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nbsir 85-33io MEASUREMENT

TECHNOLOGY

FOR AUTOMATION IN

CONSTRUCTION AND

LARGE SCALE

ASSEMBLY

Proceedings of a workshop sponsored by National Bureau of Standards & Transitions Research Corporation Feb. 5-6, 1985

100

• U56

85-3310

1985

U.S. Department of Commerce

National Bureau of Standards

NBS

RESEARCH INFORMATION CENTER

NBsiR 85-3310 MEASUREMENT

TECHNOLOGY

FOR AUTOMATION IN

CONSTRUCTION AND

LARGE SCALE

ASSEMBLY

Proceedings of a Workshop

Editor: John M. Evans

U.S. DEPARTMENT OF COMMERCE

National Bureau of Standards

National Engineering Laboratory

Center for Manufacturing Engineering

Robot Systems Division

Metrology Building, Room B124

Gaithersburg, MD 20899

August 1985

U.S. DEPARTMENT OF COMMERCE

Malcolm Baldrige, Secretary

NATIONAL BUREAU OF STANDARDS

Ernest Ambler, Director

EXECUTIVE SUMMARY

Fifty technical experts from business, industry,

universities and government met in Washington, D.C., on

February 5 and 6, 1985, to consider the issues of applying

automation to construction and large scale assembly. This

workshop, which was sponsored by the National Bureau of

Standards and Transitions Research Corporation, concluded

that:

o New technology achievable in the near term would have

a major benefit in the construction and large scale assembly

industries.

o The key to this benefit is the application of

computers to data management and process control both offsite for design and planning and on-site for inventory

management, production control and creation of an as-built

data base.

o The achievement of this new technology requires

research carried out on the integration of systems for

measurement and automated control of on-site construction and

a s s emb ly tasks.

Representatives of construction firms, heavy equipment

manufacturers, shipbuilders, and related industries

identified four key technical barriers to the introduction of

automated manufacturing technology to the building and

assembly sites. The priority order for technology

development was:

1. The need for computerized data bases, particularly a demonstration of an as-built data system including

standardized data elements and interfaces.

2. The need for automated systems for inventory

management, particularly on-site part labeling and tracking

of materials handling equipment.

3. The need for on-site metrology, specifically to

measure the characteristics of the construction as actually

built to feed an as-built data base with important data on position, dimensions, and quality control.

4. The need for real-time measurements for automatic

machine control, particularly for semi-automatic machines for

which the process control is automatic with the operator

driving the machine and controlling the set points. Lifting

(cranes) and materials handling are the most important.

(i)
Based on the Delphi technique, the group of experts

estimated the relative economic importance to industry of

various technologies in the near future:

o Judged to be most important over the next ten years:

- Computer Aided Design (CAD) systems

- Computerized inventory control and material

scheduling

- Computer assisted surveying and measurement

o Judged to be very important:

- Semi-automated control of machinery for ditching

grading, lifting, positioning, and material

handling

- Computer control of cut-off equipment for boards,

panels and masonry

- Computer control of spraying equipment for

painting, fireproofing, plaster, concrete, etc.

Also based on the Delphi technique, the experts

predicted the year when various technologies would achieve

degrees of penetration of the marketplace. For example:

o The next five years will see

- 5% of new construction equipment having semiautomatic control, such as laser level control

of grader blades

- 5% of shipyards and aircraft plants using

position sensing systems for navigation and

control of materials handling equipment

o The next ten years will see

- 50% of new construction equipment with semiautomatic control

- 5% of construction digging, grading and ditching

done with equipment controlled from a computer

database

- 5% of commercial construction will have automatic

position sensing systems for navigation and

control of equipment and as-built data bases for

on-site part fabrication

(ii)
According to the consensus of the attendees at the

workshop after the two days of discussions, the specific

problems that need attacking are:

1 . Sys tem inte gr a tio n and sta n da rd izatio n of data ba se techno log y for on-site use, for integration with

measurement and inventory management systems, and

integration with off-site computers.

2. Standa r di za tion of l abe ling for inventory management.

3 . D eve lopme nt o f real-time measurement technology for

measuring p ositi on and d lm en s ion s and for in spect ion

for quality assurance, particularly in materials

properties (e.g. concrete).

4 . D evelopme nt of better machine control technology , particularly for lifting (cranes) and for material

hand ling

.

Specific recommendations for action included:

o Information transfer: a source of information on

measurement technology that could be applied in

construction and a major conference on this

topic next y ear

.

o A demonstration project to develop and

demonstrate an as-built data base on a real

construction project.

( iii

)
MEASUREMENT TECHNOLOGT

FOR AUTOMATION IN

CONSTRUCTION AND LARGE SCALE ASSEMBLY

TABLE OF CONTENTS

SECTION I Introduction

SECTION II Abstracts of Prepared Papers . . . 6

SECTION III Small Group Discussions . . . . 14

SECTION IV Topical Discussions . 32

On-Site Metrology . 33

Machine Control . 34

Data Bases . 36

Inventory Control . 39

SECTION V Delphi Forecast . 41

SECTION VI Summary and Conclusions . . . . 49

APPENDI X Attendance List . 53

(iv)
SECTION Is INTRODUCTION

The potential impact of automation in construction is

enormous. Recent developments in industrial automation in

the relatively constrained environment of the factory have

progressed to the point where it is possible to consider

applications of automation technology to the more complex and

unconstrained environment of the construction site.

The use of computers in computer aided design,

purchasing, and project management is well established. The

use of computers on the construction site is very limited at

this point in time and offers great potential for improved

management, material control, and control of construction

equipment. Some machines already used on construction

projects have sensors and processing ability that bring them

near the realm of robotics: automated paving machines, tunnel

boring machines, automated forklifts, and ditching and

grading machines guided by lasers with computerized controls.

In Japan, construction robots are starting to be used

for tasks such as spraying fireproofing on structural steel,

lifting and positioning steel beams, and finishing concrete.

In the U. S., several university research groups are working

on automation in construction, and the Department of Defense

is developing autonomous and semi-automatic systems for

reconnaissance and logistics support that researchers have

pointed out would be applicable to construction tasks.

In the future, a variety of new construction

technologies and automated and semi-automated construction

equipment can be envisioned:

* On-site computers, computer databases, and measurement

instruments and machines with computer interfaces.

* Automatic tracking of materials handling equipment for

improved inventory control.

* Equipment driven from computer databases which can

automatically cut materials (such as pipes, pipe

hangers, ducts, boards, panels, tile, etc.) to size

or to fit.

* Portable computer-controlled machines which can lay

floors, ceilings, roofs; or can install walls,

windows, doors, etc.

1
* Heavy lifting and positioning devices such as cranes,

high-lift forks, or cherry pickers which can be fitted

with sensors and used for transporting and

automatically positioning heavy materials such as

steel plates, concrete wall panels, floor supports,

vertical columns, etc.

There are major technical barriers that must be overcome

before this potential can be realized. One of these is the

lack of computerized databases that can store and retrieve

both as-designed and as-measured information for construction

projects. A second is the lack of measurement technology

that can conveniently and rapidly make accurate position

measurements over large cluttered volumes under variable

climatic conditions.

Two types of measurement problems are encountered:

measurements of position and dimension to feed an as-built

data base for use in on-site fabrication and life cycle

maintenance, and real time measurements used for closing a control loop for process control or equipment navigation.

Measurement techniques which could establish a metric

over the entire volume of the building site could be used for

materials transport, part positioning, and structural

inspection and would enable design information to be compared

with actual construction results. They would enable

automatic or semi-automatic control of ditching, grading, and

excavation equipment for site preparation. They would allow

building materials to be transported, stored, retrieved, and

delivered "just in time" and cut to size for assembling and

fastening with the required tolerances. They would allow

lifting and positioning machinery to place beams, panels,

plates, and pipes in accordance with the design

specifications as modified by as-built measurements.

In order to assess these problems and determine their

importance to industry, the National Bureau of Standards and

Transitions Research Corporation collaborated to organize a Workshop to identify and prioritize research topics.

Many of these same measurement and control problems are

encountered in shipbuilding and aircraft assembly. As a result, the scope of the workshop was broadened to include

both construction and large scale assembly.

The workshop drew together a group of experts from

industry, government, and academia to discuss the current

state of the art in automation for construction and large

scale assembly and to determine needs and priorities for

future research.

2
The attendance list is included in Appendix A. The

initial target attendance was 25-35, the final attendance was

50, indicating the interest in this area.

Objectives:

Specific objectives were:

1. To assess the current use of automation in

construction and large scale assembly and to forecast

additional uses in the future.

2. To determine measurement technology requirements that

must be met for successful application of automation to

construction and large scale assembly.

3. To determine needs and priorities for future

research.

Format

The format of the workshop was oriented toward small

group discussions to allow a maximum of input from the

participants. The agenda follows.

Section II contains abstracts of the prepared

presentations

.

The results of the small group discussions are reviewed

in Section III. Discussion was subsequently organized into

four topical areas: on-site metrology, machine control, data

bases, and inventory control. These topics came up in each

of the groups. The summary of the discussions of each of

these topics is presented in Section IV.

As a part of the workshop, a Delphi Forecast was

conducted on the development, implementation, and economic

impact of the technologies discussed. The results of the

final round of the Forecast are presented in Section V.

Section VI offers a summary and conclusions from the

Workshop.

It is hoped that these proceedings will be useful both to the

participants and to a broader audience in stimulating thought

and guiding research efforts in the development and

application of automation in construction and large scale

ass emb ly

.

3
DAY 1, MORNING

AGENDA

8:30 am

• Introduction and Workshop Objectives

Collection of First Round Delphi Forecast Inputs

8:45 am Session One: Prepared Presentations

1) Measurement Technology Requirements: — A Designer's Viewpoint

Wendel R. Wendel, President

Space Structures International Corporation — A Builder's Viewpoint

Allen Face

Edward W. Face Company

2) Photogram metry

Clive Fraser

Geodetic Services, Inc.

3) Macrometrology

William Haight

Director, Management Information Systems

Martin Marietta

4) Automatic Vehicle Control in Site Preparation

Boyd Paulson

Stanford University

5) Materials Transport and Handling

Kenneth Gans, President

Gans & Pugh Associates

6) Automation in Construction

Irving Oppenheim

Carnegie-Mellon University

10:30 am Coffee Break

1 1:00 am Session One (continued)

12:30 pm Lunch

4
- 2

-

DAY 1, AFTERNOON

1:30 pm Session Two: Small Group Discussions

List priority research issues for:

1 ) Grading, Ditching, Eicavating, and Tunneling

2) Inventory Control and Material Handling

3) Framing, Assembly, and Finishing

4) As-Built Data Bases

3:00 pm Coffee Break

3 30 pm Session Two (continued)

4:30 pm Second Round Delphi Forecast

5:00 pm Adjournment

5:30 pm Reception

DAY 2, MORNING

8:30 am Session Three: Group Leader Panel/Open Forum

10:00 am Coffee Break

10:30 am Session Three (continued)

12:00 noon Lunch

DAY 2, AFTERNOON

1:00 pm Third Round Delphi Forecast

1:30 pm Summary and Conclusion

3:00 pm Adjournment

5
SECTION II

ABSTRACTS OF PREPARED PAPERS

6
AUTOMATION IN CONSTRUCTION: A DESIGNER'S VIEWPOINT

Wendel R. Wendel

Space Structures International

Plainview, New York

SPACEFRAMES--def init ion of a new building tool

TECHNOLOGICAL PALETTE

* New building systems:

OCTA*HU B

ORBA*HUB

STAR*NET

* SSCAD

Space St rue tur es Comput e r Aided Design

SSCAD---Sha red r esource m an agemen t in a complete system:

* D e s ign P r oc e s s * Eng ineer ing Proce s s * Fab r ic a t ion Proce s s * Ass emb ly Process

DESIGN PRO CESS- -new form s and sha p e s possible with computers

ENGINEERING PROCES S--ana ly s is and graphic information

FABRICATION PRO C E S S --c ompu t e r integrated manufacturing (CIM)

* Shop drawings on SSCAD

* Computers used in shops

* Computerized numerical control fabrication

ASSEMBLY PROCESS--

* Assembly drawings

* Assembly planning

* Shipping planning

THE FUTURE —STAR*NET SYSTEMS and the "jobsite in the sky"

* Space City

7
ANALYTICAL PHOTOGRAMMETRY

A PRECISE THREE-DIMENSIONAL MEASURING TOOL FOR INDUSTRY

Dr. Clive S. Fraser

Geodetic Services, Inc.

Pho t ogr amine try can be defined as the science and technology

of obtaining reliable information about physical objects and

the environment through processes of recording and measuring

photographic images. Photogrammetric sensing and measuring

systems have long been used for routine topographic mapping,

but in the industrial environment, high-precision analytical

pho t ogr amme t ry has only enjoyed wide application as a threedimensional measuring tool for the past five years or so.

Nowadays, pho togramme try is routinely employed on mensuration

tasks as diverse as providing control databases to guide

robotic cutting and welding tools, and measurement of

structures in Earth orbit.

As a non-contact measurement technique, photogrammetry can

yield extremely high precision; with appropriate systems

accuracies surpassing 1 part in 200,000 of the object size

can be measured. In this presentation, the basic concepts of

analytical industrial photogrammetry are reviewed and

practical aspects of the technology are highlighted through

reference to some of the numerous and varied mensuration

tasks which Geodetic Services, Inc. has carried out over the

past few years. The emphasis of the presentation will be

placed on demonstrating the flexibility, accuracy,

reliability and economy of industrial photogrammetry, as well

as discussing the progress made in automating this

measurement technique.

8
MACROMETROLOGY AT THE NATIONAL BUREAU OF STANDARDS

William C. Haight

Martin Marietta Aerospace

Macrometrology is the field of measurement science dealing

with precision measurement of large structures, where linear

dimensions typically exceed 10 meters and accuracy

requirements approach and occasionally exceed 1 part in

100,000. This talk presents an overview of NBS activities

in macrometrology, from the mid 1970’s to the present time.

Emphasis will be placed on measurement techniques and

instruments, and four specific applications will be

highlighted to illustrate the general utility of these tools.

The applications are:

1. Volume of prismatic Liquid Natural Gas (LNG) tanks

a. 125,000 m3 capacity supertankers for LNG import to

U.S.

b. Mathematical model for measurement procedure

c. Flatness measurements - laser level

d. Overall dimensions - theodolite & steel tapes

e. Error analysis

2. Deformation of LNG tanks

a. Deformation caused by lifting tanks into the ship

and by hydrostatic loading

b. Flatness measurements - laser level

3. Volume of Spherical LNG tanks

a. Measurement of 37 meter diameter spheres

b. Theodolite-based stero trangulation system

developed, computerized data acquisition

c. Target definition with laser target projector

d. On-line error checking and coordinate determination

4. Positioning Accuracy of Industrial Robots

a. Industrial robots must dimensionally coordinate

motion with other objects in the work volume. How

can their accuracy be assessed and improved?

b. Theodolite-based stereo trangulation

c. Ball targets on robot end effector

d. Standard meter bar for metric definition

e. Measurement accuracy + /- 0.025 mm (+/- 0.001 inch)

for mid-size robots

9
AUTOMATED CONTROL AND DATA ACQUISITION

FOR CONSTRUCTION EQUIPMENT

Boyd C. Paulson, Jr.

Stanford University

There are three main areas of application of automated

control and data acquisition on a construction site. These

are automated real-time data acquisition, operations

analysis, planning and design, and automated real-time

process control and robotics. This presentation covers these

topics and highlights barriers to innovation in construction,

ways to overcome those barriers and topics for research and

development

.

In automated data acquisition, opportunities include

monitoring engineering parameters during construction,

quality control, monitoring production rates and quantities

including resource consumption and productivity, material

tracking and control, short interval planning, operations

analysis, and collecting input parameters needed for planning

and monitoring automated real-time process control and

robotics for field operations.

In real time process control and robotics, opportunities

include automated process control of fixed plants, including

concrete, aggregates, rebar cutting and bending, pipe spool

fabrication, carpentry shops, and precast concrete element

fabrication; partial or full automation of mobile

construction equipment, including trucks, excavation and

grading equipment, materials handling equipment and specialty

equipment; spatially constrained manipulators for bolting,

welding, painting, fireproofing, wiring, masonry construction

and tunnel liner erection; and mobile robots, particularly

for applications in hazardous environments.

Obstacles to applying technology in construction include

unique projects, frequent reconfiguration of operations, an

inadequately trained workforce with high turnover, severe

environmental factors, social and economic factors, an

industry structure that resists change, lack of interest of

technology manufacturers and researchers, and a low priority

that the construction industry places on technology.

Despite these obstacles, there is potential for applying

new technology in construction. Applications in Japan are

used to highlight this potential.

10
MOTOROLA’S POSITION SYSTEM PRODUCTS

FOR AUTOMATING MATERIAL HANDLING

Kenneth Gans

Gans & Pugh Associates

For the past ten years Motorola has been offering radar

based positioning systems products used primarily for

navigation in the dredging and offshore oil rig positioning

business. This product line, known as the Mini-Ranger, has

been an outgrowth of military radar transponders. These

products are used all over the world for real time

positioning. The major limitation of this line is the fact

that the range is limited to line of site, i.e., typically

fifteen kilometers, and that active transponders must be

used. The benefits are real time positioning with accuracies

in the three to five meter range.

During the past year. Motorola has been working very

closely with one of the major container ports in Europe to

determine haw a tracking/position system could be

incorporated into their port operations. Competition among

container ports is keen, especially where a number of them

are in close proximity to each other. The port that detains

the ship, train or truck the least length of time represents

the least cost choice for the carrier. Therefore efficient

port operation is essential.

Motorola has installed a Falcon radar positioning system

that tracks the position of the equipment that handles the

containers in the port. This system is used to track the

position of a container when it is picked up or stored and

includes a two way data link from the mover to the master

site.

In eight months of operation, Motorola has proven the

system and has demonstrated a postioning accuracy of 1.5

meters in width of the container and 2.5 meters in length.

This is sufficient accuracy for inventory management and

meets the container port’s requirements. Key features include

easy installation, flexibility, unrestricted routing,

multiple movers, and all weather operation.

11
MOBILE TRANSPONDER

BASE

STATICS

FIXED LOCATION

REPEATER

MOTOROLA TRANSPONDER SYSTEM

12
CONSTRUCTION ROBOTICS: MEASUREMENT TECHNOLOGY AND

RELATED ISSUES

Irving J. Oppenheim

Carnegie Mellon University

Intelligent robots for construction applications will

rely on sensor, interpretation and data-management systems

more advanced than those generally available for factory

robotics. Every advance in sensor technology can be expected

to generate new and additional applications. However,

interpretation of sensor data must develop equally, as must

d a t a- s t ru c tur e capabilities, if full advantage is to be taken

of such advances.

Five examples of measurement technology are discussed,

each of them pertaining to present research at CarnegieMellon University with direct or potential ties to

construction robotics. Contac t sensing is used (with other

sensing and intelligence) in a welding robotics effort.

Magnetic vision consists of robotic sampling with a conventional magnetometer followed by advanced procedures for

data reduction; the device is an improved system for

detection of reinforcing bars within concrete, and has

numerous other potential uses. Subsurface sensing is a related technology under development for mapping utility

lines for a remote excavator. S onar sensing is used to map

solid room surfaces, and is also used for consequent

navigation within building spaces. Vis ion is used in an

autonomous vehicle research project, that vehicle also being

a test-bed for construction robotics research. Note that

these are cited only as examples, not as a comprehensive

survey

.

One immediate data structure requirement is threedimensional modeling needed for navigation, obstacle

avoidance, and general representation of a robot interacting

with other robots and with work objects, all within some

complex workspace. There is also great need for an

integrated database system if full advantage is to be

extracted from CAD, robot construction, and subsequent

project operation, robotic maintenance, to eventual robotic

demolition

.

13
SECTION III

SMALL GROUP DISCUSSION RESULTS

The goal

priority

1 .

2 .

3 .

4 .

of the small group discussions was to develop

research issues for:

Grading, ditching, excavating and tunnelling

Inventory control and material handling

Framing, assembly and finishing

As-built data bases.

On the second day, the leaders of each of the four small

groups summarized the results of their group's discussions.

The results of the four small group sessions follow.

14
SUMMARY RESULTS

SMALL GROUP #1

Chairman: Jim Hill, Center for Building Technology,

National Bureau of Standards

Jack Richter, Kern Instruments, Inc.

Clive Fraser, Geodetic Services, Inc.

Boyd Paulson, Stanford University

Harry McCain, National Bureau of Standards

Fenton Harrison, NASA Langley Research Center

Hank Tobin, IIT Research Institute

Gif Albright, National Science Foundation

John Eberhard, National Academy of Sciences

Irving Oppenheim, Carnegie Mellon University

Vally Abel, Consultant

Len Haynes, National Bureau of Standards

15
GENERAL COMMENTS

Automation should be applied to do things that couldn’t be

done before, such as

o working in the dark,

o working in inclement weather, and

o working at remote sites.

It must be recognized that there are many different

"construction industries", such as large excavating,

industrial building, commercial building, housing, and

rehabilitation. Each has its own set of unique problems.

The sensor technology needed for automation is, for the most

part, already available. What is needed is considerable

"system" or "integration" research.

Because of fragmentation within the industry, it will be

necessary for government, industry and universities to work

together cooperatively. Using NSF Engineering Research

Centers would be one possible way to obtain cooperation.

A valuable product of this workshop would be a compilation of

references for the construction industry on available sensor

technology and measurement techniques. The National Bureau

of Standards might undertake this task.

TUNNELING AND SITE WORK

There was considerable activity in the 1960’s in tunneling.

Since then, the market has decreased significantly, from 15

companies down to 5. The Japanese market is ten times the

U . S . mar ke t

.

Measurement technology is required in tunneling to "sense"

ahead of boring; acoustic techniques are well developed.

Site work is the least expensive part of construction except

in roads and civil works. This limits the potential for

automation. In grading, the group recommended expanding the

laser level technology to multi-dimensions and exploring the

laser interferometer technique in use at NBS and the "Oculus"

system available in Switzerland.

16
INVENTORY CONTROL AND MATERIALS HANDLING

Between 80 and 90% of construction labor cost is for

materials handling; this represents a large potential impact

in reducing construction costs.

Some new technology is already in use: microcomputers are

incorporated on cranes for safety and Bechtel has implemented

a system for location of materials on site.

Robot vision technology will not work since it is too

difficult to recognize piles of material in an unstructured

environment. One possible solution is to create an ordered

structure of the environment plus the use of a combination of

sensors (as in the Army munition loading project at NBS).

FRAMING, ASSEMBLY AND FINISHING

Assembly is just now being automated in the factory; it will

be a late application for construction. Automation in this

area will occur in institutional and commercial construction,

not in housing.

If used, automated assembly could cause the largest

innovation in the way construction occurs. For example,

Russia created a new town for 250,000 overnight by producing

components requiring minimum assembly effort.

Likely applications of automation will be spraying, painting,

clamping, and pumping concrete.

Triangulation measurement technology is available and

currently being used in automobile and aircraft factories.

For construction applications, it will be necessary to

develop proximity sensors and real-time photogrammetry linked

to a CAD data base.

Control of vehicle movement for construction can be

accomplished using the Geodetic Positioning System (GPS

satellite system) currently available; real-time positioning

from satellites to within 1 meter will be possible. GM is

proposing to install GPS in cars by 1988. Inertial

navigation systems are available but they are expensive and

not suited for real time control.

17
AS-BUILT DATA BASES

Development of as-built data bases will be driven by clients,

such as the Army, Navy, Bechtel, etc.

Widespread use of as-built data bases will not occur in this

century.

There is a current Building Research Board project to develop

prototypes of as-built data bases.

Standards

deve loped

Graphics

,

requiring

are likely to be developed here before they will be

in other parts of construction automation,

data dictionaries, and operating systems are areas

standardization.

18
SUMMARY RESULTS

SMALL GROUP #2

Chairman: Dennis Svyt, Center for Manufacturing

Engineering, National Bureau of Standards

Bob Finkelstein, MITRE Corporation

John Stull, Bechtel Construction, Inc.

Ken Goodwin, National Bureau of Standards

Dan Halpin, Georgia Institute of Technology

Gene Leach, Caterpillar Tractor Company

James Acton, Todd Shipyards Corp.

Clayton Teague, National Bureau of Standards

19
GROUP #2 DISCUSSION RESULTS

Group H2 developed the following rank- ordered list of

research topics.

1.

SENSORS FOR AUTOMATIC CONTROL OF MACHINES

The identified need is for metrological sensors in feedback

control systems to remove the operator from control of the

construction processes.

Examples included grader blade height automatically

controlled while the operator steers the grader. In the

long-term future, earth movers and material handling

equipment will have automatically-controlled loading.

2.

SENSORS FOR AUTOMATIC ON-SITE METROLOGY

Four types of systems are needed:

o To measure the dimensions of components for fit and

compat ib ility

.

o To establish reference coordinates, e.g., elevation

and position on-site and within structures.

o To detect the presence of and give the coordinates of

structures as built.

o To feed as-built data bases for just-in-time, to-fit

fabrication

.

3.

UPC LABELING OF COMPONENTS

Two standardization issues were identified:

o Standard "Universal Product Code" labeling of

fabricated parts for inventory and assembly control.

o Identification of parts, etc., which can be

standardized for interchangeability.

It should be noted that bar code labeling can be used for

material tracking and inventory control on a job site with

any numbering scheme. Industry wide standardization of

labeling of purchased components is not required for part

labeling to be useful.

20
4. STANDARDS FOR AS-BUILT DATA BASES

Standards or common practices are needed for documenting and

saving the as-built characteristics of construction.

As-built drawings are now kept for nuclear power plants.

Digital "drawings" of commercial or residential structures,

as-built, would facilitate repair, rehabilitation, and nearby

new construction.

5. MENU DESIGN OF STRUCTURES

CAD type data bases with "standard" modules and a link to CIM

for custom design and manufacture of modular structures to

customer preference would enhance productivity in both

residential and commercial construction.

21
SUMMARY RESULTS

SMALL GROUP #3

Chairman: Jim Albus, Center for Manufacturing

Engineering, National Bureau of Standards

Don Michael, Wild Heerbrugg Instruments, Inc.

Chuck Shaeffer, Wild Heerbrugg Instruments, Inc.

Robert Gold, Office of Technology Assessment

Joseph Engelberger, Transitions Research Corp.

Wendel Wendel, Space Structures International

Demos Kyrazis, R & D Associates

Allen Face, Edward W. Face Company

Tim Pryor, Diffracto, Ltd.

22
GROUP #3 SUMMARY

1. ON-SITE METROLOGY

The problem of on-site metrology falls into several

categories depending on the accuracy and resolution

requirements, and type of coordinate frame.

There are measurements for establishing a metric over

the entire site so that the position of objects such as sewer

pipes, foundations, roads, street lights, etc., can be

measured relative to a global site coordinate system fixed by

benchmarks established by the site survey.

There are also measurements needed to establish a metric

within a local coordinate system such as a room, or the floor

of a building, so that objects such as electrical outlets or plumbing fixtures in a room or air conditioning ducts on a floor can be installed.

Several categories of accuracies and resolutions are

required. For example, for inventory control of pallets of

materials laid out by a forklift, accuracy of a meter or so

is quite adequate. For control of a bulldozer for grading a road, accuracy of a few inches is adequate. For control of

steel framework for buildings, a few tenths of an inch is

required. For installation of windows, doors, trim, etc., a few hundredths of an inch is desirable.

Sensors for relative measurements of gaps and spacing

need one type of resolution, sensors for positioning objects

relative to a coordinate frame of reference need another type

of resolution.

Measurements of positioning relative to a coordinate

frame are typically performed using some type of theodolite

for measuring angles, plus in some cases a method for

measuring distance such as a tape, laser range or RF

transponder

.

High quality theodolites can measure to about 1 part in

600,000. This translates to 1 millimeter at 600 meters.

However, thermal errors and unfavorable sighting angles may

reduce this to less than 1 millimeter in 100 meters.

Typical systems are manually pointed, although some

advanced systems are electrically interfaced to computers so

that readings can be automatically recorded. Automatic

tracking systems that can automatically follow a cooperative

target are under development.

23
A variety of devices for pointing laser beams and for

measuring distance along the beam already exist, and others

are under development. Under ideal conditions, current

commercial t ime-of-f light systems can achieve an accuracy of

between 2 and .2 millimeters. These systems typically

require a corner cube retroref lector to be mounted on the

device being measured. Systems under development promise to

have accuracies of .01 millimeter, and for distance of less

than 10 meters, these systems will be able to operate without

special reflector devices.

Methods of pointing laser beams typically depend on

mirrors positioned by galvanometers or stepper motors.

Automatic pointing accuracies on the order of a micro-radian

have been demonstrated in the laboratory.

There are a number of different ways that triangulation

and/or distance measuring devices can be used to establish a metric on a construction site. The choice depends on

specific applications and requirements.

RF transponders typically have a resolution of about one

meter. This is inadequate for building dimensions, but can

be used in conjunction with local collision-avoidance sensors

for navigation of automatic vehicles such as forklifts.

Navigation satellites such as NAVSTAR can provide similar

accuracies, but these systems tend to be extremely expensive.

2. INVENTORY CONTROL AND MATERIAL HANDLING

A number of opportunities exist in this area for

productivity increases based on advanced technology. Some

things are feasible right now with current technology, such

as automatic navigation of forklift trucks and automatic

inventory control systems that can turn materials storage

lots into the equivalent of automatic warehouses with

computer controlled storage and retrieval systems. Other

things will require several major technological developments

before they can be accomplished, such as artificial

intelligence for construction site supervision. The

following list of potential application areas for advanced

automation were discussed:

a) Real-Time Project Scheduling

Schedules and PERT charts are often developed by computer

programs for an entire construction job, and may be

periodically updated as the job progresses. However, such

schedules are not updated on a daily or hourly basis to take

into account changing conditions on the site, except by a human on the job. Real-time scheduling of material

deliveries so that parts arrive just in time to be installed

24
is beyond the s t a t e-o f - the-ar t s , even in manufacturing

environments where the job is much more structured and less

subject to unanticipated conditions. It will be many years,

probably decades, before automatic real-time project

scheduling can be done automatically on the construction

site.

b) Just-in-Time Delivery

Large savings would occur in inventory and storage costs, as well as in prevention of damage to materials and theft, if it

were possible to schedule deliveries just in time for use.

However, this cannot be achieved before the real-time

scheduling problem cited above is solved.

c) Communications Network to Suppliers

Once "as-built databases" exist, communications to suppliers

could allow parts to be cut to fit, perhaps automatically,

and delivered to the construction site just hours before they

were to be installed. All parts could be labeled and coded

to the drawings so that there would be no need to measure and

cut on the site, only to fasten.

d) Real-Time Redesign

Proper measurement technology on site would enable computer

readable, as-built databases to be established. These could

be made compatible with the as-designed database, and a designer could make on-line design changes with all the

effects of those changes being checked by an expert system.

The new dimensions would be reflected immed ia t ely in the

automatic cut-to-fit machinery, and all parts delivered would

be guaranteed to fit. The effect would be that design

changes could be made with minimum cost.

e) Artificial Intelligence (AI) for Site Supervision

There are a number of potential applications of artificial

intelligence on the construction site in addition to those

mentioned above. For example, expert systems could examine

equipment access, or check for conflicts between

subcontractor activities.

3. FRAMING, ASSEMBLY, FINISHING

In order to automate these activities, there needs to be

significant effort in design for automatic assembly. Design

drawings need to specify precisely how wires, pipes, and

ducts are to be cut and routed. As-built databases are

needed so that parts and materials can be cut to the exact

sizes required. But beyond this, parts need to be designed

25
so that assembly operations are enormously simplified. For

example, current practices often require large pieces of

pipe, duct, and conduit to be manuevered through tight spaces

without collisions. Often, parts that need to be joined are

flexible and require force and tactile sensing in order to

mate. Because of the difficulties inherent in these type of

operations, assembly and finishing will require significant

human interaction for a very long time.

Structure —

As s emb ly of the structural components of a building is

perhaps the easiest to automate, because there are the fewest

constraints. Parts can be cut to the design specifications,

put in place and fastened. Spatial clearance is typically

not a problem, since pieces are added from the bottom up and

from the inside out.

Electrical —

Wiring conduits, outlets and switches need to be redesigned

for automatic installation. Wall, floor, and ceilings also

need to be designed so that electrical fixtures can be easily

installed . Ventilation and heating -- Duct work will be particularly difficult to automate because

of the large bulky flexible sections which must be fitted

together. Precise information from an as-built database

would make it possible to precut duct sections to the exact

sizes required, but the positioning and assembly tasks will

present formidable problems for automated systems.

Plumbing -- As-built database information would also permit pipe to be

cut and bent to the precise size and shape for installation.

Automatic joining equipment could facilitate the installation

process, but totally automatic installation of plumbing is

well in the future.

Global navigation —

The problem of a machine automatically finding its way around

a construction site can probably best be solved by beacons or

transponders which give position and heading relative to

known points fixed on the site. Dead reckoning can be used

between beacon sightings.

Local navigation —

The problem of a machine automatically avoiding obstacles and

navigating relative to objects in the environment can best be

solved by proximity sensors using acoustic sonar, visual or touch sensing devices.

26
It seems unlikely that completely automatic control of

large construction machinery will be practical in the near

future for a number of reasons, not the least of which are

reliability and safety. However, semiautomatic control may

be useful in several applications. For example, systems

which use a laser beam to control the height of a bulldozer

blade while a human drives and steers the machine are

routinely used for grading farmland for irrigation in

California. In the future, li f t in g /p o s i t i on ing systems could

be developed for supervisory control by a human operator, but

with automatic terminal guidance for precise insertion of

loads into tight spaces.

5. AS-BUILT DATABASES

Buildings are never constructed exactly as designed. At

best, there are slight variations between the architectural

design and the finished product. Often, these differences

are significant. The as-built database documents these

differences for future reference. If kept current, the asbuilt data can provide the information needed to cut parts to

fit the existing structure.

The development of as-built database technology is

critical to the efficient introduction of automation into the

construction site. It is essential to an automatic system to

know exactly where things are and how large the spaces are

into which parts must fit.

The first step in constructing an as-built database

would be to design the structure with built-in control

points. The precise measurement of these control points

would provide reference coordinates for as-built data.

Additional measurements, for example inside rooms, could be

made against these control points.

Theodolites and pho t ogr amme t r ic instrumentation with

automatic data entry to an on-site computer system would be

desirable for collecting the required as-built data.

Portable targets which could be automatically or manually

tracked might assist in the data collection function.

Advanced systems might use automatic scene analysis

techniques to find and measure critical features such as edges and corners.

Real-time, on-site metrology would make the as-built

database sufficiently current so that it could be used to

control machinery to cut parts to fit for just-in-time

delivery. In a highly automated site, measurement equipment

used to collect as-built data might be similar to or even the

same as that used for controlling machinery.

27
If the as-built database were stored in a standard

format, it could be made available to subcontractors,

possibly even in real-time through an on-line communication

system. This would allow subcontractors to deliver custom

cut parts just-in-time for assembly.

28
SUMMARY RESULTS

SMALL GROUP #4

Chairman: John Evans, Transitions Research Corporation

David Hattis, Building Technology, Inc.

Ed Kuipers, University of Wisconsin

Ken Waldron, Ohio State University

Ernest Glauberson, NAVSEA

A1 Bradford, NAVFAC

Ken Reinschmidt, Stone & Webster

Greg Baecher, MIT

Don Washburn, R & D Associates

Bob Beiner, Masonry Institute

29
GENERAL COMMENTS

Group #4 distinguished two different needs for sensing on a construction site:

o To feed an as-built data base, and

o For real-time closed loop control.

Data bases may involve both geometric and non-geometric data

and may have to be maintained at several levels of resolution

for different uses. For example, the resolution needed to

locate an object for maintenance is less than the resolution

needed to generate a drawing to fabricate a replacement part.

Data bases including as-built data will have value that

increases in time. However, the costs of creating the data

base are incurred immediately. Hence, the issues are who

owns the data base, who maintains it, and who pays for it.

The group pointed out that new materials and designs will

change the industry and that you don’t want to automate

obsolete concepts. On the other hand, new concepts may

enable automation which would not otherwise be possible.

GRADING, EXCAVATING, DITCHING

The following measurement needs were identified:

o Measurements of site and materials properties,

including soil compaction and concrete composition.

o Measurements for vehicle control, including vehicle

location, grader blade height, trench depth, etc.

o "Awareness" of the environment of an automatic machine

for collision avoidance and navigation.

o Measurements for retrofit and infrastructure work,

including pavement, gas and water lines, and other

underground services. It was noted that working on utilities

in urban intersections involved almost an archeological

excavation. Magnetometers can detect steel pipes, but

plastic pipes and fiber optic communication lines will be

very difficult to detect.

30
INVENTORY CONTROL AND MATERIAL HANDLING

The location and identification of inventory involve two

Issues:

o Tracking vehicle location when moving inventory, and

o Labeling items with bar codes or "smart" tags for

inventory tracking and management.

The use of cranes for material handling drew a great deal of

discussion. Cranes are as close to robots as anything on a construction site today. Applying concepts developed for

robot control systems could improve the performance of

cranes. Examples of possible improvements include:

o Calculating optimal trajectories with no overshoot,

o Coordinate transformations to allow the operator to

guide the load with respect to the workplace rather than in

the polar coordinate system of the crane,

o Obstacle avoidance and avoidance of collisions with

other cranes and equipment,

o Improved sensing to avoid overloads and overturns,

o Compensation for wind sway,

o Cooperative work between two or more cranes, and

o Maintaining an audit trail for failure analysis and

for preventive maintenance.

FRAMING, ASSEMBLY, AND FINISHING

The primary issues are quality control and speed. It was

agreed that the greatest use of automation would be in

fabrication and inspection of factory built components.

On site applications include automatic location of

components, sensing of vertical for plumbing columns, and

lining up pipe for welding.

As-built data bases for part fabrication and later

maintenance should be created during assembly. Of particular

Importance are piping, duct work, and wiring, which is often

discretionary

.

31
SECTION IV

MERGING AND PRIORITIZING SMALL GROUP REPORTS

Based on the open discussion on each of the small group

presentations, four areas of common interest were

identified:

1. On-Site Metrology

2 . Machine Control

3. Data Bases

4. Inventory Control and Project Scheduling

The results of the four groups were correlated against

these topical areas, and a "straw-man" list of projects was

assembled in each area. The barriers, approaches,

priorities and R&D issues relating to these topics were

discussed and prioritized by the workshop participants.

The presentations and conclusions of these topical

discussions follow.

32
ON-SITE METROLOGY

After reviewing the results of each of the small groups and

prioritizing results, the following conclusions were reached

as to a priority list of major issues for research in the

area of on-site metrology for construction and large scale

assembly:

1 . Most Important

Real-time po s i t ion /d i s t anc e measuring systems (i.e.,

position relative to a coordinate system).

2. N ext Most Important (close second)

Real-time dimensional measuring systems (object size)

Issues raised during discussion

1. In shipbuilding, special requirements exist for

dimension measurement of large dimensions.

2. In locating the position of columns, pipelines, ducts

and other components as-built, there may be special sensors

or detectors needed to determine the presence and location of

objects, e.g., buried pipelines.

3. In all dimensional and distance measurements,

tole rances should be carried with the dimension in a database

system. Tolerances should relate to the i ntended use of the

dimensional data.

4. There is a need for an information resource on

measurement technology. NBS could provide this resource.

33
MACHINE CONTROL

Types of construction machines discussed in the various

groups included spraying, ditching, grading, materials

handling, lifting, positioning, cut-off, bending, masonry,

welding, concrete placement and finishing, fastening, and

inspection machines.

Most concepts discussed were for s emi - automated machines with

a computer control system assisting the operator, as in

Figure 1. A common concept was automatic process control

with manual steering, as in the example of grading.

Issues involved in machine control include stability,

accuracy, work volume, computer database interfaces, manmachine interfaces, speed, load capacity, sensors, data

analysis, machine intelligence and general issues of costbenefit analysis.

The workshop concluded that the priority areas for further

research on machine control were:

1 . Materi als Han dlin g

2 . Lif_t i.ng and P os itioning

3 . _Insp e c t i on

34
DESIGN

FIGURE 1 MACHINE CONTROL

35
DATA BASES

The workshop distinguished three types of data bases: CAD,

as-building, and as-built. The major issues are in creating,

managing and standardizing these data bases.

CAD da ta bases are very important. They are used in design

and for engineering analysis, part fabrication, purchasing,

project management, on-site control of site preparation, and

on-site control of assembly.

The major issues in improving the utilization of CAD data are

data interchange to on-site computers and data interchange

to subcontractors.

Barriers to better use of CAD data bases are industry

fragmentation, a lack of application engineering and

customizing services from vendors, problems in system

integration and in associating graphic and non-graphic data,

and the cost of initially running dual paper and computer

systems in parallel.

® ng / As-Built data base s are needed for on-site part

f ab r i c a t i on , and more generally for facilities management,

maintenance and repair, and for later nearby construction.

Such data bases can be created by ties to on-site metrology

systems, locating portable targets for theodolites, laser

ranging systems or photogrammetry systems at control points

determined by the building design. Although general scene

analysis was discussed, this seems less useful than

traditional mensuration techniques.

Site surveys after completion of construction could identify

the location of pipes, cables, ducts and other discretionary

placement components inside the structure, and highways,

bridges, parking lots, and other outside features.

The Building Research Board of the National Academy of

Sciences is working on this area. Standards will be needed.

Barriers to implementation will be the issues of who pays for

the creation of this data, who owns the data, and who is

responsible for maintaining the data. Joint efforts of AEC

firms and building owners may be needed.

A demonstration project to create an as-built data base and

compare the as-built dimensions to the as-designed dimensions

was recommended. A possible approach is shown in Figure 2.

36
MONITOR CONSTRUCTION PROJECT

COMPARE WITH DESIGN DATABASE

DOCUMENT TECHNOLOGY, SYSTEMS

INTEGRATION, RESULTS

FIGURE 2

SUGGESTED DEMONSTRATION PROJECT

37
CONCLUSIONS: DATA BASES

The priority issues recommend by the workshop are:

1. A demonstration project to create an as-built data base,

documenting and disseminating the technology, system

Integration issues, and results for a real construction

project.

2. Standardization of data elements for an as-built data

base .

3. Research and standardization of issues involved in

system integration.

4. Research on data base technology, particularly

integration of graphic and non-graphic data and

customizing existing technology to the needs of

the construction industry; also the possibility of an

expert system for automatic checking design for

compliance with building codes. It was noted that this

area offers a business opportunity for existing AEC

firms or computer firms or some new firm to provide

data base technology services to the construction

industry .

38
INVENTORY MANAGEMENT

The general problems of inventory management include

scheduling, locating and identifying material, access to the

site for cranes and material handling equipment, and avoiding

interference between subcontractors. The measurement related

issues are material location and identification.

Potential solutions to identification include UPC bar codes,

"smart" tags (active or passive coded transponders), and

research on robot vision.

The workshop recommended that:

1. Labeling of material for location and identification

should be investigated.

2. Use of UPC and "smart" tags for labeling should be

invest igated

.

3. NBS should coordinate members of industry in

undertaking these investigations.

39
FINAL DISCUSSION

Overall ranking of importance of the topics discussed:

1 . Data Bases

2. Inventory Control and Material Handling (close

second)

3. On-site Metrology

4. Machine Control

The next participants felt that another conference on this

topic next year would be useful. Possible sponsors:

American Institute of Architects

Building Research Board (National Academy of Sciences)

Society of Civil Engineers

Construction Engineering Institute

Carnegie Mellon University

Me Gr aw Hill

Building Owners & Operators Association

International Facilities Management Association

The need for information transfer was stressed.

40
SECTION V

DELPHI FORECAST

A Delphi Forecast was used to develop predictions as to the

rate of diffusion of new technology in construction and large

scale assembly and to rate the economic benefit of new

technology over the next ten years.

A Delphi Forecast is done in three rounds to develop a consensus opinion. The results of the third and final round

are included in this section.

The results for the first twelve questions were dates by

which certain events would occur. The minimum, maximum and

quartiles (25Z, 50Z, 75Z) are shown for each question. The

median (second quartile) is considered the consensus answer.

The results for the last nine questions were ranked (on a scale of 1 to 10) in terms of economic benefit from different

new technologies over the next 10 years. Again, the minimum,

maximum and quartiles are shown.

41
DELPHI FORECAST

SITE PREPARATION

Semi-automated construction equipment with guidance sensors

(such as bulldozers with automatically-controlled blade

height using laser-level sensors) are already in use.

1.

When will 5% of new construction equipment be

equipped with such semi-automatic control?

IQ

2Q

3

Q

1935 1990 2000 2010 2020

2.

When will 50% of new construction equipment be

equipped with semi-automatic control?

IQ

3.

When will 5% of all construction jobs have digging,

grading and ditching equipment controlled by data from a computer data base?

IQ

2Q

3Q

1933 1990 2000 2010 2020

42
SITE MANAGEMENT AND CONSTRUCTION

In the future, position-measuring sensors (such as lasers,

LED beacons, radio frequency ranging systems, radar, etc.)

will allow automatic navigation of equipment for inventory

tracking, and automatic control of equipment for material

handling.

A. When will 5% of all commercial construction sites

have such sensors and control systems?

2Q

3Q

5. When will 5% of residential construction sites have

such sensors and control systems?

2Q

3Q

6. When will 5% of aircraft assembly use such sensors

and controls?

1965 1990 2000

I 2010~r

2020

43
7.

When will 5 % of shipyards use such sensors and

controls?

IQ

2Q

3Q

1965 1990 2000 2010 2020

DATA BASES

Measurements are now made to document "as built" dimensions

and details of some buildings (e.g. nuclear power plants).

8.

When will 5% of commercial construction sites use

"as built" data bases for on-site part fabrication?

20

3

Q

10^1

1963 1990 2000 2010 —

r

2020

9.

When will "as built" data bases be used for part

fabrication in 5% of residential construction?

2Q

30

1963 1990 2000 2010 2020

44
10.

When will measurement sensors directly feeding a computer data base be used on 5Z of all commercial

construction sites?

2Q

3Q

STANDARDS

11.

When can we expect standards for "as built" data

bases?

2Q

12. 3Q

When can we expect standards for data transfer

between CAD systems and on-site computer systems (IGES,

PDD I )

?

2Q

3Q

1935 1990

i i r

2000 2010 2020

45
NEW TECHNOLOGIES

On a scale of 1 to 10, Indicate how important you feel the

following technologies will be for near term (ten year)

economic benefit in the construction industry (1 m not

important, 5 *> some importance, 10 extremely important

throughout the industry).

13.

CAD systems for architectural design.

IQ

14.

Computer-assisted surveying and measurement

t echn ique s .

2Q

5Q

15.

Semi-automated control of ditching and grading

machinery .

2Q

i r 1 2

46
16.

Semi-automated control of lifting and positioning

devices for heavy loads.

2Q

17.

Semi-automatic control of materials handling

machinery.

2Q

18.

Computer-aided inventory control and scheduling of

materials delivery.

2Q

19.

Computer-controlled cutoff equipment for boards,

panels, and masonry.

2Q

47
20. Computer-controlled spraying equipment for

painting, fireproofing, plaster, concrete, etc.

2Q

3Q

21. Computer-controlled machinery for laying brick,

block, tile, etc.

2Q

3Q

48
SECTION VI: SUMMARY AND CONCLUSIONS

Relative Importance of Technologies

The most important aspect of measurement technology in

construction is creating a structured way to use the data

from the measurements. That is, the key to on-site metrology

is not the instruments to take data but the creation and

management of the as-built data base to organize and manage

the data.

The workshop concluded that the necessary sensor

technology was generally available. What is needed is

considerable "system" or "integration" research.

The ranking of the subjects discussed at the workshop

wa s :

1. Data Bases: particularly a demonstration project of

an as-built data base and standardization of data

elements and interfaces.

2. Inventory Management, particularly on-site part

labeling and tracking of material handling

equipment

.

3. On-Site Metrology, to measure the as-built structure

characteristics and to feed the as- built data base.

Important measurements are position, dimension, and

measurements for quality assurance.

4. Measurement for Automatic Machine Control,

particularly semi-automatic machines in which the

process control is automatic and the operator drives

the machine and controls set points. Lifting

(cranes) and material handling were considered most

impor tan t

.

Economic Benefit

The ranking of the economic benefit over the next ten

years from new technology clearly split into three classes:

1. Very important (ranking of 9 on a scale of 10)

-Computer Aided Design systems (9)

-Computers for inventory control and material

scheduling (9)

-Computer assisted surveying and measurement

techniques (9)

49
2. Important (ranking of 6 on a scale of 10)

-Semi-automated control of ditching and grading

machinery (6)

-Semi-automated control of lifting and positioning

machinery (6)

-Semi-automated control of materials handling

machinery (6)

-Computer controlled cutoff equipment for boards,

panels, and masonry (6)

-Computer controlled spraying equipment for

painting, fireproofing, plaster, concrete, etc. (6)

3. Less Important (ranking of 4 on a scale of 10)

-Computer controlled machinery for laying brick,

block, tile, etc. (4)

Delphi Forecast

The penetration of new technology was predicted to be

fairly rapid. Specific forecasts:

1. By 1990:

-5% of new construction equipment will be equipped

with semi-automatic control such as laser level

control of grader blades.

-5% of aircraft assembly will use position sensing

systems for navigation and control of material

handling equipment.

-5% of all shipyards will use such sensors and

control systems.

2. By 1995:

-50Z of new construction equipment will be equipped

with semi-automatic control.

-5% of all construction jobs will have digging,

grading and ditching equipment controlled by data

from a computer data base.

-5% of all commercial construction sites will have

automatic position sensing systems for navigation

and control of equipment.

-5% of commercial construction sites will use

"as-built" data bases for on-site part fabrication

50
-51 of all commercial construction sites will have

measurement sensors feeding directly into a computer data base.

-Standards will be developed for data transfer

between CAD systems and on-site computer systems

(such as IGES, PDDI).

3. By 2000:

-Standards will be developed for "as-built"

data bases.

4. By 2010:

-5% of residential construction sites will have

position sensor systems for equipment location

and control.

-5% of residential construction sites will use

"as-built" data bases for on-site part fabrication

Recommendations

In summary, the workshop reached a clear consensus that

new technology would have a major benefit in construction in

the near term future, and that the key was the application of

computers both off-site for design and planning, and

on-site for inventory management, project management, and the

creation of an as-built data base.

Problems that need attacking are:

1. System integration and standardizatio n of dat a b ase

te chn o log y for on-site use, for integration with

measurement and inventory management systems, and

for integration with off-site computers.

2. Standardization of labeling for inventory management.

3 . D ev e lop m ent o f real- 1 ime m ea surement t e chno

l

ogy for

measuring position and d imens ions and for i nspection

for quality assurance, particularly in materials

properties (e.g. concrete).

4 . Development of better machine control te chnolog y

,

particularly for lifting (cranes) and for material

handling

.

51
Specific recommendations for action included:

* Information Transfer: a source of information on

measurement technology and a major conference

on this topic next year.

* A Demonstration Project to develop and demonstrate

an as-built data base on a real construction

proj ec t

.

52
APPENDIX

LIST OF ATTENDEES

53
LIST OF ATTENDEES

Walter L. Abel,

Consultant, Management of Technology

10 Burnham Hollow

Avont CT 06001

James Acton

Todd Pacific Shipyards Corporation

710 Front Street

San Pedro, CA 90731

Gifford H. Albright

Construction Engineering and Building Research

CEE Division

National Science Foundation

1800 G Street, NW., Room 1130

Washington, DC 20550

James Albus

National Bureau of Standards

Center for Manufacturing Engineering

Building 220, Room B-124

Gaithersburg, MD 20899

Gregory Baecher

Constructed Facilities Division

Department of Civil Engineering, Room 1-353

MIT

Cambridge, MA 02129

Robert Berner

Director of Engineering

International Masonry Instutute

823 15th Street, NW.

Washington, DC 20005

Alton S. Bradford

Naval Facilities Engineering and Design

200 Stovall Street

Alexandria, VA 22332-2300

54
John Eberhard

Executive Director, Building Research Board

National Academy of Sciences

2101 Constitution Avenue, NW.

Washington, DC 20418

Joseph F. Engelberger

Transitions Research Corporation

% Unimation Inc.

Shelter Rock Lane

Danbury, CT 06810

John M. Evans

President

Transitions Research Corportion

One State Street, Suite 1950

Hartford, CT 06103

Allen Face

Edward W. Face Company

P.O.Box 6341

Norfolk, VA 23508

Charles G. Field

Staff Vice President

Construction and Development and Regulatory Counsel

National Association of Home Builders

1 5th and M Streets, NW.

Washington, DC 20005

Robert Finkelstein

MITRE Corporation

1820 Dolly Madison Blvd.

McLean, VA 22102

Clive S. Fraser

Geodetic Services, Inc.

1511 Riverview Drive

Melbourne, FL 32901

55
Heaaeti Otas

Gtfls and Pugh Associates

2062 North 14th Street

Arlington, VA 22201

Ernest Glauberson Department of the Navy

Naval Sea Systems Command

PMS-309

Washington, DC 20362

Robert N. Gold

Office of Technology Assessment

Congress of the United States

600 Pennsylvania Avenue, SE.

Washington, DC 20510

Kenneth Goodwin

National Bureau of Standards

Center for Manufacturing Engineering

Building 220, Room B-124

Gaithersburg, MD 20899

William Haight

Director, Management Information System

Martin Marietta Aerospace

6801 Rockledge Drive

Bethesda, MD 20817

Daniel W. Hatpin

School of Civil Engineering

Georgia Institute of Technology

Atlanta, GA 30332

Fenton W. Harrison

NASA Langley Research Center

MS 152D - FDCD-ATB

Hampton, VA 23665

56
David B. Hattis

Building Technology Inc.

1 109 Spring Street

Silver Spring, MD 20910

Leonard Haynes

National Bureau of Standards

Center for Manufacturing Engineering

Building 220, Room B-154

James Hill

National Bureau of Standards

Center for Building Technology

Building Equipment Division

Building 226, Room B-306

Gaithersburg, MD 20899

Edward Kuipers

Department of Civil Engineering

University of Wisconsin

1415 Johnson Drive

Madison, WI 53706

Demos T. Kyrazis

R & D Associates

2720-B Broadbent Parkway, NE.

Albuquerque, NM 87107

Gene Leach

Research Department

Technical Center, Building E

Caterpillar Tractor Company

Peoria, I L 61629

Harry G. McCain

National Bureau of Standards

Center for Manufacturing Engineering

Building 220, Room B-154

Gaithersburg, MD 20899

57
diaries E. Sheaffer

Industrial Measurement Systems

Wild Heerbrugg Instruments, Inc.

6816 Wolf Run Shoals Road

Fairfax Station, VA 22039

William M. Spurgeon

Division of Mechanical Engineering and Applied Mechanics

National Science Foundation

1800 G Street, NW., Room 1 109

Washington, DC 20550

John 0. Stull

Construction Manager

Bechtel Construction Inc.

15740 Shady Grove Road

Gaithersburg, MD 20877

Dennis A. Swyt

National Bureau of Standards

Center for Manufacturing Engineering

Building 220, Room B-322

Gaithersburg, MD 20899

E. Clayton Teague

National Bureau of Standards

Center for Manufacturing Engineering

Building 220, Room A- 117

Gaithersburg, MD 20899

Henry Tobin

Manager, Electronics Department

I IT Research Institute

lOWest 35th Street

Chicago, IL 606 1

6

Kenneth J. Waldron

Department of Mechanical Engineering

The Ohio State University

206 W. 18th Avenue

Columbus, OH 43210

(614)422-0500

58
Donald C. Washburn

R & D Associates

105 East Vermigo Street, Suite 450

Colorado Spring, GO 80903

Wendel R. Wendel

President, Space Structures International Corp.

1 55 Dupont Street

Plainview, NY 11803

Richard N. Wright

National Burau of Standards

Center for Building Technology

Building 226, Room B-250

Gaithersburg, MD 20899

59

U.S. DEPT. OF COMM.

BIBLIOGRAPHIC DATA

1. PUBLICATION OR

REPORT NO.

2. Performing Organ. Report No. 3. Publication Date

SHtfcT (See instructions) NBSIR 85 - 33/0 AUGUST 1985

4. TITLE AND SUBTITLE

Measurement Technology for Automation in Construction and Large

Scale Assembly: Proceedings of a Workshop

5. AUTHOR(S)

John M. Evans, Editor

6. PERFORMING ORGANIZATION (If joint or other than NBS, see instructions)

national bureau of standards Transitions Research Corp.

department of commerce One State Street

Washington, d.c. 21MI4 20899 Suite 1950

Hartford, Conn. 06103

7. Contract/Grant No. 40NANB507009

8. Type of Report & Period Covered

Proceedings

February 5-6, 1985

9. SPONSORING ORGANIZATION NAME AND COMPLETE ADDRESS (Street, City, State, ZIP)

10.

SUPPLEMENTARY NOTES

j Document describes a computer program; SF-185, FIPS Software Summary, is attached.

11. ABSTRACT (A 200-word or less factual summary of most significant information. If document includes a significant

bi bl iography or literature survey, mention it here)

Fifty technical experts from business, industry, universities and government met in Washington, D.C., on February 5 and 6, 1985, to consider the

issues of applying automation to construction and large scale assembly.

Thisworkshop , sponsored by the National Bureau of Standards and Transitions Research Corporation, concluded that:

o New technology achievable in the near term would have a major benefit in the construction and large scale assembly industries,

o The key to this benefit is the application of computers to data

management and process control both off-site for design and planning and on-site for inventory management, production control and

creation of an as-built data base.

o The achievement Of this new technology requires research carried

out on the integration of systems for measurement and automated

control of on-site construction and assembly tasks.

The consensus of the attendees at the workshop was that the specific

problems that need attacking are:

1. System integration anu standardization of data base technology

(See attached continuation sheet)

12. KEY WORDS (Six to twelve entries; alphabetical order; capitalize only proper names; and separate key words by scm as-built data base; assembly; automation; construction; machine

control;, metrology; robots

13. AVAILABILITY

|X I Uni imited

| | For Official Distribution. ~n Order From Superintendent

20402.

Do Not Release to NTIS

of Documents, U.S. Government Printing Office, Washington, D.C.

14. NO. OF

PRINTED PAGES

67

15. Price

|~y~| Order From National Technical Information Service (NTIS), Springfield, VA. 22161 $ 10.00

UlCOvu-OC eo«».p*o
11 . Abstract continued

2 .

for on-site use, for integration with measurement and inventory management

systems, and integration with off-site computers.

Standardization of labeling for inventory management.

3. Development of real-time measurement technology for measuring position

and dimensions and for inspection for quality assurance, particularly in

materials properties (e.g. concrete).

4. Development of better machine control technology , particularly for lifting

(cranes) and for meterial handling.

Specific recommendations for action included:

o Information transfer: a source of information on measurement technology

that could be applied in construction and a major conference on this

topic next year.

o A demonstration project to develop and demonstrate an as-built data base

on a real construction project.