Self-adapting motion cueing algorithm based on a kinematics reference model

Due to a number of advantages over traditional development methods, the importance of dynamic driving simulators in automotive research and development has grown continuously in recent years. Motion simulation via motion cueing algorithms contributes significantly to the driving experience and provides the driver with valuable information about the current driving dynamics. The adaptation and tuning process of these algorithms can be difficult and timeconsuming tasks. It needs to be repeated after changes to the vehicle or driving scenario. This paper discusses and presents an adaptive or rather self-adapting motion cueing algorithm (MCA) concept. The approach is based on the integration of a kinematic reference model to dynamically and adaptively adjust the motion behavior dynamically and adaptively. This concept allows to reduce the parameter tuning effort drastically in long term, since the algorithm can adapt itself to different conditions such as vehicle type, driving situation, or driver behavior. In the following, the proposed algorithm structure is explained and illustrated. The advantages of the proposed MCA are demonstrated by an experimental comparison with a classical algorithm. Thereby it is shown how a self-adaptation of the algorithm can proceed and how to avoid violation of workspace boundaries

Signal enhancement in cantilever magnetometry based on a co-resonantly coupled sensor

Cantilever magnetometry is a measurement technique used to study magnetic nanoparticles. With decreasing sample size, the signal strength is significantly reduced, requiring advances of the technique. Ultrathin and slender cantilevers can address this challenge but lead to increased complexity of detection. We present an approach based on the co-resonant coupling of a micro- and a nanometer-sized cantilever. Via matching of the resonance frequencies of the two subsystems we induce a strong interplay between the oscillations of the two cantilevers, allowing for a detection of interactions between the sensitive nanocantilever and external influences in the amplitude response curve of the microcantilever. In our magnetometry experiment we used an iron-filled carbon nanotube acting simultaneously as nanocantilever and magnetic sample. Measurements revealed an enhancement of the commonly used frequency shift signal by five orders of magnitude compared to conventional cantilever magnetometry experiments with similar nanomagnets. With this experiment we do not only demonstrate the functionality of our sensor design but also its potential for very sensitive magnetometry measurements while maintaining a facile oscillation detection with a conventional microcantilever setup

Indication of direct acoustical cochlea stimulation in comparison to cochlear implants

AbstractThe new implantable hearing system Codacs™ was designed to close the treatment gap between active middle ear implants and cochlear implants in cases of severe-to-profound mixed hearing loss. The Codacs™ actuator is attached to conventional stapes prosthesis during the implantation and thereby provides acoustical stimulation through a stapedotomy to the cochlea. Cochlear implants (CIs) on the other hand are an established treatment option for profoundly deaf patients including mixed hearing losses that are possible candidates for the Codacs™.In this retrospective study, we compared the clinical outcome of 25 patients with the Codacs™ (≥3 month post-activation) to 54 CI patients (two years post-activation) with comparable pre-operative bone conduction (BC) thresholds that were potential candidates for both categories of devices. The word recognition score (Freiburg monosyllables test) in quiet was significantly (p < 0.05) better in the Codacs™ than in the corresponding CI patients for average pre-operative bone conduction below 60 dB HL and equal in patients with a pre-operative BC PTA between 60 and 70 dB HL. Speech in noise intelligibility (HSM sentences test at +10 dB SNR) was significantly (p < 0.001) better in Codacs™ (80% median) than in CI patients (25% median) in all tested groups.Our results indicate for patients with sufficient cochlear reserve that speech intelligibility in noise with the Codacs™ hearing implant is significantly better than with a CI. Further, results in Codacs™ were better predictable, encouraging the extension of the indication to patients with less cochlear reserve than reported here

Extending teleoperated driving using a shared X-in-the-loop environment

The strong progress in modern vehicle system technology requires new methodological approaches for the development and validation of new vehicle systems. In particular, due to increasing automation, classical development methods and testing scenarios need to be evolved. Consequently, the publication focuses on an extension of teleoperated driving by the X-in-the-loop (XIL) approach. Within this framework, the classical concept based on VPN-LTE networking is analyzed and discussed at first. With this implementation, the remote control of a real vehicle is presented based on the use of a dynamic driving simulator. Especially for the development and validation of such concepts, an extension with the XIL methodology can improve this process. For this reason, the architecture of teleoperated driving is subsequently extended by networking with additional system components. The feasibility, the functionalities as well as the challenges that arise with such an extension based on the XIL methodology are shown.Within the scope of this study, the achieved transmission times for the control variables and for the video data stream are demonstrated. Based on different driving maneuvers, the achievable repeatability is discussed

Employing electro-mechanical analogies for co-resonantly coupled cantilever sensors

Understanding the behaviour of mechanical systems can be facilitated and improved by employing electro-mechanical analogies. These analogies enable the use of network analysis tools as well as purely analytical treatment of the mechanical system translated into an electric circuit. Recently, we developed a novel kind of sensor set-up based on two coupled cantilever beams with matched resonance frequencies (co-resonant coupling) and possible applications in magnetic force microscopy and cantilever magnetometry. In order to analyse the sensor's behaviour in detail, we describe it as an electric circuit model. Starting from a simplified coupled harmonic oscillator model with neglected damping, we gradually increase the complexity of the system by adding damping and interaction elements. For each stage, various features of the coupled system are discussed and compared to measured data obtained with a co-resonant sensor. Furthermore, we show that the circuit model can be used to derive sensor parameters which are essential for the evaluation of measured data. Finally, the much more complex circuit representation of a bending beam is discussed, revealing that the simplified circuit model of a coupled harmonic oscillator is a very good representation of the sensor system

Compositional Servoing by Recombining Demonstrations

Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precision scenarios while requiring only a few demonstrations. In this work, we present a framework that formulates the visual servoing task as graph traversal. Our method not only extends the robustness of visual servoing, but also enables multitask capability based on a few task-specific demonstrations. We construct demonstration graphs by splitting existing demonstrations and recombining them. In order to traverse the demonstration graph in the inference case, we utilize a similarity function that helps select the best demonstration for a specific task. This enables us to compute the shortest path through the graph. Ultimately, we show that recombining demonstrations leads to higher task-respective success. We present extensive simulation and real-world experimental results that demonstrate the efficacy of our approach.Comment: http://compservo.cs.uni-freiburg.d

Coupled mechanical oscillator enables precise detection of nanowire flexural vibrations

The field of nanowire (NW) technology represents an exciting and steadily growing research area with applications in ultra-sensitive mass and force sensing. Existing detection methods for NW deflection and oscillation include optical and field emission approaches. However, they are challenging for detecting small diameter NWs because of the heating produced by the laser beam and the impact of the high electric field. Alternatively, the deflection of a NW can be detected indirectly by co-resonantly coupling the NW to a cantilever and measuring it using a scanning probe microscope. Here, we prove experimentally that co-resonantly coupled devices are sensitive to small force derivatives similar to standalone NWs. We detect force derivatives as small as 10−9 N/m with a bandwidth of 1 Hz at room temperature. Furthermore, the measured hybrid vibration modes show clear signatures of avoided crossing. The detection technique presented in this work verifies a major step in boosting NW-based force and mass sensing