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Use of Automated Machine Guidance within the Transportation Industry (2018)

Chapter: Appendix B: Annotated Bibliography

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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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Suggested Citation:"Appendix B: Annotated Bibliography." National Academies of Sciences, Engineering, and Medicine. 2018. Use of Automated Machine Guidance within the Transportation Industry. Washington, DC: The National Academies Press. doi: 10.17226/25084.
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APPENDIX B: ANNOTATED BIBLIOGRAPHY

B-i CONTENTS SURVEYING TECHNOLOGY (PRE-CONSTRUCTION) ........................................................................ 1 Satellite Systems (e.g., GPS, GNSS) ............................................................................................... 1 Stationary Laser Scanning ............................................................................................................. 10 Mobile Laser Scanning .................................................................................................................. 10 Infra-Red Sensing .......................................................................................................................... 12 Others ............................................................................................................................................. 13 Low Distortion Coordinate System ............................................................................................... 14 Geodetic/Map Projection ............................................................................................................... 16 Survey control for AMG ................................................................................................................ 17 DESIGN ...................................................................................................................................................... 20 Electronic Data, Geometrical Drafting .......................................................................................... 20 Mechanistic Analysis ..................................................................................................................... 31 CONSTRUCTION ...................................................................................................................................... 31 Earthworks (e.g., excavation, placement) ...................................................................................... 31 Paving (e.g., PCC, HMA, milling, etc.) ......................................................................................... 43 AUTOMATION ......................................................................................................................................... 52 Remote Sensing Based ................................................................................................................... 52 Response Analysis Based .............................................................................................................. 60 Others ............................................................................................................................................. 61 SPECIFICATIONS/STANDARDS ............................................................................................................ 73 U.S. DOT ....................................................................................................................................... 73 International ................................................................................................................................... 84 AS-BUILT GEOMETRIC, PRODUCTIVITY, AND QA/QC DOCUMENTATION ............................... 84 Geometrical Mapping .................................................................................................................... 84 Mechanistic Property Mapping (e.g., Intelligent Compaction) ...................................................... 87 COST OF AMG .......................................................................................................................................... 87 Construction ................................................................................................................................... 87 Equipment ...................................................................................................................................... 89 Life-Cycle ...................................................................................................................................... 91 EDUCATION/TRAINING ......................................................................................................................... 92 On-line ........................................................................................................................................... 92 Classroom-based ............................................................................................................................ 96 REAL PROJECT SAMPLE ....................................................................................................................... 96

B-1 SURVEYING TECHNOLOGY (PRE-CONSTRUCTION) Satellite Systems (e.g., GPS, GNSS) Aðalsteinsson, D. H. (2008), Gps Machine Guidance in Construction Equipment, Háskólinn Í Reykjavík. The aim of this project is to compare the performance of a excavator with GPS guidance system on the one hand and on the other hand a excavator in same type of work, which was done the traditional way and with surveying. A predetermined construction job was performed. i.e. the digging of trench in two different ways. On one hand a surveyor performed the surveying needed before the job was performed, and while it was done, and the excavator was working according to those measurements and stakes. On the other hand the same job was performed by a excavator which was equipped with GPS machine guidance and no surveying performed by surveyors, but the job was preformed according to a model of the project, which was loaded into the machine equipment. Both jobs were monitored with precise measuring equipment. The outcome was measurable realistic comparison of two work procedures on comparable work, regarding time, material and productivity. The outcome should tell contractors whether GPS machine guidance is optimal and leading to increased profitability. Adams, T. M., N. Koncz and A. P. Vonderohe (2000), Functional requirements for a comprehensive transportation location referencing system, paper presented at Proceedings of the North American Travel Monitoring Exhibition and Conference. Transportation agencies manage data that is referenced in one, two, three, and four dimensions. Location referencing system (LRS) data models vary across transportation agencies and often within organizations as well. This has resulted in failed attempts and abandoned efforts to interoperate business functions and / or integrate data. A number of transportation agencies, through recognition of the significance of spatially-referenced information to their operations, have identified the need for comprehensive management of location referencing. What is lacking is a clear set of functional requirements for a comprehensive location referencing system. Detailed functional requirements and a comprehensive data model are necessary so transportation agencies can implement improved transportation information systems and advanced GIS-T technology. Linearly-referenced data constitutes the majority of data managed by transportation agencies. However, agencies are now using GPS technology for applications ranging from highway inventory to incident management. Much more detail is needed on functional requirements for data in higher dimensions and for integration across dimensions. This paper reviews the functional requirements for a comprehensive spatial / temporal referencing system that were identified by a workshop of stakeholders in asset management, highway operations, traffic management, and transit. Among the requirements identified by the stakeholders is that a comprehensive LRS data model supports temporal referencing. Temporal aspects of transportation data impact applications ranging from pavement management (for historical records) to transit (for arrival times), to commercial vehicle operations (for vehicle tracking), to congestion management (for dynamic network modeling). Administration, U.S. D. o. T. F. H. (2008), Priority, Market-Ready Technologies and Innovations Global Positioning System (GPS) Surveying, edited, p. 2, US Department of Transportation Federal Highway Administration.

B-2 Bhat, C. R., S. Sivaramakrishnan, and S. Bricka (2004), Conversion of Volunteer-Collected GPS Diary Data into Travel Time Performance Measures: Literature Review, Data Requirements, and Data Acquisition Efforts, Research Report Rep. FHWA/TX-05/0-5176-1, Research and Technology Transfer Section/Construction Division P.O. Box 5080 Austin, TX 78763-5080. Conventional travel-survey methodologies require the collection of detailed activity-travel information, which impose a significant burden on respondents, thereby adversely impacting the quality and quantity of data obtained. Advances in the Global Positioning System (GPS) technology has provided transportation planners with an alternative and powerful tool for more accurate travel-data collection with minimal user burden. The data recorded by GPS devices, however, does not directly yield travel information; the navigational streams have to be processed and the travel patterns derived from it. The focus of this research project is to develop software to automate the processing of raw GPS data and to generate outputs of activity travel patterns in the conventional travel-diary format. The software will identify trips and characterize them by several attributes including trip-end locations, trip purpose, time of day, distance, and speed. Within the overall focus of the research, this report describes the data collection equipment specifications, data collection protocols, and data formats, and presents a comprehensive synthesis of the state of the practice/art in processing GPS data to derive travel diaries. This synthesis is intended as the basis for developing input specifications and processing algorithms for our software. A second objective of this report is to identify the data requirements for the software development purposes and document the efforts undertaken to acquire the data. Brown, C. (2008), GPS and Related Topics, in Construction Engineers' Conference 2008, edited. This presentation discusses GPS for stake out and auotomated machine grading. Chaplain, C. T. (2009), Global Positioning System: Significant Challenges in Sustaining and Upgrading Widely Used CapabilitiesRep., Office of Public Affairs, U.S Government Accountability Office (GAO). The Global Positioning System (GPS), which provides position, navigation, and timing data to users worldwide, has become essential to U.S. national security and a key tool in an expanding array of public service and commercial applications at home and abroad. The United States provides GPS data free of charge. The Air Force, which is responsible for GPS acquisition, is in the process of modernizing GPS. In light of the importance of GPS, the modernization effort, and international efforts to develop new systems, GAO was asked to undertake a broad review of GPS. Specifically, GAO assessed progress in (1) acquiring GPS satellites, (2) acquiring the ground control and user equipment necessary to leverage GPS satellite capabilities, and evaluated (3) coordination among federal agencies and other organizations to ensure GPS missions can be accomplished. To carry out this assessment, GAO's efforts included reviewing and analyzing program documentation, conducting its own analysis of Air Force satellite data, and interviewing key officials. It is uncertain whether the Air Force will be able to acquire new satellites in time to maintain current GPS service without interruption. If not, some military operations and some civilian users could be adversely affected. (1) In recent years, the Air Force has struggled to successfully build GPS satellites within cost and schedule goals; it encountered significant technical problems that still threaten its delivery schedule; and it struggled with a different contractor. As a result, the current IIF satellite program has overrun its original cost estimate by about $870 million and the launch of its first satellite has been delayed to November 2009-- almost 3 years late. (2) Further, while the Air Force is structuring the new GPS IIIA program to prevent mistakes made on the IIF program, the Air Force is aiming to deploy the next generation of GPS satellites 3 years faster than the IIF satellites. GAO's analysis found that this schedule is optimistic, given the program's late start, past trends in space acquisitions, and challenges facing

B-3 the new contractor. Of particular concern is leadership for GPS acquisition, as GAO and other studies have found the lack of a single point of authority for space programs and frequent turnover in program managers have hampered requirements setting, funding stability, and resource allocation. (3) If the Air Force does not meet its schedule goals for development of GPS IIIA satellites, there will be an increased likelihood that in 2010, as old satellites begin to fail, the overall GPS constellation will fall below the number of satellites required to provide the level of GPS service that the U.S. government commits to. Such a gap in capability could have wide- ranging impacts on all GPS users, though there are measures the Air Force and others can take to plan for and minimize these impacts. In addition to risks facing the acquisition of new GPS satellites, the Air Force has not been fully successful in synchronizing the acquisition and development of the next generation of GPS satellites with the ground control and user equipment, thereby delaying the ability of military users to fully utilize new GPS satellite capabilities. Diffuse leadership has been a contributing factor, given that there is no single authority responsible for synchronizing all procurements and fielding related to GPS, and funding has been diverted from ground programs to pay for problems in the space segment. DOD and others involved in ensuring GPS can serve communities beyond the military have taken prudent steps to manage requirements and coordinate among the many organizations involved with GPS. However, GAO identified challenges in the areas of ensuring civilian requirements can be met and ensuring GPS compatibility with other new, potentially competing global space-based positioning, navigation, and timing systems. Cruddace, P. (2007), Ordnance Survey positions Britain for improved GPS services, GEO Informatics. Ordnance Survey is adding more Global Positioning System (GPS) reference stations in northwest Scotland to improve its national infrastructure for receiving satellite-based positioning signals. Eleven new receivers to the north of the Great Glen will underpin a range of publicly available GPS correction services aimed at surveyors, highway engineers, utility companies and others in need of pinpoint positioning information. An explanation of the background and technical challenges of the project and the market potential of related services. Ctc, L. L. C. W. R. Associates and S. Communication (2006), GPS in Construction StakingRep., Universtiy of Wisconsin-Madison. The Construction and Materials Support Center at the University of Wisconsin–Madison requested a synthesis of current practices in the use of Global Positioning System technologies in highway construction, with a focus on contemporary uses of GPS in surveying and staking of projects and the use of GPS for control of grading and paving equipment. Engst, A. C. (2009), GPS Accuracy Could Start Dropping in 2010, TidBITS. Reports the inaccuracies that occur in the GPS technology from year to year along with issues of upgrading for the US Air Force. Euler, H.-J. and J. Wirth (2008), Advanced Concept in Multiple GNSS Network RTK Processing, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. In the GNSS positioning community permanent reference stations applications, often called Network RTK, have been established. Even so this may still be considered as an emerging technology for some countries, there are already a lot of installations readily available and are offering their services to a broad community. However the efficient use of these services with GNSS receivers supporting multiple satellite systems is still quite limited. Obviously, a pure GPS reference station network can provide only the GPS portion of the required reference station information for positioning. Half of the available rover observation information cannot be

B-4 utilized. Network RTK installations supporting multiple GNSS on all reference stations need significant investment on the service provider side for exchanging all receivers. Only new networks are more likely to be equipped completely with reference station receivers supporting all the same GNSS; at the time being GPS and GLONASS. For the future Galileo is on the horizon and again the service providers have to adapt their services. It is not very likely that a large portion of the services will be homogenously equipped with reference station receivers supporting the same GNSS. Summarizing the scenarios for users having invested in multiple- GNSS receiver equipment, one has to acknowledge, that either the user has to establish his own reference station for his work or the user can use only part of the capabilities of his new, expensive equipment. New concepts for processing multiple receiver observation information are desperately required. The paper is analysing the options for optimal use of a multi-GNSS receiver together with other GNSS receivers not supporting the complete set of GNSS. Furthermore the paper details on the processing of observation information from a receiver supporting two-GNSS together with single GNSS reference station receivers in a network application. The concept is specifically adapted for any combination of GNSS receivers. The only restriction is that a GNSS needs to be supported by at least two receivers in the network. Computational results are presented in various combinations for several single-GNSS receivers with multiple-GNSS receivers. The advantages of these combinations are high-lighted. The conclusion is that not necessarily all reference stations have to be equipped with receivers supporting all required GNSS for efficient use of the multiple-GNSS roving receivers. In the extreme a GPS-GLONASS or GPS-Galileo receiver can be used efficiently together with two reference stations supplying either of the GNSS independently. The study has been conducted as part of the Galileo project on Professional Receiver Development ARTUS. Fields, T. (2003), The Networking Nucleus - Feature Articles - Point of Beginning, The Point of Beginning. Gary Pruitt and C. E. Fly (2008), NDGPS Assessment Final ReportRep., 194 pp, US Department of Transportation Federal Highway Administration. The specific objective of this report is to present the results of an assessment of the Nationwide Differential Global Positioning System (NDGPS) system. Grenzdörffer, G. and C. Donath (2008), Generation and Analysis of Digital Terrain Models with Parallel Guidance Systems for Precision Agriculture, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. In Europe more than 10.000 dual frequency iTC Starfire GPS-receivers were sold in recent years. These GPS-receivers are mainly used for parallel tracking and autosteering of modern tractors and combine harvesters. The recorded GPS-data also includes precise height information which can be used for the generation of high accuracy digital terrain models at no or little additional cost. In the paper the achievable data accuracy under different conditions are investigated. The different steps for data preparation and digital terrain models DTM generation are described. Additionally several applications of high accuracy DTM’s in (precision) agriculture are highlighted. Grimm, D. E. (2008), GNSS Orientation for kinematic applications, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. GNSS systems are a well established technique for guiding machines or the machine’s operator along predefined routes. Such GNSS applications have been successfully integrated into the design of construction machines and farming equipment. While a GNSS-equipped machine

B-5 moves straight ahead conventional GNSS systems with only one antenna show good performance. However, the system reaches its limits when the machine turns on its own axis, such as an excavator does. This causes the GNSS receiver to be unable to determine its bearing, as a compass could do. A common single-antenna GNSS receiver can only estimate its moving direction (heading) using previous positions. Since a turn around its own axis does not change the coordinates, but changes the orientation of the machine, the orientation can not be calculated by this means. A common solution to this problem is the implementation of two GNSS antennas. Two antennas allow the bearing of the baseline between the antennas to be defined. A new approach with only one antenna required is under development at the ETH Zurich. This new system uses the satellite positions as a reference for orientation. For that purpose the direction of each satellite’s signal has to be known in relation to the antenna. In order to obtain orientation the signal strength of each satellite is measured. A well defined shading of the received signals allows estimating the required orientation. After full implementation of our approach, the second GNSS antenna found on most construction machines will not be required anymore. Hannon, J. J. and D. Townes (2007), GPS Utilization Challenges in Transportation Construction Project Delivery, paper presented at The construction and building research conference of the Royal Institution of Chartered Surveyors, Royal Institution of Chartered Surveyors, Georgia Tech, Atlanta USA, 2007/09/06/7. Transportation agency surveying functions have a well documented record over the last 10 years of embracing Global Positioning Systems (GPS) to enhance their planning and design requirements. A second evolution is in process as pertains to GPS. Agencies are engaged in GPS research, developing guidance specifications, and some have incorporated new standard specifications. Due to relatively recent advancements in technology, construction contractors are requesting 3D digital surveying datasets produced by agency surveyors for use in delivery of construction projects. Among other advantages, these digital models allow for contractor machine-controlled grading operations which increase accuracy and decrease equipment and labor resources for both agency (owner) and contractor. Based upon literature review, a survey of transportation agency adoption and personal work experience with agencies and contractors, this paper discusses the benefits of GPS in the delivery of transportation construction projects, the new mindset and procedure required for application, and how this technology relates to standard agency construction specifications. The information should be valuable to all contractual stakeholders involved in, or contemplating involvement with, utilizing the advantages of GPS in transportation construction project delivery. Hntb (2004), Survey-Grade GPS Reference Station Technology for the Missouri DOTRep., 98 pp, HNTB Corporation. As part of an existing contract over with Missouri DOT (MoDOT), HNTB Corporation conducted a research effort of current technologies and industry practices to review the feasibility of establishing survey-grade real-time GPS reference station technology as an extension of ongoing ITS work currently under development for MoDOT. As part of the review, HNTB conducted numerous interviews with other state Departments of Transportation that are using this type of technology within their agencies. The project specifies a pilot reference station be established within the I-70/I-64 corridors integrated with other planned ITS elements. It is hoped that this reference station may serve as a model for establishing a regional or state-side GPS infrastructure available for sophisticated uses of GPS within and around the State of Missouri. Many benefits, public and private, can be found in establishing this permanent reference station technology infrastructure. Ubiquitous availability of real-time, survey grade GPS in the field can lower spatial data collection costs through reduced crew sizes and increased productivity while providing increased reliability in precision and accuracy of field measurements for many uses,

B-6 including survey with low error levels (<1 cm). In many cases, the return-on-investment on the expenditure of establishment of a GPS reference station architecture can be realized in a short period of time. Two presentations took place to share with MoDOT the findings of the technical review. The first presentation took place in MoDOT’s District 6 offices in the St. Louis area on October 23, 2003. The second presentation was conducted at MoDOT’s District 4 offices in Kansas City on December 12, 2003. A CD-ROM was provided to meeting participants as a follow-up which contained some reference materials along with the presentation. This document summarizes the findings of the technology review and mirrors the material presented in those presentations. Inglis, R. (2006), Evaluation of VRS-RTK GPS Latency in a Dynamic Environment, 70 pp, University of Southern Queensland. This research project investigates the effects of latency in dynamic GPS (Global Positioning System) measurements made within a Virtual Reference Station (VRS) – Real Time Kinematic (RTK) network. The test method, which has been devised as an integral part of this research, allows for determination of the effects of latency in low speed dynamic VRS measurements. The method utilises a utility vehicle as a dynamic platform for testing, with a barcode reader attached to the vehicle to read barcodes which have been fixed to posts adjacent to the test path. Mounted in vertical alignment with the reader is the GPS antenna, providing the GPS signals to allow the GPS receiver(s) on board to determine the position of the vehicle as it passes the fixed barcodes and thereby providing a fixed frame of reference for the measurement of latency. Measuring lines in each direction and comparing the apparent position of the barcodes allows for the determination of latency. Conducting the testing procedure over a range of speeds will also facilitate the investigation of the relationship between platform speed and latency error. The results of this research have implications for any machine guidance and precision agriculture applications intending to use the VRS network where data accuracy is a major consideration. If the latency present in the positioning system has been quantified, it becomes possible to correct for this position error in real time. The research has only considered the effects of latency on the position solution, and this should be distinguished from accuracy. The accuracy of the VRS system in dynamic applications has not been investigated as part of this research project, but should also be considered in conjunction with latency when investigating the suitability of VRS to potential applications, dynamic or static. Kerville, P. (2008), China's Entry onto the GNSS Scene, in Kerville's MovingDirt Magazine, edited. American GPS positioning technology has always been offered on the basis of ‘no guarantees’. Until Bill Clinton ordered otherwise, its signals were deliberately distorted, and users were aware that for whatever reason— military necessity, perhaps—the system could be shut down for however long it suited its military masters. The same could conceivably be true of the Chinese Beidou system, for similar reasons, always assuming that the Chinese achieve technical mastery of what’s a complex and demanding science. For these reasons it’s to be hoped that Galileo moves forward, providing in the fullness of time a fourth leg to the stool of choice, and a huge combined constellation from which all will benefit. Kirshner, H. and W. stempfhuber (2008), The Kinematic Potential of Modern Tracking Total Stations - A State of the Art Report on the Leica TPS1200+, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Kinematic measuring systems allow for new areas of use in geodetic metrology. According to the task requirements, geodetic measuring sensors are used for the most varied applications. Target

B-7 tracking tachymeters (total stations) are still used for precise real-time 3D trajectories. Nowadays, modern instruments allow movements of a few millimetres to be measured. Maunder, D. (2007), An Investigation into the Establishment of a Continuously Operating GPS Reference Station at Dubbo City Council, Central West Nsw, Dissertation thesis, 1-75 pp, University of Southern Queensland. Global Navigation Satellite Systems (GNSS), real time differential correction techniques, Continuously Operating Reference Station (CORS) networks, mobile internet and GNSS user equipment are now mature technologies. The challenge is to manage the combination of these technologies to fully benefit users and society. The aim of this project was the investigation into the feasibility of establishment of a CORS site, servicing the requirements of Dubbo City Council, and surrounding geographical area,where this functionality does not currently exist. For a State (and National) CORS network coverage that will provide at least Real Timepositional applications, then these sites must be located relative to regional population centers, and that an optimal location, particularly for NSW, is the Local Government Organisation in that regional centre. This project will focus on the validation of establishing such a model, particularly for current users of spatial technology, and as such the Council of the City of Dubbo will be both a case study for a similar exercise into other regions of the State of NSW, and perhaps nationally. Dubbo City Council will also be the sponsor of the project, and as such, a questionnaire will be used to validate the process. Typical users and generators of spatial technology in the area, and including representatives of other Local Government organisations, State based Road and Traffic authorities, Agriculture and Precision farming, and consulting surveyors, shall be invited to participate in a questionnaire to gauge the level of interest and potential commitment to the establishment of enhanced GNSS functionality for this particular location. The questionnaire of local spatial industry representatives was compared to other industry professional literature and similar academic exercises. Pertinent aspects of the questionnaire were highlighted and the salient points contributed to the preparation of a validating business case for the proposed model. Reilly, J. P. (2005), Standards and specifications for surveying using Real-Time Kinematic (RTK) GPS, in Point of Beginning, edited, p. 36+. Reynolds, J. (2006), Accuracy Assessment of VRS in a Dynamic Environment, Dissertation thesis, University of Southern Queensland. The Virtual Reference Station (VRS) concept is one method that is being employed around the world to overcome some of the limitations with conventional Real Time Kinematic (RTK) positioning. There has been an increasing amount of research into the accuracy of VRS RTK GPS measurements, and the Department of Natural Resources and Water has identified the need to investigate the use of VRS in a dynamic environment. This project has compared the accuracy, precision and latency of conventional RTK and VRS RTK GPS measurements taken in a dynamic environment. This gives an insight into the suitability of the VRS RTK GPS system to real time dynamic applications. The testing regime used for this project involved attaching RTK GPS equipment to a trolley and positioning reference marks (a series of stakes with barcodes attached) adjacent to a pathway. As the trolley passes these reference marks, a barcode reader on the trolley will scan the barcodes and will initiate a GPS measurement for both conventional RTK and VRS RTK methods. These measurements are compared to the true locations of the reference marks to determine the accuracy, precision and latency. The results show that the VRS RTK method may be suitable for real time dynamic applications such as machine guidance. However this testing has resembled only slow speed dynamic applications in the range of 1-5 km/h. Further testing would be required for faster speeds.

B-8 Roberts, G. W. and A. H. Dodson (2002), Construction Plant Control Using RTK GPS, 2002/04/19/26. The use of GPS for construction plant control and guidance is a hot topic in the world of geomatics. Research has been underway for many years into this area, mainly based on using such RTK GPS systems on bulldozers. GPS allows real time centimetre positioning that allows the bulldozer’s driver to operate the machinery in a semi-autonomous manner. Research has been underway at the University of Nottingham for a number of years, investigating the use of GPS for such an application. The research focuses on using RTK GPS for both bulldozer and excavator control. The following paper details the work conducted at Nottingham, using a Trimble SiteVision system. The work conducted focuses on both controlled trials as well as field trials. An extensive series of real life trials have been conducted, whereby a bulldozer, using the system, was used to re-shape a 100m x 50m piece of ground. The work involved, as well as the results are detailed in the paper. Sadler, D. Automated Machine Guidance GPS and Machine Controls that can Assist in Construction Accuracies and Efficiences, in 2009 FDOT/FTBA Construction Conference, edited. Sanderson, L. The Use of GPS in the Department of Transportaion, edited. Schwieger, V. and J. Hemmert (2008), Integration of a Multiple-Antenna GNSS System and Supplementary Sensors, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. A typical problem of GNSS-based positioning systems, especially for kinematic applications, is the occurrence of outliers, periods of systematic erroneous data as well as the complete loss of GNSS signals. To overcome these problems GNSS systems are supplemented by additional sensors such as inertial measurement systems or, more simple, among others gyroscopes and odometers. In this paper two multi-sensor systems are investigated. A high-precise system was provided by Allsat company consisting of a multiple antenna Javad GNSS system providing phase data and an inertial measurement unit as well as filter algorithm not known to the authors, therefore, treated as a black-box model. The other system is known as MOPSY (Modular Positioning System) and is provided by the Institute for Applications of Geodesy to Engineering (IAGB). In general its components are low-cost products. For these investigation a low-cost GPS receiver was supplemented by the following set-up: a gyroscope, two odometers, and an optical speed and distance sensor. Additionally MOPSY comprises a Kalman filter based on the assumption of an uniform circle drive. In this paper two topics are presented: the comparison of the two systems and the integration of the high-precise data into the filter algorithm of MOPSY. The GNSS positions of the high-precise system was used to evaluate the low-cost system. Already at this stage of the investigations the performance of the MOPSY filter was obvious. It performs more reliably than the black-box model. Integration of the high-precise data into the MOPSY filter leads to encouraging results presented in this paper. Semones, P. (2004), Using State Plane and Project Datum Coordinates, Rep., Kentucky. A basic approach for relating state plane coordinates and project datum coordinates for projects in Kentucky Soler, T. s. (2008), 2008 GPS/GNSS Bibliography, GPS Solut., 6. This bibliography is a compilation of peer-reviewed articles published in 2008 describing original research with citations that may be of interest to other investigators working in any of the

B-9 GPS/GNSS fields. Titles of new books and conference proceedings that include a significant number of chapters and/or articles dealing with GPS/GNSS are also listed in italics in this bibliography. Articles, primarily appearing in trade journals, containing interspersed advertisements are only identified by their first page number followed by the symbol +. Contributions with more than five authors will be referenced under the first author name and the extension et al. Stansell, T. (2006), Dual-Use GPS. T. Stansell, edited. The precedent for dual-use was established in ~1967 during the Johnson administration when the Navy Navigation Satellite System (Transit), which up to then had been classified Secret, was released for worldwide civil use. I helped prepare the system specifications which were made available after the announcement by Vice President Hubert Humphrey Trails, H. (2007), Re: Ultimate accuracy of commercial GPS equipment?, edited by B. Hyman, p. 4, http://sci.tech−archive.net/Archive/sci.geo.satellite−nav/2007−04/msg00169.html. California DOT. ( 2012), Global Positioning System (GPS) Survey Specifications, California Department of Transportation, 42 pp., California Department of Transportation. Survey specifications describe the methods and procedures needed to attain a desired survey accuracy standard. The specifications for Post Processed GPS Surveys described in Section 6A are based on Federal Geodetic Control Subcommittee (FGCS) standards. The FGCS standards and specifications have been modified to meet the specific needs and requirements for various types of first-order, second-order, third-order, and general-order GPS surveys typically performed by Caltrans. The specifications for Real Time Kinematic (RTK) GPS Surveys described in Section 6B are based on accepted California Department of Transportation standards. The specifications in Section 6A are separate and distinct from the specifications in Section 6B. For complete details regarding accuracy standards, refer to Chapter 5, “Classifications and Accuracy Standards.” Caltrans GPS1 survey specifications are to be used for all Caltrans-involved transportation improvement projects, including special-funded projects. GPS surveying is an evolving technology. As GPS hardware and processing software are improved, new specifications will be developed and existing specifications will be changed. The specifications described in this section are not intended to discourage the development of new GPS procedures and techniques. survey specifications are to be used for all Caltrans-involved transportation improvement projects, including special-funded projects. Wyoming DOT. (2006), Real Time Kinematic (RTK) GPS Specification, 11 pp. RTK GPS survey equipment and procedures will only yield a certain level of accuracy. Care shall be taken to understand the accuracy of the equipment and the procedures utilized, to insure that the necessary survey tolerances are met. During the preliminary survey meeting it should be discussed and agreed upon as to what information can be obtained using RTK GPS equipment, and what should be obtained using other surveying techniques and/or equipment. RTK GPS surveying is an evolving technology. In the future, these specifications may need to be changed or removed, and new specifications may need to be developed. Not all specifications may apply equally or be appropriate for different models of RTK GPS equipment. If it is questionable whether a particular model of RTK GPS equipment will meet these specifications, its use shall be discussed and agreed upon at the preliminary survey meeting or before it is used on a project. Where these specifications are vague or silent on a subject, refer to the manufacturer's recommendations for use of a specific model of RTK GPS equipment. New

B-10 procedures not covered or not conforming to these specifications will not be used without prior approval of the Photogrammetry & Surveys Engineer. Stationary Laser Scanning Coşarcă, C., C. Didulescu, A. Savu, A. Sărăcin, G. Badea, A. C. Badea and A. Negrilă (2013), Mathematical Models Used In Processing Measurements Made By Terrestrial Laser Scanning Technology*, Preoceedings of the Applied Mathematics and Computational Methods in Engineering, 184-188. Processing of measurements obtained from terrestrial laser scanning is difficult in view of the multitude of points determined. It involves several stages: registration, point cloud processing, post-processing, 2D and 3D modeling and obtaining final products. The processing software performs registration and georeference of point clouds automatically, without user intervention. To have control over the transformation of coordinates and at stochastic mathematical models that processing software uses, there are several different coordinates transformation models from the instrument system to an external chosen system. Hiremagalur, J., K. S. Kin, T. A. Lasky and B. Ravani (2008), Testing and Performance Evaluation of Fixed Terrestrial 3D Laser Scanning Systems for Highway Applications, in TRB 2009 Annual Meeting, edited, TRB 2009 Annual Meeting CD-ROM, Washington D.C. In many 3D laser scanner applications, high relative precision (relative dimensions within the registered point cloud) is sufficient; in contrast, DOT applications require good relative precision and high absolute accuracy. Thus, precise and robust geo-referencing is critical, and robust workflows are needed to reduce the likelihood and impact of human errors. DOT applications have a fairly unique combination of challenges, including longer range requirements, long linear geometry for complete jobs, tall structures, and dark pavement scanned at high incidence angle. These factors motivate standardized protocols and metrics for characterizing and evaluating scanner performance and to develop confidence limits for the scanner data in DOT applications. The paper’s primary contribution is a set of vendor-neutral standard test protocols for the characterization and evaluation of 3D laser scanner performance, which users can conduct in easily accessible facilities. These evaluations focused on issues significant in DOT survey applications, workflows, and data flows. Example performance evaluation is provided for several commercially available 3D laser scanners. This paper provides the needed scientific basis for data-driven deployment of this valuable measurement tool. The paper also provides recommendations and guidelines which will promote consistent and correct use of 3D laser scanners by DOTs and their contractors. The guidelines clarify the common limitations of 3D laser scanners and recommend mitigation methods; this will help engineers and surveyors to select the right scanner and determine optimum scanning settings for survey applications. Mobile Laser Scanning Depenthal, C. (2008), A Time-referenced 4D Calibration System for Kinematic Optical Measuring Systems, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. By using kinematic optical measuring systems in spatiotemporal positioning necessarily all involved sensors of the measuring systems have to be synchronized. Otherwise existing dead time and latency in a measuring system will lead to deviations in the space-time position. A time- referenced 4D calibration system is presented for kinematic optical measuring systems, which is qualified for tracking optical measuring systems of any kind. The base of this calibration system

B-11 is built up by a tiltable rotating arm driven by a rotary direct drive. The rotating arm is supplemented by a further rotary direct drive mounted on a movable tripod. The developed modeling for determinability of a space-time position is based on the theory of quaternions. The fundamental idea of modeling is equivalent to the fact that every measurand of the test item, which is measured at a particular time, could be assigned to an explicit position of the rotating arm. Gräfe, G. (2008), Kinematic 3D Laser Scanning for Road or Railway Construction Surveys, paper presented at 1st International Conference on Machine Control & Guidance 2008. Kinematic laser-scanning has been a key application for the Mobile Road Mapping System (MoSES) since a couple of years. The development of kinematic survey methods has reached a level, that allows the use of kinematic survey technology for high precision applications. Replacing static tachymetric surveys on the road itself, kinematic methods are more and more applied for construction projects. The technology is used for rapid airfield monitoring as well as an increasing number of highway construction projects or high-precision railway tunnel surveys. The resulting data is acquired and generated with static survey accuracy, but much faster and with much higher resolution - if needed. The results represent the basic survey information for planning tasks or high precision machine guidance. Within the last months, the next development steps have been taken with the aim to join static and kinematic scanner technology. High precision static 3D laser scanners, which are capable of performing profiling measurement modes, can now be used with the MoSES system. A special mounting and rapid-calibration procedure is required to enable the use of e.g. Zoller&Fröhlich or FARO 3D laser scanners for kinematic high precision applications. Pilot projects to demonstrate the capabilities of this new 3D laser scanner survey method have been high-speed surveys of automobile industry test sites or subway tunnel surveys. The new developments were completed by adding infrared photogrammetric camera technology to the MOSES system, which enables full night vision survey capacity, which is of high interest for tunnel or airfield monitoring applications. Juretzko, M. and M. Hennes (2008), Monitoring of the spatiotemporal movement of an industrial robot using a laser tracker, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. The project introduced here describes the geometric inspection of an innovative robot-based production process for spatially curved extruded profiles. The aim was to prove that the trajectories fulfil a given spatiotemporal tolerance level with respect to repeatability and absolute accuracy using an independent, i.e. geodetic, measurement method. In order to inspect this motion regarding spatiotemporal tolerance, it is necessary to synchronize a laser tracker with the control system of the robot with an order of magnitude of micro seconds. This resolution has been achieved by triggered measurements with a Leica LTD500. Very specific and for the production process decisive deviations of the robot trajectory have been detected as well as an extraordinarily high kinematic repeatability of the robot. Kirshner, H. and W. stempfhuber (2008), The Kinematic Potential of Modern Tracking Total Stations - A State of the Art Report on the Leica TPS1200+, paper presented at 1st International Conference on Machine Control & Guidance 2008. Kinematic measuring systems allow for new areas of use in geodetic metrology. According to the task requirements, geodetic measuring sensors are used for the most varied applications. Target tracking tachymeters (total stations) are still used for precise real-time 3D trajectories. Nowadays, modern instruments allow movements of a few millimetres to be measured.

B-12 Mettenleiter, M., N. Obertreiber, F. Härtl, M. Ehm, J. Baur and C. Fröhlich (2008), 3D Laser Scanner as Part of Kinematic Measurement Systems, paper presented at 1st International Conference on Machine Control and Guidance 2008. The areas of applications for kinematic measurement systems were growing continuously in the last few years. The conventional objectives are e.g. the surveying of infrastructure buildings, railway tracks or tunnel measurement. New applications are the measurement of accident scenes or the generation of 3D city models. The intention is a fast and integral multi sensor system for the 3D survey of large objects to whole cities. This paper reports multi sensor systems which contain 3D laser scanner and positioning sensors and the technique how to combine them. The synchronisation of all sensors is an essential issue which affects the accuracy of the whole system. The paper also presents different applications regarding systems for railway survey which are already in use in a very profitable way and systems in the phase of development. Zogg, H.-M. and D. Grimm (2008), Kinematic Surface Analysis by Terrestrial Laser Scanning, paper presented at 1st International Conference on Machine Control & Guidance 2008. This paper presents terrestrial laser scanning with emphasis on kinematic surface analysis. Besides an overview of terrestrial laser scanning in general, the 2D-laser scanner SICK LMS200- 30106 is introduced as well as investigations on its distance measurement qualities. This 2D-laser scanner is often used for kinematic applications in the field of engineering geodesy due to its high scanning frequency, robustness, and reliability. The kinematic surface analysis at Hamburg Airport in conjunction with load tests is presented as an application for the 2D-laser scanner. In general, an application of terrestrial laser scanning into the field of machine control and guidance is conceivable. Infra-Red Sensing Hannon, J. J. (2007), NCHRP Synthesis 372 Emerging Technologies for Construction Delivery, Rep. 978-0-309-09791-8, Transportation Research Board. This synthesis presents information on the use of five emerging technologies for transportation construction projects: global positioning systems for layout, machine guidance, and quantity tracking; handheld computers for construction records; automated temperature tracking for concrete maturity monitoring; four-dimensional computer-aided drafting modeling for constructability analysis and improved communications; and web-based video cameras for remote project monitoring. The synthesis reports on the current state of each of the five technologies and their potential benefits for transportation agencies in the delivery of construction projects. The following characteristics are provided for each of the technologies: description, benefits, extent of use, barriers to use, instances of successful implementation and procedures, unresolved issues, and unintended consequences. It also discusses the current level of use and documents lessons learned from agencies with experience in implementing the targeted technologies. Other technologies discussed include virtual reality, building information models, and radio frequency identification. The information will form a foundation from which state and provincial highway agencies can begin the process of performing benefit–cost analysis as a first step to adopting those technologies that seem the most promising. A survey questionnaire was distributed to U.S. departments of transportation through a web-based survey application, and was also sent to select Canadian transportation agencies. Responses were received from agencies across the North American continent. In addition, a literature search was conducted of academic, governmental, industrial, and commercial resources to provide a solid theoretical and anecdotal basis for the review of each technology. John Hannon, University of Southern Mississippi, Hattiesburg, collected and synthesized the information and wrote the report. The members of the topic panel

B-13 are acknowledged on the preceding page. This synthesis is an immediately useful document that records the practices that were acceptable within the limitations of the knowledge available at the time of its preparation. As progress in research and practice continues, new knowledge will be added to that now at hand. Others Professional Surveyor Discussion Forums, edited, Professional Surveyor, Professional Surveyor. Published by Flatdog Media, Professional Surveyor covers land, aerial, and hydrographic surveying for professionals in the surveying, mapping, engineering, GIS, and geomatics fields. (2008), Insite: The Construction newsletter from KOREC, edited, KOREC. Over 250 visitors to KOREC’s first ever Trimble Construction LIVE event (2008), "Rocky Mountain Lasers." Retrieved 10/29, 2013, from http://www.rockymountainlasers.com/index.php. Administration, U. D. o. T. F. H. (2008), Priority, Market-Ready Technologies And Innovations. Additionally Selected Technologies. , edited, p. 2, US Department of Transportation Federal Highway Administration. State DOTs need faster and safer methods of gathering survey information for design and other applications. High-definition 3D surveying provides a cost-effective solution to gathering survey data. The use of HD 3D surveying technology in the planning stages of a project facilitates communication among surveyors, designers, project managers and senior management. Through the production of 3D visual, dimensionally accurate models, stakeholders gain an understanding of the site. Either point cloud or intelligent pixel methods will give team members an enhanced picture of a project’s complexity. Anspach, J. H. (2010), Utility location and highway design. Ciccarone, R. (2009), TRB Regenerating Digital Terrain Data for use wuth Contractor's Equipment, in TRB's annual meeting, edited, Washington DC. Clarke-Hackston, N., J. Belz and A. Henneker (2008), Guidance for Partial Face Excavation Machines, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. For the construction of tunnels and other underground structures, extraction of the exact amount of material is of paramount importance both economically and for engineering purposes. In the Sequential Support Method (NATM) immediate (sequential) and smooth support by means of shotcrete, steel arches, lattice girders and rockbolts, either singly or in combination are used; cutting of the precise profile (albeit sometimes of complex geometry) is an integral part of the method. In order to save unnecessary excavation and provide better information to the machine operator, VMT GmbH has developed a system to support precise excavation of the tunnel profile when using roadheaders or other partial face cutting machines. This paper outlines the principles of this system with examples from Australia, Germany, Sweden and Spain and will cite examples of typical savings achieved.

B-14 Inter-drain, g. l. Compare GPS Products, edited, p. GPS machine control products v.s. competitors, Great Lakes Inter-Drain. Jenkins, P. (2005), GPS/RTK Accuracy and Procedure Report Concerning Ground Control for Aerial Photography, Rep., Minnesota Department of Transportation Office of Land Management Photogrammetric Unit. This report has two purposes, the first is to be reactive to this recent error problem and address those concerns. Secondly, to be proactive in dealing with the current work environment by demonstrating the value in doing the job tasks correctly and thoroughly. This will be done by clearly stating expectations regarding field and office procedures when using Real Time Kinematic (RTK), Global Positioning System (GPS) equipment for ground control for aerial photography. In addition, other aspects relating to ground control such as the aerial planning process, targeting procedures and accuracy standards will also be reviewed. Streett, D. (2006), SURVEY CHANGES IN CONSTRUCTION, edited, NYS Department of Transportation, AGC/DOT Technical Conference New methods in surveying such as Features Have Their Own Horizontal & Vertical Alignments. Points Along Features are Precisely Calculated From Merged Horizontal & Vertical Alignments. Location of any Point Can be Determined Instantly and Positioned in the Field. Roadway Surfaces Graded by Machine Navigation –Less Reliance on Operator Experience. Stakeout Relies on Curved Feature Alignments, Not on Chorded Segments. Intersections/Roundabouts Are Staked Out Precisely from Combined Alignments –Independent of Centerline. MDOT. (2007), Surveying and Mapping Manual, 395 pp. This manual incorporates and sets forth accepted practices developed in the Surveying Program and the Interactive Graphics/Automated Drafting System. The manual will be kept current through a continuing program to keep Surveying and Mapping personnel up-to-date on the changes coming about because of research, new technology and the surveying organization of Mn/DOT, while continuing to emphasize sound survey practices. Low Distortion Coordinate System Burkholder, E. F. (2012), Contrasting a Low Distortion Projection (LDP) With the Global Spatial Data Model (GSDM), Global COGO, Inc.,, 9. Portraying Earth’s curved surface on a flat map while preserving geometrical integrity has challenged cartographers for many years. Numerous map projections have been developed to address specific problems and, for the most part, the utility of those projections remains valid for the purposes intended. However, the digital revolution and wide-spread use of 3-D digital geospatial data, both locally and on a world-wide scale, provide motivation for re-visiting the challenge of “flattening the Earth.” The traditional approach for surveying, mapping, and engineering applications has been to design a conformal map projection that preserves angular relationships between lines on the map and corresponding lines on the Earth. It is well known that a conformal projection distorts distances on the curved Earth as they are projected to the flat map. Long distances are typically distorted more than short distances. A low distortion projection (LDP) minimizes the distance distortion by restricting the area covered by a given projection and by using an algorithm that provides 2-D rectangular near-ground-level coordinates for each point. The distinct advantage of a LDP is that the computed distance between a pair of points closely matches the actual horizontal ground-level distance between the same two points. On the other

B-15 hand, the global spatial data model (GSDM) is based upon the 3-D geocentric Earth-centered Earth-fixed (ECEF) coordinates of each point and provides a true “user view” of the world without distorting either directions or distances. When using the GSDM, the origin (standpoint) is selected by the user and the forepoint can be any other ECEF point in a 3-D data base or point cloud. The local ground-level distance and the true azimuth from standpoint to forepoint are computed from the plane surveying components (Δn & Δe) obtained from the ECEF coordinate differences between the stand point and the forepoint. This paper describes the objectives of each model and contrasts the two models while highlighting the advantages of the GSDM over a LDP. Examples are accessible via web links given in the paper. Dennis, M. L. Low Distortion Projections for Surveying and GIS, edited, Geodetic Analysis, LLC, Oregon Department of Transportation. Dry, R. and B. Fisher City of Surprise Coordinate System Coordinate System a Low Distortion Projection, edited. Patocka, R. R. (2012), Use of Low Distortion Projections. As demands for precise measurement of land and natural resources increase, today’s data users must sharpen their focus on 1) understanding historical measurements, 2) embracing emerging measurement and mapping technology, and 3) planning our collective future. One goal of this paper is an attempt to affirm and clarify the utility and value of statewide coverage by LDP’s. A goal of 20 ppm maximum distortion for each LDP zone in Iowa has been set, and another goal is to keep the number of zones to a minimum while not crossing county lines. Consequently, this paper highlights the roots of surveying measurement techniques and the convergence of GIS and Engineering / Surveying Data. Establishing LDP’s is a step in promoting better coordination and use of spatial databases among the disparate GIS user communities. Ultimately the goal is to improve decision-making. The Iowa DOT, with support of the Society of Land Surveyors of Iowa (SLSI), the Iowa County Engineers Association (ICEA) and other organizations have started to develop a RFP for prequalified geodetic survey consultants to design LDP zones in Iowa. Mr. Norman Miller, IDOT Preliminary Survey Manager, chairs the RFP and consultant selection team. Hopefully, the successful consultant will design LDP’s statewide for Iowa within a year. Patocka, R. R. (2013), Low Distortion Projections, with GIS’t a Little Bit of Geometrical and Physical Geodesy, edited. One goal of this presentation is an attempt to affirm and clarify the utility and value of statewide coverage by LDP’s. Another goal is to assist non-Geodesists in their quest to better understand geodetic coordinate systems and their use in GIS. This presentation highlights the roots of surveying and geodetic measurement techniques and the convergence of GIS, Geodetic and Engineering / Surveying Data. Establishing LDP’s is a step in promoting better coordination and use of spatial databases among the disparate GIS user communities. Iowa DOT. (undated). Statewide Low Distortion Projection Design: Request For Proposal, 6 pp., Iowa Department of Transportation. The Iowa Department of Transportation’s Office of Design is interested in Geodetic Consulting services to provide Low Distortion Projection (LDP) Design and documentation for the entire

B-16 state of Iowa. If your firm is interested in providing the described services, please submit a proposal stating your ability and availability to complete this work. Geodetic/Map Projection Bolstad, P. (2012), Geodesy, Datums, Map Projections, and Coordinate System, in GIS Fundamentals, edited, p. 60, Eider Press. Burkholder, E. F. (2012), Contrasting a Low Distortion Projection (LDP) With the Global Spatial Data Model (GSDM), Global COGO, Inc.,, 9. Portraying Earth’s curved surface on a flat map while preserving geometrical integrity has challenged cartographers for many years. Numerous map projections have been developed to address specific problems and, for the most part, the utility of those projections remains valid for the purposes intended. However, the digital revolution and wide-spread use of 3-D digital geospatial data, both locally and on a world-wide scale, provide motivation for re-visiting the challenge of “flattening the Earth.” The traditional approach for surveying, mapping, and engineering applications has been to design a conformal map projection that preserves angular relationships between lines on the map and corresponding lines on the Earth. It is well known that a conformal projection distorts distances on the curved Earth as they are projected to the flat map. Long distances are typically distorted more than short distances. A low distortion projection (LDP) minimizes the distance distortion by restricting the area covered by a given projection and by using an algorithm that provides 2-D rectangular near-ground-level coordinates for each point. The distinct advantage of a LDP is that the computed distance between a pair of points closely matches the actual horizontal ground-level distance between the same two points. On the other hand, the global spatial data model (GSDM) is based upon the 3-D geocentric Earth-centered Earth-fixed (ECEF) coordinates of each point and provides a true “user view” of the world without distorting either directions or distances. When using the GSDM, the origin (standpoint) is selected by the user and the forepoint can be any other ECEF point in a 3-D data base or point cloud. The local ground-level distance and the true azimuth from standpoint to forepoint are computed from the plane surveying components (Δn & Δe) obtained from the ECEF coordinate differences between the stand point and the forepoint. This paper describes the objectives of each model and contrasts the two models while highlighting the advantages of the GSDM over a LDP. Examples are accessible via web links given in the paper. Eriksson, H. Geodetic reference systems and Map projections, edited, Lund University. García, A. M. (2011), Creation of 3D model of the Tihany peninsula, Eötvös Loránd University Budapest. Patocka, R. R. (2012), Use of Low Distortion Projections. As demands for precise measurement of land and natural resources increase, today’s data users must sharpen their focus on 1) understanding historical measurements, 2) embracing emerging measurement and mapping technology, and 3) planning our collective future. One goal of this paper is an attempt to affirm and clarify the utility and value of statewide coverage by LDP’s. A goal of 20 ppm maximum distortion for each LDP zone in Iowa has been set, and another goal is to keep the number of zones to a minimum while not crossing county lines. Consequently, this paper highlights the roots of surveying measurement techniques and the convergence of GIS and Engineering / Surveying Data. Establishing LDP’s is a step in

B-17 promoting better coordination and use of spatial databases among the disparate GIS user communities. Ultimately the goal is to improve decision-making. The Iowa DOT, with support of the Society of Land Surveyors of Iowa (SLSI), the Iowa County Engineers Association (ICEA) and other organizations have started to develop a RFP for prequalified geodetic survey consultants to design LDP zones in Iowa. Mr. Norman Miller, IDOT Preliminary Survey Manager, chairs the RFP and consultant selection team. Hopefully, the successful consultant will design LDP’s statewide for Iowa within a year. Patocka, R. R. (2013), Low Distortion Projections, with GIS’t a Little Bit of Geometrical and Physical Geodesy, edited. One goal of this presentation is an attempt to affirm and clarify the utility and value of statewide coverage by LDP’s. Another goal is to assist non-Geodesists in their quest to better understand geodetic coordinate systems and their use in GIS. This presentation highlights the roots of surveying and geodetic measurement techniques and the convergence of GIS, Geodetic and Engineering / Surveying Data. Establishing LDP’s is a step in promoting better coordination and use of spatial databases among the disparate GIS user communities. Wang, S., Y.-H. Tseng and A. F. Habib Floating Models for 3D Building Modeling from Topographic Maps and LiDAR Data, 7. A novel approach of Model-based Building Reconstruction (MBBR) from topographic maps and LiDAR data called Floating Models is proposed in this paper. Floating models are a series of pre- defined primitive models which are floating in the space. Its size is adjustable by shape parameters, while its location and rotation is controlled by pose parameters. A building is reconstructed by adjusting these model parameters so the wire-frame model adequately fits into the building’s outlines among the topographic maps, LiDAR data and DEM. This model-based reconstruction provides good constraints to the shape of the model in contrary to the data-based approach. In this paper, the model parameters are re-arranged into two groups: horizontal and vertical parameters. The horizontal parameters are determined by fitting the top or bottom boundary of the model to the topographic maps. The vertical parameters are decided by fitting the top surface of the model to the LiDAR data and interpolating the datum point’s height from DEM. To achieve a balance between accuracy and efficiency, a semi-automated reconstruction procedure is proposed. First, the computer will automatically generate all building models with polygonal prism models from maps and LiDAR data. Second, the operator may click a model and change it to a box or gable-roof model, and approximately fit to the building’s outlines on the topographic map. Third, the computer calculates the optimal fit between the model and the topographic map based on an ad hoc least-squares model fitting algorithm. Fourth, the computer calculates the roof or ridge height form the LiDAR points within the roof’s boundary. Finally, the model parameters and standard deviations are provided, and the wire-frame model is superimposed on all overlapped aerial photos for manual final-check. The operator can make any necessary modification by adjusting the corresponding model parameter. A 528 hectare urban area in Taipei City is reconstructed for testing. The fitting result is compared to the manually photogrammetric reconstruction result. Most of modern buildings can be completely modeled, and fitting result achieves the photogrammetric accuracy. Survey control for AMG Clabaugh, C. (2012), Automated Machine Guidance (AMG), Machine Control Online.

B-18 Gibson, T. (2010), Editor's Desk: Machine Control and Prefurbia, Professional Surveyor Magazine. One cool part of this job is that I receive most if not all newsletters or magazines published by the state surveying societies. I peruse them looking for story ideas and to keep updated on surveying activities and trends (I also like to look for familiar faces). This time around, two issues of the Empire State Surveyor, published by the New York State Association of Professional Land Surveyors, caught my attention. - See more at: http://www.profsurv.com/magazine/article.aspx?i=70725#sthash.avwyzhdp.dpuf Group, G. S. (2010), How Design Survey, Design, Stakeout and AMG Interact, edited. Kiongoli, S. (2010), Testing the accuracy of machine guidance in road construction, 91 pp, University of Southern Queensland. 3D Machine Control and Guidance Systems first appeared on the market in the late 1990‟s. These systems put a small computer within the cab of earthwork machines that utilized Global Positioning System (GPS) satellites to relay position information to the computer (see figure 1.1). The computer evaluates the actual position relative to its location in the proposed model. The operator uses the information from the onboard computer to control the machine’s equipment. In advanced cases, the onboard computer can be directly linked to the machine hydraulics, controlling their operation with minimal input from operator. Automated machine guidance using RTS was the major new application of this advancement in technology. Robotic Total Stations (RTSs) were first introduced by Geodimeter in 1990. These instruments incorporated servomotors and advanced tracking sensors which allowed the instrument to track a target. RTS’s are now utilized in the construction and extractive industries for the guidance of major earthworks machinery as well as in agriculture industry for the guidance of machinery such as tractors and harvesters. In today’s world, with the application of RTS, ATSs and now moving into real time AMG. The accuracies and latency of both operations are still not well understood, it has become critical to understand the exact accuracies that these instruments are capable of achieving whilst operating in the field. Thus upon the completion of this project my aim is to have a better understanding of both operational accuracies of several instruments, as well as their performances. The working specification in most of road construction are general requires the tolerance of ±0.02m. In order to achieve this tolerance required for such work we need to determine if these technologies are capable of meeting such accuracies. Upon the completion of this project, we will have a better understanding of how the accuracies of the machine guidance works and under what conditions the contractor, engineers or surveyors can understand the performance of the AMG works better. LEJA, M. (2013), Implement ation of Automated Machine Guidance for Ongoing Projects, 2 pp. This directive provides guidance to the resident engineer regarding the contractor’s option to request and obtain from Caltrans the original ground digital terrain model (DTM) and digital design model (DDM), or the electronic design files for the contractor to create a DTM and DDM, so that automated machine guidance (AMG) systems may be used on a project. AMG is a technology that is becoming an industry standard for earthmoving on private and public works projects. AMG is used on bulldozers, scrapers, blades, loaders, etc. Some paving equipment may use AMG techniques. LiDAR (2013), The Importance of Survey Control and Accuracy in AMG LiDAR News.

B-19 Neal, H. (2012), GPS Machine Control Creates Opportunity in the Surveying Industry, 02 21 00 Surveys. Technological innovation always shakes up an industry, and the surveying industry is no exception. All throughout surveying, machine guidance systems are gaining acceptance. The increased adoption of this technology by the industry is renewing the importance of surveyors. Machine guidance systems require skilled workers to calibrate and operate, and surveyors are in the best position to do this job. In order to capitalize on the opportunity, surveyors will need to learn to use machine guidance and promote their new skill. Shen, X., M. Lu, S. Fernando and S. M. AbouRizk (2012), Tunnel boring machine positioning automation in tunnel construction, Gerontechnology, 11(2), 384. Tunnel construction using a tunnel boring machine (TBM) entails precise machine positioning and guidance in the underground space. In contrast to traditional laser-based machine guidance solutions, the proposed research aims to develop an automation alternative to facilitate TBM guidance and as-built tunnel alignment survey during tunneling operations. Method A fully automated system is proposed, in which a robotic total station is employed to automate the continuous process of TBM -tracking and positioning in the 3D underground working space. ZigBeebased wireless sensor networks are applied for wireless data communication inside the tunnel. A camera is mounted on the telescope of the total station to capture online operational videos. Real-time survey data are thus acquired, processed and displayed on a tablet PC on the fly, resulting in: (i) TBM’s precise coordinates in the underground space; (ii) three-axis body rotations of the TBM; (iii) tunneling change progress; and (iv) line and grade deviations of the tunnel alignment. Results & Discussion For proof-of-concept, a prototype TBM-positioning automation system has been developed in-house for laboratory testing. The accuracy testing was conducted by the automation system and a specialist surveyor independently. The differences between the two sets of surveying results were less than 2mm, which sufficiently validated the high accuracy of the automation solution. In April 2012, the prototype will be field tested on a 2.4 m diameter and 1,040 m long drainage tunnel project in Edmonton, Canada. Singh, R. (2010), Construction Automation: A six year plan in development, edited, Oregon Department of Transportation. CDOT. (2012), Surveys Manual: 12 Construction Surveys, 56 pp. The Department is responsible for providing construction surveys to establish “control stakes”, also known as “grade stakes” for basic line and grade for project construction unless the contract specifies otherwise. From these control stakes the Contractor sets, when needed, supplemental “working stakes.” The control stakes are also used by the Resident Engineer (RE) or the Structure Representative to check the work for contract compliance. This Chapter is to be used for all transportation improvement projects, including special funded projects. It shall be used by all Department employees or consultants performing construction surveys. It is their responsibility to adhere to all relevant processes, workflow, and provisions stated in this chapter. This chapter provides policy, procedures and general information regarding Department- furnished construction stakes—the types of stakes furnished, and their density, placement, and markings. These procedures are subject to requirements in Contract specifications, Contract Change Orders (CCOs), or other provisions approved by the RE. The 2010 Standard Specification defines “Engineer” as “The Resident Engineer responsible for the Contract’s administration; the Resident Engineer’s authorized representative.” This chapter

B-20 uses the terms Resident Engineer (RE) and Surveys. Surveys is the RE’s representative authorized to perform the construction surveys as described in this chapter. MDOT. (2012), Construction Stakes, 4 pp. After the first paragraph of Subsection 699.01 on page 585, add the following: This work may be performed utilizing Automated Machine Guidance technologies and systems in accordance with the standard specifications and contract documents. Automated Machine Guidance (AMG) is defined as the utilization of positioning technologies such as Global Positioning Systems (GPS), Robotic Total Stations, lasers, and sonic systems to automatically guide and adjust construction equipment according to the intended design requirements. The Contractor may use any type of AMG system(s) that result in compliance with the contract documents and applicable Standard Specifications. Automated Machine Guidance (AMG) is not a mandatory requirement. Automated Machine Guidance (AMG), conventional staking, or a combination of both may be used at the Contractor’s option for staking on this project. Vonderohe, A. (2009), Training On Automated Machine GuidanceRep. CFIRE 03-21, 95 pp, Construction and Materials Support Center National Center forFreight and Infrastructure Research and Education (CFIRE), Madison, WI. Beginning in 2006, WisDOT and the Construction Materials Support Center (CMSC) at UW- Madison worked together to develop the specifications and the QA/QC procedures for GPS machine guidance on highway grading projects. These specifications and procedures are being finalized for inclusion in WisDOT 2009 construction projects. With adoption of these new specifications and procedures into contracts there is a need to provide field staff with necessary knowledge and skills to administer the contracts involving GPS machine guidance. DESIGN Electronic Data, Geometrical Drafting "CADApps." Retrieved 10/25, 2013, from http://www.cadapps.com.au/. (2013), "Mid-America CADD Community: CADD User Community Focusing on Bentley Software." Retrieved 11/3, 2013, from http://midamericacadd.org/. FDOT (2007), Multi-Line Earthwork for Designers, 72 pp. This manual, created by the Florida Department of Transportation (FDOT) Engineering / CADD Systems Office (ECSO), instructs designers on how to use Multi-Line Earthwork to verify earthwork quantities calculated from their created GEN file(s). The general file format, commonly referred to as a GEN file, is an ASCII text file where cross section surface lines (i.e., existing ground, bottom of proposed template, etc.) are described individually. GEN files are most commonly used to perform earthwork calculations. FDOT requires that GEN files be included in Electronic Plans deliveries for specified surfaces in accordance with Chapter 8 of the CADD Production Criteria Handbook. Throughout this manual, Arial Font text is used to indicate the title of a screen/window and bold text to indicate words that appear on the screen/window, such as a button name. Occasionally, bold text is also used to emphasize a point. A flow chart is

B-21 used to describe the work flow. Following the presentation of the flow chart, each step is shown in logical order. Some steps may be skipped based on the answers to questions shown on the flow chart. For more detailed information than that presented herein, Multi-Line Earthwork's on-line help can be access by clicking Help in the top left corner of the current menu (shown below). There is also a training manual, FDOT Multi-Line Earthwork, available with detailed example problems. AASHTO (2007), REQUIREMENTS FOR ELECTRONIC DATA TO BE SUPPLIED TO CONSTRUCTION, 2 pp. 3D models detailing a project’s proposed design shall be developed for work on projects which: 1) significantly change the terrain surface, 2) could impact the determination of the need to acquire right of way, 3) involves the construction of new bridge substructures, 4) could visually confirm sufficient safe clearance for the traveling public during construction phases, or 5) could verify that required clearances for construction operations and installations are achievable. At a minimum, 3D models of the proposed finished surface shall be provided for all work areas of projects which involve the following types of construction changes and proposed improvements. Surface models shall also be provided for top of roadway subgrade in all areas of new construction or full reconstruction. Akinci, B., M. Fischen, R. Levitt and R. Carlson (2002), Formalization and automation of time-space conflict analysis, Journal of Computing in Civil Engineering, 16(2), 124-134. With increasing pressure for shorter delivery schedules, space is a critical resource at construction sites. Current industry practice lacks a formalized approach or tool to help project managers analyze spatial conflicts between activities prior to construction. Consequently, time-space conflicts occur frequently and significantly impact construction processes. Time-space conflicts have three characteristics that impede the detection and analysis of time-space conflicts prior to construction: (1) They have a temporal aspect; (2) they have different forms creating different problems; and (3) multiple types of spatial conflicts can exist between a pair of conflicting activities. This research formalizes time-space conflict analysis as a classification task and addresses these challenges by automatically (1) detecting conflicts in four dimensions; (2) categorizing the conflicts according to a taxonomy of time-space conflicts that is developed; and (3) prioritizing the multiple types of conflicts between the same pair of conflicting activities. This research extends previous research on construction space management by developing a taxonomy of time-space conflicts and by defining an approach for the analysis of time-space conflicts prior to construction. Andrews, S. and S. Geiger (2005), Unlocking Design Data, in 19th Annual AGC/DOT Technical Conference, edited, New York Department of Transportation New York. Working with the engineering data behind paper plans. What type of data is available now for contractor use, and what it can be used for. How to prepare for working with engineering technology. Anspach, J. H. (2010), Utility location and highway design. Azhar, S. (2011), Building information modeling (BIM): Trends, benefits, risks, and challenges for the AEC industry, Leadership and Management in Engineering, 11(3), 241-252. Building information modeling (BIM) is one of the most promising recent developments in the architecture, engineering, and construction (AEC) industry. With BIM technology, an accurate

B-22 virtual model of a building is digitally constructed. This model, known as a building information model, can be used for planning, design, construction, and operation of the facility. It helps architects, engineers, and constructors visualize what is to be built in a simulated environment to identify any potential design, construction, or operational issues. BIM represents a new paradigm within AEC, one that encourages integration of the roles of all stakeholders on a project. In this paper, current trends, benefits, possible risks, and future challenges of BIM for the AEC industry are discussed. The findings of this study provide useful information for AEC industry practitioners considering implementing BIM technology in their projects. Bhat, C. R., S. Sivaramakrishnan and S. Bricka (2004), Conversion of Volunteer-Collected GPS Diary Data into Travel Time Performance Measures: Literature Review, Data Requirements, and Data Acquisition Efforts, Research Report Rep. FHWA/TX-05/0-5176-1, Research and Technology Transfer Section/Construction Division P.O. Box 5080 Austin, TX 78763-5080. Conventional travel-survey methodologies require the collection of detailed activity-travel information, which impose a significant burden on respondents, thereby adversely impacting the quality and quantity of data obtained. Advances in the Global Positioning System (GPS) technology has provided transportation planners with an alternative and powerful tool for more accurate travel-data collection with minimal user burden. The data recorded by GPS devices, however, does not directly yield travel information; the navigational streams have to be processed and the travel patterns derived from it. The focus of this research project is to develop software to automate the processing of raw GPS data and to generate outputs of activitytravel patterns in the conventional travel-diary format. The software will identify trips and characterize them by several attributes including trip-end locations, trip purpose, time of day, distance, and speed. Within the overall focus of the research, this report describes the data collection equipment specifications, data collection protocols, and data formats, and presents a comprehensive synthesis of the state of the practice/art in processing GPS data to derive travel diaries. This synthesis is intended as the basis for developing input specifications and processing algorithms for our software. A second objective of this report is to identify the data requirements for the software development purposes and document the efforts undertaken to acquire the data. Chau, K., M. Anson and J. Zhang (2004), Four-dimensional visualization of construction scheduling and site utilization, Journal of construction engineering and management, 130(4), 598-606. Four-dimensional (4D) models link three-dimensional geometrical models with construction schedule data. The visual link between the schedule and construction site conditions is capable of facilitating decision making during both the planning and construction stages. The emphases of these 4D developments have often been placed at the level of construction components. Practical features assisting site management are at times lacking in the following areas: (1) generation of site usage layouts; (2) estimation of quantities of construction materials; and (3) cost evaluation. In order to pinpoint these deficiencies, the objective of this work is to enable visual study of the effects of job progress on the logistics and resource schedules. This paper presents a 4D visualization model that is intended both to help construction managers plan day-to-day activities more efficiently in a broader and more practical site management context and to thereby add to our knowledge and understanding of the relevance of modern computer graphics to the responsibilities of the construction site manager. A brief site trial of the software is described at the conclusion of the paper. Cho, A. and staff (2009), Building Information Modeling Boosters Are Crossing That Bridge, 2.

B-23 Cho, Y-K., C. T. Haas, K. Liapi and S. Sreenivasan (2002), A framework for rapid local area modeling for construction automation, Automation in Construction, 11(6), 629-641. Rapid 3D positioning and modeling in construction can be used to more effectively plan, visualize, and communicate operations before execution. It can also help to optimize equipment operations, significantly improve safety, and enhance a remote operator's spatial perception of the workspace. A new framework for rapid local area sensing and 3D modeling for better planning and control of construction equipment operation is described and demonstrated. By combining human-assisted graphical workspace modeling with pre-stored Computer-Aided Design (CAD) models and simple sensors (such as single-axis laser rangefinders and remote video cameras), modeling time can be significantly reduced while potentially increasing modeling accuracy. Ciccarone, R. (2009), TRB Regenerating Digital Terrain Data for use wuth Contractor's Equipment, in TRB's annual meeting, edited, Washington DC. Contreras, M., P. Aracena and W. Chung (2012), Improving Accuracy in Earthwork Volume Estimation for Proposed Forest Roads Using a High-Resolution Digital Elevation Model, Croatian Journal of Forest Engineering, 33(1), 125-142. Earthwork usually represents the largest cost component in the construction of low-volume forest roads. Accurate estimates of earthwork volume are essential to forecast construction costs and improve the financial control of road construction operations. Traditionally, earthwork volumes are estimated using methods that consider ground data obtained from survey stations along road grade lines. However, these methods may not provide accurate estimates when terrain variations between survey stations are ignored. In this study, we developed a computerized model to accurately estimate earthwork volumes for the proposed forest roads by using a high-resolution digital elevation model (DEM). We applied our model to three hypothetical forest road layouts with different ground slopes and terrain ruggedness conditions. We examined the effects of various cross-section spacings on the accuracy of earthwork volume estimation assuming that 1- meter spacing provides the »true« earthwork volume. We also compared our model results with those obtained from the traditional end-area method. The results indicate that as cross-section spacing increases the accuracy of earthwork volume estimation decreases due to lack of the ability to capture terrain variations. We quantified earthwork differences, which increased with terrain ruggedness ranging from 2 to 21%. As expected, short cross-section spacing should be applied to improve accuracy in earthwork volume estimation when roads are planned and located on hilly and rugged terrain. Corporation, G. (2000), GEOPAK Perspectives, edited, p. 4. Ha, Q., M. Santos, Q. Nguyen, D. Rye and H. Durrant-Whyte (2002), Robotic excavation in construction automation, Robotics & Automation Magazine, IEEE, 9(1), 20-28. This article presents some results of the autonomous excavation project conducted at the Australian Centre for Field Robotics (ACFR) with a focus on construction automation. The application of robotic technology and computer control is one key to construction industry automation. Excavation automation is a multidisciplinary task, encompassing a broad area of research and development. The ultimate goal of the ACFR excavation project is to demonstrate fully autonomous execution of excavation tasks in common construction, such as loading a truck or digging a trench. A number of difficult theoretical and practical problems must be solved to achieve this objective. The problems fall into three main groups: excavation planning, sensing and estimation, and control

B-24 Hampton, T. (2005), 3D Grade Control Puts Designers Right in the Operator’s Seat, in Enigineering News Record, edited. Automation is rocking traditional earthmoving and project teams have to make changes Hannon, J. J. (2007), NCHRP Synthesis 372 Emerging Technologies for Construction DeliveryRep. 978- 0-309-09791-8, Transportation Research Board. This synthesis presents information on the use of five emerging technologies for transportation construction projects: global positioning systems for layout, machine guidance, and quantity tracking; handheld computers for construction records; automated temperature tracking for concrete maturity monitoring; four-dimensional computer-aided drafting modeling for constructability analysis and improved communications; and web-based video cameras for remote project monitoring. The synthesis reports on the current state of each of the five technologies and their potential benefits for transportation agencies in the delivery of construction projects. The following characteristics are provided for each of the technologies: description, benefits, extent of use, barriers to use, instances of successful implementation and procedures, unresolved issues, and unintended consequences. It also discusses the current level of use and documents lessons learned from agencies with experience in implementing the targeted technologies. Other technologies discussed include virtual reality, building information models, and radio frequency identification. The information will form a foundation from which state and provincial highway agencies can begin the process of performing benefit–cost analysis as a first step to adopting those technologies that seem the most promising. A survey questionnaire was distributed to U.S. departments of transportation through a web-based survey application, and was also sent to select Canadian transportation agencies. Responses were received from agencies across the North American continent. In addition, a literature search was conducted of academic, governmental, industrial, and commercial resources to provide a solid theoretical and anecdotal basis for the review of each technology. John Hannon, University of Southern Mississippi, Hattiesburg, collected and synthesized the information and wrote the report. The members of the topic panel are acknowledged on the preceding page. This synthesis is an immediately useful document that records the practices that were acceptable within the limitations of the knowledge available at the time of its preparation. As progress in research and practice continues, new knowledge will be added to that now at hand. Hannon, J. J. (2008), NCHRP Synthesis 385 Information Technology for Efficient Project Delivery, Transportation Research Board. This synthesis identifies “best practices” for the seamless sharing of information throughout all phases of the project delivery process. Best practices were reported by survey respondents and through literature review in the department of transportation (DOT) Planning, Design, Procurement, Construction, and Operations and Maintenance functional areas, including procedural, institutional, human, and technical constraints and mechanisms. Principal investigators surveyed DOT information technology and project/program management professionals on DOT data exchange practices. After analysis of the data, several DOTs were selected for close inspection case studies. The results of these surveys, along with a review of literature published on the subject of data interoperability associated with project lifecycle processes, constitute the basis of this report. Information presented in this report was derived from a survey questionnaire and supplemented by a literature search, as well as a DOT case study. John Jeffrey Hannon and Tulio Sulbaran, University of Southern Mississippi, Hattiesburg, collected and synthesized the information and wrote the report. The members of the topic panel are acknowledged on the preceding page. This synthesis is an immediately useful document that

B-25 records the practices that were acceptable within the limitations of the knowledge available at the time of its preparation. As progress in research and practice continues, new knowledge will be added to that now at hand. Hannon, J. J. and D. Townes (2007), GPS Utilization Challenges in Transportation Construction Project Delivery, paper presented at The construction and building research conference of the Royal Institution of Chartered Surveyors, Royal Institution of Chartered Surveyors, Georgia Tech, Atlanta USA, 2007/09/06/7. Transportation agency surveying functions have a well documented record over the last 10 years of embracing Global Positioning Systems (GPS) to enhance their planning and design requirements. A second evolution is in process as pertains to GPS. Agencies are engaged in GPS research, developing guidance specifications, and some have incorporated new standard specifications. Due to relatively recent advancements in technology, construction contractors are requesting 3D digital surveying datasets produced by agency surveyors for use in delivery of construction projects. Among other advantages, these digital models allow for contractor machine-controlled grading operations which increase accuracy and decrease equipment and labor resources for both agency (owner) and contractor. Based upon literature review, a survey of transportation agency adoption and personal work experience with agencies and contractors, this paper discusses the benefits of GPS in the delivery of transportation construction projects, the new mindset and procedure required for application, and how this technology relates to standard agency construction specifications. The information should be valuable to all contractual stakeholders involved in, or contemplating involvement with, utilizing the advantages of GPS in transportation construction project delivery. Hoeft, T. (2009), lmproving Construction Efficiencies Through 3D Electronic Design, edited by C. Jarhen, p. 1. Invitation to praticipate- Improving Construction Efficiencies Through 3D Electronic Design Kratt, D. (2005), Design Memorandum NO. 18-05-Electronic Files Submittal with the Final Contract Plans, edited. Certain electronic files are required to be delivered with the submission of final contract plans to central office division of highway design. while the first generation mylar signer by the project manager are the legal binding set of final contract plans, the electronic files are used to create these plans are extremely useful in the review, publication, bidding, construction and archive processes. Leja, M. and R. Buckley (2004), Cross-Section Preparation and Delivery Memorandum, edited, California Department of Transportation. Lobbestael, J. (2013), ELECTRONIC DATA USAGE edited, Michigan Department of Transportation Lobbestael, J. (2013), Moving Towards Electronic Model Data - Cradle to Grave, edited, Michigan Department of Transportation Maeda, J. (2005), Current research and development and approach to future automated construction in Japan, paper presented at Construction Research Congress.

B-26 Automated construction technologies have been developed and introduced in the Japanese construction industries since the 1980s. However, the construction industry remains a craft- oriented and labor-intensive industry with minimal automation of tasks. Automation of construction processes has potential significant effects on construction of buildings. This paper describes the history of research and development of automation technology in Japan and the advantages to using construction robots and automated building construction system at the field level, and examines possible application and requirements in future construction operations. In addition, current research and development of robotics technology is introduced with concrete examples. NavisWorks NavisWorks 3D Design File Formats, edited. The following table provides an extensive list of the CAD applications currently supported by NavisWorks³, along with any additional information that may be necessary to review your files in NavisWorks. Platt, A. E. (2007), 4D CAD for highway construction projects, Pennsylvania State University. Sampaio, A. Z., A. R. Gomes and J. Prata (2011), Virtual Environment in Civil Engineering: Construction and Maintenance of Buildings, paper presented at ADVCOMP 2011, The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences. This paper describes two prototype applications based on Virtual Reality (VR) technology for use in construction and maintenance planning of buildings. The first, applied to construction, is an interactive virtual model designed to present plans three- dimensionally (3D), connecting them to construction planning schedules, resulting in a valuable asset to the monitoring of the development of construction activity. The 4D application considers the time factor showing the 3D geometry of the different steps of the construction activity, according to the plan established for the construction. The 4D model offers a detailed analysis of the construction project. It allows the visualization of different stages of the construction and the interaction between all stakeholders during the actual construction activity. A second VR model was created in order to help in the maintenance of exterior closures of walls in a building. It allows the visual and interactive transmission of information related to the physical behavior of the elements. To this end, the basic knowledge of material most often used in façades, anomaly surveillance, techniques of rehabilitation, and inspection planning were studied. This information was included in a database that supports the periodic inspection needed in a program of preventive maintenance. This work brings an innovative contribution to the field of construction and maintenance supported by emergent technology. Sampaio, A. Z., A. R. Gomes and J. Prata (2011), Virtual Environment in Civil Engineering: Construction and Maintenance of Buildings, paper presented at ADVCOMP 2011, The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences. This paper describes two prototype applications based on Virtual Reality (VR) technology for use in construction and maintenance planning of buildings. The first, applied to construction, is an interactive virtual model designed to present plans three-dimensionally (3D), connecting them to construction planning schedules, resulting in a valuable asset to the monitoring of the development of construction activity. The 4D application considers the time factor showing the 3D geometry of the different steps of the construction activity, according to the plan established for the construction. The 4D model offers a detailed analysis of the construction project. It allows the visualization of different stages of the construction and the interaction between all stakeholders during the actual construction activity. A second VR model was created in order to

B-27 help in the maintenance of exterior closures of walls in a building. It allows the visual and interactive transmission of information related to the physical behavior of the elements. To this end, the basic knowledge of material most often used in façades, anomaly surveillance, techniques of rehabilitation, and inspection planning were studied. This information was included in a database that supports the periodic inspection needed in a program of preventive maintenance. This work brings an innovative contribution to the field of construction and maintenance supported by emergent technology. Scarponcini, P. (2008), Methodology for Selection and Development of TransXML Schemas*, Transportation Research Record: Journal of the Transportation Research Board, 2024, 107-115, doi:10.3141/2024-13. NCHRP Project 20-64, TransXML, solicited the development of standard, public domain extensible markup language (XML) schemas for the exchange of transportation data as well as the creation of a framework for the development, validation, dissemination, and extension of current and future schemas. The methodology used for the selection and development of the initial set of TransXML schemas ensured their consistency, cohesiveness, and usefulness. Data flow diagrams of the design and construction process had previously been developed for the Minnesota Department of Transportation. They articulate steps in the design process as well as the flow of data between these steps. The diagrams were analyzed to discover candidate data flows that if supported by standardized XML schemas, could improve the design and construction process. The content and structure of the data identified were then modeled with unified modeling language (UML) class diagrams—roughly one UML package per data flow. Consensus of interested parties was achieved through the project website, including specific agreement on data elements and their associations. For each element, relevant attributes were decided, along with their cardinality and data type. For associations, relationship types, cardinalities, and roles were established. Diagrams for each area were compared to achieve consistency and to identify common elements, the latter being extracted into separate UML packages. XML schemas were then developed, based on the UML packages. The geography markup language (GML) was used as the framework for the schemas, building on predefined GML elements and following GML rules for developing application schemas. Sample applications were developed to demonstrate how the schemas support the data flows. Sheldon, D. and C. Mason (2009), A Proposal for Statewide CAD Standards in IowaRep., Howard R. Green Company. The MicroStation/GEOPAK and AutoCAD/Civil 3D platforms are widely used tools in the design and drafting of infrastructure improvements. Recent advances in these platforms have created new opportunities to increase quality, reduce risk, and save time and money during design and construction. However, the state of Iowa is not presently realizing the full benefit of these advances. This paper proposes a way for Iowa communities to realize these benefits through the development and implementation of statewide Computer Aided Design (CAD) standards. This proposal would not merely the appearance of construction drawings; rather, it would bring a consistent flow and methodology to the work of design. Siebert, S. and J. Teizer (2014), Mobile 3D mapping for surveying earthwork projects using an Unmanned Aerial Vehicle (UAV) system, Automation in Construction, 41, 1-14. Unmanned Aerial Vehicle (UAV) systems as a data acquisition platform and as a measurement instrument are becoming attractive for many surveying applications in civil engineering. Their performance, however, is not well understood for these particular tasks. The scope of the presented work is the performance evaluation of a UAV system that was built to rapidly and

B-28 autonomously acquire mobile three-dimensional (3D) mapping data. Details to the components of the UAV system (hardware and control software) are explained. A novel program for photogrammetric flight planning and its execution for the generation of 3D point clouds from digital mobile images is explained. A performance model for estimating the position error was developed and tested in several realistic construction environments. Test results are presented as they relate to large excavation and earth moving construction sites. The experiences with the developed UAV system are useful to researchers or practitioners in need for successfully adapting UAV technology for their application(s). Singh, S. (1997), State of the art in automation of earthmoving, Journal of Aerospace Engineering, 10(4), 179-188. A recent trend towards greater automation of earthmoving machines, such as backhoes, loaders, and dozers, reflects a larger movement in the construction industry to improve productivity, efficiency, and safety. This paper reviews related work in various disciplines drawn upon by researchers—soil mechanics, computer graphics, kinematic and dynamical modeling, optimization, control, and decision theory. A taxonomy is suggested into which various automated systems reported in the literature, can be classified. Söderström, P. and T. Olofsson (2007), Virtual Road Construction – a Conceptual Model, paper presented at W78 Conference, Center for IT in Construction, Luleå University of Technology, Maribor, Slovenia. Design, planning and logistics for road construction are increasingly performed using 3D models. These models can subsequently be used to guide machines directly on site. At present there is no direct integration of 3D de-sign and production planning of the construction work, which limits use of the 3D models for optimization and real-time follow-up of mass haulage and machinery logistics.This paper describes a conceptual model of an industrial process for machine guided road construction projects where 3D design is integrated with production planning, enabling production visualization (4D) and real-time follow-up. The aim is to create an integrated working process to such an extent that redesign and replanning of activities and re-sources can actively be optimized, based on observations and data collected during the production. Söderström, P. and T. Olofsson (2007), Virtual Road Construction-A Conceptual Model, paper presented at The 24th CIB-W78 Conference. Design, planning and logistics for road construction are increasingly performed using 3D models. These models can subsequently be used to guide machines directly on site. At present there is no direct integration of 3D design and production planning of the construction work, which limits use of the 3D models for optimization and real time follow-up of mass haulage and machinery logistics. <div data-canvas-width="318.59257999999994" style="left: 467.297px; top: 532.333px; font-size: 16.7px; font-family: serif; transform: scale(1.01288, 1); transform-origin: 0% 0% 0px;">This paper describes a conceptual model of an industrial process for machine guided road construction projects where 3D design is integrated with production planning, enabling production visualization (4D) and real-time follow-up. The aim is to create an integrated working process to such an extent that redesign and replanning of activities and resources can actively be optimized, based on observations and data collected during the production. Song, L. and N. N. Eldin (2012), Adaptive real-time tracking and simulation of heavy construction operations for look-ahead scheduling, Automation in Construction, 27, 32-39. This paper proposes an adaptive real-time tracking and simulation of heavy construction operations for look-ahead scheduling during construction field operations. In this method, construction operation data are constantly captured using tracking sensors and the data is then fed

B-29 into a simulation model for automatic model updating. This adaptive capability allows a pre- defined simulation model to be constantly updated to reflect the changing project environment for more accurate look-ahead scheduling. Compared with the traditional offline simulation that uses stationary inputs, the capability of the proposed real-time simulation to dynamically incorporate new project data and adapt to changes in field operations can improve the accuracy of project look-ahead scheduling. A prototype system and case studies are presented to demonstrate the feasibility of the proposed concept. Tegtmeier, W., S. Zlatanova, P. Van Oosterom and H. Hack (2014), 3D-GEM: Geo-technical extension towards an integrated 3D information model for infrastructural development, Computers & Geosciences, 64, 126-135. In infrastructural projects, communication as well as information exchange and (re-)use in and between involved parties is difficult. Mainly this is caused by a lack of information harmonisation. Various specialists are working together on the development of an infrastructural project and all use their own specific software and definitions for various information types. In addition, the lack of and/or differences in the use and definition of thematic semantic information regarding the various information types adds to the problem. Realistic 3D models describing and integrating parts of the earth already exist, but are generally neglecting the subsurface, and especially the aspects of geology and geo-technology. This paper summarises the research towards the extension of an existing integrated semantic information model to include surface as well as subsurface objects and in particular, subsurface geological and geotechnical objects. The major contributions of this research are the definition of geotechnical objects and the mechanism to link them with CityGML, GeoSciML and O&M standard models. The model is called 3D- GEM, short for 3D Geotechnical Extension Model. Connecticut DOT. (2007), Digital Design Environment GuideRep., 96 pp, Newington, CT. Florida DOT. (2009), Chapter 13 - Roadway Standards FDOT CADD Production Criteria Handbook, Florida Department of Transportation. Minnesota DOT. (2013) "CADD Support and Resources." Retrieved 25/10, 2013, from http://www.dot.state.mn.us/caes/. Minnesota DOT. (2012), 3D Model Based Design Interim Guidelines. The intention of a 3D model is to provide a comprehensive and true representation of a project not only in the design phase, but also in construction. Vahdatikhaki, F., A. Hammad and S. Setayeshgar (2013), Real-time simulation of earthmoving projects using automated machine guidance, paper presented at Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC). Simulation techniques have offered significant boosts toward a cost-and-time-optimized planning of construction projects by enabling project managers to effectively comprehend the behavior of projects. Using historic data from projects of like nature, simulation considers uncertainties involved in a project through accommodating the stochastic modeling parameters. However, the heavy reliance on the statistical data and not taking into account the context-specific features of the project cause the degradation in the realism and accuracy of the simulation models. Similarly, the extent to which a historic pattern could be retrofitted to new projects will decrease in line with the growing uniqueness of the projects and the novelty of construction methods. Furthermore, the

B-30 existing real-time simulation frameworks are not capable of distinguishing the transient environmental changes, with minimal long-term impacts on the productivity, from the influential changes that will greatly impact an operation. In addition, existing simulation tools are devoid of location awareness, resulting in the inability to consider safety threats in their representation of the project. To address these issues, this research proposes a framework based on the integration of new tracking technologies used in Automated Machine Guidance (AMG) with simulation- driven 4D modeling methods. The proposed framework automates the adjustment of the simulation model based on the updated data from the site, and thus transforms simulation from a predictive tool used at the planning phase to a proactive monitoring platform usable throughout the planning and construction phases. A prototype is developed to test and demonstrate the effectiveness of the proposed approach. Voigt, J. (2013), Proper use of stringless slipform paving technology, edited. Welcome to this Training Module on Proper Use of Stringless slipform paving technology. My name is Jerry Voigt, and I am the President and CEO of the American Concrete Pavement Association. We are very pleased to partner with the Federal Highway Administration to bring you this training module. Stringless paving is a rapidly advancing technology in our industry. Our goal is to provide you with both fundamental and comprehensive information to help you understand how stringless technology works and what it takes to use it properly. Vonderohe, A. (2009), Status and Plans for Implementing 3D Technologies for Design and Construction in WisDOTRep. WisDOT Project ID: 0657-45-11, Construction and Materials Support Center University of Wisconsin – Madison Department of Civil and Environmental Engineering. The original objective of this project was to assist WisDOT in preliminary stages of identifying institutional issues, relevant design and construction work processes that would be impacted, consequences, and legal issues that could arise by directly providing design 3D models to contractors for contractual purposes. After meeting this objective and conducting a stakeholder workshop to validate findings and develop recommendations, the project scope was expanded beyond 3D models and DTMs to include 3D technologies in general. Accordingly, the final objective of the project was development of a high-level implementation plan for 3D technologies and methods for design and construction. Vonderohe, A. (2009), WisDOT Implementation Plan: 3D Technologies for Design and ConstructionRep. CMSC: MC 08- 09 – WO 2.6, Construction and Materials Support Center University of Wisconsin – Madison Department of Civil and Environmental Engineering. This plan addresses a management strategy and six initiatives for moving towards realization of the vision statement. Components of the initiatives are either underway within WisDOT or proposed herein and relate directly to three-dimensional technologies and methods. The objectives of the plan are to establish or reiterate justifications for the initiatives, identify relationships among them, coordinate among the initiatives where appropriate, recommend actions that will help realize synergistic benefits, assign priorities, establish or reiterate milestones and timelines, and identify responsible parties. Wang, X., M. J. Kim, P. E. D. Love and S.-C. Kang (2013), Augmented Reality in built environment: Classification and implications for future research*, Automation in Construction, 32(0), 1-13, doi:http://dx.doi.org/10.1016/j.autcon.2012.11.021. Augmented Reality (AR) has the potential to change how people interact and experience their surrounding environment. During the last decade a considerable amount of research has been undertaken within the built environment. With this in mind, this paper aims to provide a state-of-

B-31 the-art review of mainstream studies undertaken between 2005 and 2011 within the normative literature. We found that a total of 120 articles were published in the normative built environment literature within this period. Articles were classified according to their concept and theory, implementation, evaluation (effectiveness and usability) and industrial adoption. The classification of the literature has enabled gaps in the AR literature to be identified and future research directions to be proposed. Zhang, C., A. Hammad and H. Bahnassi (2009), Collaborative Multi-Agent Systems for Construction Equipment Based on Real-Time Field Data Capturing, Journal of Information Technology in Construction, 14, 204-228. This paper proposes collaborative multi-agent systems for real-time monitoring and planning on construction sites. A multi-agent system framework is discussed to support construction equipment operators by using agents, wireless communication, and field data capturing technologies. Data collected from sensors attached to the equipment, in addition to an up-to-date 3D model of the construction site, are processed by the multi-agent system to detect any possible collisions or other conflicts related to the operations of the equipments, and to generate a new plan in real time. The potential advantages of the proposed approach are: more awareness of dynamic construction site conditions, a safer and more efficient work site, and a more reliable decision support based on good communications. Mechanistic Analysis Desai, A. K. (2013), 3D FE Analysis of an Embankment Construction on GRSC and Proposal of a Design Method, ISRN Civil Engineering, 2013. Stone column is often employed for strengthening of an embankment seated on deep soft clay. But in very soft clay having undrained shear strength less than or equal to 15 kPa, stone column may not derive adequate load carrying capacity and undergo large lateral deformation due to inadequate lateral confinement. In such circumstances, reinforcement to individual stone column by geosynthetics enhances load carrying capacity and reduces lateral deformation. This paper addresses parametric study on behaviour of embankment resting on Geosynthetic Reinforced Stone Column (GRSC) considering parameters such as stone column spacing to diameter ratio, deformation modulus of stone column material, geosynthetic stiffness, thickness of soft clay, and height of embankment by 3D numerical analysis. Finally, equation for Settlement Improvement Factor (SIF), defined as ratio between settlement of embankment without treatment and with geosynthetic reinforced stone column, is proposed that correlates with the major influence parameters such as stone column spacing to diameter ratio, deformation modulus of soft clay, and geosynthetic stiffness. Transportation, M. D. o. "CADD Support and Resources." Retrieved 25/10, 2013, from http://www.dot.state.mn.us/caes/. CONSTRUCTION Earthworks (e.g., excavation, placement) "AGPS Inc.- Advanced Geo Positioning Solutions Inc.". from http://www.agpsinc.com/

B-32 "Operating Engineers and Other Construction Equipment Operators Career Profile, Video, Earnings, Education, Prospects - Careers.org." from http://occupations.careers.org/47-2073.00/operating-engineers- and-other-construction-equipment-operators. (2005), "The Integrated Construction Site." Retrieved 8/5, from http://jjhannon.com/NCHRP/const_bulletin_ic_site_08_05.pdf. (2008), 'MovingDirt's Machine Control Update, in Kerville's MovingDirt Magazine, edited. Transfer of Data Files to and from Machines at Work is Integral to Trimble’s successful Involvement in a Major WA Road Project (2008), Perfect trim with Millimeter GPSTM on 20-year-old grader, in Topcon, edited. (2013), "2013 Construction Industry Conference." 2013 Construction Industry Conference. from https://www.agcnys.org/files/Const_Industry_Conference/2013_industry_confONLINE.pdf. The Future Construction Leaders of New York State (FCLNYS) program teaches participants the issues involved in managing a construction business in New York State. Attendees will learn, in a structured environment, what they might otherwise spend years learning from personal experience. From 1998 to 2013, AGC has graduated more than 250 professionals from the Future Construction Leaders program. Both participants and their executive leaders rate the program as a huge success. This session is the first of four meetings that comprise this program. (AGC), A. G. C. "Construction Magazine." Retrieved 25/10, 2013, from http://www.constructormagazine.com/. IAARC (2013). "International Association for Automation and Robotics in Construction (IAARC)." Retrieved 25/10, 2013, from http://www.iaarc.org/index.html. Aðalsteinsson, D. H. (2008), GPS Machine Guidance in Construction Equipment, Háskólinn Í Reykjavík. The aim of this project is to compare the performance of a excavator with GPS guidance system on the one hand and on the other hand a excavator in same type of work, which was done the traditional way and with surveying. A predetermined construction job was performed. i.e. the digging of trench in two different ways. On one hand a surveyor performed the surveying needed before the job was performed, and while it was done, and the excavator was working according to those measurements and stakes. On the other hand the same job was performed by a excavator which was equipped with GPS machine guidance and no surveying performed by surveyors, but the job was preformed according to a model of the project, which was loaded into the machine equipment. Both jobs were monitored with precise measuring equipment. The outcome was measurable realistic comparison of two work procedures on comparable work, regarding time, material and productivity. The outcome should tell contractors whether GPS machine guidance is optimal and leading to increased profitability. Alliance, S. G. (2008), New Perth Binbury Highway: Project Facts 02, in Southern Gateway Alliance, edited. SGA was formed to design, construct and deliver the New Perth Bunbury Highway (NPBH)

B-33 Alsobrooks, B. Introduction of 3D Technology & Machine Control Systems, edited. De-mystify 3D Machine Control, Highlight areas where 3D Machine Control is used and how these projects benefited, How to analyze which tool will help you meet or exceed project specifications, A look at some new, high tech grade control tools that are changing the way grading is being done. Key Points for successful 3D operations, Trouble shooting techniques that apply to all 3D systems Beetz, A. and V. Schwieger (2008), Integration of Controllers for Filter Algorithms for Construction Machine Guidance, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. In the past years the Institute for Applications of Geodesy to Engineering has developed a hardwarein- the-loop simulator for guiding and controlling of construction machines. This simulator consists of a tachymeter (Leica© TCRP 1201) for measurement of positions, a model truck (scale 1:14) as construction machine, a remote control connected to a PC over digital analogue converter and LabVIEW© as application development system. In the meantime it is possible to test different controllers in real time together with a Kalman Filter which is used to reduce noise of measurement data. The controllers can be changed any time during the drive. The same is valid for the activation of the Kalman filter. To compare quality of the controllers (P, PI, PID, 3-Point-Controller) the root mean square (RMS) was calculated using the lateral deviation. The RMS reached values between 2-3 mm. Cho, A. and staff (2009), Building Information Modeling Boosters Are Crossing That Bridge, 2. Cho, Y.-K., C. T. Haas, K. Liapi and S. Sreenivasan (2002), A framework for rapid local area modeling for construction automation, Automation in Construction, 11(6), 629-641. Rapid 3D positioning and modeling in construction can be used to more effectively plan, visualize, and communicate operations before execution. It can also help to optimize equipment operations, significantly improve safety, and enhance a remote operator's spatial perception of the workspace. A new framework for rapid local area sensing and 3D modeling for better planning and control of construction equipment operation is described and demonstrated. By combining human-assisted graphical workspace modeling with pre-stored Computer-Aided Design (CAD) models and simple sensors (such as single-axis laser rangefinders and remote video cameras), modeling time can be significantly reduced while potentially increasing modeling accuracy. Clarke-Hackston, N., J. Belz and A. Henneker (2008), Guidance for Partial Face Excavation Machines, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. For the construction of tunnels and other underground structures, extraction of the exact amount of material is of paramount importance both economically and for engineering purposes. In the Sequential Support Method (NATM) immediate (sequential) and smooth support by means of shotcrete, steel arches, lattice girders and rockbolts, either singly or in combination are used; cutting of the precise profile (albeit sometimes of complex geometry) is an integral part of the method. In order to save unnecessary excavation and provide better information to the machine operator, VMT GmbH has developed a system to support precise excavation of the tunnel profile when using roadheaders or other partial face cutting machines. This paper outlines the principles of this system with examples from Australia, Germany, Sweden and Spain and will cite examples of typical savings achieved.

B-34 Clarke-Hackston, N., M. Messing and E. Ullrich (2008), Geodetic Instrumentation for Use on Machine Bored Tunnels, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. As advance rates of TBM bored tunnels increase, it is essential that all aspects of the control of the machine and the tunnel support are able to operate at the desired rate. This paper describes the innovative ways that the basic guidance system has been adapted to cater for the TBM’s that are currently in use used on the Gotthard tunnel where the traditional line of sight throughout the backup gear is continuously obstructed due to the use of a sprayed concrete support facility to the use. The guidance system utilizes features from the well proven system for distance and curved pipejacking applications where the main reference is attached to the moving pipe (tunnel lining). Accurate steering of the tunnelling machine is essential if the segmental lining is to be efficiently installed. The use of ring sequencing software for the determination of the ring type and rotation, significantly aids the rapid placement of the most appropriate ring, which in turn can be monitored for any immediate convergence with the innovative chained inclinometer convergence measurement system. All of this information together with the surface mapping, geotechnical, and surface monitoring data bases can be fully integrated with the monitoring of the machines operating parameters in the Controlled Boring Process software integration package to give the machine operator a complete graphical display of all that is happening around him, to ensure optimum control and speed of safe advance. Contreras, M., P. Aracena and W. Chung (2012), Improving Accuracy in Earthwork Volume Estimation for Proposed Forest Roads Using a High-Resolution Digital Elevation Model, Croatian Journal of Forest Engineering, 33(1), 125-142. Earthwork usually represents the largest cost component in the construction of low-volume forest roads. Accurate estimates of earthwork volume are essential to forecast construction costs and improve the financial control of road construction operations. Traditionally, earthwork volumes are estimated using methods that consider ground data obtained from survey stations along road grade lines. However, these methods may not provide accurate estimates when terrain variations between survey stations are ignored. In this study, we developed a computerized model to accurately estimate earthwork volumes for the proposed forest roads by using a high-resolution digital elevation model (DEM). We applied our model to three hypothetical forest road layouts with different ground slopes and terrain ruggedness conditions. We examined the effects of various cross-section spacings on the accuracy of earthwork volume estimation assuming that 1- meter spacing provides the »true« earthwork volume. We also compared our model results with those obtained from the traditional end-area method. The results indicate that as cross-section spacing increases the accuracy of earthwork volume estimation decreases due to lack of the ability to capture terrain variations. We quantified earthwork differences, which increased with terrain ruggedness ranging from 2 to 21%. As expected, short cross-section spacing should be applied to improve accuracy in earthwork volume estimation when roads are planned and located on hilly and rugged terrain. Engineers, W. P. O. "Joint Apprentinceship Training Program." Retrieved 25/10, 2013, from http://www.wpaoperators.org/index.cfm. Foreman, C. (2005), "Grading is made easier with GPS " Construction Week. Retrieved Saturday, 28 May 2005 4:00 AM, 2013, from http://www.arabianbusiness.com/grading-is-made-easier-with-gps- 205407.html.

B-35 Geosystems, L. (2004), Laing Contractors invest in Gradestar GradeStar 1pp., Leica Geosystems, Machine Automation. machine control from Leica Geosystems to deliver engineering value and provide greater job site accuracy. The GradeStar machine control system, based on the robotic TPS1100 Total Stations series, was installed on a Cat 12G grader over an existing Sonicmaster system. This 3D machine control system enables grader operators to complete grading work in a shorter amount of time, more efficiently and with greater accuracy. Grandia, C. (2006), GPSing Saves Second Guessing, in Midwest Contractor, edited, pp. 6-8. This article discuesses Steger Construction, a contractor that lists the benefits of GPS Technology in their company. Ha, Q., M. Santos, Q. Nguyen, D. Rye and H. Durrant-Whyte (2002), Robotic excavation in construction automation, Robotics & Automation Magazine, IEEE, 9(1), 20-28. This article presents some results of the autonomous excavation project conducted at the Australian Centre for Field Robotics (ACFR) with a focus on construction automation. The application of robotic technology and computer control is one key to construction industry automation. Excavation automation is a multidisciplinary task, encompassing a broad area of research and development. The ultimate goal of the ACFR excavation project is to demonstrate fully autonomous execution of excavation tasks in common construction, such as loading a truck or digging a trench. A number of difficult theoretical and practical problems must be solved to achieve this objective. The problems fall into three main groups: excavation planning, sensing and estimation, and control Kaufmann, K. and R. Anderegg (2008), 3D-Construction Applications III GPS-based Compaction Technology, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. GPS based compaction with vibratory rollers is finding its way onto building sites all over the world. Thanks to its ability to visualise the compaction process, what started out as an idea for providing users with an improved means of area-wide dynamic compaction monitoring has rapidly developed into a straightforward and effective method of process control. GPS based compaction links machine kinematics with job-integrated process measurement and control technology in the vibratory roller, thus establishing overall process control and monitoring Kebede, T. T. (2008), Development and Implementation of Filter Algorithms and Controllers to a Construction Machine Simulator, Royal Institute of Technology. Different geodetic techniques can be integrated in construction processes to have effective, time saving and cost minimizing construction through geometric control and guidance of the construction machines on the designed alignment. This can be achieved by integrating a tachymeter as kinematic positioning sensor. The institute of application of geodesy to engineering (IAGB) of University of Stuttgart has developed a modular position guidance toolbox (a construction machine simulator) that comprises a model truck of scale 1:14, of Leica TPS1201 tachymeter, remote controller and a computer. Tachymeters can work as kinematic measuring devices by integrating them to a construction process, in real time, using automatic closed-loop control systems with feedbacks. The geometric deviation between the measured and given trajectories can be minimized to some optimized limit using different types of controllers. With P-I-D controllers a better accuracy can be achieved, and with integration of Kalman filter to the control system the controller quality can be improved. It is also possible to account for the

B-36 dynamic effect on the model truck at higher velocities; however, the accuracy is very small due to some practical working limitations of tachymeter (such as low scanning rate and dead time) as kinematic position sensor at higher velocities. KOMATSU (2008), "KOMATSU’S NEW PAT BLADE DOZER IS MACHINE CONTROL-READY." Retrieved 19/09/2008, 2013, from http://www.komatsu.com.au/AboutKomatsu/NewsAndPublications/News/Pages/KOMATSU%E2%80%9 9S-NEW-PAT-BLADE-DOZER-IS-MACHINE-CONTROL-READY.aspx. Maeda, J. (2005), Current research and development and approach to future automated construction in Japan, paper presented at Construction Research Congress. Automated construction technologies have been developed and introduced in the Japanese construction industries since the 1980s. However, the construction industry remains a craft- oriented and labor-intensive industry with minimal automation of tasks. Automation of construction processes has potential significant effects on construction of buildings. This paper describes the history of research and development of automation technology in Japan and the advantages to using construction robots and automated building construction system at the field level, and examines possible application and requirements in future construction operations. In addition, current research and development of robotics technology is introduced with concrete examples. Mahbub, R. (2008), An Investigation into the Barriers to the Implementation of Automation and Robotics Technologies in the Construction Industry, Queensland University of Technology. The rising problems associated with construction such as decreasing quality and productivity, labour shortages, occupational saftey, and inferior working conditions have opend the possibility of more revolutionary solutions within the industry. One prospective option is in the implementation of innovative technologies such as sutomation and robotics, which has the potential to improve the industry in terms of productivity, safety and quality. The construction work site coud, theoretically, be contained in a safer environment, with more efficient execution of the work, greater consistency of the outcome and higher level of control over the production process. by identifying the barriers to construction automation and robotics implementation in construction, and investigating ways in which to overcome them, contributions could be made in terms of better understanding and facilitating, where releven, greater use of these technologie in the construction industry so as to promote its efficiency. This research aims to ascertain and explain the barriers to construction automation and robotics implementation by exploring and establishing the relationship between characteristics of the construction industry and attributes of existing construction automation and robotics technologies to level of usage and implementation in three selected countries; Japan, Australia and Malaysia. These three countries were chosen as their construction industry characteristics provide contrast in terms of culture, gross domestic product, technology application, organisational structure and labour policies. This research uses a mixed method approach of gathering data, both quantitative and qualitative, by emplying a questiannaire survey and an interview schedule; using a wide range of sample from management through to on-site users, working in a range of small (less than AUD0.2 million) to large companies (more than AUD500million), and involved in a broad range of business types and construction sectors. Detailed quantitative (statistical) and qualitative (content) data analysis is performed to provide a set of descriptions, relationships, and differences. The statistical tests selected for use include cross-tabulations, bivariate and multivariate analysis for investigating possible relationships between variable; and Kruskal-Wallis and Man Whitney U test of independent samples for hypothesis testing and inferring the research sample to the constrution

B-37 industy population. Findings and conclusions arising from the research work which include the ranking schemes produced for four key ares of, the construction attributes on level of usage; barrier variables; differing levels of usage between countries; and future trends, have established a number of potential areas that could impact the level of implementation both globally and for individual countries. Mattivi, N. (2008), Trimble offers the Connected Construction Site Connecting Office, People and Machines: The New Way to Increase Productivity on Earthmoving and Road Construction Sites, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Few will argue that construction is an industry of close tolerances, where precision and accuracy can make or break a contractor’s bottom line. At the same time, the pressures of a compressed schedule and tighter budget means jobs must be completed faster and cheaper, while improving profitability. To ensure a smooth completion, all parts of a job need to be integrated – from design to project completion to confirmation. To achieve this, contractors are increasingly relying on cutting-edge technology at each phase of the construction process. Trimble offers a broad range of solutions including conventional and 3D grade control systems, site positioning systems as well as construction fleet and equipment management solutions. As part of the Trimble Connected Site strategy, these solutions provide a high-level of process and workflow integration from the design phase through to the finished project—delivering significant improvements in productivity throughout the construction lifecycle. Grade control solutions extend from basic systems that rely on string lines and lasers to highly precise three-dimensional solutions. Most of the systems are added to construction equipment as an aftermarket add-on, although some manufacturers, like Caterpillar, are now offering integrated systems at the time of manufacture. McAninch (2007), Construction Heavy and Highway Services, edited, McAninch. Memon, Z. A., M. Z. Abd and M. Mustaffar (2006), The Use of Photogrammetry Techniques to Evaluate the Construction Project Progress, Journal Teknology. The modeling of 3D objects from image sequence is a challenging problem and has been an important research topic in the areas of photogrammetry and computer vision for many years. Photogrammetry is the science of calculating 3D object co-ordinates from image and provides a flexible and robust approach for measuring the static and dynamic characteristics for construction management. This paper discusses the experience in Construction Technology and Management Centre (CTMC), Universiti Teknologi Malaysia (UTM) in adapting photogrammetry methods for specific problems in the construction industry and outlines the principles of close-range photogrammetry in evaluating the progress of construction projects. There is a need to use the principles of close-range photogrammetry to evaluate the progress of construction project and to develop the actual progress bar chart. The fundamental task of photogrammetry is to rigorouslyestablish the geometric relationship between the image and the object, as it existed at the time ofimaging event. One such software application is PhotoModeler Pro version from the Canadian company Eos System has been suggested to extract the 3D features from 2D images. The approach described in this paper demonstrates the use of digital photogrammetry as a complementary method, which describes the 3D features extraction procedure in detail and highlights the qualitative control that can be achieved during the construction. The technique uses mainly off-the-shelf digitalcamera and software technologies that are affordable to most organisations and able to provide acceptable accuracy. Moon, H. S., H. S. Kim, L. S. Kang and C. H. Kim (2012), BIM functions for optimized construction management in civil engineering, Gerontechnology, 11(2), 67.

B-38 Purpose: The aim of this study is to suggest configuration methodologies of active building information model (BIM) functions that enable to practically control limitations by optimizing schedule overlapping linked to its space models after analyzing workspace conflict analysis for a bridge model. This study also suggests development methodologies of active BIM-functions, linking an optimized method and improved strategies of future BIM-operation model through an analysis of limitations of a passive BIM-operation system for architectural projects. Method: The existing BIM-system manually performed a simplified comparison review of 3D- shapes and its virtual reality (VR) analysis with visual manipulation of 3D-models in a virtual environment. Such BIM functions require a separate analysis process to organize BIM-output data as reprocessed business data. This has many limitations when directly utilizing the visual information produced by commercial BIM-systems as practical operation data. Accordingly, this study develops functions of an active BIM-system so that the managers can directly analyze practical requirements by integrating an optimized analysis algorithm with the BIM-system to improve the passive BIM operation environments. As a method of configuring the active BIM- functions, an optimized algorithm for establishing resolution strategies for workspace conflicts is constructed. As functions for supporting active BIM-operations, this study utilizes fuzzy and genetic algorithm (GA) approaches. These approaches will be used to develop visualized risk assessment model and workspace conflict optimization model based on active BIM. Results & Discussion: By enhancing fragmentary analysis functions of simplified 3D-models with the development of an active BIM-system, the BIM-system can utilize output information derived from a process of analysis, evaluation and control of the BIM-models as a practical operation information model for both design and construction phase. Therefore, it is expected that an active BIM can simplify data analysis and the system operation process for managers with virtual object models and expand the active BIM-system to the life cycle of civil engineering projects. Noland, R. (2012), BNI Coal Invests in Positioning Technology, edited. BNI Coal discusses their investment in 3D machine control and fleet management and how they have applied the technology thus far. This investment has increased productivity while reducing their carbon footprint. Coal provides the world with over 40% of its electricity meeting affordable energy needs while harmonizing with the environment. Noland, R. (2013), Dredging in Zeebrugge - Carlson Machine Control DredgeRover™ Application Video, edited, YouTube. Peter DeMoor of Dredging International/DEME, discusses their "best of breed" approach for their positioning systems for over 50 of their machines. DredgeRover™ is flexible and can be configured for an array of excavators and cable cranes. For more information, please visit www.carlsonmachinecontrol.com or email machine control@carlson.com. More links in the video for Septentrio and MGB Tech. Noland, R. (2013), Position Partners Mining Machine Control & Mine Site Solutions, edited, YouTube. In this 10 minute interview, we sit down with Garry MacPhail, cofounder & director at Australia's Position Partners, to discuss their new initiatives for mining machine control, fleet management, material management and most importantly training and service. Position Partners exclusively offers Carlson Machine Control for mine site management and 3D machine control for dozers, diggers, haul trucks, bucket wheel excavators, draglines, surface miners and a much more. Other applications served with Carlson Machine Control include solid waste landfills, dredging, 3D drilling and solar panel pile driving. Enjoy the video and contact www.positionpartners.com.au for more information.

B-39 Pilcher, G. (2009), AFB80 Session 404: Contractor Best Practices, in 2009 TRB 88th Annual Meeting, edited, Washington, D.C. PROLEC "Prolec - safety systems and productivity solutions for construction and demolition plant." Retrieved 10/29, 2013, from http://www.prolec.co.uk/pdf/Pro%20Grade%20Excavators%20UK.pdf. Rader, E. (2008), GPS-based 3D-Monitoring in Surface Mining, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. RMR has developed a software called GeoCAD-OP for GPS-based machine guidance for wheelexcavators, spreaders and compactors. The 3D-real-time animated software is always divided in a machine and an office application, latter can be used as a control station for any kind of machine. Roberts, G. W. and A. H. Dodson (2002), Construction Plant Control Using RTK GPS, 2002/04/19/26. The use of GPS for construction plant control and guidance is a hot topic in the world of geomatics. Research has been underway for many years into this area, mainly based on using such RTK GPS systems on bulldozers. GPS allows real time centimetre positioning that allows the bulldozer’s driver to operate the machinery in a semi-autonomous manner. Research has been underway at the University of Nottingham for a number of years, investigating the use of GPS for such an application. The research focuses on using RTK GPS for both bulldozer and excavator control. The following paper details the work conducted at Nottingham, using a Trimble SiteVision system. The work conducted focuses on both controlled trials as well as field trials. An extensive series of real life trials have been conducted, whereby a bulldozer, using the system, was used to re-shape a 100m x 50m piece of ground. The work involved, as well as the results are detailed in the paper. Rybka, R. (2005), Weather Challenges Mathiowetz On Highway 14, in Construction Bulletin, edited. "Since we started this spring, we've never worked more than three consecutive days without getting rained out. We did have one nine-day dry stretch right after the first of July." Brian Mathiowetz was clearly frustrated. To emphasize his point, he counted out four more days on his fingers: "Then last Sunday it rained, last Tuesday it rained, last Thursday it rained — and this week it rained again on Monday. That's what our last 10 days have been like — disaster." Schneider, C. (2013), 3D, 4D, and 5D ENGINEERED MODELS FOR CONSTRUCTION. This Technical Brief provides an overview of 3D modeling, including technology applications during design and construction, benefits to stakeholders, resource requirements, current state-of- the practice, and advanced applications such as adding 4D and 5D components. Schreiber, F., P. Rausch and M. Diegelmann (2008), Use of a Machine Control & Guidance System, Determination of Excavator Performance, Cost Calculation and Protection Against Damaging of Pipes and Cables, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. The construction industry is confronted with permanent pressure regarding costs due to: • increasing expenses, especially those affecting labor and energy; • shortened schedules for completion of projects; • a highly complex legal system with a growing number of official laws and standards. Possible solutions include efforts to make engineering construction more efficient – i.e. by the introduction of industrial production methods to building practices. It is intended to

B-40 achieve further improvements of performance. Attention is focused on the earthmoving and road construction areas. The adoption of GPS-referenced machine guidance systems based on a digital terrain model (DTM) can significantly contribute to cost reduction. Much progress has been achieved in these areas in the recent years: the introduction of laser-referenced 1-D machine guidance systems, as well as 3-D machine guidance, tachymetrically referenced and GNSS-based guidance systems for graders, bulldozers and excavators. A DTM-based machine guidance system for excavators using GPS positioning has been developed at the University of Applied Sciences, Coburg, Department of Civil Engineering. Siebert, S. and J. Teizer (2014), Mobile 3D mapping for surveying earthwork projects using an Unmanned Aerial Vehicle (UAV) system, Automation in Construction, 41, 1-14. Unmanned Aerial Vehicle (UAV) systems as a data acquisition platform and as a measurement instrument are becoming attractive for many surveying applications in civil engineering. Their performance, however, is not well understood for these particular tasks. The scope of the presented work is the performance evaluation of a UAV system that was built to rapidly and autonomously acquire mobile three-dimensional (3D) mapping data. Details to the components of the UAV system (hardware and control software) are explained. A novel program for photogrammetric flight planning and its execution for the generation of 3D point clouds from digital mobile images is explained. A performance model for estimating the position error was developed and tested in several realistic construction environments. Test results are presented as they relate to large excavation and earth moving construction sites. The experiences with the developed UAV system are useful to researchers or practitioners in need for successfully adapting UAV technology for their application(s). Singh, S. (1997), State of the art in automation of earthmoving, Journal of Aerospace Engineering, 10(4), 179-188. A recent trend towards greater automation of earthmoving machines, such as backhoes, loaders, and dozers, reflects a larger movement in the construction industry to improve productivity, efficiency, and safety. This paper reviews related work in various disciplines drawn upon by researchers—soil mechanics, computer graphics, kinematic and dynamical modeling, optimization, control, and decision theory. A taxonomy is suggested into which various automated systems reported in the literature, can be classified. Song, L. and N. N. Eldin (2012), Adaptive real-time tracking and simulation of heavy construction operations for look-ahead scheduling, Automation in Construction, 27, 32-39. This paper proposes an adaptive real-time tracking and simulation of heavy construction operations for look-ahead scheduling during construction field operations. In this method, construction operation data are constantly captured using tracking sensors and the data is then fed into a simulation model for automatic model updating. This adaptive capability allows a pre- defined simulation model to be constantly updated to reflect the changing project environment for more accurate look-ahead scheduling. Compared with the traditional offline simulation that uses stationary inputs, the capability of the proposed real-time simulation to dynamically incorporate new project data and adapt to changes in field operations can improve the accuracy of project look-ahead scheduling. A prototype system and case studies are presented to demonstrate the feasibility of the proposed concept. Talmaki, S. A. (2012), Real-time visualization for prevention of excavation related utility strikes, The University of Michigan.

B-41 An excavator unintentionally hits a buried utility every 60 seconds in the United States, causing several fatalities and injuries, and billions of dollars in damage each year. Most of these accidents occur either because excavator operators do not know where utilities are buried, or because they cannot perceive where the utilities are relative to the digging excavator. In particular, an operator has no practical means of knowing the distance of an excavator’s digging implement (e.g. bucket) to the nearest buried obstructions until they are visually exposed, which means that the first estimate of proximity an operator receives is often after the digging implement has already struck the buried utility. The objective of this dissertation was to remedy this situation and explore new proximity monitoring methods for improving the spatial awareness and decision-making capabilities of excavator operators. The research pursued fundamental knowledge in equipment articulation monitoring, and geometric proximity interpretation, and their integration for improving spatial awareness and operator knowledge. A comprehensive computational framework was developed to monitor construction activities in real-time in a concurrent 3D virtual world. As an excavator works, a geometric representation of the real ongoing process is recreated in the virtual environment using 3D models of the excavator, buried utilities and jobsite terrain. Data from sensors installed on the excavator is used to update the position and orientation of the corresponding equipment in the virtual world. Finally, geometric proximity monitoring and collision detection computations are performed between the equipment end-effector and co- located buried utility models to provide distance and impending collision information to the operator, thereby realizing real time knowledge-based excavator operation and control. The outcome of this research has the potential to transform excavator operation from a primarily skill- based activity to a knowledge-based practice, leading to significant increases in construction productivity and safety. This is turn is expected to help realize tangible cost savings and reduction of potential hazards to citizens, improvement in competitiveness of U.S. industry, and reduction in life cycle costs of underground infrastructure. Thomas, E. Advanced Earthwork, edited, Ohio Departemnet of Transportation (ODOT). Tillman, Q. and B. Dana (2008), Can We Talk? - Getting LandXML Data Out to Construction, in Session: 77, edited, Florida Department of Transportaion. Topcon (2008), 3D-MC Automated Stakeless Grading, Rep. P/N: 7010-0893, 8 pp, Topcon. Townes, D. (2013), Automated Machine Guidance, EXECUTIVE SUMMARYRep., 6 pp, Federal Highway Administration. Automated Machine Guidance utilizes data from sources such as 3D engineered models to provide guidance to construction equipment to improve construction efficiency, lower construction costs, reduce schedules, increase quality, increase safety, and be environmentally friendly. This executive summary outlines some of the benefits of using this technology for grading, milling, paving, and other types of construction applications. NCDOT. (2007), Earthwork, North Carolina Department of Transportaion, edited, p. 12, North Carolina Department of Transportaion. Iowa DOT. (2014), Measurement and Earthwork Calculations. Minnesota DOT. (2013) "GPS Machine Control." Retrieved 25/10, 2013, from http://www.dot.state.mn.us/caes/machine.html.

B-42 Trimble (2002), BladePro 3D Automatic Grade Control SystemRep., 8 pp. Trimble (2006), GCS600 Grade Control System for Excavators, edited. Vahdatikhaki, F., A. Hammad and S. Setayeshgar (2013), Real-time simulation of earthmoving projects using automated machine guidance, paper presented at The 30th ISARC, International Association for Automation and Robotics in Construction (IAARC), Montréal, Canada. Simulation techniques have offered significant boosts toward a cost-and-time-optimized planning of construction projects by enabling project managers to effectively comprehend the behavior of projects. Using historic data from projects of like nature, simulation considers uncertainties involved in a project through accommodating the stochastic modeling parameters. However, the heavy reliance on the statistical data and not taking into account the context-specific features of the project cause the degradation in the realism and accuracy of the simulation models. Similarly, the extent to which a historic pattern could be retrofitted to new projects will decrease in line with the growing uniqueness of the projects and the novelty of construction methods. Furthermore, the existing real-time simulation frameworks are not capable of distinguishing the transient environmental changes, with minimal long-term impacts on the productivity, from the influential changes that will greatly impact an operation. In addition, existing simulation tools are devoid of location awareness, resulting in the inability to consider safety threats in their representation of the project. To address these issues, this research proposes a framework based on the integration of new tracking technologies used in Automated Machine Guidance (AMG) with simulation- driven 4D modeling methods. The proposed framework automates the adjustment of the simulation model based on the updated data from the site, and thus transforms simulation from a predictive tool used at the planning phase to a proactive monitoring platform usable throughout the planning and construction phases. A prototype is developed to test and demonstrate the effectiveness of the proposed approach. Vahdatikhaki, F., A. Hammad and S. Setayeshgar (2013), Real-time simulation of earthmoving projects using automated machine guidance, paper presented at Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC). Simulation techniques have offered significant boosts toward a cost-and-time-optimized planning of construction projects by enabling project managers to effectively comprehend the behavior of projects. Using historic data from projects of like nature, simulation considers uncertainties involved in a project through accommodating the stochastic modeling parameters. However, the heavy reliance on the statistical data and not taking into account the context-specific features of the project cause the degradation in the realism and accuracy of the simulation models. Similarly, the extent to which a historic pattern could be retrofitted to new projects will decrease in line with the growing uniqueness of the projects and the novelty of construction methods. Furthermore, the existing real-time simulation frameworks are not capable of distinguishing the transient environmental changes, with minimal long-term impacts on the productivity, from the influential changes that will greatly impact an operation. In addition, existing simulation tools are devoid of location awareness, resulting in the inability to consider safety threats in their representation of the project. To address these issues, this research proposes a framework based on the integration of new tracking technologies used in Automated Machine Guidance (AMG) with simulation- driven 4D modeling methods. The proposed framework automates the adjustment of the simulation model based on the updated data from the site, and thus transforms simulation from a predictive tool used at the planning phase to a proactive monitoring platform usable throughout

B-43 the planning and construction phases. A prototype is developed to test and demonstrate the effectiveness of the proposed approach. Vantimmere, T. (2008), Just the Trim Terms & Conditions of Use Automated Trimmer Speeds Base Construction, in Roads & Bridges, edited. Wendebaum, J., J. Fliedner, B. Marx, A. Horn Moba and A. A. G. Mobile (2008), Local Positioning Systems in Construction Basics, Limitations and Examples of Application, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. machine operator carries out machine control tasks which, on the one hand require high precision, on the other hand, however, involve frequent repetition or are highly monotone (for example when operating along a guide wire). Furthermore, often high investments referring the outline planning and the building measure itself are made without being able to implement the planning data with adequate accuracy when executing or to sufficiently document the constructional measures and a high remeasuring effort is necessary respectively. To abolish these weak points of conventional construction, the use of positioning systems that on the one hand support and relieve the operator respectively as well as on the other hand allow the documentation of the executed tasks is a precondition. In the following several positioning possibilities and applications are described in an overview. Paving (e.g., PCC, HMA, milling, etc.) Concrete Paving Equipment: For Highway and Airport Markets, edited. Guntert & Zimmerman Slipform Paving Equipment are the most trusted machines in the business. In 1956, G&Z pioneered and introduced the first concrete highway and airport slipform pavers mounted on crawler tracks with automatic line and grade control. Today, G&Z offers a wide range of concrete slipform paver models along with other ancillary equipment, such as mechanical Dowel Bar Inserters, Placer Spreaders and Texture Cure Machines to suit your present and anticipated future needs. These equipment designs are based on G&Z’s more than half a century of experience. G&Z paving equipment is built to last under the rigors of job site use, transport, and configuration changes. Unique productivity features are incorporated in their design to reduce the time required to transport, maneuver, and change paving widths without sacrificing the performance advantage you have come to expect from a G&Z. "GOMACO World 37.2 - Stringless Curb and Gutter is Here!". from http://www.gomaco.com/Resources/worldstories/world37_2/fredweber.html. "Guntert & Zimmerman: Company Profile." from http://www.guntert.com/index.htm. The webpage of Guntert & Zimmerman, a leader company in stringless paving applications. S600: Multi-Purpose Slipform Paver, edited. The G&Z S600 Slipform Paver is designed around a multipurpose tractor frame that makes it ideal for city street, secondary roads, highway and airport paving as well as a wide range of other applications such as barrier walls, off-set paving and zero or minimum clearance paving. The S600’s design has redefined what mobility means for a small paver without sacrificing the same performance advantages contractors have come to expect from G&Z’s large and mid-size paver. Utilizing G&Z’s time tested and rugged paving kit design, the S600 is capable of achieving excellent ride numbers on the toughest IRI and zero blanking band projects.

B-44 The S600 features a double telescopic tractor frame, access walkway, and hose hinge system for a nominal working range of 8’to 22’ (2.44 m to 6.71 m) the widest range in the industry. With the use of bolt in tractor frame extensions, the S600 tractor can be used to pave out to 29’-5” (9 m) without a Dowel Bar Inserter (DBI). The versatility of the S600 tractor allows the contractor to quickly switch between applications and paving widths. The tractor components including center module, bolsters, and jacking columns are designed with universal bolting patterns offering a wide range of three and four track tractor configurations with or without swing legs. The S600 is the narrowest profile machine on the market. In standard paving mode, there is less than 2’ (610 mm) from edge of pavement to widest point on the paver with sensor support arms removed. The paving kit, front tie bar inserters and many of the other optional attachments on the S600 are interchangeable with other G&Z paver models, giving the contractor a highly utilized fleet of paving equipment. S850: Mid-Size Slipform Paver, edited. Guntert & Zimmerman pioneered concrete slipform paving equipment in the mid 1950’s. Today, G&Z’s experience and passion for detail, along with the input of leading paving contractors worldwide, has resulted in a midsize slipform paver that sets the standard. Design goals achieved include: • Dramatically reduced transport and reconfiguration time. • Narrow profile design to pave in tight confines. • Use of high quality electronic and hydraulic circuitry. • Dramatically reduced heat and noise for the operator. • Exceptional maneuverability and ease of operation. • Unsurpassed structural integrity. The versatile S850 Concrete Slipform Paver is designed to be the paver of choice for all your paving needs from 12 ft. to 34 ft. (3.65 m to 10.36 m). With optional tractor frame extensions, the S850 paver is capable of paving widths up to 39.4 ft. (12 m). The S850 is agile enough for economic use on cut up urban and residential paving work without sacrificing the weight, power, and balance required to produce superior riding highway and airport concrete pavements. Investment in new paving technology has never been more compelling. Stringless Methods, edited, p. 10. Conventional concrete paving with a slipform paver requires the installation of a stringline and support posts adjacent to the roadway to establish the correct pavement alignment and profile. The stringline adds several additional feet (+/- 3 ft.) of required clearance to the paving envelope, which is already wider than the pavement due to the tracks of the slipform paver and traffic control devices. In addition, the stringline becomes an obstacle for equipment, concrete delivery trucks, and finishing crews. If equipment access across the stringline is required, the stringline must be lowered and reset, resulting in delays and introducing the potential for errors. Stringless Paving Systems: Stringless Solutions for G&Z Paving Equipment, edited. (2013), ROADWAY SURFACE 3D LASER SCANNING, edited, p. 6. One of the problems experienced with concrete overlays is to minimize quantity overruns due to the lack of survey of the existing pavement. The advent of laser scanning has opened a new avenue for mapping of pavement surfaces before overlay construction to help eliminate excessive overruns. To date pavement surface mapping has been done with conventional survey equipment such as a total station, rod and level, GPS rover unit or vertical (looking down) sonic units that double as profile measuring devices. These methods are labor intensive and often require traffic control to obtain the data. Laser scanning can offer reduction in survey cost, savings in time, and less interference to the traveling public.

B-45 (AGC), A. G. C. "Construction Magazine." Retrieved 25/10, 2013, from http://www.constructormagazine.com/. Castro-Lacouture, D., L. S. Bryson, C. Maynard, R. L. Williams Ii and B. Paul (2007), Concrete Paving Productivity Improvement using a Multi-task Autonomous Robot, Construction Automation Group, I.I.T., 2007. To improve productivity in conventional concrete construction, autonomous robots that perform specific tasks are being developed. Single-task robots are capable of enhancing specific functions, though their impact on the overall productivity remains unclear. A robot that incorporates eash task-specific piece of machinery used in the concrete paving process into one fully autonomous unit is evaluated. Assessing potential productivity from the use of a fully automated process is a required step for developing a full scale-system. With the purpose of identifying productivity benefits in an automated concrete paving operation, two concrete paving processes will be compared using simulation tools. One process is the conventional operation using intensive labour, slip form paving machine and auxiliary equipment. The other process is the automated operation using a fully autonomous robot. Applications of this assessment methodology based in simulation will allow for the determination of productivity indicators of automated operations in hazardous environments, using the respective results to complement protypical tests. Ctc, L. L. C. W. R. Associates and S. Communication (2006), GPS in Construction Staking, Rep., Universtiy of Wisconsin-Madison. The Construction and Materials Support Center at the University of Wisconsin–Madison requested a synthesis of current practices in the use of Global Positioning System technologies in highway construction, with a focus on contemporary uses of GPS in surveying and staking of projects and the use of GPS for control of grading and paving equipment. Dorée, A. and S. Miller (2008), Is Technology a Newchallenge for the Field of Construction management?, University of Twente, 2008. The central theme in Construction Management (CM) and CM research is improving the performance of construction industry. Much effort and thought is given to improving project performance. Within CM there is a natural inclination to focus on projects and project management (PM). Companies in the construction industry also see project management as their key competence. Both have little appreciation for technologies other than those that support project management tasks. Technology – other than Eisenhour, J. (2010), Iowa Shows Its Stuff and Goes Stringless, edited, Guntert & Zimmerman. A presentation introducing the concepts of stringless paving, and Iowa DOT experience with this technology in their projects Engineers, W. P. O. "Joint Apprentinceship Training Program." Retrieved 25/10, 2013, from http://www.wpaoperators.org/index.cfm. Gräfe, G. (2008), Kinematic 3D Laser Scanning for Road or Railway Construction Surveys, paper presented at 1st International Conference on Machine Control & Guidance 2008. Kinematic laser-scanning has been a key application for the Mobile Road Mapping System (MoSES) since a couple of years. The development of kinematic survey methods has reached a level, that allows the use of kinematic survey technology for high precision applications.

B-46 Replacing static tachymetric surveys on the road itself, kinematic methods are more and more applied for construction projects. The technology is used for rapid airfield monitoring as well as an increasing number of highway construction projects or high-precision railway tunnel surveys. The resulting data is acquired and generated with static survey accuracy, but much faster and with much higher resolution - if needed. The results represent the basic survey information for planning tasks or high precision machine guidance. Within the last months, the next development steps have been taken with the aim to join static and kinematic scanner technology. High precision static 3D laser scanners, which are capable of performing profiling measurement modes, can now be used with the MoSES system. A special mounting and rapid-calibration procedure is required to enable the use of e.g. Zoller&Fröhlich or FARO 3D laser scanners for kinematic high precision applications. Pilot projects to demonstrate the capabilities of this new 3D laser scanner survey method have been high-speed surveys of automobile industry test sites or subway tunnel surveys. The new developments were completed by adding infrared photogrammetric camera technology to the MOSES system, which enables full night vision survey capacity, which is of high interest for tunnel or airfield monitoring applications. Harrington, D. (2010), CP Road MAP Brief 5-1: Stringless Concrete Paving, edited, p. 3, CP Road MAP. Conventional concrete paving with a slipform paver requires the installation of a stringline and support posts adjacent to the roadway to establish the correct pavement alignment and profile. The stringline adds several additional feet (6 ft. +/-) of required clearance to the paving envelope, which is already wider than the pavement due to the tracks of the slipform paver. In addition, the stringline becomes an obstacle for equipment, concrete delivery trucks, and finishing crews. If equipment access across the stringline is required, the stringline must be lowered and reset, result ing in delays and introducing the potential for errors. Stringless paving is a technology that eliminates the installation and maintenance of stringlines and has the potential to decrease the need for surveying and increase the smoothness of the pavement profile. The benefits that can result from stringless paving include increased production, decreased construction time, and reduced potential for errors. Several companies have developed stringless equipment control and guidance systems using technologies such as global positioning systems (GPS), robotic total stations, and laser positioning. Stringless technology replaces the traditional stringlines with an electronic tracking process that controls the horizontal and vertical operation of the slipform paver. The construction industry has been using stringless technology for elevation and steering control of equipment for a number of years. To date, the extensive use of this technology has been applied to grading operations. However, stringless paving is an emerging technology for concrete paving because has the potential to allow contractors and owner/agencies to receive production benefits (e.g., reduced survey costs, fewer construction hours) while still meeting smoothness requirements. Although stringless paving has not been used extensively, several projects have been completed in the United States in the past few years. The techniques and equipment used vary according to each project, but the general concepts and methods are the same. The stringless paving methods described on the following 2 pages are specific to a research project (TR-600) conducted in Iowa in 2009. The final page of this docu ment contains additional information about stringless paving research projects in Iowa. Harrington, D. (2013), Actual Stringless PCC Paving Using 3D Model, edited. This presentation provides a schematic description of the 3D Model for the Stingless PCC Paving process Harrington, D. S. (2010 ), Stringless Paving Applications, edited, TTCC/National Concrete Pavement Technology Sacramento, California.

B-47 A presentation introducing some of the concepts of stringless paving technologies. Kaufmann, K. and R. Anderegg (2008), 3D-Construction Applications III GPS-based Compaction Technology, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. GPS based compaction with vibratory rollers is finding its way onto building sites all over the world. Thanks to its ability to visualise the compaction process, what started out as an idea for providing users with an improved means of area-wide dynamic compaction monitoring has rapidly developed into a straightforward and effective method of process control. GPS based compaction links machine kinematics with job-integrated process measurement and control technology in the vibratory roller, thus establishing overall process control and monitoring Kerville, P. A World’s First— the stringless automation of CMI concrete pavers, in Kerville's MovingDirt Magazine, edited, pp. 20-22. One of the most impressive and interesting achievements on the Westlink M7 project, claiming a number of world’s firsts, was the conversion of two of Abigroup’s CMI 4500 and 6500 concrete pavers from string line to automatic total station control. Kuhlmann, H. and H. Heister (2006), Steering Problems and Solutions During Construction of Roads, Geodetic Institute, University of Bonn, Germany, 2006/05/22/24. This paper deals with some problems and their solution which have occurred in automated steering of construction machines during road construction. Position and orientation of the construction machine are determined by sensors and will be instantaneously compared with reference data of the road planning. Hydraulic cylinders of the machine will then be addressed in a way that the geometry determining part of the machine, as e.g. the blade of a grader, can establish the reference geometry of the layer to be incorporated. For this measuring and controlling procedure different sensors are being used which are located in many different places of the machine. It all happens while the machine is moving so that problems with the temporal synchronization of the sensors and the machine inertia must also be considered. Leja, M. and R. Buckley (2004), Cross-Section Preparation and Delivery Memorandum, edited, California Department of Transportation. Li, L. Field Evaluation of Stringless Portland Cement Concrete Paving, Rep., Iowa State University, Department of Civil, Construction and Environmental Engineering Ames, IA. This paper describes results from a study evaluating stringless paving using a combination of global positioning and laser technologies. A concrete paver manufacturer and a machine guidance solution provider developed this technology and successfully implemented it on construction earthmoving and grading projects. Concrete paving is a new area for considering this technology. A concrete paving contractor in Iowa agreed to test the stringless paving technology on two challenging concrete paving projects located in Washington County, Iowa during the summer of 2003. The research team from Iowa State University monitored the guidance and elevation conformance to the original design. They employed a combination of physical depth checks, surface location and elevation surveys, concrete yield checks, and physical survey of the control stakes and string line elevations. A final check on profile of the pavement surface was accomplished by the use of the Iowa Department of Transportation Light Weight Surface Analyzer (LISA). Due to the speed of paving and the rapid changes in terrain, the laser technology was abandoned for this project. Total control of the guidance and elevation controls

B-48 on the slip-form paver were moved from string line to a global positioning system (GPS). Results indicate that GPS control is a feasible approach to controlling a concrete paver. Further enhancements are needed in the physical features of the slip-form paver hydraulic system controls and in the computer program for controlling elevation. Mattivi, N. (2008), Trimble offers the Connected Construction Site Connecting Office, People and Machines: The New Way to Increase Productivity on Earthmoving and Road Construction Sites, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Few will argue that construction is an industry of close tolerances, where precision and accuracy can make or break a contractor’s bottom line. At the same time, the pressures of a compressed schedule and tighter budget means jobs must be completed faster and cheaper, while improving profitability. To ensure a smooth completion, all parts of a job need to be integrated – from design to project completion to confirmation. To achieve this, contractors are increasingly relying on cutting-edge technology at each phase of the construction process. Trimble offers a broad range of solutions including conventional and 3D grade control systems, site positioning systems as well as construction fleet and equipment management solutions. As part of the Trimble Connected Site strategy, these solutions provide a high-level of process and workflow integration from the design phase through to the finished project—delivering significant improvements in productivity throughout the construction lifecycle. Grade control solutions extend from basic systems that rely on string lines and lasers to highly precise three-dimensional solutions. Most of the systems are added to construction equipment as an aftermarket add-on, although some manufacturers, like Caterpillar, are now offering integrated systems at the time of manufacture. Nasvik, J. (2005), Paving Without String, in Concrete Construction, edited, ConcreteConstruction.net. Perkinson, C. L., M. E. Bayraktar and I. Ahmad (2010), The use of computing technology in highway construction as a total jobsite management tool*, Automation in Construction, 19(7), 884-897, doi:10.1016/j.autcon.2010.06.002. The integration of Global Positioning Systems (GPS) and Information and Communications Technology (ICT) through the creation of a Total Jobsite Management Tool (TJMT) can revolutionize the way contractors do business. The key to this integration is the collection and processing of real-time GPS data that is produced on the jobsite for use in project management applications. This paper establishes the state-of-practice of GPS data collection and utilization by heavy construction contractor companies in the United States and presents an implementation framework to assist construction contractor companies in navigating the terrain of GPS and ICT use. The proposed framework, at a macro level, outlines the required ICT infrastructure, addresses the organizational restructuring requirements, presents the related benefits and costs, and provides guidelines for successful implementation. Pilcher, G. (2009), AFB80 Session 404: Contractor Best Practices, in 2009 TRB 88th Annual Meeting, edited, Washington, D.C. Pilcher, G. (2009), Insider Perspective, in Professional Surveyor Magazine, edited, pp. 22-24. A look into how a highway construction company uses automated machine control shows the important role surveyors play. Platt, A. E. (2007), 4D CAD for highway construction projects, Pennsylvania State University.

B-49 Rasmussen, R. O., S. M. Karamihas, W. R. Cape, G. K. Chang and R. M. Guntert (2004), Stringline Impacts on Concrete Pavement Construction*, in TRB, edited, Washington, D.C. Modern concrete pavement construction typically employs slipform paving equipment, especially on major highways and airfields. Guidance of this equipment is commonly provided by sensing a stringline that is set in advance by an engineering survey. While use of stringline guidance has improved the quality of the pavement smoothness, some limitations of this technique are also known to exist. This paper serves to explore three of these limitations in detail. The impact to concrete pavement smoothness as a result of the chord effect, sag effect, and random survey error are described here both conceptually and analytically. Of these three effects, the random error introduced during the engineering survey is found to be the most pronounced. Furthermore, it will be shown from this analysis that there are contradictions with what is sometimes considered “good practice” for concrete pavement construction. More specifically, the idea that improved smoothness can be obtained by simply going to a shorter spacing of the stringline stakes is not always true. In fact, it will be demonstrated that optimum stringline spacing can be realized by recognizing each of the effects described here, including the associated costs of mitigation. Reed, M. (2007), "Algeria Claims Largest Public Works Project." Retrieved 9/26/2007, from http://www.constructionequipmentguide.com/Algeria-Claims-Largest-Public-Works-Project/9328/. Rybka, R. (2006), Making the Grade with GPS, in Dixie Contractor, edited, pp. 10-12. A Georgia contractor puts new technology to work to boost effi ciency, save money and make the grade on 9.7 miles of new four-lane highway near Swainsboro, Ga. Rybka, R. (2006), New Technologies for Better Highways, in Government Engineering, edited. New technologies are enabling roads to be built faster, smoother, and for less money. Schneider, C. (2013), 3D, 4D, and 5D ENGINEERED MODELS FOR CONSTRUCTION. This Technical Brief provides an overview of 3D modeling, including technology applications during design and construction, benefits to stakeholders, resource requirements, current state-of- the practice, and advanced applications such as adding 4D and 5D components. Sobanjo, J. O. (2006), GPS/GIS Inspection and Analysis Tools for Highway Construction GPS Data Interface with SiteManager, Rep., Florida. Söderström, P. and T. Olofsson (2007), Virtual Road Construction – a Conceptual Model, paper presented at W78 Conference, Center for IT in Construction, Luleå University of Technology, Maribor, Slovenia. Design, planning and logistics for road construction are increasingly performed using 3D models. These models can subsequently be used to guide machines directly on site. At present there is no direct integration of 3D de-sign and production planning of the construction work, which limits use of the 3D models for optimization and real-time follow-up of mass haulage and machinery logistics.This paper describes a conceptual model of an industrial process for machine guided road construction projects where 3D design is integrated with production planning, enabling production visualization (4D) and real-time follow-up. The aim is to create an integrated working process to such an extent that redesign and replanning of activities and re-sources can actively be optimized, based on observations and data collected during the production.

B-50 Söderström, P. and T. Olofsson (2007), Virtual Road Construction-A Conceptual Model, paper presented at The 24th CIB-W78 Conference. Design, planning and logistics for road construction are increasingly performed using 3D models. These models can subsequently be used to guide machines directly on site. At present there is no direct integration of 3D design and production planning of the construction work, which limits use of the 3D models for optimization and real time follow-up of mass haulage and machinery logistics. <div data-canvas-width="318.59257999999994" style="left: 467.297px; top: 532.333px; font-size: 16.7px; font-family: serif; transform: scale(1.01288, 1); transform-origin: 0% 0% 0px;">This paper describes a conceptual model of an industrial process for machine guided road construction projects where 3D design is integrated with production planning, enabling production visualization (4D) and real-time follow-up. The aim is to create an integrated working process to such an extent that redesign and replanning of activities and resources can actively be optimized, based on observations and data collected during the production. Technology, T. (2008), Trimble Technology Takes on Largest Road Project in Western Australia., edited, p. 2. Thomas, E. Advanced Earthwork, edited, Ohio Department of Transportation (ODOT). Toines, R. (2006), Accugrade Production Study, edited. Caterpillar conducted a production study comparing a conventional road construction project guided by grade stakes, string lines and grade checkers with the use of AccuGrade, Caterpillar machine control & guidance Townes, D. (2013), Automated Machine Guidance, EXECUTIVE SUMMARYRep., 6 pp, Federal Highway Administration. Automated Machine Guidance utilizes data from sources such as 3D engineered models to provide guidance to construction equipment to improve construction efficiency, lower construction costs, reduce schedules, increase quality, increase safety, and be environmentally friendly. This executive summary outlines some of the benefits of using this technology for grading, milling, paving, and other types of construction applications. Trimble (2002), BladePro 3D Automatic Grade Control System, Rep., 8 pp. Vonderohe, A. (2007), Implementation of GPS Controlled Highway Construction Equipment, Final Report Rep., Construction Materials and Support Center University of Wisconsin – Madison. WisDOT would like to implement GPS guidance and control technology for grading equipment on roadway projects. Implementation requires that the technology be thoroughly investigated, specification language developed, design implementation guidance written, field inspection and control systems developed and documented, and industry acceptance gained. WisDOT is seeking assistance in all phases of the implementation process. Vonderohe, A. (2008), Implementation of GPS Controlled Highway Construction Equipment Phase II, Final Rep., University of Wisconsin-Madison. Summary of Issues for Discussion 1. What will be WisDOT’s commitment on provision of design-side data? Considerations include limited resources, the period of transition from CAiCE to Civil 3D, and allotted time for making changes (e.g., some changes require more time than

B-51 others). There is an urgent need to address these and other data management issues such as whether or not 3D modeling should be a bid item, the impact of involvement of third parties (subcontractors for 3D modeling), and the role of the field engineer when not equipped with necessary software. 2. What is the best means for getting other WisDOT regions involved? 3. What effective educational mechanisms are there for WisDOT and contractor staff? 4. Will future GPS machine guidance grading specifications include slopes and ditches or will they continue to be confined to roadway subgrade? Are there aspects of the standard specifications that affect grading of slopes and ditches and should be addressed for GPS machine guidance? 5. When WisDOT goes to statewide options for bidding, will the regions have choices or will the option apply to all contracts? 6. Is it possible to use existing section corners for horizontal control? 7. There are problems with using last-pass data from the machines to construct as-built surfaces. For example, data are collected whether the blade is cutting, flush with the ground, or above ground. Also, such data can be collected only as points. No breaklines or labels can be inserted, so the data would have to be interpreted and edited later with no information other than visual inspection on which points should be connected to form lines. Furthermore, some “last-pass” data have to be passed over again (for example, because of rutting). 8. The 2007 specification allows the engineer to require conventional staking (blue tops) if GPS machine guidance is producing unacceptable results. Should there be more flexibility for the engineer (e.g., requiring some blue topping by choice)? Should the contractor also have the option of going to conventional staking (e.g., equipment priorities)? 9. Are 2007 tolerances too stringent or not stringent enough? Feedback from the projects indicated they are appropriate and should not be changed. 10. Why is it necessary for the site calibration check points to be different from the control points used for calibration? If the site calibration checks once, could site calibration control points be used for future checks? Can site calibration checks be reduced to one per day? 11. What is the appropriate number and configuration of control points for site calibration? Can the 2007 specification be reduced? Under the 2007 specification on the Hoffman project, there were only two project control points that could be used to check site calibrations. 12. Concerning the specified 20 subgrade check points per mile, what about divided highways? Is the specified number per lane- mile or per linear mile? 13. Should initial staking and subgrade be separated in the specification? 14. Not all machines have GPS machine guidance, so initial staking is necessary. In addition, subcontractors (e.g., for clearing and grubbing) might not have the technology and will need stakes. There are mixed opinions on whether or not slope staking can be reduced to every other station. Doing so could cause problems with, for example, topsoil stripping in non-uniform areas. 15. What are the appropriate ways for the contractor and the department to share electronic information in proprietary formats (e.g., site calibration files). This is separate from the 3D modeling data management issue. Vonderohe, A., K. Brockman, G. Whited and J. Zogg (2009), Development of a Specification for GPS- Machine-Guided Construction of Highway Subgrade - Publications Index, in Transportation Research Board 88th Annual Meeting, edited, p. 17, Transportation Research Board 88th Annual Meeting, Washingto DC. Global Positioning System (GPS) machine guidance for highway construction is being rapidly adopted by contractors due to associated large productivity gains. Seeking to support the industry and share in benefits of this emerging technology, some state DOTs have developed or are developing specifications for use of GPS machine guidance in construction. In 2006, the Wisconsin Department of Transportation (WisDOT), embarked upon a three-year effort to develop, pilot, refine, and implement a sub grade construction specification intended to ultimately become a statewide option for bidding. The effort was guided by an advisory group with representatives from WisDOT and the contracting, engineering consulting, and surveying communities. Interviews with eight DOTs, FHWA, and private sector innovators, a literature

B-52 search, and deliberations of the advisory group led to an outline for the specification. This served as the basis for a stakeholder workshop at which specification details were developed. Further refinements led to a version that was piloted on two projects during the 2007 construction season. Lessons learned from the initial pilot projects resulted in a second version used on four additional pilot projects during 2008. The specification contains sections on GPS work plans, sharing of GPS rovers, site calibration, positional tolerances for site calibration checks and sub grade checks, and development and management of the necessary three-dimensional models. The new specification will replace WisDOT’s standard specification for sub grade staking on projects that use GPS machine guidance. Sub grade stakes (i.e., “blue tops”) are no longer required. Wendebaum, J., J. Fliedner, B. Marx, A. Horn Moba and A. A. G. Mobile (2008), Local Positioning Systems in Construction Basics, Limitations and Examples of Application, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. machine operator carries out machine control tasks which, on the one hand require high precision, on the other hand, however, involve frequent repetition or are highly monotone (for example when operating along a guide wire). Furthermore, often high investments referring the outline planning and the building measure itself are made without being able to implement the planning data with adequate accuracy when executing or to sufficiently document the constructional measures and a high remeasuring effort is necessary respectively. To abolish these weak points of conventional construction, the use of positioning systems that on the one hand support and relieve the operator respectively as well as on the other hand allow the documentation of the executed tasks is a precondition. In the following several positioning possibilities and applications are described in an overview. Xu, Q. and G. K. Chang (2012), Evaluation of intelligent compaction for asphalt materials*, Automation in Construction, 30, 104-112, doi:10.1016/j.autcon.2012.11.015. This paper aims to evaluate the effectiveness of IC technology for the asphalt compaction. A framework of field construction and in-situ test control using IC technology was presented and implemented in one engineering project. A computer-aided data analysis method was proposed and implemented, including the univariate and geo-statistics, compaction curve and uniformity. Results show that IC technology can effectively improve the roller patter to achieve more uniform compaction, and the compaction curve identifies the optimum roller pass to help avoid under/over compaction. The trend of Sakai Compaction Control Value (CCV) – a relative index of material stiffness – is consistent with CCV from mapping the underlying subbase layer. This indicates the reflecting effect of underneath layers on upper layers. CCVs from asphalt compaction have a linear relationship with the light-weight-deflectometer moduli of subbase. The compaction uniformity trends indicated by univariate statistics are consistent with that indicated by semivariograms for this case study. Highlights► We proposed a data analysis method and implemented in developed software. ► Construction control framework for IC on asphalt is discussed for industry practice. ► The effectiveness of IC technology for asphalt materials is evaluated. ► The compaction curve identifies optimum roller pass to help improve compaction. ► Semivariogram and COV attain consistent trends for compaction uniformity. AUTOMATION Remote Sensing Based "GPS Machine Control Systems." from http://www.gpsandmachinecontrol.com/.

B-53 A brief overview of some of the benefits GPS provides include: 1. Accurate Grade:If all machines on site are GPS enabled, they simply run all day long, ACCURATELY, even with rookie drivers in the cockpit. The accuracy of the equipment ensures grade within tolerances, on the first pass, reducing work time, eliminating mid job survey crews, bumped stakes, and the like. 2. Job Management: Continual, accurate, and complete jobsite information reduces the strain of managers, superintendents, and billing departments, as the proof is readily available for any discussion arising from the job. 3. Data Management:Automated Reports, daily reports, and other data reports are generated by GPS Machine Control systems on a routine basis. These reports, are archived and distributed to all of the branches of your business to aid in work flow. 4. Billing Departments:The billing department of your company has a perfect paper trail to prove activities completed, amount of material moved, and much more. Never have an argument or pay for their dirt again. "GPS-Enabled Land Development Tools." from http://www.toolbase.org/Technology- Inventory/Sitework/gps-tools. Much more than directions and roadmaps, an integrated GPS system is now available for land development. To facilitate grading of large areas, GPS-controlled earthmoving equipment including bulldozers, backhoes, road graders, excavators and compactors can greatly increase productivity during the land development process. This approach significantly reduces the labor needed for laying out grade stakes and reduces the amount of earth that is being moved more than one time. The sytem consists of two major components, a digital three-dimensional model for the grade information (3-D site plan) and earthmoving equipment that has been fitted with automatic computer-operated controls on the cutting surface (machine blade). (2003), Operating Strategies*, Engineering & Mining Journal (00958948), 204(4), 32. Reports on BHP Billiton Mitsubishi Alliance's (BMA) installation of a Leica Dozer 2000 satellite-based machine guidance technology at the Blackwater coal mine in Queensland. Use of signals from the Global Positioning System (GPS) satellites to pinpoint the position of the bulldozer; Success of the initial trial of the Dozer 2000; System capabilities. (2004), Laing Contractors invest in Gradestar GradeStar 1. machine control from Leica Geosystems to deliver engineering value and provide greater job site accuracy. The GradeStar machine control system, based on the robotic TPS1100 Total Stations series, was installed on a Cat 12G grader over an existing Sonicmaster system. This 3D machine control system enables grader operators to complete grading work in a shorter amount of time, more efficiently and with greater accuracy. (2008), "Rocky Mountain Lasers." Retrieved 10/29, 2013, from http://www.rockymountainlasers.com/index.php. Brown, C. (2008), GPS and Related Topics, in Construction Engineers' Conference 2008, edited. This presentation discusses GPS for stake out and auotomated machine grading. Clarke-Hackston, N., M. Messing and E. Ullrich (2008), Geodetic Instrumentation for Use on Machine Bored Tunnels, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. As advance rates of TBM bored tunnels increase, it is essential that all aspects of the control of the machine and the tunnel support are able to operate at the desired rate. This paper describes the

B-54 innovative ways that the basic guidance system has been adapted to cater for the TBM’s that are currently in use used on the Gotthard tunnel where the traditional line of sight throughout the backup gear is continuously obstructed due to the use of a sprayed concrete support facility to the use. The guidance system utilizes features from the well proven system for distance and curved pipejacking applications where the main reference is attached to the moving pipe (tunnel lining). Accurate steering of the tunnelling machine is essential if the segmental lining is to be efficiently installed. The use of ring sequencing software for the determination of the ring type and rotation, significantly aids the rapid placement of the most appropriate ring, which in turn can be monitored for any immediate convergence with the innovative chained inclinometer convergence measurement system. All of this information together with the surface mapping, geotechnical, and surface monitoring data bases can be fully integrated with the monitoring of the machines operating parameters in the Controlled Boring Process software integration package to give the machine operator a complete graphical display of all that is happening around him, to ensure optimum control and speed of safe advance. Garget, D. (2005), Testing of Robotic Total Stations For Dynamic Tracking, Dissertation thesis, University of Southern Queensland. Robotic Total Stations (RTSs) were first introduced by Geodimeter in 1990. These instruments incorporated servomotors and advanced tracking sensor’s which allowed the instrument to track a target. This development meant that with the use of a radio link, the instrument could now be completely controlled via remote by a single operator. Automated machine guidance was the major new application of this advancement in technology. RTS’s are now utilised in the construction and extractive industries for the guidance of major earthworks machinery as well as in the agricultural industry for the guidance of machinery such as tractors and harvesters. However, the accuracy and latency of this dynamic application is still not well understood. Therefore, with the application of RTS’s now moving into real-time automated machine guidance it has become critical to understand the exact accuracies that these instruments are capable of achieving whilst operating in the dynamic tracking mode. Thus, upon the completion of this project my aim is to have a better understanding of both the dynamic tracking operational accuracies of several instruments, as well as a better understanding of under what conditions an RTS best performs. Geosystems, L. (2004), High precision railway ballast construction, in Gradestar TPS machine control system, edited, p. 1. In early November 2003, the first fully automated GradeStar-TPS 3D Dozer control system in Europe was installed at the Hydrex site in West Drayton, UK. The GradeStar machine control system, based on the robotic TPS1100 Total Stations series, was installed on a Komatsu D41 P- 6 dozer together with Leica Geosystems ProControl (the core 1D/2D/3D hydraulic control system). This 3D machine control system enables dozer operators to complete grading work in a shorter amount of time, more efficiently and with greater accuracy. Grenzdörffer, G. and C. Donath (2008), Generation and Analysis of Digital Terrain Models with Parallel Guidance Systems for Precision Agriculture, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. In Europe more than 10.000 dual frequency iTC Starfire GPS-receivers were sold in recent years. These GPS-receivers are mainly used for parallel tracking and autosteering of modern tractors and combine harvesters. The recorded GPS-data also includes precise height information which can be used for the generation of high accuracy digital terrain models at no or little additional cost. In the paper the achievable data accuracy under different conditions are investigated. The

B-55 different steps for data preparation and digital terrain models DTM generation are described. Additionally several applications of high accuracy DTM’s in (precision) agriculture are highlighted. Grimm, D. E. (2008), GNSS Orientation for kinematic applications, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. GNSS systems are a well established technique for guiding machines or the machine’s operator along predefined routes. Such GNSS applications have been successfully integrated into the design of construction machines and farming equipment. While a GNSS-equipped machine moves straight ahead conventional GNSS systems with only one antenna show good performance. However, the system reaches its limits when the machine turns on its own axis, such as an excavator does. This causes the GNSS receiver to be unable to determine its bearing, as a compass could do. A common single-antenna GNSS receiver can only estimate its moving direction (heading) using previous positions. Since a turn around its own axis does not change the coordinates, but changes the orientation of the machine, the orientation can not be calculated by this means. A common solution to this problem is the implementation of two GNSS antennas. Two antennas allow the bearing of the baseline between the antennas to be defined. A new approach with only one antenna required is under development at the ETH Zurich. This new system uses the satellite positions as a reference for orientation. For that purpose the direction of each satellite’s signal has to be known in relation to the antenna. In order to obtain orientation the signal strength of each satellite is measured. A well defined shading of the received signals allows estimating the required orientation. After full implementation of our approach, the second GNSS antenna found on most construction machines will not be required anymore. Hannon, J. J. (2007), NCHRP Synthesis 372 Emerging Technologies for Construction Delivery, Rep. 978-0-309-09791-8, Transportation Research Board. This synthesis presents information on the use of five emerging technologies for transportation construction projects: global positioning systems for layout, machine guidance, and quantity tracking; handheld computers for construction records; automated temperature tracking for concrete maturity monitoring; four-dimensional computer-aided drafting modeling for constructability analysis and improved communications; and web-based video cameras for remote project monitoring. The synthesis reports on the current state of each of the five technologies and their potential benefits for transportation agencies in the delivery of construction projects. The following characteristics are provided for each of the technologies: description, benefits, extent of use, barriers to use, instances of successful implementation and procedures, unresolved issues, and unintended consequences. It also discusses the current level of use and documents lessons learned from agencies with experience in implementing the targeted technologies. Other technologies discussed include virtual reality, building information models, and radio frequency identification. The information will form a foundation from which state and provincial highway agencies can begin the process of performing benefit–cost analysis as a first step to adopting those technologies that seem the most promising. A survey questionnaire was distributed to U.S. departments of transportation through a web-based survey application, and was also sent to select Canadian transportation agencies. Responses were received from agencies across the North American continent. In addition, a literature search was conducted of academic, governmental, industrial, and commercial resources to provide a solid theoretical and anecdotal basis for the review of each technology. John Hannon, University of Southern Mississippi, Hattiesburg, collected and synthesized the information and wrote the report. The members of the topic panel are acknowledged on the preceding page. This synthesis is an immediately useful document that records the practices that were acceptable within the limitations of the knowledge available at the

B-56 time of its preparation. As progress in research and practice continues, new knowledge will be added to that now at hand. Juretzko, M. and M. Hennes (2008), Monitoring of the spatiotemporal movement of an industrial robot using a laser tracker, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. The project introduced here describes the geometric inspection of an innovative robot-based production process for spatially curved extruded profiles. The aim was to prove that the trajectories fulfil a given spatiotemporal tolerance level with respect to repeatability and absolute accuracy using an independent, i.e. geodetic, measurement method. In order to inspect this motion regarding spatiotemporal tolerance, it is necessary to synchronize a laser tracker with the control system of the robot with an order of magnitude of micro seconds. This resolution has been achieved by triggered measurements with a Leica LTD500. Very specific and for the production process decisive deviations of the robot trajectory have been detected as well as an extraordinarily high kinematic repeatability of the robot. Maunder, D. (2007), An Investigation into the Establishment of a Continuously Operating GPS Reference Station at Dubbo City Council, Central West Nsw, Dissertation thesis, 1-75 pp, University of Southern Queensland. Global Navigation Satellite Systems (GNSS), real time differential correction techniques, Continuously Operating Reference Station (CORS) networks, mobile internet and GNSS user equipment are now mature technologies. The challenge is to manage the combination of these technologies to fully benefit users and society. The aim of this project was the investigation into the feasibility of establishment of a CORS site, servicing the requirements of Dubbo City Council, and surrounding geographical area,where this functionality does not currently exist. For a State (and National) CORS network coverage that will provide at least Real Timepositional applications, then these sites must be located relative to regional population centers, and that an optimal location, particularly for NSW, is the Local Government Organisation in that regional centre. This project will focus on the validation of establishing such a model, particularly for current users of spatial technology, and as such the Council of the City of Dubbo will be both a case study for a similar exercise into other regions of the State of NSW, and perhaps nationally. Dubbo City Council will also be the sponsor of the project, and as such, a questionnaire will be used to validate the process. Typical users and generators of spatial technology in the area, and including representatives of other Local Government organisations, State based Road and Traffic authorities, Agriculture and Precision farming, and consulting surveyors, shall be invited to participate in a questionnaire to gauge the level of interest and potential commitment to the establishment of enhanced GNSS functionality for this particular location. The questionnaire of local spatial industry representatives was compared to other industry professional literature and similar academic exercises. Pertinent aspects of the questionnaire were highlighted and the salient points contributed to the preparation of a validating business case for the proposed model. Mautz, R. (2008), Combination of Indoor and Outdoor Positioning, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Indoor and outdoor environments create contradictory conditions for positioning and guidance of machines. While indoor environments are limited in size to rooms and buildings, outdoor positioning capabilities require regional or even global coverage. Secondly, the difficulty of receipting satellite signals indoors has triggered development of high sensitive and AGNSS receivers – with many issues remaining unsolved. Thirdly, the accuracy requirements are dissimilar between indoor and outdoor environments – typically there is a higher demand for

B-57 relative accuracy indoors. This paper should be regarded as an overview of the current and near future positioning capabilities for indoor and outdoor environments. However, it does not lay claim to completeness. Focus is given on GNSS and various novel position systems that achieve cm-level accuracy or better which is a requirement for most applications in machine control and guidance of construction machines. Maynard, K. L. and J. M. Janky (2000), MULTIPLE SIMULTANEOUS LASER REFERENCE CONTROL SYSTEM FOR CONSTRUCTION EQUIPMENT*, edited by U. S. Patent, p. 11, Trimble Navigation Limited, United States. A number of laser beam stations emit vertically separated parallel planes and/or ray-planes of laser light that can be discriminated by their respective plane elevations, modulation of the laser light, time synchronizing, etc. Identifying the laser plane Would also imply an identi?cation of the source laser beam station, and thus a precise indication of the elevation at the point of optical intercept. Alternatively, a single laser beam station is used that can emit several different monochromatic color planes and/or ray-planes of laser light. Monochromatic laser diodes, for example, are used for point-light sources and rotating or on-end conical mirrors are used to convert the diode laser light to the required monochromatic color planes and/or ray-planes of laser light. Receivers, generally held on masts attached to motor grader, bulldozer, loader, and excavator machines are used to sense the vertical reference position of the mono chromatic color planes and/or ray-planes of laser light, relative to the earth cutting blade of the machine. Fixed color ?lters, color ?lter Wheels, and/or linear array photo detectors are used to discriminate amongst the colors and to exactly sense the plane of intersection With the machine. The results of the sensing are either displayed to an equipment operator for manual adjustment of the blade to an automatic servo control system connected to hydraulically control the blade. Nayllor, N. (2006), Development of A Low Cost GPS Guidance System for use in Agriculture, Dissertation thesis, University of Southern Queensland. This project developed an accurate, cost e®ective GPS guidance system and developed conceptual designs of a hands-free guidance interface for use in the agricultural sector. The guidance system utilised two Garmin GPS 18-5 receivers to provide position data at a rate of 5Hz. The guidance system was built upon a previous incarnation that utilised Garmin GPS 35 receivers providing position data at a rate of 1Hz. The guidance system currently uses an indicating arrow on a computer screen to provide guidance information to operators. The accuracy with which the guidance system could guide an operator in a straight line up a paddock was quanti¯ed by monitoring the path followed by the operators machine out and back along a de¯ned trajectory and then compared to current industry standards. The accuracy of the guidance system to guide an operator along parallel paths o®set a distance from each other was also quanti¯ed. The ability for the software to o®set over di®erent distances was also determined. The information collected and conclusions drawn will be used to quantify the accuracy of the guidance system as a whole for agricultural applications. It is hoped that the conceptual designs for the hands-free guidance interface will be used to develop a working prototype and be tested with the guidance system in the near future. Noack, P. O. and T. Muhr (2008), Integrated Controls for Agricultural Applications – GNSS Enabling a New Level in Precision Farming, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Naturally, most agricultural operations are undertaken in the space domain and are embedded in an environment that is subject to change and variability. Both, human actions such as cultivation and fertilization and natural factors such as weather and soil properties continuously influence

B-58 and change the environment for plant and animal production. Hence, appropriate information on current and preceding states of this environment and the knowledge about actions taken in the past is important for decision making and planning future operations in order to maximize yield while minimising the ecological impact. The need to optimise food production also introduces the challenge to reduce the cost for labour and mineral fuels and thus to minimize the operation hour of machinery in the field to the minimum required. GNSS sensors have introduced the capability to record human actions and the variability of spatial structures in plant and animal production in the time and in the space domain. They also enhance the exact control of tractors and implements dependant on their position. Over the last 20 years GNSS technology has helped to establish tools which help to increase the productivity in agriculture substantially. O'Connor, M. L., G. H. Elkaim and B. W. Parkinson (1995), Kinematic GPS for Closed-Loop Control of Farm and Construction Vehicles, in ION GPS-95, edited, p. 8, Palm Springs, CA. Operating heavy equipment can be a difficult and very tedious task; control of an agricultural tractor requires the continuos attention of the driver, and farmers often work long hours during the critical times of planting and harvesting. Loaders and other ground vehicles are frequently used in situations which are unpleasant or even hazardous for the human operator. In the past, some efforts have been made to automate agricultural vehicles, but they have been largely unsuccessful due to sensor limitations. This paper explores the use of kinematic GPS as the primary sensor in closed loop control of farm and construction vehicles. A single, low-cost GPS receiver can measure position to within a few centimeters and attitude to within 0.1 degrees, and does not drift with time. The ability to provide accurate information about multiple vehicle states makes GPS ideal for system identification and control of dynamic systems. In this work, a ground vehicle control system was designed and simulated using realistic plant, sensor, and disturbance models. Optimal control methods were examined to deal with non-linear and time-varying vehicle dynamics. To validate this simulation, experimental data was taken at Stanford using a GPS-equipped electric golf cart. This research builds upon previous work in developing GPS-based aircraft autopilots. It is significant because it is the first step towards a safe, low-cost system for adaptive, highly accurate control of a ground vehicle. It is anticipated that the implementation of these ideas will take place in three steps: (1) driver-in-the-loop control using a graphical display; (2) driver assisted automatic control, with an on-board operator making only high-level decisions; and (3) vehicle autonomous guidance and control with on-line parameter identification and adaptive control that will operate for several hours without human intervention Petschko, H. (2008), Universal Developer Platform for Machine Control Applications, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Over the last two decades terrestrial and global 3D measurement sensors in the field of engineering geodesy have seen a significant upturn. With modern measurement techniques, a 3D trajectory of a moving object can be determined within a few centimetres of accuracy (GNSS). Under certain circumstances and with accuracies of within five to ten millimetres can be achieved (tracking total station). Additional sensors are rotation ring laser, orientation sensors, INS, or inclination sensors. New application areas have now been created in the fields of construction, mining and agriculture. The basic similarities between the applications in the above mentioned fields imply the development of a versatile and easily adaptable hardware and software platform. Furthermore 1D, 2D or 3D guidance or control of complex machinery generally includes heavy and diverse computational work and sophisticated user interaction. This suggests the use of embedded versions of general purpose computers and operating systems. The company MOBA is developing a Machine Control Platform which is intended to be the basis for solutions mainly in construction. Since many of the tasks in machine control are comparable to tasks in general

B-59 robotics, this platform is based on a robotic framework which is available for several OS and which is publicly accessible. This framework, called The ViViVerse (the vivid universe), shall enable quick development of applications that read in sensor data, deduce actions based on built in rules and finally control actuators. Additionally communication between single units is one of the main goals. Information is given about common tasks in building machine control applications, like performance considerations and usability in a rough working environment. A second point will be the features and implementation of the ViViVerse framework. Rader, E. (2008), GPS-based 3D-Monitoring in Surface Mining, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. RMR has developed a software called GeoCAD-OP for GPS-based machine guidance for wheelexcavators, spreaders and compactors. The 3D-real-time animated software is always divided in a machine and an office application, latter can be used as a control station for any kind of machine. Retcher, G. (2002), Multi-Sensor Systems for Machine Guidance and Control, 2002/04/19/26. New developments in construction industry in recent years have led to an increase in productivity of construction works and corresponding cost savings. Starting from a classification of machinery employed for road and railway construction, suitable systems and sensors have to be assigned to solve a specific task. In modern systems for construction machine guidance, multi-sensor systems are employed that consists usually of a 3-D surveying system, i.e., either RTK GPS or total stations with automatic targeting and tracking, and additional sensors, e.g., electronic inclinometers, gyro compass, etc. In a comparison with conventional systems, their main advantages and disadvantages and major applications are highlighted.For guidance of the machine along the defined path, the position and orientation of the machine in a 3-D coordinate system, e.g., the coordinate system of the construction site, has to be determined continuously in real-time. This problem can be solved by defining a socalled machine coordinate system (or body frame) that is embedded in the machine or machine blades. Then the orientation and rotation of the frame in 3-D space are described by three attitude parameters. The position and attitude parameters are obtained in the evaluation process from the observation of all sensors of the multi- sensor system. A modified approach based on optimal linear estimation methods (Kalman and Wiener filter) for the determination of the machine blade movements will be discussed and analysed briefly. Sadler, D. Automated Machine Guidance GPS and Machine Controls that can Assist in Construction Accuracies and Efficiences, in 2009 FDOT/FTBA Construction Conference, edited. GPS applications, benefits, and advantages in the industry. Stempfhuber, W. (2006), 1d and 3d Systems in Machine Automation, 2006/05/22/24. Over the past 15 years, kinematic measurements in the area of Engineering Geodesy have seen a significant upturn. Around 1990 the first automatic tracking total station Geodimeter 4000 [Hennes, 1992]) was developed, also around this time the first GPS receivers became commercially available. After a short period it became clear that terrestrial and global surveying instruments could be used for tracking the trajectory of a moving object [Stempfhuber, 2001]. During this period the first machine control systems began to be used on construction sites. In the middle of the 90’s various companies attempted to control the kinematic processes for paving and finishing operations (e.g. stringless 3D slipform paving www.wirtgen.de/de/darchiv/). In the following years the first prototypes of such a control system upgraded the conventional “stringline” method with “stringless technology”. Today there is a large range of potential

B-60 markets for new machine automation applications, which will lead to the development of a range of new products in the tunnelling, construction, mining and agricultural industries. The use of machine automation in these applications will alter the workflow of data collection, data processing, creating designs, uploading and transforming data, controlling machines without stringlines, checking the as-constructed output of the operation and documenting these results. This needs a completely different approach to that which is currently used today. Sturm, A. (2008), New Technologies for Telematics and Machine Control, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Vonderohe, A. (2007), Implementation of GPS Controlled Highway Construction Equipment, Final Report Rep., Construction Materials and Support Center University of Wisconsin – Madison. WisDOT would like to implement GPS guidance and control technology for grading equipment on roadway projects. Implementation requires that the technology be thoroughly investigated, specification language developed, design implementation guidance written, field inspection and control systems developed and documented, and industry acceptance gained. WisDOT is seeking assistance in all phases of the implementation process. Response Analysis Based Briaud, J.-L. and J. Seo (2003), Intelligent compaction: overview and research needs, Report to the Federal Highway Administration. Intelligent Compaction is achieved by a smooth drum vibratory roller with a measurement/control system. This measurement system uses the information collected to adapt the equipment performance continuously, to optimize compaction and meet required conditions. This system controls the different compaction parameters for the roller such as: drum vibration, amplitude, frequency and working roller speed (impact distance). The output parameter is a soil modulus which is calculated continuously on the basis of the monitored drum acceleration. Chang, G., Q. Xu, J. Rutledge, B. Horan, L. Michael, D. White and P. Vennapusa (2011), Accelerated Implementation of Intelligent Compaction Technology for Embankment Subgrade Soils, Aggregate Base, And Asphalt Pavement Materials-Final Report, 275 pp. Intelligent compaction (IC) is an emerging technology, and for some applications it is mature enough for implementation in field compaction of pavement materials. The intent of this project is to realize the blueprint in the FHWA IC strategic plan. This study was under the Transportation Pooled Fund project, TPF-5(128), which includes 12 participating state department of transportation: Georgia, Indiana, Kansas, Maryland, Minnesota, Mississippi, New York, North Dakota, Pennsylvania, Texas, Virginia, Wisconsin. This document is the final report for this pooled fund IC project. Xu, Q. and G. K. Chang (2012), Evaluation of intelligent compaction for asphalt materials*, Automation in Construction, 30, 104-112, doi:10.1016/j.autcon.2012.11.015. This paper aims to evaluate the effectiveness of IC technology for the asphalt compaction. A framework of field construction and in-situ test control using IC technology was presented and implemented in one engineering project. A computer-aided data analysis method was proposed and implemented, including the univariate and geo-statistics, compaction curve and uniformity. Results show that IC technology can effectively improve the roller patter to achieve more uniform compaction, and the compaction curve identifies the optimum roller pass to help avoid under/over

B-61 compaction. The trend of Sakai Compaction Control Value (CCV) – a relative index of material stiffness – is consistent with CCV from mapping the underlying subbase layer. This indicates the reflecting effect of underneath layers on upper layers. CCVs from asphalt compaction have a linear relationship with the light-weight-deflectometer moduli of subbase. The compaction uniformity trends indicated by univariate statistics are consistent with that indicated by semivariograms for this case study. Highlights► We proposed a data analysis method and implemented in developed software. ► Construction control framework for IC on asphalt is discussed for industry practice. ► The effectiveness of IC technology for asphalt materials is evaluated. ► The compaction curve identifies optimum roller pass to help improve compaction. ► Semivariogram and COV attain consistent trends for compaction uniformity. Others "AGPS Inc.- Advanced Geo Positioning Solutions Inc.". from http://www.agpsinc.com/ "Automated Positioning Systems (APS)." Retrieved 10/28, 2013, from http://www.apsmining.com/. Global Awarded NZ's Largest Machine Control Project, in Global Online, edited. "Machine Control Online - Advancing the Positioning Industry - Home." Retrieved 10/29, 2013, from http://machinecontrolonline.com/component/option,com_frontpage/Itemid,1/. MachineControlOnline.com will offer manufacturers, OEMs and customers one-stop platform for all things positioning – technology, trends, productivity gains, and more. (2003), Australian Mine Pioneers New Satellite-Based Machine Guidance Technology, Engineering and Mining Journal (April). (2008), Insite: The Construction newsletter from KOREC, edited, KOREC. Over 250 visitors to KOREC’s first ever Trimble Construction LIVE event (2009), "Machine Control Blog 09." Machine Control Blog 09. Retrieved 10/23/2013, 2013, from http://blog.machinecontrolonline.com/?m=200908. IAARC. (2013). "International Association for Automation and Robotics in Construction (IAARC)." Retrieved 25/10, 2013, from http://www.iaarc.org/index.html. AASHTO (2007), AASHTO TIG Lead States Team Marketing Plan for AUTOMATED MACHINE GUIDANCE, 17 pp. Adams, T. M., N. Koncz and A. P. Vonderohe (2000), Functional requirements for a comprehensive transportation location referencing system, paper presented at Proceedings of the North American Travel Monitoring Exhibition and Conference. Transportation agencies manage data that is referenced in one, two, three, and four dimensions. Location referencing system (LRS) data models vary across transportation agencies and often within organizations as well. This has resulted in failed attempts and abandoned efforts to interoperate business functions and / or integrate data. A number of transportation agencies,

B-62 through recognition of the significance of spatially-referenced information to their operations, have identified the need for comprehensive management of location referencing. What is lacking is a clear set of functional requirements for a comprehensive location referencing system. Detailed functional requirements and a comprehensive data model are necessary so transportation agencies can implement improved transportation information systems and advanced GIS-T technology. Linearly-referenced data constitutes the majority of data managed by transportation agencies. However, agencies are now using GPS technology for applications ranging from highway inventory to incident management. Much more detail is needed on functional requirements for data in higher dimensions and for integration across dimensions. This paper reviews the functional requirements for a comprehensive spatial / temporal referencing system that were identified by a workshop of stakeholders in asset management, highway operations, traffic management, and transit. Among the requirements identified by the stakeholders is that a comprehensive LRS data model supports temporal referencing. Temporal aspects of transportation data impact applications ranging from pavement management (for historical records) to transit (for arrival times), to commercial vehicle operations (for vehicle tracking), to congestion management (for dynamic network modeling). Utah DOT. (2012), 3D Modeling for Construction. Akin, K. (2009), Bringing Machine Control to California DOT (Caltrans) Construction Projects, in 2009 TRB 88th Annual Meeting, edited, Washington, D.C. Alkhatib, H., I. Neumann, H. Neuner and H. Kutterer (2008), Comparison of Sequential Monte Carlo Filtering with Kalman Filtering for Nonlinear State Estimation, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. In this paper different filtering techniques for nonlinear state estimation are explored and compared. We distinguish between approaches that approximate the nonlinear function (extended Kalman filter) and other approaches approximating the distribution of measurements and state (unscented Kalman filter and sequential Monte Carlo filter). The paper is showing both, the algorithms and simulated examples where a vehicle moves along a nonlinear trajectory such as a circle arc or a clothoid. It is shown, that the estimation of the system state can be improved if the nonlinearities were taken into account. Azhar, S. (2011), Building information modeling (BIM): Trends, benefits, risks, and challenges for the AEC industry, Leadership and Management in Engineering, 11(3), 241-252. Building information modeling (BIM) is one of the most promising recent developments in the architecture, engineering, and construction (AEC) industry. With BIM technology, an accurate virtual model of a building is digitally constructed. This model, known as a building information model, can be used for planning, design, construction, and operation of the facility. It helps architects, engineers, and constructors visualize what is to be built in a simulated environment to identify any potential design, construction, or operational issues. BIM represents a new paradigm within AEC, one that encourages integration of the roles of all stakeholders on a project. In this paper, current trends, benefits, possible risks, and future challenges of BIM for the AEC industry are discussed. The findings of this study provide useful information for AEC industry practitioners considering implementing BIM technology in their projects.

B-63 Barnes, J., C. Rizos, M. Kanli, D. Small, G. Voigt, N. Gambale, J. Lamance, T. Nunan and C. Reid (2004), Indoor Industrial Machine Guidance Using Locata: A Pilot Study at Bluescope Steel, paper presented at 60th Annual Meeting of the US Inst. Of Navigation, The University of New South Wales, Australia, 2004. Locata Corporation has invented a new positioning technology called Locata, for precision positioning both indoors and outside. Using a network of timesynchronised transceivers, point- positioning with cm-level precision can be achieved. In this paper the feasibility of Locata for industrial machine guidance is demonstrated through a trial at the BlueScope steelworks. In the trial the Locata technology is used to track a crane within the slab handling yard. By comparing Locata position solutions with ‘truth’ positions derived using a total station (theodolite and electronic distance measurement) instrument, it is shown that cm-level positioning can be achieved in a severe multipath indoor environment. Barrett, L. Evolution of Automated Machine Guidance (amg) at the Dots, edited. This presentaiton discussed how Minnesota's Department of Transportation evoloved in the area of Automated Machine Guidance. Beetz, A. and V. Schwieger (2008), Integration of Controllers for Filter Algorithms for Construction Machine Guidance, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. In the past years the Institute for Applications of Geodesy to Engineering has developed a hardware in- the-loop simulator for guiding and controlling of construction machines. This simulator consists of a tachymeter (Leica© TCRP 1201) for measurement of positions, a model truck (scale 1:14) as construction machine, a remote control connected to a PC over digital analogue converter and LabVIEW© as application development system. In the meantime it is possible to test different controllers in real time together with a Kalman Filter which is used to reduce noise of measurement data. The controllers can be changed any time during the drive. The same is valid for the activation of the Kalman filter. To compare quality of the controllers (P, PI, PID, 3-Point-Controller) the root mean square (RMS) was calculated using the lateral deviation. The RMS reached values between 2-3 mm. Brown, L. (2008), People Moving People, Automated Machine Control: Moving Road Construction and Its People More Efficiently, edited. Conolly, N. (2001), Technology Leads the Major Players into the Field of Machine Guidance, in M&M, edited. Dillingham, J., T. Jensen and N. Schulist (2007), Best Practices – Machine Control Evaluation, Final Rep., 154 pp, St. Paul, Minnesota. Shortly after 3D Machine Control Systems were introduced, Mn/DOT began an initiative program within the agency to investigate the technology. Late in 2006, Mn/DOT selected Alliant Engineering, Inc, to conduct an evaluation of the current machine control program and develop recommendations for furthering the use of the technology throughout the State of Minnesota. 3D Machine Control technology spans several functional groups within Mn/DOT Program Delivery Area and affects all stakeholders, public and private, involved throughout a project’s life cycle. Many of these stakeholders have differing opinions on how to propagate the use of the technology to benefit all stakeholders and the traveling public. The project was split into two separate research phases. The first phase focused on conducting a literature research of 3D

B-64 Machine Control technology, available systems and the future applications for the system. The second phase of the project consisted of gathering input from stakeholders through the preparation and administration of a survey and in-person interviews. The results from these two phases were used to identify issues limiting the increased use of the technology and formulating recommendations to meet the agency’s goal of increasing the use of machine control technology. Engel, T., J. J. Stuby, C. Glauser, P. Güldenapfel, M. Manhart, G. Schelling and H. Ingensand (2008), Automatic Guidance of Track Laying Machines with Respect to Coordinate Systems, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. After a short explanation of the principles of the automatic track laying machine guidance, this text focuses on presenting and solving three challenges without which coordinate based track machine guidance would hardly have become working at a reasonable, justifiable economic level at long term view. The whole development of the method relies on an informatics development very close to the users, which did not impede it to realise spectacular progresses at conceptual level with a quasi errorless track data management since more than ten years. This text also serves to support the putting into practice of the leaflet 728R, adopted by the UIC infrastructure forum in 2006. Gary Pruitt and C. E. Fly (2008), NDGPS Assessment Final ReportRep., US Department of Transportation Federal Highway Administration. The specific objective of this report is to present the results of an assessment of the Nationwide Differential Global Positioning System (NDGPS) system. Group, A. T. I. (2007), AMG: Automated Machine Guidance, edited, p. 8. Automated Machine Guidance (AMG) links sophisticated software with construction equipment to direct the operation of machinery with a high level of precision, improving the speed and accuracy of highway construction processes. Because it eliminates much of the guesswork, skilled manual control, and labor involved in traditional methods, AMG improves worker safety and saves agencies and contractors time and money – enhancing their ability to deliver highways “better, faster, and cheaper.” Hahn, P. (2009), "2009 August Machine Control Blog." from http://blog.machinecontrolonline.com/?p=350. I recently had the opportunity to speak at a committee meeting of the Transportation Research Board (TRB), near my home in Colorado. This committee is very focused on construction machine control, which they refer to as Automated Machine Guidance (AMG). Next month I will write about the positions the state Departments of Transportation are talking regarding AMG and its adoption by the contracting community. The future support they will provide and what mandates they may impose on contractors are still under discussion, however it is already clear that the majoriity of DOT’s see significant benefits to the public and are in favor of AMG use on their transportation projects. If this topic interests you, you can get a head start by reading the document that the American Association of State Highway and Transportation Officials (AASHTO) Technology Implementation Group (TIG) has published. (Sorry about all the acronyms but we are dealing with government agencies and it comes with the turf.) The publication is titled “Advancing Safer, Faster, More Accurate, and Less Expensive Roadway Construction”. To access this publication use the Hampton, T. (2006), Awards of Excellence, in Engineering News Record, edited.

B-65 Dwayne McAninch, Iowa’s largest earthmoving contractor, risked millions on digital controls and pushed an industry into the future Heikkilä, R. and M. Jaakkola (2003), The Efficiency of a 3-D Blade Control System in the Construction of Structure Layers by Road Grader – Automated Design-Build of Road Construction in Finland, NIST SPECIAL PUBLICATION SP, 475-480. The paper reports on the research work in the domain of automated road construction. A new method and prototype of automated road grader has been developed in Finland. The working experiments show measurable influence and quality as well as economic profit to be achieved by the new technology. Heikkilä, R., T. A. Lasky and K. Akin (2009), Construction Automation Process Development - Advancing the Collaboration between Finland and California, paper presented at 26th International Symposium on Automation and Robotics in Construction (ISARC 2009), Austin TX, U.S.A., 2009. This paper presents the total process model of automation for construction and maintenance, with a focus on roads and bridges. This multi-phase model includes: initial measurements, product modeling and design, construction control and machine guidance, waulity assurance and control, and lifecyle operations and maintenance. The paper then provides detailed discussion of current applied research results from Finland and California. The paper gives a summary of the key findings of Finland and California, noting areas of commonality and areas for further investigation. Finally, the paper presents plans for further collaborative research between the University of Oulu and the University of California-Davis. Inglis, R. (2006), Evaluation of VRS-RTK GPS Latency in a Dynamic Environment, Dissertation thesis, 70 pp, University of Southern Queensland. This research project investigates the effects of latency in dynamic GPS (Global Positioning System) measurements made within a Virtual Reference Station (VRS) – Real Time Kinematic (RTK) network. The test method, which has been devised as an integral part of this research, allows for determination of the effects of latency in low speed dynamic VRS measurements. The method utilises a utility vehicle as a dynamic platform for testing, with a barcode reader attached to the vehicle to read barcodes which have been fixed to posts adjacent to the test path. Mounted in vertical alignment with the reader is the GPS antenna, providing the GPS signals to allow the GPS receiver(s) on board to determine the position of the vehicle as it passes the fixed barcodes and thereby providing a fixed frame of reference for the measurement of latency. Measuring lines in each direction and comparing the apparent position of the barcodes allows for the determination of latency. Conducting the testing procedure over a range of speeds will also facilitate the investigation of the relationship between platform speed and latency error. The results of this research have implications for any machine guidance and precision agriculture applications intending to use the VRS network where data accuracy is a major consideration. If the latency present in the positioning system has been quantified, it becomes possible to correct for this position error in real time. The research has only considered the effects of latency on the position solution, and this should be distinguished from accuracy. The accuracy of the VRS system in dynamic applications has not been investigated as part of this research project, but should also be considered in conjunction with latency when investigating the suitability of VRS to potential applications, dynamic or static. Kebede, T. T. (2008), Development and Implementation of Filter Algorithms and Controllers to a Construction Machine Simulator, Royal Institute of Technology.

B-66 Different geodetic techniques can be integrated in construction processes to have effective, time saving and cost minimizing construction through geometric control and guidance of the construction machines on the designed alignment. This can be achieved by integrating a tachymeter as kinematic positioning sensor. The institute of application of geodesy to engineering (IAGB) of University of Stuttgart has developed a modular position guidance toolbox (a construction machine simulator) that comprises a model truck of scale 1:14, of Leica TPS1201 tachymeter, remote controller and a computer. Tachymeters can work as kinematic measuring devices by integrating them to a construction process, in real time, using automatic closed-loop control systems with feedbacks. The geometric deviation between the measured and given trajectories can be minimized to some optimized limit using different types of controllers. With P-I-D controllers a better accuracy can be achieved, and with integration of Kalman filter to the control system the controller quality can be improved. It is also possible to account for the dynamic effect on the model truck at higher velocities; however, the accuracy is very small due to some practical working limitations of tachymeter (such as low scanning rate and dead time) as kinematic position sensor at higher velocities. Kellar, W., P. Roberts and O. Zelzer (2008), A Self Calibrating Attitude Determination System for Precision Farming using Multiple Low-Cost Complementary Sensors, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. A low cost three axis attitude determination system for moving platforms has been developed by Leica Geosystems that requires a minimal calibration procedure, and has the ability to self- calibrate for the various biases caused by temperature variation and mounting misalignment. Sensor fusion techniques are used to combine the data from a high quality survey grade GNSS receiver with additional cost effective high performance inertial sensors to produce a high rate of attitude data with low noise and low bias in the form of an attitude sensor module for machine control and guidance applications. The sensor module has been successfully integrated into a tractor steering system for precision farming. This paper demonstrates the minimal installation and calibration procedures for the system, and presents the results from benchmarking the system in real farm operating conditions. Kerville, P. (2007), Cat Proves the Point, with AccuGrade, in Kerville's MovingDirt Magazine, edited. This article talks about a text that Cat did in Spain that demonstrates beyond any doubt the benefits of machine control. Kerville, P. (2008), Machine Control at Conexpo, in Kerville's MovingDirt Magazine, edited. Kuhlmann, H. and H. Heister (2006), Steering Problems and Solutions During Construction of Roads, Geodetic Institute, University of Bonn, Germany, 2006/05/22/24. This paper deals with some problems and their solution which have occurred in automated steering of construction machines during road construction. Position and orientation of the construction machine are determined by sensors and will be instantaneously compared with reference data of the road planning. Hydraulic cylinders of the machine will then be addressed in a way that the geometry determining part of the machine, as e.g. the blade of a grader, can establish the reference geometry of the layer to be incorporated. For this measuring and controlling procedure different sensors are being used which are located in many different places of the machine. It all happens while the machine is moving so that problems with the temporal synchronization of the sensors and the machine inertia must also be considered.

B-67 Li, Y., D. Dusha, W. Kellar and A. Dempster (2009), Calibrated MEMS Inertial Sensors with GPS for a Precise Attitude Heading Reference System on Autonomous Farming Tractors, paper presented at The 22nd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2009), Savannah International Convention Center, Savannah, GA September 22 - 25, 2009. GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) systems have found widespread usage in industry and especially in automated agriculture. These systems produce a high frequency attitude solution for mobile agents. The mojoRTK, an agricultural product from Leica Geosystems, is based around a GPS/INS system, utilizing a survey-grade L1/L2 GPS/GLONASS antenna in addition to another L1 GPS antenna. A new algorithm based on loose GNSS/INS integration has been developed in the University of New South Wales for mojoRTK system which is known as AHRSKF (Attitude and Heading Reference System Kalman Filter).The advantage of the AhrsKf is that it takes inputs from the survey grade L1/L2 antenna alone, thus reducing or eliminating the need for the two antenna system used in the existing major RTK algorithm. The initial analysis has shown that the two (AhrsKf and existing mojoRTK) solutions have comparable performance. This paper introduces the integration Kalman filter design and addresses its implementation aspects. Multiple L1/L2 GPS receivers in a three antenna configuration are set up in the test as a benchmark to evaluate the AhrsKf solution. The test was conducted at the Leica Geosystems testing farm at Boonah in a tractor equipped with a mojoRTK autosteer system. The AhrsKf solution is derived in a post-processing procedure by using the recorded L1/L2 GNSS and inertial sensor data from the log files of the mojoRTK console. The performance of the algorithms is compared by extracting the time series of the errors in yaw, pitch and roll solutions relative to thereference multi-antenna GPS solution. Mahbub, R. (2008), An Investigation into the Barriers to the Implementation of Automation and Robotics Technologies in the Construction Industry, Queensland University of Technology. The rising problems associated with construction such as decreasing quality and productivity, labour shortages, occupational safety, and inferior working conditions have opened the possibility of more revolutionary solutions within the industry. One prospective option is in the implementation of innovative technologies such as automation and robotics, which has the potential to improve the industry in terms of productivity, safety and quality. The construction work site could, theoretically, be contained in a safer environment, with more efficient execution of the work, greater consistency of the outcome and higher level of control over the production process. by identifying the barriers to construction automation and robotics implementation in construction, and investigating ways in which to overcome them, contributions could be made in terms of better understanding and facilitating, where relevant, greater use of these technologies in the construction industry so as to promote its efficiency. This research aims to ascertain and explain the barriers to construction automation and robotics implementation by exploring and establishing the relationship between characteristics of the construction industry and attributes of existing construction automation and robotics technologies to level of usage and implementation in three selected countries; Japan, Australia and Malaysia. These three countries were chosen as their construction industry characteristics provide contrast in terms of culture, gross domestic product, technology application, organizational structure and labour policies. This research uses a mixed method approach of gathering data, both quantitative and qualitative, by employing a questionnaire survey and an interview schedule; using a wide range of sample from management through to on-site users, working in a range of small (less than AUD0.2 million) to large companies (more than AUD500million), and involved in a broad range of business types and construction sectors. Detailed quantitative (statistical) and qualitative (content) data analysis is performed to provide a set of descriptions, relationships, and differences. The statistical tests selected for use include cross-tabulations, bivariate and multivariate analysis for investigating possible relationships between variable; and Kruskal-Wallis and Man Whitney U test of

B-68 independent samples for hypothesis testing and inferring the research sample to the construction industry population. Findings and conclusions arising from the research work which include the ranking schemes produced for four key areas of, the construction attributes on level of usage; barrier variables; differing levels of usage between countries; and future trends, have established a number of potential areas that could impact the level of implementation both globally and for individual countries. Meyer, H. J. and C. Rusch (2008), Self-configuring, Mobile Networks in the Area of Agriculture, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Based on a mobile, electronic satellite system designed to position and transfer security and operation data of mobile working machines, the Technische Universität Berlin developed an instrument to connect independently net different devices and machines for the collection of process data, control and diagnoses purposes. The centre of this unit is a PAN module controlled by a micro controller (PAN = private area network). Based on the wireless standard of ZigBee, the network is able to independently establish networks even across huge distances, via multi- hopping. The modules act independently, having analogous inlets e.g. for temperature control as well as digital inlets and outlets, an integrated CAN interface, a GPS receiver and, if required, they are additionally fitted with a GPRS port for data transfer via internet. In addition to the technical details of the modules, this paper shall give an overview of possible applications of such systems. The wireless data transfer can be used for a universal agricultural documentation system, shown by the example of the harvester. Harvest data depending on the position as well as other crop data can be transmitted from the harvester’s communication-box to the communication-box of the transport vehicle while transferring the crop. Thus, the transport vehicle disposes of all information about the crop, e.g. place of harvesting, harvest quality, harvesting time etc. These data can then be transferred to the following crop stages, setting up a complete information chain ending with the consumer. It is an advantage that the crop does not have to be fitted with data media in the harvesting process. However, a problem might be the size of the considered crop bunches and the potential commingling with different bunches, impeding clear retracement.The autonomous communication-boxes include an Atmel micro controller to actuate function. The functions ZigBee, GPS, CAN, GPRS and SD Card are transmitted via SPI. ZigBee is used for the communication between mobile machines and the head quarter. Navon, R. (2006), Present Status and Future Prospects of Automated Project Performance Indicators' Measurement, 2006. Current monitoring and control methods rely on massive manual work. As a result, control information is expensive to acquire, or is generated irregularly. Additionally, the information is only available infrequently and its quality and integrity are low. The purpose of the work presented in this paper is to improve monitoring and control information, i.e. to offer it on a daily basis, to improve its quality and integrity and to reduce the cost of generating it. To do all this, the Technion APPC researcher group started exploring the use of automated data collection (ADC) technologies. We developed models for automated labor and earthmoving equipment control, as well as models which utilize data froman existing systems – daily site reporting and building programs. Nelson, K. B. (2008), APWA-WA Division 1 Subcommittee Discussion Paper, edited. Noland, R. (2013), Carlson DrillGrade™ - Altas Copco FlexiROC™ HEC3 Drills Factory Integration, edited.

B-69 Carlson Machine Control, in cooperation with Atlas Copco, has installed the first factory 3D drilling system integrating Atlas Copco's new 3rd party protocol running on a FlexiROC™ drill with the HEC3 system. Integration and testing was completed at the Atlas Copco factory in Örebro Sweden in January 2013. Carlson Machine Control's DrillGrade™ system is also compatible as an upgrade to Atlas Copco's SmartROC™ with RSP system. More information on kit details, where to order, etc will be posted on this page over the next week. Please stay tuned! http://carlsonmachinecontrol.com/prod... Meanwhile, please feel free to email machinecontrol@carlsonsw.com with questions. NYSDOT (2007), Summary of Information Learned From 2007 Projects Using Automated Construction & Inspection technologies, edited. The NYSDOT conducted field visits and independent interviews with contractor’s personnel, DOT inspection personnel, and designers of eight projects which were under construction during the 2007 season. The following summarizes what was learned from the observations and discussions as it relates to the use of automated machine guidance, automated inspection technologies, and the general use of electronic engineering data. Reed, M. (2007), "Algeria Claims Largest Public Works Project." Retrieved 9/26/2007, from http://www.constructionequipmentguide.com/Algeria-Claims-Largest-Public-Works-Project/9328/. Sadler, D. (2003), Building a Quality DTM for NYSDOT, edited, New York State Department of Transportation. Sampaio, A. Z., A. R. Gomes and J. Prata (2011), Virtual Environment in Civil Engineering: Construction and Maintenance of Buildings, paper presented at ADVCOMP 2011, The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences. This paper describes two prototype applications based on Virtual Reality (VR) technology for use in construction and maintenance planning of buildings. The first, applied to construction, is an interactive virtual model designed to present plans three-dimensionally (3D), connecting them to construction planning schedules, resulting in a valuable asset to the monitoring of the development of construction activity. The 4D application considers the time factor showing the 3D geometry of the different steps of the construction activity, according to the plan established for the construction. The 4D model offers a detailed analysis of the construction project. It allows the visualization of different stages of the construction and the interaction between all stakeholders during the actual construction activity. A second VR model was created in order to help in the maintenance of exterior closures of walls in a building. It allows the visual and interactive transmission of information related to the physical behavior of the elements. To this end, the basic knowledge of material most often used in façades, anomaly surveillance, techniques of rehabilitation, and inspection planning were studied. This information was included in a database that supports the periodic inspection needed in a program of preventive maintenance. This work brings an innovative contribution to the field of construction and maintenance supported by emergent technology. Sanderson, L. The Use of GPS in the Department of Transportation, edited. Schneider, C. (2013), 3D, 4D, and 5D ENGINEERED MODELS FOR CONSTRUCTION.

B-70 This Technical Brief provides an overview of 3D modeling, including technology applications during design and construction, benefits to stakeholders, resource requirements, current state-of- the practice, and advanced applications such as adding 4D and 5D components. TEAM, G. E. S. GDOT Engineering Software TEAM MicroStation and InRoads Implementation Status, edited, Georgia Department of Transportation. Technologies, A. D. S. o. E. (2008), Proposal for Use of Electronic Engineering Data in Construction, Proposal Rep., AGC/DOT Subcommittee on Emerging Technologies. There are currently many technologies available to the Contractor for use in construction which leverages the use of Electronic Engineering Data (EED). Automated Machine Guidance (AMG), Automated Stakeout and Inspection, and Intelligent Compaction are a few of the present examples utilized in construction and the industry looks promising in the near future for the automation of asphalt and concrete paving, slip-form curbing, and milling of pavement. All of these related technologies depend upon using reliable and accurate electronic geospatial data for the precise positioning, removal, placement or treatment of materials. Most engineering data for DOT capital projects is generated geospatially (relative to the earth’s surface) in one form or another during the design phases of the project, and is then published in paper format as part of the contract documents. Contractors then have to regenerate the electronic data for use in construction. This EED proposal will provide insight and recommendations on why and how engineering data should be provided to the Contractor and DOT Inspection Staff in its native electronic format. (Please refer to the Appendix 1 for definitions of some terminology used in this proposal). FDOT. (2008), VBA Modeler for Automated Machine Control, in Design Conference 2008 People Moving People, edited, Florida Department of Transportation. MDOT. (2012), 3D Model Based Design Interim Guidelines. The intention of a 3D model is to provide a comprehensive and true representation of a project not only in the design phase, but also in construction. Ujvari, B. and C. Engle (2007), Leveraging Electric Plan Data Utilizing Electronic Plan Files in the Field, edited, Ohio DOT, OTEC Columbus, Ohio. Vahdatikhaki, F., A. Hammad and S. Setayeshgar (2013), Real-time simulation of earthmoving projects using automated machine guidance, paper presented at The 30th ISARC, International Association for Automation and Robotics in Construction (IAARC), Montréal, Canada. Simulation techniques have offered significant boosts toward a cost-and-time-optimized planning of construction projects by enabling project managers to effectively comprehend the behavior of projects. Using historic data from projects of like nature, simulation considers uncertainties involved in a project through accommodating the stochastic modeling parameters. However, the heavy reliance on the statistical data and not taking into account the context-specific features of the project cause the degradation in the realism and accuracy of the simulation models. Similarly, the extent to which a historic pattern could be retrofitted to new projects will decrease in line with the growing uniqueness of the projects and the novelty of construction methods. Furthermore, the existing real-time simulation frameworks are not capable of distinguishing the transient environmental changes, with minimal long-term impacts on the productivity, from the influential changes that will greatly impact an operation. In addition, existing simulation tools are devoid of

B-71 location awareness, resulting in the inability to consider safety threats in their representation of the project. To address these issues, this research proposes a framework based on the integration of new tracking technologies used in Automated Machine Guidance (AMG) with simulation- driven 4D modeling methods. The proposed framework automates the adjustment of the simulation model based on the updated data from the site, and thus transforms simulation from a predictive tool used at the planning phase to a proactive monitoring platform usable throughout the planning and construction phases. A prototype is developed to test and demonstrate the effectiveness of the proposed approach. Voigt, J. (2013), Proper use of stringless slipform paving technology, edited. Welcome to this Training Module on Proper Use of Stringless slipform paving technology. My name is Jerry Voigt, and I am the President and CEO of the American Concrete Pavement Association. We are very pleased to partner with the Federal Highway Administration to bring you this training module. Stringless paving is a rapidly advancing technology in our industry. Our goal is to provide you with both fundamental and comprehensive information to help you understand how stringless technology works and what it takes to use it properly. Vonderohe, A. (2008), Implementation of GPS Controlled Highway Construction Equipment Phase II, Final Rep., University of Wisconsin-Madison. Summary of Issues for Discussion 1. What will be WisDOT’s commitment on provision of design-side data? Considerations include limited resources, the period of transition from CAiCE to Civil 3D, and allotted time for making changes (e.g., some changes require more time than others). There is an urgent need to address these and other data management issues such as whether or not 3D modeling should be a bid item, the impact of involvement of third parties (subcontractors for 3D modeling), and the role of the field engineer when not equipped with necessary software. 2. What is the best means for getting other WisDOT regions involved? 3. What effective educational mechanisms are there for WisDOT and contractor staff? 4. Will future GPS machine guidance grading specifications include slopes and ditches or will they continue to be confined to roadway subgrade? Are there aspects of the standard specifications that affect grading of slopes and ditches and should be addressed for GPS machine guidance? 5. When WisDOT goes to statewide options for bidding, will the regions have choices or will the option apply to all contracts? 6. Is it possible to use existing section corners for horizontal control? 7. There are problems with using last-pass data from the machines to construct as-built surfaces. For example, data are collected whether the blade is cutting, flush with the ground, or above ground. Also, such data can be collected only as points. No breaklines or labels can be inserted, so the data would have to be interpreted and edited later with no information other than visual inspection on which points should be connected to form lines. Furthermore, some “last-pass” data have to be passed over again (for example, because of rutting). 8. The 2007 specification allows the engineer to require conventional staking (blue tops) if GPS machine guidance is producing unacceptable results. Should there be more flexibility for the engineer (e.g., requiring some blue topping by choice)? Should the contractor also have the option of going to conventional staking (e.g., equipment priorities)? 9. Are 2007 tolerances too stringent or not stringent enough? Feedback from the projects indicated they are appropriate and should not be changed. 10. Why is it necessary for the site calibration check points to be different from the control points used for calibration? If the site calibration checks once, could site calibration control points be used for future checks? Can site calibration checks be reduced to one per day? 11. What is the appropriate number and configuration of control points for site calibration? Can the 2007 specification be reduced? Under the 2007 specification on the Hoffman project, there were only two project control points that could be used to check site calibrations. 12. Concerning the specified 20 subgrade check points per mile, what about divided highways? Is the specified number per lane-

B-72 mile or per linear mile? 13. Should initial staking and subgrade be separated in the specification? 14. Not all machines have GPS machine guidance, so initial staking is necessary. In addition, subcontractors (e.g., for clearing and grubbing) might not have the technology and will need stakes. There are mixed opinions on whether or not slope staking can be reduced to every other station. Doing so could cause problems with, for example, topsoil stripping in non-uniform areas. 15. What are the appropriate ways for the contractor and the department to share electronic information in proprietary formats (e.g., site calibration files). This is separate from the 3D modeling data management issue. Vonderohe, A. (2009), Status and Plans for Implementing 3D Technologies for Design and Construction in WisDOTRep. WisDOT Project ID: 0657-45-11, Construction and Materials Support Center University of Wisconsin – Madison Department of Civil and Environmental Engineering. The original objective of this project was to assist WisDOT in preliminary stages of identifying institutional issues, relevant design and construction work processes that would be impacted, consequences, and legal issues that could arise by directly providing design 3D models to contractors for contractual purposes. After meeting this objective and conducting a stakeholder workshop to validate findings and develop recommendations, the project scope was expanded beyond 3D models and DTMs to include 3D technologies in general. Accordingly, the final objective of the project was development of a high-level implementation plan for 3D technologies and methods for design and construction. Wendebaum, J. (2008), No Driving in Circles - Improving the Research and Development of Mobile Machinery and Control Systems by Using Advanced Simulation Technology, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. The research and development of hardware, control and communication mechanisms for mobile machinery always requires a high amount of practical testing and debugging. In many cases, the developers need a machine or at least a test rack during a long time of a development project. By simulating the target hardware on the developers' PC, the development process, testing and debugging can already start at a very early phase of the project, before the target hardware is even available. This article presents and demonstrates an advanced simulation environment which can be used to simulate a complete as well as a mixed environment, and shows how testing and debugging can be performed in a much more controllable and repeatable manner. Also, the benefit for research of the behaviour of mobile machinery is shown, where the technology can be used to create and control a complete machine. Further, simulation is compared to the testing on real machines, and limitations and possible issues are discussed. Wunderlich, T., T. Schäfer and S. Auer (2008), Passage Simulation of Monorail Suspension Conveyors and Transport Goods for Collision Prevention, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Modern industrial production involves complex and time-critical process chains which demand a sophisticated supply chain management and logistics as well as safe and reliable transport systems. Inside a vast factory individual parts (e.g. engines) cover large distances by using specific transport lines, e.g. electric monorail suspension conveyors. In such an environment, the avoidance of any collision of units with the surrounding area or flexible tools becomes a must. Above all, it is an interruption of production that has to be prevented as this would result in very high financial losses for every minute break. On the other hand, last minute changes in product design are typical and call for a simulation tool to compute dynamic interference checks and to visualize detected risk zones where problems might occur. The paper gives an overview over common interference detection techniques of moving objects among solids and surfaces and

B-73 finally introduces the prototype Software KoSimu (Kollisionsprüfungs- Simulator) developed at the Chair of Geodesy in course of a diploma thesis. It provides a collision check simulator that enables the designer to simulate the motion of a part prototype along a known trajectory through the facility and detect collision spots. To acquire the transport line’s surrounding, Terrestrial Laser Scanning is applied, creating representative point clouds. The complementing input for KoSimu consists of geometric models of the part prototype and the mounting device on the suspension conveyers. In a first step, these two models have to be linked using specific connection points. Subsequently, the new model is approximated by suitable cubes of selectable size and reduced to its characteristic envelope. Under the assumption of homogeneous mass distribution (centre of mass equals the geometric centre) physical effects (centrifugal and reset forces, oscillating movements) can be considered as well. The geometric and the physical model are jointly used to create a space of impact along the track which is tested against the point clouds of obstacles to reveal and successively prevent any possible collisions Zhang, C., A. Hammad and H. Bahnassi (2009), Collaborative Multi-Agent Systems for Construction Equipment Based on Real-Time Field Data Capturing, Journal of Information Technology in Construction, 14, 204-228. This paper proposes collaborative multi-agent systems for real-time monitoring and planning on construction sites. A multi-agent system framework is discussed to support construction equipment operators by using agents, wireless communication, and field data capturing technologies. Data collected from sensors attached to the equipment, in addition to an up-to-date 3D model of the construction site, are processed by the multi-agent system to detect any possible collisions or other conflicts related to the operations of the equipments, and to generate a new plan in real time. The potential advantages of the proposed approach are: more awareness of dynamic construction site conditions, a safer and more efficient work site, and a more reliable decision support based on good communications. Zogheib, A. (2008), Autonomous Navigation Tool for Real & Virtual Field Robots, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. Due to ecological and economical demands in agriculture as well as technological improvements, the development of autonomous field robots has gained importance within the last years. A common task for all field robots, whatever their main function is, is to Autonomously Navigate between row cultures. As a first step, toward a full featured Simulator tool dedicated to agriculture applications, an autonomous navigation tool based on sensor fusion and fuzzy logic, has been realised. The data of various sensors are transferred to control variables thereby opening the options for including further sensors without changing the model. Different aspects ranging from missing plants to path planning (such as skipping rows) and field mapping are included. A wireless connection with the physical robot is implemented, currently it is used for robot navigation control, data sending and receiving. The first experiments for the navigation between rows showed that simulation and real world were in phase. SPECIFICATIONS/STANDARDS U.S. DOT The Future has Arrived!, in Kerville’s MovingDirt Magazine, edited, p. 1.

B-74 If you’re involved in machine control, tune in to this. It’s the biggest news of the decade, in our view. And it puts squarely on the horizon the virtual certainty of a new generation of positioning technology that offers far better reliability than today’s 3D gear. A few days ago Trimble announced that it had signed an agreement with Nunzio Gambale’s Locata Corporation of Canberra, for development and distribution of construction equipment integrating Locata’s technology with Trimble’s GNSS systems. The applications specified in the agreement are heavy and highway construction and building construction. (2013), Use of Automated Machine Guidance (AMG) within the Transportation Industry, List of States, edited. FDOT. (2007), Multi-Line Earthwork for Designers, 72 pp. This manual, created by the Florida Department of Transportation (FDOT) Engineering / CADD Systems Office (ECSO), instructs designers on how to use Multi-Line Earthwork to verify earthwork quantities calculated from their created GEN file(s). The general file format, commonly referred to as a GEN file, is an ASCII text file where cross section surface lines (i.e., existing ground, bottom of proposed template, etc.) are described individually. GEN files are most commonly used to perform earthwork calculations. FDOT requires that GEN files be included in Electronic Plans deliveries for specified surfaces in accordance with Chapter 8 of the CADD Production Criteria Handbook. Throughout this manual, Arial Font text is used to indicate the title of a screen/window and bold text to indicate words that appear on the screen/window, such as a button name. Occasionally, bold text is also used to emphasize a point. A flow chart is used to describe the work flow. Following the presentation of the flow chart, each step is shown in logical order. Some steps may be skipped based on the answers to questions shown on the flow chart. For more detailed information than that presented herein, Multi-Line Earthwork's on-line help can be access by clicking Help in the top left corner of the current menu (shown below). There is also a training manual, FDOT Multi-Line Earthwork, available with detailed example problems. MoDOT. (2009), Specifications of Computer Deliverable Contract Plans, 5 pp., MISSOURI DEPARTMENT OF TRANSPORTATION (MoDOT). The Missouri Department of Transportation uses MicroStation for highway and bridge design and drafting. Highway design surveys and road design computation are achieved by using the GEOPAK software. All department drawings are available to the consultant in a MicroStation DGN format only. GEOPAK deliverable requirements pertain to road design, preliminary design, and survey projects only. Bridge design projects do not require GEOPAK deliverables. AASHTO (2007), REQUIREMENTS FOR ELECTRONIC DATA TO BE SUPPLIED TO CONSTRUCTION, 2 pp. 3D models detailing a project’s proposed design shall be developed for work on projects which: 1) significantly change the terrain surface, 2) could impact the determination of the need to acquire right of way, 3) involves the construction of new bridge substructures, 4) could visually confirm sufficient safe clearance for the traveling public during construction phases, or 5) could verify that required clearances for construction operations and installations are achievable. At a minimum, 3D models of the proposed finished surface shall be provided for all work areas of projects which involve the following types of construction changes and proposed improvements. Surface models shall also be provided for top of roadway subgrade in all areas of new construction or full reconstruction.

B-75 Administration, M. S. H. (2008), Part III Technical Requirements, Section 107 Construction Stakeout Standard Specifications for Construction and Materials. Cawley, B. (2013), Civil Integrated Management (CIM), edited. CIM is the collection, organization, and managed accessibility to accurate data and information related to a highway facility. The concept may be used by all affected parties for a wide range of purposes, including planning, environmental, surveying, construction, maintenance, asset management, and risk assessment. CODOT (2008), REVISION OF SECTION 625 SURVEY CONTROL OF GRADING BY GPS OR RTS METHODS, 2 pp. CODOT (2008), Survey Manual, Chapter 3: GPS/GNSS Surveys, in Survey Manual, edited, p. 47. The purpose of this chapter is to define the specifications that shall be followed while performing GPS/GNSS surveys for CDOT by CDOT surveyors or contract consultant surveyors. As advances in GPS technology are made in hardware and processing software that prove a higher degree of accuracy is more easily attained, new specifications for CDOT shall be developed and sections of this chapter shall be revised to stay current with those advances. For brevity, GPS/GNSS shall be referred to as GPS throughout the Survey Manual. Any variation from the specifications shall have the prior approval of the Region Survey Coordinator Erik, C., H. Darrell and B. Dan (2001), Global Positioning System (GPS) Inventory Standards, edited, Oregon Department of Transportation. This document was compiled during the Global Position System (GPS) development phase for ODOT's Road Inventory and Classification Services Unit. This document establishes a consistent method for collecting resource grade* GPS inventory data, and is a summary of “lessons learned” from RICS Unit experience with the Trimble GPS equipment. The intent is to outline procedural standards for collecting resource grade GPS inventory data, and to serve as a supplement to the Trimble equipment manuals. Garris, R. A. (2008), Addendum No. 3, edited, North Carolina Department of Transportation. INDOT (2009), INDOT 2010 Standard Specifications, ICA/INDOT Northern Region Joint Cooperative Committee. Indiana DOT's standard specifications for construction stakes, lines, and grades INDOT (2009), INDOT 2010 Standard Specifications, edited, ICA/INDOT Northern Region Joint Cooperative Committee. IndianaDOT's standard specifications for construction stakes, lines, and grades Johnson, P. (2009), MEMORANDUM TO: AMG Committee MembersRep., 2 pp, STATE OF NORTH CAROLINA DEPARTMENT OF TRANSPORTATION. Kennerly, M. J. Machine Control Grading, edited, Iowa DOT.

B-76 Melas, P. and L. Barrett. (2009), Specifications: How Much Information is Enough?, edited, Texas Department of Transportation. NCDOT (2009), AUTOMATED MACHINE GUIDANCE, 2 pp. Powell, E. C. (2006), Minutes to the Joint Committee Meeting Memorandum, edited. The Joint Cooperative Committee of the AGC-DOT met at 10:00 AM on July 20, 2006, in the Chief Engineer's Conference Room at the NCDOT Maintenance and Equipment Facility located on Beryl Road in Raleigh Reed, J. A. (2004), Office of Engineering and Technology Declares Geophysical survey Systems, inc. Request for a Wavier of Part 15 to be a "Permit-But-Disclose" Proceeding for Ex Parte Purposes, edited. On October 13, 2004, Geophysical Survey Systems, Inc. (“GSSI”) filed a request for a waiver of Part 15 of the Commission’s rules to permit the higher power operation of ultra-wideband (“UWB”) non-contact ground penetrating radars (“GPRs”). Such GPRs are pulled behind vehicles and are used to test broad or lengthy surfaces such as highways, railroad beds and runways to detect flaws in those structures. Sheldon, D. and C. Mason (2009), A Proposal for Statewide CAD Standards in IowaRep., Howard R. Green Company. The MicroStation/GEOPAK and AutoCAD/Civil 3D platforms are widely used tools in the design and drafting of infrastructure improvements. Recent advances in these platforms have created new opportunities to increase quality, reduce risk, and save time and money during design and construction. However, the state of Iowa is not presently realizing the full benefit of these advances. This paper proposes a way for Iowa communities to realize these benefits through the development and implementation of statewide Computer Aided Design (CAD) standards. This proposal would not merely the appearance of construction drawings; rather, it would bring a consistent flow and methodology to the work of design. Singh, R. (2009), Engineering Automation Key Concepts for a 25 Year Time HorizonRep., 26 pp, Oregon Department of Transportation Solutions, D. D. o. T. D. o. T. (2007), Design Guidance Memorandum, 2 pp. To provide guidance on determining which projects will provide electronic data to contractors for the use of Global Positioning Systems (GPS) Machine Control grading techniques during construction, and what design elements need to be considered. Technologies, A. D. S. o. E. (2008), Proposal for Use of Electronic Engineering Data in Construction, Proposal Rep., AGC/DOT Subcommittee on Emerging Technologies. There are currently many technologies available to the Contractor for use in construction which leverages the use of Electronic Engineering Data (EED). Automated Machine Guidance (AMG), Automated Stakeout and Inspection, and Intelligent Compaction are a few of the present examples utilized in construction and the industry looks promising in the near future for the automation of asphalt and concrete paving, slip-form curbing, and milling of pavement. All of these related technologies depend upon using reliable and accurate electronic geospatial data for the precise positioning, removal, placement or treatment of materials. Most engineering data for DOT capital projects is generated geospatially (relative to the earth’s surface) in one form or

B-77 another during the design phases of the project, and is then published in paper format as part of the contract documents. Contractors then have to regenerate the electronic data for use in construction. This EED proposal will provide insight and recommendations on why and how engineering data should be provided to the Contractor and DOT Inspection Staff in its native electronic format. (Please refer to the Appendix 1 for definitions of some terminology used in this proposal). Townes, D. (2013), Automated Machine Guidance, EXECUTIVE SUMMARY, Rep., 6 pp, Federal Highway Administration. Automated Machine Guidance utilizes data from sources such as 3D engineered models to provide guidance to construction equipment to improve construction efficiency, lower construction costs, reduce schedules, increase quality, increase safety, and be environmentally friendly. This executive summary outlines some of the benefits of using this technology for grading, milling, paving, and other types of construction applications. NCDOT. (2007), Earthwork, North Carolina Department of Transportation, edited, p. 12, North Carolina Department of Transportation. NDDOT. (2008), NDDOT Procedures for Calculating Final Earthwork Quantities, edited, p. 73, North Dakota Department of Transportation. Alabama DOT. (2008), STANDARD SPECIFICATIONS FOR HIGHWAY CONSTRUCTION, 731 pp., Montgomery, Alabama. Colorado DOT. (2005), Standard Specifications for Road And Bridge Construction, Colorado Department of Transportation. California DOT. (2006), Differential Leveling Survey Specifications 10 pp., California Department of Transportation Survey specifications describe the methods and procedures needed to attain a desired survey standard. Specifications in this section are based on Federal Geodetic Control Subcommittee (FGCS) standards and specifications. Except where noted, they have been modified to give results that will meet the requirements for various types of differential leveling surveys typically performed by the Department. For details regarding standards, refer to Chapter 5, “Accuracy Classifications and Standards.” The Department’s differential leveling survey specifications shall be used for all Caltrans-involved transportation improvement projects, including special-funded projects. California DOT. (2006), Global Positioning System (GPS) Survey Specifications-06, 42 pp. Survey specifications describe the methods and procedures needed to attain a desired survey accuracy standard. The specifications for Post Processed GPS Surveys described in Section 6A are based on Federal Geodetic Control Subcommittee (FGCS) standards. The FGCS standards and specifications have been modified to meet the specific needs and requirements for various types of first-order, second-order, third-order, and general-order GPS surveys typically performed by Caltrans. The specifications for Real Time Kinematic (RTK) GPS Surveys described in Section 6B are based on accepted California Department of Transportation standards. For complete details regarding accuracy standards, refer to Chapter 5, “Classifications and Accuracy

B-78 Standards.” Caltrans GPS survey specifications are to be used for all Caltrans involved transportation improvement projects, including special-funded projects. GPS surveying is an evolving technology. As GPS hardware and processing software are improved, new specifications will be developed and existing specifications will be changed. The specifications described in this section are not intended to discourage the development of new GPS procedures and techniques. Connecticut DOT. (2007), Digital Design Environment GuideRep., 96 pp, Newington, CT. Transportation, C. D. o. (2007), Machine Control Grading – Special Provisions 5-1.26. Transportation, C. D. O. (2008), Plans Preparation Manual. Transportation, C. D. o. (2008), Survey Control of Grading by GPS or RTS Methods – Revision of Section 625, Pilot Project Special Provision. Transportation, C. D. o. (2009), GUIDELINES for IMPLEMENTING AUTOMATED MACHINE GUIDANCE, 8 pp., California Department of Transportation. These guidelines, roles, and responsibilities, provide guidance for Department employees to facilitate contractor use of Automated Machine Guidance (AMG) technology on state highway projects. AMG technology has the potential to reduce time and cost of construction and Department support costs. This document supersedes the 2005 “INTERIM GUIDELINES FOR USE OF MACHINE GUIDANCE TECHNOLOGY”. These guidelines were updated based on lessons learned from the Brawley Bypass Stage 2 project, and other projects from around the state. They apply throughout the project initiation, design, and construction phases of project delivery. California DOT. (2013), Implementation of Automated Machine Guidance for Ongoing Projects (Memorandum). This directive provides guidance to the resident engineer regarding the contractor’s option to request and obtain from Caltrans the original ground digital terrain model (DTM) and digital design model (DDM), or the electronic design files for the contractor to create a DTM and DDM, so that automated machine guidance (AMG) systems may be used on a project. AMG is a technology that is becoming an industry standard for earthmoving on private and public works projects. AMG is used on bulldozers, scrapers, blades, loaders, etc. Some paving equipment may use AMG techniques. California DOT. (2012), Global Positioning System (GPS) Survey Specifications, California Department of Transportation, 42 pp., California Department of Transportation. Survey specifications describe the methods and procedures needed to attain a desired survey accuracy standard. The specifications for Post Processed GPS Surveys described in Section 6A are based on Federal Geodetic Control Subcommittee (FGCS) standards. The FGCS standards and specifications have been modified to meet the specific needs and requirements for various types of first-order, second-order, third-order, and general-order GPS surveys typically performed by Caltrans. The specifications for Real Time Kinematic (RTK) GPS Surveys described in Section 6B are based on accepted California Department of Transportation standards. The specifications in Section 6A are separate and distinct from the specifications in Section 6B. For complete details regarding accuracy standards, refer to Chapter 5, “Classifications and Accuracy

B-79 Standards.” Caltrans GPS1 survey specifications are to be used for all Caltrans-involved transportation improvement projects, including special-funded projects. GPS surveying is an evolving technology. As GPS hardware and processing software are improved, new specifications will be developed and existing specifications will be changed. The specifications described in this section are not intended to discourage the development of new GPS procedures and techniques. survey specifications are to be used for all Caltrans-involved transportation improvement projects, including special-funded projects. Delaware DOT. Machine Control Grading, 6 pp. This specification contains the requirements for grading operations utilizing Global Positioning Systems (GPS). Transportation, D. D. o. (2009), Draft specification for Machine Control – section 763637. This specification contains the requirements for grading operations utilizing Global Positioning Systems (GPS). Transportation, F. D. o. "CADD Production Criteria Handbook (CPCH)." Retrieved 25/10, 2013, from http://www.dot.state.fl.us/ecso/downloads/publications/criteriahandbook/default.shtm. Transportation, I. D. o. (2007), Developmental Specifications for Global Positioning System Machine Control Grading, 4 pp. This specification contains requirements for grading construction utilizing Global Positioning System (GPS) machine control grading techniques and shall be used in conjunction with Section 2526, of the Standard Specifications. The Contractor may utilize grading equipment controlled with a GPS machine control system in the construction of the roadway embankment. The plans indicate the areas of the project where the Contracting Authority IDOT is providing electronic surface models of the roadway embankment construction. The remaining areas may be constructed with conventional construction survey techniques unless the Contractor chooses to build the required surface models to facilitate GPS machine control grading for those areas at no additional cost to the Contracting Authority. The Contractor may use any type of GPS machine control equipment and systems that results in achieving the existing grading requirements. The Contractor shall convert the electronic data provided by the Contracting Authority into the format required by their system. Transportation, I. D. o. (2009), SPECIAL PROVISIONS FOR SLIPFORM PAVING SYSTEM MACHINE CONTROL 4pp., Worth County. THE STANDARD SPECIFICATIONS, SERIES 2001, ARE AMENDED BY THE FOLLOWING MODIFICATIONS AND ADDITIONS. THESE ARE SPECIAL PROVISIONS AND THEY SHALL PREVAIL OVER THOSE PUBLISHED IN THE STANDARD SPECIFICATIONS. Transportation, I. D. o. (2012), DEVELOPMENTAL SPECIFICATIONS FOR PCC PAVING 3-D MACHINE CONTROL, 2 pp. THE STANDARD SPECIFICATIONS, SERIES 2012, ARE AMENDED BY THE FOLLOWING MODIFICATIONS AND ADDITIONS. THESE ARE DEVELOPMENTAL SPECIFICATIONS AND THEY SHALL PREVAIL OVER THOSE PUBLISHED IN THE STANDARD SPECIFICATIONS.

B-80 Transportation, I. D. o. (2014), Measurement and Earthwork Calculations. Transportation, M. D. o. (2000), Missouri Department of Transportation Specifications of Computer Deliverable Contract Plans, 5 pp., Missouri Department of Transportation The Missouri Department of Transportation uses MicroStation for highway and bridge design and drafting. Highway design surveys and road design computation are achieved by using the GEOPAK software. All department drawings are available to the consultant in a MicroStation DGN format only. GEOPAK deliverable requirements pertain to road design, preliminary design, and survey projects only. Bridge design projects do not require GEOPAK deliverables. TRANSPORTATION, M. D. O. (2001), DIGITAL SURFACE MODEL COMPILATION 4pp. This Specification is established to provide the Minnesota Department of Transportation (MN/DOT) with “Photogrammetry Products and Services” from Private Photogrammetric Partners (Contractor). Transportation, M. D. o. (2004), Waiver of Liability. Transportation, M. D. o. (2005), District Check List. Transportation, M. D. o. (2005), Specifications for Delivery of Electronic Design Data. Transportation, M. D. o. (2007), Surveying and Mapping Manual, 395 pp. This manual incorporates and sets forth accepted practices developed in the Surveying Program and the Interactive Graphics/Automated Drafting System. The manual will be kept current through a continuing program to keep Surveying and Mapping personnel up-to-date on the changes coming about because of research, new technology and the surveying organization of Mn/DOT, while continuing to emphasize sound survey practices. TRANSPORTATION, M. D. O. (2010), Automated Machine Guidance Systems, 4 pp. Transportation, M. D. o. (August 1, 2001), Test Profiles for Digital Terrain Models, Minnesota Department of Transportation, 7 pp. Jointly developed by the Photogrammetics and GEOPAK Units within the Minnesota Department of Transportation, this procedure details the standard procedure and deliverables of test profile DTM data from district Surveys to Photogrammetics. Standard data collection procedures are used, however, specific feature codes should be utilized in order to share data with Photogrammetics. Past procedures required the delivery of chains, profiles, and ASCII print-outs to Photo. This is no longer necessary. Transportation, M. D. o. (July 2001), Special Provisions for: Group 3: Digital Terrain Model/Digital Elevation Model Products and Services, Minnesota DOT. , 4 pp., Minnesota Department of Transportation This Specification is established to provide the Minnesota Department of Transportation (MN/DOT) with “Photogrammetry Products and Services” from Private Photogrammetric Partners (Contractor).

B-81 Transportation, N. C. D. o. (2008), Automated Machine Guidance – Special Provisions for Contract 201918 (R-2606B) Addendum 3: “US 311 Bypass from north of Spencer Road (SR 1929) to US 220”. This Special Provision contains requirements that shall be followed if the Design-Build Team elects to use Global Positioning System (GPS) machine control grading and shall be used in conjunction with Section 801 of the 2006 Standard Specifications for Roads and Structures. The use of this technology is referenced as Automated Machine Guidance (AMG). Transportation, N. D. o. Survey Standards, 19 pp., Nevada Department of Transportation. Transportation, N. Y. D. o. (2006), REVISIONS TO SECTION 105-10, SURVEY AND STAKEOUT, 9 pp. Transportation, N. Y. S. D. o. NYSDOT’s Bentley Inspector/Stakeout Pilot Projects, edited, New York State Department of Transportation. Transportation, N. Y. S. D. o. (2005), Moving to 2004 Edition for Engineering Consultants NYSDOT Standards PlansRep., 47 pp, New York State Department of Transportation, New York State Department of Transportation. The content is intended to provide an overview of changes expected to NYSDOT CADD Standards as a result of the Department’s impending upgrade to V8.5 Micro-Station and InRoads. The recipient will be responsible for maintaining contact with the New York State Department of Transportation and determine if any future NYSDOT changes affect the work being produced by the recipient. Although NYSDOT make every effort to ensure the accuracy of its work, it cannot guarantee that the information provided is error free. NYSDOT accepts no responsibility for costs or other adverse consequences, whether direct or indirect, that may occur to the recipient or any subsequent users of this information, due to errors that may or may not be detected. The recipients of this information may not sell or transfer it to others without written approval from the New York State Department of Transportation. Transportation, N. Y. S. D. o. (2005), PREPARATION AND TRANSFER OF ELECTRONIC ENGINEERING DATA, 8 pp., New York State Department of Transportation. PURPOSE: To remind all involved in the design and/or delivery of Capital Projects for letting by the Department, of the guidance regarding the preparation and transfer of electronic engineering data. TECHNICAL INFORMATION: The excerpts from Chapter 2 of the “CADD Standards and Procedure Manual” provided on pages 3 through 8 of this EB are being transmitted to remind project developers of the current guidance regarding the preparation and transfer of engineering data. Transportation, N. Y. S. D. o. (2006), Engineering Instruction 06-007: Revision to Standard Specifications: Section 105-10, Survey and Stakeout; Section 625, Survey Operations, Row Markers & Permanent Survey Markers, 12 pp., New York State Department of Transportation. The purpose of this EI is to revise the subject specifications and incorporate the use of new technologies into the construction of Capital Projects

B-82 Transportation, N. Y. S. D. o. (2006), REVISION TO STANDARD SPECIFICATIONS: SECTION 105- 10, SURVEY AND STAKEOUT; SECTION 625, SURVEY OPERATIONS, ROW MARKERS & PERMANENT SURVEY MARKERS, 12 pp., New York State Department of Transportation. Transportation, N. Y. S. D. o. (2009), REVISION TO STANDARD SPECIFICATIONS: SECTION 625, SURVEY OPERATIONS, ROW AND SURVEY MARKERS, AND GPS INSPECTION UNITS Transportation, O. D. o. (2008), Letter of Clarification No. 3, Oregon Department of Transportation. Transportation, O. D. o. (2010), Construction Machine Automation, six years plan Rep., Oregon Department of Transportation Transportation, S. O. C. D. O. (2006), STANDARD SPECIFICATIONS STATE OF CALIFORNIA: BUSINESS, TRANSPORTATION AND HOUSING AGENCY, 872 pp., State Of California Department Of Transportation Publication Distribution Unit. Transportation, S. O. C. D. O. (2008), Project Delivery Acceleration Toolbox: Improvements to the Project Delivery Process, 68 pp., State Of California Department Of Transportation. The Project Delivery Acceleration Toolbox (Toolbox) is a comprehensive report listing the California Department of Transportation’s (Department) efforts (past and present) to accelerate the delivery of transportation projects. This document also identifies proposed tools for the Department to implement over the next few years.This document will be modified often to reflect the most current and continuing improvement efforts of the Department. The purpose of this document is to provide the Department’s employees, as well as our external partners, valuable tools to accelerate project delivery. The Toolbox is on the Department’s Project Delivery website: http://www.dot.ca.gov/hq/oppd/projaccel/index.htm. The Toolbox contents are separated into three sections: Implemented Improvements, Proposed Improvements, and Status of Improvements. All three sections are organized by Department functional division (i.e., Budgets, Planning, Programming, etc.). The last section lists all improvements in a spreadsheet format for quick reference and indicates the status of each improvement. Transportation, W. D. o. Construction Staking Subgrade, Item 650.4500, 3 pp., Wisconsin Department of Transportation. Transportation, W. D. o. (2008), Construction and Materials Manual, Wisconsin Department of Transportation. Transportation, W. D. o. (2008), machine Control Project Delivery Memo# 08-01 8pp. Transportation, W. D. o. (2009), Wisconsin Guide. Washington, D.C, edited. Transportation, W. D. o. (Nov. 2010), Construction and Materials Manual, Construction Surveying, 5 pp., Wisconsin Department of Transportation. Transportation, W. S. D. o. (2009), Construction Staking Subgrade, Item 650.4500 (Special Provision).

B-83 Under the Construction Staking Subgrade bid item the contractor may substitute global positioning system (GPS) machine guidance for conventional subgrade staking on all or part of the work. The engineer may require the contractor to revert to conventional subgrade staking methods for all or part of the work at any point during construction if, in the engineer's opinion, the GPS machine guidance is producing unacceptable results. Transportation, W. S. D. o. (2014), CMM 7.18 GPS Machine Guidance. Standard spec 650.3.3 allows the contractor to substitute GPS machine guidance for all or part of the subgrade staking work under the contract. The extents of each GPS machine guidance segment and each subgrade staking segment need to be described in the contractor's GPS work plan. It is the contractor's option whether they will use GPS machine guidance or conventional methods. Not all projects are suitable for GPS use. Projects with a dense tree canopy, large vertical cuts, or limited survey control may not prove suitable. On these projects subgrade staking would continue to be performed using conventional methods. Transportation, W. V. D. o. (2010), Construction Layout Stakes for Electronic Data, 3 pp. Transportation, W. V. D. o. (2011), Excavation and Embankment Lump Sum Excavation, 3 pp. Turner, M. S. (2011), Caltrans Office of Land Surveys UpdateRep., 4 pp, Office of Land Surveys, Caltrans. Vonderohe, A. (2009), WisDOT Implementation Plan: 3D Technologies for Design and ConstructionRep. CMSC: MC 08- 09 – WO 2.6, Construction and Materials Support Center University of Wisconsin – Madison Department of Civil and Environmental Engineering. This plan addresses a management strategy and six initiatives for moving towards realization of the vision statement. Components of the initiatives are either underway within WisDOT or proposed herein and relate directly to three-dimensional technologies and methods. The objectives of the plan are to establish or reiterate justifications for the initiatives, identify relationships among them, coordinate among the initiatives where appropriate, recommend actions that will help realize synergistic benefits, assign priorities, establish or reiterate milestones and timelines, and identify responsible parties. Vonderohe, A., K. Brockman, G. Whited and J. Zogg (2009), Development of a Specification for GPS- Machine-Guided Construction of Highway Subgrade - Publications Index, in Transportation Research Board 88th Annual Meeting, edited, p. 17, Transportation Research Board 88th Annual Meeting, Washingto DC. Global Positioning System (GPS) machine guidance for highway construction is being rapidly adopted by contractors due to associated large productivity gains. Seeking to support the industry and share in benefits of this emerging technology, some state DOTs have developed or are developing specifications for use of GPS machine guidance in construction. In 2006, the Wisconsin Department of Transportation (WisDOT), embarked upon a three-year effort to develop, pilot, refine, and implement a sub grade construction specification intended to ultimately become a statewide option for bidding. The effort was guided by an advisory group with representatives from WisDOT and the contracting, engineering consulting, and surveying communities. Interviews with eight DOTs, FHWA, and private sector innovators, a literature search, and deliberations of the advisory group led to an outline for the specification. This served as the basis for a stakeholder workshop at which specification details were developed. Further

B-84 refinements led to a version that was piloted on two projects during the 2007 construction season. Lessons learned from the initial pilot projects resulted in a second version used on four additional pilot projects during 2008. The specification contains sections on GPS work plans, sharing of GPS rovers, site calibration, positional tolerances for site calibration checks and sub grade checks, and development and management of the necessary three-dimensional models. The new specification will replace WisDOT’s standard specification for sub grade staking on projects that use GPS machine guidance. Sub grade stakes (i.e., “blue tops”) are no longer required. Wilson, A. (2013), QUICK REFERENCE GUIDE TO THE IMPLEMENTATION OF AUTOMATED MACHINE GUIDANCE SYSTEMS (AMG) Rep., 37 pp, AASHTO. This document addresses the stages of implementing AMG. This report highlights the crux of all the information gathered and is as brief as possible. Each State will need to conduct a series of buy-in meetings, in order to address individual concerns and gather input from each entity involved. This report will go thru the process that a project experiences from conception through completion. Wyoming, D. o. T. S. o. (2006), Real Time Kinematic (RTK) GPS Specification, 11 pp. RTK GPS survey equipment and procedures will only yield a certain level of accuracy. Care shall be taken to understand the accuracy of the equipment and the procedures utilized, to insure that the necessary survey tolerances are met. During the preliminary survey meeting it should be discussed and agreed upon as to what information can be obtained using RTK GPS equipment, and what should be obtained using other surveying techniques and/or equipment. RTK GPS surveying is an evolving technology. In the future, these specifications may need to be changed or removed, and new specifications may need to be developed. Not all specifications may apply equally or be appropriate for different models of RTK GPS equipment. If it is questionable whether a particular model of RTK GPS equipment will meet these specifications, its use shall be discussed and agreed upon at the preliminary survey meeting or before it is used on a project. Where these specifications are vague or silent on a subject, refer to the manufacturer's recommendations for use of a specific model of RTK GPS equipment. New procedures not covered or not conforming to these specifications will not be used without prior approval of the Photogrammetry & Surveys Engineer. International Australia, G. o. W. "Construction Surveying." Main Roads Western Australia (MRWA). Retrieved 25/10, 2013, from https://www.mainroads.wa.gov.au/Pages/default.aspx. Construction Surveying Specifications AS-BUILT GEOMETRIC, PRODUCTIVITY, AND QA/QC DOCUMENTATION Geometrical Mapping (2013), ROADWAY SURFACE 3D LASER SCANNING, edited, p. 6. One of the problems experienced with concrete overlays is to minimize quantity overruns due to the lack of survey of the existing pavement. The advent of laser scanning has opened a new avenue for mapping of pavement surfaces before overlay construction to help eliminate excessive overruns. To date pavement surface mapping has been done with conventional survey equipment

B-85 such as a total station, rod and level, GPS rover unit or vertical (looking down) sonic units that double as profile measuring devices. These methods are labor intensive and often require traffic control to obtain the data. Laser scanning can offer reduction in survey cost, savings in time, and less interference to the traveling public. Anspach, J. H. (2010), Utility location and highway design. Contreras, M., P. Aracena and W. Chung (2012), Improving Accuracy in Earthwork Volume Estimation for Proposed Forest Roads Using a High-Resolution Digital Elevation Model, Croatian Journal of Forest Engineering, 33(1), 125-142. Earthwork usually represents the largest cost component in the construction of low-volume forest roads. Accurate estimates of earthwork volume are essential to forecast construction costs and improve the financial control of road construction operations. Traditionally, earthwork volumes are estimated using methods that consider ground data obtained from survey stations along road grade lines. However, these methods may not provide accurate estimates when terrain variations between survey stations are ignored. In this study, we developed a computerized model to accurately estimate earthwork volumes for the proposed forest roads by using a high-resolution digital elevation model (DEM). We applied our model to three hypothetical forest road layouts with different ground slopes and terrain ruggedness conditions. We examined the effects of various cross-section spacings on the accuracy of earthwork volume estimation assuming that 1- meter spacing provides the »true« earthwork volume. We also compared our model results with those obtained from the traditional end-area method. The results indicate that as cross-section spacing increases the accuracy of earthwork volume estimation decreases due to lack of the ability to capture terrain variations. We quantified earthwork differences, which increased with terrain ruggedness ranging from 2 to 21%. As expected, short cross-section spacing should be applied to improve accuracy in earthwork volume estimation when roads are planned and located on hilly and rugged terrain. Jenkins, P. (2005), GPS/RTK Accuracy & Procedure Report Concerning Ground Control for Aerial PhotographyRep., Minnesota Department of Transportation Office of Land Management Photogrammetric Unit. This report has two purposes, the first is to be reactive to this recent error problem and address those concerns. Secondly, to be proactive in dealing with the current work environment by demonstrating the value in doing the job tasks correctly and thoroughly. This will be done by clearly stating expectations regarding field and office procedures when using Real Time Kinematic (RTK), Global Positioning System (GPS) equipment for ground control for aerial photography. In addition, other aspects relating to ground control such as the aerial planning process, targeting procedures and accuracy standards will also be reviewed. Memon, Z. A., M. Z. Abd and M. Mustaffar (2006), The Use of Photogrammetry Techniques to Evaluate the Construction Project Progress, Jurnal Teknologi. The modeling of 3D objects from image sequence is a challenging problem and has been an important research topic in the areas of photogrammetry and computer vision for many years. Photogrammetry is the science of calculating 3D object co-ordinates from image and provides a flexible and robust approach for measuring the static and dynamic characteristics for construction management. This paper discusses the experience in Construction Technology and Management Centre (CTMC), Universiti Teknologi Malaysia (UTM) in adapting photogrammetry methods for specific problems in the construction industry and outlines the principles of close-range photogrammetry in evaluating the progress of construction projects. There is a need to use the

B-86 principles of close-range photogrammetry to evaluate the progress of construction project and to develop the actual progress bar chart. The fundamental task of photogrammetry is to rigorouslyestablish the geometric relationship between the image and the object, as it existed at the time ofimaging event. One such software application is PhotoModeler Pro version from the Canadian company Eos System has been suggested to extract the 3D features from 2D images. The approach described in this paper demonstrates the use of digital photogrammetry as a complementary method, which describes the 3D features extraction procedure in detail and highlights the qualitative control that can be achieved during the construction. The technique uses mainly off-the-shelf digitalcamera and software technologies that are affordable to most organisations and able to provide acceptable accuracy. Mettenleiter, M., N. Obertreiber, F. Härtl, M. Ehm, J. Baur and C. Fröhlich (2008), 3D Laser Scanner as Part of Kinematic Measurement Systems, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. The areas of applications for kinematic measurement systems were growing continuously in the last few years. The conventional objectives are e.g. the surveying of infrastructure buildings, railway tracks or tunnel measurement. New applications are the measurement of accident scenes or the generation of 3D city models. The intention is a fast and integral multi sensor system for the 3D survey of large objects to whole cities. This paper reports multi sensor systems which contain 3D laser scanner and positioning sensors and the technique how to combine them. The synchronisation of all sensors is an essential issue which affects the accuracy of the whole system. The paper also presents different applications regarding systems for railway survey which are already in use in a very profitable way and systems in the phase of development. Sampaio, A. Z., A. R. Gomes and J. Prata (2011), Virtual Environment in Civil Engineering: Construction and Maintenance of Buildings, paper presented at ADVCOMP 2011, The Fifth International Conference on Advanced Engineering Computing and Applications in Sciences. This paper describes two prototype applications based on Virtual Reality (VR) technology for use in construction and maintenance planning of buildings. The first, applied to construction, is an interactive virtual model designed to present plans three-dimensionally (3D), connecting them to construction planning schedules, resulting in a valuable asset to the monitoring of the development of construction activity. The 4D application considers the time factor showing the 3D geometry of the different steps of the construction activity, according to the plan established for the construction. The 4D model offers a detailed analysis of the construction project. It allows the visualization of different stages of the construction and the interaction between all stakeholders during the actual construction activity. A second VR model was created in order to help in the maintenance of exterior closures of walls in a building. It allows the visual and interactive transmission of information related to the physical behavior of the elements. To this end, the basic knowledge of material most often used in façades, anomaly surveillance, techniques of rehabilitation, and inspection planning were studied. This information was included in a database that supports the periodic inspection needed in a program of preventive maintenance. This work brings an innovative contribution to the field of construction and maintenance supported by emergent technology. Service, M. F. (2009), GPS satellite system 'close to breakdown' and could fail by 2010 - leading motorists straight into trouble | Mail Online. TRANSPORTATION, N. D. D. O. (2007), As-Built for Earthwork Quantities, Rep., 19 pp.

B-87 This manual provides a written account of how certain activities are performed and is designed to guide and assist staff members in performing their functions. When appropriate, there may be deviations from these written procedures due to changes in personnel, policies, interpretation, law, experimentation with different systems, or simply evolution of the process itself. This manual may be changed at any time. Staff members are encouraged to review this manual periodically and suggest changes in the manual to keep the manual current and to minimize differences between the manual and actual practices. Zogg, H.-M. and D. Grimm (2008), Kinematic Surface Analysis by Terrestrial Laser Scanning, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. This paper presents terrestrial laser scanning with emphasis on kinematic surface analysis. Besides an overview of terrestrial laser scanning in general, the 2D-laser scanner SICK LMS200- 30106 is introduced as well as investigations on its distance measurement qualities. This 2D-laser scanner is often used for kinematic applications in the field of engineering geodesy due to its high scanning frequency, robustness, and reliability. The kinematic surface analysis at Hamburg Airport in conjunction with load tests is presented as an application for the 2D-laser scanner. In general, an application of terrestrial laser scanning into the field of machine control and guidance is conceivable. Mechanistic Property Mapping (e.g., Intelligent Compaction) You, T., R. Al-Rub, E. Masad, E. Kassem and D. Little (2013), Three-Dimensional Microstructural Modeling Framework for Dense-Graded Asphalt Concrete using a Coupled Viscoelastic, Viscoplastic, and Viscodamage Model*, Journal of Materials in Civil Engineering, doi:10.1061/(ASCE)MT.1943- 5533.0000860. This paper presents a three-dimensional (3D) image-based microstructural computational modeling framework to predict thermo-viscoelastic, thermo-viscoplastic, and thermoviscodamage response of asphalt concrete. X-ray Computed Tomography is used to scan densegraded asphalt concrete (DGA) to obtain slices planar images from which the 3D microstructure is reconstructed. Image processing techniques are used to enhance the quality of images in terms of phase identification and separation of particles. This microstructure is divided to two phases: aggregates and matrix. The aggregate phase is modeled as an elastic material and the matrix phase is modeled as a thermo-viscoelastic, thermo-viscoplastic, and thermo-damage material. Stress-strain response, damage propagation, and the distributions of the viscoelastic and viscoplastic strains are predicted by performing virtual uniaxial and repeated creep-recovery tests of the developed 3D model of asphalt concrete. The effects of loading rate, temperature, and loading type on the thermo-mechanical response of asphalt concrete are investigated. In addition, the microscopic and macroscopic responses of the DGA are compared with those of stone matrix asphalt (SMA). The results demonstrated that SMA can sustain higher strain levels at the microscopic level and higher macroscopic ultimate strength. The damage in SMA was more localized than the DGA. The microstructure-based framework presented in this paper can be used to offer insight on the influence of the distribution and properties of microscopic constituents on the macroscopic behavior of asphalt concrete. COST OF AMG Construction GPS-based setout saves on survey, increases production, in Topcon, edited.

B-88 Ciccone Constructions uses Topcon’s Hiper+ rover units to increase production and cut costs on its subdivision projects. Akin, K. (2009), Bringing Machine Control to California DOT (Caltrans) Construction Projects, in 2009 TRB 88th Annual Meeting, edited, Washington, D.C. Azhar, S. (2011), Building information modeling (BIM): Trends, benefits, risks, and challenges for the AEC industry, Leadership and Management in Engineering, 11(3), 241-252. Building information modeling (BIM) is one of the most promising recent developments in the architecture, engineering, and construction (AEC) industry. With BIM technology, an accurate virtual model of a building is digitally constructed. This model, known as a building information model, can be used for planning, design, construction, and operation of the facility. It helps architects, engineers, and constructors visualize what is to be built in a simulated environment to identify any potential design, construction, or operational issues. BIM represents a new paradigm within AEC, one that encourages integration of the roles of all stakeholders on a project. In this paper, current trends, benefits, possible risks, and future challenges of BIM for the AEC industry are discussed. The findings of this study provide useful information for AEC industry practitioners considering implementing BIM technology in their projects. Geiger, S. and S. Andrews Quantity Manager / CEI Administrator, edited, New York State Department of Transportation. Grandia, C. (2006), GPSing Saves Second Guessing, in Midwest Contractor, edited, pp. 6-8. This article discusses Steger Construction, a contractor that lists the benefits of GPS Technology in their company. Heikkilä, R. and M. Jaakkola (2003), The Efficiency of a 3-D Blade Control System in the Construction of Structure Layers by Road Grader – Automated Design-Build of Road Construction in Finland, NIST SPECIAL PUBLICATION SP, 475-480. The paper reports on the research work in the domain of automated road construction. A new method and prototype of automated road grader has been developed in Finland. The working experiments show measurable influence and quality as well as economic profit to be achieved by the new technology. Jarosz, A. P. and R. Finlayson (2003), GPS Guidance System and Reduction of Open Pit Mining Costs and Revenue Loss, Curtin University, 2003. Mining companies, now and in the future, are required to minimise their overall costs to remain competitive, as higher grades and easily accessible deposits are mined out. Savings are achievable by minimising lost revenues (ore loss) and mining costs. The paper examines potential benefits provided by GPS/DGPS guidance systems, installed on excavators, shovels, drill rigs, dozers/graders and dump tracks, in lowering the overall mining costs, increasing utilisation of mining deposits and maximising profit. The analyses are based on data provided by selected metalliferous open pit operations in Western Australia. Jonasson, S., P. S. Dunston, K. Ahmed and J. Hamilton (2002), Factors in Productivity and Unit Cost for Advanced Machine Guidance, JOURNAL OF CONSTRUCTION ENGINEERING AND MANAGEMENT(September/October 2002).

B-89 This paper presents an initial step in seeking to understand just how the adoption of advanced machine guidance technology, especially global positioning systems, leads to improvements in performance by the earthwork contractor. Two grading scenarios and one dozing scenario are examined based upon site observations and interviews with field personnel. Analysis demonstrated that productivity and unit cost improvements result from a reduction in surveying support, grade checking, an increase in operational efficiency, and a Rybka, R. (2006), Making the Grade with GPS, in Dixie Contractor, edited, pp. 10-12. A Georgia contractor puts new technology to work to boost efficiency, save money and make the grade on 9.7 miles of new four-lane highway near Swainsboro, Ga. Schreiber, F., P. Rausch and M. Diegelmann (2008), Use of a Machine Control & Guidance System, Determination of Excavator Performance, Cost Calculation and Protection Against Damaging of Pipes and Cables, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. The construction industry is confronted with permanent pressure regarding costs due to: • increasing expenses, especially those affecting labor and energy; • shortened schedules for completion of projects; • a highly complex legal system with a growing number of official laws and standards. Possible solutions include efforts to make engineering construction more efficient – i.e. by the introduction of industrial production methods to building practices. It is intended to achieve further improvements of performance. Attention is focused on the earthmoving and road construction areas. The adoption of GPS-referenced machine guidance systems based on a digital terrain model (DTM) can significantly contribute to cost reduction. Much progress has been achieved in these areas in the recent years: the introduction of laser-referenced 1-D machine guidance systems, as well as 3-D machine guidance, tachymetrically referenced and GNSS-based guidance systems for graders, bulldozers and excavators. A DTM-based machine guidance system for excavators using GPS positioning has been developed at the University of Applied Sciences, Coburg, Department of Civil Engineering. Sobanjo, J. O. (2006), GPS/GIS Inspection and Analysis Tools for Highway Construction GPS Data Interface with SiteManagerRep., Florida. Zhang, C., A. Hammad and H. Bahnassi (2009), Collaborative Multi-Agent Systems for Construction Equipment Based on Real-Time Field Data Capturing, Journal of Information Technology in Construction, 14, 204-228. This paper proposes collaborative multi-agent systems for real-time monitoring and planning on construction sites. A multi-agent system framework is discussed to support construction equipment operators by using agents, wireless communication, and field data capturing technologies. Data collected from sensors attached to the equipment, in addition to an up-to-date 3D model of the construction site, are processed by the multi-agent system to detect any possible collisions or other conflicts related to the operations of the equipments, and to generate a new plan in real time. The potential advantages of the proposed approach are: more awareness of dynamic construction site conditions, a safer and more efficient work site, and a more reliable decision support based on good communications. Equipment Azhar, S. (2011), Building information modeling (BIM): Trends, benefits, risks, and challenges for the AEC industry, Leadership and Management in Engineering, 11(3), 241-252.

B-90 Building information modeling (BIM) is one of the most promising recent developments in the architecture, engineering, and construction (AEC) industry. With BIM technology, an accurate virtual model of a building is digitally constructed. This model, known as a building information model, can be used for planning, design, construction, and operation of the facility. It helps architects, engineers, and constructors visualize what is to be built in a simulated environment to identify any potential design, construction, or operational issues. BIM represents a new paradigm within AEC, one that encourages integration of the roles of all stakeholders on a project. In this paper, current trends, benefits, possible risks, and future challenges of BIM for the AEC industry are discussed. The findings of this study provide useful information for AEC industry practitioners considering implementing BIM technology in their projects. Jonasson, S., P. S. Dunston, K. Ahmed and J. Hamilton (2002), Factors in Productivity and Unit Cost for Advanced Machine Guidance, JOURNAL OF CONSTRUCTION ENGINEERING AND MANAGEMENT(September/October 2002). This paper presents an initial step in seeking to understand just how the adoption of advanced machine guidance technology, especially global positioning systems, leads to improvements in performance by the earthwork contractor. Two grading scenarios and one dozing scenario are examined based upon site observations and interviews with field personnel. Analysis demonstrated that productivity and unit cost improvements result from a reduction in surveying support, grade checking, an increase in operational efficiency, and a Kellar, W., P. Roberts and O. Zelzer (2008), A Self Calibrating Attitude Determination System for Precision Farming using Multiple Low-Cost Complementary Sensors, paper presented at 1st International Conference on Machine Control & Guidance 2008, 2008. A low cost three axis attitude determination system for moving platforms has been developed by Leica Geosystems that requires a minimal calibration procedure, and has the ability to self- calibrate for the various biases caused by temperature variation and mounting misalignment. Sensor fusion techniques are used to combine the data from a high quality survey grade GNSS receiver with additional cost effective high performance inertial sensors to produce a high rate of attitude data with low noise and low bias in the form of an attitude sensor module for machine control and guidance applications. The sensor module has been successfully integrated into a tractor steering system for precision farming. This paper demonstrates the minimal installation and calibration procedures for the system, and presents the results from benchmarking the system in real farm operating conditions. Nayllor, N. (2006), Development of A Low Cost GPS Guidance System for use in Agriculture, Dissertation thesis, University of Southern Queensland. This project developed an accurate, cost effective GPS guidance system and developed conceptual designs of a hands-free guidance interface for use in the agricultural sector. The guidance system utilised two Garmin GPS 18-5 receivers to provide position data at a rate of 5Hz. The guidance system was built upon a previous incarnation that utilised Garmin GPS 35 receivers providing position data at a rate of 1Hz. The guidance system currently uses an indicating arrow on a computer screen to provide guidance information to operators. The accuracy with which the guidance system could guide an operator in a straight line up a paddock was quantified by monitoring the path followed by the operators machine out and back along a defined trajectory and then compared to current industry standards. The accuracy of the guidance system to guide an operator along parallel paths offset a distance from each other was also quantified. The ability for the software to offset over different distances was also determined. The information collected and conclusions drawn will be used to quantify the accuracy of the

B-91 guidance system as a whole for agricultural applications. It is hoped that the conceptual designs for the hands-free guidance interface will be used to develop a working prototype and be tested with the guidance system in the near future. Sobanjo, J. O. (2006), GPS/GIS Inspection and Analysis Tools for Highway Construction GPS Data Interface with SiteManagerRep., Florida. Life-Cycle Azhar, S. (2011), Building information modeling (BIM): Trends, benefits, risks, and challenges for the AEC industry, Leadership and Management in Engineering, 11(3), 241-252. Building information modeling (BIM) is one of the most promising recent developments in the architecture, engineering, and construction (AEC) industry. With BIM technology, an accurate virtual model of a building is digitally constructed. This model, known as a building information model, can be used for planning, design, construction, and operation of the facility. It helps architects, engineers, and constructors visualize what is to be built in a simulated environment to identify any potential design, construction, or operational issues. BIM represents a new paradigm within AEC, one that encourages integration of the roles of all stakeholders on a project. In this paper, current trends, benefits, possible risks, and future challenges of BIM for the AEC industry are discussed. The findings of this study provide useful information for AEC industry practitioners considering implementing BIM technology in their projects. Dorée, A. and S. Miller (2008), Is Technology a New Challenge for the Field of Construction Management?, University of Twente, 2008. The central theme in Construction Management (CM) and CM research is improving the performance of construction industry. Much effort and thought is given to improving project performance. Within CM there is a natural inclination to focus on projects and project management (PM). Companies in the construction industry also see project management as their key competence. Both have little appreciation for technologies other than those that support project management tasks. Technology – other than Edgar, A. (2006), Building the Future: Right Thinking About BIM and The National BIM Standards Committee, AEC Bytes. Heikkilä, R., T. A. Lasky and K. Akin (2009), Construction Automation Process Development - Advancing the Collaboration between Finland and California, paper presented at 26th International Symposium on Automation and Robotics in Construction (ISARC 2009), Austin TX, U.S.A., 2009. This paper presents the total process model of automation for construction and maintenance, with a focus on roads and bridges. This multi-phase model includes: initial measurements, product modeling and design, construction control and machine guidance, quality assurance and control, and lifecyle operations and maintenance. The paper then provides detailed discussion of current applied research results from Finland and California. The paper gives a summary of the key findings of Finland and California, noting areas of commonality and areas for further investigation. Finally, the paper presents plans for further collaborative research between the University of Oulu and the University of California-Davis. Spagat, E. (2009), FCC Chairman Warns of 'looming Spectrum Crisis', in My News Way, edited.

B-92 Streett, D. (2006), Business Advantages of Using 3D Technologies Using Technologies, edited. WALSH, M. W. (2009), More States Start Pension Inquiries EDUCATION/TRAINING On-line 3D, P. (2013), Point Clouds and As-Built Conditions edited. administration, U. d. o. t. f. h. (2012), 3D Modeling for Construction. Aerial, P. (2013), Phoenix Aerial UAV LiDAR - V2, edited, YouTube. This is a proof of concept video for the Phoenix AL-2 LiDAR UAV. For more information, please visit our website at www.phoenix-aerial.com Autodesk (2011), CI5536: 3D Modeling and 4D Simulation: Mitchell Interchange Construction/Zoo Interchange Design, SE Freeways, Wisconsin, edited. Mortenson Construction, in collaboration with our client, used AutoCAD® Civil 3D®, Autodesk® Revit® Structure, and Navisworks® Manage to execute virtual design and construction (VDC) for the I-94 North South Freeway project. This project includes updating 35 miles of I-94 from the Illinois state line through the Mitchell Interchange. The goal in using VDC was to create a 4D simulation showing the construction of three new tunnels which were viewed as high risk. The team modeled the tunnel structures, surrounding roadways, and utilities to review constructability and clash detection. Most often used in vertical construction, VDC has been successfully implemented into practical and effective use on horizontal projects. VDC encourages collaboration among the project team, and in horizontal construction, also engages nontraditional audiences such as the public, government, and maintenance professionals. This class will give a brief overview of the VDC process, tools used for VDC, and the uses and benefits of VDC in horizontal construction. Autodesk (2012), CI1889-R: Applied Virtual Design and Construction and Virtual Reality Models, Methods, and Processes for Civil Infrastructure Projects, edited. Digital virtual reality (VR) models are being used increasingly in civil infrastructure planning, design, construction, and maintenance worldwide. Virtual Design and Construction (VDC) or Building Information Modeling (BIM) processes allow projects to be virtually designed, analyzed, simulated, and optimized before construction starts, providing benefits of improved design visualization, cost and time savings, streamlined workflows, better fit to the environment, more ecological or sustainable solutions, and increased, understandable communication with local stakeholders. Using VDC or BIM methods, the overall construction process can be optimized beforehand to reduce costly on-site delays. VDC or BIM is not only about tools; it is primarily about the processes, methods, and people behind it. This roundtable session provides an interactive discussion and presentation that shows the overall VDC process using Autodesk® and Vianova products with successful methods, workflows, and practices. Burkhalter, S. C. a. (2012), 7th Street Bridge Arch Placement edited.

B-93 Simulation of the placement of arches for the new West Seventh Street signature bridge in Fort Worth, TX (http://fortworthtexas.gov/SeventhStre...). Animation created by the contractor team of Sundt Construction and Burkhalter. Burkhalter, S. C. a. (2012), 7th Street Bridge Arch Rotation edited. Simulation of the arch rotation, storage and transport process for the new West Seventh Street signature bridge in Fort Worth, TX (http://fortworthtexas.gov/SeventhStre...). Animation created by the contractor team of Sundt Construction and Burkhalter. Burkhalter, S. C. a. (2013), First Arch of the Fort Worth 7th Street Bridge Timelapse edited. The first arches on the world's first precast network arch bridge being put up at the 7th Street Bridge in Fort Worth. The bridge will change the landscape of downtown Fort Worth, Texas with the placement of the first of 12 arches. The one-of-a-kind bridge design will serve as a gateway to the city's culture district. Cawley, B. (2013), Civil Integrated Management (CIM), edited. CIM is the collection, organization, and managed accessibility to accurate data and information related to a highway facility. The concept may be used by all affected parties for a wide range of purposes, including planning, environmental, surveying, construction, maintenance, asset management, and risk assessment. Dewberry (2014), What is LiDAR?, edited, YouTube. Director of Remote Sensing Amar Nayegandhi explains the science and technology behind Light Detection and Ranging (LiDAR) services. Jahren, C. and D. Schmidt (2008), Feature: Machine Control Goes Academic, Professional Surveyor Magazine, 28(1), 1. Lewandowski, A. (2013), Basics of Using LiDAR Data, Lecture 1, edited, YouTube. Basics of Using LiDAR Data, Lecture 1. From the "Conservation Applications of LiDAR" series. Lecture slides and further training materials are at z.umn.edu/lidar. Time points: 1:24-about raster data; 6:05-working with raster data; 8:05-DEMs: digital elevation models Lewandowski, A. (2013), Basics of Using LiDAR Data, Lecture 2, edited, YouTube. Basics of Using LiDAR Data, Lecture 2. From the "Conservation Applications of LiDAR" series. Lecture slides and further training materials are at z.umn.edu/lidar. Time points: 0:40 - What is LiDAR?; 8:10 - MN LiDAR Data; 13:56 - LiDAR Error and Accuracy. Lewandowski, A. (2013), Basics of Using LiDAR Data, Lecture 3, edited, YouTube. Basics of Using LiDAR Data, Lecture 3. From the "Conservation Applications of LiDAR" series. Lecture slides and further training materials are at z.umn.edu/lidar. Time points: 3:38 - Bare earth applications; 7:49 - Vegetative applications; 9:55 - Structural applications; 11:03 - Software Noland, R. (2013), Carlson DrillGrade™ - Altas Copco FlexiROC™ HEC3 Drills Factory Integration, edited.

B-94 Carlson Machine Control, in cooperation with Atlas Copco, has installed the first factory 3D drilling system integrating Atlas Copco's new 3rd party protocol running on a FlexiROC™ drill with the HEC3 system. Integration and testing was completed at the Atlas Copco factory in Örebro Sweden in January 2013. Carlson Machine Control's DrillGrade™ system is also compatible as an upgrade to Atlas Copco's SmartROC™ with RSP system. More information on kit details, where to order, etc will be posted on this page over the next week. Please stay tuned! http://carlsonmachinecontrol.com/prod... Meanwhile, please feel free to email machinecontrol@carlsonsw.com with questions. Noland, R. (2013), Carlson Machine Control New Hardware Presentation 2013, edited, YouTube. This is an overview presentation of how positioning sensors such as GNSS receivers, axial sensors (pitch & roll and angularity), etc are applied for applications using 3D Machine Control. Applications include mining, solid waste landfills, light pile driving such as solar farms, dredging, earthmoving, 3D drilling, site management and more. Russell, D., Y. Cho and E. Cylwik (2013), Learning Opportunities and Career Implications of Experience with Building Information Modeling/Virtual Design and Construction*, Practice Periodical on Structural Design and Construction, doi:10.1061/(ASCE)SC.1943-5576.0000191. This paper aims to identify the impact of Building Information Modeling (BIM) technologies on construction education and the Architectural, Engineering, Construction, and Facilities Management (AEC/FM) industry, as well as the career implications for a person proficient in BIM. To identify the impact of BIM technology, an extensive review of the literature on BIM utilization in higher education and the AEC/FM industry was conducted. In addition, the lessons the authors have learned from years of BIM practices were introduced to further identify the specific benefits and challenges of adopting BIM in Construction and Engineering Management (CEM) education as well as in the AEC/FM industry, for both vertical and horizontal projects. Surveys also were conducted to measure the estimating time contractors would save with a BIM- based estimating strategy compared to a traditional estimating approach. The findings concluded that personal skill sets in BIM have a significant impact on a student's career opportunities. The authors also emphasize that first and foremost CEM faculty need ubiquitous access to the latest technologies as well as accompanying training to produce confident graduates for the AEC/FM industry, eventually improving students' career opportunities. It is expected that a BIM-based paradigm shift in the classroom and the AEC/FM industry would be highly achievable when the identified benefits and challenges of BIM adoption are well known to the educational institutions and the AEC/FM industry, followed by the implementation of the recommended approaches in this study. Sundt (2011), Sundt Construction: Virtual Design and Construction Technology for Heavy Civil Projects edited, YouTube. Sundt Construction is a general contractor known for the innovative ways it embraces construction technology - such as virtual design and construction (VDC), building information modeling (BIM), parametric estimating and other tools - to further the quality of projects it delivers, including education, LEED green building, heavy civil projects and more. This video, which was originally presented to the AASHTO Subcommittee on Construction Conference, specifically explores how VDC can be used to enhance the efficiency and sustainability of project work. Some slides from this project come from the Sellwood Bridge heavy civil construction project in Portland, Oregon, a joint venture of Slayden-Sundt (www.sellwoodbridge.org). www.sundt.com

B-95 Sundt (2013), Sellwood Bridge Project, Portland, Oregon edited. Sellwood Bridge Project, Portland, Oregon, USA. Overview of how the 87-year old structure is being replaced with a new 2-lane steel deck arched bridge using 3D virtual construction and Autodesk BIM (Building Information Modeling) software. For more information about the project visit http://www.sellwoodbridge.org/. Special thanks to Eric Cylwik and Ted Aadland with the Slayden Sundt Joint Venture and Mike Pullen with the Multnomah County Communications Office for their contributions to the video. TopconToday (2013), The Complete Topcon Solution, edited. This video showcases the complete Topcon Solution. Mobile mapping, 3D machine control systems, integrated software solutions, asset management, and web based jobsite management systems are rapidly changing world we work in. Find out how Topcon helps you navigate this universe. TopconToday (2013), P-32 Asphalt Paver System, edited, YouTube. TopconToday (2014), Topcon Sitelink3D Enterprise, edited. Transportation, O. D. o. (2008), ODOT Site Modeler Training GuideRep., Ohio Department of Transportation. "Operating Engineers and Other Construction Equipment Operators Career Profile, Video, Earnings, Education, Prospects - Careers.org." from http://occupations.careers.org/47-2073.00/operating- engineers-and-other-construction-equipment-operators. (2006-2013), "International Union of Operating Engineers Local 103 Training." Retrieved 10/28, 2013, from http://www.iuoe103training.org/. (IUOE), I. U. O. O. E. "International Union of Operating Engineers." from http://www.iuoe.org/Training/HeavyEquipmentOperator/tabid/117/Default.aspx. Over one thousand full- and part-time instructors at our local unions are the heart of IUOE heavy equipment operator training schools. Experienced and highly skilled journey-level operating engineers themselves, they’re the ones charged with making sure that future operating engineers are safe, skilled, productive, and respectful of the equipment. U.S DOT Federal highway administration . (2012), 3D Modeling for Construction. Alsobrooks, B. Introduction of 3D Technology & Machine Control Systems, edited. De-mystify 3D Machine Control, Highlight areas where 3D Machine Control is used and how these projects benefited, How to analyze which tool will help you meet or exceed project specifications, A look at some new, high tech grade control tools that are changing the way grading is being done. Key Points for successful 3D operations, Trouble shooting techniques that apply to all 3D systems Engineers, I. U. o. O. (2008), "Operating Engineers Regional Training Program." Retrieved 10/29, 2013, from http://www.oetraining.com/?zone=/unionactive/view_page.cfm&page=App.

B-96 Jahren, C. and D. Schmidt (2008), Feature: Machine Control Goes Academic, Professional Surveyor Magazine, 28(1), 1. Transportation, O. D. o. (2008), ODOT Site Modeler Training GuideRep., Ohio Department of Transportation. Classroom-based (2009/10/29/15:46:26). Operating Engineers and Other Construction Equipment Operators Career Profile, Video, Earnings, Education, Prospects - Careers.org. from http://occupations.careers.org/47- 2073.00/operating-engineers-and-other-construction-equipment-operators. (2006-2013). International Union of Operating Engineers Local 103 Training. Retrieved 10/28, 2013, from http://www.iuoe103training.org/. International Union of Operating Engineers. from http://www.iuoe.org/Training/HeavyEquipmentOperator/tabid/117/Default.aspx. Over one thousand full- and part-time instructors at our local unions are the heart of IUOE heavy equipment operator training schools. Experienced and highly skilled journey-level operating engineers themselves, they’re the ones charged with making sure that future operating engineers are safe, skilled, productive, and respectful of the equipment. Alsobrooks, B. Introduction of 3D Technology & Machine Control Systems. De-mystify 3D Machine Control, Highlight areas where 3D Machine Control is used and how these projects benefited, How to analyze which tool will help you meet or exceed project specifications, A look at some new, high tech grade control tools that are changing the way grading is being done. Key Points for successful 3D operations, Troubleshooting techniques that apply to all 3D systems International Union of Operating Engineers (2008). Operating Engineers Regional Training Program. Retrieved 10/29, 2013, from http://www.oetraining.com/?zone=/unionactive/view_page.cfm&page=App. Jahren, C. and D. Schmidt (2008) Feature: Machine Control Goes Academic. Professional Surveyor Magazine 28, 1 Ohio DOT (2008). ODOT Site Modeler Training Guide, Ohio Department of Transportation. U.S Department of Transportation Federal Highway Administration. (2012). 3D Modeling for Construction. REAL PROJECT SAMPLE (2011), I-680, edited.

B-97 Group of visual materials used in a highway construction project; where 3D Modeling techniques were implemented. 3D, P. (2013), Point Clouds and As-Built Conditions edited. Aerial, P. (2013), Phoenix Aerial UAV LiDAR - V2, edited, YouTube. This is a proof of concept video for the Phoenix AL-2 LiDAR UAV. For more information, please visit our website at www.phoenix-aerial.com Burkhalter, S. C. a. (2012), 7th Street Bridge Arch Placement edited. Simulation of the placement of arches for the new West Seventh Street signature bridge in Fort Worth, TX (http://fortworthtexas.gov/SeventhStre...). Animation created by the contractor team of Sundt Construction and Burkhalter. Burkhalter, S. C. a. (2012), 7th Street Bridge Arch Rotation edited. Simulation of the arch rotation, storage and transport process for the new West Seventh Street signature bridge in Fort Worth, TX (http://fortworthtexas.gov/SeventhStre...). Animation created by the contractor team of Sundt Construction and Burkhalter. Burkhalter, S. C. a. (2013), First Arch of the Fort Worth 7th Street Bridge Timelapse edited. The first arches on the world's first precast network arch bridge being put up at the 7th Street Bridge in Fort Worth. The bridge will change the landscape of downtown Fort Worth, Texas with the placement of the first of 12 arches. The one-of-a-kind bridge design will serve as a gateway to the city's culture district. Construction, S. Surveying Success with BIM: Autodesk BIM solutions help untangle a highway junction in Arizona., edited. Sundt Construction, Inc. (www.sundt.com) uses Autodesk ® BIM solutions for the virtual design and construction of its vertical construction projects, such as office buildings, as well as its horizontal infrastructure projects, such as roads and bridges. Sundt is currently using BIM to help rebuild an outdated, complicated highway interchange in Arizona. The $51 million project is located about 65 miles north of Phoenix, at the junction of Interstate 17 and State Route 69. Approximately 40,000 vehicles per day use the nearly 50-year-old Cordes Junction interchange, and its current configuration mixes local and through traffic, causing frequent congestion and delays. The project will create two separate interchanges—one for through traffic and one for local traffic—and includes the construction of seven bridges and numerous new ramps, as well as realigning, widening, and paving several associated streets. Sundt and its joint venture partner on this project (Vastco, Inc.) are the project’s Construction Manager at Risk (CM at Risk) Edgar, A. (2006), Building the Future: Right Thinking About BIM and The National BIM Standards Committee, AEC Bytes. Gutierrez, B., R. Luck, W. Mohr, W. Elqaq, M. Paddock, C. Johnson, L. Parve, J. Zogg, K. Flierl and S. Zodrow (2012), CIM-Civil Integrated Management:Best Practices & Lessons LearnedWisDOTSE, edited, Wisconsin Department of Transportation A detailed presentation describing real cases for implementing 3D technologies in construction and Computer Aided Design (CAD).

B-98 LeMay, J. D. (2013), Construction on US-127 north of Lansing, edited, Michigan. Miller, N., B. Smith and K. Nicholson (2012), A Comparison of Mobile Scanning to a Total Station Survey at the I-35 and IA 92 Interchange in Warren County, IowaRep. RB22-011, 22 pp, Iowa Department of Transportation. The purpose of this project was to investigate the potential for collecting and using data from mobile terrestrial laser scanning (MTLS) technology that would reduce the need for traditional survey methods for the development of highway improvement projects at the Iowa Department of Transportation (Iowa DOT). The primary interest in investigating mobile scanning technology is to minimize the exposure of field surveyors to dangerous high volume traffic situations. Issues investigated were cost, timeframe, accuracy, contracting specifications, data capture extents, data extraction capabilities and data storage issues associated with mobile scanning. The project area selected for evaluation was the I-35/IA 92 interchange in Warren County, Iowa. This project covers approximately one mile of I-35, one mile of IA 92, 4 interchange ramps, and bridges within these limits. Delivered LAS and image files for this project totaled almost 31GB. There is nearly a 6-fold increase in the size of the scan data after post-processing. Camera data, when enabled, produced approximately 900MB of imagery data per mile using a 2-camera, 5 megapixel system. A comparison was done between 1823 points on the pavement that were surveyed by Iowa DOT staff using a total station and the same points generated through the MTLS process. The data acquired through the MTLS and data processing met the Iowa DOT specifications for engineering survey. A list of benefits and challenges is included in the detailed report. With the success of this project, it is anticipate that additional projects will be scanned for the Iowa DOT for use in the development of highway improvement projects. Noland, R. (2012), BNI Coal Invests in Positioning Technology, edited. BNI Coal discusses their investment in 3D machine control and fleet management and how they have applied the technology thus far. This investment has increased productivity while reducing their carbon footprint. Coal provides the world with over 40% of its electricity meeting affordable energy needs while harmonizing with the environment. Noland, R. (2013), Carlson DrillGrade™ - Altas Copco FlexiROC™ HEC3 Drills Factory Integration, edited. Carlson Machine Control, in cooperation with Atlas Copco, has installed the first factory 3D drilling system integrating Atlas Copco's new 3rd party protocol running on a FlexiROC™ drill with the HEC3 system. Integration and testing was completed at the Atlas Copco factory in Örebro Sweden in January 2013. Carlson Machine Control's DrillGrade™ system is also compatible as an upgrade to Atlas Copco's SmartROC™ with RSP system. More information on kit details, where to order, etc will be posted on this page over the next week. Please stay tuned! http://carlsonmachinecontrol.com/prod... Meanwhile, please feel free to email machinecontrol@carlsonsw.com with questions. Noland, R. (2013), Dredging in Zeebrugge - Carlson Machine Control DredgeRover™ Application Video, edited, YouTube. Peter DeMoor of Dredging International/DEME, discusses their "best of breed" approach for their positioning systems for over 50 of their machines. DredgeRover™ is flexible and can be configured for an array of excavators and cable cranes. For more information, please visit

B-99 www.carlsonmachinecontrol.com or email machine control@carlson.com. More links in the video for Septentrio and MGB Tech. Noland, R. (2013), Position Partners Mining Machine Control & Mine Site Solutions, edited, YouTube. In this 10 minute interview, we sit down with Garry MacPhail, cofounder & director at Australia's Position Partners, to discuss their new initiatives for mining machine control, fleet management, material management and most importantly training and service. Position Partners exclusively offers Carlson Machine Control for mine site management and 3D machine control for dozers, diggers, haul trucks, bucket wheel excavators, draglines, surface miners and a much more. Other applications served with Carlson Machine Control include solid waste landfills, dredging, 3D drilling and solar panel pile driving. Enjoy the video and contact www.positionpartners.com.au for more information. Ramsdell, A., R. Arulraj and M. Daum MIGRATING AN ENTERPRISE GIS-A SUCCESS STORY. SNYDER & ASSOCIATES, I. JTD, edited. A group of documents, including agreements, contracts, and actual projects conducted by SNYDER & ASSOCIATES, INC. Sundt Virtual preconstruction with BIM for Infrastructure: Sundt Construction uses Autodesk BIM solutions to help construct a signature bridge in Texas. edited. For many years, Sundt Construction (www.sundt.com) has been at the forefront of using Building Information Modeling (BIM) solutions for the virtual design and construction of its vertical construction projects such as office buildings. Now the firm’s Heavy Civil division has transferred lessons learned on those projects to its horizontal infrastructure projects, using Autodesk ® BIM solutions for the virtual design and construction of highways and bridges. Sundt recently used BIM to help devise the best construction solution for the renovation of a high- profile bridge in Fort Worth, Texas. The reconstructed bridge, designed by the Texas Department of Transportation (TxDOT), will be built on the site of the current bridge and will feature 10-foot pedestrian walkways and 12 precast post-tensioned concrete arches that run the length of both sides of the structure. Each arch will be 24 feet tall, 163 feet long, and weigh more than 300 tons. Polished stainless steel within the arches and bridge superstructure will be illuminated at night with embedded lighting. Sundt is the general contractor on this $24.2 million project and Sundt’s concrete division is self-performing all of the concrete work. Sundt Virtual proof with help from BIM for Infrastructure: Autodesk BIM solutions help prove feasibility of proposed construction method of a replacement bridge in Portland, Oregon, edited. Sundt Construction was at the forefront of using Building Information Modeling (BIM) for vertical construction and is now using Autodesk ® BIM solutions for the virtual design and construction of its horizontal infrastructure projects such as highways and bridges. The firm is currently using BIM software to reconstruct an aging bridge in Portland, Oregon. When the Sellwood Bridge opened in 1925, it was a welcome upgrade from the ferry service that had shuttled passengers across Portland’s Willamette River. But today the narrow two-lane bridge has fallen into disrepair and scores only a two out of 100 on a federal bridge sufficiency rating scale. Buses and trucks are restricted from using the bridge and the 87-year old structure was designed without seismic considerations. Multnomah County is replacing the bridge with a new 2-lane steel deck arched bridge, complete with biking and pedestrian lanes. Sundt and its joint venture partner Slayden Construction are the Construction Manager/General Contractor on this project.

B-100 Sundt (2013), Innovative Technology Will Improve Accuracy and Efficiency of Phoenix Light Rail Project. Sundt (2013), Sellwood Bridge Project, Portland, Oregon edited. Sellwood Bridge Project, Portland, Oregon, USA. Overview of how the 87-year old structure is being replaced with a new 2-lane steel deck arched bridge using 3D virtual construction and Autodesk BIM (Building Information Modeling) software. For more information about the project visit http://www.sellwoodbridge.org/ Special thanks to Eric Cylwik and Ted Aadland with the Slayden Sundt Joint Venture and Mike Pullen with the Multnomah County Communications Office for their contributions to the video. TopconToday (2013), The Complete Topcon Solution, edited. This video showcases the complete Topcon Solution. Mobile mapping, 3D machine control systems, integrated software solutions, asset management, and web based jobsite management systems are rapidly changing world we work in. Find out how Topcon helps you navigate this universe. TopconToday (2013), P-32 Asphalt Paver System, edited, YouTube. TopconToday (2014), Topcon Sitelink3D Enterprise, edited. Unit, M. D. o. T. P. a. V. S. Latson Road Interchange project on I-96 in Livingston County Michigan, edited. Various pictures from MDOT’s Latson Road Interchange project on I-96 in Livingston County Michigan. The photos depict AMG systems and survey control points. Unit, M. D. o. T. P. a. V. S. US-127 widening project in Ingham County Michigan, edited. Various pictures from MDOT’s US-127 widening project in Ingham County Michigan. The photos depict AMG system in operation.

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TRB's National Cooperative Highway Research Program (NCHRP) Web-Only Document 250: Use of Automated Machine Guidance within the Transportation Industry studies automated machine guidance (AMG) implementation barriers and develop strategies for effective implementation of AMG technology in construction operations. AMG links design software with construction equipment to direct the operations of construction machinery with a high level of precision, and improve the speed and accuracy of the construction process. AMG technology may improve the overall quality, safety, and efficiency of transportation project construction.

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