PPT for ICSMA conf observe by wire system pdf

An
O
bserve
-
B
y
-
W
ire
System
An

O
bserve
-
B
y
-
W
ire

System

Using Haptic Interfaces
Ba-Hai Nguyen and Jee-Hwan Ryu
BioRobotics Lab
School of Mechanical Engineering
KKorea UUniversity of TTechnology and Education
.k
r
Visibility How can an OBW help?

Sight Sight
Hearing
Touch Touch
Smell
Hearing
Taste
What is this topic about?
HtiThl
Result
H
ap
ti
c
T
ec
h
no
l
ogy
Result
14
FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = 30
6
8
10
12
v
erage Error (cm)
0
2

4
1234567
Subject
E
v
Introduction: Visibility is critical Introduction: Visibility is critical
Driver’s view is significantly reduced by the loads, masts & the
rugged overhead guard.
Advanced systems for forklifts
• Traction & brake control (TBC)
• Active stability™ (SAS), 1999, TOYOTA
Tall Masts increase
•
Productivity
•
Productivity

• Operation speed
• Reliability
Forklift
Tall Masts decrease visibility and safety.
Forklift
How can visibility be improved?
BioRobotics Lab Korea University of Technology and Education
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Technical Solutions Technical Solutions
Current Solutions
• Video camera
•
Tilt cabin

•
Tilt

cabin
Open issues:
• Visibility
• Lack of illumination
• Potential dama
g
es
g
• Balance
What can
haptic interfaces
do?
What

can

haptic

interfaces
do?
BioRobotics Lab Korea University of Technology and Education
HumanHuman Machine InterfacesMachine Interfaces
Human Senses
Hearing, Sight, Touch, Smell, Taste.
Sight
Touch
Interaction

Haptic Interfaces & Its Applications
Smell
Hearing
Taste
Environment
Sense of touch by applying forces.
[wikipedia.org]
Taste
Observe
-
By
-
Wire
Th
Observe
-
By
-
Wire
Visibility of Touch
T
ouc
h
BioRobotics Lab Korea University of Technology and Education
The Concept of ObserveThe Concept of Observe ByBy WireWire
Advanced Features
• Gives operators maximum visibility
f
Sight Sight
TouchTouch

• Improve sa
f
e operation
• Optimizes productivity
•
Blind spots
caused by masts
Smell
Hearing
Touch

Touch

Tt
•
Blind

spots
caused

by

masts
• Reliable in emergency cases:
moving large boxes, lack of
++
T
as
t
e

illumination
How
does an OBW system work?
++
Driver-Forklift Interaction Channels
BioRobotics Lab Korea University of Technology and Education
OBW: System OverviewOBW: System Overview
Forklift operation
• Distance sensors are mounted
on the
side of forks
d
the right fork
on

the

side

of

forks
• Feedback force is inverse
ti l
tthdit
fork
lifting
package
Lr
the

right

fork
propor
ti
ona
l
t
o
th
e
di
s
t
ance
Information
Distance sensors
lifted-packages
How much is the
feedback force
????
mast
feedback

force
????
FORKLIFT TRUCK
BioRobotics Lab Korea University of Technology and Education
Feedback Force ImplementationFeedback Force Implementation

Driving force
Fd(N)
F
2
(N)
time (s)
a
Fs Assistance force (power steering sys.)
Falig Aligning force
Ffr: Friction force
F(N)
F
2
(N)
time (s)
b
Fin: Inertia force
At
(due to the steering mechanism)
time (s)
a+b
(due

to

the

steering

mechanism)

Variable Feedback Force
How to obtain the feedback force?
Lr
BioRobotics Lab Korea University of Technology and Education
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Feedback Force ImplementationFeedback Force Implementation
Feedback force (Obser-by-wire)
Steering Direction
Turn Left
RS are turned off
Turn right
LS are turned off
L
r
Lr: is distance information from right sensors (RS)
Lf: is distance information from
left sensors
(LS)
BioRobotics Lab Korea University of Technology and Education
L
r
Lf:

is

distance

information

from

left

sensors
(LS)
BioRobotics Lab Korea University of Technology and Education
SemiSemi experimental Setupexperimental Setup
Semi-experimental Setup
A haptic interface is developed for OBW
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Computer Simulation ModelComputer Simulation Model
LabVIEW-based simulation model and user interface for OBW system
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Tasks for ExperimentTasks for Experiment
Seven subjects were asked to
move the fork from initial
to desired
p
osition.
t
h
e
ri
g
h
t
f
o
rk
p

Moving time and position
errors are measured.
fork
lifting
package
Lr
eg o
(without OBW & with OBW)
Distance sensors
lifted-packages
mast
FORKLIFT TRUCK
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Exp. Result: Exp. Result: Performance and errors
Results of a randomly selected subject
using two modes
Number of completion
Without OBW: 3 times
With OBW: 5 time
s
With OBW, vibrations are reduced
Position errors
Without OBW: 20 cm
With OBW:
2cm
With

OBW:
2

cm

Results of a subject
BioRobotics Lab Korea University of Technology and Education
Results

of

a

subject

(a): without OBW; (b): with OBW
BioRobotics Lab Korea University of Technology and Education
Exp. Result: Exp. Result: Number of Completion
Summary from seven subjects
8
Without OBW With OBW
5
5
5
6
5
7
6
7
o
n
33 33
4

5
5
5
5
4
5
e
r of Completi
o
222
1
2
3
Numb
e
0
1
1234567
Subject
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Subject
Productivity is improved.
Aiiifbjid
Exp. Result: Exp. Result: Average positioning errors
A
verage pos
i
t
i
on

i
ng errors o
f
seven su
bj
ects us
i
ng two mo
d
es
25
Without OBW With OBW
20
19.8
22.2
19.3
19.7
18.3
20
)
91
10
15
r
age Error (cm
)
9
.
1
2

3.3
18
5
5.4
6.7
3
5
10
Eve
r
2
1
.
8
0
1234567
Subject
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Average positioning errors are reduced.
Exp. Result: Exp. Result: Feedback Force Gain
The adjustable gain is useful and valuable for a OBW system
14
FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = 30
10
12
)
6
8
r
age Error (cm

2
4
Eve
r
0
1234567
Subject
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
The feedback force gain should be adjustable
ConclusionConclusion
•A concept of OBW is given
Systematic study
of OBW is provided for
improving the visibility
•
Systematic

study
of

OBW

is

provided

for

improving

the

visibility
• The feedback force have been proposed & a haptic interface is developed to
implement the proposed control approach.
•
Experimental results demonstrated that OBW can improves forklift operations by
•
Experimental

results

demonstrated

that

OBW

can

improves

forklift

operations

by

giving one more interaction channel between drivers & vehicles regardless to
the height of masts and the intensity of illumination.

BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
ConclusionConclusion
• The feedback force is needed to be adjustable due to the different sensitivity of
each subject.
• A more in-depth study and investigation on real forklift trucks is necessary.
A
Mltif ti lh ti d i
f f klift t l i t
•
A

M
u
ltif
unc
ti
ona
l

h
ap
ti
c
d
ev
i
ce
f
or
f

or
klift
con
t
ro
l
ass
i
s
t
ance
• Extend this research on other types of heavy-duty vehicles such as excavators,
telescopic handlers.
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education
Questions & CommentsQuestions & Comments
Thank you for your attention!
Contact us:
BioRobotics Lab Korea University of Technology and EducationBioRobotics Lab Korea University of Technology and Education