跳至主要内容

The Role of a Novel Discrete-Time MRAC Based Motion Cueing on Loss of Control at a Hexapod Driving Simulator

Read  full  paper  at:
http://www.scirp.org/journal/PaperInformation.aspx?PaperID=53613#.VMnwoizQrzE

ABSTRACT
The objective of this paper is to present the advantages of Model reference adaptive control (MRAC) motion cueing algorithm against the classical motion cueing algorithm in terms of biomechanical reactions of the participants during the critical maneuvers like chicane in driving simulator real-time. This study proposes a method and an experimental validation to analyze the vestibular and neuromuscular dynamics responses of the drivers with respect to the type of the control used at the hexapod driving simulator. For each situation, the EMG (electromyography) data were registered from arm muscles of the drivers (flexor carpi radialis, brachioradialis). In addition, the roll velocity perception thresholds (RVT) and roll velocities (RV) were computed from the real-time vestibular level measurements from the drivers via a motion-tracking sensor. In order to process the data of the EMG and RVT, Pearson’s correlation and a two-way ANOVA with a significance level of 0.05 were assigned. Moreover, the relationships of arm muscle power and roll velocity with vehicle CG (center of gravity) lateral displacement were analyzed in order to assess the agility/alertness level of the drivers as well as the vehicle loss of control characteristics with a confidence interval of 95%. The results showed that the MRAC algorithm avoided the loss of adhesion, loss of control (LOA, LOC) more reasonably compared to the classical motion cueing algorithm. According to our findings, the LOA avoidance decreased the neuromuscular-visual cues level conflict with MRAC algorithm. It also revealed that the neuromuscular-vehicle dynamics conflict has influence on visuo-vestibular conflict; however, the visuo-vestibular cue conflict does not influence the neuromuscular-vehicle dynamics interactions.
 
Cite this paper
Aykent, B. , Paillot, D. , Merienne, F. , Guillet, C. and Kemeny, A. (2015) The Role of a Novel Discrete-Time MRAC Based Motion Cueing on Loss of Control at a Hexapod Driving Simulator. Intelligent Control and Automation, 6, 84-102. doi: 10.4236/ica.2015.61010.
 
References
[1]Angelaki, D.E., Gu, Y. and DeAngelis, G.C. (2009) Multisensory Integration: Psychophysics, Neurophysiology, and Computation. Current Opinion in Neurobiology, 19, 452-458.
http://dx.doi.org/10.1016/j.conb.2009.06.008
 
[2]Aykent, B., Paillot, D., Merienne, F., Fang, Z. and Kemeny, A. (2011) Study of the Influence of Different Washout Algorithms on Simulator Sickness for Driving Simulation Task. Proceedings of the ASME 2011 World Conference on Innovative Virtual Reality WINVR2011, Milan, 331-341.
http://dx.doi.org/10.1115/WINVR2011-5545
 
[3]Chen, D., Hart, J. and Vertegaal, R. (2007) Towards a Physiological Model of User Interruptability. IFIP International Federation for Information Processing, INTERACT 2007, 439-451.
 
[4]Dichgans, J. and Brandt, T. (1973) Optokinetic Motion Sickness and Pseudo-Coriolis Effects Induced by Moving Visual Stimuli. Acta Otolaryngologica, 76, 339-348.
http://dx.doi.org/10.3109/00016487309121519
 
[5]DiZio, P. and Lackner, J.R. (1989) Perceived Self-Motion Elicited by Postrotary Head Tilts in a Varying Gravitoinertial Force Background. Perception & Psychophysics, 46, 114-118.
http://dx.doi.org/10.3758/BF03204970
 
[6]Nehaoua, L., Arioui, H., Espié, S. and Mohellebi, H. (2006) Motion Cueing Algorithms for Small Driving Simulator. IEEE International Conference in Robotics and Automation (ICRA06), Orlando.
 
[7]Kemeny, A. (2014) From Driving Simulation to Virtual Reality. Proceedings of the 2014 Virtual Reality International Conference, 32.
 
[8]Benson, A.J., Hutt, E.C. and Brown, S.F. (1989) Thresholds for the Perception of Whole Body Angular Movement about a Vertical Axis. Aviation, Space, and Environmental Medicine, 60, 205-213.
http://psycnet.apa.org/psycinfo/1989-21186-001
 
[9]Guedry Jr., F.E. (1964) Visual Control of Habituation to Complex Vestibular Stimulation in Man. Bureau of Medicine and Surgery, Project MR005.13-6001, Subtask 1 Report No. 95, NASA Order No. R-93, US Naval School of Aviation Medicine, US Naval Aviation Medical Center, Pensacola, 1-16.
http://informahealthcare.com/doi/abs/10.3109/00016486409121398
 
[10]Guedry, F.E. and Montague, E.K. (1961) Quantitative Evaluation of the Vestibular Coriolis Reaction. Aviation, Space, and Environmental Medicine, 32, 487-500.
http://eurekamag.com/research/025/329/025329418.php
 
[11]Wiederhold, B.K. and Bouchard, S. (2014) Sickness in Virtual Reality. Advances in Virtual Reality and Anxiety Disorders, 35-62.
http://dx.doi.org/10.1007/978-1-4899-8023-6_3
 
[12]DiZio, P. and Lackner, J.R. (1988) The Effects of Gravitoinertial Force Level and Head Movements on Post-Rotational Nystagmus and Illusory After-Rotation. Experimental Brain Research, 70, 485-495.
http://dx.doi.org/10.1007/BF00247597
 
[13]Kolasinski, E.M. (1995) Simulator Sickness in Virtual Environments. Army Project Number 2O262785A791, Education and Training Technology.
 
[14]Asadi, H., Mohammadi, A., Mohamed, S. and Nahavandi, S. (2014) Adaptive Translational Cueing Motion Algorithm Using Fuzzy Based Tilt Coordination. Neural Information Processing, Springer International Publishing, Berlin, 474-482.
 
[15]Curry, R., Artz, B., Cathey, L., Grant, P. and Greenberg, J. (2002) Kennedy SSQ Results: Fixed-vs Motion-Based FORD Simulators. Proceedings of Driving Simulation Conference, Paris, 11-13 September 2002, 289-300.
 
[16]Kim, M.S., Moon, Y.G., Kim, G.D. and Lee, M.C. (2010) Partial Range Scaling Method Based Washout Algorithm for a Vehicle Driving Simulator and Its Evaluation. International Journal of Automotive Technology, 11, 269-275.
http://dx.doi.org/10.1007/s12239-010-0034-0
 
[17]MOOG FCS, 6 DOF Motion System (2006) Motion Drive Algorithm (MDA) Software Tuning Manual Version 1.0. Document No: LSF-0468, Revision: A.
 
[18]Siegler, I., Reymond, G., Kemeny, A. and Berthoz, A. (2001) Sensorimotor Integration in a Driving Simulator: Contributions of Motion Cueing in Elementary Driving Tasks. Proceedings of Driving Simulation Conference, Sophia-Antipolis, 5-7 September 2001, 21-32.
 
[19]Meywerk, M., Aykent, B. and Tomaske, W. (2009) Einfluss der Fahrdynamik-regelung auf die Sicherheit von N1-Fahrzeugen bei unterschiedlichen Bela-dungszustanden. Teil 1: Grundlagen, Unfallstatistik, Abstütz-und Beladungs-einrichtung, Fahrzeugdatenermittlung. FE 82.329/2007.
http://bast.opus.hbz-nrw.de/frontdoor.php?source_opus=354&la=de
 
[20]Meywerk, M., Aykent, B. and Tomaske, W. (2009) Einfluss der Fahrdynamik-regelung auf die Sicherheit von N1-Fahrzeugen bei unterschiedlichen Bela-dungszustanden. Teil 2: Fahrversuche und Fahrsimulatorversuche. FE 82.329/ 2007.
http://bast.opus.hbz-nrw.de/frontdoor.php?source_opus=355&la=de
 
[21]AcqKnowledge 4 (2011) Software Guide For Life Science Research Applications, Data Acquisition and Analysis with BIOPAC MP Systems Reference Manual for AcqKnowledge 4.2 Software &MP150 or MP36R Hardware/ Firmware on Windows 7 or Vista or Mac OS X 10.4-10.6. 357-358.
 
[22]Benson, A.J. (1990) Sensory Functions and Limitations of the Vestibular Systems. In: Warren, R. and Wertheim, A.H., Eds., Perception and Control of Self-Motion, Laurence Erlbaum Associates, Hinsdale, 145-170.
 
[23]Kemeny, A. and Panerai, F. (2003) Evaluating Perception in Driving Simulation Experiments. Trends in Cognitive Sciences, 7, 31-37.
http://dx.doi.org/10.1016/S1364-6613(02)00011-6
 
[24]Pick, A.J. (2004) Neuromuscular Dynamics and the Vehicle Steering Task. Ph.D. Dissertation, St Catharine’s College, Cambridge University Engineering Department, Cambridge.
 
[25]Aykent, B., Merienne, F., Paillot, D. and Kemeny, A. (2013) Influence of Inertial Stimulus on Visuo-Vestibular Cues Conflict for Lateral Dynamics at Driving Simulators. Journal of Ergonomics, 3, 1-7.
http://omicsgroup.org/journals/influence-of-inertial-stimulus-on-visuo-vestibular-cues-conflict-for-lateral-dynamics-at-driving-simulators-2165-7556.1000113.pdf
 
[26]Duarte, M.A. and Ponce, R.F. (1997) Discrete-Time Combined Model Reference Adaptive Control. International Journal of Adaptive Control and Signal Processing, 11, 501-517.
http://dx.doi.org/10.1002/(SICI)1099-1115(199709)11:6<501::AID-ACS448>3.0.CO;2-G
 
[27]Guo, J., Liu, Y. and Tao, G. (2009) Multivariable MRAC with State Feedback for Output Tracking. American Control Conference, Hyatt Regency Riverfront, PaperWeA18.5, St. Louis, 10-12 June 2009, 592-597.
 
[28]Ioannou, P.A. and Sun, J. (1995) Robust Adaptive Control. Prentice-Hall Inc., Upper Saddle River, 313-408.
 
[29]Maiti, D., Guo, J. and Tao, G. (2011) A Discrete-Time Multivariable State Feedback MRAC Design with Application to Linearized Aircraft Models with Damage. American Control Conference, San Francisco, 29 June-1 July 2011, 606-611.
 
[30]Tao, G. and Ioannou, P.A. (1993) Model Reference Adaptive Control for Plants with Unknown Relative Degree. IEEE Transactions on Automatic Control, 38, 976-982.
http://dx.doi.org/10.1109/9.222314
 
[31]Tao, G. (2003) Adaptive Control Design and Analysis. John Wiley and Sons, New York.
http://dx.doi.org/10.1002/0471459100
 
[32]Katz, A. (1996) Computational Rigid Vehicle Dynamics. Krieger Publishing Co., Malabar.
 
[33]Kuipers, J.B. (1999) Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality. Princeton University Press, Princeton.
 
[34]Mesh Electromyography (2015) National Library of Medicine—Medical Subject Headings, Mesh.
http://www.ncbi.nlm.nih.gov/mesh/68004576
 
[35]Oman, C. (1989) Sensory Conflict in Motion Sickness: An Observer Theory Approach. NASA, Ames Research Center, Spatial Displays and Spatial Instruments, 15 p.
 
[36]Oman, C. (1990) Motion Sickness: A Synthesis and Evaluation of the sensory Conflict Theory. Canadian Journal of Physiology and Pharmacology, 68, 294-303. http://dx.doi.org/10.1139/y90-044
 
[37]Electronic Code of Federal Regulations (2015) Title 49: Transportation Part 571—Federal Motor Vehicle Safety Standards Subpart B—Federal Motor Vehicle Safety Standards § 571.126 Standard No. 126; Electronic Stability Control Systems. US Government Printing Office, Electronic Code of Federal Regulations.
http://www.ecfr.gov/cgi-bin/text-idx?SID=6099cd0521e2251f35642c554b1c3001&node=pt49.6.571&rgn=div5#se49.6.571_1126
 
[38]Fu, W., Liu, Y., Zhang, S., Xiong, X.J. and Wei, S.T. (2012) Effects of Local Elastic Compression on Muscle Strength, Electromyographic, and Mechanomyographic Responses in the Lower Extremity. Journal of Electromyography and Kinesiology, 22, 44-50.
http://dx.doi.org/10.1016/j.jelekin.2011.10.005                                      eww150129lx
标签：

评论

发表评论

此博客中的热门博文

Electron Spin and Proton Spin in the Hydrogen and Hydrogen-Like Atomic Systems

Read full paper at: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=52202#.VIj7tMnQrzE Author(s) Stanisław Olszewski * Affiliation(s) Institute of Physical Chemistry, Polish Academy of Sciences, Warsaw, Poland . ABSTRACT The mechanical angular momentum and magnetic moment of the electron and proton spin have been calculated semiclassically with the aid of the uncertainty principle for energy and time. The spin effects of both kinds of the elementary particles can be expressed in terms of similar formulae. The quantization of the spin motion has been done on the basis of the old quantum theory. It gives a quantum number n = 1/2 as the index of the spin state acceptable for both the electron and proton ...
发表评论
阅读全文

Remarks on the Complexity of Signed k-Domination on Graphs

Read  full  paper  at: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=53574#.VMnXsCzQrzE Author(s)    Chuan-Min Lee 1 , Cheng-Chien Lo 1 , Rui-Xin Ye 2 , Xun Xu 2 , Xiao-Han Shi 2 , Jia-Ying Li 2 Affiliation(s) 1 Department of Computer and Communication Engineering, Ming Chuan University, The First American University in Asia, Taoyuan, Taiwan, Chinese Taipei . 2 Department of Electronic Information Engineering, Fuzhou University, Fuzhou, China . ABSTRACT This paper is motivated by the concept of the signed k-domination problem and dedicated to the complexity of the problem on graphs. For any fixed nonnegative integer k, we show that the signed k-domination problem is NP-complete for doubly chordal graphs. For strongly chordal graphs and distance-hereditary graphs, we show that the signed k-domination problem can be solved in polynomial time. We also show that the problem is linear-time solvable for trees, interval graphs, and chord...
发表评论
阅读全文

A Review of Technical Requirements for High Penetration of Wind Power Systems

Read full paper at: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=52361#.VJN8VcCAM4 Author(s)    Yuan-Kang Wu 1 , Tung-Ching Lee 2 , Ting-Yen Hsieh 2 , Wei-Min Lin 2 Affiliation(s) 1 Department of Electrical Engineering, National Chung-Cheng University, Chiayi, Taiwan . 2 Green Energy and Environment Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan . ABSTRACT Renewable portfolio targets have been established in many regions around the world. Regional targets such as 20% renewable energy by year 2020 are not uncommon. As the levels of wind power penetration increase, there are many power system impacts. This work investigated possible challenges and technic...
发表评论
阅读全文