This paper describes an autonomous dump trucks system called
Hazama Intelligent Vehicle Automatic Control System (HIVACS) being
developed to overcome worker shortage problems and to prevent accidents
in heavy construction sites (i.e., dam construction, road construction,
etc.). If this system is applied to the aggregate carriage on a RCD
(Roller Compacted Dam) construction site, this system operates five dump
trucks without drivers. It is anticipated that this system will enable
17% labor-saving. The algorithm of unmanned operation control is based
the “Yamabico” robot that is currently under study at
University of Tsukuba. A test vehicle for autonomous dump trucks is
developed in this study
"To solve these problems, a new approach is required for designing and implementing a semiautonomous or autonomous construction system. Some researches on developing an automated system for civil works have been conducted, e.g., a semiautonomous truck system by Saito et al. ; an autonomous excavator by Carnegie Mellon University ; automated nonintrusive production measurement systems by the National Institute of Standards and Technology (NIST) ; an open communication system (CANopen) for mobile construction equipment by the University of Magdeburg ; an automated landfill system (ALS) by Tserng et al.  ; and an agentbased cooperative system for landfill operations by Kim et al. . The major goal of the research conducted by the authors is to develop a conceptual framework for intelligent earthwork system (IES) that will enable a group of construction equipment to automatically generate tasks and to efficiently perform earthwork operations in a cooperative manner. "
[Show abstract][Hide abstract] ABSTRACT: Recently, there has been an increase in the demand to enhance the intelligence of construction equipment and systems. Especially for semiautonomous and autonomous systems that have great potential for impact on the construction industry, artificial intelligence approaches are required to generate instructions and plans necessary to perform tasks in dynamically changing environments on their own. The framework for an intelligent earthwork system (IES) is suggested by the authors. It generates a plan automatically for construction equipment, provides a means of cooperation between construction equipment seamlessly, and improves worker safety. This paper describes some factors that can affect earthwork operation performance, five emerging technologies that can be adapted to implement an IES, the system architecture, and the system control strategy for IES.
Automation in Construction 01/2003; 12(1-12):1-13. DOI:10.1016/S0926-5805(02)00034-1 · 1.81 Impact Factor
[Show abstract][Hide abstract] ABSTRACT: This paper presents a localization fusion technique for civil-engineering machines. It is designed for 6 DOF position and attitude determination. The system uses an optical instrument called SIREM, which provides azimuth and elevation angles of known landmarks. The approach is based on dead-reckoning techniques updated by the external measurements of SIREM using the Extended Kalman Filter formalism. As the dynamics and accelerations of the vehicles we consider are small enough, the use of inclinometers is attractive since they directly provide attitude angles. In such a context, we propose a new 3D dead-reckoning method which integrates data from two inclinometers and an odometer. A particular contribution of the paper is that the Kalman filter has only four elements in its state vector. A large section of the paper is devoted to real experiments. These are performed with an outdoor tire-type robot moving on a 30x40 square meters non planar lawn. The results are compared with a differential RTK GPS.
[Show abstract][Hide abstract] ABSTRACT: For the navigation of mobile robots cheap procedures for the position and direction determination of the robot vehicle, with an accuracy from one up to some few cm - are necessary. Two novel and unique solutions with active landmarks are described. The first procedure use grid net lines, e.g. realized with some lasers placed in the room. The second procedure works with microwave transmitters as landmarks. should thereby
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