scholarly journals Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 64776-64784
Author(s):  
Masatoshi Kozui ◽  
Toru Yamamoto ◽  
Hideo Yoshihara ◽  
Kazushige Koiwai ◽  
Koji Yamashita
Keyword(s):  
Center Of Mass ◽  
Hydraulic Excavator

Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM

2020 ◽  
Vol 32 (3) ◽  
pp. 643-651
Author(s):  
Masatoshi Kozui ◽  
Toru Yamamoto ◽  
Masaki Akiyama ◽  
Kazushige Koiwai ◽  
Yoichiro Yamazaki ◽  
...  
Keyword(s):  
Control System ◽  
High Efficiency ◽  
Population Aging ◽  
Center Of Mass ◽  
Hydraulic Excavator ◽  
Skilled Workers ◽  
Construction Sites ◽  
System A ◽  
Hydraulic Excavators ◽  
Recent Trends

There are many machines that require human operation in industry, and high operational skills are required to operate these machines efficiently. However, the number of highly skilled workers is decreasing due to the recent trends of falling birthrate and population aging. This decline is particularly pronounced in the construction industry, while the demand for construction workers remains high owing to the increasing number of developed infrastructures. To reduce this mismatch between the supply and the demand, it is important to achieve high efficiency in tasks using hydraulic excavators, because these machines can greatly increase the productivity at construction sites. Accordingly, it is necessary to improve productivity even if unskilled operators use hydraulic excavators. This paper proposes a control system that achieves efficient motions based on the velocity of the center of mass (CoM) of the hydraulic excavator’s attachments, which reflects the characteristics of skilled workers’ operations. The motions of multiple attachments give rise to interference terms owing to the characteristics of the hydraulic system. A two-input two-output control system, in which the input consists of the lever input and the output is the CoM velocity is constructed. The fictitious reference iterative tuning (FRIT) method is used to calculate the controller parameters. The proposed method was verified by comparing the results of a simulated digging motion and an experiment with an actual hydraulic excavator operated by an unskilled operator.

The Center of Mass Influences Normal Attentional Orienting

1994 ◽  
Author(s):  
Marcia Grabowecky ◽  
Lynn C. Robertson ◽  
Anne Treisman
Keyword(s):  
Center Of Mass ◽  
Attentional Orienting

Center of Mass Theorem and the Separation of Variables for Two-Body System on a Three-Dimensional Sphere

2020 ◽  
Vol 23 (3) ◽  
pp. 306-311
Author(s):  
Yu. Kurochkin ◽  
Dz. Shoukavy ◽  
I. Boyarina
Keyword(s):  
Constant Curvature ◽  
Jacobi Equation ◽  
Separation Of Variables ◽  
Center Of Mass ◽  
Three Dimensional ◽  
Relative Distance ◽  
Dimensional Sphere ◽  
Body System ◽  
Spaces Of Constant Curvature ◽  
Hamilton Jacobi Equation

The immobility of the center of mass in spaces of constant curvature is postulated based on its definition obtained in [1]. The system of two particles which interact through a potential depending only on the distance between particles on a three-dimensional sphere is considered. The Hamilton-Jacobi equation is formulated and its solutions and trajectory equations are found. It was established that the reduced mass of the system depends on the relative distance.

TO THE STABILITY OF TANK VEHICLES IN THE BRAKE MODE

2019 ◽  
pp. 27-32
Author(s):  
Denys Popelysh ◽  
Yurii Seluk ◽  
Sergyi Tomchuk
Keyword(s):  
Mathematical Model ◽  
Control Systems ◽  
Distribution Systems ◽  
Traffic Accidents ◽  
Road Traffic ◽  
Center Of Mass ◽  
Dynamic Processes ◽  
Course Stability ◽  
The Stability ◽  
Tank Vehicles

This article discusses the question of the possibility of improving the roll stability of partially filled tank vehicles while braking. We consider the dangers associated with partially filled tank vehicles. We give examples of the severe consequences of road traffic accidents that have occurred with tank vehicles carrying dangerous goods. We conducted an analysis of the dynamic processes of fluid flow in the tank and their influence on the basic parameters of the stability of vehicle. When transporting a partially filled tank due to the comparability of the mass of the empty tank with the mass of the fluid being transported, the dynamic qualities of the vehicle change so that they differ significantly from the dynamic characteristics of other vehicles. Due to large displacements of the center of mass of cargo in the tank there are additional loads that act vehicle and significantly reduce the course stability and the drivability. We consider the dynamics of liquid sloshing in moving containers, and give examples of building a mechanical model of an oscillating fluid in a tank and a mathematical model of a vehicle with a tank. We also considered the method of improving the vehicle’s stability, which is based on the prediction of the moment of action and the nature of the dynamic processes of liquid cargo and the implementation of preventive actions by executive mechanisms. Modern automated control systems (anti-lock brake system, anti-slip control systems, stabilization systems, braking forces distribution systems, floor level systems, etc.) use a certain list of elements for collecting necessary parameters and actuators for their work. This gives the ability to influence the course stability properties without interfering with the design of the vehicle only by making changes to the software of these systems. Keywords: tank vehicle, roll stability, mathematical model, vehicle control systems.

Exploring Baryon Rich Matter with Heavy-Ion Collisions

2019 ◽  
Vol 64 (7) ◽  
pp. 583 ◽  
Author(s):  
S. Harabasz
Keyword(s):  
Center Of Mass ◽  
Heavy Ion ◽  
State Density ◽  
Heavy Nuclei ◽  
First Order ◽  
Center Of Mass Energy ◽  
Ion Collisions ◽  
Deconfinement Phase Transition ◽  
Ground State Density

Collisions of heavy nuclei at (ultra-)relativistic energies provide a fascinating opportunity to re-create various forms of matter in the laboratory. For a short extent of time (10-22 s), matter under extreme conditions of temperature and density can exist. In dedicated experiments, one explores the microscopic structure of strongly interacting matter and its phase diagram. In heavy-ion reactions at SIS18 collision energies, matter is substantially compressed (2–3 times ground-state density), while moderate temperatures are reached (T < 70 MeV). The conditions closely resemble those that prevail, e.g., in neutron star mergers. Matter under such conditions is currently being studied at the High Acceptance DiElecton Spectrometer (HADES). Important topics of the research program are the mechanisms of strangeness production, the emissivity of matter, and the role of baryonic resonances herein. In this contribution, we will focus on the important experimental results obtained by HADES in Au+Au collisions at 2.4 GeV center-of-mass energy. We will also present perspectives for future experiments with HADES and CBM at SIS100, where higher beam energies and intensities will allow for the studies of the first-order deconfinement phase transition and its critical endpoint.

Construction of the Index to Evaluate the Operating Skill Based on the Motion of CoM for a Hydraulic Excavator

2019 ◽  
Vol 139 (4) ◽  
pp. 388-394 ◽  
Author(s):  
Masatoshi Kozui ◽  
Kazushige Koiwai ◽  
Toru Yamamoto ◽  
Koji Ueda ◽  
Koji Yamashita ◽  
...  
Keyword(s):  
Hydraulic Excavator

Effects of Stiffness and the Variation of Center of Mass on Rocket Motion

2020 ◽  
Vol 13 (1) ◽  
pp. 16
Author(s):  
Dam Viet Phuong ◽  
Quoc Tru Vu ◽  
Anh Tuan Nguyen
Keyword(s):  
Center Of Mass

IMPROVEMENT OF THE HYDRAULIC EXCAVATOR BUCKET DESIGN

2019 ◽  
Vol 16 (3) ◽  
pp. 202-213 ◽  
Author(s):  
G. G. Buriy ◽  
V. S. Shherbakov ◽  
S. B. Skobelev ◽  
V. F. Kovalevskiy
Keyword(s):  
Cost Reduction ◽  
Production Costs ◽  
Hydraulic Excavator ◽  
Engineering Structures ◽  
Excavator Bucket ◽  
Productivity Increase ◽  
Hydraulic Excavators ◽  
Reducing Costs ◽  
Rational Operation ◽  
Resistance Forces

Introduction.Construction of engineering structures is impossible without building and road machines. The large volume of financing is allocated for such machines’ purchase. The main ways of reducing costs of the equipment consist in more rational operation of the equipment and also in decrease of equipment’s cost by constructive changes. The paper demonstrates the new design of the single-bucket hydraulic excavator with smaller cost.Materials and methods.The main ways of cost reduction for construction machines are more rational operation and depreciation of a design with the required characteristics’ maintaining. The paper describes constructive changes of the working equipment of the single-bucket hydraulic excavator, which allow decreasing the production costs.Results.The authors describe the new bucket design of the single-bucket hydraulic excavator. Moreover, the authors carry out the analysis of the existing buckets’ design. The paper also illustrates the functioning on bucket forces while digging process. The authors describe the solutions of the problem for productivity increase of the single-bucket in hydraulic excavators. In addition, the authors make the scheme of the bucket loading while digging process. Such scheme helps to reduce resistance forces of digging.Discussion and conclusions.As a result, the paper presents the design of the working equipment of the hydraulic excavator’s single-bucket, which allows reducing resistance forces of digging. Such results would help to establish buckets of bigger capacity and would lead to the productivity increase.

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