Automation and Software

Advancements in Trenchless
Construction
CIV E 607
Underground Trenchless Technologies

Wednesday, April 2, 2014

By Kwesi Wells

Overview
Trenchless Assessment Guide (TAG)
Robotic Total Station and 3D Modelling Software
Autonomous Sewer Robots and ICOM3 Software

Questions and Answers

Trenchless Assessment Guide (TAG)

TAG is a relational database that contains information
regarding many trenchless construction methods.
It was designed to aid engineers in evaluating the
technical feasibility of various traditional new installation
open cut, new installation trenchless construction and
inline replacements
Developers : Trenchless Technology Center, at Louisiana
Tech University, USA
Versions TAG (2004) , TAG-R(2007) , TAG Online (2009)

Trenchless Assessment Guide (TAG)

The program conducts a sound technical evaluation as
a screening measure to eliminate incompatible
construction methods with project objectives.
Performs an evaluation of the overall perceived risk
Raises awareness and provide guidance regarding to
the utilization of trenchless technology methods.
TAG covers > 80 methods ; TAG - R covers > 60 methods

How it Works ?
Collect and input project objectives (What needs to be fixed or expanded)
Technical Evaluation
o Site data and pipe geometry and lengths
o Existing soil data

o Conditions of host pipe (If applicable) TAG -R

Risk Assessment on selected methods
o Installation risk and Geological Risk
o Specifications and means risk , owner history
o Environmental risk
Output Selected Methods

Benefits and Disadvantages

Pros
o Reduces research time and cost
o Customizable, updateable and free

o Web based (http://138.47.78.37/tagrv2/login.asp)

Cons
o Training required
o Knowledge of trenchless methods required
o Must be updated to reflect current product offerings

Robotic Total Station and 3D Platform

The system employs a robotic total station to realize an
automated, continuous process of tracking and spatial
data collection during tunnel construction.
Real time tracking occurs both surface and subsurface
Developed at the University of Alberta (2012)
Used in TBM projects in Edmonton

System Components
Tracking prisms targets
Robotic total station (Built-in camera)
Wireless Sensor Networks

Underground control laptop

Surface monitoring computer

How it Works?
Project baseline data is loaded on to Surface PC
Field Data is sent from TMB Prism to Station
Station analyzes data and sends to Control Laptop
Control Laptop processes data and presents to TBM
operator via the Virtual Laser target board
Operators make adjustments if necessary
Positions are sent in real time to project manager on
surface
Real time data is compared to baseline data.

How
it
Works?
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Source Shen et al 2012 TBM Positing Automation in tunnel construction

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Comparison Chart
Parameters

Tradition TBM System

Automated System

Guidance
System

Target Board

Three Prisms

Laser

Automated Point station

Levers, gyroscopes, inclinometers

and compasses

Point to angle algorithms

Routine Survey Every 10 m (Shutdown time 1.5 hrs)

Every 50 m (Shutdown
time 1.0 hrs)

Relocation
Survey

Every 200 m (Shutdown time 5.0

hrs)

Every 200 m (Shutdown

time 2.0 hrs)

Production

5.0 m / shift

5.5 m/ shift

Source Shen et al 2012 TBM Positing Automation in tunnel construction

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Benefits / Advantages
Pros
o Increase in productivity
o Lowers cost and time

o Reduces misalignment
o Increase in health and safety of workers (Less man hours in
tunnel)
Cons

o Training of staff required

o New technology learning curve constraints

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Autonomous Sewer Robots

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Autonomous Robotic Inspection

Performs condition assessment of sewerage networks
Designed for pipe 8 to 12
Average weight 25 lbs

Equipped with Laser and CCTV

Independent power and control systems
Onboard intelligence for autonomous operation

360 degree spherical video capture

Automatic digital transfer of information

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How it Works?
Pipe Information is uploaded to onboard pc
Robot is lowered into network via a manhole opening
Assessment of pipe is executed

Robot is retrieved at the end of survey point (Drop

points)
Data is collected and analyzed.

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How it Works?
The captured data is analyzed with the ICOM3 software to
produce the forms, graphs, maps etc.

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Demo Run Video

http://www.youtube.com/watch?v=bZeJzUq4zRM

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References
1. Matthews, John. 2008 Tools for evaluating, selecting trenchless technologies
The Free Library (March, 30), http://www.thefreelibrary.com/Tools for
evaluating, selecting trenchless technologies.-a0178619743 (accessed
March 30 2014)
2. Shen et al 2012 TBM Positing Automation in tunnel construction
3. Redzone Robotics, Solo Autonomous Inspection ,
http://redzone.com/smart-data/technologies/solo (accessed March 30
2013)

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Thank You