Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne LHD

This paper describes the design, tuning, and extensive field testing of an admittance-based Autonomous Loading Controller (ALC) for robotic excavation. Several iterations of the ALC were tuned and tested in fragmented rock piles—similar to those found in operating mines—by using both a robotic 1-tonne capacity Kubota R520S diesel-hydraulic surface loader and a 14-tonne capacity Atlas Copco ST14 underground load-haul-dump (LHD) machine. On the R520S loader, the ALC increased payload by 18 % with greater consistency, although with more energy expended and longer dig times when compared with digging at maximum actuator velocity. On the ST14 LHD, the ALC took 61 % less time to load 39 % more payload when compared to a single manual operator. The manual operator made 28 dig attempts by using three different digging strategies, and had one failed dig. The tuned ALC made 26 dig attempts at 10 and 11 MN target force levels. All 10 11 MN digs succeeded while 6 of the 16 10 MN digs failed. The results presented in this paper suggest that the admittance-based ALC is more productive and consistent than manual operators, but that care should be taken when detecting entry into the muck pile

Shore protection, planning and design.

Includes bibliographical references (section C).

Final design and implementation plan for evaluating the effectiveness of FMVSS 208: occupant crash protection. Tasks #4 & #5 report.

National Highway Traffic Safety Administration, Washington, D.C.

Design, development and testing of Calspan/Chrysler research safety vehicle - phase II. Volume I. Final technical report.

National Highway Traffic Safety Administration, Washington, D.C.

User's manual: FHWA highway traffic noise prediction model - SNAP 1.0. Final report.

Federal Highway Administration, Environmental Design and Control Division, Washington, D.C.

User's manual: FHWA Level 2 highway traffic noise prediction model - STAMINA 1.0. Final report.

Federal Highway Administration, Environmental Design and Control Division, Washington, D.C.

A user's manual for the CALINE-2 computer program. Interim report.

Mode of access: Internet.

Program manual for the programs ILLOD-MINSUM-CBS, ILLOD-MINSUM-CBSA, ILLOD-MINSUM-CBG, and ILLOD-MINSUM-CBGM, to derive minimal sums or irredundant disjunctive forms for switching functions /

"UILU-ENG 78 1719."

Program manual for the NETTRA system /

"UILU-ENG 77 1743."

Program manual of programs for minimal covering problems : ILLOD-MINIC-B, ILLOD-MINIC-BP, ILLOD-MINIC-BS, ILLOD-MINIC-BA, ILLOD-MINIC-BG /

Includes bibliography references.

Earth and rock-fill dams, general design and construction considerations.

"This manual supersedes EM 1110-2-2300, 1 April 1959" issued under title: Earth embankments.

Specification for the design, fabrication and erection of structural steel for buildings : adopted April 17, 1963 /

"Publ. no. S310-8/65; reprinted from Manual of steel construction"--p. [4] of cover.

Highway safety program manual.

Supplements accompany some volumes.

The pressure sore manual /

Cover title.

Windstorm mitigation manual for light frame construction /

Sponsored by Federal Emergency Management Agency, Illinois Emergency Management Agency and State Farm Fire and Casualty Company.