Выдержка
The paper is devoted to showing up the control aspects of the geokhod that is the new type of tunneling machine. Geokhod may be classified as a special purpose mobile robot. The authors set the following targets: To analyze the main operating modes of the machine; to enunciate the applicable approach to form the dynamic mathematical models of mechanical and hydraulic subsystems of the geokhod in these operating modes. In the paper, the kinematic schemes of the geokhod main systems are depicted following which the interaction model of the geokhod and geo-environment is briefly described and thereafter the modeling features of the geokhod dynamics from the control view are listed. The computational kinematic scheme of the geokhod is composed and it is discussed how this scheme can be used for compiling the dynamic mathematical model in the different operating modes. In the final part, the weaknesses analysis of the proposed approach are presented and the directions for further researches are formulated.
| Язык оригинала | Английский |
|---|---|
| Название основной публикации | 2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings |
| Издатель | IEEE Computer Society |
| Страницы | 667-671 |
| Число страниц | 5 |
| ISBN (печатное издание) | 9781538650219 |
| DOI | |
| Состояние | Опубликовано - 13 авг 2018 |
| Событие | 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Erlagol, Altai, Российская Федерация Продолжительность: 29 июн 2018 → 3 июл 2018 |
Серия публикаций
| Название | International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM |
|---|---|
| Том | 2018-July |
| ISSN (печатное издание) | 2325-4173 |
| ISSN (электронное издание) | 2325-419X |
Конференция
| Конференция | 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 |
|---|---|
| Страна | Российская Федерация |
| Город | Erlagol, Altai |
| Период | 29.6.18 → 3.7.18 |
Отпечаток
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Atomic and Molecular Physics, and Optics
Цитировать
The basic factors on development of the drive control subsystem for the special purpose mobile robot named geokhod. / Grigoryev, Aleksandr V.; Semykina, Irina Yu; Ermakov, Aleksandr N.; Chicherin, Ivan V.; Aksenov, Vladimir V.
2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings. IEEE Computer Society, 2018. стр. 667-671 8435072 (International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM; Том 2018-July).Результат исследований: Материалы для книги/типы отчетов › Материалы для конференции
}
TY - GEN
T1 - The basic factors on development of the drive control subsystem for the special purpose mobile robot named geokhod
AU - Grigoryev, Aleksandr V.
AU - Semykina, Irina Yu
AU - Ermakov, Aleksandr N.
AU - Chicherin, Ivan V.
AU - Aksenov, Vladimir V.
PY - 2018/8/13
Y1 - 2018/8/13
N2 - The paper is devoted to showing up the control aspects of the geokhod that is the new type of tunneling machine. Geokhod may be classified as a special purpose mobile robot. The authors set the following targets: To analyze the main operating modes of the machine; to enunciate the applicable approach to form the dynamic mathematical models of mechanical and hydraulic subsystems of the geokhod in these operating modes. In the paper, the kinematic schemes of the geokhod main systems are depicted following which the interaction model of the geokhod and geo-environment is briefly described and thereafter the modeling features of the geokhod dynamics from the control view are listed. The computational kinematic scheme of the geokhod is composed and it is discussed how this scheme can be used for compiling the dynamic mathematical model in the different operating modes. In the final part, the weaknesses analysis of the proposed approach are presented and the directions for further researches are formulated.
AB - The paper is devoted to showing up the control aspects of the geokhod that is the new type of tunneling machine. Geokhod may be classified as a special purpose mobile robot. The authors set the following targets: To analyze the main operating modes of the machine; to enunciate the applicable approach to form the dynamic mathematical models of mechanical and hydraulic subsystems of the geokhod in these operating modes. In the paper, the kinematic schemes of the geokhod main systems are depicted following which the interaction model of the geokhod and geo-environment is briefly described and thereafter the modeling features of the geokhod dynamics from the control view are listed. The computational kinematic scheme of the geokhod is composed and it is discussed how this scheme can be used for compiling the dynamic mathematical model in the different operating modes. In the final part, the weaknesses analysis of the proposed approach are presented and the directions for further researches are formulated.
KW - Drive control
KW - Dynamic mathematical model
KW - Geo-environment
KW - Geokhod
KW - Kinematic scheme
UR - http://www.scopus.com/inward/record.url?scp=85052399954&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052399954&partnerID=8YFLogxK
U2 - 10.1109/EDM.2018.8435072
DO - 10.1109/EDM.2018.8435072
M3 - Conference contribution
AN - SCOPUS:85052399954
SN - 9781538650219
T3 - International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM
SP - 667
EP - 671
BT - 2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings
PB - IEEE Computer Society
ER -