Page 46 - ASME DSCC 2015 Program

Technical Program

Assessment of Human Vulnerability in a Touch-Screen Game; Metrics of control signal magnitudes and tracking errors. PSO achieves a 8% im-
and Analysis provement in the objective function. Finally, we present simulation results to
Contributed regular paper. DSCC2015-9961 validate the effectiveness of the controller. We achieve good tracking of joint
Payam Parsinejad, Rifat Sipahi, Northeastern University, Boston, MA, displacements and velocities for both nominal and perturbed values of the
United States system parameters. Variations of ±30% on the system parameters result in
an increase of the cost function by only 3%, which confirms the robustness
Assistive machine design based on human physiological measurements
of the controller.
offers variety of opportunities in both civilian and military applications. In
such settings the machine would need to compute certain metrics associ- InVITED SESSIon
ated with these measurements to decide how to assist the humans. In this 2-2-1 TA6 Automotive 2: Hybrid Electric Vehicles
paper, we study a set of metrics pertaining to human behavioral patterns in Emerson Burkhart B 10:00am–12:00pm
easy and difficult tasks taken on a touch screen computer game. Analysis
of these metrics reveal that some of them can be utilized as indicators of Session Organizer: Carrie M. Hall, Illinois Institute of Technology
task difficulty showing promise for their use by machines. The metric results Session Organizer: Mahdi Shahbakhti, Michigan Technological University
are also compared with task performance metrics, as well as a reliable and Session Chair: Mahdi Shahbakhti, Michigan Technological University,
established metric called pNN50 calculated from subjects’ heart rate mea- Houghton, MI, United States
surements and serving as the baseline. Session Co-Chair: Giorgio Rizzoni, Ohio State University
A finger-Motion Adaptive Algorithm for Braille Reading: Application of
optimal Design of All-Wheel-Drive Hybrid Pick-up Trucks
Active Disturbance Rejection Control
Invited session paper. DSCC2015-9701
Contributed regular paper. DSCC2015-9965
Ziheng pan, xiaowu Zhang, huei peng, University of Michigan, Ann
Melda ulusoy, Rifat Sipahi, Northeastern University, Boston, MA, United Arbor, MI, United States, Emilia Silvas, Eindhoven University of Technology,
States
Eindhoven, Netherlands, nikhil Ravi, Robert Bosch Research and
Currently existing refreshable Braille displays suffer from high costs, which Technology Center, Palo Alto, CA, United States
prevent their affordability. A rotating wheel with refreshable Braille and Both performance, like launching and towing, and fuel economy have been
utilizing finger-motion adaptation can help create realistic Braille reading important requirements for designing pick-up trucks. Under these require-
experience, while significantly reducing the high costs by offsetting the ments, all-wheel-drive (AWD) hybrid powertrains with multi-mode operation
number of actuators needed to display Braille. In this paper, we design a have great potential for trucks, because of their ability to provide a balance
real-time controller to adjust the speed of the rotating wheel system based between performance and fuel efficiency. In this paper, a systematic
on the finger motions of the user. Due to unknown dynamics of the rotating methodology is developed and applied to screening and evaluating hybrid
wheel system, active disturbance rejection control (ADRC) has been imple- powertrain designs with AWD and multi-mode operation. It is a four-step de-
mented to estimate the total disturbance acting on the system. This estimate sign process that uses automated modeling techniques, enables exhaustive
is then used to eliminate the internal disturbance of the system so that search, and utilizes a near-optimal control strategy to obtain optimal trans-
disturbances associated with finger touch on the wheel can be predicted. mission designs for a given vehicle platform. A case study was conducted
Real-time experimental results show that even without the knowledge of the based on a constructed vehicle model of the Ford F-150 but using a double
system model, it is possible to adapt the speed of the rotating wheel based planetary gear (PG) set and 2 output shafts to obtain good designs with
on these finger touch predictions. optimal gear size.
Stable Robust Adaptive Impedance Control of a Prosthetic leg Energy Management Control of a Hybrid Electric Vehicle by
Contributed regular paper. DSCC2015-9794 Incorporating Powertrain Dynamics
Vahid Azimi, Department of Electrical and Computer Engineering, Invited session paper. DSCC2015-9702
Cleveland State University, Cleveland, OH, United States, Daniel J. Simon, Mehran Bidarvatan, Mahdi Shahbakhti, Michigan Technological University,
Hanz Richter, Cleveland State University, Cleveland, OH, United States
Houghton, MI, United States
We propose a nonlinear robust model reference adaptive impedance
Energy management strategies in parallel Hybrid Electric Vehicles (HEVs)
controller for an active prosthetic leg for transfemoral amputees. We use an
usually ignore effects of Internal Combustion Engine (ICE) dynamics and
adaptive control term to consider the uncertain parameters of the system,
rely on static maps for required engine torque-fuel efficiency data. It is
and a robust control term so the system trajectories converge to a sliding
uncertain how neglecting these dynamics can affect fuel economy of a
mode boundary layer and exhibit robustness to variations of ground reac-
parallel HEV. This paper addresses this shortcoming by investigating
tion force (GRF). The boundary layer not only compromises between control
effects of some major Spark Ignition (SI) engine dynamics and clutch
chattering and tracking performance, but also bounds the parameter adap-
dynamics on torque split management in a parallel HEV. The control
tation to prevent unfavorable parameter drift. We also prove the stability of
strategy is implemented on a HEV model with an experimentally validated,
the controller for the robotic system in the case of non-scalar boundary layer
dynamic ICE model. Simulation results show that the ICE and clutch
trajectories using Lyapunov stability theory and Barbalat’s lemma. The accel-
dynamics can degrade performance of the HEV control strategy during
eration-free regressor form of the system removes the need to measure the
the transient periods of the vehicle operation by 8.7% for city and highway
joint accelerations, which would otherwise introduce noise in the system.
driving conditions in a combined common North American drive cycle.
46 We use particle swarm optimization (PSO) to optimize the design parameters
This fuel penalty is often overlooked in conventional HEV energy
of the controller and the adaptation law. The PSO cost function is comprised
management strategies. A Model Predictive Control (MPC) of torque split