記述言語：日本語  

DOI： 10.1299/jsmermd.2023.2a2-g01

CiNii Research

記述言語：英語   会議種別：口頭発表（一般）  

Soil compaction is one of the most important basic elements in construction work because it directly affects the quality of structures. Compaction work using vibratory rollers is generally applied to strengthen ground stiffness, and the method that focuses on the number of compaction cycles is widely used to manage the ground stiffness by vibratory rollers. In contrast to this method, the continuous compaction control (CCC) using accelerometers installed on the vibratory rollers has been proposed as a quantitative evaluation method more suited to actual ground conditions. This method quantifies the distortion rate of the acceleration waveform of the vibratory roller. However, this method based on acceleration response has problems in measurement discrimination accuracy and sensor durability because the accelerometer is installed on the vibration roller, which is the source of vibration. In this paper, we propose a new ground stiffness evaluation method using multiple accelerometers installed on the ground surface. The proposed method measures the acceleration response during compaction work by vibratory rollers using multiple accelerometers on the ground surface. Experiments show the proposed method has a higher discrimination than the conventional methods.

DOI： 10.22260/ISARC2023/0037

Scopus

記述言語：英語   会議種別：口頭発表（一般）  

Most existing retrofit remote-control systems for backhoes are large, hard-to-install, and expensive. Therefore, we propose an easy-to-install and inexpensive teleoperation system. The proposed system comprised remote-control and sensing systems. The remote-control system retrofits robot arm-based devices to 'Cat Command', a compact embedded teleoperation system with a limited communication range, and controls these devices via a 5G commercial network to realize control from a remote office. Because this system does not require any additional modifications to the embedded control unit in the cockpit, the operator can continue working in the cockpit even if the backhoe is remotely controlled. The system enables the remote control of various devices from an extremely long distance by changing the joint parts between the robot arm and the embedded remote-control device. The sensing system estimates the posture and position of the backhoe by attaching original sensing devices to the backhoe. In addition, a 360 camera was installed in the cockpit to transmit work images from the construction site to a remote office in real time. The sensing device was smaller and lighter than conventional devices. We confirmed that the proposed system can be used to operate a construction site backhoe from a remote office, and that the system can be used to excavate soil using an actual backhoe.

DOI： 10.1109/SII58957.2024.10417625

Scopus

記述言語：英語   会議種別：口頭発表（一般）  

In recent years, labor accidents and a shortage of skilled workers due to an aging population have become significant issues at construction sites in Japan. To address these challenges, we are developing a Cyber-Physical System (CPS) platform called ROS2-TMS for Construction, which aims to improve both the efficiency and safety of earthwork operations. In this study, we propose a task management system for construction machinery using an open platform named OPERA as an additional function of ROS2-TMS for Construction. This task management system controls construction machinery using environmental information stored in a database, which collects and stores data from sensors deployed throughout the construction site, and an extended Behavior Tree. At the end of this study, the results of the initial validation tests of autonomous earthwork operations using an OPERA-compatible backhoe ZX200 are presented.

DOI： 10.1109/RO-MAN60168.2024.10731421

Scopus

記述言語：日本語   会議種別：口頭発表（一般）  

DOI： 10.1299/jsmermd.2024.2a1-b06

CiNii Research

記述言語：日本語   会議種別：口頭発表（一般）  

DOI： 10.1299/jsmermd.2024.2a1-b05

CiNii Research

記述言語：日本語   会議種別：口頭発表（一般）  

DOI： 10.1299/jsmermd.2024.2a1-g03

CiNii Research

記述言語：日本語   会議種別：口頭発表（一般）  

DOI： 10.1299/jsmermd.2024.2a2-c03

CiNii Research

記述言語：日本語   会議種別：口頭発表（一般）  

DOI： 10.1299/jsmermd.2024.1p1-m09

CiNii Research