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M. Mulder

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240 records found

Conference paper (2026) - K.N. Huijsing, D.M. Pool, M.M. van Paassen, Max Mulder
Haptic shared control systems that support drivers by means of added torques on the steering wheel are often tuned heuristically. To allow for more systematic design, this paper focuses on the Four Design Choices Architecture (FDCA) and systematically analyzes its tuning with an offline simulation model for the driver’s control behavior and neuromuscular system. These analyses indicated that within the FDCA architecture the Level of Haptic Support (LoHS), which is a feedforward channel supporting negotiation of upcoming curves, is a main contributor to joint system performance. In a driving simulator experiment, the adaptation to and acceptance of different LoHS levels was investigated. Driver acceptance was found to increase with increasing LoHS values up to 1. Objective metrics, including torque conflict (70% reduction), steering effort (81% reduction), steering wheel reversal rate, and lateral deviation all improved, indicating that with the FDCA a high LoHS is both acceptable and, in fact, preferred. ...
Journal article (2026) - Eline S. Bakker, Ferdinand Dijkstra, Clark Borst, Marinus M. van Paassen, Max Mulder
Air traffic growth leads to increasingly complex traffic situations near large airports. To support air traffic controllers in maintaining safety and improving efficiency, new support tools are needed. This paper presents the Inbound Traffic Support System (ITSS), a visual interface prototype developed in collaboration with the Netherlands’ Air Navigation Service Provider, LVNL. The interface visualizes constraints associated with the merging task and was tested for the South Sector of Amsterdam Airport Schiphol. By portraying potential merging solutions, it helps area controllers anticipate the impact of their decisions and supports their role in managing inbound traffic. Professional controllers provided positive feedback during the development phase while also identifying concerns such as display clutter that should be addressed. An experiment with semiprofessional controllers assessed the impact of the interface on operator performance and workload. Participants were instructed to rely on the interface rather than operational experience to ensure consistent results. Findings showed that the interface improved aircraft adherence to altitude restrictions and reduced the number of clearances needed in more complex scenarios. By revealing the solution space, the ITSS encourages earlier planning and reduces the need for late-stage interventions. Future work will include professional controller evaluations, increased simulation fidelity, and extended training. ...
Journal article (2026) - Yoshinari Hashimoto, Ryosuke Masuda, Max Mulder, Marinus M. van Paassen
To achieve an efficient and stable operation of blast furnaces in the steel industry while retaining the proficient human operators’ skills, a human–machine interface based on an ecological interface design (EID) was developed. EID is an interface design framework that reduces the cognitive workload of human operators by providing essential information on the controlled system in an intuitive way. The developed interface allows the operators to explore the possible control actions, by presenting the future predictions of the controlled variables when hypothetical control actions are taken, using a transient model. In addition, a graphical representation of the mass and energy balance that links the manipulated variables and controlled variables is provided to raise the situation awareness of the blast furnace operation. The developed interface is beneficial to determine appropriate control actions that maintain hot metal temperature and production rate near the target values and keep pressure drop below the upper bound while reducing carbon intensity and production costs. ...

Enhancing driver preparedness through hazard awareness. A 15-year cohort study

Journal article (2026) - Jorrit Kuipers, Max Mulder, Maran Voskes
This cohort study investigates the long-term effects of simulator-based hazard awareness training (HAT) on learner and novice drivers in the Netherlands, using a dataset of 2,372 participants over a 15-year period. Most prior studies on HAT have measured only immediate post-training outcomes; no longitudinal cohort study with a control group has previously examined both supervised and unsupervised driving outcomes over a multi-year horizon. Although the HAT and control groups showed small but statistically significant differences in gender composition, education level, and fear of driving at the start of training, the effect sizes were negligible (d ≤ 0.09), and these characteristics are addressed as covariates in the analyses.HAT improved performance during simulator training and supervised driving: HAT students’ viewing skills were better during the intersection test, required fewer on-road training hours, passed the driving exam in fewer attempts, and achieved a higher first-attempt pass rate than the control group. These benefits did not persist into unsupervised post-licensing driving. Violations, errors, and accident involvement were comparable between HAT and control group drivers in the first and last year after licensing. Personal characteristics — including gender, licensing age, self-assessed driving competence, and subjective driving difficulty — were stronger and more lasting predictors of post-licensing behaviour than training type. These findings suggest that hazard awareness is a trainable skill, but that training effects on risk-taking behaviour are moderated by individual characteristics that emerge most clearly once drivers operate independently, aligning with findings of a previous study on the same dataset. Teaching higher safety margins during supervised driving may offer a more durable route to reducing accident risk for novice drivers than higher-order skill training alone. ...

Occurrence and impact

Journal article (2026) - D.M.L. Vlaskamp, Alex Pollitt, J. Blundell, A. Landman, Eric L. Groen, M.M. van Paassen, O. Stroosma, Max Mulder
Startle and surprise are known to impair pilot performance during non-normal flight conditions. In the past years research has focused on developing strategies to help pilots mitigate startle and surprise responses to unexpected situations. However, no equivalent research exists for cabin crew. This study investigates the prevalence, impact on crew performance, and emotional consequences of startle and surprise among cabin crew, as well as the way in which it is currently trained. A survey was conducted among 348 European-based cabin crew to gather data on in-flight events that provoked startle, surprise, or both. Objective measures included stress ratings, perceived impact on performance, perceived emotional control, training exposure, and lasting anxiety. Qualitative data were also collected to assess crew responses and coping mechanisms. Out of 348 respondents, 79.3% reported having experienced startle, surprise or both. High stress levels were significantly correlated with perceived performance impairments and lasting anxiety. Current startle and surprise training improved perceived preparedness but did not reduce perceived stress or anxiety. Emotional control was deemed a key protective factor. Startle and surprise can cause operationally significant impact on cabin crew performance. Training that includes simple, effective emotional regulation strategies, such as those developed for pilots, is currently lacking and may help improve both immediate performance and long-term psychological resilience in the cabin environment, as may increased peer-support access. ...
Conference paper (2026) - R. Palings, D.M. Pool, M.M. van Paassen, Max Mulder
Haptic Shared Control (HSC) systems offer a means to support human drivers in the transition to fully-automated driving. Matching HSC systems settings with drivers’ time-varying neuromuscular system (NMS) dynamics requires real-time HSC adaptations. This paper presents an experimental validation of a previously proposed method for predicting drivers’ time-varying neuromuscular admittance using an ‘average’ grip force scheduled linear parameter varying (LPV) model. The quality of LPV model predictions is compared to that of Recursive Least Squares (RLS) fits of an admittance model on the same data. Ten participants performed steering wheel manipulation tasks with steering wheel perturbations that needed to be kept within a certain displacement boundary by adapting their grip force. Time-invariant (TI) and time-varying (TV) boundary levels were used to, respectively, construct and validate the LPV model. Results show that the average relation between admittance and grip force that underlies the current LPV method varies too much between TV and TI tasks, hampering accurate admittance predictions. Compared to the quality-of-fit of 80-90% obtained with RLS on the TV data, the LPV model’s predictions are insufficiently accurate and do not exceed 55% on average. An approach that enables individual instead of average LPV models to be constructed directly from TV experiment data needs to be pursued for HSC implementations. ...
Conference paper (2026) - T.F. Eppenga, D.M. Pool, M.M. van Paassen, Max Mulder
A pursuit-tracking manual control model is introduced that includes an observer-like internal model to predict human detection of a change in controlled element dynamics. The internal model’s innovation signal, the difference between the observed and expected system response, is studied for its capacity to drive the detection of a change. The model’s performance is tested for different crossover frequencies, remnant power ratios, observer gains, and detection threshold settings, through Monte Carlo analysis of simulated pursuit-tracking tasks where the controlled element transitions from single to double integrator dynamics. The model shows highly accurate detection performance for a wide range in the observer gain, with a true positive rate of approximately 1 and a false positive rate of approximately 0.02. The high true and low false positive rates, combined with average detection times that match experimental human-in-the-loop data, show the observer model’s potential for accurately predicting human detection of a change in controlled element dynamics. ...
Journal article (2026) - R. Jacumet, M. Kolff, J. Venrooij, M. Schwienbacher, S. Wagner, D. Wollherr, M. Leibold, D. M. Pool, M. Mulder
Driving simulators are essential tools to guide automotive research and development. Their motion system requires a motion cueing algorithm (MCA) to keep the simulator motion platform within its physical boundaries, while simultaneously aiming to recreate the sensation of real vehicle motion. While traditional, filter-based approaches are still predominant, optimization-based MCAs have been at the center of MCA research for over a decade due to their ability to systematically improve motion cueing quality through explicit cost function design and constraints handling. However, despite their demonstrated advantages, these optimization-based methods have not yet achieved widespread adoption in driving simulation. This paper therefore provides a comprehensive review of optimization-based MCAs for driving simulation, categorizing and comparing algorithms, describing their key developments and core characteristics. The current limited real-time capability, lack of accurate evaluation methods, challenges in cost function design and its tuning, and the current lack of accurate future reference predictions are identified as key barriers to the practical deployment and widespread use of optimization-based MCAs. These theoretical and practical challenges are further reviewed, providing guidelines to advance the theory and application of optimization-based MCAs. Central in these advancements are a better understanding of which motions constitute a realistic motion experience, a framework allowing to compare the achieved motion fidelity of MCAs across papers, the design of the cost function focusing on human motion perception, and techniques for easing up the tuning process to swiftly reach high quality tunings for different simulators, scenarios, and use cases. We identify the need for improving the real-time capability, and providing high quality motion reference predictions using learning-based approaches on diverse datasets, along with techniques to handle existing uncertai... ...

From Fourier to filtering - Theory

Engineering Signal Analysis is an introductory textbook on the analysis of signals in time and frequency domain. It discusses how to characterize, model, analyze, interpret and operate on signals in time and frequency. In the first part of the book the basic theoretical concepts are introduced in continuous time, covering the Fourier Series and Fourier Transform. The second part introduces discrete-time signals, addressing sampling and finite signal duration, and their implications on spectral analysis. The third part elaborates on spectral estimation, covering the basic periodogram and more advanced methods. The fourth part concludes the book with an introduction to linear system theory, and addresses in particular signal filtering. ...
Conference paper (2026) - Y.D. Li, D.M. Pool, Max Mulder
InceptionTime neural network models were trained to detect distractions in manual control tasks with pursuit and preview displays. Training and test data were collected in an experiment where ten participants were deliberately distracted from the primary control task using the Surrogate Reference Task. Overall, distractions are easier to detect in pursuit tasks, with test accuracies of around 80% and 60% for pursuit and preview data, respectively. With preview, human controllers see the future target trajectory, which enables them to mitigate distraction effects. Unexpectedly, data with longer distractions from ‘hard’ secondary tasks are more difficult to classify than ‘easy’ distractions; an effect attributed to differences in human behavior between the training and test data collection conditions. These results show clear opportunities for neural network models to detect distractions, in real-time, for increasing safety of human-operated vehicles. ...
Objective: We aim to investigate how pilots’ startle and surprise responses affect information-processing performance during simulated in-flight events. Background: Startle and surprise are distinct constructs, each with their own potential effects on pilot’s performance during unexpected in-flight events. Prior research suggests that startle may impair performance through stress-induced cognitive interference, whereas surprise may do so via cognitive demands associated with sensemaking. Thus, we hypothesized that both startle and surprise would negatively affect information-processing performance on a secondary auditory cognitive task. Method: Using a motion-based hexapod simulator and a twin-propeller aircraft model, 26 pilots each performed eight single-pilot flight scenarios, which were designed to elicit varying levels of startle and surprise responses. Linear mixed-effects models were employed to analyse the relationships between self-report startle and surprise with secondary task performance, while controlling for individual differences and differences between the scenarios. Results: The results revealed that higher startle was significantly associated with reduced information-processing speed. For surprise, no significant association was found. Conclusion: The findings suggest that, within the context of the tested scenarios, startle appeared to impose a more pronounced disruptive effect on pilots’ information-processing performance than surprise. Application: The study underscores the need for tailored interventions to enhance pilots’ resilience to startle and calls for further research on ecologically valid methods to induce surprise for research and training purposes. ...
We investigated the effect of personality traits and flight experience on pilot cognitive and affective responses across seven startling and surprising scenarios performed in motion-based simulators. A dataset of 89 airline pilots from four studies was used. The personality traits measured were trait anxiety, decision-related action orientation (AOD), and failure-related action orientation (AOF). Pilot self-reported responses in scenarios were standardized by obtaining z scores of startle, surprise, stress, and mental workload. Only trait anxiety was found to be significantly positively correlated with stress. No significant effects of AOD, AOF, or flight hours were found on pilots’ responses. The results indicate trait anxiety may affect pilots’ responses to stressful scenarios, even though pilots are selected based on low trait anxiety. ...

Effects of Target Trajectory Bandwidth on Manual Control Behavior in Pursuit and Preview Tracking (IEEE Trans. Hum.-Mach. Syst. (2020) 50:1 (68–78) DOI: 10.1109/THMS.2019.2947577)

This erratum applies to the following published paper [1]. In Fig. 10(e) and (f) of the published version of the paper, the measured values for the t f and T l,f (both having values around 1 s for the considered dataset) were interchanged. This erratum includes both the published and corrected versions of Fig. 10 and the related paragraph in the paper's Results section. PUBLISHED VERSION In preview tasks, bandwidth changes yield only minor adaptations in the model parameters, see Fig. 10. Only the average look-ahead time t f decreases slightly with bandwidth from around 1.05 to 0.9 s, Fig. 10(e) but with substantial between-participant variability, as indicated by the overlapping confidence intervals. The lower t f may not reflect a systematic adaptation to the bandwidth, but a more subtle adaptation to minimize the errors due to the additional high-amplitude sinusoids at 2.5 and 4 rad/s, see also Fig. 8c. The general way in which participants use the available preview for control is, however, not affected by the target signal bandwidth: the target response gain (K f ≈ 0.95, Fig. 10(d)) and lag time-constant (T l, f ≈ 1.15 s, Fig. 10(f)) are approximately invariant. The estimated control dynamics in Fig. 12 show that the target trajectory is tracked almost perfectly at all frequencies below 4 rad/s, mostly because the phase lead due to τ f allows for synchronizing the CE output with the target signal (as opposed to pursuit tasks, see Fig. 11, bottom right). Therefore, different-bandwidth target signals provide no incentive for HCs to strongly adapt their control behavior in preview tasks. (Figure Presneted) CORRECTED VERSION In preview tasks, bandwidth changes yield only minor adaptations in the model parameters, see Fig. 10. Only the average target smoothing time-constant T l, f decreases slightly with bandwidth [from around 1.05 to 0.9 s, Fig. 10(f)], but with substantial between-participant variability, as indicated by the overlapping confidence intervals. The lower T l, f indicates that slightly more smoothing is applied to reduce tracking of the more high-amplitude high-frequency sinusoids in the 2.5 and 4 rad/s bandwidth signals through the feedforward response, see also Fig. 8(c). The general way in which participants use the available preview for control is, however, not affected by the target signal bandwidth: the target response gain [K f ≈ 0.95, Fig. 10(d)] and look-ahead time [τ f ≈ 1.15 s, Fig. 10(e)] are approximately invariant. The estimated control dynamics in Fig. 12 show that the target trajectory is tracked almost perfectly at all frequencies below 4 rad/s, mostly because the phase lead due to τ f allows for synchronizing the CE output with the target signal (as opposed to pursuit tasks, see Fig. 11, bottom right). Therefore, different-bandwidth target signals provide no incentive for HCs to strongly adapt their control behavior in preview tasks. (Figure presented). ...
An online pilot manual control behavior identification method, based on recursive low-order time-series model estimation, is presented and validated using experimental data. Eight participants performed compensatory tracking tasks with time-varying vehicle dynamics, where, at an unpredictable moment during a run, a sudden degradation in dynamics could occur. They were instructed to push a button when they detected a change in dynamics. Two methods to automatically detect the moment when pilot adaptation occurs from online estimated parameter traces are discussed. Results show that pilots are more accurate in detecting changes than either algorithm. But when the algorithms are correct, they are often quicker to detect pilot adaptation than pilots themselves. The presented techniques have potential but need improvements. ...
The identification of time-varying, adaptive behavior of a human operator in basic manual control tasks is currently still a focus area, since most methodologies only account for time-invariant system dynamics. Previous authors have proven that estimation techniques based on ARX model structures can be used to identify time-varying HO model parameters. However, ARX methods do present several problems, such as a persistent bias in the obtained estimates of the HO model poles (neuromuscular parameters) that increases due to coupled noise and system models. Therefore, in this paper a novel identification technique based on Box-Jenkins (BJ) models is proposed, to achieve a better match between the BJ estimator's inherently uncoupled system and noise models and measured HO control dynamics. The identification process was tested offline (batch-fitting) using Ordinary Least Squares and the Prediction Error Method for both ARX and BJ models, respectively, or online when Recursive Least Squares and Recursive PEM are employed. The BJ estimator has excellent potential as an identification tool due to its bias reduction capabilities, as clearly shown in batch-fitting, although the non-linear optimization processes decrease its convergence speed by 500%. An RPEM algorithm with a forgetting factor of λ = 0.99609 and a first-order remnant model incorporated in the BJ structure was tested on Monte Carlo simulation and experimental data. While the recursive BJ estimator showed the same bias-diminishing advantages also seen in batch-fitting, the non-linear RPEM estimator's results showed much slower convergence after HO behavior adaptations and frequent instabilities of the obtained parameter estimates. Hence, further research is needed for implementing a practical bias-free HO model estimator based on the BJ model structure. ...
Journal article (2025) - Mats Dirkzwager, Ferdinand Dijkstra, Clark Borst, Marinus M. van Paassen, Max Mulder
On final approach, an approach controller is responsible for separating aircraft lining up on the instrument landing system. In an attempt to increase traffic throughput, especially in strong headwind conditions, European regulation advises all European airports to move from distance-based to time-based separation. This effectively changes the controller’s task from a distance-based to a time-based problem. Further complications arise because of the European recategorization of aircraft types initiative, and experts fear that the gains foreseen with time-based separation will not be realized. This paper presents a visual tool integrated into the radar screen to assist controllers in performing time-based separation, the ideal turn-in point (ITIP) display. To assist controllers in selecting optimal approach strategies, starting from the moment aircraft enter the terminal control area, the display shows the possibilities and restrictions in the system rather than giving (restricting) advisories. A proof-of-concept experiment was performed with people knowledgeable in air traffic control (N = 8) and compared the ITIP to a current industry state-of-the-art display designed by U.K.’s National Air Traffic Services in scenarios of varying difficulty. Results show that with the ITIP tool, efficiency improved with similar or higher levels of safety and similar or lower workload. These promising results justify testing the interface with professional air traffic controllers. Future work aims at reducing clutter, increasing simulation fidelity, and increasing the level of support in complex traffic situations. ...
Providing adequate simulator motion cues for simulated upset and stall scenarios remains challenging. This paper evaluates the potential of novel optimization-based motion cueing algorithms for upset and stall simulation. An offline analysis is performed to compare three Model Predictive Control (MPC) algorithms with varying prediction horizon lengths and prediction strategies (i.e., "Oracle", "Perfect", and "Constant") against two baseline classical washout algorithm implementations from literature. The analysis is performed for a symmetric stall scenario flown with TU Delft's Cessna Citation II laboratory aircraft. Overall, the analysis shows that the objective motion cueing quality expressed in terms of the Root Mean Square Error (RMSE) improves by 29.8% (for specific forces) and 18.7% (for rotational velocities) with the "Oracle" and "Perfect" MPC implementations compared to the reference classical washout results. For the "Constant" MPC algorithm, which in fact does not include any explicit prediction across the MPC algorithm's future prediction window, only a marginal improvement in motion quality was found. Overall, these results imply that, assuming a sufficient future reference motion prediction can be achieved, optimization-based motion cueing algorithms have the potential to provide significantly better motion cueing quality compared to classical motion cueing algorithms. ...

Reported prevalence and application of mitigation strategies

Journal article (2025) - D.M.L. Vlaskamp, Alex Pollitt, James Blundell, H.M. Landman, Eric L. Groen, M.M. van Paassen, O. Stroosma, Max Mulder
Startle and surprise can impair pilot performance and affect flight safety. This study investigates the prevalence of different startle and surprise events among helicopter pilots, its impact on pilot stress and mental effort and the influence of training background. It also looks at currently used startle mitigation strategies and evaluates the usability of a previously proposed “Aviate, Breathe, Check (ABC)” startle management method (Piras et al. 2023). A survey among 234 helicopter pilots revealed that 96% had experienced impactful startle or surprise events during operations. Scenarios such as disorientation, tail rotor incidents, and flight into instrument meteorological conditions (IMC) were considered particularly stressful. Reported levels of stress and mental effort during startle and surprise events did not differ between pilots with higher and lower experience levels or between pilots with a different training background (military or civilian). Only 38% of pilots indicated they were specifically trained to deal with startle and surprise and only 1% were trained to use a breathing technique. Most pilots (90%) expressed openness to implementing the ABC method and expected benefits from using it. Concerns regarding time constraints in critical situations emerged as the primary objection to adopting this technique. Overall, the findings indicate that the introduction of a startle management method tailored for helicopter operations could significantly enhance safety, especially given the higher accident rates compared to fixed-wing operations. Future research should focus on developing effective training protocols that account for the unique challenges of helicopter flying. ...
Journal article (2025) - Maurice Kolff, Chantal Himmels, Joost Venrooij, Arben Parduzi, Daan M. Pool, Andreas Riener, Max Mulder
This paper investigates the effects of motion mismatches on simulator sickness and subjective ratings of the motion. In an open-loop driving simulator experiment, participants were driven through a recorded urban drive twelve times, in which mismatches were induced by manipulating the following three aspects in motion cueing: (i) mismatches in specific vehicle axes, (ii) mismatch types (scaling, missing, and false cues), and (iii) inconsistent scaling between different motion axes. Subjects (N=52) reported simulator sickness post-hoc (after each drive), as well as continuously during each drive, a first in simulator sickness research. Furthermore, subjective post-hoc motion incongruence ratings on the quality of the motion were extracted. Results show that longitudinal motion mismatches lead to the most simulator sickness and the highest ratings, followed by mismatches in lateral motion, then yaw rate. False cues induce the most sickness, followed by missing and then scaled motion. Inconsistent scaling between the axes has no significant effect. The continuous sickness ratings support that the occurrence and severity of simulator sickness are indeed related to mismatches in simulator motion of specific maneuvers. This paper contributes to an improved understanding of the relationship between simulator motion and sickness, allowing for more targeted motion cueing strategies to prevent and reduce sickness in driving simulators. These strategies may include the appropriate selection of the simulator, the motion cueing, and the sample of participants, following the presented results. ...
Energy management is essential in low-energy flight conditions. Changes in fixed-wing aircraft configuration affect performance and energy boundaries, and improved insight therein should allow pilots to better predict potentially dangerous situations, maintain suitable safety margins, and more effectively react to unforeseen events. This paper presents the design and experimental evaluation of a vertical situation display with enhancements portraying changes in the flight performance envelope. Sixteen pilots were tasked to fly approach and go-around scenarios with both a baseline and an enhanced display, with some of the scenarios including unexpected failures in configuration changes. Results show that the new display makes pilots maintain larger margins in velocity, thus spending less time below the advised minimum speed limit in final approach. However, these larger velocity margins also led to larger errors with respect to target velocities. Failures in configuration changes were more quickly discovered with the new display, although these results could not be substantiated due to a lack of statistical significance. However, pilots did report feeling better able to predict dangerous situations. Overall, pilots preferred the novel display; no significant differences in workload were found. ...