Bodur, M
Zontul, H
Ersak, Aydın
The automation of the land excavation machines can find applications in the excavation of soil in both terrestrial and planetary mining and construction. The automation requires planning at different levels such as task and trajectory pre-planning, and the automatic execution of these pre-planned tasks. In the execution of the pre-planned digging trajectories, the unexpected soil properties along the trajectory raises problems such as excessive ram-forces that may harm the machine, or cannot be applied because of the power limitations. The cognitive force control for the automation of the land excavation is developed to include the dynamics of the excavator arm. The control of the ram forces of the arm is proposed by regulating the digging depth and the trajectory speed. The developed control system is able to track the preplanned digging trajectories, and if the ram-forces becomes excessive then the trajectory is modified in time and path to control the ram-forces


Real-time simulation of soil–tool interaction using advanced soil models
Gürbüz, Mücahit; Pekcan, Onur; Department of Civil Engineering (2019)
Excavation work is one of the main elements needed in construction fields. To meet such a huge demand, a large number of excavators are working all over the globe. In addition, researchers and companies put enormous efforts to develop more efficient excavator models. With the advancement of technology, autonomous systems have become popular and ideal way to upgrade machines for faster, cheaper and safer production. Not surprisingly, there have been many attempts to develop fully autonomous robotic excavatio...
Review of Trend Tests for Detection of Wear Out Period for Mining Machineries
Gölbaşı, Onur; Demirel, Nuray (2015-04-17)
Machinery systems are extensively utilized in all mining stages from beginning to end of ore production. They are capital-intensive systems and substantial amount of money is spent annually to keep their functionalities in desired levels. Therefore, implementation of effective maintenance strategy has a vital importance to prevent unexpected breakdowns due to failures and to minimize operational cost. These maintenance strategies can be constituted effectively regarding functional and structural dependencie...
Precise external positioning of machine tools using angular measurements from digital cameras
OKAY, İLKİN EGE; Koku, Ahmet Buğra; Durmaz, Murat; Department of Mechanical Engineering (2022-6-09)
Nowadays, robot arms are highly available for industrial applications such as welding and automation. The major problem is the inaccuracy at tip position of the robot arm due to several structural effects. This thesis aims to increase the positioning accuracy of robot arm tip position by developing an external positioning method via angular measurement from digital cameras. Two gimbal systems are configured as the steering system of cameras. Each gimbal provides the angular position of the target in real-ti...
Hierarchical control for structural decentralized des
Schmidt, Klaus Verner; Moor, Thomas (2004-01-01)
In this contribution, we consider structural decentralized DES and supplement the existing control architecture with a two-level hierarchy. For the proposed overall system, we prove hierarchical consistency and that the closed-loop behavior is nonblocking. A comprehensive example demonstrates the computational benefit of our method.
Dynamic formation control with heterogeneous mobile robots
Çimenci, Kadir; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2016)
Formation control in robotics is a growing topic where research works are mainly geared towards heterogeneous swarm colonies under either decentralized control or limited centralization. Swarm robotics where decentralization is applied, nevertheless assume that the agents are capable of getting global information about the whole swarm.Moreoverintheliterature,formationcontrolisgenerallydoneforknownfixed shapesthatcanbedefinedmathematically. Howevernodynamicallychangingshapes areenvisagedandnoshapetransitionsar...
Citation Formats
M. Bodur et al., “DYNAMIC COGNITIVE FORCE CONTROL FOR AN AUTOMATIC LAND EXCAVATION ROBOT,” 1994, p. 703, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/63019.