arXiv subjects

Etienne Burdet

Publications and source records attributed to Etienne Burdet.

39 records · Page 3Linked to original sources

arXiv2017

Indirect Shared Control of Highly Automated Vehicles for Cooperative Driving between Driver and Automation

It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire vehicles, which allows the vehicle control authority to be continuously shared between the driver and automation through unphysical cooperation. This paper first balances the control objectives of the driver and automation in a weighted summation, and then models the driver's adaptive control behavior using a predictive control approach. The driver adaptation modeling enables off-line evaluations of indirect shared control systems and thus facilitates the design of the assistant controller. Unlike any conventional driver model for manual driving, this model assumes that the driver can learn and incorporate the controller strategy into his internal model for more accurate path following. To satisfy the driving demands in different scenarios, a sliding-window detector is designed to continuously monitor the driver intention and automatically switch the authority weights between the driver and automation. The simulation results illustrate the advantages of considering the driver adaptation in path-following and obstacle-avoidance tasks, and show the effectiveness of indirect shared control for cooperative driving.

cs.RO↗

arXiv2016

Dynamic analysis of simultaneous adaptation of force, impedance and trajectory

When carrying out tasks in contact with the environment, humans are found to concurrently adapt force, impedance and trajectory. Here we develop a robotic model of this mechanism in humans and analyse the underlying dynamics. We derive a general adaptive controller for the interaction of a robot with an environment solely characterised by its stiffness and damping, using Lyapunov theory.

cs.RO↗

arXiv2014

Integrated canopy, building energy and radiosity model for 3D urban design

We present an integrated, three dimensional, model of urban canopy, building energy and radiosity, for early stage urban designs and test it on four urban morphologies. All sub-models share a common descriptions of the urban morphology, similar to 3D urban design master plans and have simple parameters. The canopy model is a multilayer model, with a new discrete layer approach that does not rely on simplified geometry such as canyon or regular arrays. The building energy model is a simplified RC equivalent model, with no hypotheses on internal zoning or wall composition. We use the CitySim software for the radiosity model. We study the effects of convexity, the number of buildings and building height, at constant density and thermal characteristics. Our results suggest that careful three dimensional morphology design can reduce heat demand by a factor of 2, especially by improving insolation of lower levels. The most energy efficient morphology in our simulations has both the highest surface/volume ratio and the biggest impact on the urban climate.

cs.CY↗