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Path Generation and Execution for Automatic Shotcrete in Railway Tunnels

2023-04-26Artigo científico Acesso restrito
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dc.contributor.authorMoniz, Gonçalo
dc.contributor.authorCostelha, Hugo
dc.date.accessioned2023-05-30T13:37:58Z
dc.date.available2023-05-30T13:37:58Z
dc.date.issued2023-04-26
dc.descriptionAcknowledgments: This work was partially supported by the project RoboShot@FRC – Robotic System for Optimized Projection of Fiber Reinforced Concrete in Railway Tunnels (POCI-01-0247-FEDER-047075 and LISBOA-01-0247-FEDER047075), under the Programa Operacional Competitividade e Internacionalização (POCI), and Programa Operacional Regional de Lisboa, through Fundo Europeu de Desenvolvimento Regional (FEDER). This project was also partially financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project UIDB/00308/2020 and under the Scientific Employment Stimulus - Institutional Call CEECINST/00051/2018.pt_PT
dc.description.abstractThe shotcrete process has been extensively used for many years in different civil and mining operations. Nevertheless, it is still either applied by an operator which controls the shotcrete nozzle manually or through a remote control. In either case, the operation is entirely controlled by the operator. Automating the shotcrete process involves developments in different parts of the process, such as the tunnel scanning for 3D model generation and the shotcrete path automatic generation and execution. This paper describes the work developed for this last part, namely the automatic generation and execution of a shotcrete path, given the mesh of a tunnel and a set of input parameters, for application in railway tunnels. The developed path also considers specificities of the concrete projection process, such as the uncontrolled flow variation due to the pumping systems, generating a trajectory that aims at minimizing this effect. Results are shown using a realistic simulator and an uneven railway tunnel, using an industrial robot mounted on a railway wagon.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationG. Moniz and H. Costelha, "Path Generation and Execution for Automatic Shotcrete in Railway Tunnels," 2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Tomar, Portugal, 2023, pp. 214-219, doi: 10.1109/ICARSC58346.2023.10129548.pt_PT
dc.identifier.doi10.1109/ICARSC58346.2023.10129548pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.8/8537
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherIEEEpt_PT
dc.relationInstitute for Systems Engineering and Computers at Coimbra - INESC Coimbra
dc.relationNot Available
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/10129548pt_PT
dc.subjectShotcretept_PT
dc.subjectShotcrete automationpt_PT
dc.subjectRobot path generationpt_PT
dc.subjectRobotic manipulationpt_PT
dc.titlePath Generation and Execution for Automatic Shotcrete in Railway Tunnelspt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.awardTitleInstitute for Systems Engineering and Computers at Coimbra - INESC Coimbra
oaire.awardTitleNot Available
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00308%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/CEEC INST 2018/CEECINST%2F00051%2F2018%2FCP1566%2FCT0001/PT
oaire.citation.conferencePlaceTomar, Portugalpt_PT
oaire.citation.endPage219pt_PT
oaire.citation.startPage214pt_PT
oaire.citation.titleInternational Conference on Autonomous Robot Systems and Competitions (ICARSC)pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStreamCEEC INST 2018
person.familyNameCostelha
person.givenNameHugo
person.identifier.ciencia-id931E-2249-DBA3
person.identifier.orcid0000-0003-0063-8592
person.identifier.ridV-4722-2017
person.identifier.scopus-author-id24775187600
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsrestrictedAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationf45387c3-8889-4588-9808-d2bcd2d5848d
relation.isAuthorOfPublication.latestForDiscoveryf45387c3-8889-4588-9808-d2bcd2d5848d
relation.isProjectOfPublication254d9223-2e3b-4754-bae9-c98986d80921
relation.isProjectOfPublication79a941dc-2813-4f89-850b-4228ff5224cc
relation.isProjectOfPublication.latestForDiscovery254d9223-2e3b-4754-bae9-c98986d80921

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