with the world as excavation. In order to effectively plan its actions, our robot excavator requires a method that allows it to predict the resistive forces experienced as it scoops soil from the terrain. In this paper we present methods for a robot to predict the resistive forces and to improve its predictions based on experience. We start with a simple analytical model of a flat blade moving ...

Abstract This paper seeks to do justice the often complex, messy, and sometimes ambiguous meaning making practices of archaeological field work. Taking recent adoptions assemblage theory sensory studies in archaeology as an angle arrival, I contribute here discussions on self-reflective interpretive archaeology. Drawing empirical encounters with troweling backfilling at Ardnamurchan Transitions...

The confined water is a very important risk source for deep excavation especially in saturated soft soils because failure in control measurements will lead serious consequence not only for the project itself but also for adjacent buildings. There are many risk sources that have close relation with the risks in deep excavation relating to the confined water. Based on the probability and losses o...

INTRODUCTION At the invitation of the Dean and Chapter of Rochester Cathedral, the Canterbury Archaeological Trust carried out an excavation within the Lay cemetery of the Cathedral during April and May 1990. This project, funded by the Cathedral authorities, was undertaken before work began on the consolidation of the foundations of the Chair Store, which is situated between the west side of t...

The design and construction of shallow-buried tunnels in densely populated urban areas involve many challenges. The ground movements induced by tunneling effects pose potential risks to infrastructure such as surface buildings, pipelines, and roads. In this paper, a case study of the Zhongjie subway station located in Shenyang, China, is examined to investigate the key construction techniques a...

BACKGROUND Pulmonary nodular excavation should firstly evoke tuberculosis or necrosis broncho-pulmonary tumor, particularly: epidermoid carcinoma. The case discussed here illustrated these difficulties in patients with rheumatoid arthritis (RA). CASE PRESENTATION A 63-year-old woman was presented with a-three-year history of RA and a recent discovery of an excavated pulmonary nodule. Initial ...

This paper describes technologies we have developed to perform autonomous large-scale off-world excavation. A scale dragline excavator of size similar to that required for lunar excavation was made capable of autonomous control. Systems have been put in place to allow remote operation of the machine from anywhere in the world. Algorithms have been developed for complete autonomous digging and d...