Key challenges in automation of earth-moving machines

Trajectory control of electro-hydraulic position servo system using improved PSO-PID controller

Cleaning dirty spaces is a very important task for human beings to maintain their quality of life. Recently, many high-rise buildings have been constructed, and their facades are easily contaminated by dust and pollution, especially in Asian countries such as China and Korea. Human workers are cleaning the facades, which are mostly made of glass, by hanging on to a gondola or rope, which entails spending a long time in midair, and this is dangerous work due to the risk of falling. To help humans avoid this dangerous and hard work, many researchers have tried to develop unmanned facade-cleaning robots; however, there are many issues to be solved before cleaning robots become efficient and popular. In this survey, we investigate and analyze robots used for cleaning building facades and glass. The robot are classified by types of climbing and attaching mechanisms, and their cleaning methods, mobility, and obstacle-overcoming performances are analyzed. In this paper, we also include for discussion some suggestions for making the robots more effective in real environments, and we expect that our work can provide reference to assist in the development of facade-cleaning robots for the real world.

Survey on Glass And Façade-Cleaning Robots: Climbing Mechanisms, Cleaning Methods, and Applications

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

Supernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration, while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis, research status, ontology structure design, control and driving, sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies, thus giving a prospect of future technical development trends.

Review of Research and Development of Supernumerary Robotic Limbs

Most maintenance works on building exterior walls are carried out by human labor and a cable-driven system (gondola). This approach involves a safety problem, motivating many recent studies of exterior wall automated maintenance methods. However, the conventional studies have been concentrated only on moving mechanism and the studies on cleaning method and processing of cleaning materials are insufficient. In addition, most conventional automated systems are composed of a roll-brush and injection nozzle. These systems generate problems such as the scattering and dripping of used water resulting contamination of surrounding areas. In order to solve these problems, a new cleaning tool system with water circulation function is developed to improve cleaning efficiency and reduce water usage in this paper. Using the cleaning tool system with the water circulation (injection-squeeze-suctioncollection-filtering-recharge) and Pulse Width Modulation (PWM) flow control, the scattering and dripping was removed and the water usage was reduced about 20%. Also, this cleaning tool system was compared to manual work by human experts as well as previously developed automated (or semi-automated) cleaning robots through statistical analysis.

/pdf/window-cleaning-system-with-water-circulation-for-building-2fzb19loqe.pdf

Window cleaning system with water circulation for building façade maintenance robot and its efficiency analysis

The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated haptic device is proposed for the remote control of an excavator-like dismantling equipment. As a haptic device, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the haptic device. In order to explore the feasibility of the device, modeling of the haptic device is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. Lastly, motion control simulations to the real excavator working at construction site are conducted. As a result, before manufacturing the real haptic device, 3D graphical model of haptic device is proposed to confirm the feasibility of the developed haptic device. And operator can control the real excavator intuitively with this new model of haptic device.

Remote control of excavator with designed haptic device

As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic devices that can be used to control excavators from a remote site. The newly designed remote control device is well matched with the excavator kinematics, so that it can be intuitively controlled by even a novice operator. The device also provides haptic sensation to the operator through force-feedback from the excavator. This grants the operator a better feeling of the tele-operated excavator and helps to avoid dangerous situations. In order to develop the tele-operation algorithm, this paper analyzes the force-feedback mechanism based on excavator kinematics and dynamics. A bilateral tele-operation control is then derived using the wave-variable method. The feasibility of this haptic device is verified through field tests.

Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method

This paper describes an approach force-feedback of excavator which is considered for tele-operation using a novel designed haptic device in virtual environment. This study has two main themes, the newly designed haptic device and force-feedback algorithm in virtual environment for excavator. The device can be controlled by human arm joint. Using the device, motion of boom, arm and bucket is controlled by operator’s elbow, wrist and metacarpophalangeal(MCP) joint. The motion of a novel haptic device is very similar to excavator. So, it is very intuitive and operator can control the device easily, even if they use it for the first time. It is a marked contrast between commercial haptics and this device. And then, 3D virtual environment is modeled for the force-feedback experiment using OpenGL program and 3D graphical simulations are extensively performed. The haptic offer force-feedback to operator exerted on each link of excavator during the performing various operation with DC motors. In this case, the force, which is forced by DC motor for feedback, is different as purpose of excavator and type of working. In order to increase the efficiency of operation and the protection of equipment, it is necessary to detect the reaction forces.

/pdf/the-virtual-environment-for-force-feedback-experiment-of-41l2lbhwf0.pdf

The virtual environment for force-feedback experiment of excavator using a novel designed haptic device

The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated device is proposed for the remote control of excavator-like dismantling equipment. As a tele-operated system, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the tele-operated system. In order to explore the feasibility of the device, modeling of the tele-operated system is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. And basic motion control simulations to the real excavator working at construction site are conducted with designed tele-operated system. And operator can control the real excavator intuitively with this new model of tele-operated system.

/pdf/motion-control-of-excavator-with-tele-operated-system-11f0kw523q.pdf

Motion Control of Excavator with Tele-Operated System

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