How to Design a Crane Control
System
William Singhose
Woodruff School of Mechanical Engineering
Georgia Institute of Technology
Crane Operation
Bridge Crane Problem
(
)
and solution
x
8
Trolley
7
Payload
Position
6
Trolley
Button On
5
4
3
2
1
0
0
5
Cable
10
15
8
Trolley
7
Payload
6
θ
Payload
Position
g
Time
Button On
5
4
3
2
1
0
0
5
Time
10
15
Real-Time Implementation
*
0
D
Initial Command
0
0 Δ
Input Shaper
Δ
D+Δ
Shaped Command
Crane Operation
Very Simple Derivation of
Two Impulses
Two
V (ω ,ζ ) = e −ζωtn
2
2
[C(ω , ζ )] + [S(ω ,ζ )]
t1
0 = A1eζωt1 sin(ω d t1 ) + A2eζωt 2 sin(ω d t 2 )
€
0 = A1 + A2 e ζωt2 cos (ω d t 2 )
0 = A2 e ζωt2 sin (ω d t 2 )
ω d t2 = n π ,
t2 =
nπ nTd
=
,
ωd
2
T
t2 = d
2
A1 =
1+ e
€
n = 1, 2, ...
1
%
(
ζπ
'
*
'
2*
& 1−ζ )
A2
Impulses
0 = A1eζωt1 cos(ω d t1 ) + A2eζωt 2 cos(ω d t 2 )
€
A1
! Ai $ ! 1
# & = ##1 + K
" ti % " 0
n = 1, 2,...
K=e
K $
1 + K &&
0.5Td %
$
'
& −ζπ )
&&
2 ))
% 1−ζ (
t2
Quiz #2
Name
Studio Day and Time
Studio Instructor
1) List 6 of the 9 Safety Principles Discussed
in the Last Lecture
2) What are the 2 axes of a Risk Matrix
3) Give the formula for the 2 impulses that
produce zero vibration
How to Give
Technical Presentations
William Singhose
Woodruff School of Mechanical Engineering
Georgia Institute of Technology
Chapter 12 of the Book
Etiquette Before and After the Talk
•
•
•
•
Face the audience
Dress Appropriately (Remove your hat)
Introduce yourself and your team
End the talk with this statement:
“Thank you. I’ll be happy to answer
questions.”
Basic Guidelines
•
•
•
•
Images: Figures, Charts, Pictures, Videos
Simple
Few Words
Large
Guidelines for Presenting Images
• Describe and explain the diagrams and
charts that you display on the screen
• Point to (touch) the things you talk about
• Use specific, descriptive words to name
concepts, subsystems, and components
• Avoid poor photographs and light figures
MACE Experiment: Space Station
reaction wheels
primary gimbal
umbilical
secondary gimbal
Figures and Words
• Your slides should concentrate on images
(figures, tables, etc.) instead of words
• You add value by describing your displays
• Text descriptions belong in written reports,
not on the screen
When speakers
read slides, they
contribute
nothing to the
presentation –
except distraction
Here the presenter
describes labeled
drawings while we view
the drawings.
Displaying Figures and Tables
•
•
•
•
Choose light backgrounds (White)
Make displays fill the screen
Show descriptive title
Describe your images to the audience:
– What is it?
– Why is it presented?
– What should the audience see?
Reformat design tools for screen display
Fills the slide
Has labels
Descriptive
Title
Specifications (for CD Mover)
D = Demand
W = Wish
Issued:
Specification
For: CD Rom Moving Device
Changes D/W Requirements
Move CD Rom to target.
D
Focus on
Your Input
W
W
W
D
D
Geometry
Fit within 24x12x12 inch area
Kinematics
Quick acceleration
Straight line
Smooth acceleration
Forces
Operates with mouse traps
Gravity
Page 1
Resp. Source
Instructor
Mfg. Engineer
"
"
Instructor
"
Spec sheet cropped to give larger fonts
Function Tree (for CD Mover)
Retrieve CD and
Place on Target
Activate
System
Move
To CD
Stop
At CD
End
Forward
Motion
Anchor
Capture
Device
Manipulate
CD
Capture
CD
Deliver
CD
Defend
Result
Protect
Our CD
Move
Their CD
Rows align for
ease of reading
Use one noun and one verb per box
Morph Chart (for CD Mover)
Rows from Function Tree
Mouse Trap
Generate Power
Gravity
Transmit Power
Trap turns axle
Car hit by trap
Ramp
Rolling
Sliding
Projectile
Suction
Tape covered platform
Trap hits disc
Anchored
String aroung axle
Rubber stopper deployed
Projectile / Catapult
Move to CD /
Target
Move / Pick-up
CD
Catch line
Brake on CD /
Target
Few words
J. Donnell
per/ MEcell
2110,
2011
23
Evaluation Matrix (for Baggage Claim)
CONCEPT
Fonts
24+ pt.
CRITERIA
Drive Distance
Size
Speed
Low Cost
Ease of
Operation
Ease of
Production
Ease of Reset
Functional
Safety
Total
Relative=
Total/32
1
2
3
2
2
3
3
3
1
2
2
4
2
4
2
3
2
3
1
2
2
2
3
3
2
18
2
16
2
23
0.5625
0.5
0.7187524
Highlight
scores
with high
impact
Highlight
main
points
Focus, Color and Information
• Important information must visually
dominate images
• Center and cluster important information
• Reserve color to highlight important
information
Clustered information permits focus
D = Demand
W = Wish
Issued:
Specification
For: CD Rom Moving Device
Changes D/W Requirements
Move CD Rom to target.
D
W
W
W
D
D
Geometry
Fit within 24x12x12 inch area
Kinematics
Quick acceleration
Straight line
Smooth acceleration
Forces
Operates with mouse traps
Gravity
Page 1
Resp. Source
Instructor
Mfg. Engineer
"
"
Instructor
"
Motion, Sound, and Information
• Motion should highlight important
information
Animated concept drawings can be helpful
Animated Text
Is Not Helpful
• Videos can be very helpful
• Sound is best avoided
Unless the sound IS the information
Photographs can display poorly
Sliders for mobility
Pneumatics
for
whacking
arms
Mousetraps
Gravitydeployed
ramp
Light is hard to control
You control the light in drawings
Return motor/
spindle subsystem
Primary release solenoid
Cross support/
diversion arm mounting
bracket
Drawer slider arms
Diversion arm
Weight for arms
Bug chute
Control box
Diversion arm
Rat-whacking arm/
launch
mousetrap subsystem
mousetrap
Summary
1) Act Professionally
2) Focus on Images
3) Clearly Describe (and Touch) Images
in the Presentation
4) Simple is Better
5) Large Fonts (and Few Words)
6) Practice
Questions?