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TECHNICAL PAPERS

Human Operator Performance Testing Using an Input-Shaped Bridge Crane

[+] Author and Article Information
Attir Khalid, John Huey, Jason Lawrence

Department of Mechanical Engineering,  Georgia Institute of Technology, Atlanta, GA 30332-0405

William Singhose

Department of Mechanical Engineering,  Georgia Institute of Technology, Atlanta, GA 30332-0405bill.singhose@me.gatech.edu

David Frakes

 4-D Imaging, Inc., Atlanta, GA 30302

Cranes do have some small amount of damping. However, their damping ratios are typically in the range of 0.005–0.02, so they can be effectively treated as undamped systems in most cases.

J. Dyn. Sys., Meas., Control 128(4), 835-841 (Dec 05, 2005) (7 pages) doi:10.1115/1.2361321 History: Received July 23, 2005; Revised December 05, 2005

The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. An input-shaping controller was implemented on a large bridge crane at the Georgia Institute of Technology to reduce crane payload oscillation. The crane was used to study the performance of human operators as they drove the crane through obstacle courses. An image processing system was implemented to track the movement of the crane payload. Data from these experiments show that operators performed manipulation tasks faster, safer, and more effectively when input shaping was utilized to reduce payload sway.

Copyright © 2006 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Sketch of bridge crane

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Example payload responses

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Figure 3

Input shaping a pulse input

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Hardware implementation

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Possible routes in course 1

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Possible routes in course 2

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Course 1 run times

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Course 2 run times

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Course 1 path choice

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Course 2 path choice

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Obstacle course for learning study

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Task completion times without input shaping

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Task completion with input shaping

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Average run times

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Number of collisions

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Choice between long or short path

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Obstacle course for high frequency learning study

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Task completion times for subject 1

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Task completion times without input shaping

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Figure 20

Task completion times with input shaping

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