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Related Concept Videos

Profile Leveling and Cross Sections01:26

Profile Leveling and Cross Sections

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Profile leveling and cross-sections are surveying methods used to determine and document terrain elevations for infrastructure projects such as highways, railroads, canals, and pipelines. These methods provide data for earthwork planning and alignment of proposed routes.  Profile leveling involves measuring elevations along a fixed line to create a vertical terrain profile. A surveyor sets up a leveling instrument at the benchmark (BM) and records a backsight (BS) to determine the...
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Design Example: Maintaining Level of an Embankment01:19

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Constructing a roadway embankment over uneven terrain requires precise leveling to ensure stability and proper drainage. Surveyors use a leveling instrument and staff to calculate ground elevations and determine the required fill material at each point along the embankment alignment.The process begins by positioning a leveling instrument near a benchmark with a known elevation. A backsight reading establishes the instrument height, which serves as a reference for subsequent measurements. A...
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Taping Over Different Ground Profiles01:12

Taping Over Different Ground Profiles

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Taping over varying ground profiles requires careful adaptation to achieve accurate measurements. On smooth, level ground with minimal vegetation, the tape can rest directly on the ground. Here, the taping team, typically consisting of a head and a rear tapeman, coordinates their positions with clear communication. The rear tapeman holds the tape at the starting point and guides the head tapeman toward a range pole placed beyond the endpoint, using hand or voice signals to ensure alignment.On...
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Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

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Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
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Topographic Surveying and Contours01:29

Topographic Surveying and Contours

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Topographic surveying is critical for documenting the Earth's surface, focusing on capturing elevations, slopes, and natural and man-made features. It is essential in construction planning, water resource management, and land-use analysis. The primary outcome of such surveys is a topographic map, which uses contour lines to visually represent the shape and slope of the terrain, providing valuable insights into the landscape's characteristics.Contour lines are fundamental to understanding the...
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Differential Leveling

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Differential leveling is a precise method in surveying used to determine the elevation difference between two points. Its primary goal is to establish accurate vertical measurements to create level surfaces or grade lines critical for designing and constructing infrastructures such as roads, bridges, and buildings.The procedure for differential leveling begins with setting up and leveling the instrument at a point where the benchmark can be seen. The level rod is held on the benchmark (BM), and...
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In Situ Soil Moisture Sensors in Undisturbed Soils
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Object-level complete coverage path planning for excavators in earthwork construction.

Ming Yao1,2, Xianying Feng3,4, Peigang Li1,2

  • 1School of Mechanical Engineering, Shandong University, Jinan, 250061, Shandong, China.

Scientific Reports
|August 7, 2023
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Summary
This summary is machine-generated.

Autonomous excavators use a new algorithm for efficient site coverage. The Excavator-Rotating Calipers Path Planning (E-RCPP) algorithm improves path planning and site coverage for excavators.

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Area of Science:

  • Robotics and Automation
  • Civil Engineering
  • Computer Science

Background:

  • Autonomous excavators offer potential for reduced labor costs and increased efficiency in construction.
  • Path planning is crucial for autonomous systems to cover areas completely and efficiently.

Purpose of the Study:

  • To propose a novel complete coverage path planning algorithm for autonomous excavators, named Excavator-Rotating Calipers Path Planning (E-RCPP).
  • To enhance path planning efficiency and coverage rates in complex construction environments.

Main Methods:

  • Utilized boustrophedon cellular decomposition (BCD) to divide construction areas into manageable sub-areas.
  • Developed an adaptive spacing adjustment model for optimizing parallel path distances.
  • Introduced a novel boundary corner turning method to improve corner coverage.
  • Designed a cost function considering path length, turns, coverage, and overlap rates.

Main Results:

  • The E-RCPP algorithm demonstrated superior performance compared to the traditional Rotating Calipers Path Planning (RCPP) algorithm in simulations.
  • Verified algorithm effectiveness using 2D top-views derived from Unmanned Aerial Vehicle (UAV) Digital Orthophoto Maps (DOMs).

Conclusions:

  • The proposed E-RCPP algorithm is effective for complete coverage path planning in autonomous excavators.
  • The algorithm offers improvements in efficiency and coverage rate, particularly in complex terrains.