A Novel Training and Collaboration Integrated Framework for Human-Agent Teleoperation

Finite-time control of dual-user haptic system with online authority transfer

A finite-time control method with online authority transfer is proposed for a class of dual-user haptic system (DUHS) with training tasks. An authority transfer strategy based on the error system reflecting task performance is designed to adjust the dominance factor so that the system can realize smooth online switching between different modes. Next, the desired position is defined according to the dominance factor, and then the sliding mode surface is constructed by the position tracking error to design a nonsingular terminal sliding-mode control. The stability and position tracking performance of DUHS are analyzed by Lyapunov theory, and the effectiveness of the proposed method is verified. The proposed method not only enables smooth online switching of task authority between the trainer and the trainee but also ensures that the position tracking error of the system converges in a finite time.

A Systematic Review of In-Vehicle Physiological Indices and Sensor Technology for Driver Mental Workload Monitoring

The concept of vehicle automation ceases to seem futuristic with the current advancement of the automotive industry. With the introduction of conditional automated vehicles, drivers are no longer expected to focus only on driving activities but are still required to stay alert to resume control. However, fluctuations in driving demands are known to alter the driver's mental workload (MWL), which might affect the driver's vehicle take-over capabilities. Driver mental workload can be specified as the driver's capacity for information processing for task performance. This paper summarizes the literature that relates to analysing driver mental workload through various in-vehicle physiological sensors focusing on cardiovascular and respiratory measures. The review highlights the type of study, hardware, method of analysis, test variable, and results of studies that have used physiological indices for MWL analysis in the automotive context.

Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling

This study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical phenomena, such as data-swap, the effect of sampling rates of samplers, and refresh rates of actuators on the system's stability. A multi-rate sampling approach is proposed in this study, given the isolation of the master and slave robots in teleoperation systems which may have different hardware restrictions. This architecture collects data through numerous sensors with various sampling rates, assuming that a continuous-time controller stabilizes a linear teleoperation system. The aim is to assign each position and velocity signals to sensors with different sampling rates and divide the state vector between sensors to guarantee the stability of the resulting multi-rate sampled-data teleoperation system. Sufficient Krasovskii-based conditions will be provided to preserve the exponential stability of the system. This problem will be transformed into a mixed-integer program with LMIs (linear matrix inequalities). These conditions are also used to design the observers for the multi-rate teleoperation systems whose estimation errors converge exponentially to the origin. The results are validated by numerical simulations which are useful in designing sensor networks for teleoperation systems.