Human-Machine Cooperative Decision Making

The research reported in this thesis focuses on the decision making aspect of human-machine cooperation and reveals new insights from theoretical modeling to experimental evaluations: Two mathematical behavior models of two emancipated cooperation partners in a cooperative decision making process are introduced. The model-based automation designs are experimentally evaluated and thereby demonstrate their benefits compared to state-of-the-art approaches

Human-Machine Cooperative Decision Making

Diese Dissertation beschäftigt sich mit der gemeinsamen Entscheidungsfindung in der Mensch-Maschine-Kooperation und liefert neue Erkenntnisse, welche von der theoretischen Modellierung bis zu experimentellen Untersuchungen reichen. Zunächst wird eine methodische Klassifikation bestehender Forschung zur Mensch-Maschine-Kooperation vorgenommen und der Forschungsfokus dieser Dissertation mithilfe eines vorgestellten Taxonomiemodells der Mensch-Maschine-Kooperation, dem Butterfly-Modell, abgegrenzt. Darauffolgend stellt die Dissertation zwei mathematische Verhaltensmodelle der gemeinsamen Entscheidungsfindung von Mensch und Maschine vor: das Adaptive Verhandlungsmodell und den n-stufigen War of Attrition. Beide modellieren den Einigungsprozess zweier emanzipierter Kooperationspartner und unterscheiden sich hinsichtlich ihrer Ursprünge, welche in der Verhandlungs- beziehungsweise Spieltheorie liegen. Zusätzlich wird eine Studie vorgestellt, die die Eignung der vorgeschlagenen mathematischen Modelle zur Beschreibung des menschlichen Nachgebeverhaltens in kooperativen Entscheidungsfindungs-Prozessen nachweist. Darauf aufbauend werden zwei modellbasierte Automationsdesigns bereitgestellt, welche die Entwicklung von Maschinen ermöglichen, die an einem Einigungsprozess mit einem Menschen teilnehmen können. Zuletzt werden zwei experimentelle Untersuchungen der vorgeschlagenen Automationsdesigns im Kontext von teleoperierten mobilen Robotern in Such- und Rettungsszenarien und anhand einer Anwendung in einem hochautomatisierten Fahrzeug präsentiert. Die experimentellen Ergebnisse liefern empirische Evidenz für die Überlegenheit der vorgestellten modellbasierten Automationsdesigns gegenüber den bisherigen Ansätzen in den Aspekten der objektiven kooperativen Performanz, des menschlichen Vertrauens in die Interaktion mit der Maschine und der Nutzerzufriedenheit. So zeigt diese Dissertation, dass Menschen eine emanzipierte Interaktion mit Bezug auf die Entscheidungsfindung bevorzugen, und leistet einen wertvollen Beitrag zur vollumfänglichen Betrachtung und Verwirklichung von Mensch-Maschine-Kooperationen

Human-Machine Cooperative Decision Making

The research reported in this thesis focuses on the decision making aspect of human-machine cooperation and reveals new insights from theoretical modeling to experimental evaluations: Two mathematical behavior models of two emancipated cooperation partners in a cooperative decision making process are introduced. The model-based automation designs are experimentally evaluated and thereby demonstrate their benefits compared to state-of-the-art approaches

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Haptic Steering Interfaces for Semi-Autonomous Vehicles

Autonomous vehicles are predicted to significantly improve transportation quality by reducing traffic congestion, fuel expenditure and road accidents. However, until autonomous vehicles are reliable in all scenarios, human drivers will be asked to supervise automation behavior and intervene in automated driving when deemed necessary. Retaining the human driver in a strictly supervisory role, however, may make the driver complacent and reduce driver's situation awareness and driving skills which ironically, can further compromise the driver’s ability to intervene in safety-critical scenarios. Such issues can be alleviated by designing a human-automation interface that keeps the driver in-the-loop through constant interaction with automation and continuous feedback of automation's actions. This dissertation evaluates the utility of haptic feedback at the steering interface for enhancing driver awareness and enabling continuous human-automation interaction and performance improvement in semi-autonomous vehicles. In the first part of this dissertation, I investigate a driving scheme called Haptic Shared Control (HSC) in which the human driver and automation system share the steering control by simultaneously acting at the steering interface with finite mechanical impedances. I hypothesize that HSC can mitigate the human factors issues associated with semi-autonomous driving by allowing the human driver to continuously interact with automation and receive feedback about automation action. To test this hypothesis, I present two driving simulator experiments that are focused on the evaluation of HSC with respect to existing driving schemes during induced human and automation faults. In the first experiment, I compare obstacle avoidance performance of HSC with two existing control sharing schemes that support instantaneous transfers of control authority between human and automation. The results indicate that HSC outperforms both schemes in terms of obstacle avoidance, maneuvering efficiency, and driver engagement. In the second experiment, I consider emergency scenarios where I compare two HSC designs that provide high and low control authority to automation and an existing paradigm that decouples the driver input from the tires during collision avoidance. Results show that decoupling the driver invokes out-of-the-loop issues and misleads drivers to believe that they are in control. I also discover a `fault protection tradeoff': as the control authority provided to one agent increases, the protection against that agent's faults provided by the other agent reduces. In the second part of this dissertation, I focus on the problem of estimating haptic feedback from the road, or the road feedback. Road feedback is critical to making the driver aware of the state of the vehicle and road conditions, and its estimates are used in a variety of driver assist systems. However, conventional estimators only estimate road feedback on flat roads. To overcome this issue, I develop three estimators that enable road feedback estimation on uneven roads. I test and compare the performance of the three estimators by performing driving experiments on uneven roads such as road slopes and cleats. In the final part of this dissertation, I shift focus from physical human-automation interaction to human-human interaction. I present the evidence from the literature demonstrating that haptic feedback improves the performance of two humans physically collaborating on a shared task. I develop a control-theoretic model for haptic communication that can describe the mechanism by which haptic interaction facilitates performance improvement. The model creates a promising means to transfer the obtained insights to design robots or automation systems that can collaborate more efficiently with humans.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/169975/1/akshaybh_1.pd

Product Development within Artificial Intelligence, Ethics and Legal Risk

This open-access-book synthesizes a supportive developer checklist considering sustainable Team and agile Project Management in the challenge of Artificial Intelligence and limits of image recognition. The study bases on technical, ethical, and legal requirements with examples concerning autonomous vehicles. As the first of its kind, it analyzes all reported car accidents state wide (1.28 million) over a 10-year period. Integrating of highly sensitive international court rulings and growing consumer expectations make this book a helpful guide for product and team development from initial concept until market launch

Product Development within Artificial Intelligence, Ethics and Legal Risk

This open-access-book synthesizes a supportive developer checklist considering sustainable Team and agile Project Management in the challenge of Artificial Intelligence and limits of image recognition. The study bases on technical, ethical, and legal requirements with examples concerning autonomous vehicles. As the first of its kind, it analyzes all reported car accidents state wide (1.28 million) over a 10-year period. Integrating of highly sensitive international court rulings and growing consumer expectations make this book a helpful guide for product and team development from initial concept until market launch

Unmanned Aircraft Systems in the Cyber Domain

Unmanned Aircraft Systems are an integral part of the US national critical infrastructure. The authors have endeavored to bring a breadth and quality of information to the reader that is unparalleled in the unclassified sphere. This textbook will fully immerse and engage the reader / student in the cyber-security considerations of this rapidly emerging technology that we know as unmanned aircraft systems (UAS). The first edition topics covered National Airspace (NAS) policy issues, information security (INFOSEC), UAS vulnerabilities in key systems (Sense and Avoid / SCADA), navigation and collision avoidance systems, stealth design, intelligence, surveillance and reconnaissance (ISR) platforms; weapons systems security; electronic warfare considerations; data-links, jamming, operational vulnerabilities and still-emerging political scenarios that affect US military / commercial decisions. This second edition discusses state-of-the-art technology issues facing US UAS designers. It focuses on counter unmanned aircraft systems (C-UAS) – especially research designed to mitigate and terminate threats by SWARMS. Topics include high-altitude platforms (HAPS) for wireless communications; C-UAS and large scale threats; acoustic countermeasures against SWARMS and building an Identify Friend or Foe (IFF) acoustic library; updates to the legal / regulatory landscape; UAS proliferation along the Chinese New Silk Road Sea / Land routes; and ethics in this new age of autonomous systems and artificial intelligence (AI).https://newprairiepress.org/ebooks/1027/thumbnail.jp