The goal of this research is to develop robust controllers for mobile boom cranes. Such mobile cranes often operate outdoors. Therefore, it is important for the controller to be robust not only to outside disturbances caused by the terrain on which the crane is driving and possibly wind, but also to the various lighting and background clutter that exists when a crane operates outdoors. Conducting research at Kumoh National Institute of Technology will provide the student with a unique opportunity to utilize an existing system to develop and test a low-cost, robust control system. The specific objectives of this project are: ? Evaluate the Existing Image-Processing Algorithm. ? Develop a Robust Image-Processing Algorithm. ? Design an Input Shaper and a Feedback Controller. ? Experimentally Evaluate a Combined Feedback and Input-Shaping Controller.

Conducting research at Kumoh National Institute of Technology in Gumi, Korea, will provide the graduate student with valuable experience of international research collaboration as well as access to facilities not available in the domestic institution. The advisor has successfully collaborated with foreign colleagues and will provide appropriate guidance to the student.

Project Report

This NSF grant allowed PhD student Ehsan Maleki to travel from the Georgia Institute of Technology to the Kumoh National Institute of Technology in Gumi, South Korea. This provided Mr. Maleki with the opportunity to research in a foreign university and to develop numerous technical and personal contacts that will undoubtedly be helpful in his future career. It also opened the possibility for further collaboration between the two universities. The outcomes of the three-month long research experience were two separate projects: i) developing a vision-tracking system using low-cost webcams, and ii) controlling bridge oscillation using input-shaping control. Machine vision and object tracking is an important topic in many fields, such as controls and robotics. By combining a simple webcam and a C++ program utilizing the Open Source Computer Vision library, a system was developed for tracking an object that is robust and fast, yet low-cost and easy to build. Bridge oscillation is an important problem in many parts of the world. A traversing vehicle acts as a load applying a force to the bridge, which will cause the bridge to oscillation. This can be discomforting for the drives and potentially catastrophic for the structural integrity of the bridge. To mitigate this oscillation problem, a command-shaping control method was used. The command-shaping controller essentially modifies the speed of the traversing car appropriately, greatly reducing the bridge oscillation.

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Georgia Tech Research Corporation
United States
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