DOCSLIB.ORG

Siegwart Nourbakhsh

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Siegwart Nourbakhsh 45695Siegwart 6/10/04 3:17 PM Page 1 Introduction to Autonomous Mobile Robots to Introduction Roland Siegwart and Illah R. Nourbakhsh Roland SIEGWART Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Illah R. NOURBAKHSH Mobile Robots offers students and other interested readers an overview of the Autonomous Mobile Robots technology of mobility—the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks—including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and per- ception, localization, mapping, and robot control architectures. The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the tech- niques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low- level to high-level details. The first two chapters explore low-level locomotory ability, examining robots’ wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many “off- the-shelf” sensors and an analysis of the interpretation of sensed data. The final two chapters consider the higher-level challenges of localization and cognition, discussing successful localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook for course- work or a working tool for beginners in the field. Introduction to Autonomous Roland Siegwart is Professor and Head of the Autonomous Systems Lab at the Swiss Federal Institute of Technology, Lausanne. Illah R. Nourbakhsh is Associate Professor of Robotics in the Robotics Institute, School of Computer Science, at SIEGWART andSIEGWART NOURBAKHSH Mobile Robots Carnegie Mellon University. “This book is easy to read and well organized. The idea of providing a robot functional architecture as an outline of the book, and then explaining each component in a chapter, is excellent. I think the authors have achieved their goals, and that both the beginner and the advanced student will have a clear idea of how a robot can be endowed with mobility.” —Raja Chatila, LAAS-CNRS, France Intelligent Robotics and Autonomous Agents series A Bradford Book 0-262-19502-X The MIT Press Massachusetts Institute of Technology Cambridge, Massachusetts 02142 ,!7IA2G2-bjfach!:t;K;k;K;k http://mitpress.mit.edu Introduction to Autonomous Mobile Robots Intelligent Robotics and Autonomous Agents Ronald C. Arkin, editor Robot Shaping: An Experiment in Behavior Engineering, Marco Dorigo and Marco Colombetti, 1997 Behavior-Based Robotics, Ronald C. Arkin, 1998 Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer, Peter Stone, 2000 Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines, Stefano Nolfi and Dario Floreano, 2000 Reasoning about Rational Agents, Michael Wooldridge, 2000 Introduction to AI Robotics, Robin R. Murphy, 2000 Strategic Negotiation in Multiagent Environments, Sarit Kraus, 2001 Mechanics of Robotic Manipulation, Matthew T. Mason, 2001 Designing Sociable Robots, Cynthia L. Breazeal, 2002 Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, 2004 Introduction to Autonomous Mobile Robots Roland Siegwart and Illah R. Nourbakhsh A Bradford Book The MIT Press Cambridge, Massachusetts London, England © 2004 Massachusetts Institute of Technology All rights reserved. No part of this book may be reproduced in any form by any electronic or mechan- ical means (including photocopying, recording, or information storage and retrieval) without permis- sion in writing from the publisher. This book was set in Times Roman by the authors using Adobe FrameMaker 7.0. Printed and bound in the United States of America. Library of Congress Cataloging-in-Publication Data Siegwart, Roland. Introduction to autonomous mobile robots / Roland Siegwart and Illah Nourbakhsh. p. cm. — (Intelligent robotics and autonomous agents) “A Bradford book.” Includes bibliographical references and index. ISBN 0-262-19502-X (hc : alk. paper) 1. Mobile robots. 2. Autonomous robots. I. Nourbakhsh, Illah Reza, 1970– . II. Title. III. Series. TJ211.415.S54 2004 629.8´92—dc22 2003059349 To Luzia and my children Janina, Malin and Yanik who give me their support and freedom to grow every day — RS To my parents Susi and Yvo who opened my eyes — RS To Marti who is my love and my inspiration — IRN To my parents Fatemeh and Mahmoud who let me disassemble and investigate everything in our home — IRN Slides and exercises that go with this book are available on: http://www.mobilerobots.org Contents Acknowledgments xi Preface xiii 1 Introduction 1 1.1 Introduction 1 1.2 An Overview of the Book 10 2 Locomotion 13 2.1 Introduction 13 2.1.1 Key issues for locomotion 16 2.2 Legged Mobile Robots 17 2.2.1 Leg configurations and stability 18 2.2.2 Examples of legged robot locomotion 21 2.3 Wheeled Mobile Robots 30 2.3.1 Wheeled locomotion: the design space 31 2.3.2 Wheeled locomotion: case studies 38 3 Mobile Robot Kinematics 47 3.1 Introduction 47 3.2 Kinematic Models and Constraints 48 3.2.1 Representing robot position 48 3.2.2 Forward kinematic models 51 3.2.3 Wheel kinematic constraints 53 3.2.4 Robot kinematic constraints 61 3.2.5 Examples: robot kinematic models and constraints 63 3.3 Mobile Robot Maneuverability 67 3.3.1 Degree of mobility 67 3.3.2 Degree of steerability 71 3.3.3 Robot maneuverability 72 viii Contents 3.4 Mobile Robot Workspace 74 3.4.1 Degrees of freedom 74 3.4.2 Holonomic robots 75 3.4.3 Path and trajectory considerations 77 3.5 Beyond Basic Kinematics 80 3.6 Motion Control (Kinematic Control) 81 3.6.1 Open loop control (trajectory-following) 81 3.6.2 Feedback control 82 4 Perception 89 4.1 Sensors for Mobile Robots 89 4.1.1 Sensor classification 89 4.1.2 Characterizing sensor performance 92 4.1.3 Wheel/motor sensors 97 4.1.4 Heading sensors 98 4.1.5 Ground-based beacons 101 4.1.6 Active ranging 104 4.1.7 Motion/speed sensors 115 4.1.8 Vision-based sensors 117 4.2 Representing Uncertainty 145 4.2.1 Statistical representation 145 4.2.2 Error propagation: combining uncertain measurements 149 4.3 Feature Extraction 151 4.3.1 Feature extraction based on range data (laser, ultrasonic, vision-based ranging) 154 4.3.2 Visual appearance based feature extraction 163 5 Mobile Robot Localization 181 5.1 Introduction 181 5.2 The Challenge of Localization: Noise and Aliasing 182 5.2.1 Sensor noise 183 5.2.2 Sensor aliasing 184 5.2.3 Effector noise 185 5.2.4 An error model for odometric position estimation 186 5.3 To Localize or Not to Localize: Localization-Based Navigation versus Programmed Solutions 191 5.4 Belief Representation 194 5.4.1 Single-hypothesis belief 194 5.4.2 Multiple-hypothesis belief 196 Contents ix 5.5 Map Representation 200 5.5.1 Continuous representations 200 5.5.2 Decomposition strategies 203 5.5.3 State of the art: current challenges in map representation 210 5.6 Probabilistic Map-Based Localization 212 5.6.1 Introduction 212 5.6.2 Markov localization 214 5.6.3 Kalman filter localization 227 5.7 Other Examples of Localization Systems 244 5.7.1 Landmark-based navigation 245 5.7.2 Globally unique localization 246 5.7.3 Positioning beacon systems 248 5.7.4 Route-based localization 249 5.8 Autonomous Map Building 250 5.8.1 The stochastic map technique 250 5.8.2 Other mapping techniques 253 6 Planning and Navigation 257 6.1 Introduction 257 6.2 Competences for Navigation: Planning and Reacting 258 6.2.1 Path planning 259 6.2.2 Obstacle avoidance 272 6.3 Navigation Architectures 291 6.3.1 Modularity for code reuse and sharing 291 6.3.2 Control localization 291 6.3.3 Techniques for decomposition 292 6.3.4 Case studies: tiered robot architectures 298 Bibliography 305 Books 305 Papers 306 Referenced Webpages 314 Interesting Internet Links to Mobile Robots 314 Index 317 Acknowledgments This book is the result of inspirations and contributions from many researchers and students at the Swiss Federal Institute of Technology Lausanne (EPFL), Carnegie Mellon Univer- sity’s Robotics Institute, Pittsburgh (CMU), and many others around the globe. We would like to thank all the researchers in mobile robotics that make this field so rich and stimulating by sharing their goals and visions with the community. It is their work that enables us to collect the material for this book. The most valuable and direct support and contribution for this book came from our past and current collaborators at EPFL and CMU. We would like to thank: Kai Arras for his con- tribution to uncertainty representation, feature extraction and Kalman filter localization; Matt Mason for his input on kinematics; Nicola Tomatis and Remy Blank for their support and assistance for the section on vision-based sensing; Al Rizzi for his guidance on feed- back control; Roland Philippsen and Jan Persson for their contribution to obstacle avoid- ance; Gilles Caprari and Yves Piguet for their input and suggestions on motion control; Agostino Martinelli for his careful checking of some of the equations and Marco Lauria for offering his talent for some of the figures. Thanks also to Marti Louw for her efforts on the cover design. This book was also inspired by other courses, especially by the lecture notes on mobile robotics at the Swiss Federal Institute of Technology, Zurich (ETHZ).
Load more

Recommended publications
  • Upgrading a Legacy Outdoors Robotic Vehicle4
    Upgrading a Legacy Outdoors Robotic Vehicle4 1 1 2 Theodosis Ntegiannakis , Odysseas Mavromatakis , Savvas Piperidis , and Nikos C. Tsourveloudis3 1 Theodosis Ntegiannakis and Odysseas Mavromatakis are graduate students at the School of Production Engineering and Management, Technical University of Crete, Hellas. 2 corresponding author: Intelligent Systems and Robotics Laboratory, School of Production Engineering and Management, Technical University of Crete, 73100 Chania, Hellas, [email protected], www.robolab.tuc.gr 3 School of Production Engineering and Management, Technical University of Crete, Hellas, [email protected], www.robolab.tuc.gr Abstract. ATRV-mini was a popular, 2000's commercially available, outdoors robot. The successful upgrade procedure of a decommissioned ATRV-mini is presented in this paper. Its robust chassis construction, skid steering ability, and optional wifi connectivity were the major rea- sons for its commercial success, mainly for educational and research pur- poses. However the advances in electronics, microcontrollers and software during the last decades were not followed by the robot's manufacturer. As a result, the robot became obsolete and practically useless despite its good characteristics. The upgrade used up to date, off the shelf compo- nents and open source software tools. There was a major enhancement at robot's processing power, energy consumption, weight and autonomy time. Experimental testing proved the upgraded robot's operational in- tegrity and capability of undertaking educational, research and other typical robotic tasks. Keywords: all terrain autonomous robotic vehicle, educational robotics, ROS, robot upgrade, solar panels. 1 Introduction This work deals with the upgrading procedure of a decommissioned Real World Interface (RWI) ATRV-mini all-terrain robotic vehicle.
    [Show full text]
  • The Steam Locomotive Table, V1
    The Steam Locomotive Table, v1 If you’re reading this; you either like steam trains, or want to know more about them. Hopefully, either way, I can scratch your itch with this; a set of randomizer/dice-roll tables of my own making; as inspired by some similar tables for tanks and aircrafts. Bear with me, I know not everyone knows the things I do, and I sure know I don’t know a lot of things other train enthusiasts do; but hopefully the descriptions and examples will be enough to get anyone through this smoothly. To begin, you’ll either want a bunch of dice or any online dice-rolling/number generating site (or just pick at your own whim); and somewhere or something to keep track of the details. These tables will give details of a presumed (roughly) standard steam locomotive. No sentinels or other engines with vertical boilers; no climax, shay, etc specially driven locomotives; are considered for this listing as they can change many of the fundamental details of an engine. Go in expecting to make the likes of mainline, branchline, dockyard, etc engines; not the likes of experiments like Bulleid’s Leader or specific industry engines like the aforementioned logging shays. Some dice rolls will have uneven distribution, such as “1-4, and 5-6”. Typically this means that the less likely detail is also one that is/was significantly less common in real life, or significantly more complex to depict. For clarity sake examples will be linked, but you’re always encouraged to look up more as you would like or feel necessary.
    [Show full text]
  • O-Steam-Price-List-Mar2017.Pdf
    Part # Description Package Price ======== ================================================== ========= ========== O SCALE STEAM CATALOG PARTS LIST 2 Springs, driver leaf........................ Pkg. 2 $6.25 3 Floor, cab and wood grained deck............. Ea. $14.50 4 Beam, end, front pilot w/coupler pocket...... Ea. $8.00 5 Beam, end, rear pilot w/carry iron.......... Ea. $8.00 6 Bearings, valve rocker....................... Pkg.2 $6.50 8 Coupler pockets, 3-level, for link & pin..... Pkg. 2 $5.75 9 Backhead w/fire door base.................... Ea. $9.00 10 Fire door, working........................... Ea. $7.75 11 Journal, 3/32" bore.......................... Pkg. 4. $5.75 12 Coupler pockets, small, S.F. Street Railway.. Pkg.2 $5.25 13 Brakes, engine............................... Pkg.2 $7.00 14 Smokebox, 22"OD, w/working door.............. Ea. $13.00 15 Drawbar, rear link & pin..................... Ea. $5.00 16 Handles, firedoor............................ Pkg.2. $5.00 17 Shelf, oil can, backhead..................... Ea. $5.75 18 Gauge, backhead, steam pressure.............. Ea. $5.50 19 Lubricator, triple-feed, w/bracket, Seibert.. Ea. $7.50 20 Tri-cock drain w/3 valves, backhead.......... Ea. $5.75 21 Tri-cock valves, backhead, (pl. 48461)....... Pkg. 3 $5.50 23 Throttle, nonworking......................... Ea. $6.75 23.1 Throttle, non working, plastic............... Ea. $5.50 24 Pop-off, pressure, spring & arm.............. Ea. $6.00 25 Levers, reverse/brake, working............... Kit. $7.50 26 Tri-cock drain, less valves.................. Ea. $5.75 27 Seat boxes w/backs........................... Pkg.2 $7.50 28 Injector w/piping, Penberthy,................ Pkg.2 $6.75 29 Oiler, small hand, N/S....................... Pkg.2 $6.00 32 Retainers, journal........................... Pkg.
    [Show full text]
  • The Personal Rover Project: the Comprehensive Design of A
    Robotics and Autonomous Systems 42 (2003) 245–258 The Personal Rover Project: The comprehensive design of a domestic personal robot Emily Falcone∗, Rachel Gockley, Eric Porter, Illah Nourbakhsh The Robotics Institute, Carnegie Mellon University, Newell-Simon Hall 3111, 5000 Forbes Ave., Pittsburgh, PA 15213, USA Abstract In this paper, we summarize an approach for the dissemination of robotics technologies. In a manner analogous to the personal computer movement of the early 1980s, we propose that a productive niche for robotic technologies is as a long-term creative outlet for human expression and discovery. To this end, this paper describes our ongoing efforts to design, prototype and test a low-cost, highly competent personal rover for the domestic environment. © 2003 Elsevier Science B.V. All rights reserved. Keywords: Social robots; Educational robot; Human–robot interaction; Personal robot; Step climbing 1. Introduction duration of interaction and the roles played by human and robot participants. In cases where the human care- Robotics occupies a special place in the arena of giver provides short-term, nurturing interaction to a interactive technologies. It combines sophisticated robot, research has demonstrated the development of computation with rich sensory input in a physical effective social relationships [5,12,21]. Anthropomor- embodiment that can exhibit tangible and expressive phic robot design can help prime such interaction ex- behavior in the physical world. periments by providing immediately comprehensible In this regard, a central question that occupies our social cues for the human subjects [6,17]. research group pertains to the social niche of robotic In contrast, our interest lies in long-term human– artifacts in the company of the robotically uninitiated robot relationships, where a transient suspension of public-at-large: What is an appropriate first role for in- disbelief will prove less relevant than long-term social telligent human–robot interaction in the daily human engagement and growth.
    [Show full text]
  • 4 Perception 79
    4 Perception 79 4 Perception One of the most important tasks of autonomous systems of any kind is to acquire knowledge about its environment. This is done by taking measurements using various sensors and then extracting meaningful information from those measurements. In this chapter we present the most common sensors used in mobile robots and then discuss strategies for extracting information from the sensors. For more detailed information about many of the sensors used on mobile robots, refer to the comprehensive book Sensors for Mo- bile Robots written by H.R. Everett [2]. 4.1 Sensors for Mobile Robots a b c d Fig 4.1 Examples of robots with multi-sensor systems: a) HelpMate from Transition Research Corp. b) B21 from Real World Interface c) Roboart II, built by H.R. Everett [2] d) The Savannah River Site nuclear surveillance robot There is a wide variety of sensors used in mobile robots (Fig. 4.1). Some sensors are used to measure simple values like the internal temperature of a robot’s electronics or the rota- R. Siegwart, EPFL, Illah Nourbakhsh, CMU 80 Autonomous Mobile Robots tional speed of the motors. Other, more sophisticated sensors can be used to acquire infor- mation about the robot’s environment or even to directly measure a robot’s global position. In this chapter we focus primarily on sensors used to extract information about the robot’s environment. Because a mobile robot moves around, it will frequently encounter unfore- seen environmental characteristics, and therefore such sensing is particularly critical. We begin with a functional classification of sensors.
    [Show full text]
  • Locomotives and Views of Mauch Chunk Contact Photographs and Negatives 1969.092
    Locomotives and views of Mauch Chunk contact photographs and negatives 1969.092 This finding aid was produced using ArchivesSpace on September 14, 2021. Description is written in: English. Describing Archives: A Content Standard Audiovisual Collections PO Box 3630 Wilmington, Delaware 19807 [email protected] URL: http://www.hagley.org/library Locomotives and views of Mauch Chunk contact photographs and negatives 1969.092 Table of Contents Summary Information .................................................................................................................................... 3 Historical Note ............................................................................................................................................... 3 Scope and Content ......................................................................................................................................... 4 Administrative Information ............................................................................................................................ 5 Related Materials ........................................................................................................................................... 6 Controlled Access Headings .......................................................................................................................... 6 Collection Inventory ....................................................................................................................................... 6 Rolling stock ...............................................................................................................................................
    [Show full text]
  • Pixy Hardware Interface
    SSttrriikkeerr EEL 4914 Senior Design I Group 8 Cruz, Efrain Decamp, Loubens Narvaez, Luis Thomas, Brian Competitive Autonomous Air-Hockey Gaming system Table of Contents Table of Contents .................................................................................................. i 1 Executive Summary .......................................................................................... 1 2 Project Description ............................................................................................ 3 2.1 Motivation ................................................................................................................. 3 2.2 Goals and Objectives ................................................................................................. 4 2.3 Requirements and Specifications ........................................................................... 4 2.3.1 User Interface .................................................................................................... 4 2.3.2 Audio and Visual Effects .................................................................................... 6 2.3.3 Tracking System ................................................................................................. 7 2.3.4 Software .............................................................................................................. 9 2.3.5 System Hardware .............................................................................................. 10 2.3.6 Puck Return Mechanism ..................................................................................
    [Show full text]
  • Botball Kit for Teaching Engineering Computing
    Botball Kit for Teaching Engineering Computing David P. Miller Charles Winton School of AME Department of CIS University of Oklahoma University of N. Florida Norman, OK 73019 Jacksonville, FL 32224 Abstract Many engineering classes can benefit from hands on use of robots. The KISS Institute Botball kit has found use in many classes at a number of universities. This paper outlines how the kit is used in a few of these different classes at a couple of different universities. This paper also introduces the Collegiate Botball Challenge, and how it can be used as a class project. 1 Introduction Introductory engineering courses are used to teach general principles while introducing the students to all of the engineering disciplines. Robotics, as a multi-disciplinary application can be an ideal subject for projects that stress the different engineering fields. A major consideration in establishing a robotics course emphasizing mobile robots is the type of hands-on laboratory experience that will be incorporated into the course of instruction. Most electrical engineering schools lack the machine shops and expertise needed to create the mechanical aspects of a robot system. Most mechanical engineering schools lack the electronics labs and expertise needed for the actuation, sensing and computational aspects required to support robotics work. The situation is even more dire for most computer science schools. Computer science departments typically do not have the support culture for the kind of laboratories that are more typically associated with engineering programs. On the other hand, it is recognized that computer science students need courses which provide closer to real world experiences via representative hands-on exercises.
    [Show full text]
  • A Multi-Robot Search and Retrieval System
    From: AAAI Technical Report WS-02-18. Compilation copyright © 2002, AAAI (www.aaai.org). All rights reserved. MinDART : A Multi-Robot Search & Retrieval System Paul E. Rybski, Amy Larson, Heather Metcalf, Devon Skyllingstad, Harini Veeraraghavan and Maria Gini Department of Computer Science and Engineering, University of Minnesota 4-192 EE/CS Building Minneapolis, MN 55455 {rybski,larson,hmetcalf,dsky,harini,gini}@cs.umn.edu Abstract We are interested in studying how environmental and control factors affect the performance of a homogeneous multi-robot team doing a search and retrieval task. We have constructed a group of inexpensive robots called the Minnesota Distributed Autonomous Robot Team (MinDART) which use simple sen- sors and actuators to complete their tasks. We have upgraded these robots with the CMUCam, an inexpensive camera sys- tem that runs a color segmentation algorithm. The camera allows the robots to localize themselves as well as visually recognize other robots. We analyze how the team’s perfor- mance is affected by target distribution (uniform or clumped), size of the team, and whether search with explicit localization is more beneficial than random search. Introduction Cooperating teams of robots have the potential to outper- form a single robot attempting an identical task. Increasing Figure 1: The robots with their infrared targets and colored task or environmental knowledge may also improve perfor- landmarks. mance, but increased performance comes at a price. In addi- tion to the monetary concerns of building multiple robots, AAAI 2002 Mobile Robot Competition and Exhibition. Fi- the complexity of the control strategy and the processing nally, we analyze how we would expect these robots to per- overhead can outweigh the benefits.
    [Show full text]
  • No1 Fi'. 0, 15'418
    No1 fi'. 0, 15'418 ,RAILROADS OF THE SOUTH BEFORE 1860 THESIS Presented to the Graduate Council of the North Texas State College in Partial Fulfillment of the requirements For the Degree of MASTER OF ARTS By Jame s D. Carter, B.S. Evant, Texas June, 1950 ' C.LIP TABLE OF CONTENTS page LIST OF TABLES . * . * . * . * vi LIST OF MAPS . vii Chapter INTRCDUJ TION . * Characteristics of the South and Its Transportation Before 1830 Factors contributing to the Need for Better Transportation System Summary of the Geography of the South Natural Trade Centers of the South Factors Related to Railroad Construction I. THE INTRODUCTION O RAILROADS INTO THE SOUTH . 18 Charleston's Problems Projection of the Charleston and hamburg Railroad Construction of the Railroad Early Success Projection of Feeder Lines Louisville, Charleston, and Cincinnati Project II. MAJOR RAILROADS OF GEORGIA . 44 Georgia R railroad and Banking Corpany Central of Georgia Railroad System Macon and Western Railroad Southwestern Railroad Western and Atlantic Railroad III. MINOR RAILROADS OF TE EASTERN COTTON BELT . 80 Inland South Carolina Railroads Coastal Railroads of South Carolina inor Roads of Southern Georgis and Florida Minor roads in the Western Part of the Area Final Attempts to Build Trans--montane Lines iii IV. RAILROADS OF TOBACCO REGION OF VIRGINIA AND NORTH CAROLINA . 104 Railroad Construction in Virginia Connection of Virginia and Tennessee Railroads Summary of Railroad Construction in Virginia North and South Railroads of North Carolina East and "est Railroads of North Carolina Summary of Railroad Construction in North Carolina V. RAILROADS OF THI BLUE GRASS RGION . 144 Early Transportation Situation Railroad Construction in the Region Summary of Connections to other Regions Sumnary of Railroad Construction in Tennessee VI, RAILROADS OF T WESTERN COTTON tELT EAT OF THE :IISSIIPPI RIVER .
    [Show full text]
  • Reference Guide – 2008 Waybill Sample
    REFERENCE GUIDE FOR THE 2008 SURFACE TRANSPORTATION BOARD CARLOAD WAYBILL SAMPLE Business Services Division August 31, 2009 This publication is produced under contract to the Surface Transportation Board Contract DFTR 53-02-C-00073 TABLE OF CONTENTS SECTION 1 Summary of 2008 Waybill Processing.............................................................. 1 Waybills of US, Canadian & Mexican Origin ........................................................................................................... 5 Waybills of US Origin ............................................................................................................................................. 10 Waybills of Canadian Origin ................................................................................................................................... 15 Waybills of Mexican Origin .................................................................................................................................... 20 SECTION 2 Error Analysis and Corrective Action ........................................................... 26 2008 Reporting Railroads ........................................................................................................................................ 35 Proxy Equipment Types for the 2008 Carload Waybill Sample ............................................................................. 36 SECTION 3 Data Exceptions ................................................................................................ 37 Railinc Waybill
    [Show full text]
  • February Final.Indd
    RAIL REPORT February 2010 • NO. 598 Rocky Mountain Railroad Club • Rocky Mountain Railroad Historical Foundation Steam Locomotives of the Katy Railroad Presented by John Charles February 9th, 2010 • 7:30 PM Steam Locomotives of the Katy Railroad is a digital program on the history and development of steam locomotives on the Missouri Kansas Texas (Katy) Railroad. Covering everything from the 4-4-0s of 1880 to the last use of steam in the early 1950s, the program will include roster shots and a lot of action photos as well. The program ends with a selection of excellent color action shots by Emery Gulash. Please come join us for an enjoyable, educational evening at Christ Episcopal Church at 2950 South University Boulevard, University at Bates, where there is plen- ty of off street parking at the rear of the complex. Enter into Barnes Hall, where we hold the monthly meetings, on the mid-south side doors. Please bring a guest. All programs are intended to provide an educational experience on railroading. The general public is welcome to attend. There is no charge for this meeting. Please note: Due to scheduling changes at the Church, beginning in April our meeting night will change to the second Wednesday of the month. RMRRC Calendar March 9th Meeting, and PeruRail program. April 14th Second Wednesday Meeting, with program to be announced soon. May 12th Second Wednesday Meeting, with program to be announced soon. Due to circumstances beyond our control, programs and dates are subject to change without notice. Please contact Pat Mauro at [email protected] or phone 303-838-7740 with program ideas.
    [Show full text]