PPT for ICSMA conf observe by wire system pdf

An O bserve- B y- W ire SystemUsing Haptic Interfaces Ba-Hai Nguyen and Jee-Hwan Ryu BioRobotics Lab School of Mechanical Engineering K orea U niversity of T echnology and Education http

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An O bserve- B y- W ire System

Using Haptic Interfaces

Ba-Hai Nguyen and Jee-Hwan Ryu

BioRobotics Lab School of Mechanical Engineering

K orea U niversity of T echnology and Education

http://robot.kut.ac.kr

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Visibility How can an OBW help?

Sight

Hearing

Touch

Smell Hearing

Taste

What is this topic about?

14

FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = 30

6 8 10 12

0 2 4

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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

• Operation speed

• Reliability

Forklift

Tall Masts decrease visibility and safety Forklift

How can visibility be improved?

BioRobotics Lab K orea U niversity of T echnology and Education

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Technical Solutions

Current Solutions

• Video camera

• Tilt cabin

Open issues:

• Visibility

• Lack of illumination

• Potential damages g

• Balance

What can haptic interfaces do?

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Human Human Machine Interfaces Machine Interfaces

Human Senses

Hearing, Sight, Touch, Smell, Taste Sight

Touch Interaction

Haptic Interfaces & Its Applications Smell

Hearing

Taste

Environment

[wikipedia.org]

Taste

Observe-By-Wire T h

Observe-By-Wire

Visibility of Touch

Touch

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The Concept of Observe The Concept of Observe By By Wire Wire

Advanced Features

• Gives operators maximum visibility

f

Sight

Touch

• Improve safe operation

• Optimizes productivity

Hearing

Touch

T t

moving large boxes, lack of

+

Taste

illumination

How does an OBW system work ? +

Driver-Forklift Interaction Channels

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OBW: 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 t th di t

fork

lifting package Lr

the right fork

Information

Distance sensorslifted-packages

feedback force ?

mast

feedback force ?

FORKLIFT TRUCK

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Feedback Force Implementation

F 2 (N)

time (s)

a

Fs Assistance force (power steering sys.)

Falig Aligning force

F 2 (N)

time (s)

b

Fin: Inertia force

At

(due to the steering mechanism)

time (s)

a+b

(due to the steering mechanism)

Lr

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Feedback Force Implementation Feedback force (Obser-by-wire)

Steering Direction

Turn Left

RS are turned off

Turn right

LS are turned off

Lr

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Semi Semi experimental Setup experimental Setup

Semi-experimental Setup

A haptic interface is developed for OBW

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Computer Simulation Model LabVIEW-based simulation model and user interface for OBW system

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Tasks for Experiment

Seven subjects were asked to

move the fork from initial

Moving time and position

errors are measured. fork

lifting

e g o

(without OBW & with OBW)

Distance sensors lifted-packages

mast

FORKLIFT TRUCK

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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 times

With OBW, vibrations are reduced

Position errors

Without OBW: 20 cm

Results of a subject

Results of a subject (a): without OBW; (b): with OBW

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Exp Result:

Exp Result: Number of Completion

Summary from seven subjects

8

Without OBW With OBW

6

5

7

6 7

4

4 5

1 2

3

0 1

Subject

Productivity is improved.

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A i i i f bj i d

Exp Result:

Exp Result: Average positioning errors

Average positioning errors of seven subjects using two modes

25

Without OBW With OBW

20 19.8

22.2

19.3 19.7

18.3 20

9 1 10

15

9.1

2

3.3

1 8

5 5.4

6.7

3 5

10

2 1.8

0

1 2 3 4 5 6 7

Subject

Average positioning errors are reduced

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Exp Result:

Exp Result: Feedback Force Gain

14

FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = 30

10

12

6

8

2

4

0

1 2 3 4 5 6 7

Subject

The feedback force gain should be adjustable

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• 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

giving one more interaction channel between drivers & vehicles regardless to

the height of masts and the intensity of illumination.

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• 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 M ltif ti l h ti d i f f klift t l i t

• A Multifunctional haptic device for forklift control assistance

• Extend this research on other types of heavy-duty vehicles such as excavators, telescopic handlers.

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Questions & Comments Thank you for your attention!

Contact us: http://robot.kut.ac.kr

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