The aim of this study is to develop a dynamic model of the loader system of a backhoe-loader. Rigid bodies and joints in the loader mechanism and loader hydraulic system components are modelled and analyzed in the same environment using the physical modelling toolboxes inside the commercially available simulation software, MATLAB/Simulink. Interaction between the bodies and response of the hydraulic system are obtained by co-operating the mechanical and hydraulic analyses. System variables such as pressure, flow and displacement are measured on a physical machine and then compared with the simulation results. Simulation results are consistent with the measurement results. The main result of this work is the ability to determine the dynamic loads on the joints and attachments of the backhoe-loader. In addition to that, prototyping time and costs can be highly reduced by implementing this model in the design process.

Throughout history and around the globe millions of people have succumbed to genocide, war crimes, and massacres. The victims of these atrocious events are often buried together in mass numbers. Perpetrators avoiding detection, often utilize heavy machinery including, but not limited to, bulldozers, dump trucks, track hoes, and backhoes, to generate these mass burials. These machines can be employed in the primary burial process as well as the secondary burial process. The utilization of heavy machinery in intentional reinterment and primary burials is well documented in human rights crimes in Bosnia and Herzegovina, Rwanda, Iraq, Syria, and Cambodia. The use of heavy machinery in the intentional or unintentional excavation of human remains causes postmortem breakage to bone. This destructive process occurs due to accidents, construction activity, as well as a means to destroy and conceal evidence. This study looks at trauma inflicted from a reinterment of the remains of four juvenile Sus scrofa (pig). An experimental mass burial was created at Boston University’s Outdoor Research Facility. Months later, the grave was disturbed postmortem by a backhoe and transferred to a secondary inhumation site. The experimental mass grave was then exhumed following traditional forensic archaeological methodologies and mapped. This study analyzes backhoe taphonomy resulting from an intentional reburial of a mass grave and the distribution of remains after a secondary burial. The author hypothesizes that disarticulation and fragmentation of remains will occur as a result of backhoe burial and significant changes in horizontal and vertical plane of remains will occur. The author hypothesizes unique fracturing will occur from the trauma inflicted by a backhoe. Finally, the author hypothesizes that the frequencies of the number of fractures will differ between bones and the frequencies of fracture types will differ between bone types. This study shows that the backhoe causes disarticulation and fragmentation of remains. The frequency of fractures differed greatly between specimens. This research demonstrates that not all bone regions are equally damaged by a backhoe. The observed fractures included oblique, transverse, greenstick, posterior shear, mandibular body, linear, and diastatic fractures. Unique fracturing did not occur as numerous fractures were displayed. Additionally, this research is the first of its kind to investigate the effects of heavy machinery on clothed buried remains in a controlled environment. This study is also the first of its kind to investigate remains dispersal of known location in a primary and secondary burial in a controlled setting. Understanding how the compression, shear, and torsion forces from heavy machinery affect buried remains is of importance in today’s world. Many mass graves exist which have documentation that victims were buried with heavy machinery. These burials are still awaiting in-country stability for the exhumation of these mass graves. The author believes this research may aid in documenting war crimes and human rights violations. Unfortunately, genocide, war crimes, massacres, and mass inhumations are not terminating and the need for understanding the spatial distribution of remains in primary and secondary burials is pertinent for bringing voices to victims and families.

This study aims to develop a computer program to optimize the performance of loader mechanisms in backhoe-loaders. The complexity and the constraints imposed on the loader mechanism does not permit the use of classical optimization techniques used in the synthesis of mechanisms. Genetic algorithm is used to determine the values of the design parameters of the mechanism while satisfying the constraints and trying to maximize breakout forces that the machine can generate.

The objective of this study is to present a dynamic model of a backhoe-loader including cab dynamics in order to simulate the vibration levels transmitted to the operator. For this purpose, analytical solutions of the cab and the machine are developed by deriving the equations of motion of the system and the state space forms of the solution are implemented in the commercially available simulation software, MATLAB/Simulink. In addition to the analytical solution, a model is developed using the physical modeling toolboxes of MATLAB/SimMechanics. Cab model developed in SimMechanics is extended to simulate whole machine dynamics by inserting machine body and tire parameters. Vibration data is acquired from the machine for experimental validation of the models. Analytical and SimMechanics solution are evaluated by comparing the seat acceleration results for the same inputs. Furthermore, simulation results obtained from the models and the measurement results are found to be in agreement in both time and frequency domain.

Biodynamic feedthrough occurs in many types of operator controlled machines where the operator is a passenger and the motion of the controlled machine excites motion of the human operator, creating unwanted feedback. It is a significant cause for control performance degradation in backhoes. In this research, the problem of biodynamic feedthrough is investigated in a backhoe control system. For simplification, the system is limited to a single degree of freedom. Several controller based approaches are investigated to reduce cab vibration, while maintaining cylinder tracking performance. These controllers are tested in hardware, with and without the human operator and associated biodynamic feedthrough. The effect of this cab vibration reduction on biodynamic feedthrough is tested in a small set of human subject tests. The results indicate that some vibration reduction and improvement in the operator's control performance can be achieved by adding cab vibration compensation.

The construction equipment industry is developing at a fast pace, increasing the expectation on the next-generation machines. Wheel loaders and backhoe loaders are part of this evolution and all subsystems in those machines need to be developed to meet the high demands in energy eciency and productivity. One of the most important parts of the wheel loader is the loading unit. This is traditionally designed using highly experienced engineers and CAD software. To simplify the early stages of this process was an optimization tool developed to generate a design outlay. The optimization will minimize the mass of the linkage since unnecessary weight will lower the eciency. The minimum can be found by moving the joints and adjusting the shape of the device. The optimization will also include constraints to assure the correct performance of the linkage. Since there are a high number of design variables, a gradient-based optimization method was used. A finite element solver was also implemented to calculate the forces and stresses in the linkage. The linkages studied in this report are one from a typical wheel loader and one from a backhoe loader. Since these machines are extremely versatile, and used formany diferent tasks, two sets of constraints are compiled. One of the constraint sets yields a linkage suitable for machines only equipped with bucket, while the other results in an all-round linkage suitable for most tools and applications. The optimized linkages are compared to existing devices. The results show that there are some improvements possible and that the software could be used to help designers. However, the optimization problem is hard to solve due to non-smooth constraints functions and numerical instabilities. This issue could be overcome by diferent means, like using automatic diferentiation, a non-gradient based optimization method, decreasing the number of constraints or decreasing the number of design variables. / Utvecklingen av anlaggningsmaskiner sker i snabb takt och detta ökar förväntningarna på framtidens maskiner. En stor andel av alla anläggningsmaskiner är hjullastare och traktorgrävare och alla delsystem på dessa maskiner måste följa med i utvecklingen. En av de viktigaste delarna pa en hjullastare ar lastaggregatet. Det designas traditionellt med hjälp av CAD mjukvara och mycket erfarna konstruktörer. För att underlätta denna process har en optimeringsrutin utvecklats, som generarar ett designförslag. Optimeringen minskar länkagets massa genom att fytta lagringspositioner och ändra delarnas dimensioner. Detta ökar efektiviteten hos maskinen eftersom den slipper köra runt på onödig vikt. Optimeringen innehåller även villkor för att säkerställa god prestanda hos det optimerade aggregatet. Eftersom det ingår väldigt många designvariabler i optimeringen används en gradientbaserad metod. En finita element approximation används for att beräkna krafter och spänningar i länkaget. De länkage som undersöks i detta projekt är ett typsikt hjullastaraggregat och ett typiskt traktorgrävaraggregat. Eftersom dessa maskiner ar väldigt mångsidiga sammanställdes två olika uppsättningar av villkor. Den ena uppsättningen används för att optimera ett aggregat som endast ska användas med skopa, medan den andra uppsättningen används för att ta fram ett mer mångsidigt aggregat avsätt for att kunna klara av de flesta situationer och verktyg. De optimerade lastaggregaten är jämförda med produktionsaggregat och det visar sig att vissa förbättringar är möjliga. Slutsattsen är att optimeringsrutinen kan bli ett bra hjälpmedel for konstruktörer men att den behöver lite mer veriering. Villkorsfunktionen som optimeringen måste lösa är inte helt slät vilket är ett problem för en gradientbaserade metod och dessutom finns vissa numeriska instabiliteter. Dessa svårigheter kan undkommas pa olika sätt, t.ex. genom att använda automatisk derivering,byta optimeringsalgoritm, minska antalet villkor eller minska antalet variabler.

Modeling, simulation, and optimization play vital roles throughout the engineering design process; however, in many design disciplines the cost of simulation is high, and designers are faced with a tradeoff between the number of alternatives that can be evaluated and the accuracy with which they can be evaluated. In this thesis, a methodology is presented for using models of various levels of fidelity during the optimization process. The intent is to use inexpensive, low-fidelity models with limited accuracy to recognize poor design alternatives and reserve the high-fidelity, accurate, but also expensive models only to characterize the best alternatives. Specifically, by setting a user-defined performance threshold, the optimizer can explore the design space using a low-fidelity model by default, and switch to a higher fidelity model only if the performance threshold is attained. In this manner, the high fidelity model is used only to discern the best solution from the set of good solutions, so that computational resources are conserved until the optimizer is close to the solution. This makes the optimization process more efficient without sacrificing the quality of the solution. The method is illustrated by optimizing the trajectory of a hydraulic backhoe. To characterize the robustness and efficiency of the method, a design space exploration is performed using both the low and high fidelity models, and the optimization problem is solved multiple times using the variable fidelity framework.

The desire to use more energy efficient heavy equipment in the earth-moving industry has rapidly increased due to higher environmental awareness. Studies within electrification and new types of hydraulic circuit architecture has shown great potential regarding energy savings. The advantages of implementing a closed, pump-controlled, hydraulic system for controlling the boom cylinder on the back-hoe of an articulated backhoe loader is evaluated in this thesis. The possibilities of electric energy regeneration is investigated and to what extent energy savings can be expected for the complete hydraulic system during normal operation. In order for pump-controlled systems to even be conceivable alternatives to conventional valve-controlled system, they must be able to achieve the same characteristics and driveability as the original valve-controlled systems. The possibilities of imitating the characteristics of a valve-controlled hydraulic system with hydro-mechanical pressure feedback is also investigated in this thesis. The original characteristic is able to be imitated with the implemented pump-controlled system with simple means by defining the current characteristic as the relationship between the operator input, cylinder load and cylinder flow. The evaluated sectioned hydraulic system demonstrates energy savings of 30% during both a light and a heavy duty cycle. With components more suitable for this type of system and an improved control strategy, energy savings of over 50% compared to the original system is believed to be possible.

Supplying haptic or force feedback to operators using hydraulic machinery such as excavators has the potential to increase operator capabilities. Haptic, robotic, human-machine interfaces enable several enhancing features including coordinated motion control and programmable haptic feedback. Coordinated or resolved motion control supplies a more intuitive means of specifying the equipment's motion. Haptic feedback is used to relay meaningful information back to the user in the form of force signals about digging force acting on the bucket, programmable virtual constraints and system limitations imposed by the mechanism, maximum pressure or maximum flow. In order to make this technology economically viable, the benefits must offset the additional cost associated with implementation. One way to minimize this cost is to not use high-end hydraulic components. For smaller backhoes and mini-excavators this means that the hydraulic systems are comprised of a constant displacement pump and proportional direction control valves. Hydraulic and haptic control techniques suitable for backhoes/excavators are developed and tested on a small backhoe test-bed. A virtual backhoe simulator is created for controller design and human evaluation. Not only is the virtual simulator modeled after the test-bed, but the control algorithm used in the simulator is the same as the actual backhoe test-bed. Data from human subject tests are presented that evaluate the control strategies on both the real and virtual backhoe. The end goal of this project is to incorporate coordinated haptic control algorithms that work with low-cost systems and maximize the enhancement of operator capabilities.

This diploma thesis solves construction project high dumping shovel for back hoe loader New Holland B100 and B110. There are described operating conditions in the introduction, transport material and technical parameters for back hoe loader B100, B110. There are mentioned possible construction’s solutions and own design. Follow the kinematics analysis of material’s dumping and the static analysis on shovel and frame. This is connected with following peg’s control and the solidity analysis of shovel and frame for different load cases, where the MFE was used