in this paper a robust road departure avoidance system based on a closed-loop driver decision estimator (dde) is presented. the main idea is that of incorporating the driver intent in the control of the vehicle. the driver decision estimator computes the vehicle look ahead lateral position based on the driver input and uses this position to establish the risk of road departure. to induce a risk...

Figure 1: The autonomy (black solid lines) can take 2 possible routes through the obstacle field (thus displaying multimodality), both of which have nearly the same safety and efficiency. The operator model (red dashed lines) indicates two potential paths forward (such multimodality might arise as a result of unreliable communications, a multitasking operator, or a startled operator). Linear bl...

A control system to aid mobility is presented that is intended to assist living independently and that provides physical guidance. The system has two levels: a human machine interface and an adaptive shared controller.

Currently, lower-body exoskeletons for paraplegics are investigated as an alternative to wheelchairs and as an exercise method with medical benefits. Literature provides little examples for users to influence the length or frequency of steps taken by the exoskeleton, complicating stability and practical usability. This study proposes a novel control paradigm that allows users to influence step ...

We propose an architecture for distributed control systems of synchronous components. The architecture is based on blackboards as an abstraction of shared memory. We propose to synthesise global control from indepently developed components using the blackboard architecture. An implementation of the architecture is sketched using the synchronous object-oriented language sE. A tentative strategy ...

This paper presents an adaptive haptic shared control framework wherein a driver and automation system are physically connected through motorized steering wheel. An impedance controller for the is introduced to enable dynamically smoothly exchange authority with human partner. To determine optimal modulation policy, cost function considered, its terms defined minimize performance error reduce d...