1. Crane Operator Performance Comparing PD-Feedback Control and Input Shaping Ajeya Karajgikar (with Dr. Joshua Vaughan and Dr. William Singhose) 10 th November, 2011 Weekly Group Meeting Presentation

2. Sensing Crane Payloads Can be Difficult Sensing hook and payload is not trivial even in ideal conditions Distinguishing between the hook and payload using machine vision can be difficult

3. Conflict Between Feedback and Human Operators Conceptual Block Diagram of the PD Crane Controller

4. Using Input Shaping to Reduce Unwanted Payload Oscillations Payload oscillation after a point-to-point move makes it difficult for accurate position while decreasing safety

5. Using Input Shaping to Reduce Unwanted Payload Oscillations Payload oscillation after a point-to-point move makes it difficult for accurate position while decreasing safety Input shaping can be used to solve this problem

6. Conflict Between Feedback and Human Operators Conceptual Block Diagram of Input-Shaping Controller Conceptual Block Diagram of the PD Crane Controller

7. 10-ton Industrial Bridge Crane

8. Single Pendulum and Double Pendulum Effects Single Pendulum Case Double Pendulum Case

9. Single Pendulum Case Double Pendulum Case Single Pendulum and Double Pendulum Effects

10. Point-to-point movements (without shaping) Hook was moved from one point to another point over a distance of 3m manually

11. Point-to-point movements (PD-Feedback Control) Hook was moved from one point to another point over a distance of 3m manually

12. Point-to-point movements (with shaping) Hook was moved from one point to another point over a distance of 3m manually

13. Hook Angle Response Point-to-point movements Hook angle response when hook was moved from one point to another point over a distance of 3m manually

14. 10-ton Industrial Bridge Crane and Obstacle Course

15. Example Operator Performance - Manual Control Unshaped response of hook position when an operator maneuvers through the obstacle course (t = 165s)

16. Example Operator Performance – PD-Feedback Unshaped response of hook position when an operator maneuvers through the obstacle course (t = 39s)

17. Example Operator Performance – Input Shaped Unshaped response of hook position when an operator maneuvers through the obstacle course (t = 40s)

18. Completion Times by each Operator Completion times of twelve novice crane operators

19. Average Completion Times Completion time with PD-control was 74% less than manual control (37s vs. 140s) Input shaping further reduced the average completion time to 32s, representing a 14% reduction from PD control and a 77% reduction from manual control

20. Distance Traveled – Unshaped Travel distance of trolley and hook by twelve novice crane operators

21. Distance Traveled – PD-Feedback Travel distance of trolley and hook by twelve novice crane operators

22. Distance Traveled – Shaped Travel distance of trolley and hook by twelve novice crane operators

23. Total Distance Traveled by Trolley The shorter total travel distance afforded by input shaping provides evidence that is more energy efficient than either manual control or PD control (9.52m vs 7.84m vs 7.51m)

24. Total Distance Traveled by Hook The shorter total travel distance traversed by the hook shows how well the hook can track the desired path (60.33m vs 10.02m vs 7.79m)

25. Collisions by each Operator Collisions of twelve novice crane operators (Unshaped = 13; Feedback = 0; Shaped = 0)

26. Single Pendulum and Double Pendulum Effects Single Pendulum Case Double Pendulum Case

27. Point-to-point movements Point-to-point moves with controllers designed for Double Mode Point-to-point moves with controllers designed for Single Mode Point-to-point moves with controllers designed for Double Mode with changes in payload configuration

28. Point-to-point movements Point-to-point moves with controllers designed for Double Mode Point-to-point moves with controllers designed for Single Mode Point-to-point moves with controllers designed for Double Mode with changes in payload configuration

29. Point-to-point movements (without shaping) Hook was moved from one point to another point over a distance of 3m manually

30. Point-to-point movements (PD-Feedback Control) Hook was moved from one point to another point over a distance of 3m manually (Double Pendulum gains)

31. Point-to-point movements (with shaping) Hook was moved from one point to another point over a distance of 3m manually (Two Mode ZV Shaper)

32. Hook Angle Response Point-to-point movements Hook angle response when hook was moved from one point to another point over a distance of 3m manually

33. Point-to-point movements Point-to-point moves with controllers designed for Double Mode Point-to-point moves with controllers designed for Single Mode Point-to-point moves with controllers designed for Double Mode with changes in payload configuration

34. Point-to-point movements Point-to-point moves with controllers designed for Double Mode Point-to-point moves with controllers designed for Single Mode  The masses are kept the same but the gain and shaper parameters are changed Point-to-point moves with controllers designed for Double Mode with changes in payload configuration

35. Point-to-point movements (PD-Feedback Control) Hook was moved from one point to another point over a distance of 3m manually (Single Pendulum gains)

36. Point-to-point movements (with shaping) Hook was moved from one point to another point over a distance of 3m manually (One Mode ZV Shaper)

37. Hook Angle Response Point-to-point movements Hook angle response when hook was moved from one point to another point over a distance of 3m manually

38. Hook Angle Response Point-to-point movements

39. Point-to-point movements Point-to-point moves with controllers designed for Double Mode Point-to-point moves with controllers designed for Single Mode Point-to-point moves with controllers designed for Double Mode with changes in payload configuration

40. Point-to-point movements Point-to-point moves with controllers designed for Double Mode Point-to-point moves with controllers designed for Single Mode Point-to-point moves with controllers designed for Double Mode with changes in payload configuration  Different masses were attached, but the gain and shaper parameters were left unchanged  m p was changed from 50 lbs to: Case (1) 25 lbs and Case (2) 75 lbs  Testing the robustness of the controller

41. Point-to-point movements (PD-Feedback Control) Hook was moved from one point to another point over a distance of 3m manually (Double Pendulum gains, 25 lbs)

42. Point-to-point movements (with shaping) Hook was moved from one point to another point over a distance of 3m manually (Two Mode ZV Shaper, 25 lbs)

43. Point-to-point movements (PD-Feedback Control) Hook was moved from one point to another point over a distance of 3m manually (Double Pendulum gains, 75 lbs)

44. Point-to-point movements (with shaping) Hook was moved from one point to another point over a distance of 3m manually (Two Mode ZV Shaper, 75 lbs)

45. Example Operator Performance - Manual Control Unshaped response of hook position when an operator maneuvers through the obstacle course (t = 238s)

46. Example Operator Performance – PD-Feedback Unshaped response of hook position when an operator maneuvers through the obstacle course (t = 60s)

47. Example Operator Performance – Input Shaped Unshaped response of hook position when an operator maneuvers through the obstacle course (t = 35s)

48. Completion Times by each Operator Completion times of ten novice crane operators

49. Average Completion Times Completion time with PD-control was 66% less than manual control (55s vs. 161s) Input shaping further reduced the average completion time to 38s, representing a 31% reduction from PD control and a 76% reduction from manual control

50. Distance Traveled – Unshaped Travel distance of trolley and hook by ten novice crane operators

51. Distance Traveled – PD-Feedback Travel distance of trolley and hook by ten novice crane operators

52. Distance Traveled – Shaped Travel distance of trolley and hook by ten novice crane operators

53. Total Distance Traveled by Trolley The shorter total travel distance afforded by input shaping provides evidence that is more energy efficient than either manual control or PD control (9.52m vs 9.07m vs 7.88m)

54. Total Distance Traveled by Hook The shorter total travel distance traversed by the hook shows how well the hook can track the desired path (44.72m vs 14.17m vs 9.77m)

55. Collisions by each Operator Collisions of ten novice crane operators (Unshaped = 18; Feedback = 2; Shaped = 0)

56. Summary Both PD-Feedback control and Input Shaping significantly reduce oscillation Using PD-Feedback control presents difficulty in sensing payload and human operator compatibility problems Input Shaping produced the lowest average task completion times and shortest average trolley travel distance Input Shaping was the safest in terms of obstacle avoidance

57. Questions, comments, concerns?