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Path-constrained motion analysis: an algorithm to understand human performance on hydraulic manipulators
Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik.
Sveriges lantbruksuniversitet .
Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik.
Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik. (Robotics and Control Lab)ORCID-id: 0000-0003-0730-9441
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2015 (Engelska)Ingår i: IEEE Transactions on Human-Machine Systems, ISSN 2168-2291, Vol. 45, nr 2, s. 187-199Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

We propose a novel method to analyze how human operators use hydraulic manipulators of heavy-duty equipment. The approach is novel in the sense that it applies knowledge of motion planning and optimization techniques used in robotics. As an example, we consider the case of operating a forestry crane. To that end, we use motion data that has been recorded during standard operation with the help of sensors and a data acquisition unit. The data backs up the notion that operators work by performing repeatable patterns observed in the trajectories of the manipulator's joints. We show how this nominal behavior is computed, and consequently this allow us to present the following: 1) an analytical procedure to analyze motions, 2) how to represent the "performance" of the operator in a 2D plot, 3) an example of how to use this information to suggest customized control settings, and 4) some complementary ideas needed for improving efficiency through automation.

Ort, förlag, år, upplaga, sidor
2015. Vol. 45, nr 2, s. 187-199
Nyckelord [en]
forestry, human performance analysis, hydraulic manipulators, manual control
Nationell ämneskategori
Robotteknik och automation Reglerteknik
Identifikatorer
URN: urn:nbn:se:umu:diva-87595DOI: 10.1109/THMS.2014.2366873ISI: 000351468500004OAI: oai:DiVA.org:umu-87595DiVA, id: diva2:710143
Tillgänglig från: 2014-04-04 Skapad: 2014-04-04 Senast uppdaterad: 2018-06-08Bibliografiskt granskad
Ingår i avhandling
1. Virtual Holonomic Constraints: from academic to industrial applications
Öppna denna publikation i ny flik eller fönster >>Virtual Holonomic Constraints: from academic to industrial applications
2015 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.

        Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopters, and many more. On the other end, we have autonomous systems that are able to make algorithmic decisions independently of the user.

        Society has always envisioned robots with the full capabilities of humans. However, we should envision applications that will help us increase productivity and improve our quality of life through human-robot collaboration. The questions we should be asking are: “What tasks should be automated?'', and “How can we combine the best of both humans and automation?”. This thinking leads to the idea of developing systems with some level of autonomy, where the intelligence is shared between the user and the system. Reasonably, the computerized intelligence and decision making would be designed according to mathematical algorithms and control rules.

        This thesis considers these topics and shows the importance of fundamental mathematics and control design to develop automated systems that can execute desired tasks. All of this work is based on some of the most modern concepts in the subjects of robotics and control, which are synthesized by a method known as the Virtual Holonomic Constraints Approach. This method has been useful to tackle some of the most complex problems of nonlinear control, and has enabled the possibility to approach challenging academic and industrial problems. This thesis shows concepts of system modeling, control design, motion analysis, motion planning, and many other interesting subjects, which can be treated effectively through analytical methods. The use of mathematical approaches allows performing computer simulations that also lead to direct practical implementations.

Ort, förlag, år, upplaga, sidor
Umeå: Umeå Universitet, 2015. s. 57
Serie
Robotics and control lab, ISSN 1654-5419 ; 7
Nyckelord
Virtual Holonomic Constraints, modeling, control, motion planning, under-actuated systems, forestry cranes, hydraulic manipulators
Nationell ämneskategori
Reglerteknik Robotteknik och automation
Identifikatorer
urn:nbn:se:umu:diva-87707 (URN)978-91-7601-196-6 (ISBN)
Disputation
2015-02-02, MA121, MIT-Huset, Umeå Universitet, Umeå, 13:00 (Engelska)
Opponent
Handledare
Tillgänglig från: 2015-01-12 Skapad: 2014-04-07 Senast uppdaterad: 2018-06-07Bibliografiskt granskad

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Robotteknik och automationReglerteknik

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