Excavation Results

Focal Choroidal Excavation

Focal choroidal excavation is a choroidal pit that can be detected by optical coherence tomography. Central serous chorioretinopathy, choroidal neovascularization and polypoidal choroidal vasculopathy are pathologies associated with focal choroidal excavation. In this article, we present the follow-up and treatment outcomes of three eyes of two patients with focal choroidal excavation.

Iterative Autonomous Excavation

This paper introduces a Cartesian impedance control framework in which reaction forces exceeding control authority directly reshape bucket motion during successive excavation passes. This novel approach to excavation results in an iterative process that does not require explicit prediction of terrain forces. This is in contrast to most excavation control approaches that are based on the generat...

Excavation Techniques in Historical Archaeology

This paper discusses the development of excavation techniques in England and their application to historical archaeology in Australia. Edward Higginbotham, a consultant archaeologist in Sydney, applies his experience of excavations in both countries to a critical analysis of various excavation methods, including test-pits, trial-trenches, the grid method, and area excavation. The advantages, ef...

CONTENTS List of illustrations ii Acknowledgements iii Introduction 1 Pre - excavation survey 4 The research strategy 6 The excavation strategy 6 Results of the excavation 7 Discussion 15 Appendix One 21 Appendix Two 24

Task Planning For Robotic Excavation

We propose a methodology to automatically generate plans for a robot excavator like a bucket loader or a backhoe. The task is formulated as one of constrained optimization in an action space that is spanned by the parameters of a prototypical digging plan. We show how geometric and force constraints are imposed on the action space to build the set of feasible plans, and discuss methods to optim...