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Stable Control Synthesis for Human-in-the-Loop Systems.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Stable Control Synthesis for Human-in-the-Loop Systems./
Author:	Tzorakoleftherakis, Emmanouil.
Description:	1 online resource (173 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 79-03(E), Section: B.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9780355297768

Stable Control Synthesis for Human-in-the-Loop Systems.
Tzorakoleftherakis, Emmanouil.

Stable Control Synthesis for Human-in-the-Loop Systems. - 1 online resource (173 pages)

Source: Dissertation Abstracts International, Volume: 79-03(E), Section: B.

Thesis (Ph.D.)--Northwestern University, 2017.

Includes bibliographical references

Interactions with complex systems require safe and reliable interfaces. However, such interfaces must be able to account for substantial uncertainty resulting from the unpredictable nature of human behavior. In this thesis we first demonstrate that a controller/filter unit operating as a "Maxwell's Demon" can be used to synthesize human-machine interfaces that effectively filter user input in real time. Our Maxwell's Demon Algorithm (MDA) was applied in mechanical and software filtering of user actions for the cart-pendulum inversion task. Software filtering was implemented and tested using a custom Android application. Additionally, a haptic device was employed to create a mechanical filter. Results from nine healthy subjects show that both software and mechanical filters increased the success rate of subjects in the swing-up task. This result suggests that the MDA may be applied to design reliable human-machine interfaces for rehabilitation, training, teleoperation and other shared control tasks.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355297768Subjects--Topical Terms:

561941
Robotics.
Index Terms--Genre/Form:

554714
Electronic books.

Stable Control Synthesis for Human-in-the-Loop Systems.
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100 1 $a Tzorakoleftherakis, Emmanouil. $3 1187016
245 1 0 $a Stable Control Synthesis for Human-in-the-Loop Systems.
264 0 $c 2017
300 $a 1 online resource (173 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 79-03(E), Section: B.
500 $a Adviser: Todd David Murphey.
502 $a Thesis (Ph.D.)--Northwestern University, 2017.
504 $a Includes bibliographical references
520 $a Interactions with complex systems require safe and reliable interfaces. However, such interfaces must be able to account for substantial uncertainty resulting from the unpredictable nature of human behavior. In this thesis we first demonstrate that a controller/filter unit operating as a "Maxwell's Demon" can be used to synthesize human-machine interfaces that effectively filter user input in real time. Our Maxwell's Demon Algorithm (MDA) was applied in mechanical and software filtering of user actions for the cart-pendulum inversion task. Software filtering was implemented and tested using a custom Android application. Additionally, a haptic device was employed to create a mechanical filter. Results from nine healthy subjects show that both software and mechanical filters increased the success rate of subjects in the swing-up task. This result suggests that the MDA may be applied to design reliable human-machine interfaces for rehabilitation, training, teleoperation and other shared control tasks.
520 $a The second contribution of this thesis is an improvement in the controller unit of the MDA algorithm. Specifically, we present iterative Sequential Action Control (iSAC), a model-predictive control method for stable control of nonlinear (hybrid) systems. The latter can be combined with MDA to synthesize potentially never-failing interfaces. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by introducing constant control values applied for short duration. Application of a contractive constraint on the cost is shown to lead to closed-loop asymptotic stability under mild assumptions. The effect of asymptotically decaying disturbances on system trajectories is also examined. To demonstrate the applicability of iSAC to a variety of systems and conditions, we employ a combination of differentiable and hybrid systems, including a 13-dimensional quaternion-based quadrotor and a 10-dimensional biped with impacts. Each system is tested in different scenarios, ranging from feasible and infeasible trajectory tracking, to setpoint stabilization, with or without the presence of external disturbances. Finally, practical aspects and limitations of this work are discussed.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
690 $a 0771
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a Northwestern University. $b Mechanical Engineering. $3 1180174
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10617634 $z click for full text (PQDT)