A novel experimentation and analysis technique has been developed to enable detailed investigation of robot interactions with granular regolith. This technique, the Shear Interface Imaging Analysis Tool, provides visualization and analysis capability of soil shearing and flow as it is influenced by a wheel or excavation tool. The method places an implement (wheel, excavation bucket, etc.) in gr...

Nowadays, excavators play an important role in construction machinery. Among them, pneumatic excavators are suitable selections for some specific applications, because of their advantages. As a new trend, automation of excavation helps improving productivity, safety, and reducing of operation costs, consequently, making construction works become feasible even in hostile environment. In traditio...

Characterization of Excavation Damaged Zone (EDZ) around an underground excavation is a major research topic for deep geological disposal of medium to high level radioactive waste. Rock fracturing due to excavation and thermal loading and its resultant rock mass permeability change in the EDZ are important aspects in the EDZ characterisation. A new function to predict rock mass permeability cha...

Current spacecraft need to launch with all of their required fuel for travel. This limits the system performance, payload capacity, and mission flexibility. One compelling alternative is to perform In-Situ Resource Utilization (ISRU) by extracting fuel from small bodies in local space such as asteroids or small satellites. Compared to the Moon or Mars, the microgravity on an asteroid demands a ...

-Soil is the most abundantly available construction material on the earth. At places it is found to be the only locally available construction material. Backfilling of utility trenches is done with the soli available from the excavation of the trenches. Properties of this backfill soil vary from site to site depending upon the material available from excavation. Many times due to use of poor so...

Excavators are high power machines used in the mining, agricultural and construction industry whose principal functions are digging (material removing), ground leveling and material transport operations. During the digging task there are certain unknown forces exerted by the bucket on the soil and the digging operation is repetitive in nature. Automation of the digging task can be performed by ...

The breadth of an animals’ ecological niche is circumscribed by its morphology, performance, and behavior, 3 factors that can ultimately affect fitness. We investigated potential behavioral and performance adaptations to roost making, a life-history trait associated with high fitness in the insectivorous bat Lophostoma silvicolum. Males of this species use their teeth to excavate roosts in acti...

The deep rock masses show a different mechanical behavior compared with the shallow rock masses. They are classified into alternating fractured and intact zones during the excavation, which is known as zonal disintegration. Such phenomenon is a great disaster and will induce the different excavation and anchoring methodology. In this study, a 3D geomechanics model test was conducted to research...

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment of which scooping buckets are attached around a rotating disk, kinematic redundancy occurs in aktermining joint variables. Link coordinates are introduced following the Denavit-Hatenberg representation. For a given excavation...

in soft soil areas, equal-length piles are often adopted in the retaining system. a decrease in the bending moment value borne by the retaining structure along the pile depth (below the excavation bottom), leads to an inadequate use of the pile bending capacity near the pile bottom. this paper presents retaining systems with long and short pile combinations, in which the long piles ensure integ...