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Development of an automated verticality alignment system for a vibro-lance

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Development of an automated verticality alignment system for a vibro-lance. / Shaban, E. M.; Ako, S.; Taylor, C. James et al.

In: Automation in Construction, Vol. 17, No. 5, 07.2008, p. 645-655.

Research output: Contribution to Journal/MagazineJournal articlepeer-review

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Shaban EM, Ako S, Taylor CJ, Seward DW. Development of an automated verticality alignment system for a vibro-lance. Automation in Construction. 2008 Jul;17(5):645-655. doi: 10.1016/j.autcon.2007.11.002

Author

Shaban, E. M. ; Ako, S. ; Taylor, C. James et al. / Development of an automated verticality alignment system for a vibro-lance. In: Automation in Construction. 2008 ; Vol. 17, No. 5. pp. 645-655.

Bibtex

@article{54a0b1024e764c65a69b648f35148670,
title = "Development of an automated verticality alignment system for a vibro-lance",
abstract = "This paper describes the automation of a vibro-lance for ground improvement on a construction site. Here, a vibrating probe is lowered into the ground and penetrates downwards by means of a two arm excavator, compacting the surrounding soil. The control system is straightforward to install on a conventional, hydraulically controlled excavator, such as the one utilised for the field tests reported in the paper. The new system supports the operator by automatically maintaining the verticality of the probe, increasing the speed of operation by a factor of three, whilst also yielding improved accuracy and, therefore, a potential increase in tool life. In particular, the research demonstrates the successful design and implementation of Proportional-Integral-Plus (PIP) control systems for joint control on-site. To the authors knowledge, this represents the first operational use of automation for vibro-lance ground compaction.",
keywords = "control system design, hydraulic actuators, linear quadratic regulators, proportional-plus-integral action, PID controllers, robot arms, system identification",
author = "Shaban, {E. M.} and S. Ako and Taylor, {C. James} and Seward, {Derek W.}",
year = "2008",
month = jul,
doi = "10.1016/j.autcon.2007.11.002",
language = "English",
volume = "17",
pages = "645--655",
journal = "Automation in Construction",
issn = "0926-5805",
publisher = "Elsevier",
number = "5",

}

RIS

TY - JOUR

T1 - Development of an automated verticality alignment system for a vibro-lance

AU - Shaban, E. M.

AU - Ako, S.

AU - Taylor, C. James

AU - Seward, Derek W.

PY - 2008/7

Y1 - 2008/7

N2 - This paper describes the automation of a vibro-lance for ground improvement on a construction site. Here, a vibrating probe is lowered into the ground and penetrates downwards by means of a two arm excavator, compacting the surrounding soil. The control system is straightforward to install on a conventional, hydraulically controlled excavator, such as the one utilised for the field tests reported in the paper. The new system supports the operator by automatically maintaining the verticality of the probe, increasing the speed of operation by a factor of three, whilst also yielding improved accuracy and, therefore, a potential increase in tool life. In particular, the research demonstrates the successful design and implementation of Proportional-Integral-Plus (PIP) control systems for joint control on-site. To the authors knowledge, this represents the first operational use of automation for vibro-lance ground compaction.

AB - This paper describes the automation of a vibro-lance for ground improvement on a construction site. Here, a vibrating probe is lowered into the ground and penetrates downwards by means of a two arm excavator, compacting the surrounding soil. The control system is straightforward to install on a conventional, hydraulically controlled excavator, such as the one utilised for the field tests reported in the paper. The new system supports the operator by automatically maintaining the verticality of the probe, increasing the speed of operation by a factor of three, whilst also yielding improved accuracy and, therefore, a potential increase in tool life. In particular, the research demonstrates the successful design and implementation of Proportional-Integral-Plus (PIP) control systems for joint control on-site. To the authors knowledge, this represents the first operational use of automation for vibro-lance ground compaction.

KW - control system design

KW - hydraulic actuators

KW - linear quadratic regulators

KW - proportional-plus-integral action

KW - PID controllers

KW - robot arms

KW - system identification

U2 - 10.1016/j.autcon.2007.11.002

DO - 10.1016/j.autcon.2007.11.002

M3 - Journal article

VL - 17

SP - 645

EP - 655

JO - Automation in Construction

JF - Automation in Construction

SN - 0926-5805

IS - 5

ER -