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http://hdl.handle.net/10985/6824
Influence of Inertial Stimulus on Visuo-Vestibular Cues Conflict for Lateral Dynamics at Driving Simulators
AYKENT, Baris; MERIENNE, Frédéric; PAILLOT, Damien; KEMENY, Andras
This paper explains the effect of having an inertial stimulus (motion platform) for driving simulators on proximity to the reality for the sensed lateral dynamics with respect to the measurements and the perceptual fidelity using a questionnaire technique. To assess this objectively, the vestibular and vehicle level lateral accelerations (ay,sensed=ay_ vest, ayv =ay_veh ) were saved by using a motion tracking sensor and SCANeR studio software respectively. A confidence interval of 95% was chosen to test the correlations (Pearson’s correlation) and to fit models for the distributions of the visual-vestibular lateral accelerations with the multiple linear regression between the conditions of static (N=16) and dynamic (N=21) platform cases in terms of visuo-vestibular level lateral accelerations for the group of subjects (N=37). The results showed that the dynamic platform provides a higher lateral dynamics reality (positive correlation with an incidence of 90.48% for N=21) compared to the static configuration (negative correlation with an incidence of 50% for N=16) from Pearson’s correlation and a better fitted model and a lower visuo-vestibular cues’ conflict for the dynamic (R2 =0.429, the model is positive sloped, N=21) condition comparing to the static one (R2 =0.072, the model is negative sloped, N=16) from the multiple linear regression models. A two-tailed Mann Whitney U test yielded that the Ucomputed (2139)>Uexpected (1300.5) as p<0.0001, there was a significant difference between the sensed lateral acclerations for the static and dynamic platform cases. Disorientation related perception had positive correlations with the vestibular sensed lateral accelerations for the static condition whereas they were negatively correlated in the dynamic case. As conclusion, the dynamic platform presented a reduced level of motion sickness depending on the sensory conflict theory and the perception fidelity studies approved that dizziness was found to have a significant positive correlation with the vestibular level measured lateral acceleration in the static platform (r=0.293, p=0.037<0.05).
Version éditeur de cet article : Aykent B, Merienne F, Paillot D, Kemeny A (2013) Influence of Inertial Stimulus on Visuo-Vestibular Cues Conflict for Lateral Dynamics at Driving Simulators. J Ergonomics 3: 113. doi:10.4172/2165-7556.1000113
Tue, 01 Jan 2013 00:00:00 GMThttp://hdl.handle.net/10985/68242013-01-01T00:00:00ZAYKENT, BarisMERIENNE, FrédéricPAILLOT, DamienKEMENY, AndrasThis paper explains the effect of having an inertial stimulus (motion platform) for driving simulators on proximity to the reality for the sensed lateral dynamics with respect to the measurements and the perceptual fidelity using a questionnaire technique. To assess this objectively, the vestibular and vehicle level lateral accelerations (ay,sensed=ay_ vest, ayv =ay_veh ) were saved by using a motion tracking sensor and SCANeR studio software respectively. A confidence interval of 95% was chosen to test the correlations (Pearson’s correlation) and to fit models for the distributions of the visual-vestibular lateral accelerations with the multiple linear regression between the conditions of static (N=16) and dynamic (N=21) platform cases in terms of visuo-vestibular level lateral accelerations for the group of subjects (N=37). The results showed that the dynamic platform provides a higher lateral dynamics reality (positive correlation with an incidence of 90.48% for N=21) compared to the static configuration (negative correlation with an incidence of 50% for N=16) from Pearson’s correlation and a better fitted model and a lower visuo-vestibular cues’ conflict for the dynamic (R2 =0.429, the model is positive sloped, N=21) condition comparing to the static one (R2 =0.072, the model is negative sloped, N=16) from the multiple linear regression models. A two-tailed Mann Whitney U test yielded that the Ucomputed (2139)>Uexpected (1300.5) as p<0.0001, there was a significant difference between the sensed lateral acclerations for the static and dynamic platform cases. Disorientation related perception had positive correlations with the vestibular sensed lateral accelerations for the static condition whereas they were negatively correlated in the dynamic case. As conclusion, the dynamic platform presented a reduced level of motion sickness depending on the sensory conflict theory and the perception fidelity studies approved that dizziness was found to have a significant positive correlation with the vestibular level measured lateral acceleration in the static platform (r=0.293, p=0.037<0.05).Influence of a new discrete-time LQR-based motion cueing on driving simulator
http://hdl.handle.net/10985/7337
Influence of a new discrete-time LQR-based motion cueing on driving simulator
AYKENT, Baris; MERIENNE, Frédéric; PAILLOT, Damien; KEMENY, Andras
This study proposes a method and an experimental validation to analyze dynamics response of the simulator's cabin and platform with respect to the type of the control used in the hexapod driving simulator. In this article, two different forms of motion platform tracking control are performed as a classical motion cueing algorithm and a discrete-time linear quadratic regulator (LQR) motion cueing algorithm. For each situation, vehicle dynamics and motion platform level data are registered from the driving simulation software. In addition, the natural frequencies of the roll accelerations are obtained in real-time by using FFT. The data are denoised by using wavelet 1D transformation. The results show that by using discrete-time LQR algorithm, the roll acceleration amplitudes that correspond to the natural frequencies and the total roll jerk have decreased at the motion platform level. Also, the natural frequencies have increased reasonably by using the discrete LQR motion cueing (1.5–2.2 Hz) compared with using the classical algorithm (0.4–1.5 Hz) at the motion platform, which is an indicator of motion sickness incidence avoidance. The literature shows that lateral motion (roll, yaw, etc.) in the frequency range of 0.1–0.5 Hz induces motion sickness. Furthermore, using discrete-time LQR motion cueing algorithm has decreased the sensation error (motion platform–vehicle (cabin) levels) two times in terms of total roll jerk. In conclusion, discrete-time LQR motion cueing has reduced the simulator sickness more than the classical motion cueing algorithm depending on sensory cue conflict theory.
Tue, 01 Jan 2013 00:00:00 GMThttp://hdl.handle.net/10985/73372013-01-01T00:00:00ZAYKENT, BarisMERIENNE, FrédéricPAILLOT, DamienKEMENY, AndrasThis study proposes a method and an experimental validation to analyze dynamics response of the simulator's cabin and platform with respect to the type of the control used in the hexapod driving simulator. In this article, two different forms of motion platform tracking control are performed as a classical motion cueing algorithm and a discrete-time linear quadratic regulator (LQR) motion cueing algorithm. For each situation, vehicle dynamics and motion platform level data are registered from the driving simulation software. In addition, the natural frequencies of the roll accelerations are obtained in real-time by using FFT. The data are denoised by using wavelet 1D transformation. The results show that by using discrete-time LQR algorithm, the roll acceleration amplitudes that correspond to the natural frequencies and the total roll jerk have decreased at the motion platform level. Also, the natural frequencies have increased reasonably by using the discrete LQR motion cueing (1.5–2.2 Hz) compared with using the classical algorithm (0.4–1.5 Hz) at the motion platform, which is an indicator of motion sickness incidence avoidance. The literature shows that lateral motion (roll, yaw, etc.) in the frequency range of 0.1–0.5 Hz induces motion sickness. Furthermore, using discrete-time LQR motion cueing algorithm has decreased the sensation error (motion platform–vehicle (cabin) levels) two times in terms of total roll jerk. In conclusion, discrete-time LQR motion cueing has reduced the simulator sickness more than the classical motion cueing algorithm depending on sensory cue conflict theory.The Role of a Novel Discrete-Time MRAC Based Motion Cueing on Loss of Control at a Hexapod Driving Simulator
http://hdl.handle.net/10985/9456
The Role of a Novel Discrete-Time MRAC Based Motion Cueing on Loss of Control at a Hexapod Driving Simulator
AYKENT, Baris; PAILLOT, Damien; MERIENNE, Frédéric; GUILLET, CHRISTOPHE; KEMENY, Andras
The objective of this paper is to present the advantages of Model reference adaptive control (MRAC) motion cueing algorithm against the classical motion cueing algorithm in terms of biome- chanical reactions of the participants during the critical maneuvers like chicane in driving simu- lator real-time. This study proposes a method and an experimental validation to analyze the ves- tibular and neuromuscular dynamics responses of the drivers with respect to the type of the con- trol used at the hexapod driving simulator. For each situation, the EMG (electromyography) data were registered from arm muscles of the drivers (flexor carpi radialis, brachioradialis). In addi- tion, the roll velocity perception thresholds (RVT) and roll velocities (RV) were computed from the real-time vestibular level measurements from the drivers via a motion-tracking sensor. In or- der to process the data of the EMG and RVT, Pearson’s correlation and a two-way ANOVA with a significance level of 0.05 were assigned. Moreover, the relationships of arm muscle power and roll velocity with vehicle CG (center of gravity) lateral displacement were analyzed in order to assess the agility/alertness level of the drivers as well as the vehicle loss of control characteristics with a confidence interval of 95%. The results showed that the MRAC algorithm avoided the loss of adhe- sion, loss of control (LOA, LOC) more reasonably compared to the classical motion cueing algo- rithm. According to our findings, the LOA avoidance decreased the neuromuscular-visual cues lev- el conflict with MRAC algorithm. It also revealed that the neuromuscular-vehicle dynamics conflict has influence on visuo-vestibular conflict; however, the visuo-vestibular cue conflict does not in- fluence the neuromuscular-vehicle dynamics interactions.
Thu, 01 Jan 2015 00:00:00 GMThttp://hdl.handle.net/10985/94562015-01-01T00:00:00ZAYKENT, BarisPAILLOT, DamienMERIENNE, FrédéricGUILLET, CHRISTOPHEKEMENY, AndrasThe objective of this paper is to present the advantages of Model reference adaptive control (MRAC) motion cueing algorithm against the classical motion cueing algorithm in terms of biome- chanical reactions of the participants during the critical maneuvers like chicane in driving simu- lator real-time. This study proposes a method and an experimental validation to analyze the ves- tibular and neuromuscular dynamics responses of the drivers with respect to the type of the con- trol used at the hexapod driving simulator. For each situation, the EMG (electromyography) data were registered from arm muscles of the drivers (flexor carpi radialis, brachioradialis). In addi- tion, the roll velocity perception thresholds (RVT) and roll velocities (RV) were computed from the real-time vestibular level measurements from the drivers via a motion-tracking sensor. In or- der to process the data of the EMG and RVT, Pearson’s correlation and a two-way ANOVA with a significance level of 0.05 were assigned. Moreover, the relationships of arm muscle power and roll velocity with vehicle CG (center of gravity) lateral displacement were analyzed in order to assess the agility/alertness level of the drivers as well as the vehicle loss of control characteristics with a confidence interval of 95%. The results showed that the MRAC algorithm avoided the loss of adhe- sion, loss of control (LOA, LOC) more reasonably compared to the classical motion cueing algo- rithm. According to our findings, the LOA avoidance decreased the neuromuscular-visual cues lev- el conflict with MRAC algorithm. It also revealed that the neuromuscular-vehicle dynamics conflict has influence on visuo-vestibular conflict; however, the visuo-vestibular cue conflict does not in- fluence the neuromuscular-vehicle dynamics interactions.Visual Scale Factor for Speed Perception
http://hdl.handle.net/10985/6782
Visual Scale Factor for Speed Perception
COLOMBET, Florent; PAILLOT, Damien; MERIENNE, Frédéric; KEMENY, Andras
Speed perception is an important task depending mainly on optic flow that the driver must perform continuously to control his/her vehicle. Unfortunately it appears that in some driving simulators speed perception is under estimated, leading into speed production higher than in real conditions. Perceptual validity is then not good enough to study driver’s behavior. To solve this problem, a technique has recently seen the light, which consists of modifying the geometric field of view (GFOV) while keeping the real field of view (FOV) constant. We define our visual scale factor as the ratio between the GFOV and the FOV. The present study has been carried out on the SAAM dynamic driving simulator and aims at determining the precise effect of this visual scale factor on the speed perception. 20 subjects have reproduced 2 speeds (50 km/h and 90 km/h) without knowing the numerical values of these consigns, with 5 different visual scale factors: 0.70, 0.85, 1.00, 1.15 and 1.30. We show that speed perception significantly increases when the visual factor increases. A 0.15 modification of this factor is enough to obtain a significant effect. Furthermore, the relative variation of the speed perception is proportional to the visual scale factor. Besides, the modification of the geometric field of view remained unnoticed by all the subjects, which implies that this technique can be easily used to make drivers reduce their speed in driving simulation conditions. However, this technique may also modify perception of distances.
Fri, 01 Jan 2010 00:00:00 GMThttp://hdl.handle.net/10985/67822010-01-01T00:00:00ZCOLOMBET, FlorentPAILLOT, DamienMERIENNE, FrédéricKEMENY, AndrasSpeed perception is an important task depending mainly on optic flow that the driver must perform continuously to control his/her vehicle. Unfortunately it appears that in some driving simulators speed perception is under estimated, leading into speed production higher than in real conditions. Perceptual validity is then not good enough to study driver’s behavior. To solve this problem, a technique has recently seen the light, which consists of modifying the geometric field of view (GFOV) while keeping the real field of view (FOV) constant. We define our visual scale factor as the ratio between the GFOV and the FOV. The present study has been carried out on the SAAM dynamic driving simulator and aims at determining the precise effect of this visual scale factor on the speed perception. 20 subjects have reproduced 2 speeds (50 km/h and 90 km/h) without knowing the numerical values of these consigns, with 5 different visual scale factors: 0.70, 0.85, 1.00, 1.15 and 1.30. We show that speed perception significantly increases when the visual factor increases. A 0.15 modification of this factor is enough to obtain a significant effect. Furthermore, the relative variation of the speed perception is proportional to the visual scale factor. Besides, the modification of the geometric field of view remained unnoticed by all the subjects, which implies that this technique can be easily used to make drivers reduce their speed in driving simulation conditions. However, this technique may also modify perception of distances.Effect of simulated rumble strips in static driving simulator - a pre-study
http://hdl.handle.net/10985/9133
Effect of simulated rumble strips in static driving simulator - a pre-study
PLOUZEAU, Jérémy; PAILLOT, Damien; AYKENT, Baris; MERIENNE, Frédéric
In this article, we present an experiment whose goal is to show the impact of adding transverse rumble strips on the driver’s behavior. Actually rumble strips are used to increase the security on dangerous crossroad. To do this we developed a system that allows reproducing rumble strips in simulation using vibrations. The system is mounted on a dynamic driving simulator and the simulation is made with ScanerStudio.
Wed, 01 Jan 2014 00:00:00 GMThttp://hdl.handle.net/10985/91332014-01-01T00:00:00ZPLOUZEAU, JérémyPAILLOT, DamienAYKENT, BarisMERIENNE, FrédéricIn this article, we present an experiment whose goal is to show the impact of adding transverse rumble strips on the driver’s behavior. Actually rumble strips are used to increase the security on dangerous crossroad. To do this we developed a system that allows reproducing rumble strips in simulation using vibrations. The system is mounted on a dynamic driving simulator and the simulation is made with ScanerStudio.Solving the Constrained Problem in Model Predictive Control Based Motion Cueing Algorithm with a Neural Network Approach
http://hdl.handle.net/10985/14057
Solving the Constrained Problem in Model Predictive Control Based Motion Cueing Algorithm with a Neural Network Approach
RENGIFO, Carolina; CHARDONNET, Jean-Rémy; PAILLOT, Damien; MOHELLEBI, Hakim; KEMENY, Andras
Because of the critical timing requirement, one major issue regarding model predictive control-based motion cueing algorithms is the calculation of real-time optimal solutions. In this paper, a continuous-time recurrent neural network-based gradient method is applied to compute the optimal control action in real time for an MPCbased MCA.We demonstrate that by implementing a saturation function for the constraints in the decision variables and a regulation for the energy function in the network, a constrained optimization problem can be solved without using any penalty function. Simulation results are included to compare the proposed approach and substantiate the applicability of recurrent neural networks as a quadratic programming solver. A comparison with another QP solver shows that our method can find an optimal solution much faster and with the same precision.
Mon, 01 Jan 2018 00:00:00 GMThttp://hdl.handle.net/10985/140572018-01-01T00:00:00ZRENGIFO, CarolinaCHARDONNET, Jean-RémyPAILLOT, DamienMOHELLEBI, HakimKEMENY, AndrasBecause of the critical timing requirement, one major issue regarding model predictive control-based motion cueing algorithms is the calculation of real-time optimal solutions. In this paper, a continuous-time recurrent neural network-based gradient method is applied to compute the optimal control action in real time for an MPCbased MCA.We demonstrate that by implementing a saturation function for the constraints in the decision variables and a regulation for the energy function in the network, a constrained optimization problem can be solved without using any penalty function. Simulation results are included to compare the proposed approach and substantiate the applicability of recurrent neural networks as a quadratic programming solver. A comparison with another QP solver shows that our method can find an optimal solution much faster and with the same precision.Impact of geometric field of view on speed perception
http://hdl.handle.net/10985/10563
Impact of geometric field of view on speed perception
COLOMBET, Florent; PAILLOT, Damien; MERIENNE, Frédéric; KEMENY, Andras
This paper deals with changes of the geometric field of view on speed perception. This study has been carried out using the SAAM dynamic driving simulator (Arts et Métiers ParisTech). SAAM provides motion cues thanks to a 6 DOF electromechanical platform and is equipped with a cylindrical screen of 150°. 20 subjects have reproduced 2 speeds (50 km/h and 90 km/h) without knowing the numerical values of these consigns, and with 5 different visual scale factors: 0.70, 0.85, 1.00, 1.15 and 1.30. This visual scale factor correspond to the ratio between the driver’s field of view covered by the screen (constant) and the geometric field of view. This study shows that this visual scale factor has a significant impact on the speed reached by the subjects and thus shows that perceived speed increases with this visual scale factor. A 0.15 modification of this factor is enough to obtain a significant effect. The modification of the geometric field of view remained unnoticed by all the subjects, which implies that this technique can be easily used to make drivers reduce their speed in driving simulation conditions. However, this technique may also modify perception of distances.; Cet article présente l’effet du changement du champ de vision géométrique sur la perception de la vitesse. Cette étude a été réalisée sur le simulateur de conduite dynamique SAAM (Arts et Métiers ParisTech). SAAM utilise une plate-forme électromécanique à 6 DDL et est équipé d’un écran cylindrique de 150° pour restituer la sensation de mouvement. 20 sujets ont reproduit 2 vitesses (50 km/h et 90 km/h), sans connaître les valeurs de ces vitesses, et avec 5 facteurs d’échelle visuelle différents : 0.70, 0.85, 1.00, 1.15 et 1.30. Ces facteurs d’échelle correspondent aux rapports entre le champ de vision du conducteur couvert par l’image (constant) et le champ de vision géométrique. Cette étude montre que ce changement visuel a un impact significatif sur la vitesse qu’atteignent les sujets et montre donc que la vitesse perçue augmente avec ce facteur d’échelle visuelle. Un changement de 0.15 de ce facteur suffit pour obtenir un effet significatif. Les changements de champ de vision géométrique n’ont été détectés par aucun des sujets, ce qui implique que cette technique peut facilement être utilisée pour amener les conducteurs à réduire leur vitesse en conditions de simulation de conduite. Cependant, cette technique pourrait aussi modifier la perception des distances.
Fri, 01 Jan 2010 00:00:00 GMThttp://hdl.handle.net/10985/105632010-01-01T00:00:00ZCOLOMBET, FlorentPAILLOT, DamienMERIENNE, FrédéricKEMENY, AndrasThis paper deals with changes of the geometric field of view on speed perception. This study has been carried out using the SAAM dynamic driving simulator (Arts et Métiers ParisTech). SAAM provides motion cues thanks to a 6 DOF electromechanical platform and is equipped with a cylindrical screen of 150°. 20 subjects have reproduced 2 speeds (50 km/h and 90 km/h) without knowing the numerical values of these consigns, and with 5 different visual scale factors: 0.70, 0.85, 1.00, 1.15 and 1.30. This visual scale factor correspond to the ratio between the driver’s field of view covered by the screen (constant) and the geometric field of view. This study shows that this visual scale factor has a significant impact on the speed reached by the subjects and thus shows that perceived speed increases with this visual scale factor. A 0.15 modification of this factor is enough to obtain a significant effect. The modification of the geometric field of view remained unnoticed by all the subjects, which implies that this technique can be easily used to make drivers reduce their speed in driving simulation conditions. However, this technique may also modify perception of distances.
Cet article présente l’effet du changement du champ de vision géométrique sur la perception de la vitesse. Cette étude a été réalisée sur le simulateur de conduite dynamique SAAM (Arts et Métiers ParisTech). SAAM utilise une plate-forme électromécanique à 6 DDL et est équipé d’un écran cylindrique de 150° pour restituer la sensation de mouvement. 20 sujets ont reproduit 2 vitesses (50 km/h et 90 km/h), sans connaître les valeurs de ces vitesses, et avec 5 facteurs d’échelle visuelle différents : 0.70, 0.85, 1.00, 1.15 et 1.30. Ces facteurs d’échelle correspondent aux rapports entre le champ de vision du conducteur couvert par l’image (constant) et le champ de vision géométrique. Cette étude montre que ce changement visuel a un impact significatif sur la vitesse qu’atteignent les sujets et montre donc que la vitesse perçue augmente avec ce facteur d’échelle visuelle. Un changement de 0.15 de ce facteur suffit pour obtenir un effet significatif. Les changements de champ de vision géométrique n’ont été détectés par aucun des sujets, ce qui implique que cette technique peut facilement être utilisée pour amener les conducteurs à réduire leur vitesse en conditions de simulation de conduite. Cependant, cette technique pourrait aussi modifier la perception des distances.Vibrations in dynamic driving simulator: Study and implementation
http://hdl.handle.net/10985/7215
Vibrations in dynamic driving simulator: Study and implementation
PLOUZEAU, Jérémy; PAILLOT, Damien; AYKENT, Baris; MERIENNE, Frédéric
This paper shows the effect of adding vibrations in a car cabin during driving simulation on driver perception. Actually, current dynamic driving simulators induce the simulator sickness and it still difficult for the driver to project himself in the virtual reality due to a lack of perception. To know the effect of vibrations on a subject, the effect of the whole body vibration must be defined, as the sources of vibration in a car cabin. After determining all the parameters we propose to determine a formula to produce the vibrations in function of the car state, the road and the boundary conditions. Then experimentation with nine subjects is done to define the exact effect of the vibrations and the new perception of the road in the simulation. In order to do these experimentations, three actuators were installed inside the cabin of the car driving simulator from Institut Image – Arts et Metiers ParisTech.
Tue, 01 Jan 2013 00:00:00 GMThttp://hdl.handle.net/10985/72152013-01-01T00:00:00ZPLOUZEAU, JérémyPAILLOT, DamienAYKENT, BarisMERIENNE, FrédéricThis paper shows the effect of adding vibrations in a car cabin during driving simulation on driver perception. Actually, current dynamic driving simulators induce the simulator sickness and it still difficult for the driver to project himself in the virtual reality due to a lack of perception. To know the effect of vibrations on a subject, the effect of the whole body vibration must be defined, as the sources of vibration in a car cabin. After determining all the parameters we propose to determine a formula to produce the vibrations in function of the car state, the road and the boundary conditions. Then experimentation with nine subjects is done to define the exact effect of the vibrations and the new perception of the road in the simulation. In order to do these experimentations, three actuators were installed inside the cabin of the car driving simulator from Institut Image – Arts et Metiers ParisTech.Study of the Influence of Different Washout Algorithms on Simulator Sickness for a Driving Simulation Task
http://hdl.handle.net/10985/6962
Study of the Influence of Different Washout Algorithms on Simulator Sickness for a Driving Simulation Task
AYKENT, Baris; PAILLOT, Damien; MERIENNE, Frédéric; FANG, Zhou; KEMENY, Andras
This paper deals with the effects of different washout algorithms used for Stewart platforms on subjective and objective ratings. Washout algorithms are used to represent vehicle dynamics in a restricted spatial place. An adaptive washout algorithm was realized to control the hexapod platform, depending on the specific force error in longitudinal, lateral and vertical directions, in order to compare user‟s experience with those in the case of classical algorithm. In this study, the simulator sickness has been evaluated for three algorithms in dynamic driving simulator situation in objective and subjective way.
Sat, 01 Jan 2011 00:00:00 GMThttp://hdl.handle.net/10985/69622011-01-01T00:00:00ZAYKENT, BarisPAILLOT, DamienMERIENNE, FrédéricFANG, ZhouKEMENY, AndrasThis paper deals with the effects of different washout algorithms used for Stewart platforms on subjective and objective ratings. Washout algorithms are used to represent vehicle dynamics in a restricted spatial place. An adaptive washout algorithm was realized to control the hexapod platform, depending on the specific force error in longitudinal, lateral and vertical directions, in order to compare user‟s experience with those in the case of classical algorithm. In this study, the simulator sickness has been evaluated for three algorithms in dynamic driving simulator situation in objective and subjective way.A LQR washout algorithm for a driving simulator equipped with a hexapod platform : the relationship of neuromuscular dynamics with the sensed illness rating
http://hdl.handle.net/10985/6884
A LQR washout algorithm for a driving simulator equipped with a hexapod platform : the relationship of neuromuscular dynamics with the sensed illness rating
AYKENT, Baris; PAILLOT, Damien; MERIENNE, Frédéric; KEMENY, Andras
This study proposes a method and an experimental validation to analyze dynamics response of the drivers with respect to the type of the control used in the hexapod driving simulator. In this article, two different forms of motion platform tracking control have been performed: - Classical motion cueing algorithm - LQR motion cueing algorithm For each situation, the EMG (electromyography) data have been registered from arm muscles of the drivers (flexor carpi radialis, brachioradialis). In addition, the acceleration based illness ratings (IR) have been computed. In order to process the data of the EMG and IR, the linear regression with a significance level of 0.05 has been assigned. Three cases have been evaluated: 1) Time exposure neuromuscular dynamics and vestibular–vehicle level conflict illness ratings 2) Time exposure neuromuscular dynamics and vestibular level sensed illness ratings 3) Impulse dynamics effect between the neuromuscular (EMG) and the vestibular dynamics (IR) The results have showed that: a) The vibration exposure condition: When the total RMS acceleration frequency weighted average IR increases, the EMG average total power increases too by driving the classical motion cueing algorithm. However, in contrast to this, the EMG average RMS total power decreases while the IR increases during the LQR motion cueing algorithm. b) Impulse effect condition: As the IR augments; the EMG average RMS total power also increases for the optimal motion cueing algorithm but it decreases for the classical algorithm.
Sun, 01 Jan 2012 00:00:00 GMThttp://hdl.handle.net/10985/68842012-01-01T00:00:00ZAYKENT, BarisPAILLOT, DamienMERIENNE, FrédéricKEMENY, AndrasThis study proposes a method and an experimental validation to analyze dynamics response of the drivers with respect to the type of the control used in the hexapod driving simulator. In this article, two different forms of motion platform tracking control have been performed: - Classical motion cueing algorithm - LQR motion cueing algorithm For each situation, the EMG (electromyography) data have been registered from arm muscles of the drivers (flexor carpi radialis, brachioradialis). In addition, the acceleration based illness ratings (IR) have been computed. In order to process the data of the EMG and IR, the linear regression with a significance level of 0.05 has been assigned. Three cases have been evaluated: 1) Time exposure neuromuscular dynamics and vestibular–vehicle level conflict illness ratings 2) Time exposure neuromuscular dynamics and vestibular level sensed illness ratings 3) Impulse dynamics effect between the neuromuscular (EMG) and the vestibular dynamics (IR) The results have showed that: a) The vibration exposure condition: When the total RMS acceleration frequency weighted average IR increases, the EMG average total power increases too by driving the classical motion cueing algorithm. However, in contrast to this, the EMG average RMS total power decreases while the IR increases during the LQR motion cueing algorithm. b) Impulse effect condition: As the IR augments; the EMG average RMS total power also increases for the optimal motion cueing algorithm but it decreases for the classical algorithm.