Data-driven human skill evaluation for excavator operation

Koiwai, Kazushige; Yamamoto, Toru; Nanjo, Takao; Yamazaki, Yoichiro; Fujimoto, Yoshiaki

doi:10.1109/aim.2016.7576814

Cited by 9 publications

(7 citation statements)

References 5 publications

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“…Moreover, the skill evaluation by using the skill-based PID controller have been performed. 4,5 These research focus on the change of PID gains to extract the feature of the operation skill for the excavator. However, the evaluated operation is applied to the simple lever operation such as the swing operation.…”

Section: Introductionmentioning

confidence: 99%

Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

Koiwai¹,

Yamamoto²,

Nanjo³

et al. 2017

JRNAL

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Improvement of the work efficiency is demanded by aging and reducing of the working population in the construction field, so that some automation technologies are applied to construction equipment, such as bulldozers and excavators. However, not only the automation technologies but also expert skills are necessary to improve the work efficiency. In this paper, the human skill evaluation is proposed by the data-driven skill-based PID controller. The proposed method is applied to the excavator digging operation. As the result, the difference between the novice operation and the skilled operation is extracted. Moreover, the numerical difference is clarified based on the result.

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Section: Introductionmentioning

confidence: 99%

Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

Koiwai¹,

Yamamoto²,

Nanjo³

et al. 2017

JRNAL

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“…6 illustrates the boom-up operation as an adjustment operation and that the V g (t) fluctuates. When an operator is regarded as a controller, the operation of the novice operator is mainly proportional action [25]. Therefore, it is considered that the result shown in Fig.…”

Section: ) Results Of Digging Control Using the Frit Methodsmentioning

confidence: 99%

“…Therefore, compared to (25) and (26), the system attenuation coefficient ζ and natural angular frequency ω n are obtained as follows:…”

Section: Appendix Com Indexmentioning

confidence: 99%

Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

et al. 2021

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In recent years, the working population in the construction industry has been declining. However, the number of construction works projects is increasing because of the increase in development and infrastructure maintenance. Therefore, it is necessary to meet this increasing demand with limited resources. Productivity at construction sites is significantly improved through the extensive use of hydraulic excavators. However, productivity is affected by the skill of excavator operator. In addition, it is difficult and time-consuming to learn the operation of the machines required to achieve an efficient level of work. Therefore, novice operators need support to achieve high productivity. In this study, the behavior of the combined center-of-mass of the excavator attachment as an index that expresses the difference in operating characteristics of operators for hydraulic excavators is focused. In addition, a control system that assists the operation in excavation work based on the velocity of the combined center-of-mass of the attachment is proposed. Furthermore, the database-driven control is applied to correspond to the nonlinear characteristics of a hydraulic excavator. The proposed method is implemented on a hydraulic excavator and its effectiveness is verified.

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“…Yamamoto et al proposed a database-driven PID (DD-PID) controller 12 as an intelligent controller, and its effectiveness has been subsequently verified by many simulation examples and experiments. 13,14 The DD-PID controller first creates a database of stored I/O data obtained in prior experiments, and the PID gains are adjusted online from the values in the database. The DD-PID controller has a PID gain tuner based on the concept of local linearization in just-in-time (JIT) modeling.…”

Section: Introductionmentioning

confidence: 99%

Design and application of a sparse GMDH‐PID controller

Wakitani

Yamamoto

2022

Adaptive Control & Signal

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The database-driven PID (DD-PID) controller is an effective nonlinear PID controller design method; however, some electrical control units in industrial systems cannot implement its algorithm because the DD-PID control scheme requires a large memory capacity and a high-performance processor. In this article, to solve this problem, a group method of data handling PID (GMDH-PID) controller is proposed that approximately expresses the behavior of the DD-PID controller by combinations of simple nonlinear functions. Although this method can reduce the amount of memory capacity and computing power required, the coefficients in each nonlinear function calculated by the least squares method (LSM) may not be stable because of the multicollinearity of the input signals. In this study, instead of LSM, the least absolute shrinkage and selection operator, which is a sparse modeling method, was employed as a coefficient calculation method of the GMDH, in which some coefficients can be calculated as zero in order to avoid the influence of multicollinearity. The effectiveness of the proposed method was evaluated by simulation and experimental testing. K E Y W O R D Sdatabase-driven control, group method of data handling (GMDH), just-in-time modeling, least absolute shrinkage and selection operator (LASSO), PID control, sparse modeling 1

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Data-driven human skill evaluation for excavator operation

Cited by 9 publications

References 5 publications

Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

Design of a Database-Driven Excavation Assist Controller Based on the Velocity of the Center-of-Mass for a Hydraulic Excavator

Design and application of a sparse GMDH‐PID controller

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