Robust bucket position tracking for a large hydraulic excavator

The device we study is the excavation arm of a large hydraulic mining shovel having a multi-loop kinematic form. We describe an iterative algorithm that allows the position of the bucket to be tracked from measurements of the linear actuator extensions. The important characteristic of this algorithm is that it is numerically well-behaved when the linkage is close to singular configurations. While we focus on a specific device, the algorithm is easy to adapt to other multi-loop linkages. (C) 2004 Elsevier Ltd. All rights reserved.

Prediction of chaotic instabilities in a dragline bucket swing

The occurrence of chaotic instabilities is investigated in the swing motion of a dragline bucket during operation cycles. A dragline is a large, powerful, rotating multibody system utilised in the mining industry for removal of overburden. A simplified representative model of the dragline is developed in the form of a fundamental non-linear rotating multibody system with energy dissipation. An analytical predictive criterion for the onset of chaotic instability is then obtained in terms of critical system parameters using Melnikov's method. The model is shown to exhibit chaotic instability due to a harmonic slew torque for a range of amplitudes and frequencies. These chaotic instabilities could introduce irregularities into the motion of the dragline system, rendering the system difficult to control by the operator and/or would have undesirable effects on dragline productivity and fatigue lifetime. The sufficient analytical criterion for the onset of chaotic instability is shown to be a useful predictor of the phenomenon under steady and unsteady slewing conditions via comparisons with numerical results. (c) 2005 Elsevier Ltd. All rights reserved.

External perturbation of the trunk in standing humans differentially activates components of the medial back muscles

During voluntary arm movements, the medial back muscles are differentially active. It is not known whether differential activity also occurs when the trunk is perturbed unpredictably, when the earliest responses are initiated by short-latency spinal mechanisms rather than voluntary commands. To assess this, in unpredictable and self-initiated conditions, a weight was dropped into a bucket that was held by the standing subject (n = 7). EMG activity was recorded from the deep (Deep MF), superficial (Sup MF) and lateral (Lat MF) lumbar multifidus, the thoracic erector spinae (ES) and the biceps brachii. With unpredictable perturbations, EMG activity was first noted in the biceps brachii, then the thoracic ES, followed synchronously in the components of the multifidus. During self-initiated perturbations, background EMG in the Deep MF increased two- to threefold, and the latency of the loading response decreased in six out of the seven subjects. In Sup MF and Lat MF, this increase in background EMG was not observed, and the latency of the loading response was increased. Short-latency reflex mechanisms do not cause differential action of the medial back muscles when the trunk is loaded. However, during voluntary tasks the central nervous system exerts a 'tuned response', which involves discrete activity in the deep and superficial components of the medial lumbar muscles in a way that varies according to the biomechanical action of the muscle component.