Name
Abstract | ||
|---|---|---|
The excavation of foundations, general earthworks and earth removal tasksare activities which involve the machine operator in a series of repetitiveoperations, suggesting opportunities for the automation through theintroduction of robotic technologies with subsequent improvements in machineutilisation and throughput. The automation of the earth removal process isalso likely to provide a number of other benefits such as a reduceddependence on operator skills and a lower operator work load, both of whichmight be expected to contribute to improvements in quality and, inparticular, the removal of the need for a local operator when working inhazardous environments.The Lancaster University Computerised Intelligent Excavator or LUCIE hasdemonstrated the achievement of automated and robotic excavation through theimplementation of an integrated, real-time, artificial intelligence basedcontrol system utilising a novel form of motion control strategy formovement of the excavator bucket through ground. Having its origins in thesystematic observation of a range of machine operators of differing levelsof expertise, the control strategy as evolved enables the autonomousexcavation of a high quality rectangular trench in a wide variety of typesand conditions of ground and the autonomous removal of obstacles such asboulders along the line of that trench.The paper considers the development of the LUCIE programme since itsinception and sets out in terms of the machine kinematics the evolution anddevelopment of the real-time control strategy from an implementation on aone-fifth scale model of a back-hoe arm to a full working system on a JCB801360° tracked excavator. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1023/A:1007932011161 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
robotics,artificial intelligence,construction | Motion control,Control theory,Automation,Control engineering,Excavator,Autonomous system (mathematics),Operator (computer programming),Artificial intelligence,Engineering,Control system,Earthworks,Robotics | Journal |
Volume | Issue | ISSN |
21 | 1 | 1573-0409 |
Citations | PageRank | References |
18 | 1.89 | 1 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| David A. Bradley | 1 | 18 | 1.89 |
| D. Seward | 2 | 43 | 7.41 |