Swinging-Up of Two Pendulums by Manual Control with Computer Assistance

In this paper, we discuss simultaneous swinging-up of two pendulums by manual control.The single control input is applied to two pendulums with different physical parameters.Since the control task is very difficult , we propose a manual control system with computer assistance. The dynamic behavior of the two pendulums is simulated by a digital computer and its animation is shown on a CRT display. The computer generates appropriate signals to assist the human operator and the human operator manipulates the pendulum motions while watching the display.We show that successful experimental results can be obtained by using the proposed manual control system

Experimental Study of Human Performance in High Precision Tracking Task Using Iterative Learning Technique

In this paper, the ability of a human operator in tracking the desired trajectory with high precision using an iterative learning technique is studied. Experiments are designed to provide the best perception of data and fine control to the human operator. Results of the experiments show the ability of the human operator to perform the tracking tasks very precisely. The convergence of the human control input to the desired control input is observed to be fast. Furthermore the control strategy of the human operator is analyzed in this paper

Teaching of Dancing Motions to Computer Controlled Automata Using Sequential Motions

In this paper we propose a method to develop the program of continuous dancing motions using discrete motions sequentially for a computer-controlled automaton. Firstly a human listens to music and he imagines dancing motions. Secondly he generates a series of discrete skeleton images on a CRT display using a mouse. The skeleton image is the model of an automaton which has been developed in advance. Thirdly the continuous trajectories are generated by interpolating the sequential dancing images. Finally the continuous dancing motions of the skeleton images are evaluated on a CRT screen with the music. If necessary, the modification is repeated until a satisfactory motion is realized. The final check of the computer program is done by using the real automaton

Application of Extended AHP to the Analysis of User\u27s Acceptance of Environment-friendly Car

The multicriteria decision making problems often include both quantitative and qualitative factors simultaneously. To solve such problems, it is better to use objective values for quantitative factors as much as possible, to use subjective judgments only for qualitative factors to carry out evaluations respectively, and then to work out a comprehensive evaluation using these evaluations. In this paper, an extended AHP (Analytic Hierarchy Process) for integrating quantitative and qualitative evaluations is proposed. Because the alternative priorities on quantitative criteria are formed not by human\u27s judgments but by the ratios of the alternative values on criteria, and there is no inconsistency problem of pairwise comparison matrix in quantitative evaluation, the accuracy and the reliability of the evaluation is improved. The comprehensive evaluation matrix is composed of the priorities on quantitative and qualitative criteria. The columns of the matrix are ratios of quantities which have different units and represent the priorities on different criteria. The final priorities are obtained by multiplying the matrix with the weights of each criterion. An example using the extended AHP to evaluate user\u27s acceptance of an environment-friendly car is given. For building pairwise comparison matrices, we designed a questionnaire and carried out an investigation

Positioning of the Two-link Arm by Manual Control

The problem-solving ability of a human in manual control is considered. The purpose of the manual control is the positioning of the two-link arm with a free joint. This kind of manipulator are getting popular recently because of its simplicity. The control of the manipulator, however, is difficult because the motion is governed by a set of nonlinear equations. A real-time simulator is used to perform the experiment of manual control. It is concluded that a human can find some satisfactory control patterns after enough training. These results are interesting from the theoretical point of view, they suggest a possible theoretical approach to this difficult control problem