In this paper a discrete-time design of continuous-time delay (TDC) is presented. The main goals are: (i) to eliminate the TDC assumption of accessibility to all the delayed derivative of the plant state variables, and (ii) to design discrete-time controllers based on approximate discrete-time models. Simulations results are given, for an articulated arm actuated with linear hydraulic motors wi...

Building large and stable structures from highly irregular stones is among the most challenging construction tasks with excavators. In this letter, we present a method for grasp planning object manipulation that enables world's first autonomous assembly of large-scale stone wall an unmanned hydraulic excavator system. Our utilizes point clouds mesh surface reconstruction in order to plan config...

Abstract Pose estimation of construction machines describes their motions and orientations in 3D space, which provides basic information for remote control, safety monitoring, productivity analysis. Among the commonly used machines, excavator is an important one whose pose has significant value development automatic driving systems operation monitoring. Regarding vision-based excavators, previo...

Underground utility lines being struck by mechanize d excavators during construction or maintenance operations is a long standing problem. Besides the disruptions to public services, daily life, and commerce, utility strike accidents lead to injuries, fatalities, and property damages that cause significant financial loss. Utility strikes by excavation occur mainly because of the lack of an effe...

One of the challenges of field testing planetary rovers on Earth is the difference in gravity between the test and the intended operating conditions. This not only changes the weight exerted by the robot on the surface but also affects the behaviour of the granular surface itself, and unfortunatly no field test can fully address this shortcoming. This research introduces novel experimentation t...

Controller of hybrid excavator power system was designed with control target was to improve diesel engine fuel efficiency and decrease shaft rotate speed fluctuation. Controller input parameters were set as hydraulic pump required torque, hydraulic pump rotate speed and battery SOC. Controller output parameters were set as diesel engine output torque and motor torque. Diesel engine output torqu...

In mobile hydraulic machines, like excavators, backhoe loaders, wheel loaders, and forklift trucks, haptic human-machine interfaces are not in use. Today, the machines are operated with mechanical-hydraulic joysticks. Each joystick axis controls a single hydraulic actuator. This leads to not very easy to use operational concepts. Since electrohydraulic systems with electronic joysticks are avai...

Even the most advanced reverse engineering techniques and products are weak in recovering data structures in stripped binaries—binaries without symbol tables. Unfortunately, forensics and reverse engineering without data structures is exceedingly hard. We present a new solution, known as Howard, to extract data structures from C binaries without any need for symbol tables. Our results are signi...