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 http://robot.kut.ac.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 [...]... simulation model and user interface for OBW system BioRobotics Lab Korea University of Technology and Education Tasks for Experiment Seven subjects were asked to move the fork from initial to desired position p Moving time and position errors are measured lifting package e g o the right fork Lr fork (without OBW & with OBW) Distance sensors lifted-packages mast FORKLIFT TRUCK BioRobotics Lab Korea... Result: Feedback Force Gain The adjustable gain is useful and valuable for a OBW system FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = 30 14 Ever rage Error (cm) 12 10 8 6 4 2 0 1 2 3 4 5 6 7 Subject The feedback force gain should be adjustable BioRobotics Lab Korea University of Technology and Education Conclusion • A concept of OBW is given • Systematic study of OBW is provided for improving the... BioRobotics Lab Korea University of Technology and Education Conclusion • 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 Multifunctional haptic device f forklift control assistance ti l h ti d i for f klift t l i t • Extend this research on other types of heavy-duty vehicles... • A concept of OBW is given • 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... measured lifting package e g o the right fork Lr fork (without OBW & with OBW) Distance sensors lifted-packages mast FORKLIFT TRUCK BioRobotics Lab Korea University of Technology and Education 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... t l i t • Extend this research on other types of heavy-duty vehicles such as excavators, telescopic handlers BioRobotics Lab Korea University of Technology and Education Questions & Comments Thank you for your attention! Contact us: http://robot.kut.ac.kr BioRobotics Lab Korea University of Technology and Education . 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. 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. 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