Towards Modularity and Reconfigurability for Robotic Off-Highway Equipment: A Proof-of-Concept Prototype
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Authors
Khalatyan, David
Date
Type
thesis
Language
eng
Keyword
Off-highway equipment , Unmanned ground vehicle , Modular robot , Reconfigurable robot , Prototype
Alternative Title
Abstract
Heavy industries, such as the construction, forestry, and mining industries, rely on off-highway mobile equipment to conduct various tasks. Since their advent in the 20th century, these mobile machines have continuously grown in size as a means of improving operational performance. Increasing the size of a machine can in turn increase its productivity with little to no change required of the human operator. Seeking additional improvements, technologies related to robotics and automation have been introduced to these large machines during the last three decades. The ability to remotely operate equipment has relocated the human operator away from the harsh environments onboard their machines. The human operator has been further separated still with autonomous controllers. However, despite these technological advancements, such machines have experienced little to no changes in design.
The design constraints related to onboard operation are ingrained in existing machines, yet are no longer necessarily applicable for remote or autonomous operation. Reconsidering these constraints can expand the design space of off-highway equipment to include adaptations that were once not suitable or feasible. Modularity and reconfigurability are such concepts and their incorporation into off-highway equipment designs can comprehensively impact the processes and operations reliant on equipment. A conceptual prototype, referred to as the Modular Off-Highway Robotic Equipment (MORE) System, was created to explore the concept in the context of off-highway applications.
The MORE System consists of two types of units. One provides a set of generic powered motions and the other converts these motions into application specific functions. Through small-scale indoor demonstrations, the system has shown an ability to load and haul loose material, as well as handle heavy and potentially large objects, while being operated remotely. The overall success of this system suggests modularity and reconfigurability may be feasible for robotic off-highway equipment applications. Incorporation of path-planning and control algorithms would improve the system's usability. The system may also be used as a platform to support other future research related to robotics in the heavy vehicle automation space.
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ProQuest PhD and Master's Theses International Dissemination Agreement
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Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.