Who’s the boss? Arbitrating control authority between a human driver and automation system

2020 ◽  
Vol 68 ◽  
pp. 144-160 ◽  
Author(s):  
Akshay Bhardwaj ◽  
Amir H. Ghasemi ◽  
Yingshi Zheng ◽  
Huckleberry Febbo ◽  
Paramsothy Jayakumar ◽  
...  
Keyword(s):  
Automation System ◽  
Human Driver ◽  
Control Authority

Game Theoretic Modeling of a Steering Operation in a Haptic Shared Control Framework

2018 ◽  
Author(s):  
Amir H. Ghasemi
Keyword(s):  
Path Following ◽  
Open Loop ◽  
Shared Control ◽  
Automation System ◽  
Steering Control ◽  
Human Driver ◽  
Control Framework ◽  
Game Theoretic ◽  
Control Authority ◽  
Vehicle Trajectory

Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. This paper addresses a the interaction between the human driver and automation system in a haptic shared control framework using a non-cooperative model predictive game approach. In particular, we focused on a scenario in which both human and automation system detect an obstacle but select different paths for avoiding it. For such a scenario, the open-loop Nash steering control solution is derived and the influence of the human driver’s impedance and path following weights on the vehicle trajectory are investigated. It is shown that by modulating the impedance and the path following weight the control authority can be shifted between the human driver and the automation system.

Towards Explainable Co-Robots: Developing Confidence-Based Shared Control Paradigms

2020 ◽  
Author(s):  
Daniel Saraphis ◽  
Vahid Izadi ◽  
Amirhossein Ghasemi
Keyword(s):  
Numerical Simulations ◽  
Shared Control ◽  
Automated System ◽  
Generic Model ◽  
Automation System ◽  
Steering Control ◽  
Control Paradigm ◽  
Control Framework ◽  
Automation Systems ◽  
Control Authority

Abstract In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.

Adaptive Impedance Control for the Haptic Shared Driving Task Based on Nonlinear MPC

2020 ◽  
Author(s):  
Vahid Izadi ◽  
Amir H. Ghasemi
Keyword(s):  
Cost Function ◽  
Impedance Control ◽  
Modulation Method ◽  
Steering Wheel ◽  
Automation System ◽  
Avoidance Task ◽  
Automation Systems ◽  
Control Command ◽  
Performance Error ◽  
Control Authority

Abstract This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only capable of making decisions but also monitoring the human’s behavior and adjusting its behavior accordingly. To enable the automation system to smoothly exchange the control authority with the human partner, this paper introduces a novel self-regulating impedance controller for the automation system. To determine an optimal modulation policy, a cost function is defined. The terms of the cost function are assigned to minimize the performance error and reduce the disagreement between the human and automation system. To solve the optimal control problem, we employed a nonlinear model predictive approach and used the continuation generalized minimum residual method to solve the nonlinear cost function. To demonstrate the effectiveness of the proposed approach, simulation studies consider a scenario where the human and the automation system both detect an obstacle and negotiate on controlling the steering wheel so that the obstacle can be avoided safely. The simulations involve four interaction modes addressing the cooperation status (cooperative and uncooperative) and the desired direction of the control transfer (active safety and autopilot). The results of the numerical studies show that when the automation system acts as autopilot, using the proposed modulation method, the automation adopts smaller impedance controller gains, which results in a smaller disagreement between the human and automation systems. On the other hand, when the human’s control command is insufficient, by modulating and adopting larger values for the impedance controller parameters, the automation system gains the control authority and ensures the safety of the obstacle avoidance task.

Adaptive Haptic Shared Control Framework Using Markov Decision Processing

2018 ◽  
Author(s):  
Amir H. Ghasemi ◽  
Hossein Rastgoftar
Keyword(s):  
Markov Decision Process ◽  
Decision Process ◽  
Human Perception ◽  
Shared Control ◽  
Manual Control ◽  
Automation System ◽  
Human Driver ◽  
Control Framework ◽  
Control Scheme ◽  
Markov Decision

Semi-autonomous steering promises to combine the best of human perception, planning, and manual control with the precision of automatic control. This paper presents an adaptive haptic shared control scheme using Markov Decision Process (MDP) to keep human drivers in the loop yet free attention and avoid automation pitfalls. Using MDP, algorithms are developed to support the negotiation of authority between the human driver and automation system.

Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control

2019 ◽  
Author(s):  
Sangjin Ko ◽  
Reza Langari
Keyword(s):  
Model Predictive Control ◽  
Cooperative Game ◽  
Predictive Control ◽  
Control Strategy ◽  
Shared Control ◽  
Safety Critical ◽  
Cooperative Driving ◽  
Critical Situation ◽  
Human Driver ◽  
Control Authority

Abstract Shared control is a control framework in which control action is shared between a human driver and an automation. In this work, the shared control is studied based on game theoretical approach of distributed model predictive control (DMPC). The solution of cooperative game is derived under DMPC framework, and then realistic driving situation is studied in cooperative game framework. Shared control strategy for fully mixed driving authority is proposed considering collision probability based on TTC (time to collision) and tracking error. Simulations were conducted using Matlab/Simulik in cooperative driving. The simulation scenarios consist of safety critical situation and non-safety critical situation. In safety critical situation, an automation takes more control authority to avoid a collision, and in non-safety critical situation a human driver takes more control authority. The simulation results show that the control authority is shared continuously by the proposed shared control strategy.

A brain-based adaptive automation system and situation awareness: The role of complacency potential

2003 ◽  
Author(s):  
Nathan R. Bailey ◽  
Mark W. Scerbo ◽  
Frederick G. Freeman ◽  
Peter J. Mikulka ◽  
Lorissa A. Scott
Keyword(s):  
Situation Awareness ◽  
Automation System ◽  
Adaptive Automation

Home Automation Using Bluetooth

2020 ◽  
pp. 675-678
Author(s):  
Mukesh Mahajan ◽  
Astha Dubey ◽  
Samruddhi Desai ◽  
Kaveri Netawate
Keyword(s):  
Temperature Sensor ◽  
Humidity Sensor ◽  
The Other ◽  
Automation System ◽  
Home Automation ◽  
Wireless Devices ◽  
Home Appliances ◽  
Home Automation System ◽  
Condition Systems

This paper reviews basically about Bluetooth based home automation system. It is controlled by PIC microcontroller. Home automation can be defined as the ability to perform tasks automatically and monitor or change status remotely. These include tasks such as turning off lights in the room, locking doors via smartphone, automate air condition systems and appliances which help in the kitchen. Now a days several wireless devices are available such as Bluetooth, Zigbee and GSM. Since Bluetooth is low in cost than the other two and hence is used more. In this paper we have described the methods of automating different home appliances using Bluetooth and pic microcontroller. Different sensors are involved in this system to advance and make it smarter. Sensors such as temperature sensor, liquid sensors, humidity sensor etc. can be used.

The prospects for IRBIS development: The new product - IRBIS64+

2017 ◽  
pp. 65-74 ◽  
Author(s):  
Alexander Brodovsky ◽  
Konstantin Sboichakov ◽  
Vladimir Sokolovsky
Keyword(s):  
Digital Libraries ◽  
New Product ◽  
Automation System ◽  
Library Automation ◽  
Expanded Access ◽  
Access Right

IRBIS64+ - the new product of IRBIS Library Automation System designed for building and maintaining digital libraries, is introduced. IRBIS64+ new functionality is revealed. New possibilities for users, including those with expanded access right, are described. The IRBIS64+ modules are named.

SISTEM OTOMASI PENYIRAMAN TANAMAN BERBASIS TELEGRAM

SIGMA TEKNIKA ◽  
2019 ◽  
Vol 2 (1) ◽  
pp. 81
Author(s):  
Muhammad Irsyam
Keyword(s):  
Soil Moisture ◽  
Plant Growth ◽  
Water Intake ◽  
Smart Phone ◽  
Growth Failure ◽  
Automation System ◽  
Notification System ◽  
Efficiency And Effectiveness ◽  
Plant Automation

ABSTRAK           Faktor yang menentukan kegagalan pertumbuhan suatu tanaman hampir dipengaruhi oleh teknik atau cara penyiraman tanaman yang salah. Hal ini disebabkan oleh teknik penyiraman yang dilakukan secara manual sehingga tidak semua tanaman mendapatkan asupan air yang merata untuk menghidari tanaman menjadi layu. Faktor lain yang menyebabkan kegagalan pertumbuhan tanaman adalah kelembaban tanah.          Oleh karena itu, untuk mengurangi permasalahan tersebut dirancanglah “Sistem Otomasi Penyiraman Tanaman Berbasis Telegram”. Adapun sistem ini meliputi penyiraman tanaman secara otomatis berdasarkan kadar kelembaban tanah dengan sistem pemberitahuan atau notifikasi yang akan dikirimkan kepada petani dengan menggunakan aplikasi smart phone Telegram.          Sistem ini telah mampu mengontrol penyiraman sesuai dengan kondisi yang diinginkan. Dengan adanya sistem otomasi penyiraman tanaman berbasis telegram maka dapat meningkatkan efesiensi dan efektivitas petani sehingga kualitas tanaman dapat terjaga dengan baik.Kata kunci -- Penyiraman Tanaman, Penyiraman Secara Otomatis, Telegram.ABSTRACT                Factors that determine the failure of a plant's growth of almost are influenced by incorrect cropping techniques or methods. This is caused by the technique of watering is done manually so that not all plants get a uniform water intake to avoid crops withered. Another factor that causes plant growth failure is soil moisture.          Therefore, to reduce the problem was designed "Telegram Based Water Planting Automation System". The system includes automatic watering of plants based on moisture level of the soil with a notification or notification system that will be sent to farmers using Telegram smart phone applications.          This system has been able to control the watering according to the desired conditions. With the telegraph-based plant watering plant automation system can improve the efficiency and effectiveness of farmers so that the quality of the plant can be maintained properly. Keywords -- Watering Plants, Watering Automatically, Telegram.  

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