| Type of Document |
Master's Thesis |
| Author |
Wells, Bruce
|
| Author's Email Address |
bwells@vt.edu |
| URN |
etd-080499-155658 |
| Title |
Autonomous Prototype of a Full Dimension Continuous Haulage System |
| Degree |
Master of Science |
| Department |
Mechanical Engineering |
| Advisory Committee |
| Advisor Name |
Title |
| Sturges, Robert H. |
Committee Chair |
| Deisenroth, Michael P. |
Committee Member |
| Reinholtz, Charles F. |
Committee Member |
|
| Keywords |
- mechatronics
- autonomous
- mining
|
| Date of Defense |
1999-07-21 |
| Availability |
unrestricted |
Abstract
Design and development of a 1/10 scale prototype of a Full Dimension Continuous Haulage System manufactured by the Long-Airdox Company. The prototype, which will allow development and testing of path-planning and control algorithms for autonomous navigation and operation in underground coal mines, has been completed. The prototype system, though not an identical copy, clones all full-scale model degrees of freedom and functions necessary for navigation. In addition to the physical structure, a microcontroller-based system was developed for providing the necessary low-level motor controls, data gathering and multiple processor communications. High level software running on a laptop PC with the windows operating system is used for analyzing all measurement data, execution of path-planning and control algorithms and issuing the command data.
|
| Files |
| Filename |
Size |
Approximate Download Time
(Hours:Minutes:Seconds)
|
| 28.8 Modem |
56K Modem |
ISDN (64 Kb) |
ISDN (128 Kb) |
Higher-speed Access |
| |
etd.pdf |
1.51 Mb |
00:07:00 |
00:03:36 |
00:03:09 |
00:01:34 |
00:00:08 |
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