Basic Considerations in the Design of Robotic Systems for Environmental Geotechnology

The intent of this paper is to identify the basic factors involved in the successful application of robotic systems to the preliminary site investigations of ground conditions in hazardous waste areas. Specific attention is directed to the human-robot-environment interations in hazardous landfill. INTRODUCTION Considerable emphasis has been rightfully given to the use of robotics in the advancement of construction. Both the quality of construction and the associated productivity can be significantly enhanced through the practical application of robotics to a wide variety of situations. Due to the complex nature of these applications, a multi-disciplinary approach is required for successful implementation. Among the various potential applications in Civil Engineering related areas, the use of robotics in environmental geotechnology appears to be both urgent and significant. Environmental geotechnology deals with a variety of hazardous conditions including the following: a) Disposal and transport of liquid and solid waste, b) Construction operations in landfill areas, and c) Damage assessment of natural and man-made hazards. In these areas, the conventional approaches which involve human operators may not be suitable for preliminary investigations and/or any in-situ testing. The use of robotic systems as a substitute for human labor, in general, may cause labor problems. The deployment of robots under adverse hazardous conditions as mentioned above, however, should be welcomed by a labor force. 1. Professor and Director, Geotechnical Engineering Division, Lehigh University, Bethlehem, PA 18015 2. Associate Professor and Director , Computer Aided Engineering Laboratory, Lehigh University, Bethlehem, PA 18015