A spatiotemporal deep learning method for excavation-induced wall deflections

Data-driven approaches such as neural networks are increasingly used for deep excavations due to the growing amount of available monitoring data in practical projects.However,most neural network models only use the data from a single monitoring point and neglect the spatial relationships between multiple monitoring points.Besides,most models lack flexibility in providing predictions for multiple days after monitoring activity.This study proposes a sequence-to-sequence(seq2seq)two-dimensional(2D)convolutional long short-term memory neural network(S2SCL2D)for predicting the spatiotemporal wall deflections induced by deep excavations.The model utilizes the data from all monitoring points on the entire wall and extracts spatiotemporal features from data by combining the 2D convolutional layers and long short-term memory(LSTM)layers.The S2SCL2D model achieves a long-term prediction of wall deflections through a recursive seq2seq structure.The excavation depth,which has a significant impact on wall deflections,is also considered using a feature fusion method.An excavation project in Hangzhou,China,is used to illustrate the proposed model.The results demonstrate that the S2SCL2D model has superior prediction accuracy and robustness than that of the LSTM and S2SCL1D(one-dimensional)models.The prediction model demonstrates a strong generalizability when applied to an adjacent excavation.Based on the long-term prediction results,practitioners can plan and allocate resources in advance to address the potential engineering issues.

An efficient physics-guided Bayesian framework for predicting ground settlement profile during excavations in clay

Recently,the application of Bayesian updating to predict excavation-induced deformation has proven successful and improved prediction accuracy significantly.However,updating the ground settlement profile,which is crucial for determining potential damage to nearby infrastructures,has received limited attention.To address this,this paper proposes a physics-guided simplified model combined with a Bayesian updating framework to accurately predict the ground settlement profile.The advantage of this model is that it eliminates the need for complex finite element modeling and makes the updating framework user-friendly.Furthermore,the model is physically interpretable,which can provide valuable references for construction adjustments.The effectiveness of the proposed method is demonstrated through two field case studies,showing that it can yield satisfactory predictions for the settlement profile.

Research on Potential Energy Recovery System of 16T Wheeled Hybrid Excavator

The system translates the arm/boom/buck's potential energy into electrical energy and then the electrical energy is stored in a storage device.This study develops a set of energy management strategy to make the recoverable energy recycling efficiently.This energy of traditional excavator is lost in the form of heat energy,which is wasteful,and makes the component's temperature higher and higher to reduce the machine's life.Research on this system not only conforms to the current topic of energy crisis,but also mates with the actual engineering,so it is significant to research that.

Rockburst criterion and evaluation method for potential rockburst pit depth considering excavation damage effect

Excavation-induced disturbances in deep tunnels will lead to deterioration of rock properties and formation of excavation damaged zone(EDZ).This excavation damage effect may affect the potential rockburst pit depth.Taking two diversion tunnels of Jinping II hydropower station for example,the relationship between rockburst pit depth and excavation damage effect is first surveyed.The results indicate that the rockburst pit depth in tunnels with severe damage to rock masses is relatively large.Subsequently,the excavation-induced damage effect is characterized by disturbance factor D based on the Hoek-Brown criterion and wave velocity method.It is found that the EDZ could be further divided into a high-damage zone(HDZ)with D=1 and weak-damage zone(WDZ),and D decays from one to zero linearly.For this,a quantitative evaluation method for potential rockburst pit depth is established by presenting a three-element rockburst criterion considering rock strength,geostress and disturbance factor.The evaluation results obtained by this method match well with actual observations.In addition,the weakening of rock mass strength promotes the formation and expansion of potential rockburst pits.The potential rockburst pit depth is positively correlated with HDZ and WDZ depths,and the HDZ depth has a significant contribution to the potential rockburst pit depth.

Numerical Simulation of Surrounding Rock Deformation and Grouting Reinforcement of Cross-Fault Tunnel under Different Excavation Methods

Tunnel construction is susceptible to accidents such as loosening, deformation, collapse, and water inrush, especiallyunder complex geological conditions like dense fault areas. These accidents can cause instability and damageto the tunnel. As a result, it is essential to conduct research on tunnel construction and grouting reinforcementtechnology in fault fracture zones to address these issues and ensure the safety of tunnel excavation projects. Thisstudy utilized the Xianglushan cross-fault tunnel to conduct a comprehensive analysis on the construction, support,and reinforcement of a tunnel crossing a fault fracture zone using the three-dimensional finite element numericalmethod. The study yielded the following research conclusions: The excavation conditions of the cross-fault tunnelarray were analyzed to determine the optimal construction method for excavation while controlling deformationand stress in the surrounding rock. The middle partition method (CD method) was found to be the most suitable.Additionally, the effects of advanced reinforcement grouting on the cross-fault fracture zone tunnel were studied,and the optimal combination of grouting reinforcement range (140°) and grouting thickness (1m) was determined.The stress and deformation data obtained fromon-site monitoring of the surrounding rock was slightly lower thanthe numerical simulation results. However, the change trend of both sets of data was found to be consistent. Theseresearch findings provide technical analysis and data support for the construction and design of cross-fault tunnels.

Subsurface multi-physical characterization of mountain excavation and city construction in loess plateau with a fiber-optic sensing system

Mountain excavation and city construction(MECC)projects being launched in the Loess Plateau in China involve the creation of large-scale artificial land.Understanding the subsurface evolution characteristics of the artificial land is essential,yet challenging.Here,we use an improved fiber-optic monitoring system for its subsurface multi-physical characterization.The system enables us to gather spatiotemporal distribution of various parameters,including strata deformation,temperature,and moisture.Yan’an New District was selected as a case study to conduct refined in-situ monitoring through a 77 m-deep borehole and a 30 m-long trench.Findings reveal that the ground settlement involves both the deformation of the filling loess and the underlying intact loess.Notably,the filling loess exhibits a stronger creep capability compared to underlying intact loess.The deformation along the profile is unevenly distributed,with a positive correlation with soil moisture.Water accumulation has been observed at the interface between the filling loess and the underlying intact loess,leading to a significant deformation.Moreover,the temperature and moisture in the filling loess have reached a new equilibrium state,with their depths influenced by atmospheric conditions measuring at 31 m and 26 m,respectively.The refined investigation allows us to identify critical layers that matter the sustainable development of newly created urban areas,and provide improved insights into the evolution mechanisms of land creation.

Exploring the feasibility of prestressed anchor cables as an alternative to temporary support in the excavation of super-large-span tunnel

Excavating super-large-span tunnels in soft rock masses presents significant challenges.To ensure safety,the sequential excavation method is commonly adopted.It utilizes internal temporary supports to spatially partition the tunnel face and divide the excavation into multiple stages.However,these internal supports generally impose spatial constraints,limiting the use of large-scale excavation equipment and reducing construction efficiency.To address this constraint,this study adopts the“Shed-frame”principle to explore the feasibility of an innovative support system,which aims to replace internal supports with prestressed anchor cables and thus provide a more spacious working space with fewer internal obstructions.To evaluate its effectiveness,a field case involving the excavation of a 24-m span tunnel in soft rock is presented,and an analysis of extensive field data is conducted to study the deformation characteristics of the surrounding rock and the mechanical behavior of the support system.The results revealed that prestressed anchor cables integrated the initial support with the shed,creating an effective“shed-frame”system,which successively maintained tunnel deformation and frame stress levels within safe regulatory bounds.Moreover,the prestressed anchor cables bolstered the surrounding rock effectively and reduced the excavation-induced disturbance zone significantly.In summary,the proposed support system balances construction efficiency and safety.These field experiences may offer valuable insights into the popularization and further development of prestressed anchor cable support systems.

A modified back analysis method for deep excavation with multi-objective optimization procedure

Real-time prediction of excavation-induced displacement of retaining pile during the deep excavation process is crucial for construction safety.This paper proposes a modified back analysis method with multi-objective optimization procedure,which enables a real-time prediction of horizontal displacement of retaining pile during construction.As opposed to the traditional stage-by-stage back analysis,time series monitoring data till the current excavation stage are utilized to form a multi-objective function.Then,the multi-objective particle swarm optimization (MOPSO) algorithm is applied for parameter identification.The optimized model parameters are immediately adopted to predict the excavation-induced pile deformation in the continuous construction stages.To achieve efficient parameter optimization and real-time prediction of system behavior,the back propagation neural network (BPNN) is established to substitute the finite element model,which is further implemented together with MOPSO for automatic operation.The proposed approach is applied in the Taihu tunnel excavation project,where the effectiveness of the method is demonstrated via the comparisons with the site monitoring data.The method is reliable with a prediction accuracy of more than 90%.Moreover,different optimization algorithms,including non-dominated sorting genetic algorithm (NSGA-II),Pareto Envelope-based Selection Algorithm II (PESA-II) and MOPSO,are compared,and their influences on the prediction accuracy at different excavation stages are studied.The results show that MOPSO has the best performance for high dimensional optimization task.

Evaluation of excavation damaged zones(EDZs)in Horonobe Underground Research Laboratory(URL)

Excavation of underground caverns,such as mountain tunnels and energy-storage caverns,may cause the damages to the surrounding rock as a result of the stress redistribution.In this influenced zone,new cracks and discontinuities are created or propagate in the rock mass.Therefore,it is effective to measure and evaluate the acoustic emission(AE)events generated by the rocks,which is a small elastic vibration,and permeability change.The authors have developed a long-term measurement device that incorporates an optical AE(O-AE)sensor,an optical pore pressure sensor,and an optical temperature sensor in a single multi-optical measurement probe(MOP).Japan Atomic Energy Agency has been conducting R&D activities to enhance the reliability of high-level radioactive waste(HLW)deep geological disposal technology.In a high-level radioactive disposal project,one of the challenges is the development of methods for long-term monitoring of rock mass behavior.Therefore,in January 2014,the long-term measurements of the hydro-mechanical behavior of the rock mass were launched using the developed MOP in the vicinity of 350 m below the surface at the Horonobe Underground Research Center.The measurement results show that AEs occur frequently up to 1.5 m from the wall during excavation.In addition,hydraulic conductivity increased by 2e4 orders of magnitude.Elastoplastic analysis revealed that the hydraulic behavior of the rock mass affected the pore pressure fluctuations and caused micro-fractures.Based on this,a conceptual model is developed to represent the excavation damaged zone(EDZ),which contributes to the safe geological disposal of radioactive waste.

Deterministic and probabilistic analysis of great-depth braced excavations:A 32 m excavation case study in Paris

The Fort d’Issy-Vanves-Clamart(FIVC)braced excavation in France is analyzed to provide insights into the geotechnical serviceability assessment of excavations at great depth within deterministic and probabilistic frameworks.The FIVC excavation is excavated at 32 m below the ground surface in Parisian sedimentary basin and a plane-strain finite element analysis is implemented to examine the wall deflections and ground surface settlements.A stochastic finite element method based on the polynomial chaos Kriging metamodel(MSFEM)is then proposed for the probabilistic analyses.Comparisons with field measurements and former studies are carried out.Several academic cases are then conducted to investigate the great-depth excavation stability regarding the maximum horizontal wall deflection and maximum ground surface settlement.The results indicate that the proposed MSFEM is effective for probabilistic analyses and can provide useful insights for the excavation design and construction.A sensitivity analysis for seven considered random parameters is then implemented.The soil friction angle at the excavation bottom layer is the most significant one for design.The soil-wall interaction effects on the excavation stability are also given.

Application of Roadway Spray Material to Fire Prevention in Goaf Excavation

In order to reduce the risk of spontaneous combustion in goaf during goaf excavation process, polymer modified cement mortar spraying material was used to spray and seal the roadway surface. The experimental application was carried out in the upper channel 2304 of a mine in Henan Province. The test results showed that polymer modified cement mortar spraying material could effectively support the roadway and greatly reduce the deformation rate of the roadway. The best spraying thickness is 5 mm. Through the monitoring of tunnel air leakage, it is concluded that the polymer modified cement mortar spraying material can reduce the tunnel air leakage and play a better sealing effect.

Hydraulic Accumulator-Motor-Generator Energy Regeneration System for a Hybrid Hydraulic Excavator

Though the traditional energy regeneration system（ERS） which used a hydraulic motor and a generator in hybrid excavators can regenerate part of the energy, the power of the motor and the generator should be larger and the time for regenerating energy is so short. At first, the structure of new ERS that combines the advantages of an electric and hydraulic accumulator is analyzed. The energy can be converted into both the electric energy and the hydraulic energy at the lowering of the boom and the generator can still works when the boom stops going down. Then, a method how to set the working pressure of the hydraulic accumulator is proposed. To avoid the excess loss, extra noise and shock pressure, a two-level pressure threshold method that the generator starts to work at the rising edge of the high pressure threshold and stops working at the falling edge of the low pressure threshold is presented to characterize the working mode of the generator. The control strategies on how to control the boom velocity at the lowering of the boom and how to improve the recovery efficiency when the boom stops going down are presented. The test bench of hybrid excavator with ERS is constructed, with which the studies on the influences of ERS on energy conversion efficiency and control performance are carried out. Experimental results show that the proposed ERS features better speed control performance of the boom than traditional ERS. It is also observed that an estimated 45% of the total potential energy could be regenerated at the lowering of the boom in the proposed ERS, and the power level of the generator and the hydraulic motor could be reduced by 60%. Hence, the proposed ERS has obvious advantages over the traditional ERS on the improvement of energy regeneration time, energy efficiency, control performance and economy.

Excavator Energy-saving Efficiency Based on Diesel Engine Cylinder Deactivation Technology

The hydraulic excavator energy-saving research mainly embodies the following three measures： to improve the performance of diesel engine and hydraulic component, to improve the hydraulic system, and to improve the power matching of diesel-hydraulic system-actuator. Although the above measures have certain energy-saving effect, but because the hydraulic excavator load changes frequently and fluctuates dramatically, so the diesel engine often works in high-speed and light load condition, and the fuel consumption is higher. Therefore, in order to improve the economy of diesel engine in light load, and reduce the fuel consumption of hydraulic excavator, energy management concept is proposed based on diesel engine cylinder deactivation technology. By comparing the universal characteristic under diesel normal and deactivated cylinder condition, the mechanism that fuel consumption can be reduced significantly by adopting cylinder deactivation technology under part of loads condition can be clarified. The simulation models for hydraulic system and diesel engine are established by using AMESim software, and fuel combustion consumption by using cylinder-deactivation-technology is studied through digital simulation approach. In this way, the zone of cylinder deactivation is specified. The testing system for the excavator with this technology is set up based on simulated results, and the results show that the diesel engine can still work at high efficiency with part of loads after adopting this technology; fuel consumption is dropped down to 11% and 13% under economic and heavy-load mode respectively under the condition of driving requirements. The research provides references to the energy-saving study of the hydraulic excavators.

Power Matching and Energy Efficiency Improvement of Hydraulic Excavator Driven with Speed and Displacement Variable Power Source

Mobile machinery energy efficiency and emission pollution are the national and worldwide issues. This paper contributes in solving these problems by applying a speed variable power source. Unfortunately, almost all of the speed variable systems have the dynamic response problem when the motor starts with full load or heavy load. To address this problem, a hydraulic accumulator is used to balance the load of the power source for assisting starting of the motor and a matching method combined with speed and displacement control of the pump is proposed to improve the energy efficiency and dynamic performance simultaneously under different working conditions. Also, the power source/valve combined control strategy of an independent metering system is designed to realize flow matching of the whole system. Firstly, a test system is established to study the dynamic performance and energy efficiency of the speed variable power source with an auxiliary accumulator. Working performance and energy consumption of the power source under different rotating speeds and different loads are studied. And then, the hydraulic excavator test rig with the proposed system is constructed. Furthermore, the working performance of the excavator with the speed-fixed and speed-variable strategy are studied comparatively. Results show that, compared with fixed-speed strategy, the electric power consumption during the idle period and partial load condition can be reduced about 2.05 kW and 1.37 kW. The energy efficiency of speed variable power source is about 40%-71%, which is higher than that of the fixed-speed power source by 3%–10%.

Motion Planning Based Coordinated Control for Hydraulic Excavators

Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.

Modelling and Remote Control of an Excavator

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.

Modelling of an hydraulic excavator using simplifiedrefined instrumental variable(SRIV)algorithm

Instead of establishing mathematical hydraulic system models from physical laws usually done with the problems of complex modelling processes, low reliability and practicality caused by large uncertainties, a novel modelling method for a highly nonlinear system of a hydraulic excavator is presented. Based on the data collected in the excavator＇s arms driving experiments, a data-based excavator dynamic model using Simplified Refined Instrumental Variable （SRIV） identification and estimation algorithms is established. The validity of the proposed data-based model is indirectly demonstrated by the performance of computer simulation and the.real machine motion control exoeriments.

Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator

The primary focus of this study is to investigate the control strategies of a hybrid system used in hydraulic excavators. First, the structure and evaluation target of hybrid hydraulic excavators are analyzed. Then the dynamic system model including batteries, motor and engine is built as the simulation environment to obtain control results. A so-called multi-work-point dynamic control strategy, which has both closed-loop speed PI (proportion integral) control and direct torque control, is proposed and studied in the simulation model. Simulation results indicate that the hybrid system with this strategy can meet the power demand and achieve better system stability and higher fuel efficiency.

Digital Servo Control of a Robotic Excavator

An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator （LUCIE）. The excavator is being developed to autonomously dig trenches without human intervention. Since the behavior of the excavator arm is dominated by the nonlinear dynamics of the hydraulic actuators and by the large and unpredictable external disturbances when digging, it is difficult to provide adequate accurate, quick and smooth movement under traditional control methodology, e.g., PI/PID, which is comparable with that of an average human operator. The data-based dynamic models are developed utilizing the simplified refined instrumental variable （SRIV） identification algorithm to precisely describe the nonlinear dynamical behaviour of the electro-hydraulic actuation system. Based on data-based model and proportional-integral-plus （PIP） methodology, which is a non-minimal state space method of control system design based on the true digital control （TDC） system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path. The performance of simulation and field tests which drive the bucket along straight lines both demonstrate the feasibility and validity of the proposed control scheme.

Modeling and control of hydraulic excavator's arm

In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.