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Automation and Softwa
Advancements in Trenc
ConstructionCIV E 607
Underground Trenchless Technologies
Wednesday, April 2, 2014
By Kwesi Wells
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Overview
Trenchless Assessment Guide (TAG)
Robotic Total Station and 3D Modelling Softwa
Autonomous Sewer Robots and ICOM3 Softwa
Questions and Answers
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Trenchless Assessment Guide (TA
TAG is a relational database that contains inforegarding many trenchless construction meth
It was designed to aid engineers in evaluatingtechnical feasibility of various traditional new open cut, new installation trenchless construc
inline replacements
Developers : Trenchless Technology Center, aTech University, USA
VersionsTAG (2004) , TAG-R(2007) , TAG Onli
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Trenchless Assessment Guide (TA
The program conducts a sound technical evaa screening measure to eliminate incompatibconstruction methods with project objectives.
Performs an evaluation of the overall perceiv
Raises awareness and provide guidance regathe utilization of trenchless technology metho
TAG covers > 80 methods ; TAG - R covers > 60
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How it Works ?
Collect and input project objectives (What needs to be fixed
Technical Evaluation
o Site data and pipe geometry and lengths
o Existing soil data
o Conditions of host pipe (If applicable)TAG -R
Risk Assessment on selected methods
o Installation risk and Geological Risk
o Specifications and means risk , owner history
o Environmental risk
Output Selected Methods
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Benefits and Disadvantages
Pros
o Reduces research time and cost
o Customizable, updateable and free
o Web based (http://138.47.78.37/tagrv2/log
Conso Training required
o Knowledge of trenchless methods required
o Must be updated to reflect current produc
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http://138.47.78.37/tagrv2/login.asphttp://138.47.78.37/tagrv2/login.asp8/10/2019 Automation_Kwesi Wells CIVE 609
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Robotic Total Station and 3D Pla
The system employs a robotic total station to rautomated, continuous process of tracking adata collection during tunnel construction.
Real time tracking occurs both surface and su
Developed at the University of Alberta (2012)
Used in TBM projects in Edmonton
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System Components
Tracking prisms targets
Robotic total station (Built-in camera)
Wireless Sensor Networks
Underground control laptop
Surface monitoring computer
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How it Works?
Project baseline data is loaded on to Surface
Field Data is sent from TMB Prism to Station
Station analyzes data and sends to Control La
Control Laptop processes data and presents toperator via the Virtual Laser target board
Operators make adjustments if necessary Positions are sent in real time to project mana
surface
Real time data is compared to baseline data.
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How it Works?
Source Shen et al 2012 TBM Positing Automation in tunnel construction
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Comparison ChartParameters Tradition TBM System Automated
Guidance
System
Target Board Three P
Laser Automated P
Levers, gyroscopes, inclinometersand compasses
Point to angle
Routine Survey Every 10 m (Shutdown time 1.5 hrs) Every 50 m (Stime 1.0
RelocationSurvey
Every 200 m (Shutdown time 5.0hrs)
Every 200 m time 2.0
Production 5.0 m / shift 5.5 m/
Source Shen et al 2012 TBM Positing Automation in tunnel construction
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Benefits / Advantages
Pros
o Increase in productivityo Lowers cost and time
o Reduces misalignment
o Increase in health and safety of workers (Less mtunnel)
Conso Training of staff required
o New technology learning curve constraints
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Autonomous Sewer Robots13
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How it Works?
Pipe Information is uploaded to onboard pc
Robot is lowered into network via a manhole o
Assessment of pipe is executed
Robot is retrieved at the end of survey point (D
points) Data is collected and analyzed.
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How it Works?
The captured data is analyzed with the ICOM3 s
produce the forms, graphs, maps etc.
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References
1. Matthews, John. 2008 Tools for evaluating, selecting trenchle
The Free Library (March, 30), http://www.thefreelibrary.com/Tevaluating, selecting trenchless technologies.-a0178619743 (March 30 2014)
2. Shen et al 2012 TBM Positing Automation in tunnel construc
3. Redzone Robotics, SoloAutonomous Inspection ,http://redzone.com/smart-data/technologies/solo (accesse2013)
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