OS3-1 A sound-based measurement of sway angle for anti-sway control of overhead crane

Title:	OS3-1 A sound-based measurement of sway angle for anti-sway control of overhead crane
Publication:	ICAROB2018
Volume:	23
Pages:	306-309
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.OS3-1
Author(s):	Miki Matsunaga, Masayoshi Nakamoto, Toru Yamamoto
Publication Date:	February 2, 2018
Keywords:	Overhead crane, microphones, correlation function, Newton's method
Abstract:	For anti-swing control of overhead crane, a deflection angle must be estimated. However, it is difficult to estimate deflection angles with a contact sensor such as rotary encoder. Therefore, we show a non-contact measurement method for the deflection angles by using two microphones. The method employs a time delay of arrival (TDOA) of acoustic signals which are picked up by the two microphones. Also, we show an algorithm to obtain the angle from the TDOA by using the Newton's method. Finally, we show experimental results to demonstrate the effectiveness of the proposed method.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS3/OS3-1.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/