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Unmanned ground vehicle equipped with ground penetrating radar for improvised explosives detection

Szynkarczyk Piotr, Wrona Józef, Pasternak Mateusz, Rubiec Arkadiusz, Serafin Piotr

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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Vol. 15, No. 2

20--31

EN

The article presents some objectives and results of the European Defense Agency Program on: Improvised Explosive Devices Detection (IEDDET Program). The goal of the article is to describe the work, results and recommendations regarding Unmanned Ground Vehicle (UGV) and Ground Penetrating Radar (GPR) - contributions within the MUSICODE project. Its scope and goals were presented, which are in line with the objectives of the IEDDET Program taking into consideration that the recommendations (for UGV and GPR) are related to the goals, not the results of MUSICODE project. There were described scenarios and the resulting changes in the structure implemented in the UGV - the FLORIAN robot which served as a sensors carrier including Ground Penetrating Radar (GPR). The main focus of the article is to find the answer to the research question: what is an impact of using the GPR to be mounted on the UGV to detect improvised explosive devices (IEDs) on the UGV construction and the GPR results. The structure of this radar was described and examples of tests results were presented. The summary presents recommendations for the construction of an unmanned land platform to carry sensors used in the work carried out in the MUSICODE project and conclusions regarding GPR, resulting from the experiences gained under the IEDDET Program.

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Controller area network standard for unmanned ground vehicles hydraulic systems in construction applications

Szynkarczyk Piotr, Wrona Józef, Bartnicki Adam

Journal of Automation Mobile Robotics and Intelligent Systems

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2020

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Vol. 14, No. 1

3--12

EN

Unmanned vehicles occupy more and more space in the human environment. Mobile robots, being a significant part thereof, generate high technological requirements in order to meet the requirements of the end user. The main focus of the end users both in civil, and so called “defense and security” areas in the broadly defined segments of the construction industry should be on safety and efficiency of unmanned vehicles. It creates some requirements for their drive and control systems being supported among others by vision, communication and navigation systems. It is also important to mention the importance of specific design of manipulators to be used to fulfill the construction tasks. Control technologies are among the critical technologies in the efforts to achieve these requirements. This paper presents test stations for testing control systems and remote control system for work tools in the function of teleoperator using the CAN bus and vehicles which use hydrostatic drive systems based on the Controller Area Network (CAN) standard. The paper examines the potential for using a CAN bus for the control systems of modern unmanned ground vehicles that can be used in construction, and what limitations would possibly prevent their full use. It is exactly crucial for potential users of unmanned vehicles for construction industry applications to know whether their specific requirements basing on the tasks typical in construction [9] may be fulfilled or not when using the CAN bus standard.

3

Model of support of single-bucket excavator. Part 2, Model of dynamics of single-bucket excavator.

Konopka Stanisław, Kuczmarski Franciszek, Sławiński Andrzej, Wrona Józef

Archive of Mechanical Engineering

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1999

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Vol. XLVI, nr 3

235-245

EN

The authors present a model of dynamics of single-bucket excavator, in which the properties of support are taken into account, according to the model by Hooke-Newton-Saint Venart I. Then, the authors formulate a mathematical model of the considered system, and carry out simulation investigations. The analysis of simulation and eperimental investigation result makes it possible to evaluate the infuence of support on undercarriage displacements in specific phases of excavator's working cycle.

PL

W pracy przedstawiono model dynamiki kopiarki jednonaczyniowej z uwzględnieniem podparcia, opisanego modelem Hook'a - Newtona - Saint Venanta I. Następnie sformułowano model matematyczny tego układu oraz przeprowadzono badania symulacyjne. Analiza wyników badań symulacyjnych i doświadczalnych pozwoliła ocenić wpływ podparcia na przemieszczenia podwozia w wybranych fazach cyklu roboczego koparki jednonaczyniowej.

4

Model of support of single-bucket excavator. Part 1, Determination of the model of support of single-bucket excavator

Konopka Stanisław, Kuczmarski Franciszek, Sławiński Andrzej, Wrona Józef

Archive of Mechanical Engineering

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1999

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Vol. XLVI, nr 3

221-234

EN

The authors present the development of a model of support of a heavy machine, taking hydraulic single-bucket excavator as an example. This problem has not been adequately developed yet. In the works known from literature, one has assumed either rigid, non-deformable support, or ideally elastic support in the analysis of excavator's dynamics. This approach is inaccurate in the case of automated excavators performing ground works or excavations of high precision. In this work, the authors consider several rheological models of support, both simple and complex ones. Then, based on the results of simulation and experimental investigations, they choose a rheological model of the support taking into account elasticity, dry friction and viscotic damping, i.e. Hooke-Newton-Saint Venart I model. In this model, elasticity is replaced by an elasticity-related function, which gives a better representation of the hysteresis loop in comparoson to that resulting from experiments. The quality indicator, accepted as the measure of representation accuracy, is defined as absolute value of the difference between the areas of hysteresis of ground and support deformation obtained by simulation to that measured in experimental tests.

PL

Praca dotyczy opracowania modelu podparcia maszyny roboczej na przykładzie koparki jednonaczyniowej. Zagadnienie to nie zostało dotychczas opracowane. W publikowanych pracach, przy analizie dynamiki koparki przyjmowano podparcie sztywne, nieodkształcalne, albo idealnie sprężyste. Takie podejście dla kopiarek zautomazowanych wykonujących prace lub wykopy o dużej dokładności jest mało precyzyjne. Rozpatrzono kilka modeli reologicznych podparcia, zarówno prostych jak i złożonych. Następnie w oparciu o wyniki badań doświadczalnych i symulacyjnych przyjęto model reologiczny, podparcia uzwględniający sprężystość, tarcie suche i tłumienie wiskotyczne, tj. model Hooke'a - Newtona - Saint Venanta I. W modelu tym sprężystość zastąpiono funkcją sprężystości, która dokładniej odwzorowuje pętlę histerezy w porównaniu do badań doświadczalnych. Jako miarę odwzorowania przyjęto wskaźnik jakości, którego graficznym obrazem jest wartość bezwzględna różnicy pól między histerezami odkształcenia gruntu i podpory z badań symulacyjnych i doświdczalnych.