Abstract: Described herein are multi-tool boring systems and methods of operating such systems for tunnel boring and/or underground pipe installation. A multi-tool boring system is specially configured for fast installation and replacement of various tools, such as a pneumatic rammer and a hydraulic drive, enabling different operating modes of the system, e.g., pilot tube installation, auger boring, pipe ramming, pilot pullback boring, static pipe bursting, and non-contact boring. In some examples, a multi-tool boring system comprises a track assembly, a jacking frame slidably supported on the track assembly, and an impact plate assembly, which is attached to the jacking frame and comprises an impact plate and shock absorbers between the impact plate and the jacking frame. The impact plate comprises an impact plate opening configured to engage and support a pneumatic rammer. The rammer can be replaced with a hydraulic drive with a shaft protruding through the opening.

Abstract: The systems and techniques described herein may allow for optimized boring through a variety of geologies. A plurality of different boring techniques may be utilized for boring through a geological formation, in order to suit the characteristics of various portions of the geological formation. The systems and techniques described herein includes determining geological features and adjusting operation of boring based on the geological features. In certain such embodiments, boring systems may include a bore head that includes a plurality of boring elements. Such boring elements may be contact and/or non-contact boring elements.

Abstract: Described herein are multi-tool boring systems and methods of operating such systems for tunnel boring and/or underground pipe installation. A multi-tool boring system is specially configured for fast installation and replacement of various tools, such as a pneumatic rammer and a hydraulic drive, enabling different operating modes of the system, e.g., pilot tube installation, auger boring, pipe ramming, pilot pullback boring, static pipe bursting, and non-contact boring. In some examples, a multi-tool boring system comprises a track assembly, a jacking frame slidably supported on the track assembly, and an impact plate assembly, which is attached to the jacking frame and comprises an impact plate and shock absorbers between the impact plate and the jacking frame. The impact plate comprises an impact plate opening configured to engage and support a pneumatic rammer. The rammer can be replaced with a hydraulic drive with a shaft protruding through the opening.

Abstract: Disclosed are systems and methods to bore or tunnel through various geologies in an autonomous or substantially autonomous manner including one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through the fracture, spallation, and removal of the material. Systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to: monitor, direct, maintain, and/or adjust a set of boring controls, including for example a standoff distance between the system and the bore face, a temperature of exhaust gases directed at the bore face, a removal rate of material from the bore face, and/or a thermal or topological characterization of the bore face during boring operations.

Abstract: Disclosed are systems and methods to bore or tunnel through various geologies in an autonomous or substantially autonomous manner including one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through fracture, spallation, and removal of the material. Systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to: monitor, direct, maintain, and/or adjust a set of boring controls, including for example a standoff distance between the system and the bore face, a temperature of exhaust gases directed at the bore face, a removal rate of material from the bore face, and/or a thermal or topological characterization of the bore face during boring operations.

Abstract: A tunnel boring machine including a propulsion system, an enclosure carried by the propulsion system, and a torch support structure carried by the enclosure. The torch support structure can include a primary disc mounted on a rotatable shaft carried by the enclosure, a first plurality of plasma torches mounted to the primary disc, and a power supply cable coupled to the enclosure and adapted to supply power to the boring machine from one or more power sources.

Abstract: The systems and techniques described herein may allow for optimized boring through a variety of geologies. A plurality of different boring techniques may be utilized for boring through a geological formation, in order to suit the characteristics of various portions of the geological formation. The systems and techniques described herein includes determining geological features and adjusting operation of boring based on the geological features. In certain such embodiments, boring systems may include a bore head that includes a plurality of boring elements. Such boring elements may be contact and/or non-contact boring elements.

Abstract: Systems to bore or tunnel through various geologies in an autonomous or substantially autonomous manner can include one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through fracture, spallation, and removal of the material. The systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to trigger an optical sensor to capture images at the bore face, generate temperature profiles, identify spall fragments and hot zones and/or adjust a set of boring controls. For example, the system can execute methods to adjust a standoff distance between the system and the bore face, and adjust power and/or gas supply to the non-contact boring element.

Abstract: Described herein are new methods and systems for profiling tunnels. A method comprises moving a shuttle within a shuttle track extending between a boring apparatus (inside a tunnel) and a base station (outside the tunnel). The shuttle is equipped with a movement sensor, which records various movement parameters (e.g., linear and/or angular accelerations) while the shuttle moves within the shuttle track. These movement parameters are then transferred to a tunnel profiler (e.g., a base station) and the profile of the tunnel is determined based on these movement parameters. For example, a shuttle track can be a flexible tube (e.g., continuous or segmented) with the shuttle positioned within the tube. The shuttle can be removed from the tube or remain in the tube while the movement parameters are transferred and, in some examples, while the shuttle is recharged.

Abstract: Disclosed are systems and methods to bore or tunnel through various geologies in an autonomous or substantially autonomous manner including one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through fracture, spallation, and removal of the material. Systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to: monitor, direct, maintain, and/or adjust a set of boring controls, including for example a standoff distance between the system and the bore face, a temperature of exhaust gases directed at the bore face, a removal rate of material from the bore face, and/or a thermal or topological characterization of the bore face during boring operations.

Abstract: The systems and techniques described herein may allow for optimized boring through a variety of geologies. A plurality of different boring techniques may be utilized for boring through a geological formation, in order to suit the characteristics of various portions of the geological formation. The systems and techniques described herein includes determining geological features and adjusting operation of boring based on the geological features. In certain such embodiments, boring systems may include a bore head that includes a plurality of boring elements. Such boring elements may be contact and/or non-contact boring elements.

Abstract: Disclosed are systems and methods to bore or tunnel through various geologies in an autonomous or substantially autonomous manner including one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through fracture, spallation, and removal of the material. Systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to: monitor, direct, maintain, and/or adjust a set of boring controls, including for example a standoff distance between the system and the bore face, a temperature of exhaust gases directed at the bore face, a removal rate of material from the bore face, and/or a thermal or topological characterization of the bore face during boring operations.

Abstract: Described herein are new methods and systems for profiling tunnels. A method comprises moving a shuttle within a shuttle track extending between a boring apparatus (inside a tunnel) and a base station (outside the tunnel). The shuttle is equipped with a movement sensor, which records various movement parameters (e.g., linear and/or angular accelerations) while the shuttle moves within the shuttle track. These movement parameters are then transferred to a tunnel profiler (e.g., a base station) and the profile of the tunnel is determined based on these movement parameters. For example, a shuttle track can be a flexible tube (e.g., continuous or segmented) with the shuttle positioned within the tube. The shuttle can be removed from the tube or remain in the tube while the movement parameters are transferred and, in some examples, while the shuttle is recharged.

Abstract: The present application describes a rapid burrowing robot (RBR) that can dig tunnels using ultra high temperature rotating plasma torches.

Abstract: The present application describes a rapid burrowing robot (RBR) that can dig tunnels using ultra high temperature rotating plasma torches.