Modular data communication methods for a robotic excavator

Kim, Jeonghwan; Lee, Seung Soo; Seo, Jongwon; Kamat, Vineet R.

doi:10.1016/j.autcon.2018.02.007

Cited by 22 publications

(7 citation statements)

References 29 publications

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“…For this, the wireless communication between the equipment based on IoT networks is increasingly adopted to schedule and manage the cycle operation of equipment [34] owing to advantages from 5G technologies [86]. To achieve error-free wireless communications for cooperation of group of equipment, the intelligent excavation system (IES) proposed in [87] suggests the use of multiple hardware and software modules which interact each other with diversity of communication protocols (e.g., TCP/IP, SCI, etc.). This framework is managed by a data communication manager and an equipment data management system to coordinate large amount of data from micro (sensing and control) to macro (task planing) levels.…”

Section: Cyberphysical Systems Communication and Aimentioning

confidence: 99%

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Nguyen

2022

Robotica

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There has been an increasing interest in the application of robotic autonomous systems (RASs) for construction and mining, particularly the use of RAS technologies to respond to the emergent issues for earthmoving equipment operating in volatile environments and for the need of multiplatform cooperation. Researchers and practitioners are in need of techniques and developments to deal with these challenges. To address this topic for earthmoving automation, this paper presents a comprehensive survey of significant contributions and recent advances, as reported in the literature, databases of professional societies, and technical documentation from the Original Equipment Manufacturers (OEM). In dealing with volatile environments, advances in sensing, communication and software, data analytics, as well as self-driving technologies can be made to work reliably and have drastically increased safety. It is envisaged that an automated earthmoving site within this decade will manifest the collaboration of bulldozers, graders, and excavators to undertake ground-based tasks without operators behind the cabin controls; in some cases, the machines will be without cabins. It is worth for relevant small- and medium-sized enterprises developing their products to meet the market demands in this area. The study also discusses on future directions for research and development to provide green solutions to earthmoving.

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Section: Cyberphysical Systems Communication and Aimentioning

confidence: 99%

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Nguyen

2022

Robotica

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“…However, due to a harsh actual operating environment and the compact space in the whole system, it is not easy to collect control valve operating data. Existing research on construction machinery operation data does not involve collecting control valve operation data [11][12] . Feng, Hao et al [13]estimated the model parameters of a valve-controlled cylinder system through cylinder operation data.…”

Section: Introductionmentioning

confidence: 99%

Parameter Estimation of a Valve-Controlled Cylinder System Model Based on Bench Test and Operating Data Fusion

Wang

Lin

et al. 2023

Preprint

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The accurate estimation of parameters is the premise for establishing a high-fidelity simulation model of a valve-controlled cylinder system. Although bench test data are convenient to obtain in model parameter estimation, there is a need for the load data to conform to the actual working conditions. Although the operating data include the actual load information, it is not easy to collect the control valve operating data. This paper proposes a model parameter estimation method based on bench test and operating data fusion to solve the above problems. The proposed method is based on Bayesian theory, and its core is a pool fusion of prior information from bench test and operating data. First, a system model is established, and the parameters in the model are analysed. Then, the bench test and operating data of the system are collected, and the model parameters and weight coefficients are estimated using the data fusion method. Finally, the estimated effects of the data fusion method, Bayesian method, and PSO algorithm on system model parameters are compared. The research shows that the parameter estimation result based on the data fusion method is accurate. The weight coefficient represents the contribution of different prior information to the parameter estimation result. The effect of parameter estimation based on the data fusion method is better than that of the Bayesian method and the PSO algorithm. The more complex the load is, the worse the model's accuracy, which verifies the influence of the load on the valve-controlled cylinder system model and proves that the data fusion method plays an essential role in parameter estimation studies.

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“…The complete set of inertia and friction parameters is identified by applying the least squares method to the experimental data collected during the displacement of the links by a tele-operated control of the machine [5,6]. In a similar study, a tele-operated system was developed for the manipulator arm of an excavator, the sensors are attached to the arm to detect its movement, the actuators transmit wireless communications via Bluetooth [7,8], or by a TCP/IP protocol [9]. Other techniques use a joystick for the coordinated position control (CPC) of the excavator arm, the CPC is obtained using a joystick whose kinematics is similar to the arm movement of the excavator [10,11].…”

Section: Introductionmentioning

confidence: 99%

Modeling of an Automatic Excavation Mechanism for a Parallelepiped Foundation - Application in Building Construction Preparation

Bendriss¹,

Aidaoui²,

Abbès³

2022

JESA

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Foundation excavation and general earthworks are activities that involve the machine operator in a series of repetitive and tedious operations, suggesting opportunities for automation through by the introduction of robotic technologies with subsequent improvements in the design and machine use, especially, in dangerous environments working. Automation of excavation operations can be realized by an automatically controlled excavator system that is able to perform autonomously a planned digging work. In this study, a modeling of an excavation mechanism has been represented, where the purpose is to automatically excavate a parallelepiped-shaped foundation. From existing excavation machinery in the industry, the manipulator arm of a backhoe was chosen to do the modeling. Starting from the basic input geometric parameters of the foundation to be excavated, the system gives as outputs results: A simulation of the various mechanism components movement, in addition to the automatic excavation trajectory of the parallelepiped foundation. Finally, from the soils properties of the western region of Algeria that they were measured experimentally, a resistance simulation of the various components of the mechanism was carried, to test the reliability of the mechanism in terms of deformation and Von Mises stress.

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Modular data communication methods for a robotic excavator

Cited by 22 publications

References 29 publications

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Parameter Estimation of a Valve-Controlled Cylinder System Model Based on Bench Test and Operating Data Fusion

Modeling of an Automatic Excavation Mechanism for a Parallelepiped Foundation - Application in Building Construction Preparation

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