Traded and combined cooperative control of a smart wheelchair

Robotica ◽  
2022 ◽  
pp. 1-21
Author(s):  
Youssef Ech-Choudany ◽  
Régis Grasse ◽  
Romuald Stock ◽  
Odile Horn ◽  
Guy Bourhis
Keyword(s):  
Cooperative Control ◽  
The Other ◽  
Control Mode ◽  
Manual Control ◽  
Cooperative System ◽  
Motor Disabilities ◽  
Combined Control ◽  
Wall Following ◽  
Smart Wheelchair

Abstract This article deals with a human–machine cooperative system for the control of a smart wheelchair for people with motor disabilities. The choice of a traded control mode is first argued. The paper then pursues two objectives. The first is to describe the design of the cooperative system by focusing on the dialogue and the interaction between the pilot and the robot. The second objective is to introduce a new cooperative mode. In this one, three features are proposed: two semi-autonomous features, a wall following and a doorway crossing, during which the user can intervene punctually to rectify a trajectory or a path, and an assisted mode where, conversely, the machine intervenes in a manual control to avoid obstacles. This mode of intervention of an entity, human or machine, supervising a movement controlled by the other is referred as “combined control.” Examples of scenarios exploiting the cooperative capabilities of the system are presented and discussed.

Technology to support positive occupational engagement and communication in persons with multiple disabilities

2016 ◽  
Vol 15 (1) ◽  
Author(s):  
Giulio E. Lancioni ◽  
Mark F. O’Reilly ◽  
Nirbhay N. Singh ◽  
Jeff Sigafoos ◽  
Adele Boccasini ◽  
...  
Keyword(s):  
Leisure Activities ◽  
Multiple Disabilities ◽  
The Other ◽  
Multiple Baseline ◽  
Occupational Engagement ◽  
Baseline Design ◽  
Motor Disabilities ◽  
Sensory Motor ◽  
Telephone Calls ◽  
Program Version

AbstractPersons with multiple (intellectual and sensory-motor) disabilities can have serious difficulties managing their independent engagement in leisure activities and communication, particularly with partners not present in their immediate environment.This study assessed two versions of a technology-aided program (involving a computer system to present leisure and communication options and a microswitch to choose among them) with four participants with multiple disabilities. Two participants used the first version of the program, which allowed them to choose among leisure (music) options. The other two participants used the second version of the program, which allowed them to choose among leisure (music and videos) and communication (telephone calls) options. Each program version was implemented according to a non-concurrent multiple baseline design across participants.Data showed that both program versions were successful in helping the participants achieve the objectives pursued, that is, choose and access leisure or leisure and communication options independently.Technology-aided programs can enable persons with multiple disabilities to manage positive occupational engagement and communication.

Algorithmic support of low-altitude aircraft flight based on the hazard analysis of the flight situation

2021 ◽  
Author(s):  
V.A. Malyshev ◽  
A.S. Leontyev ◽  
S.P. Poluektov ◽  
Е.М. Volotov
Keyword(s):  
Adaptive Control ◽  
Flight Control ◽  
Control Algorithm ◽  
Hazard Analysis ◽  
Critical Value ◽  
Control Mode ◽  
Manual Control ◽  
Flight Safety ◽  
Low Altitude ◽  
Adaptive Control Algorithm

Low-altitude flight of an aircraft is an effective, but at the same time, a very complex tactical technique, during which the crew does not always have the opportunity to timely recognize the occurrence of an abnormal case, determine the way out of it and counteract an aviation accident development. Despite many advantages of the automatic mode of low-altitude flight performing, its practical implementation is associated with a number of features and disadvantages, which determined the preference for the manual mode of low-altitude flight control. These are the presence of telltale factors, limited ability of performing flights at night and in difficult weather conditions, insufficient reliability etc. The considered features determined the relevance of the of low-altitude flight safety ensuring problem in relation to the manual control mode. As a result of an experimental study of the low-altitude flight performing process in a manual control mode, it was found that when performing manually-controlled low-altitude flight, a hazard assessment of the flight situation becomes pivotal. However the crew being under such conditions is not always able to correctly assess the flight situation hazard due to a combination of objective reasons. The current state of the adaptive and on-board flight safety systems theory makes it possible to increase the safety of the manuallycontrolled low-altitude flight by using adaptive control algorithms based on the flight situation hazard assessment. To solve this problem an adaptive control algorithm is proposed that ensures the formation of a security corridor in the longitudinal control channel, where the upper limit is determined by the critical value of the aircraft detection hazard, and the lower limit is determined by the critical value of the error in maintaining a given flight altitude. For a continuous assessment of the flight situation hazard and the timely formation of control signals the complex information about the current true flight altitude and the foreground is needed. Taking into account the peculiarities of low-altitude flight a digital terrain map containing data on natural and artificial obstacles along the flight route is a more rational source of information, that will make it possible to predict the development of the flight situation hazard. The above reasoning makes it possible to form an aircraft low-altitude flight adaptive control algorithm. A distinctive feature of the proposed algorithm is the implementation of a combined control variety where the pilot is provided with ample manual control opportunities within the security corridor, and the automatic flight control system is assigned the role of a safety subsystem that ensures control and timely return of the flight situation to normal flight conditions. The presented algorithm will allow to increase the crew logical-analytical activity information support during continuous analysis of the existing flight situation due to the formation of protective control actions based on the current flight situation hazard analysis.

The Effects of Visual Depth and Eccentricity on Manual Bias, Induced Motion, and Vection

Perception ◽  
1993 ◽  
Vol 22 (8) ◽  
pp. 929-945 ◽  
Author(s):  
Fred H Previc ◽  
Michael Donnelly
Keyword(s):  
The Other ◽  
Manual Control ◽  
Roll Motion ◽  
Entire Body ◽  
Manual Tracking ◽  
Visual Depth ◽  
Visual Inputs ◽  
Central Display ◽  
Induced Motion ◽  
The Relationship

The relationship between the effects of visual-surround roll motion on compensatory manual tracking of a central display and the perceptual phenomena of induced motion and vection were investigated. To determine if manual-control biases generated in the direction of surround rotation compensate primarily for the perceived counterrotation of the central display (‘induced motion’) or the perceived counterrotation of the entire body (‘vection’), the depth and eccentricity of the visual surround were varied. In the first experiment, twelve subjects attempted to keep an unstable central display level while viewing rotating visual surrounds in three depth planes: near (∼20 cm in front of the central display), coplanar, and far (∼21 cm behind the central display). In the second experiment, twelve additional subjects viewed a rotating surround that was presented either in the full visual field (0–110 deg) or in central and peripheral regions of similar width. Manual-control biases and induced motion were shown to be closely related to one another and strongly influenced both by central and by peripheral surround motion at or beyond the plane of fixation. Vection, on the other hand, was shown to be much more dependent on peripheral visual inputs.

Water and Salt Regulation Mode of Soil Salinization Based on Change of Land Utilization

2012 ◽  
Vol 550-553 ◽  
pp. 2551-2555 ◽  
Author(s):  
Hong Biao Gu ◽  
Li Juan Wang
Keyword(s):  
Three Dimensional ◽  
Soil Salinization ◽  
Economic Benefits ◽  
Control Measures ◽  
Control Mode ◽  
Land Utilization ◽  
Potential Threat ◽  
Management Measures ◽  
Combined Control ◽  
Movement Tendency

Soil Salinization poses a potential threat to human health, socio-economic development, national food security, local ecological environment, and also leads to substantial risks. Therefore, non-engineering and engineering control measures are required to reduce the risks and hazard levels. To achieve the goal, the nature of factors, which affect the salinity formation whether it can be regulated or not, had been first made a thorough analysis. Then the combined control mode which was water and salt regulation management simulation model of soil salinization based on change of land utilization had been put into pratice in Songyuan irrigated district. The specific process is as follows: under the premise of land utilization re-adjustment, three-dimensional hydrogeological numerical model was used as a tool to evaluate the distribution ratio of surface water and groundwater, taking the water table changes as clues to achieve the goal that verifies the mode of soil salinization in Songyuan irrigated district, and can forecast the water and salt movement tendency. On the other hand, from the perspective of critical groundwater depth of soil salinization to analyze its variation trend, different management measures were suggested. The research results showed that the mode of regulation can effectively head off the deterioration of salinization, and taking environmental and economic benefits into account, it can also provide basis for scientific amelioration and field management for saline soil.

Computational GOMSL Modeling towards Understanding Cognitive Strategy in Dual-Task Performance with Automation

2007 ◽  
Vol 51 (12) ◽  
pp. 802-806
Author(s):  
Sang-Hwan Kim ◽  
David B. Kaber ◽  
Carlene M. Perry
Keyword(s):  
Task Performance ◽  
Dual Task ◽  
Cognitive Modeling ◽  
Adaptive Systems ◽  
Human Performance ◽  
Automated System ◽  
Control Mode ◽  
Manual Control ◽  
Dual Task Performance ◽  
Mode Transitions

The objective of this study was to assess the use of a computational cognitive model for describing human performance with an adaptively automated system, with and without advance cueing of control mode transitions. A dual-task piloting simulation was developed to collect human performance data under auditory cueing or no cueing of automated or manual control. GOMSL models for simulating user behavior were constructed based on a theory of increased memory transactions at mode transitions. The models were applied to the same task simulation and scenarios performed by the humans. Comparison of results on human and model output demonstrated the model to be generally descriptive of performance; however, it was not accurate in predicting timing of memory use in preparing for manual control. Interestingly, the human data didn't reveal differences between cued and no cue trials. A refined GOMSL model was developed by modifying assumptions on the timing and manner of memory use, and considering human parallel processing in dual-task performance. Results revealed the refined model to be more plausible for representing behavior. Computational cognitive modeling appears to be a viable approach to represent operator performance in adaptive systems.

The Concept of Electrical Part of the Model of Micro‑Energy Sources for Electrical Laboratories

2016 ◽  
Vol 835 ◽  
pp. 805-809 ◽  
Author(s):  
René Drtina ◽  
Jaroslav Lokvenc ◽  
Josef Šedivý ◽  
Jan Škoda
Keyword(s):  
Electric Motor ◽  
Digital Control ◽  
Electrical Energy ◽  
The Other ◽  
Manual Control ◽  
Energy Sources ◽  
Simple Design ◽  
Test Set ◽  
Electrical Part ◽  
Generator Sets

The article deals concept of measuring the electric motor-generator sets and represents the completion of a comprehensive design laboratory for electrical energy mikrozdroje laboratories. Given that the test set is powered energy industrial installations can not underestimate the risks arising from its operations. The seemingly simple design of the electrical part with manual control may seem a step back (in particular, from the viewpoint of universal, sometimes precipitous and unnecessary digitization anything), on the other hand the solution chosen allows combination possibilities that are not in the conventional digital control feasible.

A hierarchical adaptive control framework of path tracking and roll stability for intelligent heavy vehicle with MPC

2020 ◽  
Vol 234 (13) ◽  
pp. 2933-2946
Author(s):  
Yantao Tian ◽  
Kai Huang ◽  
Xuanhao Cao ◽  
Yulong Liu ◽  
Xuewu Ji
Keyword(s):  
Adaptive Control ◽  
Cooperative Control ◽  
Path Tracking ◽  
Control Mode ◽  
Steering Wheel ◽  
Change Scenario ◽  
Heavy Vehicle ◽  
Steering Control ◽  
Control Framework ◽  
Conflicting Objectives

Roll stability is a major concern in the path tracking process of intelligent heavy vehicles in emergency steering maneuvers. Due to the coupling of lateral and roll motions of heavy vehicle, steering actions for path tracking may come into conflict with that for roll stability. In this paper, a hierarchical adaptive control framework composed of a supervisor, an upper controller and a lower controller is developed to mediate conflicting objectives of path tracking and roll stability via steering control. In the supervisor, path tracking control mode or cooperative control mode of path tracking and roll stability is determined by the predicted rollover index, and a weight function is introduced to balance the control objectives of path tracking and roll stability in cooperative control mode. Then, in order to achieve multi-objective real-time optimization, model predictive control with varying optimization weights is used in the upper controller to calculate the desired front steer angle. The lower controller which integrates the real electrically assisted hydraulic steering system based on Proportional-Integral-Derivative control is designed to control steering wheel angle. Simulation and hardware-in-loop implementation results in double lane change scenario show that the proposed hierarchical adaptive control framework can enhance roll stability in emergency steering maneuvers while keeping the accuracy of path tracking for intelligent heavy vehicle within an acceptable range.

An Intelligent Wheelchair Control System Based on F28335

2013 ◽  
Vol 655-657 ◽  
pp. 1427-1430
Author(s):  
Tian Min Guan ◽  
Xi Mei Wang ◽  
Yan Li Yuan
Keyword(s):  
Control System ◽  
Software Design ◽  
Simple Structure ◽  
Modular Design ◽  
Control Mode ◽  
Manual Control ◽  
Brain Wave ◽  
Left Turn ◽  
Intelligent Wheelchair ◽  
Wheelchair Control

According to the idea of the modular design, an intelligent wheelchair control system based on F28335 is designed. This paper introduces this system, including the whole structure, hardware composition and corresponding software design. Control mode of the intelligent wheelchair is divided into manual control and automatic control mode. Using the operating lever, brain wave control signal and hands, users can let the intelligent wheelchair go forward, go backward, turn left, turn right, accelerate and stop. This control system has a lot of advantages, for example, simple structure and easy to expand functions and so on.

Kinematics and cooperative control of a robotic spinal surgery system

Robotica ◽  
2014 ◽  
Vol 34 (1) ◽  
pp. 226-242 ◽  
Author(s):  
Haiyang Jin ◽  
Ying Hu ◽  
Wei Tian ◽  
Peng Zhang ◽  
Zhangjun Song ◽  
...  
Keyword(s):  
Spinal Surgery ◽  
Cooperative Control ◽  
Degrees Of Freedom ◽  
Hybrid Control ◽  
Control Mode ◽  
Assessment Index ◽  
Control Approach ◽  
Screw Insertion ◽  
Six Degrees Of Freedom ◽  
Speed Mode

SUMMARYSpinal surgery is considered a high-risk surgery. To improve the accuracy, stability, and safety of such operations, we report the development of a novel six-degrees-of-freedom Robotic Spinal Surgical System that can assist surgeons in performing transpedicular surgery, one of the most common spinal surgeries. After optimization performed using Response Surface Methodology, the largest available workspace of the robot is determined and is found to easily cover the entire operation area. Cooperative control and navigation-based active control are implemented for different processes of the operation. We propose a hybrid control approach based on the speed and torque interface at the joint level. In this mode, the robot is compliant in Cartesian space, benefitting both the accuracy and efficiency of the operation. A comprehensive assessment index, combining the subjective and objective criteria in terms of positioning and operation efficiency, is proposed to compare the performance of cooperative control in speed mode, torque mode, and hybrid control mode. Active fine adjustment experiments are carried out to verify the positioning accuracy, and the results are found to satisfy the requirements of operation. As an application example, a pedicle screw insertion experiment is performed on a pig vertebral bone, demonstrating the effectiveness of our system.

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