In this paper, we develop an algorithm for avoidance of earth obstacles using model-reference impedance control for autonomous excavator. There have been many research in the past regarding autonomous excavation, which were only concerned about position control, force control and path generation. However in order to apply the control system or algorithm to the actual autonomous excavation, it i...

Introduction Part 1 of this report is concerned with various aspects of the excavation carried out on the wreck of the Sea Venture, lost in 1609 off St. Georges Island, Bermuda (Fig. I ) . In particular; the excavation techniques used, and the results of the preliminary hull surveys, carried out between November 1982 and November 1983. Various classes of material recovered during the excavation...

PURPOSE This is a report of a case of choroidal excavation accompanied by polypoidal choroidal vasculopathy (PCV) and retinal pigment epithelium detachment (PED). METHODS A 57-year-old Japanese woman who had begun complaining of metamorphopsia in her left eye 7 months earlier underwent spectral-domain optical coherence tomography (SD-OCT), fluorescein angiography (FA), and indocyanine green a...

In automating an excavation task it is required to deene a nominal trajectory for the motion of the excavator tool, so that its motion can be programmed and controlled. During the motion, the excavating tool (the bucket for instance, in the case of a loader), experiences the excavating forces that must be overcome by the active forces for moving the bucket, in order for the excavation to take p...

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...

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...

BACKGROUND Although primary treatment of localized prostate cancer provides excellent oncologic control, some men who chose radiotherapy experience a recurrence of disease. There is no consensus on the most appropriate management of these patients after radiotherapy failure. In this single-institution review, we compare our oncologic outcome and toxicity between salvage prostatectomy and cryoth...