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Book Mechanical Design and Analysis of a Control System for the Automated Roadway Debris VACuum

Download or read book Mechanical Design and Analysis of a Control System for the Automated Roadway Debris VACuum written by Allyson Elyse Clark and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this thesis is the design of a control system for the Automated Roadway Debris VACuum (ARDVAC) that is more efficient than the system currently in use. The ARDVAC is a vacuum vehicle with an articulated nozzle that can be controlled by an operator from inside the cab of the truck in order to pick up roadway debris. It was developed by the Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center in conjunction with the California Department of Transportation (Caltrans). Caltrans currently possesses the first two commercial units. The current system utilizes two joysticks to control the articulated arm's motion and requires the operator to control each actuator of the arm separately. This system is not only confusing to use, but is slow to respond to the operator's inputs. In this work, a new controller for the ARDVAC is designed based on the kinematic equations that relate the change in joint variables of the arm to the end effector's velocity by way of the Jacobian of the system. The pseudoinverse of the Jacobian is found to be the most effective way to solve the inverse kinematic equations of the arm and calculate the desired change in joint variables. The Jacobian and joint variable calculations are validated in MATLAB. Then, the control approach is tested with one joystick and an Arduino microcontroller in order to receive the operator's input. The resultant system design will allow for optimal operator position, provide a more intuitive interface, and utilize the kinematics of the arm to create a "smarter" system that calculates the necessary actuator movements needed to produce the desired end effector motion. Finally, recommendations are provided for additional work necessary for actual implementation.

Book Conceptual Development of a Vegetation Processing End Effector for an Automated Roadway Debris Vacuum Vehicle

Download or read book Conceptual Development of a Vegetation Processing End Effector for an Automated Roadway Debris Vacuum Vehicle written by Benjamin Allen Richardson and published by . This book was released on 2003 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Detail Design and Testing of a Vegetation Processing End Effector for an Automated Roadway Debris Vacuum Vehicle

Download or read book Detail Design and Testing of a Vegetation Processing End Effector for an Automated Roadway Debris Vacuum Vehicle written by Matthew William Latham and published by . This book was released on 2003 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Space Station Systems

Download or read book Space Station Systems written by and published by . This book was released on 1986 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Safety Science Abstracts Journal

Download or read book Safety Science Abstracts Journal written by and published by . This book was released on 1983 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Publications

Download or read book Publications written by United States. National Bureau of Standards and published by . This book was released on 1975 with total page 548 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Publications of the National Bureau of Standards

Download or read book Publications of the National Bureau of Standards written by United States. National Bureau of Standards and published by . This book was released on 1974 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Publications of the National Bureau of Standards Catalog

Download or read book Publications of the National Bureau of Standards Catalog written by United States. National Bureau of Standards and published by . This book was released on 1974 with total page 548 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Selected Water Resources Abstracts

Download or read book Selected Water Resources Abstracts written by and published by . This book was released on 1991 with total page 884 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Publications of the National Institute of Standards and Technology Catalog

Download or read book Publications of the National Institute of Standards and Technology Catalog written by National Institute of Standards and Technology (U.S.) and published by . This book was released on 1975 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Publications of the National Bureau of Standards 1974 Catalog

Download or read book Publications of the National Bureau of Standards 1974 Catalog written by United States. National Bureau of Standards and published by . This book was released on 1975 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book NBS Special Publication

Download or read book NBS Special Publication written by and published by . This book was released on 1968 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Scientific and Technical Aerospace Reports

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt: