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| META TOPICPARENT |
name="BikramAdhikari" |
CPSC 543 Project - Third Iteration |
| | Shared Control
The context of shared control involves a control signal generated by combining real-time signals from multiple agents in a system. In context of our PWC, we have the PWC driver and an embedded controller form these two agents. For our study, we replace the embedded controller with a teleoperator. |
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< | Shared control have been used in applications involving remote operation such as surgery and pilot training systems which assume users to be trained professionals. Literature in shared control for lane assistance for passenger cars appear more closely related to our application as these systems also assume users to be novice drivers and the degrees of freedom of motion is also restricted to a plane. [2] describes three approaches to shared road departure prevention (RDP) for simulated emergency manoeuvre. They experimented haptic feedback (HF), drive by wire (DBW) and combination of HF and DBW with normal driving. In HF, given a likelihood of a road departure, the RDP applied an advisory steering torque such that the two agents would carry out the emergency manoeuvre cooperatively. In DBW, given a likelihood of road departure, the RDP adjusted the front-wheels angle to keep the vehicle on the road. In this mode, the users steering signal is completely overridden by the RDP. Their experiments on 30 participants in a vehicle simulator suggested that HF had no significant effect on the vehicle's path or the likelihood of road departure.The authors describe that, users perceived strong haptic feedback was authoritarian where as they generated more torque on the steering wheel against HF and overrode the RDP system if the HF was not strong. DBW and DBW+HF reduced the likelihood of departure. However the authors report degraded stimulus-response compatibility with DBW systems because when the DBW system took over control, the users would not steering wheel turning, which lead to confuse their internal perception of the vehicle. |
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> | Shared control have been used in applications involving remote operation such as surgery and pilot training systems. These applications assume users to be trained professionals. Literature in shared control for lane assistance for passenger cars appear more closely related to our application as these systems also assume users to be novice drivers and the degrees of freedom of motion is also restricted to a plane. Katzourakis et al [2] describe three approaches to shared road departure prevention (RDP) for simulated emergency manoeuvre. They experimented haptic feedback (HF), drive by wire (DBW) and combination of HF and DBW with normal driving. In HF, given a likelihood of a road departure, the RDP applied an advisory steering torque such that the two agents would carry out the emergency manoeuvre cooperatively. In DBW, given a likelihood of road departure, the RDP adjusted the front-wheels angle to keep the vehicle on the road. In this mode, the user's steering signal was completely overridden by the RDP. Their experiments on 30 participants in a vehicle simulator suggested that HF had no significant effect on the vehicle's path or the likelihood of road departure.The authors describe that, users perceived strong haptic feedback as authoritarian where as they generated more torque on the steering wheel against HF and overrode the RDP system if the HF was not strong. DBW and DBW+HF reduced the likelihood of departure. However the authors report degraded stimulus-response compatibility with DBW systems because when the DBW system took over control, the users would not steering wheel turning, which lead to confuse their internal perception of the vehicle. |
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< | Taking inspiration from their work, our system uses an approach similar to DBW. Force-feedback haptic joysticks have been used in smart PWCs [3,4] but they are bulky, expensive and/or lack sufficient torque. Vibration feedback on seat [5] and steering wheel [6] have shown to have positive effect on performance,learning of a lane keeping task and reduction in reaction time and frontal collision. Without totally discarding haptic channel, our previous study used simple vibration actuator mounted below the joystick to inform user if the joystick signal is being modified or not. However, it was not suggestive for users regarding the direction they would have to move in case of an obstacle on their way. We propose to render shear force on palm of users driving hand as advisory direction guidance under these circumstances. |
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> | Taking inspiration from their work, our system uses an approach similar to DBW. Force-feedback haptic joysticks have been used in smart PWCs [3,4] but they are bulky, expensive and/or lack sufficient torque. Vibration feedback on seat [5] and steering wheel [6] have shown to have positive effect on performance,learning of a lane keeping task and reduction in reaction time and frontal collision. Without totally discarding the haptic channel, our previous study used simple vibration actuator mounted below the joystick to inform user if the joystick signal is being modified or not. However, it was not suggestive for users regarding the direction they would have to move in case of an obstacle on their way. We propose to render shear force on palm of users driving hand as advisory direction guidance under these circumstances. |
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Shared Control in PWC
Smart PWCs systems literature have been extensively covered in [7],[8]. We explore the systems that have been tested with cognitively and/or mobility impaired users. [1],[8] did not use the concept of shared control. These systems would either provide higher level supervisory guidance with visual and audio cues or used switch control policies such that either the system or the user would have complete control over the PWC. |
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