Risk Reduction and Performance Improvement through TBM Robotization

"INTRODUCTION Since the introduction, several decades ago, of the first concepts of tunnel boring machines (TBMs), the unremitting increase of mechanized and automated tasks and the reduction of manual tasks carried out by human operators have gone hand in hand with the continuous improvement of these machines. In the present state of TBMs, the replacement of worn cutting tools is a critical, tedious, and dangerous manual operation especially for earth pressure balanced (EPB) and slurry TBMs. For such pressurized TBMs, hyperbaric interventions are used. They consist in replacing the pressurized soil/mud inside the chamber with compressed air that balances the face pressure. The operators can then ""dive"" into the chamber; however, because the human body cannot naturally undergo pressure changes, they have to follow strict procedures that have been developed for subsea divers, based on decompression stops. Indeed such interventions are actually quite often performed by professional deep-sea divers. The pressurized TBMS are consequently equipped with a manlock that allows for the required compression and decompression cycles. Hyperbaric interventions increase risk to the operators and require long decompression procedures that increase the TBM idle time and reduce its efficiency. At higher pressures, over 3.5 bar (ITA Report No 10, 2011), specific equipment and special gas mixes and/or saturation techniques are recommended (Lamont, 2012). Such procedures are even more expensive and time consuming although the duration of work in the pressurized area can be very limited for health and safety reasons. Contractors are therefore increasingly interested in automating these operations to reduce the risks to human workers and improve the TBMs performance. Moreover, the demand for new, ambitious and challenging tunneling projects (very deep, high pressure boring) is ever increasing, but the supply of suitable TBMs is limited and the risk from working in the hyperbaric environments becomes increasingly unacceptable. Impact of hyperbaric interventions The UK Health & Safety Executive has analyzed the consequences of working in intermediate pressure compressed air. The retrospective study of decompression illness (DCI) indicated that at certain pressures its incidence was around 2% of all exposures. More worryingly it showed that over 20% of the exposures commonly undertaken by shift workers in tunneling (those over 1 bar pressure for 4 hours or more) resulted in DCI. It was concluded that on some contracts up to 50% of shift production workers experienced DCI at some time during the contract, a situation which was considered to be wholly unacceptable (Lamont, 2006)."