Cranes are widely used in material-handling and transportation applications, e.g. in shipyards, construction sites, and warehouses. As they are critical to the economic vitality of modern-day industries, improving crane performance and ease of use are important contributors to industrial productivity, low production costs, and workplace safety. In a typical crane operation, a payload is lifted, moved to its destination, and then lowered into place. This dissertation aims to improve crane performance and reduce task difficulty for the human operator in the movements mentioned above, namely: 1) Moving payloads laterally in the horizontal plane, 2) Lifting payloads off the ground, and 3) Lowering or laying down payloads on the ground. The design of a novel and intuitive human-machine control interface is the focus for improving operations that involve moving payloads laterally. The interface allows operators to drive a crane by simply moving a hand-held device through the desired path. The position of the device, which is tracked by sensors, is used to generate command signals to drive the crane. This command is then input-shaped such that payload oscillations are greatly reduced, making it much easier for the operator to drive the crane. Several facets of this crane control method are examined, such as control structure and stability, usability contexts, modes of operation, and quantitative measures (by means of human operator studies) of performance improvements over standard crane control interfaces. Lifting up a payload can be difficult for the operator, if the hoist is not properly centered above the payload. In these potentially dangerous and costly ``off-centered" lifts, the payload may slide on the ground and/or oscillate in the air after it is hoisted. Newtonian and Coulomb friction models that focus on the stiction-sliding-separation contact dynamics are derived and experimentally verified to study off-centered lifts. Then, with the goal of aiding operators during lift operations, simple but practical, self-centering solutions are proposed and implemented. Laying down or lowering a payload to the ground can also be challenging for operators in certain situations. For example, laying down a long, slender payload from a vertical orientation in the air, to a horizontal position on a flat surface. If the operator does not properly coordinate the motions of the crane in the vertical and horizontal directions simultaneously, then the potential hazards that may occur during these operations include: 1) slipping of the pivot about which the payload rotates, leading to sudden and dangerous payload movements; and 2) excessive hoist cable angles that lead to ``side-pull" problems. Newtonian and Coulomb friction models are derived to describe this lay-down scenario. The forces and motions experienced by the payload are then used to determine the motion trajectories that the crane and payload should follow to execute a successful lay-down maneuver. Finally, a special chapter is included to address the oscillation control of systems that have on-off nonlinear actuators, such as cranes powered by relay-controlled circuits. Due to their simplicity, ruggedness, and long service life, this type of crane can be commonly found in older factories or in applications where precise motion control is not a strict requirement. However, controlling payload oscillations on this type of crane is challenging for two reasons: 1) Relays that can only be turned on or off allow for only limited control over the crane velocity; and 2) These cranes typically have nonlinear asymmetrical acceleration and deceleration properties. Methods are derived for determining the relay switch-times that move single-pendulum and double-pendulum payloads with low residual oscillations.

Heavy-lifting machines such as cranes are widely used at ports, construction sites, and manufacturing plants in a variety of material-transporting applications. However, cranes possess inherent flexible dynamics that make fast and precise operation challenging. Most cranes are driven by human operators, which adds another element of complexity. The goal of this thesis is to develop controllers that allow human operators to easily and efficiently control machines with flexible dynamics. To improve the ease of human operation of these machines, various control structures are developed and their effectiveness in aiding the operator are evaluated. Cranes are commonly used to swing wrecking balls that demolish unwanted structures. To aid the operator in such tasks, swing-amplifying controllers are designed and their performance are evaluated through simulations and experiments with real operators. To make maneuvering of these machines in material-transporting operations easier, input-shaping control is used to reduce oscillation induced by operator commands. In the presence of external disturbances, input shaping is combined with a low-authority feedback controller to eliminate unwanted oscillations, while maintaining the human operator as the primary controller of the machine. The performance and robustness of the proposed controllers are thoroughly examined via numerical simulations and a series of experiments and operator studies on a small-scale mobile boom crane and a two-ton dual-hoist bridge crane.

Automation surprises are examples of poor Human-Machine Interaction (HMI) where pilots were surprised by actions of the automation, which lead to dangerous situations during which pilots had to counteract the autopilot. To be able to identify problems that may arise between pilots and automation before implementation, methods are needed that can uncover potentially dangerous HMI early in the design process. In this work, two such methods, simulation and model checking, have been combined and compared to leverage the benefits of both. In the past, model checking has been successful at uncovering known automation surprises. Simulation, on the other hand, has been successful in the aviation domain and human factor issues. To be able to compare these two approaches, this work focused on a common case study involving a known automation surprise. The automation surprise that was examined, is linked to the former Airbus speed protection logic that caused aircraft on approach to change the flight mode, resulting in a sudden climb. The results provided by the model checking with SAL (Symbolic Analysis Laboratory) in a previous work, have been used to provide input for simulation. In this work, this automation surprise was simulated with the simulation platform WMC (Work Models that Compute) and compared to the corresponding results from SAL. By using the case study, this work provides a method to examine system behavior, such as automation surprises, using model checking and simulation in conjunction to leverage the benefits of both.

Thesis (D.Ph.) (Communication Arts)--University of Wisconsin-Madison, 2006. / Includes bibliographical references (p. 263-277). Also available on the Internet.

Thesis (MFineArt)--University of Melbourne, VCA Art, The Faculty of the Victorian College of the Arts, 2009. / Typescript. Includes bibliographical references (p. 41-42)

Thesis (D.Ph.) (Communication Arts)--University of Wisconsin-Madison, 2006. / eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (p. 263-277).

Thesis (MTech (Information Technology))--Cape Peninsula University of Technology, 2005. / This thesis explores the design and implementation of an intelligent semantic machine control system with specific reference to human-machine interface design. The term "intelligent" refers to machines that can execute some level of decision taking in context. The term "semantic" refers to a structured language that allows user and machine to communicate. This study will explore all the key concepts about an intelligent semantic machine control system with human-machine interface. The key concepts to be investigated will include Artificial Intelligence, Intelligent Control, Semantics, Intelligent Machine Architecture, Human-Machine Interaction, Information systems and Graphical User Interface. The primary purpose of this study is to develop a methodology for designing a machine control system and its related human-machine interface.

The hand is one of the most complex of all of the anatomical structures in the human body. It has been found that hand injuries are among the most frequent injuries that occur to the body, predominantly during industrial activities. It has therefore been concluded that more research is needed into protective factors, such as glove use. The design features of a glove emphasise either protection or performance. There is often a trade-off between increased safety and performance capability when donning gloves. It has been determined that gloves which are fitted and comfortable for the worker may provide the best compromise between protective functions and decreased performance. This investigation aimed to assess the influence of glove fit on the performance attributes of industrial tasks, as well as on the responses of the human operator. Glove fit was analysed as 35 male participants donned three different glove sizes during each test, including a best-fitting glove, a glove one size smaller than best-fitting, and a glove one size larger than best-fitting. For each glove size, gloves of two differing materials were tested, namely nitrile and neoprene. A barehanded condition was also tested, totalling seven gloved/barehanded conditions for each test. The seven conditions were assessed in a laboratory setting in a battery of tests. This consisted of components of task performance, including maximum pulling and pushing force, maximum torque, precision of force, tactility, speed and accuracy and dexterity. The performance responses were recorded, as well as participants’ perceptual responses using the Rating of Perceived Exertion scale, and muscle activity. Six muscles were selected: Flexor Digitorum Superficialis, Flexor Pollicus Longus, Extensor Carpi Ulnaris, Extensor Carpi Radialis, Flexor Carpi Ulnaris and Flexor Carpi Radialis. The results revealed that glove fit does affect certain spects of performance, and influences human operator responses for selected task components. Furthermore, discrepancies were distinguished between orking barehanded and working with an optimally fitted glove. There was also a glove material effect established. Overall, it was found that muscle activity when exerting maximum force in a pushing and pulling direction was optimal with the nitrile glove material. Maximum torque performance was enhanced with the use of a best-fitting glove, as compared with an ill-fitting glove or barehanded work. Force precision was preferable when barehanded, as opposed to the tactility task which rendered optimal results with a best-fitting glove. The same was found for speed and accuracy results, as glove fit appeared to have no effect on performance, but performance was improved when participants were barehanded. Dexterity performance was the most conclusively influenced by the conditions, resulting in barehanded performance being optimal. However, should a glove be necessary for a given task, an optimally-fitted glove which is of a thinner material would be recommended. It is necessary to distinguish the performance components of a task within industry and select the most appropriate glove for optimal performance and the least risk of overexertion.

Thesis: M.S., Massachusetts Institute of Technology, Department of Mechanical Engineering, 1979 / Bibliography: leaves 38-39. / by Michio Takahashi. / M.S. / M.S. Massachusetts Institute of Technology, Department of Mechanical Engineering

Display/control gain is the amount of movement that occurs on a display in response to a unit amount of movement on the control. Two studies were conducted to determine the adequacy of identifying the optimum gain for an interface as a method of control-display interface optimization. The first study examined the effects of changes in both the maximum control input and the display width on target acquisition performance with a touch tablet and a trackball. The hypothesis that an interaction between the control input and the display output would determine performance was not supported for either device. There was a main effect of the control input for the touch tablet, and significant effects of the control input and the display width for the trackball. The results also indicate that, at least for the touch tablet, gain is not a sufficient specification for performance. The second study evaluated the effects of changes in the display amplitude, the display target width, and the control amplitude. There were significant interactions among these three factors for both touch tablet and trackball target acquisition performance. These results extend the findings of the first study with respect to the inability of gain to predict performance. In addition, the inadequacy of Fitts' Law as it applies to the given interfaces is discussed. / Ph. D. / incomplete_metadata