Teleoperated Control of Hydraulic Equipment for Hazardous Material Handling

Abstract

Traditionally, teleoperation has been an expensive and lengthy process. This thesis shows that by incorporating off-the-shelf technology into a modular design, teleoperation can be developed rapidly and inexpensively. Within six months and a hardware cost of $20k, a group of Virginia Tech students and faculty converted a Case CX-160 excavator to teleoperated control. With full wireless functionality of the excavator's six degrees-of-freedom, ignition, and remote cameras at 3000 ft., the teleoperated design meets or exceeds customer demands. For over a year, the teleoperated excavator has demonstrated effectiveness, robustness, and durability in multiple unexploded ordnance (UXO) site remediation projects.