Haptic support systems for curve negotiation in a driving simulator

A human operator performing a manual control task can be assisted by haptic shared control, a novel approach in literature which makes use of a continuous-time force feedback to guide the operator in a specific control direction. In a previous research, a haptic controller has been designed and tested in a for curve negotiation support in a driving simulator. This support system provides a force feedback the operator has to give way to in order to correct the vehicle deviations from a reference trajectory. It was proved in an experiment to yield benefits in terms of increased performance and reduced effort from the operator with respect to manual driving. As a variation from the haptic shared control philosophy, a novel approach has been introduced in literature for supporting a human operator piloting RPVs in a simulated environment. This haptic controller is called Indirect since the force feedback it provides has the only effect of changing the neutral point of the control interface. The operator can exploit this aiding by contrasting the force feedback and keeping the control device close to the central position. The Indirect haptic controller was proved in an experiment to increase performance and was found helpful by the pilots, as well as the Direct controller, which is the classic approach, and compared to manual piloting. This novel approach in haptic shared control has only been investigated as a support for piloting RPVs. In this project the Indirect controller is being designed in a modeling study and tested for a curve negotiation task in a driving simulator. The Indirect controller for curve negotiation is designed in a model-based study, where a scheme is employed simulating the behaviour of a human operator and the haptic controller. The outcome of this study are some previsions on different driving conditions, where an operator can drive manually or be assisted by the classic Direct haptic controller or by the novel Indirect controller. An experimental campaign with a driving simulator is performed, based on the previsions figured in the modeling study. The results of the experiment tells us that both the Direct and Indirect controllers can be helpful for performance and effort of the operator in low visibility conditions, while in normal visibility a contrast in goal can arise between operator and shared controller, due to a different way of the operator to cut curves. In a situation of evasive maneuver with a faulty controller, where the operator has to reject the force feedback, the Indirect controller is proved to be more damaging than the Direct support. Finally, some negative after-effects on performance and effort are encountered after the Indirect controller is switched-off, due to an intense adaptation of the operator to the different dynamics to control. The Indirect haptic support can be a valid alternative to the typical Direct control scheme for curve negotiation support, although there is room for improving its functioning. Future developments should be focused on making the Indirect controller easier to understand, to cope with more effectively in case of failures and possibly to switch to manual driving without confusion

Methods for Multiloop Identification of Visual and Neuromuscular Pilot Responses

In this paper, identification methods are proposed to estimate the neuromuscular and visual responses of a multiloop pilot model. A conventional and widely used technique for simultaneous identification of the neuromuscular and visual systems makes use of cross-spectral density estimates. This paper shows that this technique requires a specific noninterference hypothesis, often implicitly assumed, that may be difficult to meet during actual experimental designs. A mathematical justification of the necessity of the noninterference hypothesis is given. Furthermore, two methods are proposed that do not have the same limitations. The first method is based on autoregressive models with exogenous inputs, whereas the second one combines cross-spectral estimators with interpolation in the frequency domain. The two identification methods are validated by offline simulations and contrasted to the classic method. The results reveal that the classic method fails when the noninterference hypothesis is not fulfilled; on the contrary, the two proposed techniques give reliable estimates. Finally, the three identification methods are applied to experimental data from a closed-loop control task with pilots. The two proposed techniques give comparable estimates, different from those obtained by the classic method. The differences match those found with the simulations. Thus, the two identification methods provide a good alternative to the classic method and make it possible to simultaneously estimate human's neuromuscular and visual responses in cases where the classic method fails

A Topology of Shared Control Systems—Finding Common Ground in Diversity

Shared control is an increasingly popular approach to facilitate control and communication between humans and intelligent machines. However, there is little consensus in guidelines for design and evaluation of shared control, or even in a definition of what constitutes shared control. This lack of consensus complicates cross fertilization of shared control research between different application domains. This paper provides a definition for shared control in context with previous definitions, and a set of general axioms for design and evaluation of shared control solutions. The utility of the definition and axioms are demonstrated by applying them to four application domains: automotive, robot-assisted surgery, brain–machine interfaces, and learning. Literature is discussed for each of these four domains in light of the proposed definition and axioms. Finally, to facilitate design choices for other applications, we propose a hierarchical framework for shared control that links the shared control literature with traded control, co-operative control, and other human–automation interaction methods. Future work should reveal the generalizability and utility of the proposed shared control framework in designing useful, safe, and comfortable interaction between humans and intelligent machines

Inside / Outside and the [Inbetween]

How can architecture overcome the traditional differentiation of inside and outside? Architects tend to associate our inhabitation and movement within two spatial realms, those being inside and outside. The connection between the two plays a fundamental role in our relationship and understanding of the environment in which we live in. The details of these connections are often neglected and standardised ideals and components are regularly implemented without much consideration in regards to the context in which they are being established. The fundamental act of architecture is to define one space from another. Primarily this means differentiating the inside from the outside (interactivearchitecture.org). Perceptually and practically the worlds of interior and exterior are mutually exclusive one cannot be in both at the same time, and yet traditionally they border directly on each other. (Lo, 1986) Through the exploration of the relationship between interior and exterior space a focus will be given to the boundary condition. Looking into the details and material expression which enable these connections and their ability and potential to blur the boundary. Along with material properties and capabilities aspects such as kinetic, interactive and dynamic architecture will be investigated and subsequently implemented as a response to the interior, exterior relationship established. Aim to achieve architecture, where one is able to interact with the structure and help to adapt the space surrounding in order to accommodate the activities and behaviour of the occupants whilst enabling a comfortable space in regards to the climatic conditions. With an objective to live with nature and the surrounding environment achieved through blurring the spatial boundaries, forcing one to acknowledge and establish a simultaneous relationship where one can interact and co-exist between the two realms. This will be enhanced through the integration of the building into the landscape enabling the opportunity for the building to work with the environment

Measuring pilot control behavior in control tasks with haptic feedback

The research goal of this thesis was to increase the understanding of effects of haptic feedback on human’s performance and control behavior. Firstly, we investigated the effectiveness of haptic aids on improving human’s performance in different control scenarios. Beneficial effects of haptic aids were shown in terms of human's performances and control effort. Comparisons with input-mixing systems showed that, although input-mixing systems yielded better performance than haptic aids in nominal conditions, participants recovered better from failures of haptic systems than from failures of input-mixing aids. Secondly, we investigated how humans adapt their dynamic responses to realize benefits of the haptic feedback. To achieve this goal, we developed novel identification methods to estimate human's neuromuscular dynamics in a multi-loop control task. The novel methods assumed a time-invariant behavior of humans responses. The novel methods were validated in simulation and applied to experimental data. Finally, novel methods were developed to account for time-varying behavior of human's responses. Different sets of numerical simulations were used to validate the novel methods. Then, the methods were applied to data obtained in human in-the-loop experiments

ICS Materials. Towards a re-Interpretation of material qualities through interactive, connected, and smart materials.

The domain of materials for design is changing under the influence of an increased technological advancement, miniaturization and democratization. Materials are becoming connected, augmented, computational, interactive, active, responsive, and dynamic. These are ICS Materials, an acronym that stands for Interactive, Connected and Smart. While labs around the world are experimenting with these new materials, there is the need to reflect on their potentials and impact on design. This paper is a first step in this direction: to interpret and describe the qualities of ICS materials, considering their experiential pattern, their expressive sensorial dimension, and their aesthetic of interaction. Through case studies, we analyse and classify these emerging ICS Materials and identified common characteristics, and challenges, e.g. the ability to change over time or their programmability by the designers and users. On that basis, we argue there is the need to reframe and redesign existing models to describe ICS materials, making their qualities emerge

Investigation and development of a tangible technology framework for highly complex and abstract concepts

The ubiquitous integration of computer-supported learning tools within the educational domain has led educators to continuously seek effective technological platforms for teaching and learning. Overcoming the inherent limitations of traditional educational approaches, interactive and tangible computing platforms have consequently garnered increased interest in the pursuit of embedding active learning pedagogies within curricula. However, whilst Tangible User Interface (TUI) systems have been successfully developed to edutain children in various research contexts, TUI architectures have seen limited deployment towards more advanced educational pursuits. Thus, in contrast to current domain research, this study investigates the effectiveness and suitability of adopting TUI systems for enhancing the learning experience of abstract and complex computational science and technology-based concepts within higher educational institutions (HEI)s. Based on the proposal of a contextually apt TUI architecture, the research describes the design and development of eight distinct TUI frameworks embodying innovate interactive paradigms through tabletop peripherals, graphical design factors, and active tangible manipulatives. These computationally coupled design elements are evaluated through summative and formative experimental methodologies for their ability to aid in the effective teaching and learning of diverse threshold concepts experienced in computational science. In addition, through the design and adoption of a technology acceptance model for educational technology (TAM4Edu), the suitability of TUI frameworks in HEI education is empirically evaluated across a myriad of determinants for modelling students’ behavioural intention. In light of the statistically significant results obtained in both academic knowledge gain (μ = 25.8%) and student satisfaction (μ = 12.7%), the study outlines the affordances provided through TUI design for various constituents of active learning theories and modalities. Thus, based on an empirical and pedagogical analyses, a set of design guidelines is defined within this research to direct the effective development of TUI design elements for teaching and learning abstract threshold concepts in HEI adaptations

Screendance: corporeal ties between dance, film, and audience

I explore the sensuous, kinaesthetic experience and analysis of screen dance and the interconnectivity between our bodies, film, and heightened embodied sensibility. This physicality creates a dialogue between the rich diversity of screen dance genres under consideration, thereby avoiding hierarchical classifications. It also focuses attention on more abstract cinematic qualities, investigating how cinematic technique (as well as thematic content) generates emotional impact; allowing for the enjoyment of film as a material and sensual medium. However, since our senses have been trained according to the regulatory controls within our socio-historical/cultural contexts, equal attention is given to the ideology of representation, and to the links between embodiment, identities, meanings, and broader relations of inequality. I am particularly interested in how dance and film can function politically, both expressing and disrupting norms and ideologies. But I am also interested in how the presence of dance (and/or choreographed movement) can enhance a film’s agency and its ability to cross time and space, “touching” the viewer and thereby working to transform historical objectification into embodied interaction. I combine a phenomenological lived-body experience of viewing with the epistemological functions that characterise it, using my own somatically felt body as a methodological starting point and a creative practice, and theoretical text-based and socio-historical contextual analyses. This balance between lived-experience and critical discussion is used to explore chapters on the deconstruction of national, cultural, and gendered identity through Flamenco dance and film; dance and physical disability; and avant-garde feminist screendance. A final chapter brings these key themes together by investigating how (psychiatric) disability, feminism, and national identity are treated in a contemporary Hollywood dance film. Whilst embodied perception is never “innocent” and always shaped, I show how the movement of affect and emotion between the film and viewer’s body can constitute an ethical experience, encouraging progressive and self-reflexive political and ideological engagement