TY - JOUR
T1 - Inferring Cable-Suspended End-Effector Oscillations from Hydraulic Actuators' Responses in Diaphragm Wall Hydraulic Grabs
AU - Kruger, Marius
AU - Vogel-Heuser, Birgit
AU - Waterman, Daniel
AU - Cha, Suhyun
AU - Hujo, Dominik
AU - Prinz, Theresa
AU - Pohl, Daniel
AU - Semel, Matthias
N1 - Publisher Copyright:
© 2004-2012 IEEE.
PY - 2025
Y1 - 2025
N2 - A Diaphragm Wall Hydraulic Grab (DWHG), used in civil engineering for bulk excavation, is featured with a cable-suspended end-effector (also named attachment tool). The end-effector begins to oscillate during DWHG operation. Essential insights into the DWHG's performance or productivity in operation could be derived from end-effector oscillations. However, due to limited robustness, the end-effector oscillation curves from a DWHG in operation can not be tracked directly by motion sensors attached to the end-effector. This article presents and evaluates a novel approach for DWHGs to infer cable-suspended end-effector oscillations from their hydraulic actuators' responses. Hydraulic actuators' responses depict the changes of hydraulic parameters in hydraulic actuators due to end-effector oscillations. The main contribution of this article is an investigation of how far oscillations of a cable-suspended end-effector in a DWHG can be inferred from their hydraulic actuators' responses. For this purpose, a workflow is conducted: firstly, end-effector oscillations and their hydraulic actuators' responses are collected for a typical DWHG steering sequence. Secondly, the collected end-effector oscillation and hydraulic actuators' response curves are analyzed and processed. Thirdly, a model to infer end-effector oscillations from hydraulic actuators' responses is built. Fourthly, an evaluation shows that the inferred oscillation curves (model output) are similar to the true end-effector oscillations Note to Practitioners-This article is motivated by the demand to determine the oscillation curves of the cable-suspended end-effector (also named attachment tool) at a Diaphragm Wall Hydraulic Grab (DWHG) used in civil engineering for bulk excavation. Existing approaches for construction machines commonly install motion sensors at the end-effector to track its oscillations. However, mounting any sensors at the end-effector in DWHGs is not practicable because the end-effector is exposed to mechanical shocks and moisture. Thus, mounted sensors would be damaged or demolished. This article suggests and investigates a novel approach for DWHGs to infer end-effector oscillations from pressure data in hydraulic actuators that actuate the end-effector. Therefore, the pressure curves at the hydraulic actuators are tracked while the end-effector oscillates and are utilized afterward to infer these oscillations. A practical guide for a DWHG is presented and evaluated to collect, analyze, process, and utilize pressure data from hydraulic actuators to infer end-effector oscillations.
AB - A Diaphragm Wall Hydraulic Grab (DWHG), used in civil engineering for bulk excavation, is featured with a cable-suspended end-effector (also named attachment tool). The end-effector begins to oscillate during DWHG operation. Essential insights into the DWHG's performance or productivity in operation could be derived from end-effector oscillations. However, due to limited robustness, the end-effector oscillation curves from a DWHG in operation can not be tracked directly by motion sensors attached to the end-effector. This article presents and evaluates a novel approach for DWHGs to infer cable-suspended end-effector oscillations from their hydraulic actuators' responses. Hydraulic actuators' responses depict the changes of hydraulic parameters in hydraulic actuators due to end-effector oscillations. The main contribution of this article is an investigation of how far oscillations of a cable-suspended end-effector in a DWHG can be inferred from their hydraulic actuators' responses. For this purpose, a workflow is conducted: firstly, end-effector oscillations and their hydraulic actuators' responses are collected for a typical DWHG steering sequence. Secondly, the collected end-effector oscillation and hydraulic actuators' response curves are analyzed and processed. Thirdly, a model to infer end-effector oscillations from hydraulic actuators' responses is built. Fourthly, an evaluation shows that the inferred oscillation curves (model output) are similar to the true end-effector oscillations Note to Practitioners-This article is motivated by the demand to determine the oscillation curves of the cable-suspended end-effector (also named attachment tool) at a Diaphragm Wall Hydraulic Grab (DWHG) used in civil engineering for bulk excavation. Existing approaches for construction machines commonly install motion sensors at the end-effector to track its oscillations. However, mounting any sensors at the end-effector in DWHGs is not practicable because the end-effector is exposed to mechanical shocks and moisture. Thus, mounted sensors would be damaged or demolished. This article suggests and investigates a novel approach for DWHGs to infer end-effector oscillations from pressure data in hydraulic actuators that actuate the end-effector. Therefore, the pressure curves at the hydraulic actuators are tracked while the end-effector oscillates and are utilized afterward to infer these oscillations. A practical guide for a DWHG is presented and evaluated to collect, analyze, process, and utilize pressure data from hydraulic actuators to infer end-effector oscillations.
KW - diaphragm wall hydraulic grabs
KW - hydraulic actuators
KW - hydraulic soft sensors
KW - Mobile construction machines
UR - http://www.scopus.com/inward/record.url?scp=85214490350&partnerID=8YFLogxK
U2 - 10.1109/TASE.2024.3521599
DO - 10.1109/TASE.2024.3521599
M3 - Article
AN - SCOPUS:85214490350
SN - 1545-5955
JO - IEEE Transactions on Automation Science and Engineering
JF - IEEE Transactions on Automation Science and Engineering
ER -