A Novel Method of Soil Parameter Identification and Force Prediction for Automatic Excavation

Zhao, Yang; Wang, Jian; Zhang, Yi; Luo, Cheng

doi:10.1109/access.2020.2965214

Cited by 14 publications

(10 citation statements)

References 23 publications

(34 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A weakness in the presented study is that the validation and calibration is not based on field measurements but rely on reference simulations of relatively high resolution. Field experiments are left for future work, for example, using also the methodology in [52] for determining the soil's bulk parameters using the earthmoving equipment.…”

Section: Discussionmentioning

confidence: 99%

A multiscale model of terrain dynamics for real-time earthmoving simulation

Servin

Berglund

Nystedt

2021

Adv. Model. and Simul. in Eng. Sci.

View full text Add to dashboard Cite

A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The models are dynamically coupled to each other and to the earthmoving equipment. Agitated soil is represented by a hybrid of contacting particles and continuum solid, with the moving equipment and resting soil as geometric boundaries. Each zone of active soil is aggregated into distinct bodies, with the proper mass, momentum and frictional-cohesive properties, which constrain the equipment’s multibody dynamics. The particle model parameters are pre-calibrated to the bulk mechanical parameters for a wide range of different soils. The result is a computationally efficient model for earthmoving operations that resolve the motion of the soil, using a fast iterative solver, and provide realistic forces and dynamic for the equipment, using a direct solver for high numerical precision. Numerical simulations of excavation and bulldozing operations are performed to test the model and measure the computational performance. Reference data is produced using coupled discrete element and multibody dynamics simulations at relatively high resolution. The digging resistance and soil displacements with the real-time multiscale model agree with the reference model up to 10–25%, and run more than three orders of magnitude faster.

show abstract

Section: Discussionmentioning

confidence: 99%

A multiscale model of terrain dynamics for real-time earthmoving simulation

Servin

Berglund

Nystedt

2021

Adv. Model. and Simul. in Eng. Sci.

View full text Add to dashboard Cite

show abstract

“…The idea can be elaborated in compliant control schemes such as impedance or admittance control, to adjust the dynamic relationship between the end effector position and the exerting force, considering the soil contact. Overall, to achieve the effectiveness of automated earthmoving, a control strategy has to deal with soil parameter identification [61] and force prediction [62]. In this regard, the control problem considering the tool soil contact for earthmoving under volatile conditions remains open for further research in both academia and industry.…”

Section: Tool-soil Interactionmentioning

confidence: 99%

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Nguyen

2022

Robotica

View full text Add to dashboard Cite

There has been an increasing interest in the application of robotic autonomous systems (RASs) for construction and mining, particularly the use of RAS technologies to respond to the emergent issues for earthmoving equipment operating in volatile environments and for the need of multiplatform cooperation. Researchers and practitioners are in need of techniques and developments to deal with these challenges. To address this topic for earthmoving automation, this paper presents a comprehensive survey of significant contributions and recent advances, as reported in the literature, databases of professional societies, and technical documentation from the Original Equipment Manufacturers (OEM). In dealing with volatile environments, advances in sensing, communication and software, data analytics, as well as self-driving technologies can be made to work reliably and have drastically increased safety. It is envisaged that an automated earthmoving site within this decade will manifest the collaboration of bulldozers, graders, and excavators to undertake ground-based tasks without operators behind the cabin controls; in some cases, the machines will be without cabins. It is worth for relevant small- and medium-sized enterprises developing their products to meet the market demands in this area. The study also discusses on future directions for research and development to provide green solutions to earthmoving.

show abstract

“…have been developed to predict the strength of soil resistance, modeling the trajectories of the excavator's working equipment in automatic mode [5] - [7]. The soil containing stony fractions is a type of uneven loose sedimentary material consisting mainly of stone, fine-grained soil, water and pores, which is located between the homogeneous soil and the fractured rock mass of the Quaternary period.…”

Section: нан рк сообщает что научный журнал «известия нан рк серия геологии и технических наук» был принят для индексирования в Emerging mentioning

confidence: 99%

Prediction of the Cutting Resistance Force of the Soil Containing Stony Fractions

Turgumbayev¹,

Turgunbayev²

2021

SGTS

View full text Add to dashboard Cite

E d i t o r i n c h i e f ZHURINOV MuratZhurinovich, doctor of chemistry, professor, academician of NAS RK, president of the National Academy of Sciences of the Republic of Kazakhstan, general director of JSC "Institute of fuel, catalysis and electrochemistry named after D.V. Sokolsky» (Almaty, Kazakhstan) H = 4 E d i t o r i a l b o a r d: ABSAMETOV Malis Kudysovich, (deputy editor-in-chief), doctor of geological and mineralogical sciences, professor, academician of NAS RK, director of the Akhmedsafin Institute of hydrogeology and hydrophysics (Almaty, Kazakhstan) H = 2 ZHOLTAEV Geroy Zholtaevich, (deputy editor-in-chief), doctor of geological and mineralogical sciences, professor, director of the institute of geological sciences named after K.I. Satpayev (Almaty, Kazakhstan) Н=2 SNOW Daniel, Ph.D, associate professor, director of the labotatory of water sciences, Nebraska University (Nebraska, USA) H = 32 Zeltman Reymar, Ph.D, head of research department in petrology and mineral deposits in the Earth sciences section of the museum of natural history (London, England) H = 37 PANFILOV Mikhail Borisovich, doctor of technical sciences, professor at the Nancy University (Nancy, France) Н=15 SHEN Ping, Ph.D, deputy director of the Committee for Mining geology of the China geological Society, Fellow of the American association of economic geologists (Beijing, China) H = 25 FISCHER Axel, Ph.D, associate professor, Dresden University of technology (Dresden, Germany) H = 6 KONTOROVICH Aleksey Emilievich, doctor of geological and mineralogical sciences, professor, academician of RAS, Trofimuk Institute of petroleum geology and geophysics SB RAS (Novosibirsk, Russia) H = 19 ABSADYKOV Bakhyt Narikbaevich, doctor of technical sciences, professor, corresponding member of NAS RK, Bekturov Institute of chemical sciences (Almaty, Kazakhstan) H = 5 AGABEKOV Vladimir Enokovich, doctor of chemistry, academician of NAS of Belarus, honorary director of the Institute of chemistry of new materials (Minsk, Belarus) H = 13 KATALIN Stephan, Ph.D, associate professor, Technical university (Dresden, Berlin) H = 20 SEITMURATOVA Eleonora Yusupovna, doctor of geological and mineralogical sciences, professor, corresponding member of NAS RK, head of the laboratory of the Institute of geological sciences named after K.I. Satpayev (Almaty, Kazakhstan) Н=11 SAGINTAYEV Zhanay, Ph.D, associate professor, Nazarbayev University (Nursultan, Kazakhstan) H = 11 FRATTINI Paolo, Ph.D, associate professor, university of Milano-Bicocca (Milan, Italy) H = 28 News of the National Academy of Sciences of the Republic of Kazakhstan. Series of geology and technology sciences.

show abstract

A Novel Method of Soil Parameter Identification and Force Prediction for Automatic Excavation

Cited by 14 publications

References 23 publications

A multiscale model of terrain dynamics for real-time earthmoving simulation

A multiscale model of terrain dynamics for real-time earthmoving simulation

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Prediction of the Cutting Resistance Force of the Soil Containing Stony Fractions

Contact Info

Product

Resources

About