Real-time simulation of soil–tool interaction using advanced soil models

Download
2019
Gürbüz, Mücahit
Excavation work is one of the main elements needed in construction fields. To meet such a huge demand, a large number of excavators are working all over the globe. In addition, researchers and companies put enormous efforts to develop more efficient excavator models. With the advancement of technology, autonomous systems have become popular and ideal way to upgrade machines for faster, cheaper and safer production. Not surprisingly, there have been many attempts to develop fully autonomous robotic excavation systems and this has become one of the trending topics in the earth-moving industry. There are some key challenges in developing an autonomous excavation system. For example, accurate and fast prediction of resisting soil forces on the excavator bucket plays a crucial role in developing unmanned excavator systems. Current studies provide unrealistic and/or computationally expensive soil-tool interaction models. This study represents a new method to solve the interaction of excavator bucket and soil in real-time with acceptable accuracy. Through the developed accurate real-time soil-tool interaction simulation, it is also aimed to make further progress in virtual reality systems requiring real-time simulations, cabin simulators, and computer games.

Suggestions

Improvement of expansive soils by using cement kiln dust
Yılmaz, Mehmet Kağan; Çokça, Erdal; Department of Civil Engineering (2014)
Expansive soils are a worldwide problem that poses several challenges for civil engineers. Such soils swell when given an access to water and shrink when they dry out. The most common and economical method for stabilizing these soils is using admixtures that prevent volume changes. In this study, effect of using cement kiln dust (CKD) in reducing the swelling potential was examined. The expansive soil was prepared in the laboratory by mixing kaolinite and bentonite. Cement kiln dust (CKD) was added to the s...
Prediction of swelling behavior of expansive soils using modified free swell index, methylene blue and swell oedometer tests
Jaleh Forouzan, Amir; Çokça, Erdal; Department of Civil Engineering (2016)
Expansive soils are recognized as problematic soils that impose several challenges for civil engineers. Such soils undergo significant volume change in case water penetrates into them, and they shrink as they lose moisture. Lightly-loaded engineering structures such as pavements, single story buildings, railways and walkways may experience severe damages when they are founded on such soils. Determination of expansive soils and quantifying their swelling potential and pressure caused by their expansion are e...
Comprehensive Evaluation of AIMS Texture, Angularity, and Dimension Measurements
Mahmoud, Enad; Gates, Leslie; Masad, Eyad; Erdoğan, Sinan Turhan; Garboczi, Edward (American Society of Civil Engineers (ASCE), 2010-04-01)
Aggregates are the most widely used construction materials in the world in structures built from both asphaltic and portland cement concrete composites. The performance of these composites is affected by aggregate shape characteristics (e.g., angularity, texture, and dimensions). The aggregate imaging system (AIMS) is a computer automated system that was developed to measure aggregate shape characteristics using digital camera images of aggregates. This paper addresses four issues concerning AIMS measuremen...
Stabilization of an expansive soil using phosphogypsum
Özkan, İlyas; Çokça, Erdal; Department of Civil Engineering (2015)
Expansive soils are a worldwide problem that poses several challenges for civil engineers. Such soils swell when given an access to water and shrink when they dry out. The most common and economical method for stabilizing these soils is using admixtures that prevent volume changes. Studies for treatment of expansive soils with phosphogypsum are very limited in literature. In this study the effect of phosphogypsum (PG) in reducing the swelling potential is examined. The expansive soil was prepared in the lab...
Numerical comparison of retaining system behavior for a deep excavation case with and without ground improvement
Maghsoudloo, Arash; Ahmadinaghadeh, Reza; Toker, Nabi Kartal (2012-11-02)
In the construction of deep excavations in urban areas, the safety of adjacent ground and structures becomes major concern for engineers. In soft clays, the main reason for occurrence of large deflections of soil support systems in excavations is instability of the excavation base. This paper will focus on analyzing and comparing design of an excavation with and without jet grout improvement applied to the excavation base by employing the finite-element code PLAXIS. A well-documented case study is analyzed,...
Citation Formats
M. Gürbüz, “Real-time simulation of soil–tool interaction using advanced soil models,” Thesis (M.S.) -- Graduate School of Natural and Applied Sciences. Civil Engineering., Middle East Technical University, 2019.