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Çevikbaş, M, Okudan, O and Işık, Z (2022) New Delay-Analysis Method Using Modified Schedule and Modified Updated Schedule for Construction Projects. Journal of Construction Engineering and Management, 148(11).
Asghari, V, Wang, Y, Biglari, A J, Hsu, S and Tang, P (2022) Reinforcement Learning in Construction Engineering and Management: A Review. Journal of Construction Engineering and Management, 148(11).
Fathi, M and Shrestha, P P (2022) Public–Private Partnership Project Performance Analysis Compared to Design-Build in Highway Projects. Journal of Construction Engineering and Management, 148(11).
Feng, H, Song, Q, Yin, C and Cao, D (2022) Adaptive Impedance Control Method for Dynamic Contact Force Tracking of Robotic Excavators. Journal of Construction Engineering and Management, 148(11).
- Type: Journal Article
- Keywords: Electrohydraulic system; Excavator; Force control; Impedance control; Construction;
- ISBN/ISSN: 0733-9364
- URL: https://doi.org/10.1061/(ASCE)CO.1943-7862.0002399
- Abstract:
Robotic excavators commonly are used in industrial and construction tasks to improve efficiency and shorten construction periods, but they have high energy consumption and vibration and shock problems, the greatest of which is impact phenomenon in contact with construction environment. A perfect construction task with low vibration and high precision can be achieved only by skilled operators, and requires very intense concentration. Due to the urgent labor shortage caused by the pandemic, tight schedules, and increasingly complex construction projects, it is important for construction management to have an intelligent control method that combines the force and position of excavators in the construction progress. This study developed an adaptive impedance control method to realize coordinated control of force and position. An adaptive impedance control was designed to adjust the impedance parameters indirectly. Three different simulations were conducted to compare the force tracking performance of the classic impedance control and the proposed adaptive impedance control, namely, environmental location changes, environmental stiffness changes, and dynamic force tracking. Blended contact surfaces were designed to validate the performance of the control algorithms. Results show that the proposed adaptive impedance control effectively improved the force tracking accuracy. This paper offers an original contribution to the intelligent control method of excavator construction, and will be of use to operators, especially in large ground, mine, earthquake, and other complex ground construction sites. In addition, the research also provides construction manager and other practitioners with an impedance control method in construction project management that can save labor cost, improve production efficiency, and accelerate the transformation to a digital and intelligent construction industry.
Gibson, G E, Sanboskani, H, El Asmar, M and Aramali, V (2022) Employing Technology to Enable Remote Research Charrettes as a Method for Engaging Industry and Uncovering Best Practices: A Novel Approach for a Post-COVID-19 World. Journal of Construction Engineering and Management, 148(11).
González-Cruz, M, Ballesteros-Pérez, P, Lucko, G and Zhang, J (2022) Critical Duration Index: Anticipating Project Delays from Deterministic Schedule Information. Journal of Construction Engineering and Management, 148(11).
Hajarolasvadi, H and Shahhosseini, V (2022) A System-Dynamic Model for Evaluating the Effect of Person–Team Fit on Project Performance. Journal of Construction Engineering and Management, 148(11).
Hebiba, A M, Bouferguene, A, Moon, S and Han, S (2022) Wind-Wise Automated Stability Analysis for Selection of Tower Crane and Location. Journal of Construction Engineering and Management, 148(11).
Li, L, Luan, H, Yin, X, Dou, Y, Yuan, M and Li, Z (2022) Understanding Sustainability in Off-Site Construction Management: State of the Art and Future Directions. Journal of Construction Engineering and Management, 148(11).
Liu, J, Wang, Y and Wang, Z (2022) Effect of Pressure on Construction Company Compliance Attitudes: Moderating Role of Organizational Ethical Climate. Journal of Construction Engineering and Management, 148(11).
Ma, H, Lv, K, Zeng, S, Lin, H and Shi, J J (2022) Climbing the Pyramid of Megaproject Social Responsibility: Impacts of External Stakeholders and Project Complexity. Journal of Construction Engineering and Management, 148(11).
Moharrami, S, Bayat, A and AbouRizk, S (2022) Modeling Microtunnel Boring Machine Penetration Rate Using a Mechanistic Approach. Journal of Construction Engineering and Management, 148(11).
Sharif, M M, Chuo, S and Haas, C T (2022) Rapid 3D Quality Control in Prefabrication Using a 3D Digital-Templates Framework. Journal of Construction Engineering and Management, 148(11).
Sun, G, Sun, J and Li, F (2022) Influencing Factors of Early Termination for PPP Projects Based on Multicase Grounded Theory. Journal of Construction Engineering and Management, 148(11).
Zuo, F, Zio, E and Yuan, Y (2022) Risk-Response Strategy Optimization Considering Limited Risk-Related Resource Allocation and Scheduling. Journal of Construction Engineering and Management, 148(11).