITH 4D MODELSS14-2 RADIO FREQUENCY IDENTIFICATION (RFID) INTEGRATED WITH BUILDING INFORMATION MODEL (BIM)FOR OPEN-BUILDING LIFE CYCLE INFORMATION MANAGEMENTS14-3 AUTOMATED SURFACE PROFILING OF DRYWALL SURFACE FOR SANDINGS14-4 HIGH-DIMENSIONAL SPACE SEARCH SYSTEM FOR MULTI-TOWER CRANE MOTION PLANNINGS20-1 VERTICAL SHIPYARD: TECHNOLOGY TRANSFER FOR AUTOMATED CON- AND DECONSTRUCTIONS20-2 STRATEGY FOR THE DEVELOPMENT OF ASSISTIVE ENVIRONMENTS BASED ON GERIATRIC ASSESSMENTS20-3 DEVELOPMENT OF A VIABLE CONCRETE PRINTING PROCESSS20-4 DEVELOPMENT OF ROBOTIC-CRANE BASED AUTOMATIC CONSTRUCTION SYSTEM FOR STEELSTRUCTURES OF HIGH-RISE BUILDINGSS20-5 A GRAPH-BASED APPROACH TO THE MODELING OF CHANGES IN CONSTRUCTION PROJECTSS20-6 THE DEVELOPMENT OF MICROWAVE ASSISTED MACHINERIES TO BREAK HARD ROCKSS20-7 COGNITION SYSTEM OF BOLT HOLE USING TEMPLATE MATCHING

(S3, S9, S15, S21, S26)Computing in Construction and ManagementS3-1 ON COMPUTER MODELLING AND UTILITY ASSESSMENT OF BUILDINGS AND PROJECTSS3-2 A STUDY ON THE VIRTUAL DIGGING SIMULATION OF A HYDRAULIC EXCAVATORS3-3 CONSTRUCTION PROJECT RISK CONTROL BASED ON EXPERTISE USING FUZZY SET THEORYS3-4 A CROWD MODEL WITH MULTIPLE INDIVIDUAL PARAMETERS TO REPRESENT INDIVIDUAL BEHAVIOURIN CROWD SIMULATIONS3-5 COMPUTATION AND CONSTRUCTION OF VAULT GEOMETRY PROTOTYPESS3-6 IDENTIFYING CONSTRUCTION PROBLEM-SOLVING PATTERNS OF LESSONS LEARNED WITH TEXT MININGMETHODS3-7 CAD EXCHANGE FORMAT IN THE FIELD OF PUBLIC WORKS JAPANS9-1 CONCEPTUAL COST ESTIMATION OF PUMP STATIONS PROJECTS USING FUZZY CLUSTERINGS9-2 STRUCTURE-FROM-MOTION FOR EARTHWORK PLANNINGS9-3 VIDEO ANNOTATION FRAMEWORK FOR ACCELEROMETER PLACEMENT IN WORKER ACTIVITYRECOGNITION STUDIESS9-4 RESEARCH IN ESTABLISHMENT OF QUALITY CONTROL AND RISK MANAGEMENT SYSTEMSS9-5 DISCUSSION ON THE RELAXATION CAMP FACILITY MANAGEMENT AND THE ESTABLISHMENT OF THEINFORMATION SYSTEMS9-6 APPLICATION OF GPS FLEET TRACKING AND STOCHASTIC SIMULATION TO A LEAN SOIL EXCAVATION PRACTICES9-7 DEVELOPMENT OF SOIL STIFFNESS EVALUATION EQUIPMENT ALFA-SYSTEM USING ACCELERATIONRESPONSE OF VIBRATORY ROLLERS15-1 AN OPTIMATL ALGORITHM OF THE MULTI-LIFTING OPERATION FOR SUPER-TALL BUILDINGS15-2 ICT-BASED WORK MANAGEMENT TO SUPPORT UNMANNED CONSTRUCTION FOR POST-DISASTERRESTORATIONS15-3 USING GENETIC ALGORITHMS TO ESTIMATE THE SCOUR DEPTH AROUND THE BRIDGE PIERS15-4 DRIVING BEARING EVALUATION SYSTEM TO ACHIEVE ECO FIRST HAULAGE WORKS15-5 ANALYZING THE COMPUTER-AIDED MAINTENANCE DATA OF A COMMERCIAL BUILDING COMPLEXS15-6 RESEARCH ON VISUAL POINT OF OPERATOR IN REMOTE CONTROL OF CONSTRUCTION MACHINERYS15-7 COMPARISON OF TWO WATER STORAGE FUNCTIONS OF SOIL ON PORE-WATER PRESSURE OF EARTHFILLEDDAM UNDER CHANGING ENVIRONMENS21-1 THE USE OF EARNED VALUE IN FORCASTING PROJECT DURATIONSS21-2 DESIGNING IN COMPLEX SYSTEM INTERACTION: MULTI-AGENT BASED SYSTEMS FOR EARLY DESIGNDECISION MAKINGS21-3 CRANE OPERATOR VISIBILITY OF GROUND OPERATIONSS21-4 SIMULATION OF RESURFACING PAVEMENT OPERATION OF HIGHWAYS UNDER LANE CLOSURE CONDITIONS21-5 VIRTUAL REALITY AND ESTIMATING PRACTICE: A SOFTWARE SELECTION MODEL FOR ESTIMATINGS21-6 PROBABILISTIC PERFORMANCE RELIABIILTY-COST TRADEOFF FOR MAINTENANCE STRATEGYS21-7 3-D ROAD SENSOR NETWORK ANALYSIS BASED ON DEM IMAGES AND UBICONSEYES26-1 AUTOMATED HEAD POSE ESTIMATION OF VEHICLE OPERATORSS26-2 LESSONS LEARNED FROM SCHEDULE ESTIMATION USING REAL-TIME DATA IN A CONCRETING OPERATIONS26-3 GENETIC ALGORITHM-BASED CHAOS CLUSTERING APPROACH FOR OPTIMIZING CONSTRUCTION TIMECOSTTRADEOFF PROBLEMSS26-4 A HYBRID SWARM INTELLIGENCE BASED PARTICLE BEE ALGORITHM FOR BENCHMARK FUNCTIONSAND CONSTRUCTION SITE LAYOUT OPTIMIZATIONS26-5 TRENDING AND FORECASTING IN CONSTRUCTION OPERATIONSS26-6 DEVELOPMENT OF VARIOUS BRIDGE CONDITION INDICES FOR TAIWAN BRIDGE MANAGEMENTSYSTEMS26-7 FULLY AUTOMATED REGISTRATION OF 3D CAD MODEL WITH POINT CLOUD FROM CONSTRUCTION SITE

(S4, S10, S16, S22)Building Information Modeling(S4, S10, S16, S22)Building Information ModelingS4-1 THE STUDY OF BIM-BASED MRT STRUCTURAL INSPECTION SYSTEMS4-2 ENHANCED PLATFORM FOR BUILDING INFORMATION MODELING TO IMPROVE REALITYS4-3 BIM-BASED BUILDING CURRICULUM VITAE SYSTEMS4-4 APPLYING CLOUD COMPUTING TECHNOLOGY TO BIM VISUALIZATION AND MANIPULATIONS4-5 PREPARING A BUINDLING INFORMATION MODEL FOR FACILITY MAINTENANCE AND MANAGEMENTS4-6 THE BIM-BASED INFORMATION INTEGRATION SPHERE FOR CONSTRUCTION PROJECTSS4-7 FRAMEWORK OF AN INTEGRATED INFORMATION SYSTEM WITH OPENBIM BASED LIBRARY FOR NEWKOREAN STYLE HOUSES10-1 AUTOMATIC CREATION OF SEMANTICALLY RICH 3D BUILDING MODELS FROM LASER SCANNER DATAS10-2 BAD APPLE THEORY OF HUMAN ERROR AND BUILDING INFORMATION MODELLING: A SYSTEMICMODEL FOR BIM IMPLEMENTATIONS10-3 REPRESENTATION REQUIREMENTS OF AS-IS BUILDING INFORMATION MODELS GENERATED FROMLASER SCANNED POINT CLOUD DATAS10-4 COBIE-BASED LIGHTWEIGHT REPRESENTATION OF A BUILDING NAVIGATION NETWORKS10-5 USE BIM TO CONSTRUCT ELECTRONIC RESUME SYSTEM FOR BUILDING PROJECTS10-6 A STUDY ON THE OPTIMIZATION METHOD FOR PANEL LAYOUT PROBLEM IN DRYWALLS10-7 ENHANCEMENT OF SPATIAL AND PHYSICAL ELEMENTS FOR IFC-BASED BRIDGE DATA MODELS16-1 BIM-BASED ENERGY MORNITORING WITH XML PARSING ENGINES16-2 DETECTION, MODELING AND CLASSIFICATION OF MOLDINGS FOR AUTOMATED REVERSE ENGINEERINGOF BUILDINGS FROM 3D DATAS16-3 AN APPROACH TO EXTRACTING FACADE FEATURES USING THE INTENSITY VALUE OF TERRESTRIALLASER SCANNER WITH MATHEMATICAL MORPHOLOGYS16-4 LESSONS LEARNED IN BUILDING INFORMATION MODELING APPLICATIONSS16-5 SIMULATION FOR STEEL BRIDGE ERECTION BY USING BIM TOOLSS16-6 ESTIMATING WITH BIM: A SURVEY OF US CONSTRUCTION COMPANIESS16-7 CASE STUDY: DEVELOPMENT OF BIM U-EDUCATION SYSTEM WITH OPEN BIM LIBRARYS22-1 DESIGN PROCESS VISUALIZATION SYSTEM INTERGRATING BIM DATA AND PERFORMANCE-ORIENTEDDESIGN INFORMATIONS22-2 DIGITAL PRODUCT PROCESS FOR CONSTRUCTION PRODUCT INDUSTRYS22-3 INTELLIGENT GENERATION OF BILL OF QUANTITY FROM IFC DATA SUBJECT TO CHINESE STANDARDS22-4 INTEGRATION OF PERFORMANCE BASED MODELING TECHNIQUES WITH BUILDING DESIGN METHOD(INDUSTRY/FACTORY) CONSIDERING ENERGY EFFICIENCY IN BANGLADESHS22-5 ENHANCING MAINTENANCE MANAGEMENT USING BUILDING INFORMATION MODELING IN FACILITIESMANAGEMENTS22-6 BIM-BASED GOVERNMENT PROCUREMENT SYSTEM- THE LIKELY DEVELOPMENT IN TAIWANS22-7 THE ROLE OF IFC FOR SUSTAINABLE BIM DATA MANAGEMENT

(S5, S11, S17)Sensing Technology for Construction and MaintenanceS5-1 SENSING CONSTRUCTION WORK-RELATED MUSCULOSKELETAL DISORDERS (WMSDS)S5-2 ANATOMY OF CONSTRUCTION EQUIPMENT MOVE AND ALGORITHMS FOR COLLISION DETECTIONS5-3 SIMPLE TOOL FOR COST ESTIMATION OF RECOVERY OF DAMAGED SITESS5-4 ASSESSMENT OF WSN AND RFID TECHNOLOGIES FOR REAL-TIME OCCUPANCY INFORMATIONS5-5 DEMOGRAPHIC ANALYSIS ON THE MONORAIL AND URBAN DEVELOPMENTS5-6 MEASUREMENT OF STRUCTURAL DISPLACEMENT USING VISUALLY SERVODED PAIRED STRUCTUREDLIGHT SYSTEMS11-1 DATA STORAGE AND DATA MINING OF BUILDING MONITORING DATA WITH CONTEXTSS11-2 INITIALIZING VISION BASED TRACKERS USING SEMANTIC TEXTON FORESTSS11-3 GREEN SCORE: DEVELOPING A MEASUREMENT MODEL FOR SUSTAINABLE PEDESTRIAN-FRIENDLYENVIRONMENT BASED ON SPACE SYNTAXS11-4 RADIO FREQUENCY TECHNOLOGY INCORPORATED APPROACHES TO EQUIPMENT COLLISIONS ON JOBSITESS11-5 THREE-LEVEL RFID SYSTEM FOR ARCHITECTURAL CONCRETE PANELS TRACKINGS11-6 APPLICATION OF USAN TECHNOLOGY FOR MONITORING TEMPORARY CONSTRUCTIONS17-1 WIRELESS/MOBILE SENSORS FOR MONITORING WORKERS HEALTH AND SAFETY IN CONSTRUCTIONS17-2 DEVELOPMENT OF POSITION MEASUREMENT SYSTEM FOR CONSTRUCTION PILE USING LASER RANGE FINDERS17-3 SENSOR NETWORKS FOR ACOUSTIC SOURCE LOCALIZATION USING ACOUSTIC FINGERPRINT IN URBANENVIRONMENTS AND CONSTRUCTION SITESS17-4 RFID-BASED OCCUPANCY DETECTION SOLUTION FOR OPTIMIZING HVAC ENERGY CONSUMPTIONS17-5 DEVELOPMENT OF LASER SCANNING SYSTEM FOR AGING INSPECTION OF BOX CULVERTS17-6 CONCRETE STRENGTH EVALUATION TECHNIQUE USING PIEZOELECTRIC GUIDED-WAVE PROPAGATIONS

(S6, S12, S18)Decision Support Systems/Project Information ManagementS6-1 INTUITIVE AND USABLE RISK-BASED COST CONTINGENCY ESTIMATION MODEL FOR GENERALCONTRACTING FIRMSS6-2 STOCHASTIC DECISION MAKING FOR SUSTAINABLE ENERGY SYSTEM SELECTIONS6-3 AN EXPERIMENTAL CASE-BASED REASONING MECHANISM FOR CONSTRUCTION MEDIATIONS6-4 AN AGENT-BASED SIMULATION APPROACH TO URBAN MORPHOLOGY ANALYSISS6-5 DECISION SUPPORT FOR CONFIGURATION SYSTEMS OF INDUSTRIALIZED CONSTRUCTIONSS6-6 DEVELOPMENT OF INFORMATION SYSTEM FOR LARGE-SCALE STRUCTURAL STEEL FABRICATORSPRODUCTION MANAGEMENTS6-7 STOCHASTIC MODELING FOR QUANTIFYING OPTIMAL INCENTIVE AMOUNTS OF EARLY PROJECTCOMPLETIONS12-1 DEVELOPMENT AND OPERATION OF JACIC/LCDM REGISTRYS12-2 THE DEVELOPMENT OF CONSTRUCTION INTERFACE INFORMATION MANAGEMENT SYSTEMS12-3 THEORETICAL ISSUES IN ADVANCING INFRASTRUCTURE ASSET MANAGEMENT PROGRAMSS12-4 A CONCEPTUAL FRAMEWORK FOR TOTAL CONSTRAINT MANAGEMENT IN CONSTRUCTIONS12-5 ETHICAL CONSIDERATION OF CONSTRUCTION UNION STRATEGIES IN JURISDICTIONAL DISPUTES BASEDON AN AGENT-BASED MODELING (ABM) AND A GAME THEORYS12-6 SUSTAINABLE BUSINESS PROCESS MANAGEMENT MODEL FOR CONSTRUCTION COMPANIESS12-7 PROPOSAL TO SUPPORT THE MAINTENANCE OF MORE THAN 20-YEAR-OLD BUILDINGSS18-1 PROJECT MANAGEMENT INFORMATION SYSTEMS FOR CONSTRUCTION MANAGERS (CM): CURRENTCONSTITUENTS AND FUTURE EXTENSIONSS18-2 A DEVELOPMENT OF INTEGRATED EVALUATION CRITERIA FOR QUALITY OF SERVICE ON PEDESTRIANNETWORKS BY USING MULTI-CRITERIA DECISION ANALYSISS18-3 EXPLORING RISKS FOR URBAN RENEWAL PROJECTSS18-4 SIMULATION MODEL TO PREDICT PROJECT TIME AND COST PERFORMANCE OF INCENTIVE/DISINCENTIVECONSTRUCTION PROJECTSS18-5 SCAFFOLDING INDUSTRY KNOWLEDGE ON ERRORS IN CONSTRUCTION ESTIMATESS18-6 DEVELOPMENT OF 3D INFORMATION MODELS FOR THE MAINTENANCE OF SUBWAY INFRASTRUCTURES

(S13)Inteligent Program management Information System(i-PgMIS) for Mega-ProjectsS13-1 A STUDY ON DATA INTERACTION AMONG DIFFERENT LEVELS OF DETAIL IN PLANNING PHASES FORMEGA PROJECTSS13-2 A STUDY ON CLASSIFICATION OF FACILITY ELEMENTS FOR SUPPorTING PROJECT DEFINITION OFURBAN RENEWAL MEGA PROJECT USING MORPHOLOGICAL BOX METHODS13-3 CONSTRUCTION IETM(INTERACTIVE ELECTRONIC TECHNICAL MANUAL) FOR URBAN REGENERATIONS13-4 DEVELOPMENT OF A WEB-BASED CBS ORGANIZATION SYSTEM FOR MEGA-PROJECTSS13-5 AN ECONOMIC EVALUATION SYSTEM FOR BUILDING CONSTRUCTION PROJECTS IN THE CONCEPUTAL PHASES13-6 DATA MINING-BASED PREDICTIVE MODEL TO DETERMINE PROJECT FINANCIAL SUCCESS USINGPROJECT DEFINITION PARAMETERS

(S19)Augmented and Virt ual RealityS19-1 EXPERIMENTAL FRAMEWORK FOR EVALUATING COGNITIVE WORKLOAD OF USING AR SYSTEM INGENERAL ASSEMBLY TASKS19-2 REFLECTIONS ON USING A GAME ENGINE TO DEVELOP A VIRTUAL TRAINING SYSTEM FORCONSTRUCTION EXCAVATOR OPERATORSS19-3 A GENERATION STEP FOR FORCE REFLECTING CONTROL OF A PNEUMATIC EXCAVATOR BASED ONAUGMENTED REALITY ENVIRONMENTS19-4 A SMART CRANE OPERATIONS ASSISTANCE SYSTEM USING AUGUMENTED REALITY TECHNOLOGYS19-5 REMOTE CONSTRUCTION WORKER LOCATION, ACTIVITY AND SAFETY MONITORING

(S23, S28, S33)Automation and Robotics in Civil/Space /Field EngineringS23-1 TASK PLANNER FOR AUTONOMOUS EXCAVATOR CONSIDERING WORK ENVIRONMENTS23-2 DEVELOPMENT AND TESTING OF INTEGRATED BRIDGE DISASTER PREVENTION AND MANAGEMENTPLATFORMS23-3 SYNTHESIS AND RAPID PROTOTYPING OF MOTION FOR A FOUR-LEGGED MAMMAL-STRUCTURED ROBOTS23-4 RESEARCH ON PRODUCTIVITY IMPROVEMENT AND QUALITY CONTROL SYSTEM DEVELOPMENT FORAUTOMATIC LINE STRIPE REMOVAL SYSTEM USING DRY ICE BLASTERS23-5 A FRAMEWORK TO AUTOMATICALLY MONITOR THE POSITION OF SITE RESOURCES WITH LOWACCURACYESTIMATESS23-6 SENSITIVITY ANALYSIS OF SEMIAUTONOMY ALGORITHM OF MOBILE ROBOT TO ENVIRONMENTALSENSORS' FAILURE - SIMULATION RESEARCH AND EXPERIMENTAL TESTSS23-7 FUSION OF TIME-OF-FLIGHT CAMERA AND STEREO CAMERA DATA FOR ENHANCED 3D WORKENVIRONMENT REPRESENTATION FOR CONSTRUCTION EQUIPMENT AUTOMATIONS28-1 MODELING AND OPERATING ROBOTIC ENVIRONMENTS USING GAZEBO/ROSS28-2 DEVELOPMENT OF OPTIMIZED POINTS28-3 STUDY ON MODELING AND CONTROL OF EXCAVATORS28-4 AUTOMATION SYSTEM FOR LUNAR LANDING PADS28-5 DEVELOPMENT OF A PROTOTYPE DEPLOYABLE BRIDGE BASED ON ORIGAMI SKILLS28-6 A STUDY OF THE CONSTRUCTION METHODS FOR THE PRESERVATION OF IMPORTANT UNDERGROUNDREMAINSS28-7 A STUDY ON WORKING PLAN OF INTELLIGENT EXCAVATORS33-1 COMPUTATIONAL INTELLIGENCE ESTIMATION OF NATURAL BACKGROUND OZONE LEVEL AND ITSDISTRIBUTION FOR AIR QUALITY MODELLING AND EMISSION CONTROLS33-2 MOBILE COMPUTING PLATFORM FOR CONSTRUCTION SITE MANAGEMENTS33-3 AGILITY AND TRACTION FOR A LUNAR ROUGH TERRAIN EXPLORATION ROVERS33-4 DEVELOPMENT MONITOR PLATFORM USING GPS AND COMMUNICATION TECHNOLOGYS33-5 INNOVATIVE MICRO-WALKING ROBOT USING FLEXIBLE MICROACTUATORS33-6 AVOIDANCE OF EARTH OBSTACLES FOR INTELLIGENT EXCAVATOR

(S24, S29, S34)Automation in Maintenance and InspectionS24-1 AN APPROACH TO AUTOMATED DETECTION OF FAILURE IN TEMPORARY STRUCTURES SUPPORTED BYCONCRETE SHORINGS24-2 A LIGHTWEIGHT IMAGED BASED BRIDGE INSPECTION SYSTEM USING FISHING POLE, FISHING LINE ANDFISHEYE CAMERAS24-3 AUTOMATION OF THERMOGRAPHIC 3D MODELLING THROUGH IMAGE FUSION AND IMAGE MATCHINGTECHNIQUESS24-4 SELF-MONITORING AND SELF-HEALING BOLTED JOINTS USING SHAPE MEMORY ALLOYS24-5 AUTO-REGRESSIVE COMPENSATION TECHNIQUE FOR A RELIABLE NON INVASIVE STRUCTURAL HEALTHMONITORING SYSTEMS24-6 ANALYSIS OF AN ARTHROPODAL SYSTEM FOR DESIGN OF A CLIMBING ROBOTS24-7 A SYSTEM DIAGNOSIS THROUGH THE RECOGNITION OF THE MODE OF DYNAMIC MOTIONS OF A SHAFTBY THE INDIRECT MEASUREMENT IN JOURNAL BEARINGS29-1 A RUST INTENSITY RECOGNITION APPROACH FOR STEEL BRIDGE SURFACE COATING IMAGES BASEDON ARTIFICIAL NEURAL NETWORKSS29-2 MINIMIZING THE TRAFFIC IMPACT CAUSED BY INFRASTRUCTURE MAINTENANCE USING ANT COLONYOPTIMIZATIONS29-3 GEOMETRIC EVALUATION OF ROAD SIGNS USING RADIOMETRIC INFORMATION FROM LASERSCANNING DATAS29-4 A FAST AND AUTOMATED METHOD FOR EXTRACTING TUNNEL CROSS-SECTIONS USING TERRESTRIALLASER SCANNED DATAS29-5 EFFECT OF VIEW DISTANCE AND MOVEMENT SCALE ON HAPTIC-BASED TELEOPERATION OFINDUSTRIAL ROBOTS IN COMPLEX ENVIRONMENTSS29-6 LOCATION INFORMATION MANAGEMENT OF RFID-EQUIPPED BUILDING COMPONENTSS29-7 HIBRID APPROACH OF CAMERAS AND GPS FOR DISPLACEMENT MEASUREMENTS OF SUPER LONGSAPNBRIDGESS34-1 A NOVEL BAYESIAN NETWORK APPROACH FOR ENGINEERING RELIABILITY ASSESSMENTS34-2 AN EXTENDED HAND MOVEMENT MODEL FOR HAPTIC-BASED REMOTE OPERATION OF INFRASTRUCTUREMAINTENANCE ROBOTSS34-3 THE DEVELOPMENT OF BUILDING MAINTENANCE SYSTEM (PBMS) FOR MONITORING REPAIRS &REPLACEMENT HISTORY IN PUBLIC FACILITYS34-4 APPLICATIONS OF COMPUTER VISION ONTILE ALIGNMENT INSPECTIONS34-5 REAL-TIME NDE OF STEEL CABLE USING ELASTO-MAGNETIC SENSORS INSTALLED IN A CABLE CLIMBING ROBOTS34-6 DEVELOPMENT OF BUILDING-FACADE MAINTENANCE ROBOT WITH DOCKING STATION BASED ONVERTICAL CLIMBING MECHANISM

(S25)Architecture and PlaningS25-1 RETHINKING AUTOMATION IN THE SUSTAINABLE BUILDINGS25-2 HIGH TECH / LOW TECH: TECTONIC MACHINES, EARTH-BUILT TRADITIONS, AND CONSTRUCTING THEEXIGENT CITYS25-3 DYNAMIC SITE LAYOUT PLANNING USING MTPE PRINCIPLE FROM PHYSS25-4 ROBOTIC ENVIRONMENTSS25-5 DEVELOPMENT OF ULTRA LIGHTWEIGHT HOIST ROPE OF TOWER CRANE FOR SUPER SKYSCRAPERS25-6 A STUDY OF WAYFINDING IN TAIPEI METRO STATION TRANSFER: MULTI-AGENT SIMULATIONAPPROACH

(S27, S32)Management Issues in ConstructionS27-1 A STUDY ON THE FACTORS AFFECTING THE ECONOMICAL LIFE OF HEAVY CONSTRUCTION EQUIPMENTS27-2 IMPACTS OF MATCHED BATCH SIZES ON TIME REDUCTION IN CONSTRUCTION PROJECTSS27-3 DEVELOPMENT OF AN RFID SYSTEM FOR TRACKING CONSTRUCTION RESIDUAL SOIL IN TAIWANS27-4 PERFORMANCE EVALUATION MECHANISM FOR ENGINEERING CONSULTANTS? CASES STUDY ON TAIPEIRAPID TRANSIT SYSTEMSS27-5 INTERFACE MANAGEMENT PRACTICES IN TAIWAN CONSTRUCTION PROJECTS27-6 DELAY IMPACT ANALYSIS METHOD FOR LOST PRODUCTIVITY IN CONSTRUCTION PROJECTSS27-7 BUSINESS MODELS FOR CONVERGENCE OF CONSTRUCTION AND INFORMATION TECHNOLOGY -ASENARIO PLANNING-BASED APPROACHS32-1 MANAGERIAL PROCESS STANDARDIZATION THROUGH ILLUSTRATIVE CASE STUDYS32-2 QUANTIFYING IMPACT FACTORS FOR SUSTAINABLE ROAD ENGINEERINGS32-3 INTEGRATED FRAMEWORK FOR PRODUCTIVITY IMPROVEMENT: ACTION RESEARCH APPROACH WITHLEAN CONSTRUCTION THEORYS32-4 AN OPTIMIZATION MODEL FOR LINEAR PROJECT SCHEDULING CONSIDERING MULTI-SKILLED CREWSS32-5 PERFORMANCE EVALUATION MODEL OF THE CLIENTS MATRIX ORGANIZATION FOR A DESIGN PROJECTS32-6 CASE STUDY OF DELAY IMPACT ANALYSIS OF LOST PRODUCTIVITY IN CONSTRUCTION PROJECTSS32-7 STAGE-GATE PROCESS INTEGRATED RISK MANAGEMENT FRAMEWORK FOR OVERSEAS LNG PLANT PROJECTS

(S30)Collaborative Design and ConstructionS30-1 INFLUENCE OF OFFSHORE OUTSOURCED STRUCTURAL DESIGN PROCESSES ON CONSTRUCTION OPERATIONSS30-2 A STUDY ON THE SUSTAINING CAPABILITY OF THE CURTAIN WALL SYSTEM FOR THE ATTACHEDCLEANING ROBOTS30-3 EFFECT OF POLYOLEFIN FIBER ON THE ENGINEERED PROPERTIES OF CEMENT-BASED COMPOSITESCONTAINING SILICA FUMES30-4 DEMONSTRATIVE STUDY ON DEVELOPMENT OF A METHOD FORREUSABLE WALL STRUCTURE MADEOF THINNED-OUT JAPANESE CEDAR- DESIGN STUDY OF ARC WOODEN HOUSES30-5 MULTI-DISCIPLINARY DESIGN COLLABORATION FOR DEVELOPING A BIM MODEL USING A HYBRIDCLIENT-SERVER AND P2P NETWORK MODELS30-6 PRODUCTIVITY IMPROVEMENT IN CONSTRUCTION OF ONSHORE OIL & GAS PIPELINE TIE IN JOINTS EXECUTIONS30-7 DESIGN COLLABORATION FOR INTELLIGENT CONSTRUCTION MANAGEMENT IN MOBILIE AUGMENTEDREALITY

(S31)Computer-aided Design/Education /TrainingS31-1 BUILDING INFORMATION MODELING (BIM)-BASED DESIGN OF ENERGY EFFICIENT BUILDINGSS31-2 CAD-BASED TOOL FOR AUTOMATED PANEL CUTTING OF PREFABRICATED FACADESS31-3 MERIT OF COMPUTER GAME IN TACIT KNOWLEDGE ACQUISITION AND RETENTIONS31-4 A METHODOLOGICAL ARGUMENT FOR DESIGNING ASSESSMENT OF STUDENTS TEAMWORK INPROBLEM-BASED LEARNINGS31-5 MODELING DEEP BEAM STRENGTHS WITH A GENETIC PROGRAMMING SYSTEMS31-6 COMPUTER AIDED ITERATIVE DESIGN ? A FUTURE TREND IN COMPUTER AIDED ENGINEERING SOFTWARES31-7 STUDY OF PREPARATION SPECIFICATIONS FOR 3-DIMENSIONAL TOPOGRAPHICAL MAP DATA FORROAD DESIGN IN JAPAN

POSTER PRESENTATIONAutomation and Robotics in Building ConstructionP1-1 AUTOMATIC CONSTRUCTION QUANTITY CALCULATION SYSTEMP1-2 ANALYSIS OF OPERATION EFFICIENCY OF TOWER CRANE IN FORM WORK CONSTRUCTION FOR MULTIFAMILYHOUSINGP1-3 CONCEPT OF A WALL BUILDING INDUSTRIAL ROBOTIC SYSTEMP1-4 DESIGN OF A MANIPULATOR FOR TELE-OPERATION APPLICATIONSP1-5 DEVELOPMENT OF A MEASURING DEVICE FOR CONSTRUCTION FIELD WORKERS WORK LOAD USINGACCELEROMETERSP1-6 DEVELOPMENT OF WORK PROCESS OF CONSTRUCTION AUTOMATION OF FOUNDATION FOR ONE-DAY HOUSINGP1-7 BUILT-IN GUIDE TYPE ROBOT FOR EXTERNAL WALLMAINTENANCE OF SKYSCRAPERP1-8 POWER ASSISTANT SYSTEM FOR HEAVY WORKERP1-9 ROBUST POSITION CONTROL OF ELECTRO HYDROSTATIC ACTUATOR WITH SYSTEM UNCERTAINTIESUSING SLIDING MODE CONTROL AND NEURAL NETWORKS ALGORITHMP1-10 ROBUST CONTROL OF HYDRAULIC ACTUATOR USING BACK-STEPPING SLIDING MODE CONTROLLERP1-11 DEVELOPMENT OF TIME VARYING SLIDING MODE CONTROLLER WITH FUZZY SYSTEM FOR AUTOMATICEXCAVATORP1-12 BASIC EXPERIMENT FOR A FASTENING DEVICE FOR THE VERTICAL OUTER WALLS OF HIGH-RISEBUILDINGSP1-13 MEASUREMENT OF VACUUM SUCTION FORCE ON DIVERSELY CONFIGURED VERTICAL OUTER WALLSOF BUILDINGSP1-14 CRITICAL ENGINEERING CHARACTERISTICS OF AN AUTOMATED PULLING MACHINE FOR IMPROVINGSAFETY IN CONSTRUCTING STEEL BEAM AND GIRDER HAVING IMPROVED SHAPEP1-15 THE POSITION AND ORIENTATION MEASUREMENT OF GONDOLA USING A VISUAL CAMERAP1-16 A STUDY ON ALGORITHM OF PROGRESS MANAGEMENT PROTOTYPING IN STEEL CONSTRUCTION

Building Information ModelingP1-17 INTRODUCTION OF CONSTRUCTION MANAGEMENT INTEGRATED SYSTEM USING BIM IN THE HONAMHIGH-SPEED RAILWAY LOT NO. 4-2P1-18 INTEROPERABILITY TESTS BETWEEN IFC CERTIFIED SOFTWARE FOR OPEN BIM BASED QUALITYASSURANCEP1-19 A STUDY OF IMPROVING SAFETY EDUCATION FOR OVERSEAS CONSTRUCTION WORKERS

Computing in Construction and ManagementP1-20 USING DEMATEL AND ANP METHODS TO DEVELOP A MAINTENANCE RATING PROGRAM (MRP) INTAIWANP1-21 DEVELOPMENT OF CBR-BASED ROAD CONSTRUCTION PROJECT COST ESTIMATION SYSTEMP1-22 INFORMATION RETRIEVAL IN CONSTRUCTION HAZARD IDENTIFICATIONP1-23 FINITE ELEEMNT FRONTAL CRASH ANALYSIS OF NEV VEHICLES PLATFORM WITH UPPER AND SUBFRAME BODYP1-24 FUZZY BASED CONDITION ASSESSMENT MODEL PROTOTYPE OF MIDDLE AND SMALL-SIZE BUILDINGSP1-25 OPTIMIZED EARTHWORK PLANNING METHODOLOGY FOR LAND DEVELOPMENT PROJECTSP1-26 FORM WORK MANAGEMENT BASED ON UBIQUITOUS COMPUTING FOR HIGH-RISE BUILDING CONSTRUCTIONP1-27 OPTIMUM PERFORMANCE EVALUTION OF REINFORCED SPRING SUSPENSION SYSTEM USING NONLINEAR ANALYSIS METHOD

Decision Support Systems / Project Information ManagementP1-28 PREDICTION MODEL FOR HOISTING TIME USING LUFFING-TYPE CRANE FOR HIGH-RISE BUILDING CONSTRUCTIONP1-29 SCHEDULING MODEL FOR MULTIPLE CONSTRUTION PROJECTSP1-30 A) ANALYTICAL STUDY ON INFLUENCE OF CAUSES FOR DESIGN CHANGE AT EXECUTION PHASEFOCUSED ON PRIVATE COLLECGE FACILITY PROJECTS-P1-31 DEVELOPING THE KNOWLEDGE MANAGEMENT SYSTEM BASED ON BUSINESS PROCESSP1-32 A STUDY ON THE USE OF WEATHER INFORMATION IN CONSTRUCTION SCHEDULE MANAGEMENTP1-33 EDUCATION SYSTEM FOR JAPANESE CONSTRUCTION SITE ENGINEERS IN QUALITY MANAGEMENT

Sensing Technology for Construction and MaintenanceP1-34 DATA ACQUISITION FOR STOCHASTIC LOCALIZATION OF WIRELESS MOBILE CLIENT IN MULTISTORY BUILDINGP1-35 HIGH EFFICIENT SYNCHRONIZATION-ON-DEMAND PROTOCOL OF IEEE802.15.4 WIRELESS SESNOR NETWORK FOR CONSTRUCTION MONITORINGP1-36 ENVIRONMENTAL THERMAL ENERGY SCAVENGING POWERED WIRELESS SENSOR NETWORK FOR BUILDING MONITORINGP1-37 DEVELOPMENT OF AN INNOVATIVE BRIDGE MONITORING SYSTEM FOR MULTI DISASTERS

Architecture and PlaningP2-1 A METHOD OF VALUE SYSTEM DESIGN FOR REALIZATION OF PROJECT GOALS IN THE URBAN REGENERATION PROJECTP2-2 A PLAN OF APPLYING BIM FOR IMPROVING INFORMATION COMPATIBILITY AT INITIAL PHASE OF BUILDING PROJECTP2-3 THE EFFECT OF THE QUALITY OF APARTMENT HOUSES ON THE RESIDENTIAL SATISFACTION AND CORPORATION PERFORMANCE

Augmented and Virt ual RealityP2-4 GENERIC USER MANUAL FOR MAINTENANCE OF MOUNTAIN BIKE BRAKES BASED ON AUGMENTED REALITYP2-5 THE INTEGRATION OF LOCATION-BASED SERVICE AND AUGMENTED REALITY TECHNIQUES TO A ROAD MANAGEMENT SYSTEM

Automation and Robotics in Civil/Space /Field EngineringP2-6 ROBOT SYSTEM FOR REMOVING ASBESTOS SPRAYED ON BEAMSP2-7 FIELD APPLICATION OF A ROBOTIC SYSTEM ON CABLE STAYS OF INCHEON BRIDGE FOR SNOW REMOVALP2-8 THE MECHANICAL ANALYSIS OF A LEGGED FIELD ROBOT FOR THE REDUCTION OF LONGITUDINAL MASS-DRIFT AMOUNTSP2-9 A DEVELOPMENT OF 3D IMAGE DATA MERGING MODULE FOR INTELLIGENT EXCAVATION SYSTEMP2-10 DEVELOPMENT OF CABLE CLIMBING ROBOTIC SYSTEM FOR INSPECTION OF SUSPENSION BRIDGEP2-11 CONCEPTUAL DESIGN OF AUTOMATIC FOOTING DEVICE FOR MODULAR HOUSING CONSTRUCTION TECHNIQUEP2-12 INTELLIGENT BRIDGE INSPECTION USING REMOTE CONTROLLED ROBOT AND IMAGE PROCESSINGP2-13 WINDOW CONTAMINATION DETECTION METHOD FOR THE ROBOTIC BUILDING MAINTENANCE SYSTEMP2-14 DYNAMIC DESIGN OF HYDRAULIC PRESSURE CONTROL VALVE OF ACTIVE SUSPENSION SYSTEM USING EXPERIMENTAL METHODP2-15 AUTONOMOUS TRACTION CONTROL FOR THE INTELLIGENT EXCAVATOR SYSTEMP2-16 AN EXCAVATOR SIMULATOR FOR AN INTELIGENT EXCAVATING SYSTEMP2-17 AN OBJECT DETECTION ALGORITHM FOR 3D TERRAIN DATA COLLECTED VIA LASER SCANNING

Automation in Maintenance and InspectionP2-18 AN EXPERIMENTAL STUDY OF AUTOMATIC CLEANING TOOL AND ROBOT FOR FACADE IN HIGH-RISE BUILDINGSP2-19 FACADE CLEANING PROCESS ANALYSIS AND EVALUATION FOR THE DEVELOPMENT OF AN INTELLIGENT ROBOTIC SYSTEM FOR HIGH-RISE BUILDING MAINTENANCEP2-20 INTELIGENT CRACK DETECTING ALGORITHM ON THE CONCRETE CRACK IMAGE USING NEURAL NETWORKP2-21 A STUDY ON HYBRID FORCE/ MOTION CONTROL FOR AUTOMATED ROBOTIC BUILDING MAINTENANCE SYSTEM

Computer-aided Design/Education /TrainingP2-22 SPACE PLANNING WITH GREEN PERSPECTIVEP2-23 OPTIMIZATION OF MANUFACTURING CONDITIONS FOR SPLINE OF DRUM CLUTCH HUB TAGUCHI METHODP2-24 PC BASED COMPUTER- AIDED TRAINING PROGRAM FOR HARBOR STRUCTURE DESIGNP2-25 DESIGN OF MOORING FITTINGS OF SHIP EPQIPMENT BY USING THE FINITE ELEMENT METHOD

Energy EfficiencyP2-26 A STUDY ON HIGHLY EFFICIENT CARGO HANDLING SYSTEMP2-27 A STUDY ON THE METHOD OF ESTIMATING ENVIRONMENTAL LOAD ON EARTHWORK

Management Issues in ConstructionP2-28 CO2 EMISSIONS FROM FOREST CLEAR CUT IN ROAD CONTRUCTION PROJECTP2-29 CAUSES ANALYSIS OF UNSOLD NEW HOUSING STOCK BY CAUSAL LOOP DIAGRAMP2-30 STUDY ON A WAY TO ESTIMATE REASONABLE COST OF CONSTRUCTION WORKS-FOCUSED ON FORMWORKS IN KOREA-P2-31 STUDY ON THE MAJOR DELAY FACTORS IN FINISHING WORKS BEFORE COMPLETION OF CONSTRUCTIONP2-32 ANALYSIS OF SUCCESS FACTORS IN CONSTRUCTION IT CONVERGENCEP2-33 A CONCEPTUALIZATION FOR THE AUTOMATION OF A LIFT CAR OPERATION IN HIGH RISE BUILDING CONSTRUCTIONP2-34 A DERIVATION OF THE FACTORS FOR RISK MANAGEMENT IN THE U-CITY CONSTRUCTION INDUSTRYP2-35 DEVELOPMENT OF THE PERFORMANCE MANAGEMENT PLAN BASED ON RISK MANAGEMENT BREAKDOWN STRUCTURE AT BUSINESS PROCESSES IN THE CENTRAL CITY MIXED-USED REGENERATION

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