Nowadays, excavators play an important role in construction machinery. Among them, pneumatic excavators are suitable selections for some specific applications, because of their advantages. As a new trend, automation of excavation helps improving productivity, safety, and reducing of operation costs, consequently, making construction works become feasible even in hostile environment. In traditio...

Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and presents supporting experimental results. First, the problem of ...

In order to facilitate the testing and evaluation of control strategies and operator environments designed for heavy duty hydraulic machines, an excavator simulator has been developed and is described in this paper. The simulator comprises an impedance model of the excavator arm, a model for the bucket-ground interaction forces, a graphical environment and a haptic interface. This paper describ...

Nacrtak Opening-up of forests enables the application of rational forestry, which means more productivity and suitability for sustainable use. Therefore, forest roads are one of the most important tools needed. This study investigates tree damage caused by excavated materials during forest road construction in a karst region. Bending, crushing andwoundingwere defined as tree damage because of e...

The analysis of factors influencing the failures a mining excavator is substantiated. classification and methods dealing with them will have great importance in engineering. article considers an example influence various on lifting mechanism hydraulic excavator. Thanks to early identification most excavator, it be possible manage equipment maintenance repair under actual conditions operating co...

There is an increasing demand for construction machines with lower fuel consumption to prevent global warming and to decrease the operational cost. In response to such demand, we have developed a hybrid system for an excavator of the 8 tonne class. The system employs advanced power electronic components, such as an electric motor, inverter and battery. These components are similar to the ones t...

This paper develops a State Dependent Parameter, Proportional-Integral-Plus (SDP-PIP) control system for a 1/5th scale representation of the Lancaster University Computerised Intelligent Excavator (LUCIE). To the authors knowledge, this represents the first time that SDP-PIP methods have been applied to a practical nonlinear system. Here, the parameters of the SDP model are functionally depende...

A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach t o e v aluate its stability robustness for given environment impedances are discussed. A dual hybrid teleoperation controller is proposed for machine control. Issues of transparency are discussed.

Hydraulic machines used in mining and excavation applications are non-linear systems. Besides the nonlinearity due to the dynamic coupling between the different links there are significant actuator non-linearities due to the inherent properties of the hydraulic system. Optimal motion planning for these machines, i.e. planning motions that optimize a user-selectable combination of criteria such ...

OBJECTIVES The purpose of this study was to evaluate the effect of either eugenol-containing or eugenol-free temporary cement removal by excavator or sandblasting on the shear bond strength of ceramic luted to dentin. METHODS A self-etching primer system, Panavia F 2.0, Kuraray Medical (PF2), and a total-etch bonding system, Excite/Variolink II, Vivadent (EXV), were used. One hundred and fort...