Estimating Method of Shearing Resistance Parameters of Compacted Gravelly Soils in Field by Laboratory Tests

: Recently, planetary investigations have accumulated basic data through various aerospace explorations. However, the investigations of underground such as moonquakes, heat, and conditions of the soil have not revealed much. Therefore, the authors have developed a novel, small planetary subsurface excavation robot that uses the peristaltic crawling of an earthworm as its underground propulsion method. In this study, the authors focused on two types of geotechnical tests: pressure meter and shearing tests using the excavation robot. These tests were conducted by measuring displacement and force in the radial and vertical directions inside the soil, using the excavation robot's own hardware system. This paper describes these geotechnical tests, which used the propulsion unit of the robot and measured the soil parameters, e.g., internal friction angle, adhesibility, and elastic constant. From the experiments, the authors evaluated and discussed results by comparing with reference data. The authors confirmed that the propulsion unit could measure the soil parameters and propel itself underground at the same time.

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“…Geotechnical tests in the ground are commonly conducted by large testing machines [9]. However, many such machines cannot excavate a hole.…”

Section: Introductionmentioning

confidence: 99%

Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism

Mizushina

Omori

Kitamoto

et al. 2015

SICE Journal of Control, Measurement, and System Integration

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Influence to Cohesion and Liquefaction Resistance of Base Course Material by Asphalt Emulsion Addition Amount

TAKAISHI¹,

Unno²,

Bamba³

et al. 2020

J. JSCE Ser. E1

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Estimating Method of Shearing Resistance Parameters of Compacted Gravelly Soils in Field by Laboratory Tests

Cited by 2 publications

References 2 publications

Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism

Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism

Influence to Cohesion and Liquefaction Resistance of Base Course Material by Asphalt Emulsion Addition Amount

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