| Issue |
MATEC Web Conf.
Volume 304, 2019
9th EASN International Conference on “Innovation in Aviation & Space”
|
|
|---|---|---|
| Article Number | 04019 | |
| Number of page(s) | 8 | |
| Section | Systems | |
| DOI | https://doi.org/10.1051/matecconf/201930404019 | |
| Published online | 17 December 2019 | |
Automating Loading and Locking of New Generation Air-cargo Containers
1
Control Systems Lab - National Technical University of Athens,
15780
Athens,
Greece
2
Scandinavian Avionics Greece S.A., Athens International Airport,
19019
Spata,
Greece
3
National & Kapodistrian University of Athens, Evripou Campus,
Psachna
34400,
Greece
* Corresponding author: gbolanakis@hotmail.com
In this paper, an outline of NTUA’s work in the framework of project INTELLICONT is presented. We describe the current state of the air-cargo handling procedures and how the autonomous system that is under development is going to simplify these and increase the overall efficiency. Important issues and challenges regarding the system's development are discussed and a preliminary design of the novel robotic platform is given. The main tasks of this platform include the autonomous motion and locking of containers with mass exceeding one tone, avoiding at the same time obstacles and surpassing terrain discontinuities. Information regarding the selected actuators and other key electrical components, such as motor drivers and sensors are provided also. The architecture of the embedded system and the specifications of the selected Central Control Unit are described, as well as the integration of the motor drivers, sensors and other peripherals with the Robot Operating System (ROS). Further details on the development of a high accuracy localization system, which is mandatory to lock the container safely to the corresponding positions are provided also. In addition, we give details regarding the locking mechanism with integrated monitoring functionalities, an important part of the system. Simulation experiments validate the selected position controller and key system specifications are highlighted based on results. Finally, recent prototype experiments conducted to verify the localization system are presented.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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