TY  - CONF
TI  - Robotic Machine for High-Quality Shotcrete Process
ID  - upm9348
CY  - Alemania
T2  - ISR / ROBOTIK 2010
UR  - http://conference.vde.com/isr-robotik-2010/Pages/Homepage.aspx
Y1  - 2010///
AV  - public
SN  - 978-3-8007-3273-9
M2  - Munich, Alemania
A1  - Nabulsi, Samir
A1  - Rodriguez, Angel
A1  - Río Suárez, Olga
PB  - VDE-Verl.
N2  - This paper summarizes the development of the technologies used to produce high quality sprayed concrete layers by robotizing a commercial shotcreting machine and automating the process used in the tunnelling construction industry. The proposed method provides the control system with the information of the properties of the pumping process, controlling the quality of the concrete layer by adjusting in real-time the trajectory of the shotcreting machine. Given the unstructured nature of the tunnelling construction method there is an inherent difficulty in the automation of the shotcreting process. A complete description of the implemented control architecture of the shotcreting machine, the automated shotcreting process, the real-time quality layer prediction and the analysis of the tests made in real sites are shown in this paper
ER  -