1997 Fiscal Year Final Research Report Summary
DEVELOPMENT OF THE GROUND EVALUATION METHOD IN CONSTRUCTION ROBOTICS
| Project/Area Number |
07555639
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Geotechnical engineering
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| Research Institution | KYOTO UNIVERSITY |
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Principal Investigator |
TATEYAMA Kazuyoshi Kyoto University, Graduate School of Engineering, Associate Professor, 工学研究科, 助教授 (10179731)
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| Co-Investigator(Kenkyū-buntansha) |
KISHIDA Kiyoshi Kyoto University, Graduate School of Engineering, Instructurer, 工学研究科, 助手 (20243066)
KAWAHARA Soichiro Ehime University, Department of Engineering, Instructurer, 工学部, 助手 (50169752)
KIMURA Makoto Kyoto University, Graduate School of Engineering, Associate Professor, 工学研究科, 助教授 (30177927)
FUKAGAWA Ryoichi Ritsumeikan University, Department of Engineering, Professor, 理工学部, 教授 (20127129)
ADACHI Toshihisa Kyoto University, Graduate School of Engineering, Professor, 工学研究科, 教授 (20026173)
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| Project Period (FY) |
1995 – 1997
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| Keywords | Construction Robotics / Ground Evaluation / Shield machines / Vibratory Compaction / Deep ground Improvement / Model Experiments / Numerical Simulation / Field Experiments |
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| Research Abstract |
Evaluation of the ground properties and its application to the automatic control of construction machinery were studied in the following three kinds of the mechanical construction.
(1) Automatic Control of Tunnel Boring Machines (Shield Machines)
The automatic control system of the shield machine advancement was developed through the numerical simulation, model experiments and field experiments. In the system, a shield machine evaluates the ground properties during its advancing process from the date of the earth pressure acting on the skin plate and its movements. The shield machines predict the earth pressure which will act on the machine in the following advancing and then the machine determine the best method for its own advancement under the conditions of the predicted earth pressure.
(2) Robotics in Vibratory Soil Compaction
The ground evaluation method was developed in the field vibratory soil compaction through the numerical simulation, model experiments and field experiments. In the method, the ground stiffness is evaluated by measuring the vibrating behavior of vibratory rollers. The evaluated ground stiffness is applied not only for the quality control of soil compaction but also for the optimum control of the vibratory rollers according to the evaluated ground conditions.
(3) Automation in Deep Ground Improvement Method
The ground evaluation method in Deep Ground Improvement method was developed. In the study, the ground properties were evaluated from the data of the mixing torque, penetrating resistance which act on the mixing blade and the penetrating speed of the blade with the fuzzy reasoning and theoretical study. The methods for applying the ground evaluation system suggested in this study to the automatic control of the mixing machines were discussed.
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