@article{kim_elernold_2008, title={A comparison of two innovative technologies for safe pipe installation - "Pipeman" and the Stewart-Gough platform-based pipe manipulator}, volume={17}, ISSN={["1872-7891"]}, DOI={10.1016/j.autcon.2007.04.004}, abstractNote={Excavating and installing utilities between the narrow walls of a trench are hazardous. The main causes of accidents are tools and materials that fall into the confined space and the instability of the trench walls if not properly supported. Two research teams from Korea and the US worked for several years on developing technological interventions capable of installing large concrete pipes tele-robotically. A serial mechanism with 2-Degrees of Freedom (DOF) was applied to the “Pipeman” (short for Pipe-manipulator), which was developed at the North Carolina State University (NCSU), and connected to the bucket of the backhoe excavator. The Stewart–Gough Platform, which provides 6-DOF, was adopted for the Stewart Platform-based Pipe Manipulator (SPPM) developed by the Korea Institute of Construction Technology (KICT) and it was directly connected to the boom instead of the bucket. The paper compares how the two research teams solved some of the most unique technical problems and presents the lessons learned during the field tests. Despite the differences between the two prototypes, both systems demonstrated their technical readiness to install pipes in trenches without the presence of laborers. Experiments with actual field personnel not only highlighted the value of involving future users in the evaluation of early prototypes, but also provided reassuring data that the innovative devices will be able to reduce cycle times and cost while increasing the productivity of pipe installation. The ongoing process of adding improvements gives rise to the hope that tele-robotic pipe installation will eventually lead to the elimination of deaths in trenches around the globe.}, number={3}, journal={AUTOMATION IN CONSTRUCTION}, author={Kim, Kyoon-Tai and Elernold, Leonhard E.}, year={2008}, month={Mar}, pages={322–332} }
 @article{bernold_2008, title={Applying total-quality-management principles to improving engineering education}, volume={134}, DOI={10.1061/(ASCE)1052-3928(2008)134:1(33)}, abstractNote={Peer review of teaching is assumed to be an excellent tool, next to student evaluation, to measure the quality of a professor. This argument builds on the fact that only peers can understand the material of the engineering discipline and are up-to-date with the practice. On the other hand, virtually no engineering professor has had any training in being an educator, never having passed a course in pedagogy or instruction. This paper will first review this inconsistency before introducing the substance of scholarly teaching. The main section, however, discusses a new and dynamic model for a peer review of teaching that introduces a process of constant improvement. It is believed that replacing the old method of peer review is vital in persuading the engineering professoriate to implement the changes called for by many blue-ribbon committees. However, this change has to be framed by an institutional culture that provides the incentives for continuous improvements of teaching by an ongoing increase of the competence level of teachers who, today, lack any significant training in education.}, number={1}, journal={Journal of Professional Issues in Engineering Education and Practice}, author={Bernold, L. E.}, year={2008}, pages={33–40} }
 @article{bernold_2008, title={Discussion of "Developing a Resource Supply Chain Planning System for Construction Projects" by H. Ping Tserng, Samuel V. L. Yin, and Sherman Li}, volume={134}, number={5}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2008}, pages={382–384} }
 @misc{benaroya_bemold_2008, title={Engineering of lunar bases}, volume={62}, ISSN={["1879-2030"]}, DOI={10.1016/j.actaastro.2007.05.001}, abstractNote={How do we begin to expand our civilization to the Moon? What are the technical issues that infra-structural engineers, in particular, must address? This paper has the goal of providing an overview of this fascinating area of structural engineering. Published work of the past several decades about lunar bases is summarized. Although many hundreds of papers have been written on these subjects, and only a few tens of these have been referred to here, it is believed that a representative view has been created. The paper is organized as follows. An overview is provided of possible structural concepts, including some details on the new lunar environment that engineers must design against. This is followed by a preliminary design study of a simple surface lunar structure for manned habitation. Concluding the paper is an introduction to construction issues that face the designed.}, number={4-5}, journal={ACTA ASTRONAUTICA}, author={Benaroya, Haym and Bemold, Leonhard}, year={2008}, pages={277–299} }
 @article{lee_bernold_2008, title={Ubiquitous agent-based communication in construction}, volume={22}, DOI={10.1061/(ASCE)0887-380](2008)22:1(31)}, number={1}, journal={Journal of Computing in Civil Engineering}, author={Lee, J. and Bernold, L. E.}, year={2008}, pages={31–39} }
 @article{williams_bernold_lu_2007, title={Adoption patterns of advanced information technologies in the construction industries of the United States and Korea}, volume={133}, DOI={10.1061/(ASCE)0733-9364(2007)133:10(780)}, abstractNote={The results of a survey conducted by the ASCE Wireless Construction Committee are presented. The goal of the effort is to better understand how much construction contractors have advanced in adopting information technologies in general and wireless communications in particular. Responses were collected from 152 U.S. and 31 Korean firms. It was found that, overall, the strongest interest among the responding contractors is in document and content management applications. Differences between Korean and U.S. contractors are discussed. The data indicate that the use of information technology by contractors is generally higher in Korea than in the United States. Both practitioners and scientists will be able to use the presented study because the data reveal the managers' perceptions of the most promising opportunities for and highest barriers to implementation of advanced communication systems in construction. With the information provided, interested readers of this journal will be able to focus their attention on pursuing specific opportunities and removing barriers to future adoptions.}, number={10}, journal={Journal of Construction Engineering and Management}, author={Williams, T. and Bernold, L. and Lu, H. Q.}, year={2007}, pages={780–790} }
 @article{bernold_2007, title={Control schemes for tele-robotic pipe installation}, volume={16}, ISSN={["0926-5805"]}, DOI={10.1016/j.autcon.2006.09.002}, abstractNote={Tele‐robotic operation, which allows an operator to control a mechanical tool from a safe distance, provides a technical alternative to installing buried pipes within the confines of a hazardous trench. However, the handling as well as the jointing of the many different types can't be easily replaced by remotely controllable devices. While large concrete drainage pipes are heavy, plastic pipes for sewer and water systems require careful handling to guarantee that they are properly sealed by the O‐ring gasket inside the bell. This paper will discuss the differences in control schemes that have been developed to enable the necessary operations for the two most common pipes. The paper will not only describe the designs of the many innovative components but also discuss how the many field trials with construction personnel led to successful final functionality tests for each prototype.}, number={4}, journal={AUTOMATION IN CONSTRUCTION}, author={Bernold, Leonhard E.}, year={2007}, month={Jul}, pages={518–524} }
 @article{bernold_2007, title={Early warning system to identify poor time management habits}, volume={23}, number={6}, journal={International Journal of Engineering Education}, author={Bernold, L. E.}, year={2007}, pages={1182–1191} }
 @article{lester_bernold_2007, title={Innovative process to characterize buried utilities using Ground Penetrating Radar}, volume={16}, ISSN={["1872-7891"]}, DOI={10.1016/j.autcon.2006.09.004}, abstractNote={Today's non-invasive technologies for locating buried utilities can be considered as ancient. However, Ground Penetrating Radar (GPR) has recently received significant attention from the scientific community since it showed great promise in detecting landmines. Yet, the complexities of the underground, especially in inhabited areas, makes “seeing-through-the-earth” to find buried utilities extremely difficult. This paper presents the results of a data processing method, called Translation Invariant Wavelet Packet Detection (TIWPD), applied to filtering GPR data collected on a university campus. It first provides a brief introduction into the working principles of scanning the ground with electromagnetic radar waves that are being refracted, scattered, and reflected by buried objects of all sizes and materials. In its main section, the paper presents the results of experimental deployment of the system during a construction project that involved the extensive excavation trenches to lay chilled water pipes. The significance of this paper lies in its use of real-world GPR data to demonstrate the performance characteristics of the filtering process and its validation with the actual condition found during excavation. The encouraging results of this work should provide the basis for developing a near-real time utility detection system that can be used by laborers in the field.}, number={4}, journal={AUTOMATION IN CONSTRUCTION}, author={Lester, Jim and Bernold, Leonhard E.}, year={2007}, month={Jul}, pages={546–555} }
 @article{bernold_2007, title={Preparedness of engineering freshman to inquiry-based learning}, volume={133}, DOI={10.1061/(ASCE)1052-3928(2007)133:2(99)}, abstractNote={Educational experts, past and present, urge engineering colleges nationwide to transform their pedagogical paradigm from a predominantly lecture- to an inquiry-based teaching approach. Written comments by two seniors, deploring having to read and write in a required course of an ABET accredited program, highlight a common expectation of today’s students. Presented are the disturbing results of a survey that assessed the level of learning skills exhibited by 1,020 engineering freshmen. Time management not only surfaced as needing drastic remediation but it also correlated with the level of students’ motivation to succeed in college. Problems with poor time management were listed by 25% of the freshman cohort at the end of the first semester. From monitoring the submittals of online homework it was learned that timeliness corresponded with the final grade achieved in a course. The work presented in this paper indicates that universities need not only to address the students’ learning preferences but also eq...}, number={2}, journal={Journal of Professional Issues in Engineering Education and Practice}, author={Bernold, L. E.}, year={2007}, pages={99–106} }
 @article{bernold_2007, title={Quantitative assessment of backhoe operator skill}, volume={133}, DOI={10.1061/(ASCE)0733-9364(2007)133:11(889)}, abstractNote={The safe and efficient operation of large equipment depends heavily on the skill of the operator. However, very little is known about how to evaluate what makes an operator safe and productive. This paper presents a quantitative approach for assessing the performance of backhoe operators. The approach takes advantage of electronic sensors that are built into a backhoe simulator providing data from both the operator controls and the backhoe arm itself. After a brief review of principles related to learning motor skills the paper describes a newly established backhoe simulator facility and reports about a series of experiments conducted to investigate the efficacy of measuring and comparing the performance of a backhoe operators. Several trained operators with differing work experiences participated in the study. The relevance of this work is in that the collected and analyzed data backs the well-documented correlations linking work experience with skill. It is believed that the utilization of quantitative skill metrics will lead to drastic improvements in the safety and productivity of large equipment.}, number={11}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2007}, pages={889–899} }
 @article{bernold_2007, title={Teaching evaluations for construction engineering and management: Opportunity to move us forward}, volume={133}, DOI={10.1061/(ASCE)0733-9364(2007)133:2(146)}, abstractNote={Engineering education is challenged to usher in new approaches to preparing its students for their professional careers. Many blue-ribbon committees call for systematic modifications in research universities to clear the path for cross-disciplinary learning communities. In this context, the paper investigates the effect of student ratings as a measure of teaching effectiveness. One survey found that engineering sophomores perceive active student-centered teaching methods as greatly ineffective, while a second survey highlighted that lecture-based teaching underpins student rating forms used at U.S. research universities. With the goal of aligning teaching objectives, learning outcomes, and the criteria for evaluating teaching, a student rating form is presented. The scales of the multidimensional construct are based on the most up-to-date understanding of effective pedagogy, the new American Accreditation Board for Engineering and Technology criteria, and a view of the future of our profession. The importance of this paper lies in its science-based proposal underlying a call for the establishment of a coalition to validate a constructive approach to further teaching performance in the field of construction engineering and management.}, number={2}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2007}, pages={146–156} }
 @article{bernold_spurlin_anson_2007, title={Understanding our students: A longitudinal-study of success and failure in engineering with implications for increased retention}, volume={96}, ISSN={["2168-9830"]}, DOI={10.1002/j.2168-9830.2007.tb00935.x}, abstractNote={Abstract}, number={3}, journal={JOURNAL OF ENGINEERING EDUCATION}, author={Bernold, Leonhard E. and Spurlin, Joni E. and Anson, Chris M.}, year={2007}, month={Jul}, pages={263–274} }
 @article{zhang_eastham_bernold_2006, title={Closure to "Waste-based management in residential construction" by Jing Zhang, Danelle L. Eastham, and Leonhard E. Bernold}, volume={132}, number={9}, journal={Journal of Construction Engineering and Management}, author={Zhang, J. and Eastham, D. L. and Bernold, L. E.}, year={2006}, pages={1019–1021} }
 @article{nuntasunti_bernold_2006, title={Experimental assessment of wireless construction technologies}, volume={132}, number={9}, journal={Journal of Construction Engineering and Management}, author={Nuntasunti, S. and Bernold, L. E.}, year={2006}, pages={1009–1018} }
 @article{kolera_bernold_2006, title={Intelligent utility locating tool for excavators}, volume={132}, number={9}, journal={Journal of Construction Engineering and Management}, author={Kolera, B. T. and Bernold, L. E.}, year={2006}, pages={919–927} }
 @article{bernold_2005, title={Automatic as-built generation with utility trenchers}, volume={131}, DOI={10.1061/(ASCE)0733-9364(2005)131:6(740)}, abstractNote={The proper functioning of the subsurface infrastructure is vital for the public, industry, and government. As is demonstrated almost daily, small disruptions or malfunctions of public utilities, such as power, gas, or phone, can result in catastrophic events on local, regional, or national levels. This paper addresses a known weak point in protecting buried utilities from damage, the lack of accurate as-builts. It is suggested to take advantage of enabling technologies to automatically create as-built drawings relying on electronic sensory data collected real-time from operating machinery. A significant portion of the paper discusses the development of a spatially integrated trencher, a prototype that was subsequently used to execute field experiments. The encouraging outcome of those tests, which are supported with actual data, demonstrated the soundness of the concept and the level of accuracy that can be expected. The relevance to the industry lies in that it addresses a real and complex problem, proposing and demonstrating a workable technology to close a large gap in the way we track our subsurface infrastructure. It is hoped that researchers will be encouraged to extend the concept to other relevant applications while applying a similar rigorous method of experimental field testing.}, number={6}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2005}, pages={740–747} }
 @article{bernold_2005, title={Paradigm shift in construction education is vital for the future of our profession}, volume={131}, DOI={10.1061/(ASCE)0733-9364(2005)131:5(533)}, abstractNote={In 2001, a survey found that 87% of engineering professors in the United States spend the entire class time lecturing to a passive group of students material that is copied down and never looked at again. This paper presents the results of scientific inquiry and keen observations all leading to the same conclusion: engineering education has to reform itself. Presently, almost all engineering students learn best doing lots of homework (∼50%) and theoretical study (25%) are accommodated by lectures, homework, and rote-problem tests. Regrettably, an overwhelming number of the creative students do not learn this way and fail. Learning as a process needs to be put at the heart of education moving us away from the traditional educational enterprise. The presented data benefits researchers and practitioners in that they highlight the urgency of the issue and show how the proposed paradigm shift is underpinned by our understanding of how people learn.}, number={5}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2005}, pages={533–539} }
 @article{harper_bernold_2005, title={Success of supplier alliances for capital projects}, volume={131}, DOI={10.1061/(ASCE)0733-9364(2005)131:9(979)}, abstractNote={Energy sector capital projects typically cost hundreds of millions and even billions of dollars. Managing the engineered equipment is important not only because of their high dollar value but also because the long manufacturing lead times often drive the overall project schedules. In recent years, several supplier alliances have been successfully implemented on such projects leading to initial price savings in the range from 6 to 10%. This paper presents the result of a study to assess the opportunities and barriers with such partnerships. Interviewed company executives perceived that time savings and quality improvements, mostly due to the suppliers’ specialized expertise, are of much greater value than a lower bid price. Most surprisingly, very few companies use metrics to measure performance, thus leaving them in the dark on the question of how well an alliance worked or why it failed. The relevance of the presented work is in the amount of actual field data that has been generated and processed.}, number={9}, journal={Journal of Construction Engineering and Management}, author={Harper, D. G. and Bernold, L. E.}, year={2005}, pages={979–985} }
 @article{zhang_eastham_bernold_2005, title={Waste-based management in residential construction}, volume={131}, DOI={10.1061/(ASCE)0733-9364(2005)131:4(423)}, abstractNote={The strength of housing construction has a profound effect on the national economy and the society. As a consequence, achieving high productivity, quality, and safety are considered of high priority for this industry segment. This paper proposes to replace the traditional management approach for site operation with a management philosophy that has as its sole and unifying objective the elimination of process waste. It will be demonstrated that a waste-based management philosophy creates a culture of continuous improvements and innovative progress driven by the goal to reduce wastes from injuries to unproductive work activities. Wall framing and masonry construction are used to demonstrate how the waste-based management approach functions. The results of the test case application provide evidence that paying attention to minimizing resource wastes at all levels, from laborer to site manager, will produce drastic effects on productivity, safety, and quality of residential construction.}, number={4}, journal={Journal of Construction Engineering and Management}, author={Zhang, J. and Eastham, D. L. and Bernold, L. E.}, year={2005}, pages={423–430} }
 @inproceedings{anson_bernold_spurlin_crossland_2004, title={Empowering learning in engineering: a study of learning styles, strategies, and success of first-year students}, number={June}, booktitle={International Conference on Engineering Education and Research}, author={Anson, C. M. and Bernold, L. E. and Spurlin, J. and Crossland, C.}, year={2004} }
 @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} }
 @article{bernold_2003, title={Economic model to optimize underground utility protection}, volume={129}, DOI={10.1061/(ASCE)0733-9364(2003)126:6(645)}, number={6}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2003}, pages={645–652} }
 @article{anson_bernold_crossland_spurlin_mcdemott_s._2003, title={Empowerment to learn in engineering: preparation for an urgently-needed paradigm shift}, volume={7}, number={2}, journal={Global Journal of Engineering Education}, author={Anson, C. W. and Bernold, L. E. and Crossland, C. and Spurlin, J. and McDemott, M. and S., Weiss.}, year={2003}, pages={145–155} }
 @inproceedings{spurlin_bernold_crossland_anson_2003, title={Understanding how freshmen engineering students think they learn}, booktitle={American Society for Engineering Education}, author={Spurlin, J. E. and Bernold, L. E. and Crossland, C. L. and Anson, C. M.}, year={2003} }
 @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{benaroya_bernold_chua_2002, title={Engineering, design and construction of lunar bases}, volume={15}, number={2}, journal={Journal of Aerospace Engineering}, author={Benaroya, H. and Bernold, L. and Chua, K. M.}, year={2002}, pages={33–45} }
 @article{bernold_2002, title={Spatial integration in construction}, volume={128}, DOI={10.1061/(ASCE)0733-9364(2002)128:5(400)}, abstractNote={Work in construction always requires moving within, and interacting with, a complex environment while handling heavy materials and building elements to be joined, inserted, or aligned. Modern design software is able to digitally model all of those elements in their spatially correct configuration, and without interference. When it comes to the actual construction, however, the spatial models do not find any use. Twenty years after the manufacturing industry began using electronic design data to control their machinery, construction is also getting ready to move away from its longstanding tradition of working with paper-based blueprints. The newest steps on the path toward the use of three-dimensional digital design data in support of site operation are stimulated by the global positioning system and the many uses of lasers. Surveying has always performed critical functions on construction sites, such as marking building layouts, anchor bolts, concrete formwork, or bridge bearings. The objective of spatial...}, number={5}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={2002}, pages={400–408} }
 @article{o'brien_butler_bernold_2001, title={Group embedded figures test and academic achievement in engineering education}, volume={17}, number={1}, journal={International Journal of Engineering Education}, author={O'Brien, T. P. and Butler, S. M. and Bernold, L. E.}, year={2001}, pages={89–92} }
 @article{bai_bernold_2001, title={Quality control parameters for robotic bridge painting}, volume={127}, number={2}, journal={Journal of Construction Engineering and Management}, author={Bai, Y. and Bernold, L. E.}, year={2001}, pages={142–148} }
 @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{dunston_bernold_2000, title={Adaptive control for safe and quality rebar fabrication}, volume={126}, DOI={10.1061/(ASCE)0733-9364(2000)126:2(122)}, abstractNote={Rebar fabrication is a labor intensive operation that uses scrap steel for raw materials and therefore can benefit greatly from improvements in safety, productivity, and quality. Shared control through a human-machine interface may be the best alternative for achieving highest quality standards and improving worker performance in safety and productivity. This paper develops a control scheme for automated rebar bending within the framework of computer integrated construction and presents research focused on the task level control to compensate for springback in the bent rebar. Three major problems are addressed: conception of a hierarchical computer integrated construction control structure that links rebar fabrication to the other construction project functions, comparative evaluation of alternative algorithms for prediction of springback, and portability of a springback control model that uses real-time electronic sensing. Bending tests were conducted with both a laboratory prototype and an actual shop table bender to experiment with alternative models for in-process springback prediction including a neural network model. Limitations in control system portability were realized in the transfer from the laboratory prototype bender to the shop bender. Springback model evaluations revealed that empirical statistical models, neural networks, and in-process relaxation performed equally well.}, number={2}, journal={Journal of Construction Engineering and Management}, author={Dunston, P. S. and Bernold, L. E.}, year={2000}, pages={122–129} }
 @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{beichner_bernold_burniston_dail_felder_gastineau_gjertsen_risley_1999, title={Case study of the physics component of an integrated curriculum}, volume={67}, ISSN={["0002-9505"]}, DOI={10.1119/1.19075}, abstractNote={Over a four-year time span, several departments at North Carolina State University offered experimental sections of courses taken by freshman engineering students. The acronym IMPEC (Integrated Math, Physics, Engineering, and Chemistry curriculum) describes which classes were involved. This paper discusses the physics component of the curriculum and describes the impact of the highly collaborative, technology-rich, activity-based learning environment on a variety of conceptual and problem-solving assessments and attitude measures. Qualitative and quantitative research results indicate that students in the experimental courses outperformed their cohorts in demographically matched traditional classes, often by a wide margin. Student satisfaction and confidence rates were remarkably high. We also noted substantial increases in retention and success rates for groups underrepresented in science, math, and engineering. Placing students in the same teams across multiple courses appears to have been the most beneficial aspect of the learning environment.}, number={7}, journal={AMERICAN JOURNAL OF PHYSICS}, author={Beichner, R and Bernold, L and Burniston, E and Dail, P and Felder, R and Gastineau, J and Gjertsen, M and Risley, J}, year={1999}, month={Jul}, pages={S16–S24} }
 @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} }
 @article{bernold_1998, title={Construction automation: Demands and satisfiers in the United States and Japan - Discussion}, volume={124}, DOI={10.1061/(ASCE)0733-9364(1998)124:5(430.2)}, number={5}, journal={Journal of Construction Engineering and Management}, author={Bernold, L. E.}, year={1998}, pages={430–432} }
 @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} }
 @article{huang_bernold_1997, title={An adaptive neural network impedance learning control method for robotic systems}, volume={19}, number={1}, journal={Journal of the Chinese Society of Mechanical Engineers}, author={Huang, X and Bernold, L. E.}, year={1997}, pages={61–88} }
 @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} }
 @article{huang_bernold_1997, title={CAD-integrated excavation and pipe laying}, volume={123}, DOI={10.1061/(ASCE)0733-9364(1997)123:3(318)}, abstractNote={Excavation and, in particular, trenching using backhoes represents a hazardous working environment for workers. The hazards include trench walls that collapse, the accidental drop of heavy objects into the opening, excavators and other equipment that become unstable, and buried utilities that are damaged during the operation. The three main accident prevention efforts used today are the use of the trench box, inspection, and the training of the site personnel. The work discussed in this paper is the result of a search for a more revolutionary prevention method: one that does not require a worker to enter the open trench. This paper presents the development and testing of a computer-aided design (CAD) integrated trenching and pipe-laying system. The successful testing of the first prototype could lay the foundation for safer and more productive trenching operations in the future.}, number={3}, journal={Journal of Construction Engineering and Management}, author={Huang, X. and Bernold, L.}, year={1997}, pages={318–323} }
 @book{bernold_huang_1997, title={CAD-integrated real-time control for robotic excavation and pipe-laying: Development and testing}, publisher={McLean, VA: U.S. Dept. of Transportation, Federal Highway Administration, Research and Development, Turner-Fairbank Highway Research Center}, author={Bernold, L. E. and Huang, X.-D.}, year={1997} }
 @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} }
 @article{moon_bernold_1997, title={Operator-interfaced intelligent path planning for robotic bridge paint removal}, volume={2}, number={2}, journal={Journal of Computing in Civil Engineering}, author={Moon, S.-W. and Bernold, L. E.}, year={1997}, pages={113–120} }
 @inproceedings{bernold_huang_1997, title={Spatially-integrated robotic excavation and pipelaying}, volume={2}, booktitle={Proceedings of the ANS Seventh Topical Meeting on Robotics and Remote Systems: April 27 to May 1, 1997}, author={Bernold, L. E. and Huang, X.}, year={1997}, pages={856–861} }
 @inbook{rihani_bernold_1997, title={Telerobotics for infrastructure maintenance: Safe raised pavement-marker application}, ISBN={0309061563}, number={1585}, booktitle={Safety and management in maintenance and construction operations}, publisher={Washington, DC: Transportation Research Board}, author={Rihani, R. A. and Bernold, L. E.}, year={1997}, pages={48–52} }
 @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} }