Skip to main content

Man machine interface for remote operation of civil works equipment

Objective



The project aims to design, integrate and validate in demonstration, a full scale, motorised, 5-DOF simulator - module for civil works machines. The simulator should re-construct the visual, auditive and dynamic conditions as they would be perceived by the driver in the machine. An important issue of the development being the final system cost, the simulator will be designed avoiding highly expensive component options, regarding visual displays, image and audio treatment etc. On the other hand, in order to enhance the agility and precision of the tele-operated system, an important objective of the development consists of implementing a dual force-reflecting kinaesthetic link between the machine and the operator as follows: -1. A force-feedback loop will connect the overall dynamics of the machine with the driving seat, in a way that the operator may "sense" the motion of the machine at work, such as vibrations, impacts during work, or displacement, inclination, lifting etc. -2. A second force-reflecting loop will permit to the driver to "sense" the efforts produced by the working parts of the machine (such as the arm and bucket, in the case of an excavator), through force-feedback on the driving instrumentation, joy-sticks, pedals) of the simulator. Another important objective of the development is to produce a comprehensive know-how basis for generic tele-operation equipment. The purpose is to permit the mounting of the tele-operation module on existing machines (such as standard excavators) and avoid the need for investment by the users on the complete new equipment. For this reason, a generic electro-hydraulic interface will be designed, which will permit to connect the tele-operation module on an important range of civil works machines. The final important issue of the development is safety of operation. The equipment has to remain safe both for the working environment (requiring precision of operation) as for the machine itself (avoiding self-destruction due to inadequate action). These objectives will be reached by implementing adequate monitoring routines in the inertial and force-sensing loops used by the simulator. The research approach for the development will be moving in parallel in 2 main areas as follows: A. Concerning the simulator module -1. Design and prototype manufacturing of a highly optimised structure and actuation system for the light simulator platform -2. Design and prototype manufacturing ergonomic force-reflecting displays (joy-sticks, pedals) for the operator -3. Development and implementation of robust force-reflecting control loops integrated around distributed micro-processor controller networks (CAN etc.) B. Concerning the real machine instrumentation -1. Development and integration of a generic tele-operation instrumentation interface for standard civil works machines (to be adapted on the display / control panel of the machine and serve as interface for the remote operator) -2. Design, adaptation and integration of image and data acquisition hardware as well as robust communication links for high-quality image and data transmission between the vehicle and the tele-operation module (VHF - wireless) Two important design and development criteria throughout the development will be: -a. Reliability and safety of operation. - b. Best performance per cost ratio.

Funding Scheme

CRS - Cooperative research contracts

Coordinator

Techniki Demosion Ltd.
Address
61,Academias
106 79 Athens
Greece

Participants (16)

Apsis
Greece
Address
22,Valtetsiou 22
106 80 Athens
British Nuclear Fuels plc (BNFL)
United Kingdom
Address
Sellafield
CA20 1PG Seascale
CENTRE DE ROBOTIQUE INTÉGRÉE D'ILE DE FRANCE
France
Address
Avenue De L'europe 10-12
78140 Velizy Villacoublay
Commissariat l'Energie Atomique
France
Address
Ctr Etudes Fontenay-aux-roses - Ce-far
92265 Fontenay-aux-roses
Construcciones Agustin Baron SL
Spain
Address
8,Mayor 8
22270 Almudevar
Construcciones Hurtado e Hijos SA
Spain
Address
17,C/ Pomaron 17
50008 Zaragoza
Electricité de France
France
Address
6,Quai Watier 6
78401 Chatou
European Association for Research in Legged Robots
Belgium
Address
13,Rue Limauge 13
1040 Bruxelles
Hellenic Technodomiki SA
Greece
Address
10,Davaki
115 62 Athens
JC Bamford Excavators Ltd.
United Kingdom
Address

ST14 5JP Rocester
Jomy SA
Belgium
Address
20,Rue De Bourgogne
4452 Wihogne
Moog France SARL
France
Address
38,Rue Du Morvan 38
94573 Rungis
RIGUAL SA
Spain
Address
Km 442,Carretera Nacional Ii Km 442
22520 Fraga
TECHNICAL UNIVERSITY OF CLAUSTHAL
Germany
Address
Robert-koch-strasse 32
38678 Clausthal-zellerfeld
Tecnicas del Pirineo SA
Spain
Address
S/n,calle Gibraltar S/n
22006 Huesca
UNIVERSITY OF MANCHESTER INSTITUTE OF SCIENCE AND TECHNOLOGY
United Kingdom
Address
Sackville Street
Manchester