NDLI: Hybrid Soil Parameter Measurement and Estimation Scheme for Excavation Automation

Content Provider	IEEE Xplore Digital Library
Author	Althoefer, K. Tan, C.P. Zweiri, Y.H. Seneviratne, L.D.
Copyright Year	1963
Abstract	Real-time measurement and estimation of soil-tool interaction dynamics are key tools for the development of automated excavation systems. Automating a complex operation such as excavation is a challenging task that strongly hinges on a good estimate of soil properties as well as the interaction forces between the excavator tool and the environment. This paper presents a method for identifying all the unknown soil parameters (density, tool-soil friction angle, soil-soil friction angle, and cohesion) required for predicting the interaction forces in real time using a novel hybrid soil model. The hybrid model consists of the Mohr-Coulomb (M-C) soil model and the Chen and Liu upper bound (CLUB) soil model. A switching mode is utilized to select the most appropriate soil model to compute the failure forces that depend on the position of the excavator bucket. The Newton-Raphson method (NRM) is adapted and is used to identify the soil parameters by minimizing the error between the measured forces and the forces computed by the hybrid soil model. The experimental results presented demonstrate that the proposed estimation scheme is accurate when compared to measured soil parameters. The Newton-Raphson estimation method is applied iteratively to efficiently and robustly identify the parameters. The conducted comparative study shows that the proposed method is a promising way for the on-line soil-tool interaction force identification of an automated excavator in dynamic and potentially hazardous environments, outperforming other estimation methods including the least squares method (LSM).
Sponsorship	IEEE Instrumentation and Measurement Society Bureau international des poids et mesures IEEE International Bureau of Weights and Measures (BIPM) URSI NBS Agency Ind. Sci. & Technol., Min. Int. Trade & Ind. Sci. Council Japan International Union of Pure and Applied Physics (IUPAP) NIST NRCC National Conference of Standards Laboratories (NCSL) Allen Osborne Associates Andeen-Hagerling, Inc. Ballantine Lab. Inc. Clarke-Hess Communications Research Corp. Fluke Corporation Guildline Instruments Hewlett-Packard Co. Julie Res. Lab. Inc. Keithley Instruments, Inc. Measurements International Ltd. Canada QuadTech Inc. Quantum Design Inc. Rotek Instrum. Corp. Tegam Inc. Tektronix Inc
Starting Page	3633
Ending Page	3641
Page Count	9
File Size	946361
File Format	PDF
ISSN	00189456
Volume Number	58
Issue Number	10
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Soil measurements Parameter estimation Automation Friction Real time systems Fasteners Soil properties Predictive models Upper bound Newton method soil parameter estimation Automated excavation hybrid soil model measurement of tool–soil interaction forces Newton–Raphson method (NRM)
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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