Visual tracking has been widely applied in construction industry and attracted signifi-cant interests recently. Lots of research studies have adopted visual tracking techniques on the surveillance of construction work...Visual tracking has been widely applied in construction industry and attracted signifi-cant interests recently. Lots of research studies have adopted visual tracking techniques on the surveillance of construction workforce, project productivity and construction safety. Until now, visual tracking algorithms have gained promising performance when tracking un-articulated equipment in construction sites. However, state-of-art tracking algorithms have unguaranteed performance in tracking articulated equipment, such as backhoes and excavators. The stretching buckets and booms are the main obstacles of successfully tracking articulated equipment. In order to fill this knowledge gap, the part-based tracking algorithms are introduced in this paper for tracking articulated equipment in construction sites. The part-based tracking is able to track different parts of target equipment while using multiple tracking algorithms at the same sequence. Some existing tracking methods have been chosen according to their outstanding performance in the computer vision community. Then, the part-based algorithms were created on the basis of selected visual tracking methods and tested by real construction sequences. In this way, the tracking performance was evaluated from effectiveness and robustness aspects. Throughout the quantification analysis, the tracking performance of articulated equipment was much more improved by using the part-based tracking algorithms.展开更多
Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable...Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.展开更多
The determination of digging resistance is of decisive importance when evaluating the mining process of digging-wheel excavators. Methodic of measuring and determinant relations （formulae） are different in various c...The determination of digging resistance is of decisive importance when evaluating the mining process of digging-wheel excavators. Methodic of measuring and determinant relations （formulae） are different in various countries and by the comparison of them, underlying data for complex and objective evaluation using the knowledge from the field of rock disintegration can be obtained. In virtue of analysis of many measurements in situ, rather high specific power consumption with a wheel of excavator has been proved. What was the criterion for evaluation was the power consumption related to the volume of a rock disintegrated per unit time. From theoretical analyses, possibilities of eliminating a negative influence of the human factor upon the mining process and thus possibilities of optimum utilizing the power input of a wheel drive follow.展开更多
Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating costs.However,pure electric-driven mining excavators are prone to unexpected ...Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating costs.However,pure electric-driven mining excavators are prone to unexpected power outages in mines because of drastic changes in load power,leading to significant fluctuations in the power demand of the grid,which in turn affects production.To solve the above problem,a pure electric-driven mining hydraulic excavator based on electric-motor-driven swing platform and hydraulic pumps was used as the research object.Moreover,supercapacitors and DC/DC converter,as the energy storage system(ESS)adjust the output power of the grid and recover the braking kinetic energy of the swing platform.Subsequently,a novel integrated energy management strategy for a DC bus voltage predictive controller based on the power feedforward of fuzzy rules is proposed to run mining excavators efficiently and reliably.Specifically,the working modes of the ESS are determined by the DC bus voltage and state of charge(SOC)of the supercapacitor.Next,the output power of the supercapacitor and the DC bus voltage were controlled by adjusting the charging and discharging currents of the DC/DC converter using a predictive controller and fuzzy rules.In addition,a digital prototype of the excavator was verified using an original machine test.The performance of the different strategies and driven systems were analyzed using digital prototypes.The results showed that,compared with traditional excavators with diesel engines,the operational cost of the developed excavators was reduced by 54.02%.Compared to pure electric-driven excavators without an ESS,the peak power of the grid for the developed excavators was reduced by 10%.This study designed an integrated energy management strategy for a pure electric mining excavator that can regulate the power output of the grid and maintain the stability of the bus voltage and SOC of the ESS.展开更多
The current deep learning models for braced excavation cannot predict deformation from the beginning of excavation due to the need for a substantial corpus of sufficient historical data for training purposes.To addres...The current deep learning models for braced excavation cannot predict deformation from the beginning of excavation due to the need for a substantial corpus of sufficient historical data for training purposes.To address this issue,this study proposes a transfer learning model based on a sequence-to-sequence twodimensional(2D)convolutional long short-term memory neural network(S2SCL2D).The model can use the existing data from other adjacent similar excavations to achieve wall deflection prediction once a limited amount of monitoring data from the target excavation has been recorded.In the absence of adjacent excavation data,numerical simulation data from the target project can be employed instead.A weight update strategy is proposed to improve the prediction accuracy by integrating the stochastic gradient masking with an early stopping mechanism.To illustrate the proposed methodology,an excavation project in Hangzhou,China is adopted.The proposed deep transfer learning model,which uses either adjacent excavation data or numerical simulation data as the source domain,shows a significant improvement in performance when compared to the non-transfer learning model.Using the simulation data from the target project even leads to better prediction performance than using the actual monitoring data from other adjacent excavations.The results demonstrate that the proposed model can reasonably predict the deformation with limited data from the target project.展开更多
Surrounding rock deterioration and large deformation have always been a significant difficulty in designing and constructing tunnels in soft rock.The key lies in real-time perception and quantitative assessment of the...Surrounding rock deterioration and large deformation have always been a significant difficulty in designing and constructing tunnels in soft rock.The key lies in real-time perception and quantitative assessment of the damaged area around the tunnel.An in situ microseismic(MS)monitoring system is established in the plateau soft tock tunnel.This technique facilitates spatiotemporal monitoring of the rock mass's fracturing expansion and squeezing deformation,which agree well with field convergence deformation results.The formation mechanisms of progressive failure evolution of soft rock tunnels were discussed and analyzed with MS data and numerical results.The results demonstrate that:(1)Localized stress concentration and layered rock result in significant asymmetry in micro-fractures propagation in the tunnel radial section.As excavation continues,the fracture extension area extends into the deep surrounding rockmass on the east side affected by the weak bedding;(2)Tunnel excavation and long-term deformation can induce tensile shear action on the rock mass,vertical tension fractures(account for 45%)exist in deep rockmass,which play a crucial role in controlling the macroscopic failure of surrounding rock;and(3)Based on the radiated MS energy,a three-dimensional model was created to visualize the damage zone of the tunnel surrounding rock.The model depicted varying degrees of damage,and three high damage zones were identified.Generally,the depth of high damage zone ranged from 4 m to 12 m.This study may be a valuable reference for the warning and controlling of large deformations in similar projects.展开更多
Aiming at reducing the dust pollution during the tunneling process and improving the application efficiency of air curtain dust prevention technology,according to the changes of radial jet velocity(v_(r)),axial extrac...Aiming at reducing the dust pollution during the tunneling process and improving the application efficiency of air curtain dust prevention technology,according to the changes of radial jet velocity(v_(r)),axial extraction velocity(v_(e))and extraction distance(L)in the formation process of air curtain,the numerical simulation method was used to analyze the rules of airflow structure evolution and the diffusion characteristics of dust particles in fully mechanized excavation tunnel.The results indicate that as v_(r) and v_(e) increase,the migration path of the wall jet of the air curtain changes into an axial direction;as L decreases,the migration distance increases accordingly.These phenomena make the airflow distribution in the working face tends to be uniform.The dust diffusion distance reduces as well,wherein,the range of the discrete area of dust particles decreases sharply,until all dust particles are concentrated in the accumulation area.On this basis,the v_(r),v_(e) and L were optimized and applied in the 63_(up) 08 fully mechanized working face.By the application of the optimal parameters,the average dust removal efficiency at the driver’s position increased by 71%.The dust concentration was reduced and the working environment had been improved effectively.展开更多
The construction of the tunnel face is a critical aspect of tunnel excavation,and its supporting equipment mainly includes drilling jumbos,arch installation trolleys,wet spraying manipulators,and anchor bolt trolleys....The construction of the tunnel face is a critical aspect of tunnel excavation,and its supporting equipment mainly includes drilling jumbos,arch installation trolleys,wet spraying manipulators,and anchor bolt trolleys.To address the issues of high construction costs and the need to replace equipment for different processes,this paper designs an economical and practical multi-functional integrated trolley based on engineering cases.This trolley is suitable for various construction methods such as full-face excavation and benching method,and integrates functions such as drilling and blasting holes,anchor bolt holes,advance grouting holes,pipe roof construction,charging,anchor bolt installation and grouting,and arch mesh installation.It reduces the number of operators,improves the tunnel working environment,lowers construction costs,and enhances construction efficiency.展开更多
Excavation-induced deformations of earth-retaining walls(ERWs)can critically affect the safety of surrounding structures,highlighting the need for reliable prediction models to support timely decision-making during co...Excavation-induced deformations of earth-retaining walls(ERWs)can critically affect the safety of surrounding structures,highlighting the need for reliable prediction models to support timely decision-making during construction.This study utilizes traditional statistical ARIMA(Auto-Regressive Integrated Moving Average)and deep learning-based LSTM(Long Short-Term Memory)models to predict earth-retaining walls deformation using inclinometer data from excavation sites and compares the predictive performance of both models.The ARIMA model demonstrates strengths in analyzing linear patterns in time-series data as it progresses over time,whereas LSTM exhibits superior capabilities in capturing complex non-linear patterns and long-term dependencies within the time series data.This research includes preprocessing of measurement data for inclinometer,performance evaluation based on various time series data lengths and input variable conditions,and demonstrates that the LSTM model offers statistically significant improvements in predictive performance over the ARIMA model.In addition,by combining LSTM with attention mechanism,attention-based LSTM(ATLSTM)is proposed to improve the short-and long-term prediction performance and solve the problem of excavation site domain change.This study presents the advantages and disadvantages of major time series analysis models for the stability evaluation of mud walls using geotechnical inclinometer data from excavation sites,and suggests that time series analysis models can be used effectively through comparative experiments.展开更多
The soil arching effect is an important factor affecting the internal load transfer of excavation-induced slopes.Physical model tests are usually used for studying the soil arching effect.Although physical model tests...The soil arching effect is an important factor affecting the internal load transfer of excavation-induced slopes.Physical model tests are usually used for studying the soil arching effect.Although physical model tests can monitor local point loads to demonstrate changes in local stresses,changes in force chains inside slopes are rarely demonstrated by physical modelling,which restricts the understanding of load transfer.To explore overall changes in stresses in slopes from a more microscopic perspective,a numerical simulation of the slope under excavation was carried out.Using built-in code and fish function programming in PFC^(3D),the slope model was developed.Monitoring areas were set up to monitor the changes in stresses and force chains during excavation.The simulation results show that excavation width affects the size of deformation area,and the deformation area expands as excavation width increases.Excavation causes load transfer and the formation of soil arching in the slope.A mechanism is proposed to explain the effect of excavation on soil arching formation and load transfer.The numerical simulation is important for revealing the load transfer of slopes during excavation,and the research results have practical value for the prevention and mitigation of landslides caused by excavation.展开更多
Relics Bridge Millennia on Silk Road By staff reporter ZHOU LIN The Lingering Recollection of Historical Events:Memories of Charms Along the Silk Road Author:Dan Qing Paperback,209 pages Published by Foreign Languages...Relics Bridge Millennia on Silk Road By staff reporter ZHOU LIN The Lingering Recollection of Historical Events:Memories of Charms Along the Silk Road Author:Dan Qing Paperback,209 pages Published by Foreign Languages Press Drawing on artifacts and ruins unearthed through archaeological excavations,this book brings the history of the ancient Silk Road to life.These relics,embedded with the memories of a vanished world,wordlessly tell stories that are both intimate and epic.展开更多
This paper proposes a longitudinal vulnerability-based analysis method to evaluate the impact of foundation pit excavation on shield tunnels,accounting for geological uncertainties.First,the shield tunnel is modeled a...This paper proposes a longitudinal vulnerability-based analysis method to evaluate the impact of foundation pit excavation on shield tunnels,accounting for geological uncertainties.First,the shield tunnel is modeled as an Euler Bernoulli beam resting on the Pasternak foundation incorporating variability in subgrade parameters along the tunnel’s length.A random analysis method using random field theory is introduced to evaluate the tunnel’s longitudinal responses to excavation.Next,a risk assessment index system is established.The normalized relative depth between the excavation and the shield tunnel is used as a risk index,while the maximum longitudinal deformation,the maximum circumferential opening,and the maximum longitudinal bending moment serve as performance indicators.Based on these,a method for analyzing the longitudinal fragility of shield tunnels under excavation-induced disturbances is proposed.Finally,the technique is applied to a case study involving a foundation pit excavation above a shield tunnel,which is the primary application scenario of this method.Vulnerability curves for different performance indicators are derived,and the effects of tunnel stiffness and subgrade stiffness on the tunnel vulnerability are explored.The results reveal significant differences in vulnerability curves depending on the performance index used.Compared to the maximum circumferential opening and the maximum longitudinal bending moment,selecting the maximum longitudinal deformation as the control index better ensures the tunnel’s usability and safety under excavation disturbances.The longitudinal vulnerability of the shield tunnel nonlinearly decreases with the increase of the tunnel stiffness and subgrade stiffness,and the subgrade stiffness has a more pronounced effect.Parametric analyses suggest that actively reinforcing the substratum is more effective on reducing the risk of tunnel failure due to adjacent excavations than passive reinforcement of the tunnel structure.展开更多
Deep excavations in silt strata can lead to large deformation problems,posing risks to both the excavation and adjacent structures.This study combines field monitoring with numerical simulation to investigate the unde...Deep excavations in silt strata can lead to large deformation problems,posing risks to both the excavation and adjacent structures.This study combines field monitoring with numerical simulation to investigate the underlying mechanisms and key aspects associated with large deformation problems induced by deep excavation in silt strata in Shenzhen,China.The monitoring results reveal that,due to the weak property and creep effect of the silt strata,the maximum wall deflection in the first excavated section(Section 1)exceeds its controlled value at more than 93%of measurement points,reaching a peak value of 137.46 mm.Notably,the deformation exhibits prolonged development characteristics,with the diaphragm wall deflections contributing to 39%of the overall deformation magnitude during the construction of the base slab.Subsequently,numerical simulations are carried out to analyze and assess the primary factors influencing excavation-induced deformations,following the observation of large deformations.The simulations indicate that the low strength of the silt soil is a pivotal factor that results in significant deformations.Furthermore,the flexural stiffness of the diaphragm walls exerts a notable influence on the development of deformations.To address these concerns,an optimization study of potential treatment measures was performed during the subsequent excavation of Section 2.The combined treatment approach,which comprises the reinforcement of the silt layer within the excavation and the increase in the thickness of the diaphragm walls,has been demonstrated to offer an economically superior solution for the handling of thick silt strata.This approach has the effect of reducing the lateral wall displacement by 83.1%and the ground settlement by 70.8%,thereby ensuring the safe construction of the deep excavation.展开更多
The automatic and rapid generation of excavation trajectories is the foundation for achieving an intelligent excavator.To obtain high-performance trajectories that enhance operational capacity while avoiding the numer...The automatic and rapid generation of excavation trajectories is the foundation for achieving an intelligent excavator.To obtain high-performance trajectories that enhance operational capacity while avoiding the numerous issues present in existing methods for generating effective excavation paths,this paper proposes a trajectory generation method for excavators based on imitation learning,using the mole as a bionic prototype.Given the high excavation efficiency of moles,this paper first analyzes the structural characteristics of the mole’s forelimbs,its digging principles,morphology,and trajectory patterns.Subsequently,a higher-order polynomial is employed to fit and optimize the mole’s excavation trajectory.Next,imitation learning is conducted on sample trajectories based on Dynamic Movement Primitives,followed by the introduction of an obstacle avoidance algorithm.Simulation experiments and comparisons demonstrate that the mole-inspired trajectory method used in this paper performs well and possesses the ability to generate obstacle avoidance trajectories,as well as the convenience of transferring across different machine models.展开更多
Urban spaces are becoming increasingly congested,and excavations are frequently performed close to existing underground structures such as tunnels.Understanding the mechanical response of proximal soil and tunnels to ...Urban spaces are becoming increasingly congested,and excavations are frequently performed close to existing underground structures such as tunnels.Understanding the mechanical response of proximal soil and tunnels to these excavations is important for efficient and safe underground construction.However,previous investigations of this issue have predominantly made assumptions of plane-strain conditions and normal gravity states,and focused on the performance of tunnels affected by excavation and unloading in sandy strata.In this study,a 3D centrifuge model test is conducted to investigate the influence of excavation on an adjacent existing tunnel in normally consolidated clay.The testing results indicate that the excavation has a significant impact on the horizontal deformation of the retaining wall and tunnel.Moreover,the settlements of the ground surface and the tunnel are mainly affected by the long-term period after excavation.The excavation is found to induce ground movement towards the pit,resulting in prolonged fluctuations in pore water pressure and lateral earth pressure.The testing results are compared with numerical simulations,achieving consistency.A numerical parametric study on the tunnel location shows that when the tunnel is closer to the retaining wall,the decreases in lateral earth pressure and pore water pressure during excavation are more pronounced.展开更多
With the rapid development of high-speed railway tunnel construction mileage and technology,the construction of the tunnel face is a key part of tunnel construction in high-speed railway tunnel projects.As mechanizati...With the rapid development of high-speed railway tunnel construction mileage and technology,the construction of the tunnel face is a key part of tunnel construction in high-speed railway tunnel projects.As mechanization and intelligence levels continue to increase,supporting equipment mainly includes rock drilling trolleys,arch installation trolleys,wet spraying robots,anchor trolleys,etc.To address the issues of high construction costs and the need to replace equipment for different processes,this paper designs an economical and practical multi-functional integrated trolley for high-speed railway double-track tunnels based on engineering cases.This trolley can adapt to various tunnel face excavation methods such as the full-face method and the bench method,enabling integrated functions such as drilling and blasting holes,anchor holes,advance grouting holes,pipe roof construction,charging,anchor installation and grouting,and arch mesh installation.This reduces the number of operators,improves the working environment of high-speed railway tunnels,lowers construction costs,and enhances construction efficiency.展开更多
The primary goal of this study is to provide an efficient numerical tool to analyze the seismic performance of nailed walls.Modeling such excavation supports involves complexities due partly to the interaction of supp...The primary goal of this study is to provide an efficient numerical tool to analyze the seismic performance of nailed walls.Modeling such excavation supports involves complexities due partly to the interaction of support with soil and partly because of the amplification of seismic waves through an excavation wall.Consequently,innovative modeling is suggested herein,incorporating the calibration of the soil constitutive model in a targeted range of stress and strain,and the detection of a natural period of complex systems,including soil and structure,while benefiting from Rayleigh damping to filter unwanted noises.The numerical model was achieved by simulating a previous centrifuge test of the excavation wall,manifested at the pre-failure state.Notably,the calibration of the soil constitutive model through empirical relations,which replaces the numerical reproduction of an element test,more accurately simulated the soil-nail-wall interaction.Two factors were crucial to a successful result.First,probing the natural period of the complicated geometry of the model by applying white noises.Second,considering Rayleigh damping to withdraw unwanted noises and thus assess their permanent effects on the model.Rayleigh damping was applied instead of filtering the obtained results.展开更多
Since the plasticity of soil and the irregular shape of the excavation,the efficiency and stability of the traditional local radial basis function(RBF)collocation method(LRBFCM)are inadequate for analyzing three-dimen...Since the plasticity of soil and the irregular shape of the excavation,the efficiency and stability of the traditional local radial basis function(RBF)collocation method(LRBFCM)are inadequate for analyzing three-dimensional(3D)deformation of deep excavation.In this work,the technique known as the direct method,where the local influence nodes are collocated on a straight line,is introduced to optimize the LRBFCM.The direct method can improve the accuracy of the partial derivative,reduce the size effect caused by the large length-width ratio,and weaken the influence of the shape parameters on the LRBFCM.The mapping technique is adopted to transform the physical coordinates of a quadratic-type block to normalized coordinates,in which the deformation problem can easily be solved using the direct method.The stability of the LRBFCM is further modified by considering the irregular shape of 3D excavation,which is divided into several quadratic-type blocks.The soil’s plasticity is described by the Drucker-Prager(D-P)model.The improved LRBFCM is integrated with the incremental method to analyze the plasticity.Five different examples,including strip excavations and circular excavations,are presented to validate the proposed approach’s efficiency.展开更多
The M-shaped multi-row pile foundation retaining structure represents an enhanced version of conventional multi-row anti-sliding support systems.To date,the implementation of M-shaped pile configurations in foundation...The M-shaped multi-row pile foundation retaining structure represents an enhanced version of conventional multi-row anti-sliding support systems.To date,the implementation of M-shaped pile configurations in foundation pit excavations has not been extensively investigated,with particularly scant research focusing on their load-bearing mechanisms and stress redistribution characteristics.Furthermore,numerical modeling methodologies for such geometrically optimized pile networks remain underdeveloped compared to practical engineering applications,creating a notable research-practice gap in geotechnical engineering.A comparative finite element analysis was systematically conducted using ABAQUS software to establish three distinct excavation support configurations:single-row cantilever retaining structures,three-row cantilever configurations,and M-shaped multi-row pile foundation systems.Subsequent numerical simulations enabled quantitative comparisons of critical performance indicators,including pile stress distribution patterns,lateral displacement profiles,and bending moment diagrams across different structural typologies.The parametric investigation revealed characteristic mechanical responses associated with each configuration,establishing corresponding mechanical principles governing the interaction between pile topology and soil-structure behavior towers.The findings of this study provide critical references for the design optimization of M-shaped multi-row pile foundation retaining systems.展开更多
In this paper is presented a concept solution and acceptance test application procedure of deep pit protection structure,intended for three underground levels of residential building:A,B,C,D,block 10C,Budva,Montenegro...In this paper is presented a concept solution and acceptance test application procedure of deep pit protection structure,intended for three underground levels of residential building:A,B,C,D,block 10C,Budva,Montenegro.The anchored wall used consist of nongravity cantilevered walls with three levels of ground anchors.Nongravity cantilevered walls employ continuous walls constructed in slurry trenches(i.e.,slurry(diaphragm)walls),e.g vertical elements that are drilled to depths below the finished excavation grade.For those nongravity cantilevered walls,support is provided through the shear and bending stiffness of the vertical wall elements and passive resistance from the soil below the finished excavation grade.Anchored wall support relies on these components as well as lateral resistance provided by the ground anchors to resist horizontal pressures(e.g.,earth,water,external loads)acting on the wall.Anchored wall analysed and applied is temporary supporting structure necessary for the excavation and erection of the underground structure part up to ground surface level.Temporary ground anchors lifetime is up to two years.Dynamic loads are not considered.展开更多
文摘Visual tracking has been widely applied in construction industry and attracted signifi-cant interests recently. Lots of research studies have adopted visual tracking techniques on the surveillance of construction workforce, project productivity and construction safety. Until now, visual tracking algorithms have gained promising performance when tracking un-articulated equipment in construction sites. However, state-of-art tracking algorithms have unguaranteed performance in tracking articulated equipment, such as backhoes and excavators. The stretching buckets and booms are the main obstacles of successfully tracking articulated equipment. In order to fill this knowledge gap, the part-based tracking algorithms are introduced in this paper for tracking articulated equipment in construction sites. The part-based tracking is able to track different parts of target equipment while using multiple tracking algorithms at the same sequence. Some existing tracking methods have been chosen according to their outstanding performance in the computer vision community. Then, the part-based algorithms were created on the basis of selected visual tracking methods and tested by real construction sequences. In this way, the tracking performance was evaluated from effectiveness and robustness aspects. Throughout the quantification analysis, the tracking performance of articulated equipment was much more improved by using the part-based tracking algorithms.
基金supported by National Natural Science Foundation of China (Grant No. 50875228)
文摘Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.
文摘The determination of digging resistance is of decisive importance when evaluating the mining process of digging-wheel excavators. Methodic of measuring and determinant relations （formulae） are different in various countries and by the comparison of them, underlying data for complex and objective evaluation using the knowledge from the field of rock disintegration can be obtained. In virtue of analysis of many measurements in situ, rather high specific power consumption with a wheel of excavator has been proved. What was the criterion for evaluation was the power consumption related to the volume of a rock disintegrated per unit time. From theoretical analyses, possibilities of eliminating a negative influence of the human factor upon the mining process and thus possibilities of optimum utilizing the power input of a wheel drive follow.
基金Supported by National Natural Science Foundation of ChinaShanxi Coalbased Low-Carbon Joint Fund(Grant No.U1910211)。
文摘Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating costs.However,pure electric-driven mining excavators are prone to unexpected power outages in mines because of drastic changes in load power,leading to significant fluctuations in the power demand of the grid,which in turn affects production.To solve the above problem,a pure electric-driven mining hydraulic excavator based on electric-motor-driven swing platform and hydraulic pumps was used as the research object.Moreover,supercapacitors and DC/DC converter,as the energy storage system(ESS)adjust the output power of the grid and recover the braking kinetic energy of the swing platform.Subsequently,a novel integrated energy management strategy for a DC bus voltage predictive controller based on the power feedforward of fuzzy rules is proposed to run mining excavators efficiently and reliably.Specifically,the working modes of the ESS are determined by the DC bus voltage and state of charge(SOC)of the supercapacitor.Next,the output power of the supercapacitor and the DC bus voltage were controlled by adjusting the charging and discharging currents of the DC/DC converter using a predictive controller and fuzzy rules.In addition,a digital prototype of the excavator was verified using an original machine test.The performance of the different strategies and driven systems were analyzed using digital prototypes.The results showed that,compared with traditional excavators with diesel engines,the operational cost of the developed excavators was reduced by 54.02%.Compared to pure electric-driven excavators without an ESS,the peak power of the grid for the developed excavators was reduced by 10%.This study designed an integrated energy management strategy for a pure electric mining excavator that can regulate the power output of the grid and maintain the stability of the bus voltage and SOC of the ESS.
基金supported by the National Key Research and Development Program of China(Grant No.2023YFC3009400)the National Natural Science Foundation of China(Grant Nos.42307218 and U2239251).
文摘The current deep learning models for braced excavation cannot predict deformation from the beginning of excavation due to the need for a substantial corpus of sufficient historical data for training purposes.To address this issue,this study proposes a transfer learning model based on a sequence-to-sequence twodimensional(2D)convolutional long short-term memory neural network(S2SCL2D).The model can use the existing data from other adjacent similar excavations to achieve wall deflection prediction once a limited amount of monitoring data from the target excavation has been recorded.In the absence of adjacent excavation data,numerical simulation data from the target project can be employed instead.A weight update strategy is proposed to improve the prediction accuracy by integrating the stochastic gradient masking with an early stopping mechanism.To illustrate the proposed methodology,an excavation project in Hangzhou,China is adopted.The proposed deep transfer learning model,which uses either adjacent excavation data or numerical simulation data as the source domain,shows a significant improvement in performance when compared to the non-transfer learning model.Using the simulation data from the target project even leads to better prediction performance than using the actual monitoring data from other adjacent excavations.The results demonstrate that the proposed model can reasonably predict the deformation with limited data from the target project.
基金the funding support from the National Natural Science Foundation of China(Grant Nos.U23A2060,42177143 and 42277461).
文摘Surrounding rock deterioration and large deformation have always been a significant difficulty in designing and constructing tunnels in soft rock.The key lies in real-time perception and quantitative assessment of the damaged area around the tunnel.An in situ microseismic(MS)monitoring system is established in the plateau soft tock tunnel.This technique facilitates spatiotemporal monitoring of the rock mass's fracturing expansion and squeezing deformation,which agree well with field convergence deformation results.The formation mechanisms of progressive failure evolution of soft rock tunnels were discussed and analyzed with MS data and numerical results.The results demonstrate that:(1)Localized stress concentration and layered rock result in significant asymmetry in micro-fractures propagation in the tunnel radial section.As excavation continues,the fracture extension area extends into the deep surrounding rockmass on the east side affected by the weak bedding;(2)Tunnel excavation and long-term deformation can induce tensile shear action on the rock mass,vertical tension fractures(account for 45%)exist in deep rockmass,which play a crucial role in controlling the macroscopic failure of surrounding rock;and(3)Based on the radiated MS energy,a three-dimensional model was created to visualize the damage zone of the tunnel surrounding rock.The model depicted varying degrees of damage,and three high damage zones were identified.Generally,the depth of high damage zone ranged from 4 m to 12 m.This study may be a valuable reference for the warning and controlling of large deformations in similar projects.
基金financially supported by the Natural Science Foundation of Shandong Province(ZR2020QE124,ZR2023ME031 and ZR2023ME012)Innovation Achievement Cultivation Project of Qingdao University of Technology(CLZ2022-002)National Natural Science Foundation of China(52404222 and 52374209).
文摘Aiming at reducing the dust pollution during the tunneling process and improving the application efficiency of air curtain dust prevention technology,according to the changes of radial jet velocity(v_(r)),axial extraction velocity(v_(e))and extraction distance(L)in the formation process of air curtain,the numerical simulation method was used to analyze the rules of airflow structure evolution and the diffusion characteristics of dust particles in fully mechanized excavation tunnel.The results indicate that as v_(r) and v_(e) increase,the migration path of the wall jet of the air curtain changes into an axial direction;as L decreases,the migration distance increases accordingly.These phenomena make the airflow distribution in the working face tends to be uniform.The dust diffusion distance reduces as well,wherein,the range of the discrete area of dust particles decreases sharply,until all dust particles are concentrated in the accumulation area.On this basis,the v_(r),v_(e) and L were optimized and applied in the 63_(up) 08 fully mechanized working face.By the application of the optimal parameters,the average dust removal efficiency at the driver’s position increased by 71%.The dust concentration was reduced and the working environment had been improved effectively.
文摘The construction of the tunnel face is a critical aspect of tunnel excavation,and its supporting equipment mainly includes drilling jumbos,arch installation trolleys,wet spraying manipulators,and anchor bolt trolleys.To address the issues of high construction costs and the need to replace equipment for different processes,this paper designs an economical and practical multi-functional integrated trolley based on engineering cases.This trolley is suitable for various construction methods such as full-face excavation and benching method,and integrates functions such as drilling and blasting holes,anchor bolt holes,advance grouting holes,pipe roof construction,charging,anchor bolt installation and grouting,and arch mesh installation.It reduces the number of operators,improves the tunnel working environment,lowers construction costs,and enhances construction efficiency.
基金carried out under the KICT Research Program(Project No.20250285-001,Development of Infrastructure Disaster Prevention Technology Based on Satellites SAR)funded by the Ministry of Science and ICT.
文摘Excavation-induced deformations of earth-retaining walls(ERWs)can critically affect the safety of surrounding structures,highlighting the need for reliable prediction models to support timely decision-making during construction.This study utilizes traditional statistical ARIMA(Auto-Regressive Integrated Moving Average)and deep learning-based LSTM(Long Short-Term Memory)models to predict earth-retaining walls deformation using inclinometer data from excavation sites and compares the predictive performance of both models.The ARIMA model demonstrates strengths in analyzing linear patterns in time-series data as it progresses over time,whereas LSTM exhibits superior capabilities in capturing complex non-linear patterns and long-term dependencies within the time series data.This research includes preprocessing of measurement data for inclinometer,performance evaluation based on various time series data lengths and input variable conditions,and demonstrates that the LSTM model offers statistically significant improvements in predictive performance over the ARIMA model.In addition,by combining LSTM with attention mechanism,attention-based LSTM(ATLSTM)is proposed to improve the short-and long-term prediction performance and solve the problem of excavation site domain change.This study presents the advantages and disadvantages of major time series analysis models for the stability evaluation of mud walls using geotechnical inclinometer data from excavation sites,and suggests that time series analysis models can be used effectively through comparative experiments.
基金supported by the National Key Scientific Instrument and Equipment Development Projects of China(No.41827808)the Major Program of National Natural Science Foundation of China(No.42090055)+2 种基金the National Natural Science Foundation of China(Nos.42077268)the National Natural Science Foundation of China(No.42107194)the Fundamental Research Funds for the Central Universities(No.CUGL190810)。
文摘The soil arching effect is an important factor affecting the internal load transfer of excavation-induced slopes.Physical model tests are usually used for studying the soil arching effect.Although physical model tests can monitor local point loads to demonstrate changes in local stresses,changes in force chains inside slopes are rarely demonstrated by physical modelling,which restricts the understanding of load transfer.To explore overall changes in stresses in slopes from a more microscopic perspective,a numerical simulation of the slope under excavation was carried out.Using built-in code and fish function programming in PFC^(3D),the slope model was developed.Monitoring areas were set up to monitor the changes in stresses and force chains during excavation.The simulation results show that excavation width affects the size of deformation area,and the deformation area expands as excavation width increases.Excavation causes load transfer and the formation of soil arching in the slope.A mechanism is proposed to explain the effect of excavation on soil arching formation and load transfer.The numerical simulation is important for revealing the load transfer of slopes during excavation,and the research results have practical value for the prevention and mitigation of landslides caused by excavation.
文摘Relics Bridge Millennia on Silk Road By staff reporter ZHOU LIN The Lingering Recollection of Historical Events:Memories of Charms Along the Silk Road Author:Dan Qing Paperback,209 pages Published by Foreign Languages Press Drawing on artifacts and ruins unearthed through archaeological excavations,this book brings the history of the ancient Silk Road to life.These relics,embedded with the memories of a vanished world,wordlessly tell stories that are both intimate and epic.
基金Project(52178402) supported by the National Natural Science Foundation of China。
文摘This paper proposes a longitudinal vulnerability-based analysis method to evaluate the impact of foundation pit excavation on shield tunnels,accounting for geological uncertainties.First,the shield tunnel is modeled as an Euler Bernoulli beam resting on the Pasternak foundation incorporating variability in subgrade parameters along the tunnel’s length.A random analysis method using random field theory is introduced to evaluate the tunnel’s longitudinal responses to excavation.Next,a risk assessment index system is established.The normalized relative depth between the excavation and the shield tunnel is used as a risk index,while the maximum longitudinal deformation,the maximum circumferential opening,and the maximum longitudinal bending moment serve as performance indicators.Based on these,a method for analyzing the longitudinal fragility of shield tunnels under excavation-induced disturbances is proposed.Finally,the technique is applied to a case study involving a foundation pit excavation above a shield tunnel,which is the primary application scenario of this method.Vulnerability curves for different performance indicators are derived,and the effects of tunnel stiffness and subgrade stiffness on the tunnel vulnerability are explored.The results reveal significant differences in vulnerability curves depending on the performance index used.Compared to the maximum circumferential opening and the maximum longitudinal bending moment,selecting the maximum longitudinal deformation as the control index better ensures the tunnel’s usability and safety under excavation disturbances.The longitudinal vulnerability of the shield tunnel nonlinearly decreases with the increase of the tunnel stiffness and subgrade stiffness,and the subgrade stiffness has a more pronounced effect.Parametric analyses suggest that actively reinforcing the substratum is more effective on reducing the risk of tunnel failure due to adjacent excavations than passive reinforcement of the tunnel structure.
基金supported by the National Natural Science Foundation of China (Grant Nos.52008039 and 52308425)the Natural Science Foundation of Hunan Province (Grant No.2021JJ40592).
文摘Deep excavations in silt strata can lead to large deformation problems,posing risks to both the excavation and adjacent structures.This study combines field monitoring with numerical simulation to investigate the underlying mechanisms and key aspects associated with large deformation problems induced by deep excavation in silt strata in Shenzhen,China.The monitoring results reveal that,due to the weak property and creep effect of the silt strata,the maximum wall deflection in the first excavated section(Section 1)exceeds its controlled value at more than 93%of measurement points,reaching a peak value of 137.46 mm.Notably,the deformation exhibits prolonged development characteristics,with the diaphragm wall deflections contributing to 39%of the overall deformation magnitude during the construction of the base slab.Subsequently,numerical simulations are carried out to analyze and assess the primary factors influencing excavation-induced deformations,following the observation of large deformations.The simulations indicate that the low strength of the silt soil is a pivotal factor that results in significant deformations.Furthermore,the flexural stiffness of the diaphragm walls exerts a notable influence on the development of deformations.To address these concerns,an optimization study of potential treatment measures was performed during the subsequent excavation of Section 2.The combined treatment approach,which comprises the reinforcement of the silt layer within the excavation and the increase in the thickness of the diaphragm walls,has been demonstrated to offer an economically superior solution for the handling of thick silt strata.This approach has the effect of reducing the lateral wall displacement by 83.1%and the ground settlement by 70.8%,thereby ensuring the safe construction of the deep excavation.
基金supported by the National Science Foundation of China(Grant No.52375246,No.52372428,No.52105100)Guangxi Science and Technology Program(Grant No.2023AB09014)Jilin Province Science and Technology Development Program,(Grant No.20230201094GX,No.20230201069GX).
文摘The automatic and rapid generation of excavation trajectories is the foundation for achieving an intelligent excavator.To obtain high-performance trajectories that enhance operational capacity while avoiding the numerous issues present in existing methods for generating effective excavation paths,this paper proposes a trajectory generation method for excavators based on imitation learning,using the mole as a bionic prototype.Given the high excavation efficiency of moles,this paper first analyzes the structural characteristics of the mole’s forelimbs,its digging principles,morphology,and trajectory patterns.Subsequently,a higher-order polynomial is employed to fit and optimize the mole’s excavation trajectory.Next,imitation learning is conducted on sample trajectories based on Dynamic Movement Primitives,followed by the introduction of an obstacle avoidance algorithm.Simulation experiments and comparisons demonstrate that the mole-inspired trajectory method used in this paper performs well and possesses the ability to generate obstacle avoidance trajectories,as well as the convenience of transferring across different machine models.
基金supported by the National Natural Science Foundation of China(Nos.52378341,51938005,and 52090082).
文摘Urban spaces are becoming increasingly congested,and excavations are frequently performed close to existing underground structures such as tunnels.Understanding the mechanical response of proximal soil and tunnels to these excavations is important for efficient and safe underground construction.However,previous investigations of this issue have predominantly made assumptions of plane-strain conditions and normal gravity states,and focused on the performance of tunnels affected by excavation and unloading in sandy strata.In this study,a 3D centrifuge model test is conducted to investigate the influence of excavation on an adjacent existing tunnel in normally consolidated clay.The testing results indicate that the excavation has a significant impact on the horizontal deformation of the retaining wall and tunnel.Moreover,the settlements of the ground surface and the tunnel are mainly affected by the long-term period after excavation.The excavation is found to induce ground movement towards the pit,resulting in prolonged fluctuations in pore water pressure and lateral earth pressure.The testing results are compared with numerical simulations,achieving consistency.A numerical parametric study on the tunnel location shows that when the tunnel is closer to the retaining wall,the decreases in lateral earth pressure and pore water pressure during excavation are more pronounced.
文摘With the rapid development of high-speed railway tunnel construction mileage and technology,the construction of the tunnel face is a key part of tunnel construction in high-speed railway tunnel projects.As mechanization and intelligence levels continue to increase,supporting equipment mainly includes rock drilling trolleys,arch installation trolleys,wet spraying robots,anchor trolleys,etc.To address the issues of high construction costs and the need to replace equipment for different processes,this paper designs an economical and practical multi-functional integrated trolley for high-speed railway double-track tunnels based on engineering cases.This trolley can adapt to various tunnel face excavation methods such as the full-face method and the bench method,enabling integrated functions such as drilling and blasting holes,anchor holes,advance grouting holes,pipe roof construction,charging,anchor installation and grouting,and arch mesh installation.This reduces the number of operators,improves the working environment of high-speed railway tunnels,lowers construction costs,and enhances construction efficiency.
基金supported by the International Institute of Earthquake Engineering and Seismology(IIEES) as technical project No.760
文摘The primary goal of this study is to provide an efficient numerical tool to analyze the seismic performance of nailed walls.Modeling such excavation supports involves complexities due partly to the interaction of support with soil and partly because of the amplification of seismic waves through an excavation wall.Consequently,innovative modeling is suggested herein,incorporating the calibration of the soil constitutive model in a targeted range of stress and strain,and the detection of a natural period of complex systems,including soil and structure,while benefiting from Rayleigh damping to filter unwanted noises.The numerical model was achieved by simulating a previous centrifuge test of the excavation wall,manifested at the pre-failure state.Notably,the calibration of the soil constitutive model through empirical relations,which replaces the numerical reproduction of an element test,more accurately simulated the soil-nail-wall interaction.Two factors were crucial to a successful result.First,probing the natural period of the complicated geometry of the model by applying white noises.Second,considering Rayleigh damping to withdraw unwanted noises and thus assess their permanent effects on the model.Rayleigh damping was applied instead of filtering the obtained results.
基金supported by grants from the National Natural Science Foundation of China(Nos.12172159 and 12362019).
文摘Since the plasticity of soil and the irregular shape of the excavation,the efficiency and stability of the traditional local radial basis function(RBF)collocation method(LRBFCM)are inadequate for analyzing three-dimensional(3D)deformation of deep excavation.In this work,the technique known as the direct method,where the local influence nodes are collocated on a straight line,is introduced to optimize the LRBFCM.The direct method can improve the accuracy of the partial derivative,reduce the size effect caused by the large length-width ratio,and weaken the influence of the shape parameters on the LRBFCM.The mapping technique is adopted to transform the physical coordinates of a quadratic-type block to normalized coordinates,in which the deformation problem can easily be solved using the direct method.The stability of the LRBFCM is further modified by considering the irregular shape of 3D excavation,which is divided into several quadratic-type blocks.The soil’s plasticity is described by the Drucker-Prager(D-P)model.The improved LRBFCM is integrated with the incremental method to analyze the plasticity.Five different examples,including strip excavations and circular excavations,are presented to validate the proposed approach’s efficiency.
文摘The M-shaped multi-row pile foundation retaining structure represents an enhanced version of conventional multi-row anti-sliding support systems.To date,the implementation of M-shaped pile configurations in foundation pit excavations has not been extensively investigated,with particularly scant research focusing on their load-bearing mechanisms and stress redistribution characteristics.Furthermore,numerical modeling methodologies for such geometrically optimized pile networks remain underdeveloped compared to practical engineering applications,creating a notable research-practice gap in geotechnical engineering.A comparative finite element analysis was systematically conducted using ABAQUS software to establish three distinct excavation support configurations:single-row cantilever retaining structures,three-row cantilever configurations,and M-shaped multi-row pile foundation systems.Subsequent numerical simulations enabled quantitative comparisons of critical performance indicators,including pile stress distribution patterns,lateral displacement profiles,and bending moment diagrams across different structural typologies.The parametric investigation revealed characteristic mechanical responses associated with each configuration,establishing corresponding mechanical principles governing the interaction between pile topology and soil-structure behavior towers.The findings of this study provide critical references for the design optimization of M-shaped multi-row pile foundation retaining systems.
文摘In this paper is presented a concept solution and acceptance test application procedure of deep pit protection structure,intended for three underground levels of residential building:A,B,C,D,block 10C,Budva,Montenegro.The anchored wall used consist of nongravity cantilevered walls with three levels of ground anchors.Nongravity cantilevered walls employ continuous walls constructed in slurry trenches(i.e.,slurry(diaphragm)walls),e.g vertical elements that are drilled to depths below the finished excavation grade.For those nongravity cantilevered walls,support is provided through the shear and bending stiffness of the vertical wall elements and passive resistance from the soil below the finished excavation grade.Anchored wall support relies on these components as well as lateral resistance provided by the ground anchors to resist horizontal pressures(e.g.,earth,water,external loads)acting on the wall.Anchored wall analysed and applied is temporary supporting structure necessary for the excavation and erection of the underground structure part up to ground surface level.Temporary ground anchors lifetime is up to two years.Dynamic loads are not considered.
