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Detta examensarbete är utfört hos Swisslog under våren 2013. De hade problem med den manuella styrningen av deras pallstaplingskran för höglager, som upplevdes ryckig och svår att kontrollera vid låga hastigheter. Huvudsyftet var att undersöka varför detta fenomen uppstod och hur det kunde lösas med både hård- och mjukvarumässiga metoder. Utöver detta undersöktes hur produktionskostnaden, för delarna av kranen som rör den manuella styrningen, kunde reduceras. Det upplevda fenomenet är känt som biodynamic feedthrough. Det innebär att konstruktionens acceleration matas genom operatörens kropp och skapar en återkoppling till styrdonet, i detta fall en joystick. Operatörens hand ger en oavsiktlig störsignal som gör systemet instabilt som i sin tur skapar en oscillation som ökar i amplitud och är svår eller omöjlig att stoppa. Den föreslagna lösningen är att digitalt lågpassfiltrera styrsignalen från joysticken. Det dämpar de skarpaste spikarna i signalen och förhindrar systemet att ta in de snabba handrörelser som kranens acceleration har skapat. / This bachelor thesis was written at Swisslog, who had a problem with the manual control of their high-bay pallet stacker crane. The ride was perceived rough and hard to control at lower speeds.    The main purpose was to examine the source of the phenomenon and how to solve the problem with both software and hardware. It was also requested to investigate ways to lower production costs of the parts of the crane related to the manual control.   The experienced phenomenon is known as biodynamic feedthrough. It refers to the acceleration of the structure affects the body of the operator causing a feedback loop to the input, in this case a joystick. The hand of the operator causes an involuntary control input and making the system unstable and causing an oscillation increasing in amplitude over time. This may be hard or impossible to stop.   The proposed solution is a low-pass filter applied at the output of the joystick. This attenuates the sharpest spikes from the joystick control signal and prevents the system from receiving the fast hand movements caused by the acceleration of the crane.

Most research on bimanual rhythmic coordination has occurred with the participants in a seated posture. Many activities of daily living, however, require the interaction of standing postural and manual tasks. A population of individuals that are ideal for studying the integration of a manual task into the ongoing control of posture are expert marching percussionists; they have learned to produce rhythmic movements accurately under a variety of temporal and postural constraints. The purpose of the current study was to investigate the integration of bimanual rhythmic movements and posture in expert marching percussionists. Participants (N=11) were recruited from the University of Massachusetts Drumline, and were asked to perform three rhythmic tasks [1:1, 2:3, and 2:3-F (2:3 rhythm played faster at a self-selected tempo)] in one of three postures: sitting, standing on one foot, and standing on two feet. Discrete relative phase, postural time-to-contact, and coherence analysis, were used to analyze the performance of the manual task, postural control, and the integration between postural and manual performance. Across all three rhythms, discrete relative phase mean and variability (SD) results showed no effects of posture on rhythmic performance. The complexity of the manual task (1:1 vs 2:3) had no effect on postural time-to-contact. However, increasing the tempo of the manual task (2:3 vs. 2:3=F) did result in a decreased postural time-to-contact in the two-footed posture). Coherence analysis revealed that the coupling between the postural and manual task significantly decreased as a function of posture (going from a two footed to a one footed posture) and rhythmic complexity (1:1 vs. 2:3). Taken together, these results demonstrate that expert marching percussionists systematically decouple postural and manual fluctuations in order to preserve the performance of the rhythmic movement task.

The development of large lightweight airframes has resulted in what used to be high frequency structural dynamics entering the low frequency range associated with an aircraft’s rigid body dynamics. This has led to the potential of adverse interactions between the aeroelastic effects and flight control, especially unwanted when incidents involving failures or extreme atmospheric disturbances occur. Moreover, the pilot’s response in such circumstances may not be reproducible in simulators and unique to the incident. The research described in this thesis describes the development of a pilot model suitable for the investigation of the effects of aeroelasticity on manual control and the study of the resulting airframe loads. After a review of the state-ofthe- art in pilot modelling an experimental approach involving desktop based pilot-in-the-loop simulation was adopted together with an optimal control based control-theoretic pilot model. The experiments allowed the investigation of manual control with a nonlinear flight control system and the derivation of parameter bounds for single-input-single-output pilot models. It was found that pilots could introduce variations of around 15 dB at the resonant frequency of the open loop pilot-vehicle-system. Sensory models suitable for the simulation of spatial disorientation effects were developed together with biomechanical models necessary to capture biodynamic feedthrough effects. A detailed derivation and method for the application of the modified optimal control pilot model, used to generate pilot control action, has also been shown in the contexts of pilot-model-in-the-loop simulations of scenarios involving an aileron failure and a gust encounter. It was found that manual control action particularly exacerbated horizontal tailplane internal loads relative to the limit loads envelope. Although comparisons with digital flight data recordings of an actual gust encounter showed a satisfactory reproduction and highlighted the adverse affects of fuselage flexibility on manual control, it also pointed towards the need for more incident data to validate such simulations.

Current building design and engineering practices emphasizing on energy conservation can be improved further by developing methods focusing on building occupants’ needs and interests in conservation. Specifically, the resulting energy effective building performance improvements cannot reach the desired goals, if the resulting indoor environmental conditions do not meet thermal, visual and air quality needs of the occupants. To meet both energy conservation and human performance requirements simultaneously requires to give the occupants information regarding indoor environmental qualities and energy implications of possible individual decisions. This requires that building control components and systems must enable occupants to understand how the building operates and how their own actions meet both their needs and the energy and environmental goals of the building project. The goal of the research and experiments of this dissertation is to explore if real-time information regarding visual comfort requirements to meet a variety of tasks and to simultaneously conserve energy, improves occupant behavior to meet both objectives. Two workplaces in Robert L. Preger Intelligent Workplace were equipped to test the performance of 60 invited participants in conducting computer based tasks and a paper based task, under three difference lighting controls: 1) Centralized lighting control with no user choice 2) User control of - blind positions for daylight shading - ceiling based lighting fixture luminance output level - task lighting: on/off 3) User control the three components (as listed under point 2 above), with provided simultaneous information regarding energy and related CO2 emissions implications, appropriate light levels meeting tasks requirements, and best choices in order to meet both task requirements and energy conservation goals/objectives. The main findings of the experiments are that real-time information (listed under point 3 above) enables users to meet the visual quality requirements for both computer tasks and the paper task, and to conserve significant amounts of electricity for lighting. Furthermore, the 60 invited participants were asked to identify the importance of the four types of provided information tested in point 3 above. While individual users identified the importance of different information categories, the overall assessment were considered to be significant.

The development of large lightweight airframes has resulted in what used to be high frequency structural dynamics entering the low frequency range associated with an aircraft’s rigid body dynamics. This has led to the potential of adverse interactions between the aeroelastic effects and flight control, especially unwanted when incidents involving failures or extreme atmospheric disturbances occur. Moreover, the pilot’s response in such circumstances may not be reproducible in simulators and unique to the incident. The research described in this thesis describes the development of a pilot model suitable for the investigation of the effects of aeroelasticity on manual control and the study of the resulting airframe loads. After a review of the state-ofthe- art in pilot modelling an experimental approach involving desktop based pilot-in-the-loop simulation was adopted together with an optimal control based control-theoretic pilot model. The experiments allowed the investigation of manual control with a nonlinear flight control system and the derivation of parameter bounds for single-input-single-output pilot models. It was found that pilots could introduce variations of around 15 dB at the resonant frequency of the open loop pilot-vehicle-system. Sensory models suitable for the simulation of spatial disorientation effects were developed together with biomechanical models necessary to capture biodynamic feedthrough effects. A detailed derivation and method for the application of the modified optimal control pilot model, used to generate pilot control action, has also been shown in the contexts of pilot-model-in-the-loop simulations of scenarios involving an aileron failure and a gust encounter. It was found that manual control action particularly exacerbated horizontal tailplane internal loads relative to the limit loads envelope. Although comparisons with digital flight data recordings of an actual gust encounter showed a satisfactory reproduction and highlighted the adverse affects of fuselage flexibility on manual control, it also pointed towards the need for more incident data to validate such simulations.

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

Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or to execute the complexities of a task that autonomous robots are not yet equipped to handle. As such, robot controllers are needed that utilize the strengths of both autonomous agents, adept at handling lower level control tasks, and humans, superior at handling higher-level cognitive tasks. To address this need, we develop a control theoretic framework that seeks to incorporate user commands such that user intention is preserved while an automated task is carried out by the controller. This is a novel approach in that system theoretic tools allow for analytic guarantees of feasibility and convergence to goal states which naturally lead to varying levels of autonomy. We develop a model predictive controller that takes human input, infers human intent, then applies a control that minimizes deviations from the intended human control while ensuring that the lower-level automated task is being completed. This control framework is then evaluated in a human operator study involving a shared control task with human guidance of a mobile robot for navigation. These theoretical and experimental results lay the foundation for applying this control method for human-robot cooperative control to actual human-robot tasks. Specifically, the control is applied to a Urban Search and Rescue robot task where the shared control of a quadruped rescue robot is needed to ensure static stability during human-guided leg placements in uneven terrain. This control framework is also extended to a multiple user and multiple agent system where the human operators control multiple agents such that the agents maintain a formation while allowing the human operators to manipulate the shape of the formation. User studies are also conducted to evaluate the control in multiple operator scenarios.

Recent decades have been witness to explosive leaps in manufacturing productivity. Advances in communication technology, computing speed, control theory, and sensing technology have been significant contributors toward the increased productivity and efficiency that industry has exhibited. The continued growth of technological equipment and engineering knowledge challenges engineers to fully utilize these advancements in more sophisticated and useful automation systems. One such application involves enhancing bridge and gantry crane operation. These systems are used throughout the globe, and are critical aspects of industrial productivity. Consequently, improving the operational effectiveness of cranes can be extremely valuable. Effective control of cranes can be largely attributed to two distinct, but related aspects crane manipulation: 1) the expertise of operators, which are responsible for issuing commands to the structures, and 2) the dynamic properties of cranes, which influence how the structures respond to issued commands. Accordingly, the operational efficiency of cranes can be influenced by changing both the way that operators issue commands to cranes, and also how the crane responds to issued commands. This thesis is concerned with dynamic control theory of flexible machines, and human/machine interaction, especially as these areas relate to industrial crane control. In the area of dynamic control, this thesis investigates control strategies that are specifically suited for use on systems that possess common actuator nonlinearities, like saturation, rate limiting, dead-zone, backlash, and finite-state actuation. In the area of human/machine interaction, this thesis investigates the effects of different crane interface devices on the operational efficiency of cranes.