Air vehicle simulator: an application for a cable array robot

The development of autonomous air vehicles can be an expensive research pursuit. To alleviate some of the financial burden of this process, we have constructed a system consisting of four winches each attached to a central pod (the simulated air vehicle) via cables - a cable-array robot. The system is capable of precisely controlling the three dimensional position of the pod allowing effective testing of sensing and control strategies before experimentation on a free-flying vehicle. In this paper, we present a brief overview of the system and provide a practical control strategy for such a system. ©2005 IEEE

Autonomous control of underground mining vehicles using reactive navigation

Describes how many of the navigation techniques developed by the robotics research community over the last decade may be applied to a class of underground mining vehicles (LHDs and haul trucks). We review the current state-of-the-art in this area and conclude that there are essentially two basic methods of navigation applicable. We describe an implementation of a reactive navigation system on a 30 tonne LHD which has achieved full-speed operation at a production mine

Toward a transformed system to address child abuse and family violence in New Zealand

Executive Summary Introduction The Glenn Inquiry (TGI) has contracted Institute of Environmental Science and Research Limited (ESR) to bring together the relevant experience and expertise to collaboratively model a transformed system to address child abuse and neglect (CAN) and family violence (FV) in New Zealand. Our approach We have treated the task of reducing FV and CAN as a ‘wicked problem’1; that is, reducing FV and CAN is a problem that cannot be solved once and for all, and is not a matter of simply applying expert knowledge. The methods used in this project have been chosen because they are appropriate for working with wicked problems: stakeholder engagement, systems thinking and inter-disciplinary analysis. In this report, we refer to both CAN and FV. We recognise that, for some purposes, dealing with CAN requires particular strategies and treatment; however, the purpose of this report is to develop a transformed system that will reduce both CAN and other forms of FV. While the underlying causes of CAN and other FV may be considered independently, and some responses to each form of abuse will need to be particular, this report proposes a wider system of responses that will enable targeted interventions for each form of abuse. We use the term ‘family violence’ in this report in the sense it has come to be understood in Aotearoa, and is used in Te Rito: New Zealand Family Violence Prevention Strategy. In this use, FV includes intimate partner violence, child abuse and neglect, elder abuse, inter-sibling abuse and parental abuse. The project consisted of four work-streams: A review of the international and national literature on what would constitute a high performing system to address CAN and FV, including a review of New Zealand’s current approach with a focus on government legalisation, policies and initiatives; Qualitative modelling of the system dynamics associated with the existing way in which New Zealand has responded to CAN and FV; A secondary (sociological) analysis of suggestions for system improvement from the People’s Report; and, Developing a systemic model of a transformed system through collaborative workshops with sector experts

Off-world robotic excavation for large-scale habitat construction and resource extraction

This paper describes technologies we have developed to perform autonomous large-scale off-world excavation. A scale dragline excavator of size similar to that required for lunar excavation was made capable of autonomous control. Systems have been put in place to allow remote operation of the machine from anywhere in the world. Algorithms have been developed for complete autonomous digging and dumping of material taking into account machine and terrain constraints and regolith variability. Experimental results are presented showing the ability to autonomously excavate and move large amounts of regolith and accurately place it at a specified location

A hybrid AUV design for shallow water reef navigation

The highly unstructured nature of coral reef environments makes them difficult for current robotic vehicles to efficiently navigate. Typical research and commercial platforms have limited autonomy within these environments and generally require tethers and significant external infrastructure. This paper outlines the development of a new robotic vehicle for underwater monitoring and surveying in highly unstructured environments and presents experimental results illustrating the vehicle’s performance. The hybrid AUV design developed by the CSIRO robotic reef monitoring team realises a compromise between endurance, manoeuvrability and functionality. The vehicle represents a new era in AUV design specifically focused at providing a truly low-cost research capability that will progress environmental monitoring through unaided navigation, cooperative robotics, sensor network distribution and data harvesting

Automated control of a dragline using machine vision

The research described in this paper is directed toward increasing productivity of draglines through automation. In particular, it focuses on the swing-to-dump, dump, and return-to-dig phases of the dragline operational cycle by developing a swing automation system. In typical operation the dragline boom can be in motion for up to 80% of the total cycle time. This provides considerable scope for improving cycle time through automated or partially automated boom motion control. This paper describes machine vision based sensor technology and control algorithms under development to solve the problem of continuous real time bucket location and control. Incorporation of this capability into existing dragline control systems will then enable true automation of dragline swing and dump operations

A cable-array robot for air vehicle simulation

The development of autonomous air vehicles can be an expensive research pursuit. To alleviate some of the financial burden of this process, we have constructed a system consisting of four winches each attached to a central pod (the simulated air vehicle) via cables - a cable-array robot. The system is capable of precisely controlling the three dimensional position of the pod allowing effective testing of sensing and control strategies before experimentation on a free-flying vehicle. In this paper, we present a brief overview of the system and provide a practical control strategy for such a system

Dragline automation- A dedade of development - Shared Autonomy for Improving Mining Equipment Productivity

Draglines are massive machines commonly used in surface mining to strip overburden, revealing the targeted minerals for extraction. Automating some or all of the phases of operation of these machines offers the potential for significant productivity and maintenance benefits. The mining industry has a history of slow uptake of automation systems due to the challenges contained in the harsh, complex, three-dimensional (3D), dynamically changing mine operating environment. Robotics as a discipline is finally starting to gain acceptance as a technology with the potential to assist mining operations. This article examines the evolution of robotic technologies applied to draglines in the form of machine embedded intelligent systems. Results from this work include a production trial in which 250,000 tons of material was moved autonomously, experiments demonstrating steps towards full autonomy, and teleexcavation experiments in which a dragline in Australia was tasked by an operator in the United States

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In this paper we describe the development of a three-dimensional (3D) imaging system for a 3500 tonne mining machine (dragline). Draglines are large walking cranes used for removing the dirt that covers a coal seam. Our group has been developing a dragline swing automation system since 1994. The system so far has been “blind” to its external environment. The work presented in this paper attempts to give the dragline an ability to sense its surroundings. A 3D digital terrain map (DTM) is created from data obtained from a twodimensional laser scanner while the dragline swings. Experimental data from an operational dragline are presented. KEY WORDS—mining, dragline, terrain map, lasers, automation 1