I just posted a how-to for removing one of these straps on the watchuseek.com G-Shock forum in their "How to.." thread. Putting the titanium one on ought to be the reverse, but I can't say for certain.
SmartUK
December 2009
I can answer this question...
HOW DO YOU CHANGE THE BAND ON THE CASIO PAW1200-1V PATHFINDER WATCH?