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authors Hui-Ping, T., Veeramani, D., Kunigahalli, R. and Russell, J.S.
year 1996
title OPSALC: A computer-integrated operations planning system for autonomous landfill compaction
source Automation in Construction 5 (1) (1996) pp. 39-50
summary Construction workers and operators associated with sanitary waste landfilling operations face significant health risks because of high levels of exposure to harmful solids and gases. Automation of the spreading and compacting processes of a landfilling operation using an autonomous compactor can reduce exposure of workers to the harmful environment, and thereby lead to improved safety of workers. This paper describes a computer-integrated operations planning system that facilitates (1) the design of landfill cells and (2) the generation of area-covering path plans for spreading and compaction processes by the autonomous compactor. The partitioning of a given landfill site into three-dimensional cells is accomplished by a recursive spatial decomposition technique in which the cell sizes are determined using a probabilistic model for waste generation. A recursive sub-division of each cell into monominoes facilitates the system to automatically deal with any differences between the actual amount of waste generated on a particular day and the amount predicted by the probabilistic model. The partitioned configuration of the landfill site is used to generate the path plan for the autonomous compactor using three motion models, namely straight-up, straight-down, and zig-zag. The computer-integrated system is implemented using PHIGS graphics standard and MOTIF toolkit with C-program binding.
series journal paper
more http://www.elsevier.com/locate/autcon
references Content-type: text/plain
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