Preliminary study of a separative shared control scheme focusing on control-authority and attention allocation for multi-limb disaster response robots

2020 ◽  
Vol 34 (9) ◽  
pp. 575-591
Author(s):  
Mitsuhiro Kamezaki ◽  
Takahiro Katano ◽  
Kui Chen ◽  
Tatsuzo Ishida ◽  
Shigeki Sugano
2020 ◽  
Vol 10 (7) ◽  
pp. 2626 ◽  
Author(s):  
Hanbing Wei ◽  
Yanhong Wu ◽  
Xing Chen ◽  
Jin Xu

For investigating driver characteristic as well as control authority allocation during the process of human–vehicle shared control (HVSC) for an autonomous vehicle (AV), a HVSC dynamic mode with a driver’s neuromuscular (NMS) state parameters was proposed in this paper. It takes into account the driver’s NMS characteristics such as stretch reflection and reflex stiffness. By designing a model predictive control (MPC) controller, the vehicle’s state feedback and driver’s state are incorporated to construct the HVSC dynamic model. For the validation of the model, a field experiment was conducted. The vehicle state signals are collected by V-BOX, and the driver’s state signals are obtained with the electromyography instrument. Subsequently, the hierarchical least square (HLS) parameter identification algorithm was implemented to identify the parameters of the model based on the experimental results. Moreover, the Unscented Kalman Filter (UKF) was utilized to estimate the important NMS parameters which cannot be measured directly. The experimental results showed that the model we proposed has excellent accuracy in characterizing the vehicle’s dynamic state and estimating the driver’s NMS parameter. This paper will serve as a theoretical basis for the new control strategy allocation between human and vehicle for L3 class AVs.


Author(s):  
Mirko R. Bothien ◽  
Jonas P. Moeck ◽  
Christian Oliver Paschereit

In the design process, new burners are generally tested in combustion test rigs. With these experiments, computational fluid dynamics, and finite element calculations, the burners’ performance in the full-scale engine is sought to be predicted. Especially, information about the thermoacoustic behavior and the emissions is very important. As the thermoacoustics strongly depend on the acoustic boundary conditions of the system, it is obvious that test rig conditions should match or be close to those of the full-scale engine. This is, however, generally not the case. Hence, if the combustion process in the test rig is stable at certain operating conditions, it may show unfavorable dynamics at the same conditions in the engine. In previous works, the authors introduced an active control scheme, which is able to mimic almost arbitrary acoustic boundary conditions. Thus, the test rig properties can be tuned to correspond to those of the full-scale engine. The acoustic boundary conditions were manipulated using woofers. In the present study, proportional valves are investigated regarding their capabilities of being used in the control scheme. It is found that the test rig impedance can be tuned equally well. In contrast to the woofers, however, the valves could be used in industrial applications, as they are more robust and exhibit more control authority. Additionally, the control scheme is further developed and used to tune the test rig at discrete frequencies. This exhibits certain advantages compared with the case of control over a broad frequency band.


Author(s):  
Daniel Saraphis ◽  
Vahid Izadi ◽  
Amirhossein Ghasemi

Abstract In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.


Author(s):  
Amir H. Ghasemi

Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. This paper addresses a the interaction between the human driver and automation system in a haptic shared control framework using a non-cooperative model predictive game approach. In particular, we focused on a scenario in which both human and automation system detect an obstacle but select different paths for avoiding it. For such a scenario, the open-loop Nash steering control solution is derived and the influence of the human driver’s impedance and path following weights on the vehicle trajectory are investigated. It is shown that by modulating the impedance and the path following weight the control authority can be shifted between the human driver and the automation system.


2014 ◽  
Vol 602-605 ◽  
pp. 1387-1390
Author(s):  
Geng Biao Shen ◽  
Fan Li ◽  
Zi Chao Zhang ◽  
Jian Hui Zhao

Applying controllable pendulum to indicating vertical is a new method which can be used for autonomous navigation. There are some studies on the method and it puts forward the existing problems. In this paper, it carries on the preliminary study on drawbacks that it exists steady-state error in controllable pendulum, and designs a new control scheme combined direct control with indirect control while there is step perturbation. Then it designs the corresponding control law by using observer with state feedback and decoupling control. It makes software simulation by Matlab and the results show that the controllable pendulum can be controlled well to indicate vertical by using the designed control scheme and control law when it exists step perturbation.


Sign in / Sign up

Export Citation Format

Share Document