A proposed methodology for human operator modeling and development of a virtual operator model for control of a simulated compact track loader

Wang, Orson R

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https://hdl.handle.net/2142/129269 Copy

Description

Title

A proposed methodology for human operator modeling and development of a virtual operator model for control of a simulated compact track loader

Author(s)

Wang, Orson R

Issue Date

2025-05-08

Director of Research (if dissertation) or Advisor (if thesis)

Norris, William R

Department of Study

Industrial&Enterprise Sys Eng

Discipline

Systems & Entrepreneurial Engr

Degree Granting Institution

University of Illinois Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Human Operator Modeling
• HOM
• Virtual Operator Modeling
• VOM
• fuzzy
• control
• construction
• heavy
• equipment
• compact track loader
• CTL
• skid steer
• automation

Abstract

A methodology for performing Human Operator Modeling (HOM) using a Caterpillar Model 299D3 XE Compact Track Loader (CTL) is presented. The proposed method uses task analysis techniques to decompose a material excavation and moving task into smaller, individual tasks presented in a task list. A method for verifying and refining the task list is presented, along with a procedure for identifying relevant human operator sensory information and analyzing human decision making in the context of CTL operation. This methodology involves interviewing experienced expert human operators and analyzing the expert operator's performance of a task. A potential interview format and question list and a sensor suite potentially suitable for capturing the human sensory information present at the operator position of a Caterpillar Model 299D3 XE CTL is proposed. A method for analyzing the data recorded of an expert operator and a method of quantifying the expert operator's performance are also presented. This methodology is then partially verified through the analysis of a non-expert human operator in simulation. The proposed sensor suite is emulated to the extent possible on a model CTL in Vortex Studio, a realistic construction equipment simulator. A modified test course is executed by a non-expert human operator in the simulation environment, and the recorded data is used to create a quantitative HOM. From this, a Virtual Operator Model (VOM) feedback controller simulating the performance of a human operator is developed. The VOM is implemented using a state machine to transition between individual tasks. Fuzzy Logic Control (FLC), is implemented for each task to control bucket tilt, arm lift, and throttle, with controller parameters calculated from the quantitative HOM data. The VOM controller is verified using the same test course performed by the human operator. The performance of the human operator is compared to that of the VOM controller in order to validate the HOM and VOM methodology for a simulation environment.

Graduation Semester

2025-05

Type of Resource

Thesis

Handle URL

https://hdl.handle.net/2142/129269

Copyright and License Information

Copyright 2025 Orson R. Wang

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