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外文翻译--地面电气控制工程在施工机械与地面之间的交互作用及其在建筑机器人学中的应用 英文版.pdf

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外文翻译--地面电气控制工程在施工机械与地面之间的交互作用及其在建筑机器人学中的应用 英文版.pdf

Correspondingauthor.Emailaddresstateyamase.ritsumei.ac.jpK.Tateyama.JournalofTerramechanics432006341–353www.elsevier.com/locate/jterraJournalofTerramechanics00224898/20.00C2112005ISTVS.PublishedbyElsevierLtd.Allrightsreserved.AbstractGeomechatronicsisatechnicalfieldinwhichGeotechniquesisfusedwithMechatronicsthatisthetechnicalfieldtopromotetheautomaticcontrolofmachinesbyusingtheelectronics.InthefieldofGeomechatronics,aconstructionmachine,whichtreatsgeotechnicalmaterialssuchassoilandrock,automaticallyevaluatesthepropertiesandconditionsofthegroundanddeterminestheoptimumcontrollingmethodofitselfforthegroundwiththebaseofthemachine–groundinteraction.Someresearchesforpracticaluseinthefieldofgeomechatronicsareintroduced,andthentheprogressingviewofthisresearchandtechnicalfiledisexplainedinthispaper.C2112005ISTVS.PublishedbyElsevierLtd.Allrightsreserved.KeywordsGeomechatronicsConstructionroboticsSoil–machineinteractionGroundevaluationMachinecontrolGeomechatronics–InteractionbetweengroundandconstructionmachineryanditsapplicationtoconstructionroboticsK.Tateyamaa,,S.Ashidaa,R.Fukagawaa,H.TakahashibaCollegeofScienceandEngineering,RitsumeikanUniversity,111,Nozihigashi,Kusatsu,Shiga5258577,JapanbDepartmentofEnvironmentalStudies,TohokuUniversity,6620,Aoba,Aramaki,Aoba,Sendai9808579,JapanReceived29September2004receivedinrevisedform7April2005accepted16May2005Availableonline27October2005doi10.1016/j.jterra.2005.05.008andtheconstructionprocessinDJMmethod,respectively.Mixingbladesattachedtoasquaresteelpipearerotatedontheaxisofthepipeandaredrivenintothe342K.Tateyamaetal./JournalofTerramechanics432006341–353ground.Afterthebladesreachafirmsoillayer,theyarepulledoutoftheground.Achemicalagentisthensentdownthroughthepipewithhighlycompressedairandisinjectedintothesoftsoilduringeithertherotatingpenetrationintoortherotatingpulloutoftheground.Theinjectedagentismixedwiththesoftsoilandachemicalreactionbetweentheagentandthewaterinthegroundcreatesfirmcolumnsintheground.Thismethodisoftenusednotonlyinsoilstabilization,butalsointheconstructionofvariousstructuralfoundations.IntheDJMmethod,itisrequiredtodevelopthesysteminwhichthemachinecontrolandtheamountofthechemicalagentareoptimizedaccordingtothegroundconditionsinordertocreateuniformimprovedcolumns,effectively.InthefieldofGeomechatronics,theauthorssuggestthesysteminwhichthegroundconditionsareevaluatedinrealtimeduringtheconstructionandtheresultiseffectivelyappliedtothemachinecontrolortheoptimizationoftheconstruction.2.2.GroundevaluationinDJMmethodIntheDJMmethod,thegroundpropertycanbeevaluatedinrealtimefromthe1.IntroductionOperatorsofconstructionmachineswhichtreatgeotechnicalmaterialssuchassoil,gravel,rockandsoonastheirworkingobjects,generallyevaluatethegroundconditionsanddeterminethemostsuitableoperatingmethodforthegroundconditions.Whenconstructionrobotsdothesamejobinconstructionfields,theyshouldhaveafunctiontoevaluatethegroundconditionsandthendeterminethebestmethodforcontrollingthemselvesaccordingtothegroundconditions.Theevaluationofgroundconditionsandtheapplicationoftheirresultstothecontrolofthemachinesareexpectedtobecomethemostimportantfunctionsthatconstructionrobotspossessinthefuture.TheauthorssuggestthetechnicalfieldGeomechatronics,inwhichGeotechniquesisfusedwithMechatronicsthatisthetechnicalfieldtopromotetheautomaticcontrolofmachinesusingelectronics.Inthefieldofgeomechatronics,theconstructionmachinesautomaticallyevaluatethepropertiesandconditionsofthegroundanddeterminetheoptimumcontrollingmethodofthemselvesforthegroundwiththebaseofthemachine–groundinteraction.Someresearchesforpracticaluseinthefieldofgeomechatronicsareintroducedinthispaper.2.GeomechatronicsinDJMmethod2.1.DryjetmixingmethodDryjetmixingDJMmethodisarepresentativemethodusedtoimprovedeepsoftsoilinconstructionsites.Figs.1and2showthestructuresofthemachinemeasureddataofthemachineloadandthecontrollingparametersofthemachine.K.Tateyamaetal./JournalofTerramechanics432006341–353343Theformeristhemixingtorqueandthepenetratingresistancewhichactonthemixingblade,andthelatteristhepenetratingandmixingspeedoftheblade.Tocompletethegroundevaluatingsystem,therelationofthegroundtothemachineloadFig.1.MachineandconstructioninDJMmethod.Fig.2.ConstructionprocessinDJMmethod.andtheeffectofthecontrollingparameterstotherelationmustbeunderstood.Therearetwoapproachescommonlyusedforthissubject.Inthefirstapproach,fuzzyreasoningisappliedtotheevaluationprocessinordertotreatthevariousobscuritiesbothinthegroundandintheinteractionbetweenthemachineandtheground1.Inthesecondapproach,atheoreticaldiscussioniscarriedoutwiththesoilcuttingtheorytostudytherelationshipbetweenthesoilpropertiesandthemixingtorque2.Inthispaper,thelattermethodwasexplained,wherethegroundpropertycantheoreticallybeevaluatedfromthemixingtorqueTandthepenetratingspeedv.2.3.Soilcuttingwithablade344K.Tateyamaetal./JournalofTerramechanics432006341–353Fig.3givesasketchofthecuttingbladewhichcutsthesoilintheground.Hata3suggestedanempiricalrelationforthehorizontalcomponentofcuttingresistanceHaNbythefollowingHa¼182C1BC1t2C1RS10C0maþBC1bC1tC1dtdxtandð1ÞwhereBisthewidthofthebladem,tistheheightofthebladem,xisthehorizontalmovingdistanceofthebladem,RSisthespecificcuttingresistanceN/m3,aistherakeangleofthebladerad,bisthecoefficientofthepenetratingresistanceN/m2,disthefrictionanglebetweensoilandbladerad,mistheconstantdependingonthesoilproperty.Thefirsttermintherightsideexpressesthecuttingresistanceactingonthebladewhenitcutsthesoilhorizontally,andthesecondtermistheresistanceactingonthetipofthebladewhenitpenetratesintotheground.ThespecificcuttingresistanceRSinEq.1expressesthestrengthofthesoilagainstthecutting.Althoughitisusuallymeasuredbythesimpleinsitutest,itcanalsobeexpressedfromtheinternalfrictionangle/C176andthecohesionofthesoilcN/m2throughEq.2.Thevalueof/andcarerelatedtothestandardpenetrationtestvalueNvaluebyEqs.3and4.Fig.3.Asketchofthecuttingblade.

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