Control Theoretic Models Of Feedforward In Manual Control

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Control Theoretic Models Of Feedforward In Manual Control

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Author : Frank M. Drop
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2016-11-03

Control Theoretic Models Of Feedforward In Manual Control written by Frank M. Drop and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-11-03 with Technology & Engineering categories.

Understanding how humans control a vehicle (cars, aircraft, bicycles, etc.) enables engineers to design faster, safer, more comfortable, more energy efficient, more versatile, and thus better vehicles. In a typical control task, the Human Controller (HC) gives control inputs to a vehicle such that it follows a particular reference path (e.g., the road) accurately. The HC is simultaneously required to attenuate the effect of disturbances (e.g., turbulence) perturbing the intended path of the vehicle. To do so, the HC can use a control organization that resembles a closed-loop feedback controller, a feedforward controller, or a combination of both. Previous research has shown that a purely closed-loop feedback control organization is observed only in specific control tasks, that do not resemble realistic control tasks, in which the information presented to the human is very limited. In realistic tasks, a feedforward control strategy is to be expected; yet, almost all previously available HC models describe the human as a pure feedback controller lacking the important feedforward response. Therefore, the goal of the research described in this thesis was to obtain a fundamental understanding of feedforward in human manual control. First, a novel system identification method was developed, which was necessary to identify human control dynamics in control tasks involving realistic reference signals. Second, the novel identification method was used to investigate three important aspects of feedforward through human-in-the-loop experiments which resulted in a control-theoretical model of feedforward in manual control. The central element of the feedforward model is the inverse of the vehicle dynamics, equal to the theoretically ideal feedforward dynamics. However, it was also found that the HC is not able to apply a feedforward response with these ideal dynamics, and that limitations in the perception, cognition, and action loop need to be modeled by additional model elements: a gain, a time delay, and a low-pass filter. Overall, the thesis demonstrated that feedforward is indeed an essential part of human manual control behavior and should be accounted for in many human-machine applications.

Control Theoretic Models Of Feedforward In Manual Control

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Author : Frank M. Drop
language : en
Publisher:
Release Date : 2016

Control Theoretic Models Of Feedforward In Manual Control written by Frank M. Drop and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.

Measuring Modelling And Minimizing Perceived Motion Incongruence For Vehicle Motion Simulation

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Author : Diane Cleij
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2020-01-28

Measuring Modelling And Minimizing Perceived Motion Incongruence For Vehicle Motion Simulation written by Diane Cleij and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-01-28 with Computers categories.

Humans always wanted to go faster and higher than their own legs could carry them. This led them to invent numerous types of vehicles to move fast over land, water and air. As training how to handle such vehicles and testing new developments can be dangerous and costly, vehicle motion simulators were invented. Motion-based simulators in particular, combine visual and physical motion cues to provide occupants with a feeling of being in the real vehicle. While visual cues are generally not limited in amplitude, physical cues certainly are, due to the limited simulator motion space. A motion cueing algorithm (MCA) is used to map the vehicle motions onto the simulator motion space. This mapping inherently creates mismatches between the visual and physical motion cues. Due to imperfections in the human perceptual system, not all visual/physical cueing mismatches are perceived. However, if a mismatch is perceived, it can impair the simulation realism and even cause simulator sickness. For MCA design, a good understanding of when mismatches are perceived, and ways to prevent these from occurring, are therefore essential. In this thesis a data-driven approach, using continuous subjective measures of the time-varying Perceived Motion Incongruence (PMI), is adopted. PMI in this case refers to the effect that perceived mismatches between visual and physical motion cues have on the resulting simulator realism. The main goal of this thesis was to develop an MCA-independent off-line prediction method for time-varying PMI during vehicle motion simulation, with the aim of improving motion cueing quality. To this end, a complete roadmap, describing how to measure and model PMI and how to apply such models to predict and minimize PMI in motion simulations is presented. Results from several human-in-the-loop experiments are used to demonstrate the potential of this novel approach.

Robot 2023 Sixth Iberian Robotics Conference

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Author : Lino Marques
language : en
Publisher: Springer Nature
Release Date : 2024-04-26

Robot 2023 Sixth Iberian Robotics Conference written by Lino Marques and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-04-26 with Technology & Engineering categories.

This book contains a selection of papers accepted for presentation and discussion at ROBOT2023, the Sixth Iberian Robotics Conference, held in the University of Coimbra, Coimbra, Portugal, during November 22nd-24th, 2023. ROBOT2023 is part of a series of conferences that are jointly organized by Sociedade Portuguesa de Robótica (SPR) / Portuguese Society for Robotics and by Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) / Spanish Society for Research and Development in Robotics. These conferences, now occurring with a yearly periodicity, provide a forum to roboticists mostly from Iberia, but also from other parts of the world, to present and discuss their research results, new developments, and applications in the field of Robotics. The volume 1 of this book contains 45 papers addressing fundamental aspects of mobile robotics and robot manipulation while volume 2 contains 45 papers covering the application of robotics in different domains and environments.

Cognitive And Affective Control

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Author : Gilles Pourtois
language : en
Publisher: Frontiers E-books
Release Date :

Cognitive And Affective Control written by Gilles Pourtois and has been published by Frontiers E-books this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.

Traditionally, cognition and emotion are seen as separate domains that are independent at best and in competition at worst. The French scientist and philosopher Blaise Pascal (1623-1662) famously said “Le coeur a ses raisons que la raison ne connaît point” (The heart has its reasons that reason does not know). Over the last century, however, psychologists and neuroscientists have increasingly appreciated their very strong reciprocal connections and interactions. Initially this was demonstrated in cognitive functions such as attention, learning and memory, and decision making. For instance, an emotional stimulus captures attention (e.g., Anderson & Phelps, 2001). Likewise, emotional stimuli are better learned and remembered than neutral ones (e.g., McGaugh, 1990) and they can provide strong incentives to bias decision making (Bechara et al., 1997). In more recent years, cognitive control has also been found to be intimately intertwined with emotion. This is consistent with an approach that considers cognitive control as an adaptive learning process (Braver & Cohen, 1999), reinforcement learning in particular (Holroyd & Coles, 2002; Verguts & Notebaert, 2009). From this perspective, cognitive control is not a cool encapsulated executive function, but instead involves rapidly calculating the value of situational, contextual, and action cues (Rushworth & Behrens, 2008) for the purpose of adapting the cognitive system toward future optimal performance. A wide array of research has shed light on cognitive control and its interactions with affect or motivation. Behaviorally, important phenomena include how people respond to difficult stimuli (e.g., incongruent stimuli, task switches), negative feedback, or errors and how this influences subsequent task processing. Neurally, an important target structure has been the anterior cingulate cortex (ACC) and its connections to traditional “emotional” (e.g., amygdala) and “cognitive” areas (e.g., (pre)motor cortex, dorsolateral prefrontal cortex). ACC seems to play a predominant role in integrating distant effects from remote cognitive and emotion systems in order to guide and optimize behavior. The current special issue focuses on the bi-directional link between emotion and cognitive control. We invite studies that investigate the influence from emotion on cognitive control, or vice versa, the influence of cognitive control on emotion. Contributions can be of different types: We welcome empirical contributions (behavioral or neuroscientific) but also computational modeling, theory, or review papers. By bringing together researchers from the traditionally separated domains, we hope to further stimulate the crosstalk between emotion and cognitive control, and thus to deepen our understanding of both.

Embedded System Design Topics Techniques And Trends

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Author : Achim Rettberg
language : en
Publisher: Springer
Release Date : 2010-05-09

Embedded System Design Topics Techniques And Trends written by Achim Rettberg and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-05-09 with Computers categories.

Over recent years, embedded systems have gained an enormous amount of processing power and functionality. Many of the formerly external components can now be integrated into a single System-on-Chip. This tendency has resulted in a dramatic reduction in the size and cost of embedded systems. As a unique technology, the design of embedded systems is an essential element of many innovations. Embedded System Design: Topics, Techniques and Trends presents the technical program of the International Embedded Systems Symposium (IESS) 2007 held in Irvine, California. IESS is a unique forum to present novel ideas, exchange timely research results, and discuss the state of the art and future trends in the field of embedded systems. Contributors and participants from both industry and academia take active part in this symposium. The IESS conference is organized by the Computer Systems Technology committee (TC10) of the International Federation for Information Processing (IFIP). Timley topics, techniques and trends in embedded system design are covered by the chapters in this book, including design methodology, specification and modeling, embedded software and hardware synthesis, networks-on-chip, distributed and networked systems, and system verification and validation. Particular emphaisis is paid to automotive and medical applications. A set of actual case studies and special aspects in embedded system design are included as well.

Applied Mechanics Reviews

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Author :
language : en
Publisher:
Release Date : 1971

Applied Mechanics Reviews written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1971 with Mechanics, Applied categories.

Control System Applications

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Author : William S. Levine
language : en
Publisher: CRC Press
Release Date : 1999-12-27

Control System Applications written by William S. Levine and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999-12-27 with Technology & Engineering categories.

Control technology permeates every aspect of our lives. We rely on them to perform a wide variety of tasks without giving much thought to the origins of the technology or how it became such an important part of our lives. Control System Applications covers the uses of control systems, both in the common and in the uncommon areas of our lives. From the everyday to the unusual, it's all here. From process control to human-in-the-loop control, this book provides illustrations and examples of how these systems are applied. Each chapter contains an introduction to the application, a section defining terms and references, and a section on further readings that help you understand and use the techniques in your work environment. Highly readable and comprehensive, Control System Applications explores the uses of control systems. It illustrates the diversity of control systems and provides examples of how the theory can be applied to specific practical problems. It contains information about aspec ts of control that are not fully captured by the theory, such as techniques for protecting against controller failure and the role of cost and complexity in specifying controller designs.

Interdisciplinary Approaches To Robot Learning

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Author : John Demiris
language : en
Publisher: World Scientific
Release Date : 2000

Interdisciplinary Approaches To Robot Learning written by John Demiris and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Computers categories.

Annotation Robots are being used in increasingly complicated and demanding tasks, often in environments that are complex or even hostile. Underwater, space and volcano exploration are just some of the activities that robots are taking part in, mainly because the environments that are being explored are dangerous for humans. Robots can also inhabit dynamic environments, for example to operate among humans, not just in factories, but also taking on more active roles. Recently, for instance, they have made their way into the home entertainment market. Given the variety of situations that robots will be placed in, learning becomes increasingly important. Robot learning is essentially about equipping robots with the capacity to improve their behaviour over time, based on their incoming experiences. The papers in this volume present a variety of techniques. Each paper provides a mini-introduction to a subfield of robot learning. Some also give a fine introduction to the field of robot learning as a whole. Thereis one unifying aspect to the work reported in the book, namely its interdisciplinary nature, especially in the combination of robotics, computer science and biology. This approach has two important benefits: first, the study of learning in biological systems can provide robot learning scientists and engineers with valuable insights into learning mechanisms of proven functionality and versatility; second, computational models of learning in biological systems, and their implementation in simulated agents and robots, can provide researchers of biological systems with a powerful platform for the development and testing of learning theories.

Control Theory Tutorial

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Author : Steven A. Frank
language : en
Publisher: Springer
Release Date : 2018-05-29

Control Theory Tutorial written by Steven A. Frank and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-05-29 with Technology & Engineering categories.

This open access Brief introduces the basic principles of control theory in a concise self-study guide. It complements the classic texts by emphasizing the simple conceptual unity of the subject. A novice can quickly see how and why the different parts fit together. The concepts build slowly and naturally one after another, until the reader soon has a view of the whole. Each concept is illustrated by detailed examples and graphics. The full software code for each example is available, providing the basis for experimenting with various assumptions, learning how to write programs for control analysis, and setting the stage for future research projects. The topics focus on robustness, design trade-offs, and optimality. Most of the book develops classical linear theory. The last part of the book considers robustness with respect to nonlinearity and explicitly nonlinear extensions, as well as advanced topics such as adaptive control and model predictive control. New students, as well as scientists from other backgrounds who want a concise and easy-to-grasp coverage of control theory, will benefit from the emphasis on concepts and broad understanding of the various approaches. Electronic codes for this title can be downloaded from https://extras.springer.com/?query=978-3-319-91707-8