TY - GEN
T1 - Kalman filtering for improving radio-frequency hand motion crane control
AU - Ragunathan, Sudarshan
AU - Frakes, David
AU - Peng, Kelvin
AU - Stokes, Lee
AU - Singhose, William
PY - 2012
Y1 - 2012
N2 - A novel hand-motion crane control system was developed that improves performance by providing: 1) an intuitive control interface and 2) an element that reduces the complex oscillatory behavior of the payload. Hand-motion control allows operators to drive a crane by simply moving a hand-held radio-frequency tag through the desired path. Real-time location sensors track the movements of the tag and its position is used in a feedbackloop to drive the crane. However, tag measurements are corrupted by noise. It is important to understand the noise properties so that appropriate filters can be designed to mitigate the effects of noise and improve tracking accuracy. This paper quantifies the measurement noise for two possible situations during hand-motion control: when the tag is 1) located in open space inside the sensor coverage zone, and 2) is placed near large machinery. This paper also presents a Kalman filter that adapts to the noise characteristics of the workspace to minimize the tagtracking error.
AB - A novel hand-motion crane control system was developed that improves performance by providing: 1) an intuitive control interface and 2) an element that reduces the complex oscillatory behavior of the payload. Hand-motion control allows operators to drive a crane by simply moving a hand-held radio-frequency tag through the desired path. Real-time location sensors track the movements of the tag and its position is used in a feedbackloop to drive the crane. However, tag measurements are corrupted by noise. It is important to understand the noise properties so that appropriate filters can be designed to mitigate the effects of noise and improve tracking accuracy. This paper quantifies the measurement noise for two possible situations during hand-motion control: when the tag is 1) located in open space inside the sensor coverage zone, and 2) is placed near large machinery. This paper also presents a Kalman filter that adapts to the noise characteristics of the workspace to minimize the tagtracking error.
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U2 - 10.1115/DSCC2012-MOVIC2012-8761
DO - 10.1115/DSCC2012-MOVIC2012-8761
M3 - Conference contribution
AN - SCOPUS:84885898996
SN - 9780791845318
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 309
EP - 316
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -