design issues and in field tests of the new sustainable tractor locostra

Clicks: 174
ID: 146402
2014
This paper presents a robotized small tractor designed to perform humanitarian demining operations and agricultural operations when demining is accomplished. This dual use makes this system unique. The focus is on the design of the machine, including the modeling for design and control, the characteristics of the tools operated by the machine, the motion control at tele-operated, and semi-autonomous levels. The mechatronic design process applied uses sustainable design strategies. Technical contributions are in the tractor architecture, designed to make automation easier, and in the control functions implemented on this architecture. Extensive field tests were performed in different sites; first, in Italy, focusing on the agricultural application of the machine, in natural scenarios with different ground and vegetation; then, in two real mine fields in Jordan focusing on the performance for technical survey in humanitarian demining. The tests have confirmed the performance for both task categories (agricultural and demining), confirming the correctness of the statement. For the demining application, the machine has been assessed by professional users confirming the acceptance to field use and the novelty of the concept.
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cepolina2014roboticsdesign Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Emanuela Elisa Cepolina;Michał Przybyłko;Giovanni Battista Polentes;Matteo Zoppi
Journal Biolinguistics
Year 2014
DOI 10.3390/robotics3010083
URL
Keywords Keywords not found

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