Design and Implementation of a Control System for a Tunneling Robot

Worrall, K. , Houston, C., Cebecauer, M., Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (2019) Design and Implementation of a Control System for a Tunneling Robot. In: 2019 IEEE Smart World Congress, Leicester, UK, 19-23 Aug 2019, ISBN 9781728140346 (doi:10.1109/SmartWorld-UIC-ATC-SCALCOM-IOP-SCI.2019.00084)

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Abstract

The development of a tunneling robot for trenchless drilling has many different design aspects. Suitable hardware requires to be developed that can withstand the torques and forces that are generated by the drilling of the tunnel. A suitable route requires to be plotted that considers the maneuverability of the robot and avoids any obstacles or existing infrastructure. The control of such a system requires to be implemented in such a way that the system can follow the desired route while maintaining the required drill speed and avoid becoming stuck within the tunnel created.

Item Type:Conference Proceedings
Keywords:Tunneling, trenchless, drilling, control, robotics, modelling.
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Worrall, Dr Kevin and Flessa, Ms Thaleia and Cebecauer, Mr Mikulas and Thomson, Dr Douglas and McGookin, Dr Euan and Harkness, Dr Patrick and Houston, Mr Cameron
Authors: Worrall, K., Houston, C., Cebecauer, M., Flessa, T., McGookin, E., Thomson, D., and Harkness, P.
Subjects:T Technology > T Technology (General)
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
College of Science and Engineering > School of Engineering > Systems Power and Energy
ISBN:9781728140346
Published Online:09 April 2020
Copyright Holders:Copyright © 2019 IEEE
First Published:First published in 2019 IEEE SmartWorld, Ubiquitous Intelligence & Computing, Advanced & Trusted Computing, Scalable Computing & Communications, Cloud & Big Data Computing, Internet of People and Smart City Innovation (SmartWorld/SCALCOM/UIC/ATC/CBDCom/IO
Publisher Policy:Reproduced in accordance with the publisher copyright policy
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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
735451BADGERPatrick HarknessEuropean Commission (EC)731968ENG - ENGINEERING SYSTEMS POWER & ENERGY