@article{lee_lorenc_bernold_2003, title={Comparative performance evaluation of tele-operated pipe laying}, volume={129}, DOI={10.1061/(ASCE)0733-9364(2003)129:1(32)}, abstractNote={Excavation, in particular, trenching, presents a hazardous working environment for workers. Many deadly accidents still occur even though the Occupational Safety and Health Administration has increased its training for safe trenching. The work presented in this paper originated with the belief that the best approach to remedy this problem is technology. Its premise is the need to remove the workers from this deadly trap and replace them with a mechanical device capable of doing the work necessary to lay pipes accurately. Presented is the result of a comparative field evaluation designed to prove that such a technology is not only technically feasible, but also cost-effective. For this purpose, a tele-operated pipe manipulator was built, capable of being easily attached to an excavator bucket and controllable from the safety of an operator cabin. The new technology was subsequently evaluated during field tests using both qualitative and quantitative performance criteria. Data from the study clearly demonstrate that this technological intervention not only works as intended, but also promises to reduce the cost of installing pipes, especially with increasing trench depths.}, number={1}, journal={Journal of Construction Engineering and Management}, author={Lee, J. and Lorenc, S. J. and Bernold, L. E.}, year={2003}, pages={32–40} }
 @misc{bernold_lorenc_elliott_cobb_green_2002, title={Crane monitoring and data retrieval systems and}, volume={6,496,766}, number={2002 Apr 04}, publisher={Washington, DC: U.S. Patent and Trademark Office}, author={Bernold, L. E. and Lorenc, S. J. and Elliott, S. D. and Cobb, M. S. and Green, A. R.}, year={2002} }
 @article{bernold_lorenc_davis_2001, title={Technological intervention to eliminate back injury risks for nailing}, volume={127}, DOI={10.1061/(ASCE)0733-9364(2001)127:3(245)}, abstractNote={“Ergonomics” is derived from the Greek words “ergon”, meaning work, and “nomos”, meaning natural laws. Thus, one can interpret ergonomics as the “natural laws of work.” As documented in the literature, ergonomics has long been ignored by management and workers in construction alike. Unfortunately, a sore back in the evening is not always the effect of healthy hard work at the jobsite, made apparent by the staggering cost of workers’ compensation. Occupational back injuries result in more lost workdays than any other illness, second only to the common cold. In addition, manufacturers of construction tools have started to redesign their products because of liability concerns. This paper describes an effort that considers the health epidemic of back injuries as an opportunity. The basic premise is to apply the “natural laws of work” in a scientific manner to reach and treat the root of the problem and not its symptoms. Pneumatic nailing of subfloors is used to explain that back pain and the risk of back injuries for the average construction worker can be decreased while, at the same time, maintaining short-term productivity and increasing long-term productivity.}, number={3}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E. and Lorenc, S. J. and Davis, M. L.}, year={2001}, pages={245–250} }
 @article{lorenc_handlon_bernold_2000, title={Development of a robotic bridge maintenance system}, volume={9}, ISSN={["0926-5805"]}, DOI={10.1016/S0926-5805(99)00040-0}, abstractNote={This paper will expand on the Robotic Bridge Maintenance System (RBMS) developed by the Construction Automation and Robotics Laboratory (CARL) at North Carolina State University (NCSU). The system consists of a 4-dof robot, designed and built at NCSU, mounted on the end of a truck-mounted peeper crane. Additionally, a containment system is mounted in front of the robot to contain the toxic waste created by the removal of the lead-based paint from the bridge beams and trusses.}, number={3}, journal={AUTOMATION IN CONSTRUCTION}, author={Lorenc, SJ and Handlon, BE and Bernold, LE}, year={2000}, month={May}, pages={251–258} }
 @article{lee_lorenc_bernold_1999, title={Saving lives and money with robotic trenching and pipe installation}, volume={12}, DOI={10.1061/(ASCE)0893-1321(1999)12:2(43)}, abstractNote={Excavation, and in particular trenching and pipe laying, represent a hazardous working environment for humans. Many hazards exist, including trench walls that can collapse, heavy objects that can be accidentally dropped into the opening, and buried utilities (e.g., power lines) that are damaged during the operation. Workplace safety has become a major concern in the construction industry over the past few decades. The main accident prevention efforts used for trench excavation and pipe installation today are the use of the trench box, appropriate sloping of trench walls, and the training of site personnel. The Construction Automation and Robotics Laboratory at North Carolina State University has developed an alternative that is using advanced technology, the prototype robotic excavation and pipe installation system. The major mechanical components are a backhoe excavator and a pipe manipulator attachment. Joystick control of hydraulic actuators, data acquisition/processing, CAD interface, and automatic as...}, number={2}, journal={Journal of Aerospace Engineering}, author={Lee, J. and Lorenc, S. J. and Bernold, L. E.}, year={1999}, pages={43–49} }
 @article{carver_bernold_lorenc_1998, title={Averting excavation disaster}, volume={14}, DOI={10.1061/(ASCE)0742-597X(1998)14:1(29)}, abstractNote={An instrument named the Buried Utilities Detection System (BUDS), developed by the Construction Automation and Robotics Laboratory (CARL) of North Carolina State University (NCSU), is able to locate utilities in the field at excavation sites, helping to prevent accidents to improperly marked or identified utility lines. The BUDS technology has other potential applications, including the detection of unexploded ordinance.}, number={1}, journal={Journal of Management in Engineering}, author={Carver, C. and Bernold, L. E. and Lorenc, S. J.}, year={1998}, pages={29–30} }
 @inproceedings{richter_lorenc_bernold_1998, title={Cable based robotic work platform for construction}, number={1998}, booktitle={Proceedings of the 15th International Symposium on Automation and Robotics in Construction (ISARC), Munich, Germany, March 31-April 1, 1998}, author={Richter, T. and Lorenc, S. J. and Bernold, L. E.}, year={1998} }
 @book{lorenc_bernold_1998, title={Robotic bridge maintenance system}, journal={Final report, Center for Transportation Engineering Studies, July 1994-June 1997 (Report # FHWA/NC/98-001)}, institution={Raleigh, NC: Center for Transportation Engineering Studies, Dept. of Civil Engineering, North Carolina State University}, author={Lorenc, S. J. and Bernold, L. E.}, year={1998} }
 @inproceedings{lorenc_bernold_1998, title={Smart attachment for utility damage prevention}, booktitle={Robotics 98: Proceedings of the Third ASCE Specialty Conference on Robotics for Challenging Environments,  April 26-30, 1998,  Albuquerque, New Mexico}, publisher={Reston, Va.: American Society of Civil Engineers}, author={Lorenc, S. J. and Bernold, L. E.}, editor={L. A. Demsetz, R. H. Bryne and Wetzel, J. P.Editors}, year={1998}, pages={140–146} }
 @inproceedings{lee_lorenc_bernold_1998, title={Teleoperated pipe manipulation}, booktitle={Robotics 98: Proceedings of the Third ASCE Specialty Conference on Robotics for Challenging Environments,  April 26-30, 1998,  Albuquerque, New Mexico}, publisher={Reston, Va.: American Society of Civil Engineers}, author={Lee, J. and Lorenc, S. J. and Bernold, L. E.}, editor={L. A. Demsetz, R. H. Bryne and Wetzel, J. P.Editors}, year={1998}, pages={188–194} }
 @inproceedings{zhang_lorenc_bernold_lee_1997, title={A computer-controlled multipurpose bridge maintenance robotic system}, booktitle={Computer applications in industry and engineering: Proceedings of the ISCA 10th international conference, San Antonio, Texas, U.S.A., December 10-12, 1997}, publisher={Cary, NC: ISCA}, author={Zhang, T. and Lorenc, S. J. and Bernold, L. E. and Lee, G. K.}, year={1997}, pages={90–93} }
 @inproceedings{lorenc_bernold_1997, title={An excavator mounted unexploded ordnance locating system}, number={1997}, booktitle={Proceedings of the US DoD Global Conference on Unexploded Ordnance UXO Forum '97, Nashville, TN, May 28-30}, author={Lorenc, S. J. and Bernold, L. E.}, year={1997}, pages={404–414} }
 @inproceedings{lorenc_handlon_bernold_1997, title={Development of a robotic bridge maintenance system}, number={1997}, booktitle={Proceedings of the Fourteenth International Symposium on Automation & Robotics in Construction, Pittsburgh, Pennsylvania, June 8-11, 1997}, author={Lorenc, S. J. and Handlon, B. E. and Bernold, L. E.}, year={1997}, pages={432–436} }
 @inproceedings{lorenc_bernold_1997, title={Equipment mounted buried utility detection system}, booktitle={Proceedings of the ANS Seventh Topical Meeting on Robotics and Remote Systems: April 27 to May 1, 1997}, author={Lorenc, S. J. and Bernold, L. E.}, year={1997}, pages={169–175} }
 @article{bernold_lorenc_luces_1997, title={Intelligent technology for truck crane accident prevention}, volume={123}, DOI={10.1061/(ASCE)0733-9364(1997)123:3(276)}, abstractNote={Sideand shock-loading of cranes can cause boom and turret drive gear failures with fatal results. However, traditional overload systems do not protect against these types of critical loading conditions, and crane capacity charts only consider the normal loading case, vertical lifts. In the maintenance of bridges, crane operators in any state department of transportation are presented with situations in which they have to pull debris and entire trees that are lodged against bridges. Dragging and shock-loading are commonplace. Researchers from the Construction Automation and Robotics Laboratory at North Carolina State University have developed an innovative crane monitoring system capable of warning an operator who enters a danger zone and storing information about critical events on an electronic device. Acting like a black box on an airplane, the storage device allows this information to be downloaded by a supervisor in order to assess how a particular crew “worked” the crane. This paper presents the resu...}, number={3}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E. and Lorenc, S. J. and Luces, E.}, year={1997}, pages={276–284} }
 @article{bernold_lorenc_luces_1997, title={On-line assistance for crane operators}, volume={2}, number={4}, journal={Journal of Computing in Civil Engineering}, author={Bernold, L. E. and Lorenc, S. J. and Luces, E.}, year={1997}, pages={248–259} }
 @inproceedings{rihani_lorenc_bernold_1997, title={The effect of robotic brick placement on bond strength}, number={1997}, booktitle={Proceedings of the 14th International Symposium on Automation & Robotics in Construction, Pittsburgh, Pennsylvania, June 8-11}, author={Rihani, R. and Lorenc, S. J. and Bernold, L. E.}, year={1997}, pages={269–276} }