Advertisement

Romansy 14 pp 379-386 | Cite as

Telerobotic Device for Roadway Debris Vacuuming

  • A. A. Porterfield
  • T. R. Mincy
  • W. A. White
  • T. A. Lasky
  • B. R. White
  • S. A. Velinsky
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

This paper discusses an end-effector for telerobotic positioning of the nozzle for a vacuum-based roadway debris removal vehicle. While relatively simple in its structure, the system allows for the collection of debris along fences, shrubbery, guardrails, medians, and some embankments by using a large vacuum nozzle that will be extended with a boom reaching forward of the vehicle’s cab and swinging to the left and right sides. The paper also presents the results of experiments that allow for better understanding of the astrictive capabilities of such a vacuum system and thus lead to their optimal design.

Keywords

Litter Mixture Litter Removal Elephant Trunk Fixed Object Sweeping Motion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Andres, D. L. “Disposal of Roadside Litter Mixtures,” NCHRP Report No. 184, Washington D.C., 1993.Google Scholar
  2. Cieslak, R. and Morecki, A. “Elephant Trunk Type Elastic Manipulator — a Tool for Bulk and Liquid Materials Transportation,” Robotica 17 (1999): 11–16.Google Scholar
  3. Langhaar, H. L. Dimensional Analysis and Theory of Models Wiley, New York, 1951.Google Scholar
  4. Mincy, T. R. “System Development and Airflow Characterization of an Automated Roadway Debris Vacuum Vehicle,” MS Thesis, UC-Davis, 2001.Google Scholar
  5. Morecki, A. and Cieslak, R. “Experimental Tests and Computer Simulation of the Mechanical Structure of Elastic Manipulator for the Bulk Material Transportation,” Proc. of the 12 1 CISM-IFTOMM Symposium pp. 51–60 Zakopane, Poland, 2000.Google Scholar
  6. Murray, R. M., Li, Z., and Sastry, S. S., A Mathematical Introduction to Robotic Manipulation CRC Press, Boca Raton, FL, 1994.Google Scholar
  7. Porterfield, A. A. “Development of a Telerobotic Hose Positioning System for an Automated Roadway Debris Vacuum Vehicle,” MS Thesis, UC-Davis, 2001.Google Scholar

Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • A. A. Porterfield
    • 1
  • T. R. Mincy
    • 1
  • W. A. White
    • 1
  • T. A. Lasky
    • 1
  • B. R. White
    • 1
  • S. A. Velinsky
    • 1
  1. 1.Department of Mechanical & Aeronautical EngineeringUniversity of California-DavisDavisUSA

Personalised recommendations