Related papers: Simulation-Based Optimization of High-Performance …
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…
We investigate how well a physics-based simulator can replicate a real wheel loader performing bucket filling in a pile of soil. The comparison is made using field test time series of the vehicle motion and actuation forces, loaded mass,…
This paper presents a method for learning world models for wheel loaders performing automatic loading actions on a pile of soil. Data-driven models were learned to output the resulting pile state, loaded mass, time, and work for a single…
Earthmoving operations with wheel loaders require substantial power and incur high operational costs. This work presents an efficient automation framework based on the Fundamental Earthmoving Equation (FEE) for soil-tool interaction…
Accurate prediction of excavation forces is critical for enabling autonomous operation and optimizing control strategies in earthmoving machinery. Conventional approaches often depend on extensive data collection or computationally…
As in the car industry for quite some time, dynamic simulation of complete vehicles is being practiced more and more in the development of off-road machinery. However, specific questions arise due not only to company structure and size, but…
Wheel loaders in mines and construction sites repeatedly load soil from a pile to load receivers. Automating this task presents a challenging planning problem since each loading's performance depends on the pile state, which depends on…
As compute power increases with time, more involved and larger simulations become possible. However, it gets increasingly difficult to efficiently use the provided computational resources. Especially in particle-based simulations with a…
In dynamic simulation of complete wheel loaders, one interesting aspect, specific for the working task, is the momentary power distribution between drive train and hydraulics, which is balanced by the operator. This paper presents the…
Prediction and optimisation of a wheel loader's dynamic behaviour is a challenge due to tightly coupled, non-linear subsystems of different technical domains. Furthermore, a simulation regarding performance, efficiency, and operability…
This work presents a deep reinforcement learning-based approach to train controllers for the autonomous loading of ore piles with a Load-Haul-Dump (LHD) machine. These controllers must perform a complete loading maneuver, filling the LHD's…
Parallel multiphysics simulations often suffer from load imbalances originating from the applied coupling of algorithms with spatially and temporally varying workloads. It is thus desirable to minimize these imbalances to reduce the time to…
The design and analysis of pallet setups are essential for ensuring safety of packages transportation. With rising demands in the logistics sector, the development of automated systems utilizing advanced technologies has become increasingly…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
The 3D bin packing problem, with its diverse industrial applications, has garnered significant research attention in recent years. Existing approaches typically model it as a discrete and static process, while real-world applications…
Interactive multi-agent simulation algorithms are used to compute the trajectories and behaviors of different entities in virtual reality scenarios. However, current methods involve considerable parameter tweaking to generate plausible…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Rendering accurate multisensory feedback is critical to ensure natural user behavior in driving simulators. In this work, we present a virtual reality (VR)-based Vehicle-in-the-Loop (ViL) simulator that provides visual, vestibular, and…
Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…
Reinforcement learning control of an underground loader is investigated in simulated environment, using a multi-agent deep neural network approach. At the start of each loading cycle, one agent selects the dig position from a depth camera…