The automation of mobile working equipment used in farm-ing, forestry and the construction indust... more The automation of mobile working equipment used in farm-ing, forestry and the construction industry has great market potential. Tasks of a highly complex nature could be executed without intervention of the operator. Despite the potential significance of this topic, only very few results of international research projects in robotics have heretofore been applied in the serial production of commercial vehicles. The joint project AMoBa (Autonomer Mobiler Bagger, Autonomous Mobile Excavator) of Kaiserslautern University and Volvo CE aims to transfer knowledge and experience from the field of robotics to the area of mobile excavators. The objective is the realization of fully autonomous operation in basic construction activities, such as terrain modeling or trenching. For this purpose a prototype is being prepared by modifying an 18t Volvo Mobile Excavator to meet the project's requirements. It is being equipped with electronic interfaces to control all relevant functions; i.e. the ...
Today’s excavators are highly complex but powerfull and robust systems with broad use in the cons... more Today’s excavators are highly complex but powerfull and robust systems with broad use in the construction industries. Beeig offered multiple degrees of freedom, the experienced driver is able to use the modern excavator for the most complex and versatile purposes. At the same time, the tip-over stability is a critical issue and often only depending on the experience of the machine operator. During operation the driver will have no feedback on the current safety margin. The aim of this work is to find means capable to increase tip-over safety without limiting the machine performance. This work develops a first approach for a model-based observer to constantly monitor the stability during the operation of the excavtor. The observer calculates the center of gravity using kinematical inputs of the machine and determines the stability by calculating the current wheel loads. Furthermore, the same approach is used to determine the static stability for upcoming positions of the load and the...
The paper shows an investigation of the accuracy and reliability of industrially available payloa... more The paper shows an investigation of the accuracy and reliability of industrially available payload estimation methods in construction machinery, specifically hydraulic excavators. “Payload” refers to the weight exerted at the operating end (bucket) of the working arm of an excavator due to the amount of material in the bucket. There are several challenges which make dynamic and accurate payload estimation a difficult task - the complex kinematics of the excavator, the complicated operations and movements of the arm, as well as the requirements on the robustness of the excavator operation etc. Current payload estimation systems are based on patent EP0736752A1 “W¨ageverfahren und Hubfahrzeug zur Durchf¨uhrung des Verfahrens” from 1995. This empirical method has three main inputs to the system, consisting of boom angle, arm angle and the pressure difference across the boom. Using these inputs, a characteristic matrix is generated by calibrating the system using several different positi...
ABSTRACT The demand for rehabilitation increases daily as a result of diseases, occupational and ... more ABSTRACT The demand for rehabilitation increases daily as a result of diseases, occupational and traffic accidents and population growth. In the present time, some important problems occur regarding the rehabilitation period: the transportation of patients ...
The automation of mobile working equipment used in farm-ing, forestry and the construction indust... more The automation of mobile working equipment used in farm-ing, forestry and the construction industry has great market potential. Tasks of a highly complex nature could be executed without intervention of the operator. Despite the potential significance of this topic, only very few results of international research projects in robotics have heretofore been applied in the serial production of commercial vehicles. The joint project AMoBa (Autonomer Mobiler Bagger, Autonomous Mobile Excavator) of Kaiserslautern University and Volvo CE aims to transfer knowledge and experience from the field of robotics to the area of mobile excavators. The objective is the realization of fully autonomous operation in basic construction activities, such as terrain modeling or trenching. For this purpose a prototype is being prepared by modifying an 18t Volvo Mobile Excavator to meet the project's requirements. It is being equipped with electronic interfaces to control all relevant functions; i.e. the ...
Today’s excavators are highly complex but powerfull and robust systems with broad use in the cons... more Today’s excavators are highly complex but powerfull and robust systems with broad use in the construction industries. Beeig offered multiple degrees of freedom, the experienced driver is able to use the modern excavator for the most complex and versatile purposes. At the same time, the tip-over stability is a critical issue and often only depending on the experience of the machine operator. During operation the driver will have no feedback on the current safety margin. The aim of this work is to find means capable to increase tip-over safety without limiting the machine performance. This work develops a first approach for a model-based observer to constantly monitor the stability during the operation of the excavtor. The observer calculates the center of gravity using kinematical inputs of the machine and determines the stability by calculating the current wheel loads. Furthermore, the same approach is used to determine the static stability for upcoming positions of the load and the...
The paper shows an investigation of the accuracy and reliability of industrially available payloa... more The paper shows an investigation of the accuracy and reliability of industrially available payload estimation methods in construction machinery, specifically hydraulic excavators. “Payload” refers to the weight exerted at the operating end (bucket) of the working arm of an excavator due to the amount of material in the bucket. There are several challenges which make dynamic and accurate payload estimation a difficult task - the complex kinematics of the excavator, the complicated operations and movements of the arm, as well as the requirements on the robustness of the excavator operation etc. Current payload estimation systems are based on patent EP0736752A1 “W¨ageverfahren und Hubfahrzeug zur Durchf¨uhrung des Verfahrens” from 1995. This empirical method has three main inputs to the system, consisting of boom angle, arm angle and the pressure difference across the boom. Using these inputs, a characteristic matrix is generated by calibrating the system using several different positi...
ABSTRACT The demand for rehabilitation increases daily as a result of diseases, occupational and ... more ABSTRACT The demand for rehabilitation increases daily as a result of diseases, occupational and traffic accidents and population growth. In the present time, some important problems occur regarding the rehabilitation period: the transportation of patients ...
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