The Experts below are selected from a list of 312 Experts worldwide ranked by ideXlab platform
Fumiya Iida - One of the best experts on this subject based on the ideXlab platform.
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ICRA - Modelling of continuous Dragline formation in a mobile robot
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Liyu Wang, Utku Culha, Cinzia Peruzzi, Milan Jovic, Fumiya IidaAbstract:© 2014 IEEE. A Dragline-forming technology has been previously proposed to enable locomotion through an open-space where no solid surfaces present. The technology is intended for situations where payload requirements are unanticipated. In those situations, variability in Dragline's diameter can minimize the use of material hence increase self-sufficiency of the robot. In a previous study, a robot was designed, prototyped and proven to be able to descend through an open-space by forming a thermoplastic Dragline with a diameter range of 1.1-4.5 mm. However, the speed of locomotion was rather low due to the lack of an adequate control method for thermoplastic Dragline formation. In this paper, models of mass flow and thermodynamics along Dragline formation pathway are presented. The models are validated in a newly prototyped robot which forms a Dragline continuously. Experiment results show that, when compared to the previous prototype and control method which consists of repeated sequences of discrete events, the speed of descending locomotion is significantly increased and reaches 12.0 cm/min.
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a Dragline forming mobile robot inspired by spiders
Bioinspiration & Biomimetics, 2014Co-Authors: Liyu Wang, Utku Culha, Fumiya IidaAbstract:Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing Draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the Dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of Draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the Draglines. Experimental results show that a Dragline diameter range of 1.17–5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min−1. With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable Dragline formation with a relative deviation within −4% and a length close to the metre scale.
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Modelling of continuous Dragline formation in a mobile robot
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Liyu Wang, Utku Culha, Cinzia Peruzzi, Milan Jovic, Fumiya IidaAbstract:A Dragline-forming technology has been previously proposed to enable locomotion through an open-space where no solid surfaces present. The technology is intended for situations where payload requirements are unanticipated. In those situations, variability in Dragline's diameter can minimize the use of material hence increase self-sufficiency of the robot. In a previous study, a robot was designed, prototyped and proven to be able to descend through an open-space by forming a thermoplastic Dragline with a diameter range of 1.1-4.5 mm. However, the speed of locomotion was rather low due to the lack of an adequate control method for thermoplastic Dragline formation. In this paper, models of mass flow and thermodynamics along Dragline formation pathway are presented. The models are validated in a newly prototyped robot which forms a Dragline continuously. Experiment results show that, when compared to the previous prototype and control method which consists of repeated sequences of discrete events, the speed of descending locomotion is significantly increased and reaches 12.0 cm/min.
Michael Kearney - One of the best experts on this subject based on the ideXlab platform.
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Development of Dragline excavation model for operation planning
2020Co-Authors: Michael Kearney, K. J. AustinAbstract:Draglines are gigantic excavators commonly used to remove overburden that sits above a target mineral reserve in surface mining. Their operational efficiency is greatly affected by the sequence of positions where the Dragline operates and the removal and disposal of material at each position. In this paper, we develop two Dragline excavation models that can be used for planning and optimizing Dragline operations. The first of these models is developed using mixed-integer linear programming (MILP) while the second model is developed using a geometric approach. These models are developed for different applications in Dragline operation planning. Comparison is made between these models and their advantages and limitations are identified.
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Monte-Carlo Tree Search in Dragline Operation Planning
IEEE Robotics and Automation Letters, 2018Co-Authors: Kevin Austin, Michael Forbes, Michael KearneyAbstract:Draglines are one of the largest earthmoving machines in surface mining. They are employed to remove the overburden near the surface, giving access to a seam of the target mineral or coal underneath. Their excavation productivity is significantly affected by the high-level operation strategy of where to position the Dragline, what to dig at each position and where to dump the removed material. This letter explores the potential of using the Monte-Carlo tree search (MCTS) algorithm for planning this operation strategy. To this end, we adapt the MCTS algorithm to compute the Dragline positioning sequences when a fixed digging and dumping strategy is applied at each position. The performance of the adapted MCTS algorithm is compared to a previously developed A* search algorithm and a greedy algorithm. Simulation results show that the MCTS algorithm is able to find near-optimal positioning sequences using significantly less time and memory than the A* algorithm. The solutions from the MCTS algorithm also largely outperform the solutions from the greedy algorithm in all the test scenarios. These results suggest that the MCTS algorithm can be used to plan the operation strategy when decisions about the digging and dumping operations are also considered.
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planning Dragline positioning sequence with a search algorithm
IFAC-PapersOnLine, 2017Co-Authors: Michael Kearney, Michael ForbesAbstract:Dragline excavators are among the largest earthmoving machines in surface mining, where they are used to remove the waste material that sits above a target mineral or coal reserve. The effectiveness of their operation is highly dependent on the sequence of positions at which they operate and the material movement during the excavation at each position. This paper addresses the problem of how to position a Dragline in order to efficiently finish an excavation task with a specified digging and dumping strategy at each position. The Dragline positioning sequence is computed among a range of candidate positions using the A* search algorithm. The algorithm is applied to two simulated Dragline excavation scenarios that are defined based on actual terrain data. We show that the proposed A* algorithm is able to produce the optimal positioning sequences in a reasonable amount of computation time, allowing it to be applied in real-time decision support for the Dragline operators. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
G.j. Winstanley - One of the best experts on this subject based on the ideXlab platform.
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Robust sensing for a 3500 tonne field robot
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999Co-Authors: J.m. Roberts, P.i. Corke, F. Pennerath, G.j. WinstanleyAbstract:The mining industry is highly suitable for the application of robotics and automation technology since the work is arduous, dangerous and often repetitive. This paper discusses a robust sensing system developed to find and trade the position of the hoist ropes of a Dragline. Draglines are large 'walking cranes' used in open-pit coal mining to remove the material covering the coal seam. The rope sensing system developed uses two time-of-flight laser scanners. The finding algorithm uses a novel data association and tracking strategy based on pairing rope data.
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Dragline swing automation
Proceedings of International Conference on Robotics and Automation, 1997Co-Authors: G.j. Winstanley, P.i. Corke, Jonathan M. RobertsAbstract:Draglines are very large machines that are used to remove overburden in open-cut coal mines. This paper outlines the design of a computer control system to implement an automated swing cycle on a production Dragline. Subsystems and sensors have been developed to satisfy the constraints imposed by the task, the harsh operating environment and the mine's production requirements.
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Dragline modelling and control
Proceedings of International Conference on Robotics and Automation, 1997Co-Authors: P.i. Corke, G.j. Winstanley, J.m. RobertsAbstract:Electric walking Draglines are physically large and powerful machines used in the mining industry. However with the addition of suitable sensors and a controller a Dragline can be considered as a numerically controlled machine or robot which can then perform parts of the operating cycle automatically. This paper presents an analysis of the electromechanical system necessary precursor to automatic control.
Liyu Wang - One of the best experts on this subject based on the ideXlab platform.
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ICRA - Modelling of continuous Dragline formation in a mobile robot
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Liyu Wang, Utku Culha, Cinzia Peruzzi, Milan Jovic, Fumiya IidaAbstract:© 2014 IEEE. A Dragline-forming technology has been previously proposed to enable locomotion through an open-space where no solid surfaces present. The technology is intended for situations where payload requirements are unanticipated. In those situations, variability in Dragline's diameter can minimize the use of material hence increase self-sufficiency of the robot. In a previous study, a robot was designed, prototyped and proven to be able to descend through an open-space by forming a thermoplastic Dragline with a diameter range of 1.1-4.5 mm. However, the speed of locomotion was rather low due to the lack of an adequate control method for thermoplastic Dragline formation. In this paper, models of mass flow and thermodynamics along Dragline formation pathway are presented. The models are validated in a newly prototyped robot which forms a Dragline continuously. Experiment results show that, when compared to the previous prototype and control method which consists of repeated sequences of discrete events, the speed of descending locomotion is significantly increased and reaches 12.0 cm/min.
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a Dragline forming mobile robot inspired by spiders
Bioinspiration & Biomimetics, 2014Co-Authors: Liyu Wang, Utku Culha, Fumiya IidaAbstract:Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing Draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the Dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of Draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the Draglines. Experimental results show that a Dragline diameter range of 1.17–5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min−1. With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable Dragline formation with a relative deviation within −4% and a length close to the metre scale.
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Modelling of continuous Dragline formation in a mobile robot
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Liyu Wang, Utku Culha, Cinzia Peruzzi, Milan Jovic, Fumiya IidaAbstract:A Dragline-forming technology has been previously proposed to enable locomotion through an open-space where no solid surfaces present. The technology is intended for situations where payload requirements are unanticipated. In those situations, variability in Dragline's diameter can minimize the use of material hence increase self-sufficiency of the robot. In a previous study, a robot was designed, prototyped and proven to be able to descend through an open-space by forming a thermoplastic Dragline with a diameter range of 1.1-4.5 mm. However, the speed of locomotion was rather low due to the lack of an adequate control method for thermoplastic Dragline formation. In this paper, models of mass flow and thermodynamics along Dragline formation pathway are presented. The models are validated in a newly prototyped robot which forms a Dragline continuously. Experiment results show that, when compared to the previous prototype and control method which consists of repeated sequences of discrete events, the speed of descending locomotion is significantly increased and reaches 12.0 cm/min.
Nuray Demirel - One of the best experts on this subject based on the ideXlab platform.
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System Reliability Investigation of Draglines Using Fault Tree Analysis
Mine Planning and Equipment Selection, 2020Co-Authors: Nuray Demirel, Onur Gölbaşı, Şebnem Düzgün, Sevtap KestelAbstract:Functionality and reliability of a system can be investigated by fault tree analysis (FTA) which is a structured and deductive procedure frequently exploited in complex systems. This analysis technique is related to Boolean algebra and probability theory in capable of qualifying and quantifying the system failure behavior by utilizing basic symbols and probabilistic relations. In this manner, internal and external causes of failures which come out in the working elements of Draglines and their occurrence probabilities can be also analyzed by FTA. This research study examines and evaluates the connections between prior and superior failures in Dragline components which eventuate in different sub-systems of Dragline and their contributions to overall system reliability using FTA. The study utilizes real-time failure data of two different Draglines gathered by the technical staff in a coal mine site owned by Turkish Coal Enterprise (TKI).
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a cost effective simulation algorithm for inspection interval optimization
Computers & Industrial Engineering, 2017Co-Authors: Onur Glba, Nuray DemirelAbstract:A simulation algorithm was developed for optimization of inspection intervals.A data acquisition strategy was presented to be utilized in the algorithm.The model was simulated for two currently-operating Draglines.Sensitivities of corrective and preventive costs to the intervals were evaluated. In machinery maintenance policies, regular inspection intervals should be specified in such a way that the cumulative of direct and indirect financial consequences of maintenance activities should be minimized while supporting the functional health of system components. This study aims to develop a simulation algorithm, called the time-counter, to optimize inspection intervals. In the algorithm, uptime and downtime behaviors of the system components and production losses in the corrective repairs are considered random values. Delay time concept is regarded when estimating failure detection periods and deciding on the required maintenance type. In addition, the developed model is applied to two active Draglines and their inspection intervals are optimized as 232 and 184h for Dragline-1 and Dragline-2, respectively. The optimized values are observed to decrease the total maintenance costs by 5.9 and 6.2 percent for the given Draglines, compared to the current interval of 160h. The main novelties of the study are that (i) the proposed concept which allows for simultaneous assessment of system components in an incremental time span has not been proposed in the literature when deciding on optimal inspection intervals, (ii) it is the first initiative in inspection optimization of a mining machinery system, and (iii) it uses real datasets on lifetime, repair time, and financial values that are rarely observed in maintenance studies.
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Optimisation of Dragline inspection intervals with time-counter algorithm
International Journal of Mining Reclamation and Environment, 2017Co-Authors: Onur Gölbaşı, Nuray DemirelAbstract:AbstractThis research study proposed a novel algorithm, called time-counter, to optimise inspection intervals of production systems. The developed algorithm was applied to two active Draglines. The algorithm evaluated random uptime/downtime characteristics of the Draglines and the planned Dragline halts in the mine. Physical and random non-physical costs were included and annual maintenance cost minimisation was achieved. Dragline-1 and Dragline-2 inspection intervals were optimised as 232 and 184 h and their maintenance costs were reduced by 5.9 and 6.2% compared to the current interval, respectively. This study is the first initiative in cost-effective inspection interval optimisation of a mining machinery.
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Application of Machine Learning for Dragline Failure Prediction
E3S Web of Conferences, 2017Co-Authors: Amir Taghizadeh, Nuray DemirelAbstract:Overburden stripping in open cast coal mines is extensively carried out by walking Draglines. Draglines’ unavailability and unexpected failures result in delayed productions and increased maintenance and operating costs. Therefore, achieving high availability of Draglines plays a crucial role for increasing economic feasibility of mining projects. Applications of methodologies which can forecast the failure type of Dragline based on the available failure data not only help to reduce the maintenance and operating costs but also increase the availability and the production rate. In this study, Machine Learning approaches have been applied for data which has been gathered from an operating coal mine in Turkey. The study methodology consists of three algorithms as: i) implementation of K-Nearest Neighbors, ii) implementation of Multi-Layer Perceptron, and iii) implementation of Radial Basis Function. The algorithms have been utilized for predicting the Draglines’ failure types. In this sense, the input data, which are mean time-to-failure, and the output data, failure types, have been fed to the algorithms. The regression analysis of methodologies have been compared and showed the K- Nearest Neighbors has a higher rate of regression which is around 70 percent. Thus, the K-Nearest Neighbor algorithm can be applied in order to preventive components replacement which causes to minimized preventive and corrective cost parameters. The accurate prediction of failure type, indeed, causes to optimized number of inspections. The novelty of this study is application of machine learning approaches in Draglines’ reliability subject for first time.
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effects of the rock mass parameters on the Dragline excavation performance
Journal of Mining Science, 2011Co-Authors: Nuray DemirelAbstract:This paper investigates impacts of rock mass properties on Dragline performance. Performances of two Draglines operated in different rock formations in Tuncbilek Coal mines were analyzed using modified geological strengths index (GSI). Results showed that Draglines’ performance change with the rock mass properties. Based on the available data, an empirical relationship was generated to estimate Dragline production capacity. The estimated excavation amount by the proposed model was found to be consistent with the excavation amount obtained from the field data.