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Strict Zeroing control Barrier Function for Continuous Safety Assist control

IEEE control SYSTEMS LETTERS 2022年 6卷 2108-2113页

作者： Tezuka, Issei Nakamura, Hisakazu Tokyo Univ Sci Dept Elect Engn Fac Sci & Technol Noda Campus Noda Chiba 2788510 Japan

control barrier functions (CBFs) have been yielding successful implementations in various control strategies. In this letter, we propose a human assist controller using a zeroing CBF (ZCBF). To ensure the forward-completeness of every solution to a nonautonomous system, we provide the "strict" definition of a ZCBF. Then, we obtain a global condition for a ZCBF from the strict conditions. We simultaneously prove that the proposed controller ensures the forward-completeness and the safety of a nonautonomous system. The effectiveness of the proposed controller using a strict ZCBF is confirmed by a mathematical example.

关键词： control systems Time-varying systems Safety Computational modeling Task analysis Sufficient conditions Nonlinear systems Time-varying systems human-in-the-loop control

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An Adaptive human Pilot Model for Adaptively controlled Systems

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IEEE control SYSTEMS LETTERS 2022年 6卷 1964-1969页

作者： Habboush, Abdullah Yildiz, Yildiray Bilkent Univ Dept Mech Engn TR-06800 Ankara Turkey

Despite their success in handling uncertain dynamical systems that are prone to failure, adaptive controllers are observed to have unfavorable interactions with human pilots in certain applications. To alleviate this problem, we need to evaluate the safety and performance of adaptive controllers in the simulation environment using realistic pilot models before conducting flight tests. While many useful human pilot models exist in the literature, models that are adequate for the prediction of adaptive human-adaptive controller interactions are yet to be available. In this letter, we fill this gap by proposing an adaptive human pilot model suited for the prediction of human behavior in the loop with an adaptive controller. The model can serve as a valuable tool guiding the design of adaptive controllers so as to ensure smooth pilot-controller interactions.

关键词： Adaptation models control systems Uncertainty Adaptive control Actuators Vehicle dynamics Standards Adaptive control adaptive systems human-in-the-loop control

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Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

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IEEE control SYSTEMS LETTERS 2022年 6卷 716-721页

作者： Fennel, Michael Zea, Antonio Mangler, Johannes Roennau, Arne Hanebeck, Uwe D. Karlsruhe Inst Technol Inst Anthropomat & Robot Intelligent Sensor Actuator Syst Lab D-76131 Karlsruhe Germany FZI Res Ctr Informat Technol Intelligent Syst & Prod Engn Dept D-76131 Karlsruhe Germany

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the haptic rendering of any programmed robot with a serial manipulator on a general-purpose haptic interface. The results show that the proposed haptic rendering reproduces the kinematic properties of the programmed robot and directly provides the desired joint space trajectories. In addition to a stand-alone usage, we demonstrate that the proposed algorithm can be easily paired with existing visual technology for virtual and augmented reality to facilitate a highly immersive programming experience.

关键词： Robots Haptic interfaces Kinematics Programming Rendering (computer graphics) Manipulators Robot kinematics Robotics haptics control applications human-in-the-loop control

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human-Machine Shared Steering control For Vehicle Lane Keeping System: An Observer-Based Model Prediction control Method 7

Human-Machine Shared Steering Control For Vehicle Lane Keepi...

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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Zheng, Jinzhao Pan, Juntao Lu, Jiyun Lai, Weilong School of Electrical and Information Engineering North Minzu University Yinchuan China

ISBN: (纸本)9798350340488

The paper introduces a human-machine cooperative lane-keeping assistance driving system that relies on a Unknown Input Observer (UIO). In contrast to the traditional Linear Parameter-Varying (LPV) model, this paper simplifies the LPV polyhedral model using a polyhedral simplification approach. The UIO is designed with unknown input decoupling technology to ensure asymptotic estimation performance for vehicle dynamics and driver torque. Based on the estimation results of the unknown input observer, this study proposes a UIO-based model predictive controller (MPC) that will enable the vehicle to track the road centreline with its accuracy. Additionally, a human-machine cooperative control authority distributor is introduced to mitigate conflicts between human and machine control. The proposed method's effectiveness is confirmed by co-simulation using Simulink-Carsim, demonstrating its performance. © 2023 IEEE.

关键词： driver steering intervention human-in-the-loop control model predictive control shared control torque estimation unknown input observer Vehicle dynamics

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human-in-the-loop Optimization of Knee Exoskeleton Assistance for Minimizing User's Metabolic and Muscular Effort

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SENSORS 2024年第11期24卷 3305页

作者： Monteiro, Sara Figueiredo, Joana Fonseca, Pedro Vilas-Boas, J. Paulo Santos, Cristina P. Univ Minho Ctr MicroElectromechan Syst CMEMS P-4800058 Guimaraes Portugal LABBELS Associate Lab P-4710057 Braga Portugal Associate Lab LABBELS P-4800058 Guimaraes Portugal Univ Porto Porto Biomech Lab LABIOMEP P-4200450 Porto Portugal Univ Porto Fac Sport Ctr Res Educ Innovat & Intervent Sport CIFI2D P-4200450 Porto Portugal

Lower limb exoskeletons have the potential to mitigate work-related musculoskeletal disorders;however, they often lack user-oriented control strategies. human-in-the-loop (HITL) controls adapt an exoskeleton's assistance in real time, to optimize the user-exoskeleton interaction. This study presents a HITL control for a knee exoskeleton using a CMA-ES algorithm to minimize the users' physical effort, a parameter innovatively evaluated using the interaction torque with the exoskeleton (a muscular effort indicator) and metabolic cost. This work innovates by estimating the user's metabolic cost within the HITL control through a machine-learning model. The regression model estimated the metabolic cost, in real time, with a root mean squared error of 0.66 W/kg and mean absolute percentage error of 26% (n = 5), making faster (10 s) and less noisy estimations than a respirometer (K5, Cosmed). The HITL reduced the user's metabolic cost by 7.3% and 5.9% compared to the zero-torque and no-device conditions, respectively, and reduced the interaction torque by 32.3% compared to a zero-torque control (n = 1). The developed HITL control surpassed a non-exoskeleton and zero-torque condition regarding the user's physical effort, even for a task such as slow walking. Furthermore, the user-specific control had a lower metabolic cost than the non-user-specific assistance. This proof-of-concept demonstrated the potential of HITL controls in assisted walking.

关键词： exoskeletons human-in-the-loop control metabolic cost estimation work-related musculoskeletal disorders

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CyberCoach: a Wearable Biofeedback System for Runners 9

CyberCoach: a Wearable Biofeedback System for Runners

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9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

作者： Gibson, Matthew R. Boergers, Richard J. Zanotto, Damiano Stevens Inst Technol Dept Mech Engn Wearable Robot Syst Lab Hoboken NJ 07030 USA Seton Hall Univ Dept Athlet Training S Orange NJ 07079 USA

ISBN: (数字)9781665458498

ISBN: (纸本)9781665458498

Wearable technologies are increasingly being used to help runners improve their performance and reduce the risk of injuries. While off-the-shelf devices are typically limited to interval-based cueing and post training analysis, the emerging wearable biofeedback systems (WBSs) can provide closed-loop feedback during training. However, most existing WBSs for runners are inaccurate for real-time spatiotemporal gait analysis, limited to temporal gait parameters, or not suitable for out-of-the-lab use. This paper introduces a novel WBS that leverages on-line gait analysis capabilities and continuous music modulation to elicit a target time-varying running speed on the wearer. We compared the effectiveness of two alternative auditory feedback strategies (play-back rate modulation - PRM, noise amplitude modulation - NAM) against a conventional training strategy (running watch discrete alarms - WA), in terms of stride-by-stride velocity errors in a group of competitive and recreational runners, using an out-of-the-lab High-Intensity Interval Training (HIIT) protocol. Results indicate that PRM and NAM may elicit significantly better adherence to both low and high-intensity target velocities compared to WA. NAM outperformed PRM in terms of velocity errors, but participants found the latter modality to be more enjoyable. Overall, these results highlight the potential of WBS and continuous music modulation as effective means to provide accurate, granular, and meaningful feedback to runners, and pave the way for future studies focusing on the long-term training effects of this technology.

关键词： Wearable Technology Biofeedback Instrumented Footwear human-in-the-loop control Gait Analysis

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Nonlinear MPC for Insulin Titratio2shn of Type 2 Diabetes

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IFAC-PapersOnLine 2024年第18期58卷 35-40页

作者： Joachim Melkær Midtgaard Kasper Bruhn Michael Siggaard Jørgensen Tristan Grusgaard Johnasen Kasper Kjærulff Grønkjær Faiyaz Alvi Ahmed Mohamad Al Ahdab John Leth *Section of Control and Automation Department of Electronic Systems Aalborg University Fredrik Bajers Vej 7C 9220 Aalborg East Denmark

This paper explores the development and application of both linear and nonlinear model predictive control (MPC) strategies for insulin titration in type 2 diabetes (T2D) subjects. By utilizing daily blood glucose measurements, alongside information on insulin injections and meal intake from the previous day, we adjust the insulin sensitivity parameter of the internal model of the controller. This adjustment is based on the steady-state glucose error between the internal model and the plant model. The performance of these strategies was assessed using a high-fidelity T2D model, demonstrating their potential in enhancing the management of T2D.

关键词： Nonlinear MPC Biological systems Diabetes human-in-the-loop control

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A Model-Free Approach to Automatic Dose Guidance in Long Acting Insulin Treatment of Type 2 Diabetes

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IEEE control SYSTEMS LETTERS 2021年第6期5卷 2030-2035页

作者： Krishnamoorthy, Dinesh Boiroux, Dimitri Aradottir, Tinna Bjork Engell, Sarah Ellinor Jorgensen, John Bagterp Norwegian Univ Sci & Technol Dept Chem Engn N-7491 Trondheim Norway Tech Univ Denmark Dept Appl Math & Comp Sci DK-2800 Lyngby Denmark Novo Nordisk AS DK-2880 Bagsvaerd Denmark

This letter presents a model-free insulin titration algorithm for patients with type 2 diabetes that automatically finds and maintains the optimal insulin dosage in order to maintain the blood glucose concentration at desired levels. The proposed method is based on recursive least square-based extremum seeking control. Since the proposed method does not require a detailed model, it can be applied on a wide population of patients without the need to identify and adapt models to the patient data. We demonstrate the effectiveness of the proposed method using in silico simulations, which are benchmarked against two standard-of-care approaches. We also show that the proposed method can handle intra-patient metabolic variations and non-adherence to the treatment regimen. Finally, using a population of 50 virtual patients, we show that the proposed method is able to handle inter-patient variations.

关键词： Insulin Glucose Blood Data models Diabetes Adaptation models Predictive models Healthcare and medical systems emerging control applications human-in-the-loop control

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human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics

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IEEE control SYSTEMS LETTERS 2021年第5期5卷 1651-1656页

作者： Liu, Ruixuan Liu, Changliu Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

human motion prediction, especially arm prediction, is critical to facilitate safe and efficient human-robot collaboration (HRC). This letter proposes a novel human motion prediction framework that combines a recurrent neural network (RNN) and inverse kinematics (IK) to predict human arm motion. A modified Kalman filter (MKF) is applied to adapt the model online. The proposed framework is tested on collected human motion data with up to 2 s prediction horizon. The experiments demonstrate that the proposed method improves the prediction accuracy by approximately 14% comparing to the state-of-art on seen situations. It stably adapts to unseen situations by keeping the maximum prediction error under 4 cm, which is 70% lower than other methods. Moreover, it is robust when the arm is partially occluded. The wrist prediction remains the same, while the elbow prediction has 20% less variation.

关键词： Wrist Elbow Adaptation models Manipulators Hidden Markov models Trajectory Robots Adaptive systems human-in-the-loop control kalman filtering

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human-building interaction for indoor environmental control: Evolution of technology and future prospects

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AUTOMATION IN CONSTRUCTION 2023年第1期152卷

作者： Kim, Hakpyeong Kang, Hyuna Choi, Heeju Jung, Dahyun Hong, Taehoon Yonsei Univ Dept Architecture & Architectural Engn Seoul South Korea Yonsei Univ 50 Yonsei ro Seoul 03722 South Korea

This paper presents a data-driven literature review of human-building interaction (HBI), which refers to the interaction between occupants and buildings. Through natural language processing-based text classification, the paper analyzed 907 literature sources and derived four research topics: automatic climate controller, automatic lighting controller, automatic window opener, and artificial intelligence. A meta-analysis was conducted to explore these topics from early to state-of-the-art technology. The meta-analysis revealed challenges and opportunities from the sensing, predicting, and control perspectives. Finally, the paper proposes future prospects to overcome these challenges, including increasing self-awareness in the environment, using multimodal sentimental feedback control, utilizing online and meta-learning, promoting collective control, and building infrastructure for field implementation. Eventually, HBI can also enhance the occupants' well-being by generating a more optimal indoor environment. In addition, the integration of advanced artificial intelligence can improve decision-making processes and increase the overall performance of automatic controllers.

关键词： human-building interaction Topic modeling BERTopic Automatic control Occupant centric control human-in-the-loop control

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