Shaban, E. M. and Ako, S. and Taylor, C. James and Seward, Derek W. (2008) Development of an automated verticality alignment system for a vibro-lance. Automation in Construction, 17 (5). pp. 645-655. ISSN 0926-5805Full text not available from this repository.
This paper describes the automation of a vibro-lance for ground improvement on a construction site. Here, a vibrating probe is lowered into the ground and penetrates downwards by means of a two arm excavator, compacting the surrounding soil. The control system is straightforward to install on a conventional, hydraulically controlled excavator, such as the one utilised for the field tests reported in the paper. The new system supports the operator by automatically maintaining the verticality of the probe, increasing the speed of operation by a factor of three, whilst also yielding improved accuracy and, therefore, a potential increase in tool life. In particular, the research demonstrates the successful design and implementation of Proportional-Integral-Plus (PIP) control systems for joint control on-site. To the authors knowledge, this represents the first operational use of automation for vibro-lance ground compaction.
|Journal or Publication Title:||Automation in Construction|
|Uncontrolled Keywords:||control system design ; hydraulic actuators ; linear quadratic regulators ; proportional-plus-integral action ; PID controllers ; robot arms ; system identification|
|Subjects:||T Technology > TA Engineering (General). Civil engineering (General)|
|Departments:||Faculty of Science and Technology > Engineering|
|Deposited By:||Dr C. James Taylor (Engineering)|
|Deposited On:||18 May 2010 11:35|
|Last Modified:||17 Jan 2017 01:40|
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