Robot-Human Control Interaction in Mining Operations: Mining Excavator - Softcover

Tiwari, Rashi

 
9783838395555: Robot-Human Control Interaction in Mining Operations: Mining Excavator
Softcover
ISBN 10: 3838395557 ISBN 13: 9783838395555
Publisher: LAP LAMBERT Academic Publishing, 2010

Synopsis

Many excavation and loading tasks require equipment operators to simultaneously coordinate the motion of multiple machine links to achieve complex tool trajectories. Numerous industrial applications require the tracking and analysis of the position or motion of complex multi-joint machines. This thesis discusses object tracking in image coordinates utilizing contrast-based marker tracking. The recorded mining machine tool trajectories were categorized to provide control support for the operator. The new differential control technique for enhancing the efficiency of mining operations by automatically coordinating multiple joints is also described in the thesis. The concept involves robotics control to assist human-operators in mining operations. Several task-specific, software based kinematics transformations, including a virtual revolute-to- Cartesian machine reconfiguration have been tested on a small experimental excavator. However, other basic curvilinear coordinate systems may also be considered, based on the results of trajectory classification which will be used for controlling the observed parametric trajectories.

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About the Author

Dr. Rashi Tiwari is a Postdoctoral Associate in Mechanical and Aerospace Engineering at Cornell University. She received her B.S. degree (2003) in Electrical Engineering from Pune University; M.S. (2006) and PhD. (2009) in Mechanical Engineering from the University of Nevada, Reno.

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Publisher
LAP LAMBERT Academic Publishing
Publication date
2010
Language
English
ISBN 10 
3838395557
ISBN 13 
9783838395555
Binding
Paperback
Number of pages
136