System for remotely operated sub-surface measurements and computer readable non-transient medium
Patent Information
- Application Number
- BR102021013124
- Authority / Receiving Office
- BR · BR
- Patent Type
- Patents
- Current Assignee / Owner
- Publication Date
- 2026-09-15
Smart Images
Figure 00000045_0000 
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Abstract
Description
1 / 37 “SYSTEM FOR REMOTELY OPERATED AND COMPUTER-READABLE NON-TRANSIENTIAL SUBSURFACE MEASUREMENTS” FIELD OF INVENTION
[001] The present invention relates to a system comprising a remotely operated machine. The machine is configured for autonomous or semi-autonomous operation, with the machine operator located away from the machine. In particular, the system relates to a cone penetration test, CPT, system wherein the machine carrying the CPT probe is operated entirely from a remote workstation. In another aspect, the system relates to a system for inserting and installing subsurface sensors at a plurality of measurement locations on a site for remote site monitoring. The present invention further relates to a computer program that controls the operation of the remotely operated machine. FUNDAMENTALS OF THE TECHNIQUE
[002] Cone penetration testing is a well-known technology for collecting subsurface measurement data by penetrating various types of sensors into the ground. In this way, information can be retrieved about the geological situation at the test site, allowing risk assessment and design decisions regarding structures such as tunnels, bridges, earthworks, foundations, etc.
[003] Currently, when performing the cone penetration test, the CPT machine operator is located in a cab at the rear of a truck or tracked machine transporting the CPT probe, in close proximity to the high-pressure hydraulic equipment that pushes the probe. Petition 870240054650, dated 06 / 27 / 2024, page 9 / 104 2 / 37 into the ground. Conventionally, operators are required to bolt rod sections together while a set of hydraulic cylinders moves up and down holding the rods, pushing them into the ground with a force necessary to achieve a desired penetration rate, the force depending on the resistance of the geology below the ground. Operators still need to handle a wire that carries the data fed by the sensors through the rods, operate the hydraulic lever, and bolt the rod sections together. This physically demanding work often leads to early retirement due to, for example, repetitive strain injuries or other physical complaints. This is not sustainable and a solution is desired.
[004] Solutions that overcome the disadvantages associated with the need to manually assemble separate sections of the rod are presented by US 2017 / 0145750 A1 and EP 3 306 032 B1. According to the systems presented here, the rod, to which the CPT probe is connected, is stored in a coiled and uncoiled manner during the probe's penetration into the soil.
[005] Although these systems greatly improve the operator's situation and facilitate more efficient sampling of CPT data, certain tasks still require manual operator work on the machine. In certain situations, for example, where the geological stability of the site or location and / or nearby structures is unknown, this is undesirable as it can lead to dangerous situations for operators.
[006] In addition, it may be desirable to monitor geotechnical structures that are at risk of failure over time in order to detect increased risk or failure in a timely manner. Petition 870240054650, dated 06 / 27 / 2024, p. 10 / 104 3 / 37 imminent of a structure, without exposing human operators to potential risks. Examples of such sites or locations typically include bridges, dams, geological formations, and downstream areas, for example, a tailings dam. SUMMARY OF THE INVENTION
[007] It is an object of the invention to address one or more of the problems and disadvantages identified herein.
[008] In particular, it is an object of the invention to provide a system that allows a machine, for example, a CPT machine or other machine or apparatus that allows monitoring geological or subsurface conditions, to be fully and reliably operated remotely.
[009] This is achieved by a system as claimed in claim 1.
[010] In another embodiment, an object of the invention is to provide a computer program that, when executed on a computer, performs one or more machine operation steps.
[011] This is achieved by a computer program as claimed in claim 27.
[012] The embodiments of the invention are claimed in the dependent claims.
[013] In one aspect, a system is provided, the system comprising: A remotely operated machine comprising a mobile platform, the mobile platform carrying: a rod, configured to be stored in a coiled state on said mobile platform; a probe comprising one or more sensors, the probe mounted at one end of said coiled rod and Petition 870240054650, dated 06 / 27 / 2024, page 11 / 104 4 / 37 configured to be penetrated into the subsurface by unrolling said rod; a tracking unit configured to determine the position of said mobile platform; and a plurality of adjustable support legs to stabilize and / or level said mobile platform; a remote workstation configured to be located remotely from said machine, said remote workstation comprising a user interface for sending data to an operator and receiving input data from the operator; a tracking control unit configured to track and control the movement of said mobile platform using position data from said tracking unit; a leveling control unit, configured to control the deployment and adjustment of said support legs; and a deployment control unit, configured to control the penetration of said probe into the subsurface; wherein the tracking control unit, the leveling control unit, and the deployment control unit are configured to communicate with said user interface of said remote workstation so that the operation of each of these units can be monitored, initiated, and / or controlled through said user interface; and wherein each of said tracking control units, said leveling control units, and said deployment control units is configured Petition 870240054650, dated 06 / 27 / 2024, page 12 / 104 5 / 37 to transmit a signal indicating that its associated operation was performed according to the specification.
[014] This system allows for remotely controlled (semi) autonomous subsurface measurements, such as CPT measurements and / or the installation of subsurface sensors for remote site monitoring. The system relies on remotely operated and automated components that do not require physical human input at the point of operation, i.e., on the machine. This allows for reliable and true remote operation, where at no point in the automation flow does a human need to be present at the machine.
[015] The system is configured and / or programmed to perform a plurality of successive operations, also referred to as a chain of events, in order to perform subsurface measurements and / or install sensors in the subsurface, where each operation is performed only if a previous operation has been executed or successfully performed, i.e., according to specifications.Each successive operation can be initiated automatically by a signal transmitted after the previous operation has been successfully executed, or when an operator initiates the operation after observing the signal. In this way, a (semi) autonomous operation is performed.
[016] The tracking control unit, the leveling control unit, and the deployment control unit may each comprise, or be implemented by, a programmable logic controller, PLCs, configured for electronic control of the different system components. The tracking control unit, the leveling control unit, and the deployment control unit may each comprise, or be implemented by, a programmable logic controller, PLCs, configured for electronic control of the different system components. Petition 870240054650, dated 06 / 27 / 2024, page 13 / 104 6 / 37 deployment can be considered as forming part of a processing system or processing unit that controls the system, including the remotely operated machine.
[017] The plurality of successive operations, or events, can therefore be controlled by programmable logic controllers, PLCs. PLCs can be programmed so that a positive signal is sent by a predecessor in the chain of events to confirm that the associated event was successful, without undesirable results or errors, so that the successor of the event can continue, i.e., the chain of events can proceed. In this way, a fail-safe system can be implemented, since if an event in the chain does not occur as expected, subsequent events do not continue and an alert is sent, for example, to a supervisory operator, so that human interaction can make it safe again.
[018] The probe may alternatively be referred to as, or replaced by, a sensor adapter or holder, in which the sensors may be arranged in a fixed manner or in such a way as to be released from the sensor holder.
[019] The leveling control unit can be configured to start deploying and adjusting the support legs in response to receiving a signal from the tracking control unit that the mobile platform has been positioned at a predetermined location.
[020] The deployment control unit can be configured to initiate the penetration of said probe into the subsurface in response to receiving a signal from the leveling control unit that the mobile platform has been stabilized and leveled. The deployment control unit Petition 870240054650, dated 06 / 27 / 2024, page 14 / 104 7 / 37 is generally still configured to control the retraction of said rod.
[021] The user interface can be configured to receive a signal from an operator to trigger the operation of any of the tracking control units, the leveling control unit and the deployment control unit.
[022] The remote workstation can be configured to allow monitoring and communication with a plurality of remotely operated machines.
[023] Advantageously, the deployment control unit is configured to receive measurement data from one or more sensors and to control the probe's penetration into the subsurface based on the measurement data. The deployment control unit can also be configured to detect and / or predict potential equipment failure due to a potential subsurface obstruction located further below the surface but immediately below the probe based on the measurement data, and to stop probe penetration before the subsurface obstruction causes failure of any part of the subsurface components, thus preventing resulting damage to the system and allowing the system to remain automated, reducing downtime and improving efficiency compared to the traditional method.By using such computerized methods, which in some cases can be performed using algorithms involving artificial intelligence, obstacle prediction can be carried out with greater accuracy and reliability than when it is done based on the knowledge and experience of human machine operators, as is done in systems. Petition 870240054650, dated 06 / 27 / 2024, page 15 / 104 8 / 37 conventional. In this way, damage to the system and the geotechnical apparatus can be avoided, in particular to the coiled rod and its drive system, while also avoiding unnecessary interruptions of penetration away from subsurface obstruction. This increases the volume and quality of data capture, reduces subsurface uncertainty and therefore project risk, and the final design of the permanent structure is more efficient during the construction process and safer for end users / clients.
[024] The deployment control unit can be configured to control the said penetration of said probe based on a position of said mobile platform received from said tracking unit and / or stratigraphic data related to said position. In this way, known properties and characteristics of the site can be taken into account during the measurement and / or installation of the sensor.
[025] Advantageously, the mobile platform may comprise a data transmission unit for transmitting measurement data acquired by said one or more sensors substantially in real time to the remote workstation. The remote workstation is subsequently able to enable remote viewing during data acquisition or immediately after completion of a CPT, enabling operational or scope-based decision-making by a contractor, designer, or client office.
[026] The tracking control unit can be configured to control the movement of the mobile platform to a predetermined first location and to control the Petition 870240054650, dated 06 / 27 / 2024, page 16 / 104 9 / 37 movement of the mobile platform to a second predetermined location after the operations controlled by the deployment control unit have been executed at the first location.
[027] The mobile platform may be provided with one or more cameras configured to communicate with the remote workstation to transmit image data to it; and the tracking control unit may comprise an obstacle detection system; wherein the user interface is configured to output said image data and data from said obstacle detection system and to receive input data from an operator to control the movement of the machine.
[028] The tracking control unit can be configured to determine a movement path of the mobile platform based on a platform position recorded by the tracking system and on topographic data. Depending on the mode, the tracking control unit is configured to automatically determine the movement path.
[029] The user interface is advantageously configured to display pre-recorded or otherwise known topographic data superimposed on the satellite navigation data map. The tracking control unit can be configured to control the machine's movement along a determined movement path based on operator input. In this way, the machine's movement path can be determined to avoid different types of obstacles between measurement locations and / or a more efficient path can be determined. Petition 870240054650, dated 06 / 27 / 2024, page 17 / 104 10 / 37
[030] The tracking control unit can be configured to control the movement speed of the mobile platform based on operator input via the remote workstation user interface.
[031] According to some embodiments, each tracking control unit, leveling control unit and deployment control unit are configured to transmit a second signal comprising one or more predefined parameters relating to an outcome and / or result of their operation and the processing system configured to process the second signal and / or forward the second signal to another among the tracking control unit, the leveling control unit and the deployment control unit. Thus, additional information relating to the system and its operation can be provided to the different control units or processors, allowing them to be taken into account during the different stages of operation.
[032] In embodiments, the mobile platform comprises a coil support device for supporting the rod in the coiled state and allowing the rod to transition between the coiled and uncoiled states, wherein the coil support device can be positioned in a folded or unfolded mode. The deployment control unit can be configured to move the coil support device from the folded mode to the unfolded mode before the probe penetrates the subsurface. The coiled rod can be disposed of in the folded mode during machine transport in order to avoid damage to it, and Petition 870240054650, dated 06 / 27 / 2024, page 18 / 104 11 / 37 during the machine's movement between different measurement locations.
[033] According to a second aspect, the machine of the first aspect is a cone penetration test (CPT) machine, wherein the probe is a CPT probe fitted with said one or more sensors. The deployment control system may be configured to penetrate the probe at a substantially constant rate and the processing unit may be configured to display a graph on the user interface based on the measurement data recorded by one or more sensors. Thus, the operator may obtain a real-time view of the geological properties at the measurement location.
[034] According to a third aspect, the machine of the first aspect is a machine for installing sensors in subsurface locations, such as for remote monitoring of a site, and the probe may be configured to be disconnected from the first end of the rod before rod retraction. The probe may further comprise a sensor cable, or one or more sensors connected to the sensor cable.Alternatively, a sensor adapter or holder, in which the sensors and sensor cable are arranged so that they can be disconnected from the sensor, can be used instead of a probe. The probe or sensor can be disconnected due to friction between the probe or sensor and its surroundings as the rod is retracted from the subsurface.
[035] In this way, sensors can be installed remotely allowing continuous monitoring of a site, in particular a site for which human access is highly undesirable due to the potential risk of imminent failure of a structure on the site or location, for example, Petition 870240054650, dated 06 / 27 / 2024, p. 19 / 104 12 / 37 a tailings dam or hazardous earthwork structure. Depending on the type of sensors and other equipment to carry out the monitoring, after the sensors are installed the site can be monitored continuously for a long period of time, up to several years.
[036] In particular, pressure sensors or transducers can be installed using the third aspect machine. However, alternatively or additionally, gas sensors and / or temperature sensors can also be installed using the machine.
[037] The machine for installing sensors may further comprise a pumping unit for filling a void between one or more sensors, or the probe, and the surrounding soil with a fixing material. The filling of the void, or annular space, may be carried out while the rod is being withdrawn from the subsurface. Typically, bentonite may be used as a filling substance or fixing material, although other materials or substances may be used alternatively.
[038] In embodiments, the system further comprises a data logging unit and a manipulator arm for positioning the data logging unit to be wired to the sensor cable or to be within a predetermined distance of one or more sensors to be wirelessly connected to one or more sensors, the data logging unit configured to receive and store the measurement data recorded by one or more sensors. In preferred embodiments, the system further comprises a manipulator arm control unit configured to control the operation of the manipulator arm, the arm control unit Petition 870240054650, dated 06 / 27 / 2024, page 20 / 104 13 / 37 manipulator configured to receive input from the user interface and / or to automatically perform the positioning of the data logging unit.
[039] According to the modalities, the system further comprises a gateway configured to communicate with a plurality of data loggers to receive the measurement data and forward the measurement data to a client device in substantially real time. Thus, secure monitoring over time of a potentially hazardous site, such as a site in the vicinity of an imminent failure structure, can be carried out.
[040] According to the above, data from one or more sensors at a site measurement location are sent from the data logging unit to a gateway which in turn transmits the data to the client / engineer, usually via an IP connection. Thresholds can be set to trigger alarms that provide early warning that subsurface conditions have become critical and that risk is imminent.
[041] According to a fourth aspect, a computer program is provided, the computer program comprising codes and / or instructions for, when executed by a processing system, causing a remotely operated machine, preferably a machine according to any of the aspects or embodiments described above, to perform a set of successive steps; said set of successive steps comprising: - to track and control the movement of said mobile platform to a predetermined first location using position data from said tracking unit; Petition 870240054650, dated 06 / 27 / 2024, page 21 / 104 14 / 37 - to control the deployment and adjustment of said support legs; and - to control the deployment and penetration of said sensor into the subsurface; wherein each of the successive steps is configured to transmit a signal indicating that the step was executed according to the specification; and wherein the computer program is configured so that one of the subsequent successive steps is performed only after receiving said signal or an instruction based on said signal.
[042] Each of the steps may involve transmitting the signal to the user interface of the remote workstation, where the execution of one or more of the successive steps may be initiated by an instruction input from the operator via the user interface.
[043] The computer program, or software, can be advantageously configured or programmed to control and / or perform the operation of the machine and system as described above, in order to realize a remotely operated machine for subsurface measurement and / or sensor installation.
[044] According to preferred modalities, the computer program, or software, uses learning algorithms and / or artificial intelligence to update its coding and / or operation, thereby improving the various functions and operational steps, or events, performed by the machine.
[045] The different aspects, resources and modalities described here can be combined, as will be understood by someone versed in the technique. BRIEF DESCRIPTION OF THE DRAWINGS Petition 870240054650, dated 06 / 27 / 2024, page 22 / 104 15 / 37
[046] Other features and advantages of the invention will become apparent from the description of the invention by means of non-limiting and non-exclusive embodiments. These embodiments should not be interpreted as limiting the scope of protection. Those skilled in the art will realize that other alternatives and equivalent embodiments of the invention can be conceived and reduced to practice without departing from the scope of the present invention. The embodiments of the invention will be described with reference to the figures in the accompanying drawings, in which similar or identical reference symbols denote similar, identical or corresponding parts, and in which:
[047] Figure 1 shows a schematic drawing of a part of a geotechnical device according to an embodiment;
[048] Figure 2 shows a probe 3 that may be located in section A of the apparatus in figure 1;
[049] Figure 3 shows a schematic illustration of a remotely operated machine according to a modality;
[050] Figure 4 shows a system comprising the remotely operated machine of figure 3;
[051] Figure 5 shows a functional illustration of a processing system 40 of the system in figure 4 according to one embodiment;
[052] Figure 6 schematically illustrates a method of operation of the system in Figure 4 according to one embodiment;
[053] Figure 7 schematically illustrates a plurality of measurement locations on a site;
[054] Figure 8 schematically shows a detail of a probe to be positioned in the subsurface using the remotely operated machine of figure 3 and / or system of figure 4, according to one embodiment; and Petition 870240054650, dated 06 / 27 / 2024, page 23 / 104 16 / 37
[055] Figure 9 schematically illustrates other features related to remote site monitoring. DESCRIPTION OF THE MODALITIES
[056] Figure 1 shows a non-limiting embodiment of a geotechnical apparatus 1, for inserting a probe or sensor holder 3 into the soil. The apparatus may advantageously be a cone penetrometer test apparatus or an apparatus for inserting one or more sensors into the soil.
[057] Apparatus 1 comprises a rod 2, which is formed in one piece, provided at its lower end A with a probe, or sensor holder, 3. The probe 3 may be a penetrometer as shown more clearly in figure 2 or a sensor holder as illustrated in figure 8. The probe or sensor holder comprises or is provided with one or more sensors, such as pressure transducers, gas sensors, temperature sensors, etc.
[058] Rod 2 preferably has a longitudinal hole (not shown) extending along its body that is in fluid communication with one or more lubrication openings 4, 5 (indicated in Figure 2) behind probe 3 for the introduction of lubricant along the surface area of the rod while the rod is pushed into or pulled out of the ground. The lubricant reduces friction between rod 2 and the ground and contributes to well stability and greater penetration depth. With the one-piece rod 2 of the invention, the lubricant can be supplied through one or more lubrication openings 4, 5 at a constant flow rate. The lubrication openings are advantageously provided Petition 870240054650, dated 06 / 27 / 2024, p. 24 / 104 17 / 37 immediately behind the probe, so that the lubricating fluid effectively fills the annular space in the bore surrounding the rod behind the probe, without disturbing the soil formation. Water or mud can be used as a lubricant, although other fluids can also be used.
[059] The apparatus 1 further comprises a drive unit 6 for the single-piece rod 2 for pushing said rod into the ground or pulling it out of the ground. The pushing or pulling of the rod may, for example, be effected by gripping elements (not shown) and / or rollers included in the drive unit 6. Two grippers, having gripping elements that hold the rod, may be provided for alternately gripping the rod and moving it along its longitudinal axis over a predefined length. In this way, sufficient force for pulling and pushing may be achieved using a drive with relatively few moving parts. Alternatively, another type of drive or deployment mechanism may be used, providing a substantially constant movement of the rod.
[060] The drive unit preferably comprises hydraulic means for performing the movements of the drive unit components responsible for moving the rod into or out of the ground. These movements include the movements of the gripping elements to grasp the rod, as well as the movements of the claws in one direction along the longitudinal axis of the rod. The drive unit is arranged to move the rod with a constant motion. This means that locking / slipping between the rod and the ground can be avoided and thus friction is reduced. The continuous impulse that is Petition 870240054650, dated 06 / 27 / 2024, page 25 / 104 18 / 37 achieved also results in a higher quality data acquisition due to avoiding the start and stop data gaps that occur in the traditional CPT method.
[061] Apparatus 1 further comprises a storage 7 for the rod 2, in which the rod 2 can be stored in the coiled condition and from which the rod 2 is recoverable in the coiled condition. To support this storage and recovery of the single-piece rod 2, preferably a bender / straightener 8 is provided between the storage 7 and the drive unit 6 to convert the single-piece rod 2 from the coiled condition to a straight condition and vice versa. By rotating the storage 7, or a part thereof, the rod 2 can be coiled or uncoiled, respectively, depending on the direction of rotation. The bender / straightener advantageously comprises a plurality of rollers 12.The 12 rollers can be arranged as a first set of rollers positioned on one side of the rod and a second set of rollers positioned on the opposite side of the rod, so as to arrange the rollers to convert the wound rod into an essentially straight rod when unwinding and to convert the rod into a wound rod of essentially constant coil diameter when winding the rod in storage 7.
[062] In the embodiment illustrated in figure 1, the storage 7 is incorporated with a guide arm 9 that can rotate around a rotation axis 10. The guide arm 9 has a clamp 11 distant from the rotation axis 10 that secures the one-piece rod 2 to the guide arm 9. This causes the rotation of the guide arm 9 to cause the one-piece rod 2 to wind up or unwind depending on the direction of rotation of the guide arm 9. Petition 870240054650, dated 06 / 27 / 2024, p. 26 / 104 19 / 37 Alternatively, storage 7 may comprise a drum, onto which rod 2 may be wound and from which it may be unwound in the manner described above.
[063] A protective enclosure (not shown) may be provided to protect the elements of the apparatus, for example, during transport and / or movement / positioning of the apparatus.
[064] Figure 3 shows a remotely operated machine 14, which may advantageously comprise the geotechnical apparatus 1 described above with reference to figures 1 and 2. Alternatively, it may comprise another geotechnical apparatus.
[065] The remotely operated machine 14 comprises a mobile platform 16, which carries the rod 2, which in Figure 3 is shown stored in its coiled state. At one end of the rod 2, the probe 3 (not shown in Figure 3) is mounted. The probe is configured to be penetrated, for example, pushed into the ground while the rod is uncoiled. The probe comprises one or more sensors, usually pressure transducers to monitor changes in subsurface water pressure. Alternatively or additionally, other sensors, such as gas sensors and / or temperature sensors, may be provided. The drive unit 6, which facilitates the winding and unwinding of the rod 2 and the penetration of the probe 3 into the subsurface, is controlled by a deployment control unit 28, which may be located on the platform.
[066] Machine 14 further comprises a tracking unit 18, such as a GPS, providing position coordinate data, to track the machine's position. Together with a tracking control unit 20 Petition 870240054650, dated 06 / 27 / 2024, page 27 / 104 20 / 37 and a propulsion unit 22, such as crawlers, caterpillar drives or wheels, facilitates the orientation of the remotely operated machine to the measurement locations where subsurface measurements are to be performed or sensors positioned in the subsurface. In some embodiments, the machine also comprises one or more IP-connected cameras 38 that can provide further assistance in positioning and orienting the machine, as will be described in more detail in this document below.
[067] Although the propulsion unit 22 in the illustrated example comprises caterpillar drives, other means are also provided for, such as a wheel drive system. That is, the machine 14 could alternatively be transported by a wheeled truck instead of the caterpillar-driven vehicle.
[068] A plurality (usually four) of adjustable support legs 24 is provided, to level and stabilize the mobile platform 16 before and during the penetration of the probe into the subsurface. The adjustable support legs 24 are controlled by a leveling control unit 26 which controls the deployment and adjustment of the support legs.
[069] In the illustrated embodiment, the remotely operated machine 14 comprises a communication unit 44, allowing the transmission of data and / or control signals from the various components of the remotely operated machine 14 to a remote workstation 32, illustrated in figure 4, and to receive signals from the remote workstation and / or other external units. The communication unit 44 is connected, via a wired or wireless connection, to the tracking control unit 20, to the control unit of Petition 870240054650, dated 06 / 27 / 2024, page 28 / 104 21 / 37 leveling 26, to the deployment control unit 28, to the camera 38 and to the sensors located on the probe 3. Alternatively, each of these devices can be equipped with its own communication unit to communicate with the remote workstation 32. The different control units and other components can also be configured to communicate with each other. Data transmission, such as position coordinate data, sensor measurement data and camera image data, from machine 14 to remote workstation 32, as well as control data and steering commands from remote workstation 32 to the remotely operated machine 14, occurs substantially in real time. In this way, fully remote operation of the machine can be achieved.
[070] Figure 4 shows the system 30 comprising the remotely operated machine 14 and the remote workstation 32 from which the operation of the machine 14 can be monitored and / or controlled. The remote workstation 32 comprises a user interface 34 for sending data to an operator 36 and receiving input data from the operator, for example, to initiate the operation of one or more of the components or devices on the machine or to intervene or provide instructions related to its operation. The tracking control unit 20, leveling control unit 26 and deployment control unit 28 communicate with the remote workstation 32 so that the operation of each of these units can be monitored, initiated and / or controlled through the user interface 34 of the remote workstation. The data output by the user interface may comprise indications of Petition 870240054650, dated 06 / 27 / 2024, page 29 / 104 22 / 37 operation and functioning of different components of the machine 14, indications of whether functions, events or operations were successfully executed or not, measurement data recorded by the probe sensors, image data from one or more cameras 38, etc. The input data may include commands to control one or more functions of the machine 14, initiating one or more functions, operations or events performed by its components. Thus, through the remote workstation 32, the operator 36 can monitor and, if applicable, control the operation of the remotely operated machine 14 from a distance, without having to be positioned at the machine 14. The distance can generally be from a few hundred meters to about 500 meters, preferably within line of sight. In some embodiments, the distance may be even greater.Thus, sites with potentially high risk, such as areas downstream of a tailings dam or other potentially imminent failure structure, can be monitored and inspected without endangering the human operator 36.
[071] Although only one machine 14 is illustrated in figure 4, the remote workstation 32 can be configured to simultaneously control more than one remotely operated machine 14.
[072] The tracking control unit 20, the leveling control unit 26, and the deployment control unit 28 are preferably implemented by programmable logic controllers, PLCs, which can be operationally connected to and / or form part of a processing unit, or system, 40, as conceptually shown in Figure 5. The tracking control unit 20, the unit Petition 870240054650, dated 06 / 27 / 2024, page 30 / 104 The leveling control unit 26 and the deployment control unit 28 are configured to communicate with each other, for example, through a central unit or connection 42. This central unit or connection may be represented by, or comprise, physical, i.e., wired connections or wireless communication. Each tracking control unit, leveling control unit, and deployment control unit are configured to transmit a signal indicating that their associated operation has been performed according to the specification. This signal triggers the operation of the control unit responsible for the next operational step of the remotely operated machine 14, as will be described in more detail later in this document. Additional units or processors may be part of the processing system 40, such as a manipulator arm control unit 76 (described with reference to Figure 9 later).Different components of machine 14, such as the probe sensors 3 and the cameras 38, can also be operationally connected or communicate with the processing system. It should be noted that the processing system 40 may not be a physical entity or single unit, but may be realized abstractly by the various units and components being functionally and / or operationally interacting with each other and / or a central processor and / or software program to perform the operation of the remotely controlled machine 14.
[073] The different control units may be located physically close to each other or far from each other. Although in Figure 4, the tracking control unit 20, the control unit of Petition 870240054650, dated 06 / 27 / 2024, page 31 / 104 Although leveling 26 and deployment control unit 28 are all illustrated as being located on platform 16, one or more of the processing system 40 may be located remotely from platform 16. Furthermore, components such as control units and / or data input / output circuits and communication circuits of the remote workstation 32 may also be considered as forming part of the processing system 40. MACHINE OPERATION
[074] As illustrated in Figure 6, the operation of the remotely operated machine 14 can be considered a chain of successive steps or events, where each event is initiated by, and only executed if, the previous event has been successfully executed. That is, after the operation of machine 14 has been initiated by operator 36, each of the successive events only occurs if the previous event was executed or performed in accordance with the specification, i.e., it was completed successfully, without any unacceptable error or malfunction. Each of the successive events described below can be initiated automatically in response to the signal emitted by one of the control units described above after the completion of its respective operation, or by operator 36, through an input to the user interface 34 of the remote workstation 32, manually initiating the next event in response to the signal.
[075] In the first event 52, or operation step, the remotely operated machine 14 is moved to a first position L1 under the control of the GPS and tracking control unit 20. At the first position L1, the machine is Petition 870240054650, dated 06 / 27 / 2024, page 32 / 104 25 / 37 positioned with high precision, generally within 2 cm of the specified position. When the specified position of machine 14 has been verified, a positive signal, that is, a signal indicating a successful positioning event, is issued and the operation continues with the next event 54.
[076] In the second event 54, in response to receiving the signal from the tracking control unit that the machine 14 has been positioned at a predetermined location, the leveling control unit 26 controls the deployment and adjustment of the support legs 24 to level the platform 16 and stabilize it.
[077] In the third event 56, which is optional, the coiled rod can be transitioned from a folded position, in which it can be disposed during transport or movement of the machine 14, to an unfolded position, in which the coil is oriented in the substantially vertical position illustrated in figures 1 and 3. In some embodiments, this step can be controlled by the deployment control unit 28 and can be part of the deployment event 58.
[078] In the fourth event 58, the geotechnical apparatus located on platform 16 is deployed. In response to receiving a signal from the leveling control unit 26 that the mobile platform has been stabilized and leveled, or receiving a signal that the coil formed by the wound rod has been transferred to the unfolded position, the deployment control unit 28 controls the operation of the drive unit 6 to initiate the penetration of probe 3 into the subsurface. Subsurface penetration can be advantageously controlled based on data recorded by the probe's multiple sensors. After probe 3 Petition 870240054650, dated 06 / 27 / 2024, page 33 / 104 26 / 37 was pushed to a certain depth, and measurements such as CPT measurements were performed, and / or after probe 3 was inserted into the subsurface according to the specification and uncoupled from rod 2, rod 2 is retracted from the subsurface by drive unit 6, under the control of deployment control unit 28, operating to cause rod 2 to be wound up again.
[079] In the fifth event 60, which is also optional, the coil can be moved back to the folded position before the machine 14 moves to the next location. In some modes, this step can be controlled by the deployment control unit and can be part of deployment event 58.
[080] In the sixth event 62, in response to a signal indicating that the deployment according to event 58, or the folding according to event 60, was successfully executed, the tracking control unit 20 controls the movement and tracking of the machine 14 to a next location and positioning at this location. This location may be a second predetermined location, L2, into which the probe 3 must be penetrated into the subsurface during the performance of measurements, such as CPT measurements, and / or to be positioned in the subsurface to allow monitoring over time.
[081] If subsurface penetration was performed, or attempted, at each of a plurality of predetermined locations L1-Ln, or if machine 14 or some of its components were determined to be malfunctioning, the next event location 62 may be a default position, such as a default end position, of the machine. Petition 870240054650, dated 06 / 27 / 2024, page 34 / 104 27 / 37 14. In general, this standard end position may correspond to an initial position from which the operation of machine 14 was initiated, for example, unloaded from a truck carrying the machine to and from the monitoring site.
[082] If any of the events described above have not been executed according to the specification, i.e., have not been executed successfully, the positive signal is not issued. Preferably, a negative signal is issued, providing a warning or indication to operator 36 that the event was unsuccessful. The system may make another attempt to perform the event in question, or skip to the last event 62 in the chain 50 of events.
[083] Specific details of the different events and the related control units are described below, according to advantageous modalities.
[084] Events 52, 62 - tracking and positioning
[085] Tracking and positioning of the machine are facilitated by the tracking unit, for example, a GPS, as described above. The path of movement can be predetermined, based on topographic data and using satellite navigation systems. Alternatively, the path of movement can be adjusted, or even determined, substantially in real time, as will be described later in this document. The speed at which the machine moves is controlled by the tracking control unit, preferably based on operator input via the remote control user interface.
[086] The image data recorded by one or more cameras 38 can be transmitted to the tracking control unit 20, which may further comprise a system of Petition 870240054650, dated 06 / 27 / 2024, page 35 / 104 28 / 37 obstacle detection is configured to detect an obstacle located along and / or adjacent to an intended machine movement path 14, or between a current machine position and the next predetermined measurement location. Obstacle detection can be performed taking into account image data recorded by cameras 38. The machine movement path 14 to any of the measurement locations L1-Ln or to the default end position can be controlled, for example, by being automatically recalculated, based on one or more obstacles detected by the obstacle detection system.Alternatively, image data generated by the cameras and / or indications of obstacles detected by the obstacle detection system can be transmitted to the remote workstation for display on an input / output unit screen, allowing the operator 36 to enter instructions into the processing system to recalculate the machine's path of movement, or to manually redetermine the path of movement.
[087] The tracking control unit 20 can also be configured to determine the path of movement of the machine 14 based on its position detected by the tracking unit 18 and previously recorded or known topographic data of the site to be monitored or surveyed. This can be performed automatically under the control of a computer program, such as the computer program described below.Alternatively or additionally, topographic data can be displayed on the remote workstation 32, overlaid or superimposed on a satellite navigation map. This allows the operator to gain insight into the path of movement and / or properties. Petition 870240054650, dated 06 / 27 / 2024, page 36 / 104 29 / 37 and possible obstructions between the different measurement locations. The tracking control unit 20 can be configured to determine the movement path of the machine 14 based on operator input 36.
[088] During the tracking of the machine's movement described above, the tracking control unit may transmit one or more second signals to the central unit 42 of the processing system 40 and / or to the remote workstation 32. This second signal may comprise other data related to the operation of the tracking control unit and the tracking of the machine. At the remote workstation 32, it may be processed or used directly to provide information to the operator. The central unit 42 may forward the second signal or data therein, possibly after first processing it, to the leveling control unit and / or deployment control unit.
[089] The characteristics described above allow the machine 14 to be positioned in a predetermined position or location with high precision. The precision can be such that the machine is positioned within 2 cm of the specified position.
[090] Events 54, 60 - platform leveling:
[091] Once the machine has been positioned at one of the measuring locations, the operation of the leveling control unit 26 is activated. Under the control of the leveling control unit, the support legs 24 are deployed, extending each support leg from its support unit and adjusting the length of each leg so that the machine, or more specifically the platform 16, is Petition 870240054650, dated 06 / 27 / 2024, page 37 / 104 30 / 37 leveled on a horizontal plane, and stably supporting it in a level position. Once stable leveling is achieved, the first signal is transmitted, indicating that event 54 was executed according to its specifications.
[092] When the subsurface measurements and / or positioning of one or more sensors have been completed and rod 2 has been retracted to its coiled state, the operation of the leveling control unit is triggered again. Now the support legs are retracted, so that machine 14 can be tracked to a next position.
[093] Event 58 - subsurface penetration:
[094] Once machine 14 has been leveled and stabilized, the operation of deployment control unit 28 is activated. As described above, the deployment control unit controls the operation of the hydraulic drive system 6, also referred to as the Cone Unfolding System, CDS, rotating the reel so as to unwind rod 2 and drive it into the subsurface. The unwinding of rod 2 is preferably conducted so that probe 3 penetrates the soil at a substantially constant rate.
[095] During the penetration of rod 2 and probe 3 into the subsurface, deployment control unit 28 may receive measurement data recorded by one or more sensors located on probe 3. The probe penetration and measurements, typically pressure measurements, may be part of the Cone Penetration Test, CPT, measurements, which are known in the field.Alternatively or additionally, other types of measurements, such as gas monitoring, for example, the detection of one or more specified gases and / or measurements of... Petition 870240054650, dated 06 / 27 / 2024, p. 38 / 104 31 / 37 temperature measurements can be performed. The measured data can be transmitted to the remote workstation 32, where a graphical representation based on the measured data can be displayed in substantially real time. For this purpose, the measured data may have been processed by the deployment control unit 28 or by the central unit 42 of the processing system 40, and / or by a processor in the remote workstation 32. The graphical representation allows the operator 36 to monitor subsurface penetration in real time and allows for real-time operator intervention.
[096] In addition, the measured data can be processed and / or stored for later analysis, as well as for learning processes of the processing system and / or its software, using artificial intelligence to improve machine operation. The data presented graphically are automatically processed by software and are ready for interpretation and reporting to the client. Live or real-time reports can be run, if desired.
[097] In preferred embodiments, the deployment control unit 28 and / or the central unit 42 of the processing system 40 is further configured to detect and / or predict a subsurface obstruction, or the probability of such a subsurface obstruction, located further below the surface than the probe 3, based on data measured by the sensors. Such detection of subsurface obstruction may be further enhanced by software or computer program, which controls the operation of the deployment control unit 28, using artificial intelligence. By predicting such an obstruction Petition 870240054650, dated 06 / 27 / 2024, page 39 / 104 32 / 37 of the subsurface, probe penetration can be stopped before potential failure caused by obstruction, thus preventing damage to the probe, rod, and / or other machine components. Conventionally, rod subsurface penetration was controlled by an operator located on the machine, who, based on their knowledge and experience, estimated potential surface obstructions and the final penetration accordingly. The use of computer processing and calculations, advantageously in conjunction with artificial intelligence, has been observed to greatly increase the accuracy of the prediction, allowing probe penetration to be stopped before, even immediately before, obstruction. Such learning can be achieved based on the accumulation of measurement data over extended time and a plurality of different sites.
[098] The penetration of the probe into the subsurface can also be controlled by taking into account the position coordinates, i.e., the GPS coordinates of the penetration point and / or known stratigraphic data. The position coordinates and stratigraphic data can also be taken into account by the system during the prediction of subsurface faults.
[099] The remotely operated machine is advantageously used to perform measurements of soil conditions, for example, CPT measurements and / or to insert one or more sensors into the subsurface for continuous surveying, in a large plurality of locations L1, L2, ..., Ln, as illustrated in Figure 7. At each of these locations, the chain of events described above with reference to Figure 6 can be performed. The operation can be initiated from an initial position. Petition 870240054650, dated 06 / 27 / 2024, page 40 / 104 33 / 37 Liniciai, which can be represented by the position from which the machine is launched. After subsurface penetration has been performed at the last location Ln, the machine can be tracked back to its initial position.
[0100] Event control, computer program:
[0101] The chain of events 50 described above, comprising events 52-62, is controlled by a computer program, or software, comprising instructions which, when executed by the processing system 40 and / or one of the control units comprised therein, controls the machine 14 to be operated as described above in relation to the plurality of events.
[0102] The computer program, or one or more modules or functions thereof, may rely on artificial intelligence, AI, to update part or function of the corresponding program based on learning and / or experience accumulated over time during the operation of one or more remotely operated machines 14. An example of this is the prediction of subsurface hazards described above. Other examples relate to machine tracking and positioning.
[0103] The computer program or software can be modular, in which each event is represented by a separate module or (set of) function(s) of the program. The separate modules or functions can be called by a main program code, in which each module or set of functions can be called automatically after the main code receives a command representing the positive signal, i.e., the signal indicating the successful execution of an event and / or after receiving a command generated by an input from the operator 36 through the user interface 34 Petition 870240054650, dated 06 / 27 / 2024, page 41 / 104 34 / 37 of the remote workstation. Due to the program's modularity, each module or function can be reprogrammed and / or updated separately.
[0104] Installation of sensors for continuous monitoring of a site
[0105] In some situations, it may be desirable to monitor a site and its subsurface properties over time, particularly at a site downstream of an imminent fault structure and / or at a site at potential risk. This can be advantageously facilitated by using the remotely operated machine illustrated in Figure 3 and the system illustrated in Figures 4, for subsurface positioning of one or more sensors at a plurality of measurement locations, L1-Ln. This can be achieved by operating the machine as described above, in particular by the chain of events illustrated in Figure 6.
[0106] Figure 8 schematically illustrates features relevant to embodiments in which the remotely operated machine 14 is a machine for installing sensors in subsurface locations. The machine may be the machine 14 illustrated in Figure 3. Although the machine is preferably based on, and comprises all the features of, the machine 14 illustrated in Figure 3, it will be understood by those skilled in the art that some or more of the features described above may be dispensed with.
[0107] For this purpose, probe 3 is mounted on rod 2 in such a way as to allow the probe 3 to be disconnected from rod 2 after the probe 3 has penetrated the subsurface, preferably at a predetermined or specified distance into the ground. This can be achieved by friction between the probe and its surroundings as Petition 870240054650, dated 06 / 27 / 2024, page 42 / 104 35 / 37 the rod is retracted from the subsurface. Alternatively, it can be achieved by a connection mechanism 64 allowing the disconnection of probe 3 to be triggered remotely and / or automatically after a defined subsurface penetration depth has been reached. Probe 3 comprises one or more sensors 66, such as pressure transducers, gas sensors, temperature sensors, etc. The sensors 66 can be positioned in the subsurface with probe 3 remaining in the ground as a whole. Alternatively, the sensors 66 can be disconnected from probe 3 under frictional force or by a disconnection mechanism operationally similar to the connection mechanism 64.
[0108] The sensors 66 are connected to a sensor cable 68, allowing the measurement data from the sensors to be stored in a memory or data logging unit and / or transmitted by a transmitter.
[0109] The machine further comprises a pumping unit 70 for filling a void, or annulus, between one or more sensors 66, or the probe 3, and the surrounding soil. The void is filled with a substantially solid or elastic substance that fixes the sensors in their subsurface location.
[0110] After the plurality of sensors 66 has been inserted into the subsurface and the rod 2 has been retracted, a data recording unit 74 is positioned above ground on the plurality of sensors using a manipulator arm 72 of the machine 14. The operation of the manipulator arm 72 is controlled by a manipulator arm control unit 76. The manipulator arm control unit preferably forms part of the processing system 40 in a way Petition 870240054650, dated 06 / 27 / 2024, page 43 / 104 36 / 37 similar to the tracking control unit 20, the leveling control unit 26 and the unfolding control unit 28, and allows automatic and / or semi-autonomous positioning of the data recording unit 74. Similar to the operation of the other parts and components of the machine 14, the positioning of the data recording unit 74 can be monitored and / or influenced by means of the remote workstation 32.
[0111] The data logging unit can be physically connected to the top of the sensor column, or cable, 68, forming a wire connected to one or more sensors. Alternatively, the data logging unit can communicate with one or more sensors via wireless communication.
[0112] One or more sensors 66 and an associated data recording unit 74 therefore form a monitoring unit. Generally, a plurality of monitoring units is positioned at the site to be monitored, for example, positioning a monitoring unit at each of the locations, L1, L2, ..., Ln in figure 7.
[0113] The data logging unit 74 receives and records the data measured by the sensors 66. The sensor data is transmitted, in real time, at predefined time intervals, or upon request, to a gateway 78. The gateway 78 usually communicates with a plurality of data logging units 74 on the site. Through the gateway 78, the data measured by the sensors can be transmitted, preferably in real time or at intervals, to a client device for monitoring and / or analysis at a remote location. Petition 870240054650, dated 06 / 27 / 2024, page 44 / 104 37 / 37
[0114] It will be clear to one skilled in the art that the scope of the invention is not limited to the examples discussed above, but that various amendments and modifications thereof are possible without departing from the scope of the invention as defined in the appended claims. Although the invention has been illustrated and described in detail in the figures and description, such illustration and description should be considered illustrative or exemplary only, and not restrictive. The present invention is not limited to the disclosed embodiments, but includes any combination of the disclosed embodiments that may be advantageous.
[0115] Variations on the disclosed embodiments can be understood and carried out by a person skilled in the art in the practice of the claimed invention, from a study of the figures, description and appended claims. In the description and claims, the word comprising does not exclude other elements, and the indefinite article a or an does not exclude a plurality. In fact, it should be interpreted as meaning “at least one”. The mere fact that certain features are stated in mutually different dependent claims does not indicate that a combination of these features cannot be used to advantage. Any reference signs in the claims should not be interpreted as limiting the scope of the invention. The features of the embodiments and aspects described above can be combined unless their combination results in obvious technical conflicts. Petition 870240054650, dated 06 / 27 / 2024, page 45 / 104
Claims
1 / 7 CLAIMS 1. System (30), comprising: a remotely operated machine (14) comprising a mobile platform (16), the mobile platform carrying: a rod (2), configured to be stored in a coiled state on said mobile platform; a probe (3) comprising one or more sensors (66), the probe configured to be mounted on a first end of said rod and to be penetrated into the subsurface by uncoiling said rod; characterized in that the mobile platform further carries: a tracking unit (18) configured to determine a position of said mobile platform; and a plurality of adjustable support legs (24) for stabilizing and / or leveling said mobile platform;a remote workstation (32) configured to be located remotely from said machine, said remote workstation comprising a user interface (34) for sending data to an operator and receiving input data from said operator; a processing system (40), comprising: a tracking control unit (20) configured to track and control the movement of said mobile platform using position data from said tracking unit; a leveling control unit (26) configured to control the deployment and adjustment of said support legs; and a deployment control unit (28) configured to control the winding of said rod, Petition 870260044283, dated 11 / 05 / 2026, page 11 / 17 2 / 7 unwinding of said rod, penetration of said probe into the subsurface and retraction of said probe from the subsurface;wherein the tracking control unit, the leveling control unit, and the deployment control unit are configured to communicate with the aforementioned user interface of the aforementioned remote workstation so that the operation of each of these units can be monitored, initiated, and / or controlled through the aforementioned user interface; and wherein each of the aforementioned tracking control unit, said leveling control unit, and said deployment control unit is configured to transmit a signal indicating that its associated operation has been performed in accordance with the specification.
2. System, according to claim 1, characterized in that said leveling control unit is configured to initiate the deployment and adjustment of said support legs in response to receiving a signal from the tracking control unit that said mobile platform has been positioned at a predetermined location, and / or in that said deployment control unit is configured to initiate the penetration of said probe into the subsurface in response to receiving a signal from the leveling control unit that said mobile platform has been stabilized and leveled.
3. System, according to any one of claims 1 to 2, characterized in that said deployment control unit is configured to receive measurement data from said one or more sensors and to control the penetration of said probe into the subsurface based on said measurement data, wherein, preferably, said deployment control unit is further configured to detect and / or predict a potential subsurface obstruction located further on the surface than said probe based on said measurement data and to interrupt said penetration of said probe before system failure caused by said subsurface obstruction.
4. System, according to claim 3, characterized in that said deployment control unit is further configured to control said penetration of said probe based on a position of said mobile platform received from said tracking unit and / or stratigraphic data related to said position, wherein, preferably, said deployment control unit is further configured to detect and / or predict a potential subsurface obstruction located further below the surface than said probe based on said measurement data and said position and / or said stratigraphic data, and to stop said penetration of said probe before perceiving the system failure due to said subsurface obstruction.
5. System, according to any one of claims 1 to 4, characterized in that said tracking control unit is configured to control the movement of said mobile platform to a first predetermined location (L1), wherein, preferably, Petition 870260044283, dated 11 / 05 / 2026, page 13 / 17 4 / 7 said tracking control unit is further configured to control the movement of said mobile platform to a second predetermined location (L2) after the operations controlled by said deployment control unit have been executed at said first location (L1).
6. System, according to any one of claims 1 to 5, characterized in that said mobile platform is further provided with one or more cameras (38), wherein said cameras are configured to communicate with said remote workstation to transmit image data to it; and wherein said tracking control unit comprises an obstacle detection system; wherein said user interface is configured to output said image data and data from said obstacle detection system.
7. System, according to any one of claims 1 to 6, characterized in that each of said tracking control units, said leveling control units and said deployment control units is configured to transmit a second signal comprising one or more predefined parameters relating to an outcome and / or result of its operation, and wherein said processing system is configured to process said second signal and / or forward said second signal to another of said tracking control units, said leveling control units and said deployment control units, Petition 870260044283, dated 11 / 05 / 2026, p.14 / 17 5 / 7 and / or wherein said mobile platform comprises a coil support device (7) for supporting said rod in said coiled state and allowing said rod to transition between said coiled state and an uncoiled state, wherein the coil support device may be positioned in a folded mode or in an unfolded mode, and wherein the deployment control unit is configured to make said coil support device transition from said folded mode to said unfolded mode before said probe penetrates the subsurface.
8. System, according to any one of claims 1 to 7, characterized in that the machine is a machine for installing sensors in subsurface locations, and wherein the probe is configured to be disconnected from said first end of said rod during or before the retraction of said rod from said subsurface, and wherein the probe further comprises a sensor cable (68) and said one or more sensors are connected to said sensor cable, wherein, preferably, the system further comprises a pumping unit (70) for filling a void between one or more sensors and the surrounding soil with a fixing material.
9. System, according to claim 8, characterized in that it further comprises a data recording unit (74) and a manipulator arm (72) for positioning the data recording unit to be wired to said sensor cable or to be within a predetermined distance of said one or more sensors, so as to be wirelessly connected to said one or more sensors, said data recording unit configured to receive and store said measurement data, wherein, preferably, said processing system further comprises a manipulator arm control unit (76) configured to control the operation of said manipulator arm, wherein said manipulator arm control unit is configured to receive input from said user interface and / or to automatically perform the positioning of said data recording unit.
10. Non-transient, computer-readable medium, characterized in that, when executed by a processing system, it causes a machine to perform a set of successive steps; wherein the machine comprises a mobile platform, the mobile platform carrying: a rod, configured to be stored in a coiled state on said mobile platform; a probe comprising one or more sensors, the probe configured to be mounted on a first end of said rod and to be penetrated into the subsurface; a tracking unit configured to determine a position of said mobile platform; and a plurality of adjustable support legs, to stabilize and / or level said mobile platform; the machine further comprising a remote workstation configured to be located remote from said machine, said remote workstation comprising Petition 870260044283, dated 11 / 05 / 2026, p.16 / 17 7 / 7 a user interface for sending data to an operator and receiving data input from said operator; said set of successive steps comprising: tracking and controlling the movement of said mobile platform to a first predetermined location using position data from said tracking unit; controlling the deployment and adjustment of said support legs; and controlling the deployment and penetration of said probe into the subsurface; wherein each of said successive steps comprises the transmission of a signal indicating that the step was executed in accordance with the specification; and wherein said computer-readable non-transient medium is configured such that one of the subsequent successive steps is executed only after receipt of said signal or an instruction received from said remote workstation. Petition 870260044283, dated 11 / 05 / 2026, p. 17 / 17.