Approximation of Optimal Moving Paths of Huge Robot Reclaimer with a 3D Range Finder

Lee, Kwan-Hee; Bae, Hyo-Jung; Hong, SungJe

doi:10.1007/11751540_17

Cited by 3 publications

(5 citation statements)

References 15 publications

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“…Such idea was adopted by Lee et al in 2006. They built a contour map from scanning data to optimise the trajectory of a BWR with regard to the safety, energy consumption and transfer time [10]. Clearly, these approaches are not focused on optimising the quality control of the blending operation.…”

Section: Introductionmentioning

confidence: 99%

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Automatic quality estimation in blending using a 3D stockpile management model

Zhao

Koch

et al. 2015

Advanced Engineering Informatics

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Section: Introductionmentioning

confidence: 99%

“…The joint angles of the BWR are calculated from the landing point using inverse kinematic equations. Such idea was adopted by Lee et al in 2006. They built a contour map from scanning data to optimise the trajectory of a BWR with regard to the safety, energy consumption and transfer time [10].…”

Section: Introductionmentioning

confidence: 99%

Automatic quality estimation in blending using a 3D stockpile management model

Zhao

Koch

et al. 2015

Advanced Engineering Informatics

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“…Chintae Choi, et al solved the inverse kinematics of BWR using false position method as shown in Figure 2 [8]. The extracted contour lines resulted from a 3-dimentional range finder as shown in Figure 3 were considered as reclaiming patches on which the ore can be dug out [9]. The BWR was treated as 4 degrees of freedom robotic manipulator as shown in Figure 4 possessing redundancy in its kinematics [5].…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, Kwan-Hee et al proposed approximate optimal moving paths of a reclaimer considering path safety, energy consumption and moving time [9]. The scanned stockpile was approximated with specified height contour composed with continuous cubic Bezier curve segments as shown in Figure 5 [4].…”

Section: Introductionmentioning

confidence: 99%

Optimization of reclaiming voxels for quality grade target with reclaimer minimum movement

Myo

2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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This paper presents the first part of study on the proposed automatic optimal reclaiming system. The proposed system focuses on how the reclaimer reclaims iron ore from stockpiles to fulfill quality grade target aiming for minimum reclaimer overall movement. For example, iron ore can be excavated from open-cut pits, stacked onto stockpiles and reclaimed later using bucket wheel reclaimer (BWR) for export to customers. Stockpiles here are represented by combinations of voxels each possessing certain quality distribution. The supply of iron ore closest to the target grade with lower operation cost is the main concern for the ore producer. Currently, BWRs are operated manually to meet quality grade demand involving the checking of quality periodically during reclaiming operation. In result, there is excessive movement of the large machine leading to higher energy consumption. In this paper, the combination of voxels is identified from available stockpile voxels considering BWR minimum movement to fulfill quality and quantity demand of iron ore. Achieving the desired grade with maximum efficiency will result in increasing productive rates and less impact on global warming by significantly reducing energy consumption.

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“…Moreover, Lu and Myo [13] also divided a stockpile into voxels to have a better control of the quality grade. Similarly, in the work by Lee, et al [10] , the reclaimers are equipped with 3D range finder to measure the shape of the stockpile for optimizing the moving paths of the reclaimers. A better localization technique was raised by Zhao, et al [23] using the UKF algorithm to fuse DGPS and encoder data.…”

Section: Introductionmentioning

confidence: 99%

Scheduling Reclaimer Operations in the Stockyard to Minimize Makespan

Wang

Sitters

2018

Acta Math. Appl. Sin. Engl. Ser.

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This paper considers a reclaimer scheduling problem in which one has to collect bulk material from stockpiles in the quay in such a way that the time used is minimized. When reclaimers are allowed to work on the same stockpile simultaneously, a fully polynomial time approximation scheme (FPTAS) is designed. Further, we present a 2-approximation algorithm in the case that any stockpile can be handled by only one reclaimer at a time. When the number of reclaimers is two, we give a 3/2-approximation algorithm. Numerical experiments show that the algorithms perform much better than our worst case analysis guarantees.

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Approximation of Optimal Moving Paths of Huge Robot Reclaimer with a 3D Range Finder

Cited by 3 publications

References 15 publications

Automatic quality estimation in blending using a 3D stockpile management model

Automatic quality estimation in blending using a 3D stockpile management model

Optimization of reclaiming voxels for quality grade target with reclaimer minimum movement

Scheduling Reclaimer Operations in the Stockyard to Minimize Makespan

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