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. / Master of Science
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/9774 |
| Date | 13 August 1999 |
| Creators | Wells, Bruce |
| Contributors | Mechanical Engineering, Sturges, Robert H., Deisenroth, Michael P., Reinholtz, Charles F. |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
| Relation | etd.pdf |
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