Publication
Robot trajectory generation, simulation and execution for shotcrete automation
| datacite.subject.fos | Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática | pt_PT |
| dc.contributor.advisor | Castro, Hugo Filipe Costelha de | |
| dc.contributor.author | Moniz, Gonçalo Carriço | |
| dc.date.accessioned | 2024-06-21T14:46:44Z | |
| dc.date.available | 2024-06-21T14:46:44Z | |
| dc.date.issued | 2024-01-22 | |
| dc.description.abstract | Shotcrete is a widely used civil and mining engineering method that consists of projecting concrete at high-speed using specialized equipment. Nowadays, the trajectory of the projection nozzle is still controlled by an operator (manually or by teleoperation). Automating this process has the potential to improve shotcrete efficiency, quality, and worker safety. This report details the work done within the RoboShot@FRC project, to automate the generation and execution of trajectories for robot-based application of shotcrete in the reinforcement of railway tunnels. The developed work focused on two main components: one that generates a set of poses based on an input mesh of the surface to be shotcreted (path generation program), and another one that simulates the shotcrete process. Extensive tests were done in a simulated environment, and some tests were also performed in real robots. The path generation and shotcrete simulation programs were used together to optimize the trajectory parameters, in order to maximize the resulting concrete layer homogeneity. | pt_PT |
| dc.description.sponsorship | POCI-01-0247-FEDER-047075 | pt_PT |
| dc.description.sponsorship | LISBOA-01-0247-FEDER-047075 | pt_PT |
| dc.description.sponsorship | Call CEECINST/00051/2018 | pt_PT |
| dc.identifier.tid | 203652681 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.8/9733 | |
| dc.language.iso | eng | pt_PT |
| dc.relation | Institute for Systems Engineering and Computers at Coimbra - INESC Coimbra | |
| dc.subject | Automação de shotcrete | pt_PT |
| dc.subject | Geração de caminhos robóticos | pt_PT |
| dc.subject | Manipulação robótica | pt_PT |
| dc.subject | Simulação de shotcrete | pt_PT |
| dc.title | Robot trajectory generation, simulation and execution for shotcrete automation | pt_PT |
| dc.type | master thesis | |
| dspace.entity.type | Publication | |
| oaire.awardTitle | Institute for Systems Engineering and Computers at Coimbra - INESC Coimbra | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00308%2F2020/PT | |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | masterThesis | pt_PT |
| relation.isProjectOfPublication | 254d9223-2e3b-4754-bae9-c98986d80921 | |
| relation.isProjectOfPublication.latestForDiscovery | 254d9223-2e3b-4754-bae9-c98986d80921 | |
| thesis.degree.name | Mestrado em Engenharia Electrotécnica | pt_PT |