A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Xu, Jiaqi; Yoon, Hwan‐Sik

doi:10.1155/2016/9409370

Cited by 22 publications

(7 citation statements)

References 45 publications

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“…Long-term observation of an HPFCAS physical asset is needed to generate event features, which correlate with the healthy and faulty functioning of the system [40,41]. This will indicate the occurrence of fault modes under various operational conditions as a validation process.…”

Section: Future Work and Challengesmentioning

confidence: 99%

Modeling a Hydraulically Powered Flight Control Actuation System

Iyaghigba,

Petrunin,

Avdelidis

2024

Applied Sciences

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Many different types of aircraft designs have flight control systems (FCS) powered by hydraulic systems. With respect to the torques, moments, surface areas, and opposing forces to be acted upon, components introduce faults into the hydraulic system when these components are aging or degrading. The diagnostics of a hydraulically powered flight control actuation system (HPFCAS) rely on the faults produced within the subsystem components as well as the entire system’s mechanism itself. In this paper, a model for an HPFCAS is developed to analyze faults where the HPFCAS was approached as a system of systems (SOS). The identified faults were injected into the system. It is established that some of the faults from the different subsystems had similar characteristic effects and were propagated with attendant consequences. For instance, a measured decrease in the pressure value is observed because of the decrease in the pump speed. A similar characteristic is observed if there is leakage on the line or if there is a clogging valve. These form complex integrated responses in determining where the fault is coming from if only one component is analyzed since it involves components serving different subsystems. Results show that only models that can describe the real characteristics or attributes of the specific systems, due to their defined components, are sufficient for effective diagnostics. This is because the data obtained are more accurate at predicting the behavior of components.

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Section: Future Work and Challengesmentioning

confidence: 99%

Modeling a Hydraulically Powered Flight Control Actuation System

Iyaghigba,

Petrunin,

Avdelidis

2024

Applied Sciences

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“…However, obtaining such models either by learning or expert design can be challenging in robotics. Kinematic modeling of rigid robots is well understood but efficient modeling of heavy hydraulic machines [171], soft robots [74], or, complex physics in man-made and natural environments [22] are unsolved active research topics. POMDP approaches often require model simplifications for tractability, and handling problems with intricacies such as non-stationary or switching-mode dynamics may also be challenging.…”

Section: F Multi-robot Coordinationmentioning

confidence: 99%

Partially Observable Markov Decision Processes in Robotics: A Survey

Lauri¹,

Hsu

Pajarinen

2023

IEEE Trans. Robot.

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Noisy sensing, imperfect control, and environment changes are defining characteristics of many real-world robot tasks. The partially observable Markov decision process (POMDP) provides a principled mathematical framework for modeling and solving robot decision and control tasks under uncertainty. Over the last decade, it has seen many successful applications, spanning localization and navigation, search and tracking, autonomous driving, multi-robot systems, manipulation, and human-robot interaction. This survey aims to bridge the gap between the development of POMDP models and algorithms at one end and application to diverse robot decision tasks at the other. It analyzes the characteristics of these tasks and connects them with the mathematical and algorithmic properties of the POMDP framework for effective modeling and solution. For practitioners, the survey provides some of the key task characteristics in deciding when and how to apply POMDPs to robot tasks successfully. For POMDP algorithm designers, the survey provides new insights into the unique challenges of applying POMDPs to robot systems and points to promising new directions for further research.

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“…Accordingly, the right-hand rule is utilized to determine the y-axis. Finally, as shown in Figure 5, a fixed Cartesian coordinate system is used as the machine coordinate system [39].…”

Section: Kinematics Of Excavatorsmentioning

confidence: 99%

Automatic Estimation of Excavator’s Actual Productivity in Trenching and Grading Operations Using Building Information Modeling (BIM)

Molaei,

Kolu,

Haaraniemi

et al. 2023

Actuators

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This paper discusses the excavator’s actual productivity in trenching and grading operations. In these tasks, the quantity of material moved is not significant; precision within specified tolerances is the key focus. The manual methods for productivity estimation and progress monitoring of these operations are highly time-consuming, costly, error-prone, and labor-intensive. An automatic method is required to estimate the excavator’s productivity in the operations. Automatic productivity tracking aids in lowering time, fuel, and operational expenses. It also enhances planning, detects project problems, and boosts management and financial performance. The productivity definitions for trenching and grading operations are the trench’s length per unit of time and graded area per unit of time, respectively. In the proposed techniques, a grid-based height map (2.5D map) from working areas is obtained using a Livox Horizon® light detection and ranging (LiDAR) sensor and localization data from the Global Navigation Satellite System (GNSS) and inertial measurement units (IMUs). Additionally, building information modeling (BIM) is utilized to acquire information regarding the target model and required accuracy. The productivity is estimated using the map comparison between the working areas and the desired model. The proposed method is implemented on a medium-rated excavator operated by an experienced operator in a private worksite. The results show that the method can effectively estimate productivity and monitor the development of operations. The obtained information can guide managers to track the productivity of each individual machine and modify planning and time scheduling.

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A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Cited by 22 publications

References 45 publications

Modeling a Hydraulically Powered Flight Control Actuation System

Modeling a Hydraulically Powered Flight Control Actuation System

Partially Observable Markov Decision Processes in Robotics: A Survey

Automatic Estimation of Excavator’s Actual Productivity in Trenching and Grading Operations Using Building Information Modeling (BIM)

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