Preliminary Evaluation of a Haptic Aiding Concept for Remotely Piloted Vehicles

Alaimo, Samantha M. C.; Pollini, Lorenzo; Magazzù, Alfredo; Bresciani, Jean‐Pierre; Giordano, Paolo Robuffo; Innocenti, Mario; Bülthoff, HH

doi:10.1007/978-3-642-14075-4_62

Cited by 8 publications

(7 citation statements)

References 2 publications

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“…A repulsive force field was associated to the obstacles and sent back to the operator through the communication link. An Haptic support system was designed following the DHA paradigm 6,9 for this teleoperation environment. Since, according to the DHA approach, the haptic support system must produce stick motions that induce beneficial trajectory variations to the aircraft, the DHA system was designed as it would be a compensator: a control system that regulates the distance from the obstacles, or equivalently, brings the aircraft to the minimum of the repulsive force field.…”

Section: System Setupmentioning

confidence: 99%

“…In the present work, a good transparency property it is not really requested; on the contrary the stick dynamics has to be felt by the pilots to obtain good performance as the authors have already shown. 6 This reason brought to the implementation of the admittance controller in the delayed teleoperation system object of this paper. The developed admittance controller needs a stick equipped with a force sensor for correct implementation.…”

Section: Introductionmentioning

confidence: 98%

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Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Alaimo¹,

Pollini

Bülthoff³

2011

AIAA Modeling and Simulation Technologies Conference

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The paper focuses on the implementation of an admittance based control scheme in a bilateral teleoperation set-up for an Unmanned Aerial Vehicle (UAV) under time delay. The goal of this study is to assess and improve the stability characteristics of the bilateral teleoperator. Computer simulations were conducted to evaluate the effectiveness of the admittance-based control scheme. A commercial impedance-like haptic device was chosen to simulate the control stick: the master device. The slave system is constituted by the dynamics of the aircraft under control; in order to maximize the pilot attention on its task, only the lateral aircraft dynamics was considered. A virtual environment was displayed during the experiments to produce the visual cues. In order to evaluate the system, we prepared a control task where the aircraft had to be flown in a virtual urban canyon with buildings placed irregularly (non Manhattan-like) along the desired path by avoiding the collisions with them. A repulsive force field was associated to the obstacles and a force was sent back to the operator through the communication link. A compensator capable of flying autonomously the aircraft through the buildings with satisfactory performance was designed first using linear techniques then the haptic augmentation system was derived from the compensator by splitting it in two parts: the actual haptic cueing for the pilot and the simulated the pilot effort. The latter component was used only for the preliminary assessment of the system and was removed in simulations where a real pilot operated the stick (the master device). Experimental results and analytical motivations as well have shown that a haptic force which is simply proportional to the distance from the obstacles cannot stabilize the system: a relevant anticipatory effect or phase lead (as the derivative effect of standard industrial controllers) is needed. In order to manage the degradation of performance and overall stability when a delay is present in the communication paths, an admittance-based controller was designed together with an observer for the force generated by the human operator on the stick. The admittance-based Force Position teleoperation scheme was shown by simulations and tests with real pilots to improve the performance of the system under consideration

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Section: System Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Alaimo¹,

Pollini

Bülthoff³

2011

AIAA Modeling and Simulation Technologies Conference

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“…The pilot can sense the tactile feedback and is always aware of the haptic control strategy. A growing body of literature has investigated haptic aids for car-driving tasks [8,9] and for remotely piloted vehicles [10,11]. However, to the best of our knowledge, haptic aids are not commonly used in aviation, except as alert systems (e.g., stick shaker that warns pilots of an imminent stall [12]).…”

Section: Introductionmentioning

confidence: 99%

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Olivari

Nieuwenhuizen

Bülthoff

et al. 2014

Journal of Guidance, Control, and Dynamics

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Haptic aids have been largely used in manual control tasks to complement the visual information through the sense of touch. To analytically design a haptic aid, adequate knowledge is needed about how pilots adapt their visual response and the biomechanical properties of their arm (i.e., admittance) to a generic haptic aid. In this work, two different haptic aids, a direct haptic aid and an indirect haptic aid, are designed for a target tracking task, with the aim of investigating the pilot response to these aids. The direct haptic aid provides forces on the control device that suggest the right control action to the pilot, whereas the indirect haptic aid provides forces opposite in sign with respect to the direct haptic aid. The direct haptic aid and the indirect haptic aid were tested in an experimental setup with nonpilot participants and compared to a condition without haptic support. It was found that control performance improved with haptic aids. Participants significantly adapted both their admittance and visual response to fully exploit the haptic aids. They were more compliant with the direct haptic aid force, whereas they showed stiffer neuromuscular settings with the indirect haptic aid, as this approach required opposing the haptic forces

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“…While the authors in Ref. 11 proposed an aerodynamically inspired force-feedback law named ‘Conventional Aircraft Artificial Feel’ that was implemented as a variable stiffness spring based on the aerodynamics characteristics of the aircraft, the current state of the aircraft (speed, angle-of-attack, etc.) and of course from stick deflection.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy-PID side-stick force control for flight simulation

et al. 2016

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In this paper, we present a new force-feedback side-stick which has been developed and integrated into a research flight simulator. The developed 2 Degrees of Freedom (DOF) force-feedback joystick, as a kind of haptic device, provides two-way communication in both position and force, and allows users to interact with the simulation system. It has been designed by considering the main factors in designing a general use force-feedback device. Thus, the design must allow the restitution of aerodynamic forces onto the hand of the pilot. This is an important feature, which gives the pilot the ‘natural feel’ of traditional mechanical aircraft control. In order to provide the force feedback to enhance the realism of the simulation, we added the necessary software using Commercial-Off-the-Shelf (COTS) solutions (Microsoft Flight Simulator Software (MSFS)) and built-in data structure and methods. Thus, the main contribution of this paper concerns the design and implementation of an automatic controller based on fuzzy logic systems. It is not simply designing a force-feedback stick for flight simulation: we proposed a novel control principles and more importantly completely new approach to compute in real-time force feedback on the stick based on pilot knowledge that avoids the use of complex aerodynamics equations with unknown parameters. To our best knowledge, this work is the first to propose the integration of fuzzy logic force controller in flight simulation for creating force feedback. Results using the overall simulation are presented and evaluated and interesting sensations have been recorded.

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Preliminary Evaluation of a Haptic Aiding Concept for Remotely Piloted Vehicles

Cited by 8 publications

References 2 publications

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Fuzzy-PID side-stick force control for flight simulation

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