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van der El, Kasper (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)The 1960s crossover model is widely applied to quantitatively predict a human controller's (HC's) manual control behavior. Unfortunately, the theory captures only compensatory tracking behavior and, as such, a limited range of real-world manual control tasks. This article finalizes recent advances in manual control theory toward more general...journal article 2020
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van der Ploeg, J.R. (author), Cleij, D. (author), Pool, D.M. (author), Mulder, Max (author), Bülthoff, Heinrich H. (author)Despite gaining popularity, the use of Motion Cueing Algorithms (MCAs) based on Model Predictive Control (MPC) remains challenging due to the required tuning of a large number of cost function parameters. This paper investigates the effects of two critical MPC cost function parameters, the lateral specific force and roll rate error weights (Way...conference paper 2020
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Kolff, M.J.C. (author), Venrooij, J. (author), Pool, D.M. (author), Mulder, Max (author)Motion cueing algorithm design often involves a trade-off between priorities due to the limited workspace of the simulator. Such a trade-off requires a detailed understanding of human perception, which we do not yet have. For that reason, objective motion cueing quality metrics, based on the difference between vehicle and simulator signals,...conference paper 2020
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Cleij, D. (author), Pool, D.M. (author), Mulder, Max (author), Bülthoff, Heinrich H. (author)In this paper the potential of Motion Incongruence Rating (MIR) models for the optimization of Motion Cueing Algorithms (MCAs) is investigated. In a human-in-the-loop simulator experiment, two optimization-based MCAs are compared for a roundabout scenario simulated on a medium-stroke hexapod simulator. The first MCA uses standard cueing error...conference paper 2020
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Hogerbrug, M. (author), Venrooij, J. (author), Pool, D.M. (author), Mulder, Max (author)A necessity in driving simulation testing is to understand and attenuate simulator sickness, to reduce the number of undesired drop-outs. Especially urban environments, with its many turns and changes in the velocity profile, are a challenge. This paper describes the motion sickness rating results of a between-subjects experiment (n = 63), which...conference paper 2020
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Kemna, Maarten (author), Pool, D.M. (author), Wentink, Mark (author), Mulder, Max (author)Numerous critical manual teleoperation tasks, such the control of the refueling boom during aerial refueling, require human controllers to accurately manipulate objects in the depth dimension, i.e., aligned with the viewing direction. To better understand the intricacies of depth control tasks and to be able to better support human controllers...conference paper 2020
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van der El, Kasper (author), Pool, D.M. (author), Mulder, Max (author)Drivers rely on a variety of cues from different modalities while steering, but which exact cues are most important and how these different cues are used is still mostly unclear. The goal of our research project is to increase understanding of driver steering behavior; through a measuring and modeling approach we aim to extend the validity of...journal article 2019
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van Leeuwen, T. D. (author), Cleij, D. (author), Pool, D.M. (author), Mulder, Max (author), Bülthoff, H. H. (author)In motion simulation, motion input scaling is often applied to deal with the limited motion envelopes of motion simulators. In this research, the time-varying effects of scaling the lateral specific force up or down during passive curve driving in a car driving simulation are investigated through a simulator experiment. It is concluded that...journal article 2019
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Rojer, Jim (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)This paper describes a novel method for time-varying identification of Human Controller (HC) manual control parameters (called UKF-FPV), based on a steady-state (constant state covariance) Unscented Kalman Filter (UKF). This approach requires no a priori assumptions on the shape of HC parameter variations, which is a potential advantage over...journal article 2019
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Scaramuzzino, Paolo Francesco (author), Pavel, M.D. (author), Pool, D.M. (author), Stroosma, O. (author), Quaranta, Giuseppe (author), Mulder, Max (author)Autorotation is a flight condition whereby the engine of a helicopter is no longer supplying power to the main rotor system, which is driven solely by the upward flow of the air moving through the rotor. For helicopters, autorotation is a common emergency procedure performed by pilots to safely land the vehicle in the event of a power failure...conference paper 2019
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Mulder, Max (author), Pool, D.M. (author), van der El, Kasper (author), Drop, F.M. (author), van Paassen, M.M. (author)Mathematical control models are widely used in tuning manual control systems and understanding human performance. The most common model, the crossover model, is severely limited, however, in describing realistic human control behaviour in relevant control tasks as it is only valid for tracking with a compensatory display. This paper first...journal article 2019
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Plaetinck, Wouter (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (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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Kolff, M.J.C. (author), van der El, Kasper (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)The understanding of human responses to visual information in car driving tasks requires the use of system identification tools that put constraints on the design of data collection experiments. Most importantly, multisine perturbation signals are required, including a multisine road geometry, to separately identify the different driver...journal article 2019
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Willems, M. (author), Pool, D.M. (author), van der El, Kasper (author), Damveld, H.J. (author), van Paassen, M.M. (author), Mulder, Max (author)Human modelling approaches are typically limited to feedback-only, compensatory tracking tasks. Advances in system identification techniques allow us to consider more realistic tasks that involve feedforward and even precognitive control. In this paper we study the human development of a feedforward control response while learning to...journal article 2019
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van der El, Kasper (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)Novel driver support systems potentially enhance road safety by cooperating with the human driver. To optimize the design of emerging steering support systems, a profound understanding of driver steering behavior is required. This article proposes a new theory of driver steering, which unifies visual perception and control models. The theory...journal article 2019
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Barendswaard, S. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (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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Pieters, Marc (author), Zaal, P.M.T. (author), Pool, D.M. (author), Stroosma, O. (author), Mulder, Max (author)This paper describes an experiment investigating the effects of motion filter order on human manual control tracking behavior and performance. The experiment was performed on two simulators: the Vertical Motion Simulator at NASA Ames Research Center and the SIMONA Research Simulator at Delft University of Technology. Eighteen pilots in the...conference paper 2019
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Cleij, D. (author), Venrooij, J. (author), Pretto, Paolo (author), Pool, D.M. (author), Mulder, Max (author), Bulthoff, 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, Max (author), Bulthoff, 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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Mobertz, Xander (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (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