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Dissertations / Theses on the topic 'Mobilní hydraulika'

Author: Grafiati
Published: 28 June 2021
Last updated: 12 February 2022

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1

Cieslar, Filip. "Modely a simulace pochodů bezemisního kolového nakladače s elektrickým pohonem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442865.

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This diploma thesis deals with the creation of models simulating the processes of an emission-free wheel loader, which was created by rebuilding the original version with a combustion engine. Part of the work is the methodical creation of models from the basic part of the machine to a simplified model of the overall machine, its functional verification and calibration based on available information’s and measurements. In this paper, selected parameters of the overall machine model are verified based on performed measurements, the suitability of selected components is verified, and the optimization and modification of the model is performed based on verification. The aim of the thesis is to present the simulation and verification procedure and its practical use in the development of an emission-free wheel loader with electric drive.
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Nožka, Michal. "Řízení hydraulických rozváděčů miniexkavátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-442674.

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This diploma thesis deals with the design of control algorithm for hydraulic directional control valves of a zero-emission mini excavator. Zero emission excavator have same parameters as diesel engine powered version of it. To solve this problem simulations were done for hydraulics and control algorithm of this machine. To find right parameters of simulation models, experiments have been done. There were also proposed some methods to obtain the right set of parameters. The result of this diploma thesis is control algorithm for directional control valves of this very unique mini excavator that doesn't have any competitor (in terms of control algorithm). Set of parameters was also tested during experiments.
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Tomeš, Jakub. "Mobilní stavební jeřáb nosnosti 200 kg." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417078.

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This diploma thesis describes mechanical design of mobile construction crane, specified for moving Silka bricks of weight 200 kg. Thesis contains constructing solution of steel frame - boom, column and chassis. Standard purchased components are also defined in this thesis - hydraulic circuits, el. pulley assembly and wheels. Last part of thesis verifies sufficient safety of designed frame using Finite element method. Output of this thesis are mechanical drawings of welded parts of steel frame and assembly drawing of entire crane.
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4

Kilic, Boran. "Dynamic Modelling Of A Backhoe-loader." Master's thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/12611002/index.pdf.

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The aim of this study is to develop a dynamic model of the loader system of a backhoe-loader. Rigid bodies and joints in the loader mechanism and loader hydraulic system components are modelled and analyzed in the same environment using the physical modelling toolboxes inside the commercially available simulation software, MATLAB/Simulink. Interaction between the bodies and response of the hydraulic system are obtained by co-operating the mechanical and hydraulic analyses. System variables such as pressure, flow and displacement are measured on a physical machine and then compared with the simulation results. Simulation results are consistent with the measurement results. The main result of this work is the ability to determine the dynamic loads on the joints and attachments of the backhoe-loader. In addition to that, prototyping time and costs can be highly reduced by implementing this model in the design process.
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Matiaško, Dušan. "Modely a simulace pochodů bezemisního mini-exkavátoru s elektrickým pohonem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442805.

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The diploma thesis dealt with a partial problem of conversion of the mini-excavator E19 by Bobcat with an internal combustion engine to emission-free propulsion. The main task was design and construction of electrical and hydraulic circuits focusing on the drive of a mini-excavator. The simulations verified the properties and behavior of the mini-excavator under different conditions and initial settings. The results were comfirmed by experimental measurements. The output of the simulations recommended adjustments to the values of individual parameters depending on the travel speed but also the efficiency of the entire machine.
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6

Axin, Mikael. "Mobile Working Hydraulic System Dynamics." Doctoral thesis, Linköpings universitet, Fluida och mekatroniska system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-121070.

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This thesis deals with innovative working hydraulic systems for mobile machines. Flow control systems are studied as an alternative to load sensing. The fundamental difference is that the pump is controlled based on the operator’s command signals rather than feedback signals from the loads. This control approach enables higher energy efficiency and there is no load pressure feedback causing stability issues. Experimental results show a reduced pump pressure margin and energy saving potential for a wheel loader application. The damping contribution from the inlet and outlet orifice in directional valves is studied. Design rules are developed and verified by experiments. A novel system architecture is proposed where flow control, load sensing and open-centre are merged into a generalized system description. The proposed system is configurable and the operator can realize the characteristics of any of the standard systems without compromising energy efficiency. This can be done non-discretely on-the-fly. Experiments show that it is possible to avoid unnecessary energy losses while improving system response and increasing stability margins compared to load sensing. Static and dynamic differences between different control modes are also demonstrated experimentally.
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7

Macejka, Andrej. "Dílenský mobilní manipulační stůl." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-416626.

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This diploma thesis is concerned with the design of lift table with hydraulic actuator system. Lift table is supposed to perform vertical motion and tilting the upper desk in horizontal axis. In background research are explored various suitable movement mechanisms and types of actuating systems. After choosing the right mechanism type for lifting and tilting, actuating system and various design components the force and strength calculations are performed analytically and by finite element analysis. The hydraulic schema, 3D model of assembly and drawings are made.
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8

Frerichs, Ludger, and Karl Hartmann. "Efficient and high performing hydraulic systems in mobile machines." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200364.

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Hydraulic systems represent a crucial part of the drivetrain of mobile machines. The most important drivers of current developments, increasing energy efficiency and productivity, are leading to certain trends in technology. On a subsystem level, working hydraulics are utilizing effects by improving control functions and by maximum usage of energy recovery potential. Independent metering and displacement control, partly in combination with hybrid concepts, are the dominating approaches. Traction drives gain advantage from optimized power split transmissions, which consequently are being used in a growing number of applications. On the level of components, increase of efficiency and dynamics as well as power density are important trends. Altogether, design of systems and components is more and more based on modular concepts. In this sense, among others, sensors and control elements are being integrated to actuators; electric and hydraulic technology is being merged. In order to achieve maximum efficiency and performance of the entire machine, control of hydraulics has to include the whole drivetrain and the entire mobile machine in its application. In modern words, mobile hydraulic systems are a part of cyber physical systems.
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9

Pokorný, Jan. "Interakce mobilních pracovních strojů a pojížděného podloží." Doctoral thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-233912.

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This dissertation thesis is concerning with an interaction between mobile working machines and rolled surfaces. Machines and their constructions parts behavior were observed. There are some machines that can change state of surface. And due to these change of surface the machine is in different conditions for drive and also for works. The interaction of working machines and rolled surfaces was categorized in this work and for each category here is a methodic work flow for solution of various cases. Three examples are described in this work. Some simulating programs were used for all cases and therefore there is a methodic work flow for creating and simulating of models. Three described examples include a complex solution of hydraulic drive for vibration exciter of vibration roller, small cleaner of canalizations with aim on load case to frame of this cart. The third example describes solution of undercarriage frames of agricultural semi-trailers. This example is the most extensive chapter from this work due to including of marketing research at the beginning of development and also verification of simulated results with results from real prototype tests at the end of development of these undercarriage frames.
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10

Krantz, David. "Kvalitetsutveckling : Organisatoriska förbättringar för en tillverkare av mobila hydrauliska kranar." Thesis, Linköpings universitet, Institutionen för teknik och naturvetenskap, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-97148.

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Kvalitet, förbättringar och processperspektiv är centrala delar för företag som vill arbeta med offensiv kvalitetsutveckling. MultiDocker Cargo Handling AB producerar mobila hydrauliska kranar främst avsedda för att användas i en hamnmiljö. En stor del av verksamheten består av säljoch marknadsföringsaktiviteter mot marknadens kunder. I dagsläget vill MultiDocker finna metoder för att höja resultaten av sina mest värdeskapande aktiviteter och förädla sina tjänster gentemot kund. I min rapport har jag arbetat fram några enkla rekommendationer för hur MultiDocker kan påbörja ett genomgående kvalitetsarbete. Genom att systematisera och processkartlägga verksamheten kan MultiDocker tillföra metoder och verktyg för att följa upp och utvärdera resultaten av olika delar av verksamheten. Målet med denna rapport är inte att införa en ISO-certifiering, eller tillämpning av en heltäckande managementfilosofi, utan att höja visa organisatoriska och kulturella delar inom företagets verksamhet, för att kunna driva ett effektivt kvalitetsarbete. Dessa förändringar är värdefulla steg för att MultiDocker ska kunna närma sig en framtida ISO-certifiering.
Quality, constant improvements and process perspective are central parts within Quality Management. MultiDocker Cargo Handling AB produces mobile hydraulic cranes mostly for customers in a harbour environment. A major part of the MultiDocker business is focused on sales and marketing of their products and services. MultiDocker is currently requesting methods for improving the results of their most important activities and services towards their customers. The result of this report is a few simple recommendations for how MultiDocker in an effective way can start implementing quality management methods. By systematisation and process orientation, MultiDocker can add methods and routines for follow up and evaluation of various areas within their business. The purpose with this report is not an implementation of an ISO certified quality system or a complete management philosophy. This report aims to recommend some organisational and cultural changes for MultiDocker to start the implementation of quality management within their business. The changes that are recommended are necessary and valuable steps towards a future ISO 9000 certification.
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11

Cassells, Jason Bern Costello. "Hydraulic characteristics of straight mobile bed compound channels." Thesis, University of Ulster, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.245799.

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12

Minav, Tatiana, Luca Papini, and Matti Pietola. "A Thermal Analysis of Direct Driven Hydraulics." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200125.

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This paper focuses on thermal analysis of a direct driven hydraulic setup (DDH). DDH combines the benefits of electric with hydraulic technology in compact package with high power density, high performance and good controllability. DDH enables for reduction of parasitic losses for better fuel efficiency and lower operating costs. This one-piece housing design delivers system simplicity and lowers both installation and maintenance costs. Advantages of the presented architecture are the reduced hydraulic tubing and the amount of potential leakage points. The prediction of the thermal behavior and its management represents an open challenge for the system as temperature is a determinant parameter in terms of performance, lifespan and safety. Therefore, the electro-hydraulic model of a DDH involving a variable motor speed, fixed-displacement internal gear pump/motors was developed at system level for thermal analysis. In addition, a generic model was proposed for the electric machine, energy losses dependent on velocity, torque and temperature was validated by measurements under various operative conditions. Results of model investigation predict ricing of temperature during lifting cycle, and flattened during lowering in pimp/motor. Conclusions are drawn concerning the DDH thermal behavior.
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13

Vukovic, Milos, Roland Leifeld, and Hubertus Murrenhoff. "STEAM – a hydraulic hybrid architecture for excavators." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200445.

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During the past three years the Institute for Fluid Power Drives and Controls in Aachen has developed a new hydraulic system for mobile machinery called STEAM. The system represents a new step in excavator hydraulics, as it aims to reduce both the hydraulic system losses as well as those of the internal combustion engine by using a hybrid hydraulic architecture with accumulators. Starting with initial simulation studies the development has been followed by scaled test bench measurements and has progressed to a full scale validation using an 18 t excavator. The following publication aims to summarise the results obtained thus far with the aim of making them available to industry and encouraging their implementation in future applications.
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14

Lodewyks, Johann, and Pascal Zurbrügg. "Decentralized energy-saving hydraulic concepts for mobile working machines." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-199996.

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The high price of batteries in working machines with electric drives offer a potential for investment in energy-saving hydraulic systems. The decentralized power network opens up new approaches for hydraulic- and hybrid circuits. In addition, the regeneration of energy can be used at any point of the machine. For the example of an excavator arm drive with a double cylinder two compact hydraulic circuits are presented, which relieve a central hydraulic system.
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15

Dressler, Jan. "Konstrukce mobilního horizontálního štípacího stroje na dřevo." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229368.

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This thesis shows making of documentation for production powerfull wood-splitting machine for hardest forestal work. There are researched and soluted all phases of pre-production machine's lifecycle, also means analysis of conception, potentional risks and failures analysis and also definition of required properties. Based on those properties and results of analyses is possible to setting up condition which should be satisfied. At following part are descripted and shown features of machine-design . Main feature (component) of machine is its frame, also there are strenght analysis of frame. Machine movement features are mainly hydraulics pistons which are powered by asynchronous engine, whith alternative possibility movement by wheel tractor power-take off shaft or hydraulics output. There are performed all important properties. Working safety questions and high endurability of machine shold be also performed. At the end of work is realised conception and design study of forestal production system for wood processing with one universal source of energy – wheeled tractor.
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16

Oppermann, Michael. "A new approach for failure prediction in mobile hydraulic systems /." Düsseldorf : VDI-Verl, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016285406&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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17

Guo, Jihao, and Ludger Frerichs. "Development of a hydrostatic transmission with integrated supply for working hydraulics." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71237.

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The paper presents a study of a highly integrated hydraulic powertrain for mobile working machines. The highlight of this new concept is the replacement of separated drive and working pumps in conventional systems with only one displacement pump. After a comparison of different system architectures, the appropriate operating and control strategies for the chosen topology were applied and optimized. With the help of simulations in AMESim, a proof of the function of the hydraulic circuit and the controlling has been established. In addition, the energy saving potential of the integrated hydraulic system is also considered, by comparing the energy consumption of the new and the conventional powertrain in different duty cycles.
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18

Heybroek, Kim. "On Energy Efficient Mobile Hydraulic Systems : with Focus on Linear Actuation." Doctoral thesis, Linköpings universitet, Fluida och mekatroniska system, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-142326.

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In this dissertation, energy efficient hydraulic systems are studied. The research focuses on solutions for linear actuators in mobile applications, with emphasis on construction machines. Alongside the aspect of energy efficiency, the thesis deals with competing aspects in hydraulic system design found in the development of construction machines. Simulation models and controls for different concepts are developed, taking the whole machine into account. In line with this work, several proof of concept demonstrators are developed. First, pump controlled systems are studied and a novel concept based on an open-circuit pump configuration is conceived. Special consideration is paid to multi-mode capabilities that allow for a broadened operating range and potential downsizing of components. Simulation models and controls are developed and the system is experimentally validated in a wheel loader application. Second, the possibility for energy recuperation in valve controlled systems is investigated. In such solutions, a hydraulic motor, added to the meter-out port, is used for energy recovery during load lowering and in multi-function operation. Recuperated energy is either be used momentarily or is stored in a hydraulic accumulator. The proposed solution means an incremental improvement to conventional systems, which is sometimes attractive to machine manufacturers due to fewer uncertainties in reliability, safety and development cost. The energy recovery system is studied on a conceptual level where several alternative systems are proposed and a concept based on a two-machine hydraulic pressure transformer is selected for a deeper control study followed by experimental validation. Third, so-called `common pressure rail' systems are suggested. This technique is well established for rotary drives, at least for the industrial sector. However, in applying this technique to mobile hydraulics, feasible solutions for linear actuators are needed. In this dissertation, two approaches to this problem are presented. The first one is the hydraulic pressure transformer, studied in simulation as the key-component of a `series hybrid' topology for wheel loaders. In the second approach variable displacement linear actuators (VDLA) based on a 4-chamber cylinder and multi-mode control is applied. In a theoretical study a model predictive control approach is suggested and new insights to the trade-off between controllability and energy efficiency of a multi-chamber cylinder are presented. Finally, a fullscale hydraulic hybrid system based on secondary controlled hydraulic motors and VDLAs is designed and experimentally validated on a large excavator.
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19

Linjama, Matti, Mikko Huova, Otso Karhu, and Kalevi Huhtala. "High-Performance Digital Hydraulic Tracking Control of a Mobile Boom Mockup." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-199375.

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The automation of hydraulic mobile machinery, such as excavators, requires high performance control solutions. In hydraulics, this means fast and accurate force, velocity and position control of hydraulic cylinder. Especially the force control is known to be difficult with traditional servo valves. Fast digital hydraulic valves together with modern control solutions can overcome this problem. This paper uses a new force control solution, which is based on the fast digital hydraulic valves and model based control principle. The control solution is applied in a heavy axis mimicking dynamics of mobile machine booms. Experimental results show good force, velocity and position tracking performance with varying load masses. The slow velocity performance is also much improved when compared to the earlier results.
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20

O'Sullivan, John. "The hydraulic performance of meandering mobile bed compound channels with uniform sediment." Thesis, University of Ulster, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.310109.

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21

Opperwall, Tim, Ben Holter, and Simon Yardley. "Autonomous control of hydraulic mobile applications – a 21-ton excavator case study." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71115.

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Automation of mobile construction and agricultural equipment has gained wide acceptance based on increases in productivity, safety, and precision; while also helping upskill operators. On construction equipment, after-market automation of earthmoving crawler dozers and graders has driven a conversion of machines to electro-hydraulic (EH) implement control and integration into digital worksites. Unlike the aforementioned machines, conversion of the excavator into a semi or fully autonomous machine presents significant challenges due to kinematics, variable loads, non-linear multi-function of implements, safety, and robustness. The present work demonstrates the retrofit of a pilot-operated 21-ton excavator and development of automated controls to address these challenges. The operator pilot joysticks and existing hydraulic system were retained, while adding capability for autonomous functionality with integrated hardware, controls, and kinematic solvers within a production viable environment. Autonomous features for path planning, multi-function actuator velocity control, EH controls, and safety were developed to prove the value of precise and low latency control hardware for EH excavator operation.
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Krüßmann, Martin, and Karin Tischler. "Complexity Management to design and produce customerspecific hydraulic controls for mobile applications." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200692.

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Complexity management is the key to success for mobile machinery where the variety of customers and applications requires individual solutions. This paper presents the way Bosch Rexroth supports each OEM with hydraulic controls – from specification and conception towards application and production. It gives examples how platforms and processes are optimized according to the customer needs. The demand for flexible, short-term deliveries is met by an agile production with the technologies of Industry 4.0.
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Serrao, Lorenzo, Giulio Ornella, Luca Balboni, Carlos Maximiliano Giorgio Bort, Carl Dousy, and Fabrizio Zendri. "A telehandler vehicle as mobile laboratory for hydraulic-hybrid powertrain technology development." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-199805.

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The paper describes the design of a prototype vehicle used by Dana Holding Corporation as a mobile laboratory for the development of Spicer® PowerBoost® hydraulic-hybrid powertrain technology. A telehandler vehicle was selected due to its versatility. Starting from the high-level requirements, design choices from the powertrain layout to the control architecture are discussed. The hydraulic-hybrid powertrain system is described, and its performance is analyzed based on representative driving cycles.
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Browning, Mark C. "Applying mobile boundary water surface profile models to coarse-bedded bridge crossings /." Thesis, Connect to this title online; UW restricted, 2001. http://hdl.handle.net/1773/10123.

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Dötschel, Thomas, Michael Deeken, and Klaus Schneider. "Generator Speed Control Utilizing Hydraulic Displacement Units in a Constant Pressure Grid for Mobile Electrical Systems." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200484.

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Liebherr mobile harbor cranes use electrical generators to provide electrical power for load attachment devices such as container spreaders or magnets. Upcoming exhaust and noise emission standards and energy saving considerations lead to a broad diesel engine speed range. The challenging design aspect is to ensure a constant speed of the asynchronous generator by the hydraulic drive system. In addition, electrical load profiles of inductive consumers usually have DT1 system characteristics with very small time constants. They evoke fast torque variations interfacing the hydraulic transmission. Liebherr mobile harbor cranes, see Figure 1, usually have a closed hydraulic circuit containing a hydraulic pump with a high displacement volume that is adjusted electronically in accordance to the current diesel engine speed. Regarding the energy saving aspects, a further minimization of the diesel engine speed leads to a larger pump size with increasing torque losses. Depending on the pressure setting, the volume flows can be reduced in constant pressure grids. Especially in part-load operation this results in better efficiency compared to closed hydraulic circuits by minimizing the displacement volume of hydraulic components. To obtain a stable generator speed, it is essential to adjust the displacement volume of the hydraulic unit for equalizing its input torque with the Figure 1: LHM 800 Group 10 - Mobile Hydraulics | Paper 10-5 199 generator load torque. In interaction with the software-based control architecture, the stability of the electrical frequency depends on the mass inertia of the generator drive and time constants of the embedded hydraulic actuators. The system model, represented by ODEs is established and verified with a hydraulic simulation software. On that basis, the design approach of a PI-state-controller is presented. Corresponding controller gains and state feedback parameters are determined by pole placement techniques. To conclude this investigation a comparison between the hydraulically closed circuit and the constant pressure grid is shown by simulation and measurement data.
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Ritsema, Marcel, and Florent Meijer. "Development of a universal mobile caravan lifting device : A methodical development and design process." Thesis, Linnéuniversitetet, Institutionen för maskinteknik (MT), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-45229.

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The customer currently lifts caravans with an ordinary car jack in combination with a beam and a tractor. The customer wants to have a device which grants more safety and stability. The task is executed by two international students. In order to develop a new design, a methodical design process is used. This process does not contain all steps of a product development process and in consists in this case of four steps. The outcome of this product development process is a device which meets the technical requirements and which is validated by a computer simulation. The device is safe to use and stable. Besides, the device is mobile, thus storable, and adjustable, as the customer requested. Lastly, the students made some recommendations for using the device.
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Huybrechts, Nicolas. "Fully coupled 1D model of mobile-bed alluvial hydraulics: application to silt transport in the Lower Yellow River." Doctoral thesis, Universite Libre de Bruxelles, 2008. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210484.

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The overall objective is to improve the one-dimensional numerical prediction of the fine and non-cohesive bed material load in alluvial rivers, especially during high intensity episodes during which sediment beds are strongly remobilized. For this reason, we attempt to reduce the major inaccuracy sources coming from the alluvial resistance and bed material load relations needed to close the mathematical system. Through a shared parameter called the control factor m, the interactions occurring in alluvial rivers are incorporated more deeply into the mathematical model and more particularly into the closure laws: bed material load (SVRD, Suction-Vortex Resuspension Dynamics) and the energy slope (Verbanck et al. 2007). The control factor m is assumedly related to the Rossiter resonance modes of the separated flow downstream the bed form crest.

To further improve the representation of the flow-sediment-morphology interactions, a fully coupled model approach has been naturally chosen. In this work the terminology fully coupled means that the three equations forming the system are solved synchronously and that the terms often neglected by more traditional decoupled models are kept.

The feasibility of the new closure methodology has been drawn up by reproducing numerically the silt-flushing experiment conducted by the Yellow River Conservancy Commission (Y.R.C.C.) in the Lower Yellow River (LYR) in Northern China. The objective of the silt flushing experiment is to reverse the aggradation trend of the Lower Yellow River which, in the last decades, has become a perched river. The numerical simulation specifically reproduces the silt-flush effects in a reach of LYR located in the meandering part of the river. This reach (around 100 km) is delimited by Aishan and Luokou hydrometric stations.

Since the SVRD formulation has been developed from flume observations, the law has first been confronted to river datasets. The confrontation has revealed that the SVRD law becomes less suitable for fine sediment fluxes (ratio of water depth over median particle size > 5000). Therefore, a modified equation SVRD-2 has been built to enlarge the validity range.

The suitability of the SVRD-2 equation to predict fine sediment fluxes has been tested on data available from several hydrometric stations located in the meandering reach of the LYR: historical observations and measures collected during the flushes. The SVRD-2 has also been compared with relations specifically calibrated for this configuration. The comparison has pointed out that the performance of the two formulas is similar, which is encouraging for the SVRD-2 approach as it has not been calibrated on those data.

The closed equation system has been written on its quasi-linear form and is solved by a Finite Volume Method combined with a linearized Riemann algorithm. The numerical model has been checked up on two test cases: deposition upstream of a dam and the aggradation experiment conducted by Soni 1975.

As it is not yet possible to predict dynamically the value of the control factor m, a possible solution would be to extract its value from the measured data at the inlet cross section. Unfortunately, the necessary data are not measured locally. Moreover, a uniform value of the control factor m may not suffice to reproduce the flow along the whole reach. Therefore, it has been proposed to work temporarily in the reverse way.

From the comparison between the numerical results and the experimental data, a time evolution of the control factor m has effectively been extracted and it has been shown that it varies along the reach. At Aishan, the evolution of the control factor m corresponds to the evolution expected from the data analysis previously conducted on other data sets: the value of the control factor m decreases during the flush as it tries to reach the optimal value m=1. The time evolution at Luokou behaves differently to the one at Aishan, but remains in agreement with m evolution patterns observed historically for the river section flowing round Jinan City walls. For Luokou, the highlighted differences may come from three dimensional effects coming from the meander bend upstream the station.

Generally, the results obtained for the hydraulics, the sediment transport and bed adaptation are encouraging but still need improvements and additional feeding from the experimental data. The results for the concentration and therefore the bed elevation are very sensitive to the value of the control factor m as it influences most of the terms of the bed material load equation (SVRD-2).

The major remaining difficulties are, firstly, to deal with the rapid transients for which the model is less suitable and, secondly, to improve the prediction of the value of control factor m. Before paying more attention into the transients, enhancements concerning the flow along the reach (initial condition and discharge rates during the first days of the flush) must be conducted in priority. Indeed as the prediction of the bed or the cross section evolutions depend directly on the quality of the prediction of the sediment concentration and the hydraulics, one should first improve these aspects. To perform this study, more information about the water levels or sediment concentrations is necessary at some intermediate stations. One solution is to lengthen the studied reach, upstream to Sunkou and downstream to Lijin, totaling a river length of 456 Km.

A more entire signal of the energy slopes and the associated bed configurations at different stations would enlighten how the control factor m evolves along the reach during the silt-flush events.


Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished

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28

Danielson, Jon David. "Mobile boom cranes and advanced input shaping control." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/24651.

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29

Idowu, Ifeolu Mobolaji. "Numerical evaluation (FEA) of end stop impact forces for a crane fitted with hydraulic buffers." Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/5399.

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Thesis (MScEng (Civil Engineering))--University of Stellenbosch, 2010.
ENGLISH ABSTRACT: End stop impact forces are horizontal longitudinal forces imposed by the crane on the end stops. Both the previous South African loading code SABS 0160:1989 and the current South African loading code SANS 10160 , classify end stop impact force as an accidental load case , hence they are not expected to occur within the expected lifetime when the guide lines for crane operation are strictly adhered to. In the estimation of end stop impact force, the previous South African loading code SABS 0160:1989 gives two guidelines for estimating the end stop impact force. The first guideline is simplistic in its approach and it’s based on the assumption that the crane and its supporting structure act as rigid bodies; hence calculation is based on rigid body mechanics. Literature reviewed reveals that this is not correct. The second guideline is more explicit in its approach as it takes into account the crane speed, resilience of the buffers and resilience of the end stops. The current South African loading code, SANS 10160 gives a better representation of the dynamics of the crane movement. However, the dynamic factor recommended for the estimation of end stop impact force is empirical in nature and thus lacks adequate scientific backing. One of the purposes of this research was to investigate the influence of the stiffness of the crane bridge on the end stop impact force. This was achieved by conducting a series of FEA simulations on the double bridge EOHTC fitted with elastomeric buffers. For this set of simulations, the effect of each influencing parameter on the end stop impact force was investigated, and the maximum end stop impact force was obtained using a constraint optimization technique. From the results obtained, comparison was then made with the existing maximum end stop impact force for a single bridge EOHTC fitted with elastomeric buffers. Another purpose of this research was to investigate the end stop impact force for an electric overhead travelling cranes (EOHTC) fitted with hydraulic buffers taking into account the dynamics involved in the movement of the EOHTC. This was achieved by a series of experimental and numerical investigation. The numerical investigation was conducted using an existing numerical model of an EOHTC which captures the crane and its supporting structure as a coupled system. Finite element analysis (FEA) impact force histories obtained were calibrated to the base experimental impact force histories. Thereafter, a series of FEA simulations were conducted by changing the parameters which have a substantial effect on the end stop impact forces. This yielded various maximum impact peaks for various parameters. The maximum impact force was then mathematical obtained from the FEA impact force histories for a given level of reliability using a constraint optimization technique. Also, codified end stop impact forces were calculated for the SABS 0160:1989 and SANS 10160-6:2010. From the results obtained, comparison was made between the codified end stop impact force and the maximum impact force obtained from the constraint optimization technique.
AFRIKAANSE OPSOMMING: Ent buffer impak kragte is horisontale kragte wat deur die kraan op die entbuffers aangewend word. Beide die Suid Afrikaanse las kode SABS 0160:1989 en die voorgestelde Suid Afrikaanse las kode SANS 10160, klasifisseer die entbuffer impak kragte as ‘n ongeluks las geval, dus word die kragte nie verwag tydens die verwagte leeftyd van die kraan wanneer die riglyne van die kraan prosedures streng gevolg word nie. Volgens die Suid-Afrikaanse las kode SABS 0160:1989 word daar twee riglyne voorgestel om die entbuffer kragte te bepaal. Die eerste riglyn is ‘n eenvoudige riglyn en word gebaseer op die aaname dat die kraan en die ondersteunende struktuur as ‘n starre ligame reageer en dus word die kragte bereken deur star ligaam meganika, alhoewel, uit die literatuur word dit bewys as inkorrek. Die tweede riglyn is ‘n meer implisiete benadering aangesien dit die kraan snelheid, elastisiteit van die buffers sowel as die elastisiteit van die end stoppe in ag neem. SANS 10160-6:2019 gee ‘n beter benadering van die dinamiese beweging van die kraan. Die voorgestelde dinamiese faktor waarmee die ent_buffer_kragte bereken word, is empiries van natuur . Een van die doelstellings vir die navorsings projek was om te bepaal wat die invloed van die kraan brug se styfheid op die entbuffer kragte is. ‘n Aantal Eindige Element Analise (FEA) simulasies is uitgevoer op ‘n dubbel brug elektriese aangedrewe oorhoofse kraan met elastomeriese buffers. Van die stel FEA simulasies kan die invloed van elke parameter op die entbuffer impak_kragte bepaal word. Die maksimum entbuffer impak_kragte is bepaal met behulp van ‘n beperking optimiserings tegniek. Vanaf hierdie resultate is ‘n vergelyking gemaak met die bestaande maksimum ent_buffer impak_kragte vir ‘n enkel brug elektriese oorhoofse aangdrewe kraan met elastomeriese buffers. ‘n Tweede doel rede vir die navorsing was om te bepaal wat die ent buffer impak_kragte op ‘n elektriese aangedrewe oorhoofse kraan met hidrouliese buffers is. Dit is bepaal deur ‘n aantal eksperimentele en numeriese toetse uit te voer. Die numeriese toetse is uitgevoer deur gebruik te maak van ‘n huidige numeriese model van ‘n elektriese aangedrewe oorhoofse kraan wat die kraan en die ondersteunende struktuur as ‘n. Die Eindige Element Analise impak_kragte is gekalibreer teen die eksperimenteel bepaalde impak- kragte. Daarna is ‘n reeks Eindige Element Analise simulasies uitgevoer en sodoende die parameters te verander wat die mees beduidende invloed op die end stop impak_kragte het. Dit het verskeie impak_krag pieke vir verskillende parameters meegebring. Die maksimum impak kragte is bepaal van die impak kragte van die Eindige Element Analise vir ‘n gegewe vlak van betroubaarheid deur gebruik te maak van die beperking optimiserings tegniek. Daarmee saam is die gekodifiseerde ent buffer impak kragte bereken volgen SABS 0160:1989 en die SANS 10160- 6:2010. Vanaf hierdie resultate is ‘n vergelyking gemaak tussen die gekodifiseerde entbuffer impak_kragte en die maksimum impak_kragte wat bepaal is deur die (beperking optimiserings tegniek).
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30

Rexer, Manuel, Peter Kloft, Frank Bauer, Jakob Hartig, and Peter F. Pelz. "Foam accumulators: packaging and weight reduction for mobile applications." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71088.

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Standardized parts like hydraulic accumulators are used in nearly every hydraulic system, in many cases even several. Therefore, even small changes in size and weight of accumulators can save considerable material costs. In mobile applications, hydraulic accumulators are used among others in hydro-pneumatic suspension systems. There is a strong focus on miniaturization and weight reduction, as the components always have to be transported with the vehicle. Energy density and energy content of conventional hydraulic accumulators cannot be maximized at the same time. This limitation can be overcome by adding a heat capacity with large surface into the gas volume of the accumulator. The heat capacity enlarges the isothermal frequency range and therefore enlarges the energy density of the accumulator at the given frequency and the given size. In this paper an experimental comparison of conventional hydraulic accumulators and accumulators with foam inserts shows, that at a specific frequency band, the stiffness of foam filled accumulators is significantly lower than of conventional accumulators. The energy density is about 11 % higher than in conventional accumulators. Consequently, a space reduction of about 18 % is possible.
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31

Guerriero, Brian A. "Haptic control and operator-guided gait coordination of a pneumatic hexapedal rescue robot." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/24626.

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32

Düsing, Christa, and David Prust. "Supplementary failure mode and effect analysis (FMEA) for safety application standards DIN EN ISO 13849 safety function-fmea." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71272.

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In the automotive industry, the Safety Function-FMEA according to ISO 26262 and its application to functional safety relevant systems is a well-established process in the form of Automotive Safety Integrity Levels (ASILs). These represent the failure mitigation that must be applied to ensure an acceptable residual risk of malfunctioning behaviour. The DIN EN ISO 13849 (ISO 13849) already describes a process to reduce risks for machines which starts with a Hazard And Risk Analysis (HARA) as described in DIN EN ISO 12100 and concludes with the Safety Requirements Specification (SRS). The SRS is a functional and technical safety concept defining requirements and guidelines to make sure the design conforms to defined safety goals. ISO 13849 lists important faults and failures for various technologies. The defined Safety Functions (SFs) can be classified in corresponding categories that lead to the particular hardware/system structure. This applies to mechatronic systems consisting of at least one sensor, one control unit and one actuator to monitor the system and effect a response in case of failure. Compared to the methods described in ISO 13849, the Safety Function-FMEA allows systematic identification of additional failures resulting from combinations of effects, rather than only listing the main failure causes. Based on the complexity of the machines it is highly recommended to perform a Safety Function-FMEA as a complementary method to assess and improve the overall safety of machinery.
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33

Komárek, Jakub. "Manipulační zařízení pro kontejnery." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400434.

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This thesis deals with handling equipment for handling containers 20 "and 40". Design of suspension frame with one telescopic beam is elaborated. In this work an analysis of the load on the device and the design calculation of the structure is elaborated. The suspension frame design with sliding, tilting and rotary positioning is designed to provide hydraulic elements. In the diploma thesis, the strength calculation of the selected construction node is processed and the necessary drawing documentation is created.
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34

Carrick, Sam. "The dynamic interplay of mechanisms governing infiltration into structured and layered soil columns." Lincoln University, 2009. http://hdl.handle.net/10182/1328.

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Worldwide there is considerable concern over the effects of human activities on the quantity and quality of freshwater. Measurement of infiltration behaviour will be important for improving freshwater management. This study identifies that New Zealand has a sporadic history of measuring soil water movement attributes on a limited number of soil types, although the current practical demand should be large for management of irrigation, dairy farm effluent disposal, as well as municipal / domestic waste- and storm-water disposal. Previous research has demonstrated that infiltration behaviour is governed by the interplay between numerous mechanisms including hydrophobicity and preferential flow, the latter being an important mechanism of contaminant leaching for many NZ soils. Future characterisation will need to recognise the dynamic nature of these interactions, and be able to reliably characterise the key infiltration mechanisms. Since macropores are responsible for preferential flow, it is critical that infiltration studies use a representative sample of the macropore network. The aim of this project was to study the mechanisms governing the infiltration behaviour of a layered soil in large (50 x 70 cm) monolith lysimeters, where the connectivity of the macropore network remains undisturbed. Four lysimeters of the Gorge silt loam were collected, a structured soil with four distinct layers. On each lysimeter there were four separate infiltration experiments, with water applied under suctions of 0, 0.5, 1, and 1.5 kPa by a custom-built tension infiltrometer. Each lysimeter was instrumented with 30 tensiometers, located in arrays at the layer boundaries. There was also a field experiment using ponded dye infiltration to visually define preferential flowpaths. Analysis of dye patterns, temporal variability in soil matric potential (Ψm), and solute breakthrough curves all show that preferential flow is an important infiltration mechanism. Preferential flowpaths were activated when Ψm was above -1.5 kPa. During saturated infiltration, at least 97% of drainage was through the ‘mobile’ pore volume of the lysimeter (θm), estimated among the lysimeters at 5.4 – 8.7 % of the lysimeter volume. Early-time infiltration behaviour did not show the classical square-root of time behaviour, indicating sorptivity was not the governing mechanism. This was consistent across the four lysimeters, and during infiltration under different surface imposed suctions. The most likely mechanism restricting sorptivity is weak hydrophobicity, which appears to restrict infiltration for the first 5 – 10 mm of infiltration. Overall, the Gorge soil’s early-time infiltration behaviour is governed by the dynamic interaction between sorptivity, hydrophobicity, the network of air-filled pores, preferential flow and air encapsulation. Long-time infiltration behaviour was intimately linked to the temporal dynamics of Ψm, which was in turn controlled by preferential flow and soil layer interactions. Preferential flowpaths created strong inter-layer connectivity by allowing an irregular wetting front to reach lower layers within 2 – 15 mm of infiltration. Thereafter, layer interactions dominate infiltration for long-time periods, as Ψm in soil layers with different K(Ψm) relationships self-adjusts to try to maintain a constant Darcy velocity. An important finding was that Ψm rarely attained the value set by the tension infiltrometer during unsaturated infiltration. The results show that ‘true’ steady-state infiltration is unlikely to occur in layered soils. A quasi-steady state was identified once the whole column had fully wet and layer interactions had settled to where Ψm changes occurred in unison through each soil layer. Quasi-steady state was difficult to identify from just the cumulative infiltration curve, but more robustly identified as when infiltration matched drainage, and Ψm measurements showed each layer had a stable hydraulic gradient. I conclude that the in-situ hydraulic conductivity, K(Ψm), of individual soil layers can be accurately and meaningfully determined from lysimeter-scale infiltration experiments. My results show that K(Ψm) is different for each soil layer, and that differences are consistent among the four lysimeters. Under saturated flow the subsoil had the lowest conductivity, and was the restricting layer. Most interestingly this pattern reversed during unsaturated flow. As Ψm decreased below -0.5 to -1 kPa, the subsoil was markedly more conductive, and the topsoil layers became the restricting layers. All four soil layers demonstrate a sharp decline in K(Ψm) as Ψm decreases, with a break in slope at ~ -1 kPa indicating the dual-permeability nature of all layers.
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35

Mazloumpour, Mohammad E. "Energy Consumption and Dynamic Behaviour Analyses in Single-Rod Hydraulic Actuation of Mobile Machines." 2014. http://hdl.handle.net/1993/23134.

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This thesis investigates the performance of single-rod hydraulic actuation of mobile machines. The performance is evaluated by studying the energy consumption and the dynamic performance of such actuation systems. Presently, valve-controlled systems control actuators of mobile machines. However, they are inefficient in terms of energy consumption. Therefore, low-energy consumption pump-controlled systems have been proposed. This thesis studies the energy consumption of pump-controlled systems developed by Wendell and Rahmfeld-Ivantysynova and valve-controlled systems. This thesis also compares the dynamic performance of the above pump-controlled systems with the load sensing valve-controlled system. A set of evaluation tests is conducted on single-rod hydraulic actuations that are simulated using the Automation Studio® software. Based on a cycle test, the energy consumption of Wendell’s pump-controlled system is 60% lower than that of the load sensing system. However, the above pump-controlled system leads to the poor dynamic behavior of a single-rod cylinder.
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36

Zhu, Ming. "Master-slave force-reflecting resolved motion control of hydraulic mobile machines." Thesis, 1994. http://hdl.handle.net/2429/3514.

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Issues concerning the design and implementation of master-slave force-reflecting resolved motion control of hydraulic mobile machines are addressed in this thesis. Network concepts and linear system theory are used to design and analyze general force-reflecting teleoperator systems to achieve high performance while maintaining stability. A new control structure is proposed to achieve "transparency" for teleoperator systems under rate control. A novel approach to stability analysis of the stiffness feedback strategy proposed in previous work is provided which, under certain condition, guarantees global asymptotic stability of the teleoperator system. The system could be either under rate or position control and could be subject to time-delays, nonlinearities or active environments. The closed-form inverse kinematics solutions of an excavator and a feller-buncher, which are four and five degree-of-freedom manipulators respectively, are provided to achieve resolvedmotion of the manipulator's end-effector. Using the UBC magnetically levitated joystick, the master-slave force-reflecting resolved motion control has been successfully implemented on a CAT-215 excavator and a CAT-325 feller-buncher. Machine experiments demonstrate the effectiveness of this control strategy in improving productivity and safety of general hydraulic mobile machines.
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37

Ghasempoor-Nobandgany, Ahmad. "A measure of stability for mobile manipulators with application to heavy-duty hydraulic machines." 1995. http://hdl.handle.net/1993/17611.

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38

Abo-Shanab, Roshdy Foaad Abdrabo. "Dynamic modeling and stability analysis of mobile manipulators with application to heavy duty hydraulic machines." 2003. http://hdl.handle.net/1993/19813.

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39

(8770307), Nathan J. Keller. "Condition Monitoring Systems for Axial Piston Pumps: Mobile Applications." Thesis, 2020.

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Condition monitoring of hydraulic systems has become more available and inexpensive to implement. However, much of the research on this topic has been done on stationary hydraulic systems without the jump to mobile machines. This lack of research on condition monitoring of hydraulic systems on mobile equipment is addressed in this work. The objective of this work is to develop a novel process of implementing an affordable condition monitoring system for axial piston pumps on a mobile machine, a mini excavator in this work. The intent was to find a minimum number of sensors required to accurately predict a faulty pump. First, an expert understanding of the different components on an axial piston pump and how those components interact with one another was discussed. The valve plate was selected as a case study for condition monitoring because valve plates are a critical component that are known for a high percentage of failures in axial piston pumps. Several valve plates with various degrees of natural wear and artificially generated damage were obtained, and an optical profilometer was used to quantify the level of wear and damage. A stationary test-rig was developed to determine if the faulty pumps could be detected under a controlled environment, to test several different machine learning algorithms, and to perform a sensor reduction to find the minimum number of required sensors necessary to detect the faulty pumps. The results from this investigation showed that only the pump outlet pressure, drain pressure, speed, and displacement are sufficient to detect the faulty pump conditions, and the K-Nearest Neighbor (KNN) machine learning algorithms proved to be the least computationally expensive and most accurate algorithms that were investigated. Fault detectability accuracies of 100% were achievable. Next, instrumentation of a mini excavator was shown to begin the next phase of the research, which is to implement a similar process that was done on the stationary test-rig but on a mobile machine. Three duty cycle were developed for the excavator: controlled, digging, and different operator. The controlled duty cycle eliminated the need of an operator and the variability inherent in mobile machines. The digging cycle was a realistic cycle where an operator dug into a lose pile of soil. The different operator cycle is the same as the digging cycle but with another operator. The sensors found to be the most useful were the same as those determined on the stationary test-rig, and the best algorithm was the Fine KNN for both the controlled and digging cycles. The controlled cycle could see fault detectability accuracies of 100%, while the digging cycle only saw accuracies of 93.6%. Finally, a cross-compatibility between a model trained under one cycle and using data from another cycle as an input into the model. This study showed that a model trained under the controlled duty cycle does not give reliable and accurate fault detectability for data run in a digging cycle, below 60% accuracies. This work concluded by recommending a diagnostic function for mobile machines to perform a preprogrammed operation to reliably and accurately detect pump faults.
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