TexasScholarWorks
    • Login
    • Submit
    View Item 
    •   Repository Home
    • UT Electronic Theses and Dissertations
    • UT Electronic Theses and Dissertations
    • View Item
    • Repository Home
    • UT Electronic Theses and Dissertations
    • UT Electronic Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Improving the safety and efficiency of rail yard operations using robotics

    Thumbnail
    View/Open
    BODDIFORD-THESIS-2013.pdf (8.054Mb)
    Date
    2013-12
    Author
    Boddiford, Andrew Shropshire
    Share
     Facebook
     Twitter
     LinkedIn
    Metadata
    Show full item record
    Abstract
    Significant efforts have been expended by the railroad industry to make operations safer and more efficient through the intelligent use of sensor data. This work proposes to take the technology one step further to use this data for the control of physical systems designed to automate hazardous railroad operations, particularly those that require humans to interact with moving trains. To accomplish this, application specific requirements must be established to design self-contained machine vision and robotic solutions to eliminate the risks associated with existing manual operations. Present-day rail yard operations have been identified as good candidates to begin development. Manual uncoupling, in particular, of rolling stock in classification yards has been investigated. To automate this process, an intelligent robotic system must be able to detect, track, approach, contact, and manipulate constrained objects on equipment in motion. This work presents multiple prototypes capable of autonomously uncoupling full-scale freight cars using feedback from its surrounding environment. Geometric image processing algorithms and machine learning techniques were implemented to accurately identify cylindrical objects in point clouds generated in real-vi time. Unique methods fusing velocity and vision data were developed to synchronize a pair of moving rigid bodies in real-time. Multiple custom end-effectors with in-built compliance and fault tolerance were designed, fabricated, and tested for grasping and manipulating cylindrical objects. Finally, an event-driven robotic control application was developed to safely and reliably uncouple freight cars using data from 3D cameras, velocity sensors, force/torque transducers, and intelligent end-effector tooling. Experimental results in a lab setting confirm that modern robotic and sensing hardware can be used to reliably separate pairs of rolling stock up to two miles per hour. Additionally, subcomponents of the autonomous pin-pulling system (APPS) were designed to be modular to the point where they could be used to automate other hazardous, labor-intensive tasks found in U.S. classification yards. Overall, this work supports the deployment of autonomous robotic systems in semi-unstructured yard environments to increase the safety and efficiency of rail operations.
    Department
    Mechanical Engineering
    Description
    text
    Subject
    Robotics
    Machine vision
    Railroad
    URI
    http://hdl.handle.net/2152/29111
    Collections
    • UT Electronic Theses and Dissertations

    University of Texas at Austin Libraries
    • facebook
    • twitter
    • instagram
    • youtube
    • CONTACT US
    • MAPS & DIRECTIONS
    • JOB OPPORTUNITIES
    • UT Austin Home
    • Emergency Information
    • Site Policies
    • Web Accessibility Policy
    • Web Privacy Policy
    • Adobe Reader
    Subscribe to our NewsletterGive to the Libraries

    © The University of Texas at Austin

     

     

    Browse

    Entire RepositoryCommunities & CollectionsDate IssuedAuthorsTitlesSubjectsDepartmentsThis CollectionDate IssuedAuthorsTitlesSubjectsDepartments

    My Account

    Login

    Statistics

    View Usage Statistics

    Information

    About Contact Policies Getting Started Glossary Help FAQs

    University of Texas at Austin Libraries
    • facebook
    • twitter
    • instagram
    • youtube
    • CONTACT US
    • MAPS & DIRECTIONS
    • JOB OPPORTUNITIES
    • UT Austin Home
    • Emergency Information
    • Site Policies
    • Web Accessibility Policy
    • Web Privacy Policy
    • Adobe Reader
    Subscribe to our NewsletterGive to the Libraries

    © The University of Texas at Austin