Autonomous Rock Excavation
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Om Autonomous Rock Excavation
Earth-moving is a common activity at mines, construction sites, hazardous waste cleanup locations, and road works. Expensive and sophisticated machines such as wheel loaders are used for earth-moving. This book presents a robotic control approach to the computer control of wheel-loader-type excavators. The unpredictable and dynamic rock excavation environment poses challenges for the design of the real time control algorithm. The control method developed here is based on the analysis of human operators' performance; it applies neural networks, fuzzy logic and finite state machines to embody human excavation strategies for on-line bucket digging trajectory design. A behavior-based control architecture organizes operation of the modules to achieve quick system response. Extensive experiments have been performed to demonstrate the diggability of the algorithm in various difficult-to- excavate environments.Contents: Background ReviewControl Architecture Developed for Autonomous Rock ExcavationExcavation Monitoring and Situation AssessmentExcavation Task PlanningFuzzy Behaviors and Action SpecificationExperimentsAppendices:Basics of Binocular Stereo Computer Vision for Autonomous Rock ExcavationKinematic Model of the PUMA560 Robotic Arm in the Excavation SystemReadership: Engineers, researchers, students and lecturers in electrical & electronic engineering.Key Features:Presents a unique fusion of philosophy and physics, providing new solutions to some of physics' deepest theoretical problemsProvides the first systematic application of phenomenological philosophy to quantum gravity and cosmogonyIntroduces a new epistemological foundation for physicsAdopts a fresh approach to mind and matter that specifies the subjective aspects of the fundamental fields and particles