Title page for ETD etd-080499-155658

Type of Document Master's Thesis
Author Wells, Bruce
Author's Email Address bwells@vt.edu
URN etd-080499-155658
Title Autonomous Prototype of a Full Dimension Continuous Haulage System
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Sturges, Robert H. Committee Chair
Deisenroth, Michael P. Committee Member
Reinholtz, Charles F. Committee Member
  • mechatronics
  • autonomous
  • mining
Date of Defense 1999-07-21
Availability unrestricted
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.

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