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dc.contributor.advisorHarry H. Asada.en_US
dc.contributor.authorSotiropoulos, Filippos Edwarden_US
dc.contributor.otherMassachusetts Institute of Technology. Department of Mechanical Engineering.en_US
dc.date.accessioned2019-02-05T15:59:16Z
dc.date.available2019-02-05T15:59:16Z
dc.date.copyright2018en_US
dc.date.issued2018en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/120226
dc.descriptionThesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (pages 45-46).en_US
dc.description.abstractIn this work an algorithm for controlling the motion of an autonomous excavator arm during excavation is presented. To deal with the challenge, posed by modeling and planning trajectories through soil, a model-free method is proposed which aims at maximally harnessing the capabilities of the excavator by matching its internal characteristics to those of the environment. By maximizing the power output of specific actuators the machine is able to strike a balance between disadvantageous operating conditions where it is either getting stuck in the soil or simply not utilizing its full potential to move soil towards task oriented goals. The real-time optimization, which used methods from extremum seeking control, was implemented in simulation and then on a small scale simulation rig which validated the method. It was shown that power maximization as a strategy of trajectory adaptation for excavation was both well-grounded and feasible.en_US
dc.description.statementofresponsibilityby Filippos Edward Sotiropoulos.en_US
dc.format.extent46 pagesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsMIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleReal-time trajectory optimization for excavators by power maximizationen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineering.en_US
dc.identifier.oclc1083115097en_US


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