Vehicle Active Steering Control System Based on Human Mechanical Impedance Properties of the Arms

This paper presents the experimental data of human mechanical impedance properties (HMIPs) of the arms measured in steering operations according to the angle of a steering wheel (limbs posture) and the steering torque (muscle cocontraction). The HMIP data show that human stiffness/viscosity has the minimum/maximum value at the neutral angle of the steering wheel in relax (standard condition) and increases/decreases for the amplitude of the steering angle and the torque, and that the stability of the arms\u27 motion in handling the steering wheel becomes high around the standard condition. Next, a novel methodology for designing an adaptive steering control system based on the HMIPs of the arms is proposed, and the effectiveness was then demonstrated via a set of double-lane-change tests, with several subjects using the originally developed stationary driving simulator and the 4-DOF driving simulator with a movable cockpit

Some NASA contributions to human factors engineering: A survey

This survey presents the NASA contributions to the state of the art of human factors engineering, and indicates that these contributions have a variety of applications to nonaerospace activities. Emphasis is placed on contributions relative to man's sensory, motor, decisionmaking, and cognitive behavior and on applications that advance human factors technology

Biomechanical and Psychophysical Evaluation of Operating Loads in Vehicular Driving

The present paper proposes an evaluation method of operation loads in vehicular driving, such as the joint-load, the seat pressure, and the perceiving force, based on biomechanical and psychophysical evidences to assist the human-centered design of driving interfaces. The prototype simulator is developed by means of a big experimental data of human motor properties and force-perception properties related with driving operations. The usefulness of the proposed methodology is then demonstrated through a set of simulation experiments in the case of the curve traveling situation.2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013; Manchester; United Kingdom; 13 October 2013 through 16 October 201

Steering control for haptic feedback and active safety functions

Steering feedback is an important element that defines driver–vehicle interaction. It strongly affects driving performance and is primarily dependent on the steering actuator\u27s control strategy. Typically, the control method is open loop, that is without any reference tracking; and its drawbacks are hardware dependent steering feedback response and attenuated driver–environment transparency. This thesis investigates a closed-loop control method for electric power assisted steering and steer-by-wire systems. The advantages of this method, compared to open loop, are better hardware impedance compensation, system independent response, explicit transparency control and direct interface to active safety functions.The closed-loop architecture, outlined in this thesis, includes a reference model, a feedback controller and a disturbance observer. The feedback controller forms the inner loop and it ensures: reference tracking, hardware impedance compensation and robustness against the coupling uncertainties. Two different causalities are studied: torque and position control. The two are objectively compared from the perspective of (uncoupled and coupled) stability, tracking performance, robustness, and transparency.The reference model forms the outer loop and defines a torque or position reference variable, depending on the causality. Different haptic feedback functions are implemented to control the following parameters: inertia, damping, Coulomb friction and transparency. Transparency control in this application is particularly novel, which is sequentially achieved. For non-transparent steering feedback, an environment model is developed such that the reference variable is a function of virtual dynamics. Consequently, the driver–steering interaction is independent from the actual environment. Whereas, for the driver–environment transparency, the environment interaction is estimated using an observer; and then the estimated signal is fed back to the reference model. Furthermore, an optimization-based transparency algorithm is proposed. This renders the closed-loop system transparent in case of environmental uncertainty, even if the initial condition is non-transparent.The steering related active safety functions can be directly realized using the closed-loop steering feedback controller. This implies, but is not limited to, an angle overlay from the vehicle motion control functions and a torque overlay from the haptic support functions.Throughout the thesis, both experimental and the theoretical findings are corroborated. This includes a real-time implementation of the torque and position control strategies. In general, it can be concluded that position control lacks performance and robustness due to high and/or varying system inertia. Though the problem is somewhat mitigated by a robust H-infinity controller, the high frequency haptic performance remains compromised. Whereas, the required objectives are simultaneously achieved using a torque controller

Unlimited-wokspace teleoperation

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2012Includes bibliographical references (leaves: 100-105)Text in English; Abstract: Turkish and Englishxiv, 109 leavesTeleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope

Plasma sprayed titanium coatings with/without a shroud

Abstract: Titanium coatings were deposited by plasma spraying with and without a shroud. The titanium coatings were then assessed by scanning electron microscopy. A comparison in microstructure between titanium coatings with and without the shroud was carried out. The results showed that the shroud played an important role in protecting the titanium particles from oxidation. The presence of the shroud led to a reduction in coating porosity. The reduction in air entrainment with t he shroud resulted in better heating of the particles, and an enhanced microstructure with lower porosity in the shrouded titanium coatings were observed compared to the air plasma sprayed counterpart

Haptic Feedback Control Methods for Steering Systems

Haptic feedback from the steering wheel is an important cue that defines the steering feel in the driver-vehicle interaction. The steering feedback response in an electric power assisted steering is primarily dependent on its control strategy. The conventional approach is open loop control, where different functions are implemented in a parallel structure. The main drawbacks are: (a) limited compensation of the hardware impedance, (b) hardware system dependent steering feedback response and (c) limitation on vehicle motion control request overlay. This thesis investigates closed-loop control, in which the desired steering feedback response can be separated from the hardware dynamics. Subsequently, the requirements can be defined at the design stage. The closed-loop architecture constitutes of a higher and lower level controller. The higher level control defines the reference steering feedback, which should account for both driver and road excitation sources. This thesis focuses on the driver excitation, where a methodology is proposed for developing such a reference model using the standard vehicle handling maneuvers. The lower level control ensures: (a) reference tracking of the higher level control, (b) hardware impedance compensation and (c) robustness to unmodeled dynamics. These interdependent objectives are realized for a passive interaction port driving admittance. The two closed-loop possibilities, impedance (or torque) and admittance (or position) control, are compared objectively. The analysis is further extended to a steer-by-wire force-feedback system; such that the lower level control is designed with a similar criteria, keeping the same higher level control.The admittance control is found limited in performance for both the steering systems. This is explained by a higher equivalent mechanical inertia caused by the servo motor and its transmission ratio in electric power assisted steering; and for steer-by-wire force-feedback, due to the uncertainty in drivers\u27 arm inertia. Moreover, it inherently suffers from the conflicting objectives of tracking, impedance compensation and robustness. These are further affected by the filtering required in the admittance lower level control. In impedance control, a better performance is exhibited by its lower level control. However, the required filtering and estimation in the impedance higher level control is its biggest disadvantage. In closed-loop setting, the angular position overlay with a vehicle motion control request is also relatively easier to realize than open loop

Front seat passengers’ experience of ride comfort and NVH in modern cars

Due to the refinements in combustion-engine and electric cars, ride comfort has become a prominent attribute when it comes to developing cars in the future. A variety of factors, such as seat, seatbelt, sound and vibration, have been shown to influence perceived overall ride comfort in passenger cars. Numerous studies have investigated human responses to sound and vibration. However, few studies have investigated passengers’ experiences of sound and vibration in real passenger cars, in different real-world driving scenarios. The purpose of this licentiate thesis is to identify human experiences of sound and vibration in modern passenger cars. An approach has been developed to investigate how sound and vibration influence overall perceived ride comfort in combustion-engine cars (CVs) and electric cars (EVs). The first research question relates to the definition of ride comfort, from the passenger’s perspective, and the methodology used to specify the factors that influence overall ride comfort. The second research question deals with specifying how ride comfort is influenced by sound and vibration.The research includes literature reviews of human responses to sound and vibration and a user study using a mixed-method research approach that focused on subjective judgements and objective measurements of overall ride comfort. The literature reviews found that several laboratory studies have covered the level and frequency ranges of interest for vibration and sound found in passenger cars. Other studies have employed realistic ride postures with populations of various ages, gender and anthropometric measures to investigate the influence of vibration on ride comfort. Studies of sound in passenger car have explored approaches to identify sound sources, assess sound quality and design product sound. The overall conclusion from the literature reviews was that there is a lack of studies that consider all the different parameters influencing the overall ride comfort experience of automotive vehicle passengers. Also, further studies are specifically needed to investigate the influence of sound and vibration on passengers’ experience of overall ride comfort. The user study comprised eight typical driving scenarios (initial comfort, start/stop, acceleration and deceleration, constant speed, speed bumps, long bumps and cornering, bridge joints and rough roads) with ten participants in a CV and an EV. The overall results indicated that the two cars were similar in terms of the prominent effects of ingress, room for the body, seat adjustment and seat support on initial comfort, but varied in terms of dynamic discomfort. Induced body movements dominated dynamic discomfort in the CV, while annoying sound dominated in the EV. Sound annoyance in the CV was primarily triggered by tyre noise at lower speeds and wind noise at higher speeds. In the EV it was the high-frequency tonal sound from electrical components that produced the most annoyance. In both cars, vibration discomfort was linked most strongly to induced body movement. Sound annoyance was judged lower when passengers perceived pronounced induced body movement or when participants experienced vibrations coherent to the sound. Nevertheless, the overall influence of sound accumulated over time, making it difficult for passengers to relax. In contrast, the instantaneous judgement of vibration discomfort was not affected noticeably by the simultaneous sound.The main conclusion of this licentiate thesis is that from the passenger’s perspective, ride comfort encompasses static comfort and dynamic discomfort. Static comfort is associated with ingress, room for the body, seat support and seat adjustment. While dynamic discomfort is attributed to the annoying sound, induced body movement, as well as discordance between sound and vibration. The influence of sound and vibration on perceived ride comfort varies depending on the type of driving scenario (e.g., road profile and speed) and on the type of cars (e.g., CV or EV). Moreover, dynamic discomfort could be controlled by controlling sound and vibration

Master of Science

thesisIncreased demand for powered wheelchairs and their inherent mobility limitations have prompted the development of omnidirectional wheelchairs. These wheelchairs provide improved mobility in confined spaces, but can be more difficult to control and impact the ability of the user to embody the wheelchair. We hypothesize that control and embodiment of omnidirectional wheelchairs can be improved by providing intuitive control with three degree of freedom (3-DOF) haptic feedback that directly corresponds to the degrees of freedom of an omnidirectional wheelchair. This thesis introduces a novel 3-DOF Haptic Joystick designed for the purpose of controlling omnidirectional wheelchairs. When coupled with range finders, it is able to provide the user with feedback that improves the operator's awareness of the area surrounding the vehicle and assists the driver in obstacle avoidance. The haptic controller design and a stability analysis of the coupled wheelchair joystick systems are presented. Experimental results from the coupled systems validate the ability of the controller to influence the trajectory of the wheelchair and assist in obstacle avoidance

Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective