Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to co...Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to counteract this. The system consists of three components i.e. localization, road monitoring, and scheduling. The localization of vehicles is performed using a Rao-Blackwellized extended particle filter, combining vehicle mounted sensors with signal strengths of Wi Fi access points. Two methods for road monitoring are described: a Kalman filter used together with a model of the vehicle suspension system, and a relative condition measure based on the power spectral density. Lastly, a method for taking automatic action on an ill-conditioned road segment is proposed in the form of a rescheduling algorithm.The scheduling algorithm is based on the large neighborhood search and is used to integrate road service activities in the short-term production schedule while minimizing introduced production disturbances.The system is demonstrated on experimental data collected in a Swedish underground mine.展开更多
A novel tire-road adaptive model in longitude direction to formulate the dynamic characteristic between tire and road is proposed in this paper, based on this model, a new adaptive approach of road condition identific...A novel tire-road adaptive model in longitude direction to formulate the dynamic characteristic between tire and road is proposed in this paper, based on this model, a new adaptive approach of road condition identification is presented to identify the model＇s parameters on-line in order to improve the performance of anti-slip regulation system（ASR）. The optimal slip is determined by using the drive wheel＇s slip and longitude traction force in ASR before the slipping of the drive wheel. Co-simulation is done based on the model for JETTA GTX building with ADAMS/CAR and Matlab, and results show that the adaptive model accords with Pacejka model very well. This adaptive model has simpler form, less number of parameters and higher adaptability than usual, and the new identification approach has a small amounts of operation, which is very suitful for ASR.展开更多
基金partially supported by the Wallenberg AIAutonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation
文摘Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to counteract this. The system consists of three components i.e. localization, road monitoring, and scheduling. The localization of vehicles is performed using a Rao-Blackwellized extended particle filter, combining vehicle mounted sensors with signal strengths of Wi Fi access points. Two methods for road monitoring are described: a Kalman filter used together with a model of the vehicle suspension system, and a relative condition measure based on the power spectral density. Lastly, a method for taking automatic action on an ill-conditioned road segment is proposed in the form of a rescheduling algorithm.The scheduling algorithm is based on the large neighborhood search and is used to integrate road service activities in the short-term production schedule while minimizing introduced production disturbances.The system is demonstrated on experimental data collected in a Swedish underground mine.
文摘A novel tire-road adaptive model in longitude direction to formulate the dynamic characteristic between tire and road is proposed in this paper, based on this model, a new adaptive approach of road condition identification is presented to identify the model＇s parameters on-line in order to improve the performance of anti-slip regulation system（ASR）. The optimal slip is determined by using the drive wheel＇s slip and longitude traction force in ASR before the slipping of the drive wheel. Co-simulation is done based on the model for JETTA GTX building with ADAMS/CAR and Matlab, and results show that the adaptive model accords with Pacejka model very well. This adaptive model has simpler form, less number of parameters and higher adaptability than usual, and the new identification approach has a small amounts of operation, which is very suitful for ASR.
