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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)
High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...
journal article 2019
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Plaetinck, Wouter (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
Time-varying pilot control identification is essential for better understanding of how pilots respond when faced with sudden changes in the dynamics of the vehicle they control, such as when automatic control and stabilization systems disengage or undergo a mode transition. This paper presents the results of a human-in-the-loop experiment...
journal article 2019
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Barendswaard, S. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
Vehicle control tasks require simultaneous control of multiple degrees-of-freedom. Most multi-axis human-control modeling is limited to the modeling of multiple fully independent single axes. This paper contributes to the understanding of multi-axis control behavior and draws a more realistic and complete picture of dual-axis manual control....
journal article 2019
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Cleij, D. (author), Venrooij, J. (author), Pretto, Paolo (author), Pool, D.M. (author), Mulder, M. (author), Bülthoff, Heinrich H. (author)
Motion cueing algorithms are used in motion simulation to map the inertial vehicle motion onto the limited simulator motion space. This mapping causes mismatches between the unrestricted visual motion and the constrained inertial motion, which results in perceived motion incongruence (PMI). It is still largely unknown what exactly causes...
journal article 2018
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Drop, F.M. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author), Bülthoff, Heinrich H. (author)
The human controller (HC) in manual control of a dynamical system often follows a visible and predictable reference path (target). The HC can adopt a control strategy combining closed-loop feedback and an open-loop feedforward response. The effects of the target signal waveform shape and the system dynamics on the human feedforward dynamics...
journal article 2018
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Wagenaar, S.E. (author), Pool, D.M. (author), Damveld, H.J. (author), van Paassen, M.M. (author), Mulder, M. (author)
Traditional Frequency Response Function (FRF) estimation techniques used for analysis of Human Controller (HC) dynamics in tracking tasks assume HC dynamics to be linear, but generally do not quantify or compensate for the effects of human nonlinearities. The robust and fast Best Linear Approximation (BLA) techniques for estimating an FRF do...
conference paper 2018
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van der El, K. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
This paper investigates how humans use a previewed target trajectory for control in tracking tasks with various controlled element dynamics. The human's hypothesized "near" and "far" control mechanisms are first analyzed offline in simulations with a quasi-linear model. Second, human control behavior is quantified by fitting the same model to...
journal article 2018
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Wolters, Joris P. M. A. (author), van der El, K. (author), Damveld, H.J. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
This paper investigates the effects of simulator motion on driver steering performance, and how this depends on the available visual information and external disturbances such as wind gusts. A human-in-the-loop driving experiment was performed in which twelve participants steered a fixedvelocity car to follow a winding road (target tracking, TT)...
conference paper 2018
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van der El, K. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
Due to linear perspective, the visual stimulus provided by a previewed reference trajectory reduces with increasing distance ahead. This paper investigates the effects of linear perspective on human use of preview in manual control tasks. Results of a human-in-the-loop tracking experiment are presented, where the linear perspective&#x0027...
journal article 2018
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Scaramuzzino, P.F. (author), D’Intino, Giulia (author), Geluardi, Stefano (author), Pavel, M.D. (author), Pool, D.M. (author), Stroosma, O. (author), Mulder, M. (author), Bülthoff, Heinrich H. (author)
Today, simulators are achieving levels of complexity and cost that are comparable to those of the aircraft they should replace. For this reason, questions have been raised, in both the technical and training communities, on the required level of simulation 1delity for effective pilot training. Computer Based Trainers (CBTs) are not currently...
conference paper 2018
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van der El, K. (author), Padmos, S. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
In manual control tasks, preview of the target trajectory ahead is often limited by poor lighting, objects, or display edges. This paper investigates the effects of limited preview, or preview time, in manual tracking tasks with single- and double-integrator controlled element dynamics. A quasi-linear human controller model is used to predict...
journal article 2018
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Horssen van, Laurens (author), de Visser, C.C. (author), Pool, D.M. (author)
To meet the required flight simulator-based stall recovery training that will become mandatory for all aircarrier pilots in 2019, many flight simulators will need to be updated with accurate flightmodels at high anglesof- attack. Using a database of 69 symmetrical and quasi-steady recorded stalls performed with TU Delft’s Cessna Citation II...
conference paper 2018
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Deldycke, Pieter-Jan (author), Van Baelen, D. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
The use of haptic feedback as a tool for skill training has shown benefits for the formation ofmotor-memory and support for certain temporal tasks. Therefore, this research focuses on the development of a haptic aid for supporting the training of the challenging manual flare maneuver in initial pilot training. The haptic aid, which consisted of...
conference paper 2018
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Laban, Sandra (author), Suwandi, Jessica S. (author), van Unen, V. (author), Pool, J (author), Wesselius, Joris (author), Hollt, T. (author), Pezzotti, N. (author), Vilanova Bartroli, A. (author), Lelieveldt, B.P.F. (author), Roep, Bart O. (author)
Auto-reactive CD8 T-cells play an important role in the destruction of pancreatic β-cells resulting in type 1 diabetes (T1D). However, the phenotype of these auto-reactive cytolytic CD8 T-cells has not yet been extensively described. We used high-dimensional mass cytometry to phenotype autoantigen- (pre-proinsulin), neoantigen- (insulin-DRIP)...
journal article 2018
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van Grootheest, Andries (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
Time-varying human-operator (HO) adaptation in basic manual-control tasks is barely understood, as most HO identification methods do not explicitly take into account time variations. An identification procedure based on both batch and recursive autoregressive exogenous (ARX) models is used in this paper for captur- ing HO adaptation to time...
conference paper 2018
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Rezunenko, Evgeny (author), van der El, K. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
In manual tracking tasks with preview of the target trajectory, humans have been modeled as dual-mode “near” and “far” viewpoint controllers. This paper investigates the physical basis of these two control mechanisms, and studies whether estimated viewpoint positions represent those parts of the previewed trajectory which humans use for control....
conference paper 2018
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Mobertz, Xander (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
This paper describes a human-in-the-loop experiment performed in TU Delft’s SIMONA Research Simulator to explicitly investigate the effects of biodynamic feedthrough (BDFT) on the execution of a two-dimensional touchscreen waypoint dragging task in turbulence. In the experiment, 16 participants performed the same task in a stationary simulator...
conference paper 2018
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Miletovic, I. (author), Pavel, M.D. (author), Stroosma, O. (author), Pool, D.M. (author), van Paassen, M.M. (author), Wentink, Mark (author), Mulder, M. (author)
Eigenmode distortion (EMD) is a novel methodology developed to study the degradation of perceived vehicle dynamics as a result of motion cueing algorithms (MCA’s) applied in rotorcraft 2ight simulators. This paper brie2y introduces EMD and subsequently describes its application in a pilot-in-the-loop experiment conducted on the SIMONA Research...
conference paper 2018
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van der El, K. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, M. (author)
Novel (semi-)automated systems are rapidly being introduced into modern road vehicles, but anticipating possibly critical human-machine interaction issues is difficult, because the human driver’s behavior is as of yet still poorly understood. This paper aims to improve our understanding and models of driver steering behavior on winding roads,...
conference paper 2018
document
Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. (author)
Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion...
conference paper 2017
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