• Journal of Drive and Control
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• v.18 no.2
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• pp.20-31
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• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

• The Journal of Engineering Geology
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• v.8 no.3
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• pp.225-234
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• 1998

The behavior of the underground opening depends mainly on the magnitude of the initial stress existing before excavation and on the stress redistribution due to the excavation. In the case of elasto-plastic materials such as rock mass, as the structural behavior of surrounded opening due to excavation depends on the stress path, methods and sequence of excavation have influences on the results of numerical analysis. Therefore, in order to design underground openings with large cross-section such as underground nuclear power plants, radioactive waste disposal cavems, oil storage caverns, and so on more reasonably it is desirable to consider the effect of the excavation sequence in the analysis. In this paper, the underground structure is analyzed using the finite element method and the distinct element methods with a view to review the the effect of the excavation sequence. Based on the results of the analysis the followings are discussed : influence of excavation shape and sequence, effect of structural reinforcements, influence of multi caverns.

• Geotechnical Engineering
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• v.5 no.2
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• pp.19-32
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• 1989

The vertical loads of buried Hume pipes were calculated using the finite element method, in which the hyperbolic soil model, the nonlinear hysteretic stress path model and soil-structure interface model were used. The obtained results were compared and discussed with those from the classic methods such as Marston-Spangler's theory and so on. The effects of excavation width and depth to the top of pipe along with soil parameters and type of excavation, which have not been included in the classic methods, were investigated. In addition, a calculation method of the vertical load for buried Hume pipes was proposed and it is presumed to be easily applied in the practical fields.

• Economic and Environmental Geology
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• v.27 no.6
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• pp.579-592
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• 1994

A case study is presented where a fluvial system is modeled in three dimensions and compared to data gathered from a study of the Arkansas River. The data is unique in that it documents changes that affected a straight channel that was excavated within the river by the U.S. Army Corps of Engineers. Excavation plan maps and sequential aerial photographs show that the channel underwent massive deposition and channel migration as it returned to a more natural, meandering path. These records illustrate that stability of fluvial system can be disrupted either by catastrophic events such as floods or by subtle events such as the altering of a stream's equilibrium base level or sediment load. SEDSIM, Stanford's Sedimentary Basin Simulation Model, is modified and used to model the Arkansas River and the geologic processes that changed in response to changing hydraulic and geologic parameters resulting from the excavation of the channel. Geologic parameters such as fluid and sediment discharge, velocity, transport capacity, and sediment load are input into the model. These parameters regulate the frequency distribution and sizes of sediment grains that are eroded, transported and deposited. The experiments compare favorably with field data, recreating similar patterns of fluid flow and sedimentation. Therefore, simulations provide insight for understanding and spatial distribution of sediment bodies in fluvial deposits and the internal sedimentary structure of fluvial reservoirs. These techniques of graphic simulation can be contributed to support the development of the new design criteria compatible with natural stream processes, espacially drainage problem to minimize environmental disruption.