International DDEP: Control of Complex Tower Crane Motion Using Low-Cost Cameras

国际 DDEP：使用低成本相机控制复杂塔式起重机运动

• 批准号: 1116440
• 负责人: William Singhose
• 金额: $ 1.39万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-09-15 至 2013-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1116440&HistoricalAwards=false
• 关键词: International; DDEP; Control; Complex; Tower

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.

本研究的目的是开发移动式臂式起重机的鲁棒控制器。这种移动式起重机经常在户外作业。因此，控制器不仅要对起重机所在的地形和可能的风引起的外部干扰具有鲁棒性，而且要对起重机在户外操作时存在的各种照明和背景杂乱具有鲁棒性。在库莫国家理工学院进行研究将为学生提供一个独特的机会，利用现有的系统来开发和测试低成本、健壮的控制系统。该项目的具体目标是：？评估现有的图像处理算法。开发一种健壮的图像处理算法。设计了输入整形器和反馈控制器。在韩国Gumi的Kumoh国家理工学院进行的传导性研究，将为研究生提供宝贵的国际研究合作经验，以及使用国内机构所没有的设施。导师已与外国同事成功合作，并将对学生进行适当的指导。