Automated pedestrian crowd control barriers /
Pedestrian barriers are commonly used for a crowd control environment to get safe area using barriers between public and events. As the interaction between public people and machines has been always considered as a challenging engineering task especially for mechatronics engineering. According to...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Gombak, Selangor :
Kulliyyah of Engineering, International Islamic University Malaysia,
2016
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| Subjects: | |
| Online Access: | Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. |
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| Summary: | Pedestrian barriers are commonly used for a crowd control environment to get safe area using barriers between public and events. As the interaction between public people and machines has been always considered as a challenging engineering task especially for mechatronics engineering. According to this problem there are some studies in the field of crowd management to be controlled by using high-performance cameras, data stored scenarios, and automated control system, therefore researchers should find a new approach to control the pedestrian interlinked barriers and prohibit any clash. Most pedestrian barriers used are static and immobile and not adaptable to changing crowd condition, so it is pivotal to have an adaptive system that can assume closely the role of the security man by sensing the crowd and move away to provide a safe area without collision. Thus, in this dissertation, a novel automated pedestrian crowd control barriers system is performed to control the crowd area while maintaining the people in a safe environment without any collision between them and barriers or security man. A Computed Torque Controller (CTC) based on trajectory planning approach is implemented which identifies the difference between the input desired trajectory with the newly collected data of the equation of motion and dynamic equation analysis of the actual system to achieve a good and accuracy results by reducing the error and minimize the disturbances. The framework adopts the control technique to allow the control of the dynamic interaction (tracking of desired position) between the crowd and the barriers system for barriers-crowd contrary motion. In order to adapt the control parameters to the crowd condition, an integrated PD CTC control model of the interlinked barriers is developed and implemented in real time by means of a repetition polynomial model estimator block to predict the crowd movement parameters as a measure of crowd conditions or sensorimotor control performance. The planning trajectory is built on four cases depend on the distance between the crowd and the dynamic barriers system that measured by ultrasonic sensors in order to move the barriers using dc motors. Moreover, while barriers moving, the encoder motor calculate the moving distance of the barriers in the backward direction then move back the same distance in the forward direction after the crowd retreating back to follow the crowd until origin. To test the ability of the controller for barriers-crowd contrary motion (position), simulation studies for a simple straightforward range of motion exercise were carried out, and experimental validation was performed. Simulation of four barriers and five degrees of freedom (DOF), besides simulation of one barrier system with two DOF is presented. An experimental platform of one barrier with two DOF (prismatic and revolute joints) is also conducted to move backward and forward and avoid any obstacle when it is moving backward. Results obtained show that the controller can track the desired position trajectories for the movement of barriers system, and sufficiently adapt the control parameters to the crowd conditions and the motor control performance. This study can provide baseline erudition on the contemporary status of crowd barriers taking into account that the project can be scalable for any future development. |
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| Physical Description: | xix, 137 leaves : ill. ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 107-112). |