A system to test the ground surface conditions of construction sites—for safe and efficient work without physical strain

The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.

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Effects of Weather and Ground Surface Conditions on Solar Radiation Components

Journal of Agricultural Meteorology ◽

10.2480/agrmet.48.655 ◽

1993 ◽

Vol 48 (5) ◽

pp. 655-658

Author(s):

Kazushige Yamada

Keyword(s):

Solar Radiation ◽

Ground Surface ◽

Surface Conditions

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Evaluation of Ground Speed Sensing Devices under Varying Ground Surface Conditions

10.13031/2013.19773 ◽

2005 ◽

Author(s):

Ramesh Vishwanathan ◽

Paul R. Weckler ◽

John B. Solie ◽

Marvin L. Stone

Keyword(s):

Ground Surface ◽

Surface Conditions ◽

Ground Speed

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Effects of Ground Surface Conditions on Aircraft Wake Vortex Evolution

9th AIAA Atmospheric and Space Environments Conference ◽

10.2514/6.2017-4368 ◽

2017 ◽

Cited By ~ 1

Author(s):

Petr Kazarin ◽

Vladimir V. Golubev

Keyword(s):

Ground Surface ◽

Wake Vortex ◽

Surface Conditions ◽

Aircraft Wake

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Prototyping a remotely-controlled machine for concrete surface grinding operations

Journal of Civil Engineering and Management ◽

10.3846/13923730.2015.1023349 ◽

2016 ◽

Vol 23 (2) ◽

pp. 183-193 ◽

Cited By ~ 1

Author(s):

Sungwoo MOON ◽

Jeonghwan KIM ◽

Jongwon SEO

Keyword(s):

Ground Surface ◽

Field Tests ◽

Concrete Surface ◽

Surface Grinding ◽

Hardened Concrete ◽

Construction Sites ◽

Grinding Machine ◽

Grinding Operations ◽

Subsequent Layer

The surface of concrete pavement needs to be flattened for the smoothness and comfortability of highways. Surface grinding can provide flatness in the hardened concrete surface, and improve adhesion between the existing concrete surface and the subsequent layer. The surface grinding process, however, is executed under hazardous work conditions and the outcome is affected by a machine operator’s skill. Automation of this process can provide a hazard-free work environment and increase the quality of the ground surface. This paper presents an application of an automated concrete surface grinding machine that an operator can remotely control with computer assistance. A combination of hardware and software technologies was applied to prototype automated functions of the machine. Field tests demonstrated that remote control of concrete surface grinding is feasible and can be utilized as a semi-automated scheme on actual construction sites.

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Ground surface conditions of oases around the Taklimakan Desert

Advances in Space Research ◽

10.1016/j.asr.2006.02.053 ◽

2007 ◽

Vol 39 (1) ◽

pp. 46-51 ◽

Cited By ~ 2

Author(s):

T. Ishiyama ◽

N. Saito ◽

S. Fujikawa ◽

K. Ohkawa ◽

S. Tanaka

Keyword(s):

Ground Surface ◽

Taklimakan Desert ◽

Surface Conditions ◽

The Taklimakan Desert

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Permafrost thaw and ground settlement considering long-term climate impact in northern Alaska

Journal of Infrastructure Preservation and Resilience ◽

10.1186/s43065-021-00025-2 ◽

2021 ◽

Vol 2 (1) ◽

Author(s):

Zhaohui Joey Yang ◽

Kannon C. Lee ◽

Haibo Liu

Keyword(s):

Layer Thickness ◽

Active Layer ◽

Air Temperature ◽

Climate Model ◽

Ground Surface ◽

Active Layer Thickness ◽

Near Surface ◽

Surface Conditions ◽

Ice Content ◽

Northern Alaska

AbstractAlaska’s North Slope is predicted to experience twice the warming expected globally. When summers are longer and winters are shortened, ground surface conditions in the Arctic are expected to change considerably. This is significant for Arctic Alaska, a region that supports surface infrastructure such as energy extraction and transport assets (pipelines), buildings, roadways, and bridges. Climatic change at the ground surface has been shown to impact soil layers beneath through the harmonic fluctuation of the active layer, and warmer air temperature can result in progressive permafrost thaw, leading to a deeper active layer. This study attempts to assess climate change based on the climate model data from the fifth phase of the Coupled Model Intercomparison Project and its impact on a permafrost environment in Northern Alaska. The predicted air temperature data are analyzed to evaluate how the freezing and thawing indices will change due to climate warming. A thermal model was developed that incorporated a ground surface condition defined by either undisturbed intact tundra or a gravel fill surface and applied climate model predicted air temperatures. Results indicate similar fluctuation in active layer thickness and values that fall within the range of minimum and maximum readings for the last quarter-century. It is found that the active layer thickness increases, with the amount depending on climate model predictions and ground surface conditions. These variations in active layer thickness are then analyzed by considering the near-surface frozen soil ice content. Analysis of results indicates that thaw strain is most significant in the near-surface layers, indicating that settlement would be concurrent with annual thaw penetration. Moreover, ice content is a major factor in the settlement prediction. This assessment methodology, after improvement, and the results can help enhance the resilience of the existing and future new infrastructure in a changing Arctic environment.

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Permafrost Thaw and Ground Settlement Considering Long-Term Climate Impact in Northern Alaska

10.21203/rs.3.rs-207708/v1 ◽

2021 ◽

Author(s):

Joey Yang ◽

Kannon C. Lee ◽

Haibo Liu

Keyword(s):

Active Layer ◽

Air Temperature ◽

Climate Model ◽

Ground Surface ◽

North Slope ◽

Active Layer Thickness ◽

Near Surface ◽

Surface Conditions ◽

Air Temperatures ◽

Ice Content

Abstract Alaska’s North Slope is predicted to experience twice the warming expected globally. When summers are longer and winters are shortened, ground surface conditions in the Arctic are expected to change considerably. This is significant for Arctic Alaska, a region that supports surface infrastructure such as energy extraction and transport assets (pipelines), buildings, roadways, and bridges. Climatic change at the ground surface has been shown to infiltrate soil layers beneath through the harmonic fluctuation of the active layer. Past studies found that warmer air temperature resulted in increasingly deeper thaw, leading to a deeper active layer. This study attempts to assess climate change based on the climate model data from the fifth phase of the Coupled Model Intercomparison Project and its impact on a study site on the North Slope. The predicted air temperature data are analyzed to evaluate how the freezing and thawing indices will change due to climate warming. A thermal model was developed that incorporated a ground surface condition defined by either undisturbed intact tundra or a gravel fill surface and applied climate model predicted air temperatures. Results indicate similar fluctuation in active layer thickness and values that fall within the range of minimum and maximum readings. It is found that the active layer thickens when the ground surface is either gravel fill or undisturbed tundra, but its thickness varies based on climate model predictions. These variations in active layer thickness are then analyzed by considering the near-surface frozen soil ice content. Analysis of results indicates that strain is most significant in the near-surface layers during thaw, indicating that settlement would be concurrent with annual thaw penetration. From this study, the climate model predicted air temperatures for a warming Arctic suggest that the thaw of near-surface frozen ground is largely dependent on ground surface conditions and the thermal properties of soil. Moreover, ice content is a major factor in the settlement predictions on Alaska’s North Slope. This study's results can help enhance the resilience of the existing and future new infrastructure in a changing Arctic environment.

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