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

Odor and corrosion control in sanitary sewerage systems and treatment plants : design manual.

Mode of access: Internet.

Conventional and advanced sewer design concepts for dual purpose flood and pollution control : a preliminary case study, Elizabeth, New Jersey /

Mode of access: Internet.

Decision sight distance for highway design and traffic control requirements. Final report.

Federal Highway Administration, Office of Research, Washington, D.C.

Correlation of design and control characteristics with accidents at rural multi-lane highway intersections in Indiana. Interim report.

Federal Highway Administration, Washington, D.C.

Development and use of a computer simulation model for the evaluation of design and control alternatives for intersections of minor roads with multi-lane rural highways: field studies and model validation. Interim report.

Federal Highway Administration, Washington, D.C.

Development and use of a computer simulation model for the evaluation of design and control alternatives for intersections of minor roads with multi-lane rural highways: model application. Interim report.

Federal Highway Administration, Washington, D.C.

Development and use of a computer simulation model for the evaluation of design and control alternatives for intersections of minor roads with multi-lane rural highways: selection of the simulation model. Interim report.

Federal Highway Administration, Washington, D.C.

Control point design using modular logic,

Mode of access: Internet.

Experimental and formal language design applied to control constructs for interactive computing /

Vita.

Hydraulic design of flood control channels.

At head of title: Engineering and design.

Central flow control software design document.

Final report, January 1979.

Notes for short course in design and control of asphaltic mixtures: sessions on asphaltic mixtures.

"Major credit for the preparation of the majority of the material in these notes goes to Mr. Francis N. Hveem."