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Development of Intuitive Configuration of Joystick in Grading Task of Excavator
Q. H. Le(레광환),S. W. Choi(최성웅),C. T. Nguyen(웬치탄),S. Y. Yang(양순용) 유공압건설기계학회 2017 유공압건설기계학회 학술대회논문집 Vol.2017 No.5
Hydraulic excavators are among the most versatile earthmoving equipment: these machines are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Especially, in the grading task, the excavator operator actuates the machine controls (joysticks, pedals, and switches) in an organized form to achieve the desired straight motion. The actuation of these controls is a complex and not intuitive task so it requires long and costly training periods. This paper presents an intuitive configuration of joystick for the operator in grading task of the excavator. This method control lets each joystick perform independently horizontal and vertical motions of the end of the bucket. The proposed method allows users to control the excavator intuitively and operate complex motions smoothly with no constraints. For the test of the proposed method, a virtual excavator scheme with a joystick control has been developed. Besides, the virtual reality interface is designed to allow the user be able to observe the motion of the attachment of this model.
Simulation of Hydraulic System for Double Arm Excavator in Disaster Environment
Q. H. Le(레광환),S. W. Choi(최성웅),C. T. Nguyen(웬치탄),S. Y. Yang(양순용) 유공압건설기계학회 2017 유공압건설기계학회 학술대회논문집 Vol.2017 No.11
Nowadays, many hydraulic work machines have been developed for recovery work after disaster such as earthquakes, tornado, tsunami etc. The requirement of adapting to conduct flexible work leads the development of double arm work machine based on hydraulic excavator. However, the limits of 4 DOFs arm of these machines can not satisfy the needs of complex task when rescuing the victims from the disaster site. Thus, this paper will present a development of hydraulic systems for double arm excavator in disaster environment. First, the scopes of the research and development of the machine will be introduced. Then, in the concept design, the hydraulic circuit of the arms will be proposed. The specifications of the valve system are also introduced to define the working ability of the machine. Next, the simulation of the power pack and hydraulic system are described to determine the main power system to support the large amount of actuators.
Study on Intuitive Configuration of Joystick for Operator in Flattening Task of Excavator
Q. H. Le(레광환),Y. M. Jeong(정영만),C. T. Nguyen(웬치탄),S. Y. Yang(양순용) 유공압건설기계학회 2013 유공압건설기계학회 학술대회논문집 Vol.2013 No.10
Hydraulic excavators are among the most versatile earthmoving equipment: these machines are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Especially, to flattening the ground these, the excavator operator actuates the machine controls (joysticks, pedals and switches) in an organized form to achieve the desired straight motion; the actuation of these controls is a complex and not intuitive task, and therefore it requires long and costly training periods. This paper present a intuitive configuration of joystick for operator in flattening task of excavator. This method control lets each joystick perform independent horizontal and vertical motions of the end of bucket. The proposed method allows an user to control the excavator intuitively and operate complex motions smoothly with no constraints. For this, a virtual excavator scheme with a joystick control has been developed. Besides, the virtual reality interface is designed to allow the use be able to observe the motion of the attachment of this model.
Q. H. Le(레광환),Y. M. Jeong(정영만),C. T. Nguyen(웬치탄),S. Y. Yang(양순용) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.2
Excavators are versatile earthmoving equipment that are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Effective operator training is essential to ensure safe and efficient operating of the machine. The virtual reality excavator based on simulation using conventional large size monitors is limited by the inability to provide a realistic real world training experience. We proposed a flexible observation method with a head tracking system to improve user feeling and sensation when operating a virtual reality excavator. First, an excavation simulator is designed by combining an excavator SimMechanics model and the virtual world. Second, a head mounted display (HMD) device is presented to replace the cumbersome large screens. Moreover, an Inertial Measurement Unit (IMU) sensor is mounted to the HMD for tracking the movement of the operator"s head. These signals consequently change the virtual viewpoint of the virtual reality excavator. Simulation results were used to analyze the performance of the proposed system.
SimMechanics SimHydraulic을 이용한 가상 굴삭기 개발
레광환(Q. H. Le),정영만(Y. M. Jeong),웬치탄(C. T. Nguyen),양순용(S. Y. Yang) 유공압건설기계학회 2013 드라이브·컨트롤 Vol.10 No.1
Excavation is an important work in mining, earth removal and general earthworks. Nowadays, automation in excavator has been studied by several researchers. In the excavator research methods, simulation is one of the low cost methods for applied to test safely. In this paper, designed a virtual hydraulic excavator that with the control and the dynamic. At first, the simulation of hydraulic system for excavator’s attachment such as boom, arm and bucket using Matlab/Simhydraulic is presented. Second, the dynamic model of excavator is distributed to combine with the hydraulic system. For controlling this system, electric joysticks are used to operate the orifice open areas in Main Control Valve. The simulation result is described to analysis the performance of this virtual excavator.
헤드 트래커 시스템을 사용하여 필드 로봇 원격 제어 및 증강 현실의 비전에 관한 연구
레광환(Q. H. Le),정영만(Y. M. Jeong),웬치탄(C. T. Nguyen),양순용(S. Y. Yang) 유공압건설기계학회 2014 유공압건설기계학회 학술대회논문집 Vol.2014 No.9
Operating excavator on the risk surroundings is not safe for human to control on site. Consequently, automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and augmented reality vision for user using head tracker system. The design of the remote control system that consist Remote Station and Filed Robot. In Remote Station, user can send the control commands through wireless communication. Besides, the Inertial Measurement Unit (IMU) sensor is integrated in a head mounted display (HMD) to track the motion of human’s head. These signals are transferred to the pan/tilt motor controller and to operate the motion of the CCD camera following the movement of operator’s head. The Field Robot is also contributed and some experiments are carried out to prove the feasibility of the proposed system.
A Study on Modeling of Pneumatic System for an IDC Device
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S. Y. Yang(양순용) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.
A Study on Modeling of Pneumatic System foran IDC Device
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S. Y. Yang(양순용) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
IDC (intelligent deburring control) device is used to control constant force for deburring tool mounted on end-effector of robot arm. This device is to maintain a constant contact force between deburring tool and workpiece in order to guarantee good deburring performance. In this paper, we build a mathematical modeling on Matlab/Simulink for estimating the force control mechanism of IDC device’s pneumatic system. The Simulink blocks are built for each separated part, and linked into an integrated simulation system. Such model is also built basing on effects of flow rate through the valve, air compressibility in cylinder, time delay of pressure valve. The simulation results are compared with the some simple experiment aiming to perform convenient math modeling. Basing on these results we will optimize mechanical design and develop the force control algorithm for pneumatic cylinder.
A Study of Stability for Field Robot using Energy Stability Level Method
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S.Y. Yang(양순용) 유공압건설기계학회 2014 드라이브·컨트롤 Vol.11 No.3
In this research, the energy stability level method is used for examining the stable state of Field Robot under effects of swing motion, at particular postures of manipulator, and terrain conditions. The energy stability level is calculated by using the dynamic models of Field Robot, subjected to the concept of equilibrium plane and support boundary. The results, simulated by using computing program for estimating the potential overturning of Field Robot, supply useful predictions of stability analysis for designers and operators.