Mitsunori Yoneda

Assistance system for crane operation with haptic display - operational assistance to suppress round payload swing

It is a difficult operation to suppress the swing of round payload of a rough terrain crane. We propose a control rule to assist the operation. The stability by the control rule is confirmed with the Lyapunov stability criterion. We propose an operational assistance method with haptic display based on the rule. The system can adapt the strength of assistance to operators state using recursive fuzzy inference. Some experiments on a crane simulator are performed and show the effectiveness of the proposed system.

Operational assistance for straight-line operation of rough terrain crane

The straight-line transfer of a payload is a difficult operation with a rough terrain crane, because the operation needs a high-level operational technique with multiple levers. Thus we propose a control rule to assist the straight-line operation. We propose an operational assistance method with force display based on this rule. The system can adapt the strength of assistance to the operators state using recursive fuzzy inference. Some experiments on a crane simulator are performed and show the effectiveness of the proposed system.

Operational assistance of the crane system by the interactive adaptation interface

We propose a new crane system using the interactive adaptation interface (IAI/F). This system can adapt to an operator considering the following two points. One is the state of operators psychology and the other is operators skill. The former is estimated by the skin potential reflex (galvanic skin reflex). The latter is estimated by the history of the payload oscillation and command inputs. In order to adapt an operator, the system tunes its time constant by the recursive fuzzy inference (RFI). We also propose multiple display for the operational assistance. This gives information needed for the crane operation. We made a computer simulator of the crane system, and did some operation experiments on this simulator. We show effectiveness of the proposed crane operational assistance system based on the experimental results.

Operational assistance system for crane using interactive adaptation interface-design of 3D virtual crane simulator for operation training

A rough terrain crane has excellent operativity and mobility, yet the operation of the rough terrain crane is very difficult because of complexity of the control system, payloads swing, lack of information, etc. These problems can be settled by intelligent crane system if it can assist an operator to perform efficient crane operation. We proposed an assistance system for crane operation using an interactive adaptation interface. The assistance system produces various kinds of operational assistance. In this paper, we propose a crane simulator system for operation training using the proposed crane system. The proposed system has a function called multimodal display which presents various kinds of operational assistance. We consider the realization of the training system by adaptation of the strength of operational assistance based on operators state; we focus on the operators skill level. We propose an adaptation method based on operational skill and perform simple operation experiments to confirm the effectiveness of the method described.

VR training system with adaptive operational assistance considering straight-line transfer operation

This paper deals with an operational assistance system of a rough terrain crane. A proper control rule to operate the payload in the straight-line motion is proposed. The system assists straight-line operation with force display based on the rule. The strength of assistance can be adapted to operators skill level by changing the gain of force display. We present some experiments on a crane simulator, and show the effectiveness of the proposed operational assistance system.

VR operational assistance system for rough terrain crane

This article deals with an operational assistance system for a rough terrain crane. The operation of rough terrain cranes is very difficult because of the complexity of the control system, the swing of payload, and the difficulty of controlling an underactuated system. We propose an operational assistance system for performance improvement based on an interactive adaptation interface. The system does not carry out automatic control directly. It provides information which is useful for the operator to operate more efficiently and safely. We propose a haptic display for swing suppression of a payload. Some experiments on a VR crane simulator have been carried out and show the effectiveness of the proposed system.

Operational Assistance System for Straight-Line Transfer Operation of Rough Terrain Crane.

This paper deals with an operational assistance system of a rough terrain crane. The rough terrain crane is one of the frequent used machines in construction sites. We forcus on the straight-line transfer operation of the crane. It is difficult operation because an operator must use two or three levers at once. Thus we propose the operational assistance for the straight-line transfer operation. A control rule for the straigh-line transfer is proposed. Some kinds of operational assistance information are provided based on the rule. We present some experiments on a crane simulator, and show the effectiveness of the proposed operational assistance system.

A new operational assistance system for rough terrain crane by interactive adaptation interface

Summary form only given. Rough terrain cranes are frequently used in construction sites. They have excellent mobility and operativity, but the operator must use several levers at once, and the payload oscillates and it is hard to know its state. The authors propose an intelligent system to assist operators. Interactive Adaptation Interface (IAI/F) is used. The control system is complex. The authors made a new joystick for crane operation. The joystick has two merits: operators can easily understand how to control the crane because the control direction of the joystick is based on actual crane motion, and operators can use additional useful information for safe operation. To confirm effectiveness of proposed system, an operation experiment is performed. The subject controls the jib hoist angular velocity by the joystick to suppress the payload swing with/without force display. Average completion time was improved by using the force display. Thus, we confirm that force display is effective for crane operation.