To STW website

Project 1: Human-centered fault-tolerant model-based control



People involved:


Prof.dr. Henk Nijmeijer
Project function: Project Leader; Supervisor 1.1 and 1.2
Organisation: Eindhoven University of Technology, Mechanical Engineering

Prof.dr. Kees van Hee
Project function: Supervisor 1.2
Organisation: Eindhoven University of Technology, Mathematics and Computer Science

Prof.dr. Astrid Kappers
Project function: Supervisor 1.3
Organisation: Faculty of Human Movement Sciences / VU University Amsterdam

Dr. Wouter Bergmann Tiest
Project function: Supervisor 1.3
Organisation: Faculty of Human Movement Sciences / VU University Amsterdam

Ir. Dennis Heck
Project function: PhD student 1.1
Organisation: Eindhoven University of Technology, Mechanical Engineering

MSc. Debjyoti Bera
Project function: PhD student 1.2
Organisation: Eindhoven University of Technology, Mechanical Engineering

MSc. Femke van Beek
Project function: PhD student 1.3
Organisation: Faculty of Human Movement Sciences / VU University Amsterdam


Project goal

Project 1 focuses on haptics for remote maintenance for ITER. It tackles this topic from various viewpoints: knowledge on system modeling (or architecture), formal verification methods, control theory and knowledge of human perception will be combined and further extended with human parameters for haptic control and feedback to facilitate systematic development of control software for fail-safe collaborative tele-operations using multiple master and slave devices.


Project 1.1 Model-based fault-tolerant control algorithms
In this project, we investigate different model-based control algorithms for a bilaterally teleoperated system. In a first architecture, the full responsibility in controlling the remote maintenance will be given to the human operator. The operator will take care of the optimal path planning for the remote device and active collision avoidance under realistic operating conditions that include dynamic changes in the remote environment, communication delays and hardware failures. The same conditions will be considered in a second control architecture, where the slave controller will share responsibilities with the supervisor in coordination, trajectory planning, and dynamic collision avoidance.

Project 1.2 Formal model-based system architecture and verification of haptic systems
In this project, we focus on design techniques for component based systems. We propose an architectural framework and a correct by construction technique to derive a software architecture of an arbitrary system in a structured way. The correctness property of interest is called weak termination (which is a freedom of deadlock and livelock). During the first phase, we will establish an architectural framework within an untimed setting and propose a construction technique. In the second phase, we will extend the architectural framework with time constraints and propose a technique to compute bounds on system performance. Using these design principles, we will propose a software architecture for ITER's Remote Handling Plant. The project has also a focus on correct specification of maintenance procedures (Operation Sequence Description). These procedures are intended to be followed by one or more humans in order to carry out cooperative maintenance tasks.

Project 1.3 Human parameters for haptic control and human perception of haptic feedback 
In this project we investigate human parameters for haptic control and human perception of haptic feedback. The novelty is to establish the human capacity for perception of haptic feedback and then using this information as input parameters for the software architecture and control algorithms. These control algorithms depend on accurate information about the human capability for perceiving forces and torques, travelled distance in 3D space, etc.

Involved companies
DIFFER Rijnhuizenhttp://www.differ.nl/nl
Heemskerk IT - http://www.heemskerk-innovative.nl/
ITER-NL - http://www.iter-nl.nl/
OT-BV - http://www.oxfordtechnologies.co.uk/
Tree-C - http://www.tree-c.nl/