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Dissonance oriented stability analysis of Cyber-Physical&Human systems

Dissonance oriented stability analysis of Cyber-Physical&Hum...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Jimenez, V. Vanderhaegen, F. Univ Camino Jose Cela Castillo Alarcon 49 Urb Villafranca Castillo Madrid 28692 Spain Univ Valenciennes LAMIH CNRS UMR 8201 F-59313 Valenciennes France

Resilience is defined as the capacity of a system to control successfully its stable or unstable states. The states are defined by gaps between Cyber-Physical systems (CPS) and humans or between Cyber-Physical&Human systems (CPHS) in terms of factors such as perception, intention, belief, behavior or emotion. These gaps are interpreted as discrepancies called dissonances. The successful control of dissonances makes the CPHS resilient. The paper proposes a dissonance oriented stability analysis approach It is based on dissonances between CPS and humans, i.e. on conflicts of perception, of intention, of behavior, or of use for instance. The impact analysis of dissonance focuses on the identification of possible positive or negative, stable or unstable consequences of dissonances. Examples about dissonances on transportation and healthcare illustrate the interest of the proposal that is capable to detect possible dangerous dissonances due to an excess of stability and a breakdown of stability of assessed gaps. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： human reliability human-centered design safety analysis user interfaces behavior CPHS

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Modeling of Mixed Artificially and Voluntary Induced Muscle Contractions for controlled Functional Electrical Stimulation of Shoulder Abduction

Modeling of Mixed Artificially and Voluntary Induced Muscle ...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Schauer, T. Vrontos, A. Tech Univ Berlin Control Syst Grp Berlin Germany

This contribution investigates the modeling of shoulder abduction movements caused by simultaneous voluntary and artificially evoked muscle contractions. The latter are generated by feedback controlled functional electrical stimulation. To maintain a desired level of muscle activation (recruitment) by electrical stimulation also in presence of fatigue, we assess the recruitment in real-time from the M-wave, i.e., the electromyography (EMG) response caused by each applied stimulation pulse, and regulate it by a simple integral controller that adjusts the stimulation intensity. The reference of the FES-induced muscle recruitment serves as one input to the model. The voluntary muscle activity is also determined from EMG recordings by filtering and represents the second model input. A simple linear transfer function model of 2nd order captures the shoulder abduction angle in response to the estimated volitional and FES-induced muscle activity, while the two inputs are summed up after weighting. Least squares have been used to determine the model parameters from recorded input-output data obtained at a neurologically intact subject. The model describes the shoulder abduction movements well for the investigated angular range of 100 also under presence of muscular fatigue due to the applied feedback control of the FES-induced muscle activity. A root mean square error of 8 has been observed between the simulated and measured angle for validation data covering 5 minutes. The model can be used in future to design FES support systems for stroke patients with weak residual muscle activity. Due to the model's simplicity, online identification via recursive least squares and adaptive control schemes are feasible. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： System Identification Functional Electrical Stimulation Electromyography Neuro-prosthetics Rehabilitation Stroke Feedback control

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Decision Support System for Cyber Attack Diagnosis in Smart Water Networks

Decision Support System for Cyber Attack Diagnosis in Smart ...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Quinones-Grueiro, Marcos Prieto-Moreno, Alberto Verde, Cristina Llanes-Santiago, Orestes Cujae Dept Automat & Comp Havana Cuba UNAM Coyoacan Inst Ingn Mexico City 04510 DF Mexico

This paper presents the design of a Decision Support System (DSS) for cyber attack diagnosis in Smart Water Networks. Cyber physical systems (CPS) integrate physical assets with embedded systems. Smart water networks are CPS formed by the distribution system of pipes together with sensors, actuators, programmable logic controllers (PLCs) and supervisory control and data acquisition (SCADA) system. The proposed strategy combines three signal processing tools: Principal Component Analysis, the Adaptive Exponential Weighted Moving Average Chart and the Reconstruction-based Contribution method. The proposal is tested with the data published in the BATtle of the Attack Detection ALgorithms (BATADAL) competition (http://***). The results show that the proposed DSS allows the detection of all the attacks from the test data set 3 with a satisfactory performance by using only data from the normal behavior (data set 1). The proposed DSS can also successfully identify the area of the network and the physical component(s) under attack for different scenarios (first three attacks). (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： cyber-physical systems water distribution systems cyber-attacks Monitoring and control of spatially distributed systems

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Public Signals and Persuasion for Road Network Congestion Games under Vagaries

Public Signals and Persuasion for Road Network Congestion Ga...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Massicot, Olivier Langbort, Cedric Univ Illinois Coordinated Sci Lab Champaign IL 61820 USA

In the context of road network congestion, public provision of information is a way to convince drivers to act more socially by shifting their Wardrop equilibrium. In this paper we establish a framework to pose the problem in a road traffic approach and characterize the disclosure mechanism. The games considered are single-commodity road networks subject to independent vagaries. An omniscient controller partially discloses his information to a population of non-cooperative drivers, in a message at the entrance of the network. For the two-route network with single vagary case, we provide a complete characterization of the optimal public signaling policy and, in particular, identify situations where neither full nor no-disclosure is optimal. We also show how to extend the framework of Bayesian persuasion to the context of road networks under multitple independent vagaries. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Intelligent road transportation Urban mobility Advanced control design-linear non-linear stochastic large scale control systems

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A Stochastic Hybrid Structure for Predicting Disturbances in Mixed Automated and Human-Driven Vehicular Scenarios

A Stochastic Hybrid Structure for Predicting Disturbances in...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Mahjoub, Hossein Nourkhiz Davoodi, Mohammadreza Fallah, Yaser P. Velni, Javad M. Univ Cent Florida Orlando FL 32816 USA Univ Georgia Athens GA 30602 USA

In this work, we introduce a stochastic prediction method which can be utilized in applications such as cooperative adaptive cruise control (CACC) to predict interfering vehicles' movements. One of the main criteria in the design of automated vehicle systems is their robustness against the disturbances resulted from the non-homogeneity of the vehicular environment. The non-homogeneity is mainly due to the human-driven and automated/autonomous vehicles co-existence. It is therefore imperative for the automated applications to be designed with the capability of handling the uncertain behaviors of human-driven vehicles in a robust manner. This paper presents a method for vehicle movements time-series forecasting using a powerful non-parametric Bayesian inference method, namely Gaussian Processes. The proposed methodology is evaluated using realistic vehicle trajectory data from NGSIM dataset and is shown to provide more accurate results compared to baseline methods that use constant velocity coasting. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Discrete Hybrid Stochastic Automata Model Predictive control Non-parametric Bayesian Inference Gaussian Processes Vehicular Networks Model-Based Communication

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Evolving Relationship between Humans and Machines

Evolving Relationship between Humans and Machines

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Trujillo, Anna C. Gregory, Irene M. Ackerman, Kasey A. NASA Langley Res Ctr MS 152 Hampton VA 23681 USA NASA Langley Res Ctr MS 308 Hampton VA 23681 USA

Traditional design typically consists of a master-servant relationship between humans and machines where the human directly controls what the machine will do and when it will do it through an interface. The current archetypical path encompasses moving from informational displays, where the human directly controls the machine based on information displayed, to automation where the human still directs the machine that then caries out the request using predefined set of instructions. Rapid pace of technological advancement makes it possible now, or in a near future, for machines to reach a level of intelligence that enables for systems to execute tasks/missions without predefined specific instructions;thus attaining a status of non-human autonomous agents. Now the course of human-machine interface technology changes from an information system to automation to an autonomous agent-essentially moving from a master-servant relationship to teammates. This paper discusses these changing relationships and challenges associated with progressing from a master-servant relationship with technology to more of an equal teammate. Examples of this progression includes current work encompassing rotorcraft noise minimization for urban air mobility. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Human-machine interface supervisory control master-slave systems active noise control

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Evaluation of Different Modes of Haptic Guidance for Robotic Surgery

Evaluation of Different Modes of Haptic Guidance for Robotic...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Schleer, P. Drobinsky, S. Radermacher, K. Rhein Westfal TH Aachen Helmholtz Inst Biomed Engn Chair Med Engn D-52074 Aachen Germany

The evolution of surgery has resulted in a plethora of systems varying in their application field, size, as well as degree of autonomy. Especially systems which combine principles of so-called synergistic robotic systems and master-slave-telemanipulators are interesting concerning cooperative aspects of surgeon and robotic system. While the former provide haptic guidance information ("virtual fixtures"), the latter provide haptic feedback from position or force sensor information of the slave device. During the design of these combined systems particular attention has to be paid during the allocation of information to the haptic information channel as superimposing of haptic guidance information and haptic sensor feedback can lead to concealment of essential feedback information. This paper reports on an experimental usability evaluation of different haptic guidance modes varying in their degree of autonomy as well as degree of freedom (DOF) with respect to three surgical scenarios, namely reaching a predefined position and orientation, tracking a predefined 3D trajectory, and applying a defined force (such as during e.g. a 3D bone milling task). The goal was to evaluate whether some DOF of haptic guidance information can be left free for force sensor information feedback. General findings indicate that haptic guidance does not have to be augmented on three DOF to improve usability. Therefore, a combination of haptic sensor information feedback and haptic guidance information divided between individual DOF seems to be a potential solution. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robotics Telerobotics Telemanipulation Robotic manipulators Robotic surgery Robot navigation Trajectories Shared control Guidance systems Haptics

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Improving Human-Machine Collaboration Through Transparency-based Feedback - Part II: control design and Synthesis

Improving Human-Machine Collaboration Through Transparency-b...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Akash, Kumar Reid, Tahira Jain, Neera Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA

To attain improved human-machine collaboration, it is necessary for autonomous systems to infer human trust and workload and respond accordingly. In turn, autonomous systems require models that capture both human trust and workload dynamics. In a companion paper, we developed a trust-workload partially observable Markov decision process (POMDP) model framework that captured changes in human trust and workload for contexts that involve interaction between a human and an intelligent decision-aid system. In this paper, we define intuitive reward functions and show that these can be readily transformed for integration with the proposed POMDP model. We synthesize a near-optimal control policy using transparency as the feedback variable based on solutions for two cases: 1) increasing human trust and reducing workload, and 2) improving overall performance along with the aforementioned objectives for trust and workload. We implement these solutions in a reconnaissance mission study in which human subjects are aided by a virtual robotic assistant in completing a series of missions. We show that it is not always beneficial to aim to improve trust;instead, the control objective should be to optimize a context-specific performance objective when designing intelligent decision-aid systems that influence trust-workload behavior. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： trust in automation human-machine interface intelligent machines Markov decision processes stochastic modeling parameter estimation dynamic behavior

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Modeling & control of Human Actuated systems

Modeling & Control of Human Actuated Systems

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Bae, Sangjae Han, Sang Min Moura, Scott Univ Calif Berkeley Dept Civil & Environm Engn eCAL Berkeley CA 94720 USA Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA Tsinghua Berkeley Shenzhen Inst Smart Grid & Renewable Energy Lab Shenzhen Peoples R China

This paper investigates a Cyber-Physical & Human System (CPHS) comprised of a deterministic dynamical system plant model and a human actuator model. Namely, human decisions are stochastic inputs to the plant model. We examine a framework where human decisions cannot be directly controlled, but can be influenced via incentive control signals. Specifically, we use the framework of discrete choice models (DCMs) to capture human decision making, and then design optimal controllers for these human actuated dynamical systems. Existing literature on CPHS often treats human inputs as stochastic and exogenous inputs, and then formulates a disturbance rejection problem. Instead of treating human decision-making as an uncontrollable exogenous input, we directly incorporate human decision making into the modeling framework with DCMs. This paper thus adds two original contributions. (i) We develop a generalized human-actuated system framework based on DCM that predicts the probability of human decisions, conditioned on controllable incentives. (ii) We show that existing optimization schemes, such as Sequential Quadratic Programming (SQP) and Dynamic Programming (DP), can be applied to control the proposed human-actuated system. We conclude this paper by demonstrating the framework on a reference tracking problem and an inventory control problem. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： cyber-physical and human system human-in-the-loop system human behavior modeling and control discrete choice model and control

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Inference of User Qualities in Shared control of CPHS: A Contrast in Users

Inference of User Qualities in Shared Control of CPHS: A Con...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Hall, Lucas Acharya, Urja Bradley, Justin Duncan, Brittany Univ Nebraska Dept Comp Sci & Engn Lincoln NE 68588 USA

Most cyber-physical human systems (CPHS) rely on users learning how to interact with the system. Rather, a collaborative CPHS should learn from the user and adapt to them in a way that improves holistic system performance. Accomplishing this requires collaboration between the human-robot/human-computer interaction and the cyber-physical system communities in order to feed back knowledge about users into the design of the CPHS. The requisite user studies, however, are difficult, time consuming, and must be carefully designed. Furthermore, as humans are complex in their interactions with autonomy it is difficult to know, a priori, how many users must participate to attain conclusive results. In this paper we elaborate on our work to infer intrinsic user qualities through human-robot interactions correlated with robot performance in order to adapt the autonomy and improve holistic CPHS performance. We first demonstrate through a study that this idea is feasible. Next, we demonstrate that significant differences between groups of users can impact conclusions particularly where different autonomies are involved. Finally, we also provide our rich, extensive corpus of user study data to the wider community to aid researchers in designing better CPHS. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Shared control autonomous mobile robots telerobotics human robot interaction

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