% % This file was created by the Typo3 extension % sevenpack version 0.7.14 % % --- Timezone: CEST % Creation date: 2013-05-19 % Creation time: 10-44-07 % --- Number of references % 36 % @Book { Nieuwenhuizen2012_3, title = {Changes in Pilot Control Behaviour across Stewart Platform Motion Systems}, year = {2012}, month = {9}, pages = {266}, abstract = {Flight simulators provide an effective, efficient, and safe environment for practising flight-critical manoeuvres without requiring a real aircraft. In general, high-performance full flight simulators are used for training tasks that require simulator motion, although low-cost motion systems have been proposed for certain training tasks that only require limited motion cues. These systems have shorter stroke actuators, lower bandwidth, and higher motion noise. The influence of these characteristics on pilot perception and control behaviour is unknown. In this thesis, this is investigated by simulating a model of a simulator with limited capabilities on a high-end simulator. The simulator limitations, which consist of a platform filter, time delay, and noise characteristics, can then be removed one by one and their effect on control behaviour studied in isolation. Pilot perception and control behaviour was identified in an experimental closed-loop control task. The time delay and noise characteristics of the simulators did not have an effect on pilot behaviour. However, it was found that the bandwidth of the motion system had a significant effect on performance and control behaviour. Results indicate that the motion cues were barely used at all in conditions with a low bandwidth, and that participants relied on the visual cues to perform the control task. The approach used in this thesis provided valuable insight into changes in pilot response dynamics that form the basis of observed changes in performance. The results demonstrated that simulator motion cues must be considered carefully in piloted control tasks in simulators and that measured results depend on simulator characteristics as pilots adapt their control behaviour to the available cues.}, department = {Department B{\"u}lthoff}, web_url = {http://www.logos-verlag.de/cgi-bin/engbuchmid?isbn=3233\&lng=deu\&id=}, publisher = {Logos Verlag}, address = {Berlin, Germany}, series = {MPI Series in Biological Cybernetics ; 33}, ISBN = {978-3-8325-3233-8}, author = {Nieuwenhuizen, FM} } @Article { NieuwenhuizenMvB2013, title = {Influences of Simulator Motion System Characteristics on Pilot Control Behavior}, journal = {Journal of Guidance, Control, and Dynamics}, year = {2013}, month = {5}, volume = {36}, number = {3}, pages = {667-676}, abstract = {Low-cost motion systems have been proposed for certain training tasks that would otherwise be performed on highperformance full-flight simulators. These systems usually have lower bandwidth and lower smoothness. The influence of these characteristics on pilot perception and control behavior is unknown and needs to be investigated. In this paper, this is done by simulating a model of a simulator with limited capabilities on a high-end simulator. The platform limitations, which consist of a platform filter, time delay, and noise characteristics, can then be removed one by one, and their effect on control behavior is studied in isolation. An experiment was conducted to identify pilot perception and control behavior in a closed-loop control task. The time delay and noise characteristics of the simulators did not have an effect. However, it was found that the bandwidth of the motion system had a significant effect on performance and control behavior. Results indicate that the motion cues were barely used at all in conditions with a low bandwidth, and that participants relied on the visual cues to generate lead to perform the control task.}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/1.59257}, DOI = {10.2514/1.59257}, author = {Nieuwenhuizen, FM and Mulder, M and van Paassen, MM and B{\"u}lthoff, HH} } @Article { ZaalNvM2013, title = {Modeling Human Control of Self-Motion Direction With Optic Flow and Vestibular Motion}, journal = {IEEE Transactions on Cybernetics}, year = {2013}, month = {4}, volume = {43}, number = {2}, pages = {544-556}, abstract = {In this paper, we investigate the effects of visual and motion stimuli on the manual control of one's direction of self-motion. In a flight simulator, subjects conducted an active target-following disturbance-rejection task, using a compensatory display. Simulating a vehicular control task, the direction of vehicular motion was shown on the outside visual display in two ways: an explicit presentation using a symbol and an implicit presentation, namely, through the focus of radial outflow that emerges from optic flow. In addition, the effects of the relative strength of congruent vestibular motion cues were investigated. The dynamic properties of human visual and vestibular motion perception paths were modeled using a control-theoretical approach. As expected, improved tracking performance was found for the configurations that explicitly showed the direction of self-motion. The human visual time delay increased with approximately 150 ms for the optic flow conditions, relative to explicit presentations. Vestibular motion, providing higher order information on the direction of self-motion, allowed subjects to partially compensate for this visual perception delay, improving performance. Parameter estimates of the operator control model show that, with vestibular motion, the visual feedback becomes stronger, indicating that operators are more confident to act on optic flow information when congruent vestibular motion cues are present.}, department = {Department B{\"u}lthoff}, web_url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6298973}, DOI = {10.1109/TSMCB.2012.2212188}, author = {Zaal, PMT and Nieuwenhuizen, FM and van Paassen, MM and Mulder, M} } @Article { NieuwenhuizenvSMB2012, title = {Cross-platform Validation for a Model of a Low-cost Stewart Platform}, journal = {Journal of Modeling, Simulation, Identification, and Control}, year = {2013}, month = {1}, volume = {1}, number = {1}, pages = {1-23}, abstract = {actuators, lower bandwidth, and higher motion noise. The influence of these characteristics on pilot perception and control behavior is unknown, and needs to be investigated. A possible approach to this would be to simulate a platform with limited capabilities with a high-end platform, and then remove the platform limitations one by one. The effects of these platform limitations on pilot behavior can then be investigated in isolation. In this paper, a model of a low-cost simulator was validated for simulation on a high-performance simulator. A dynamic model of the MPI Stewart platform was analyzed and compared with measurements of the baseline simulator response. Measurements for validation of the implementation of the model on the SIMONA Research Simulator showed that the dynamics of the MPI Stewart platform could be represented well in terms of dynamic range, time}, department = {Department B{\"u}lthoff}, web_url = {http://uscip.org/JournalsDetail.aspx?journalID=21}, DOI = {10.7726/jmsic.2013.1001}, author = {Nieuwenhuizen, FM and van Paassen, MM and Stroosma, O and Mulder, M and B{\"u}lthoff, HH} } @Article { 4804, title = {Modeling Human Multi-Channel Perception and Control Using Linear Time-Invariant Models}, journal = {Journal of Guidance, Control, and Dynamics}, year = {2008}, month = {7}, volume = {31}, number = {4}, pages = {999-1013}, abstract = {This paper introduces a two-step identification method of human multi-channel perception and control. In the first step, frequency response functions are identified using Linear Time-Invariant (LTI) models. The analytical predictions of bias and variance in the estimated frequency response functions are validated using Monte-Carlo simulations of a closed-loop control task and contrasted to a conventional method using Fourier Coefficients. For both methods, the analytical predictions are reliable, but the LTI method has lower bias and variance than Fourier Coefficients. It is further shown that the LTI method is more robust to higher levels of pilot remnant. Finally, both methods were successfully applied to experimental data from closed-loop control tasks with pilots.}, department = {Department B{\"u}lthoff}, web_url = {http://pdf.aiaa.org/jaPreview/JGCD/2008/PVJA32307.pdf}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, language = {en}, DOI = {10.2514/1.32307}, author = {Nieuwenhuizen, FM and Zaal, PMT and Mulder, M and van Paassen, MM and Mulder, JA} } @Inproceedings { ChuangNB2013, title = {A Fixed-Based Flight Simulator Study: The Interdependence of Flight Control Performance and Gaze Efficiency}, year = {2013}, month = {7}, pages = {1-10}, abstract = {Here, a descriptive study is reported that addresses the relationship between flight control performance and instrument scanning behavior. This work was performed in a fixed-based flight simulator. It targets the ability of untrained novices to pilot a lightweight rotorcraft in a flight scenario that consisted of fundamental mission task elements such as speed and altitude changes. The results indicate that better control performance occurs when gaze is more selective for and focused on key instruments. Ideal instrument scanning behavior is proposed and its relevance for training instructions and visual instrument design is discussed.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2013/HCI-I-2013-Chuang.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.hcii2013.org/}, event_place = {Las Vegas, NV, USA}, event_name = {15th International Conference on Human-Computer Interaction (HCI International 2013)}, state = {accepted}, author = {Chuang, LL and Nieuwenhuizen, FM and B{\"u}lftoff, HH} } @Inproceedings { OlivariNVBP2012, title = {Multi-loop Pilot Behavior Identification in Response to Simultaneous Visual and Haptic Stimuli}, year = {2012}, month = {8}, pages = {1-23}, abstract = {The goal of this paper is to better understand how the neuromuscular system of a pilot, or more generally an operator, adapts itself to di erent types of haptic aids during a pitch control task. A multi-loop pilot model, capable of describing the human behaviour during a tracking task, is presented. Three di erent identi cation techniques were investigated in order to simultaneously identify neuromuscular admittance and the visual response of a human pilot. In one of them, the various frequency response functions that build up the pilot model are identi ed using multi-inputs linear time-invariant models in ARX form. A second method makes use of cross-spectral densities and diagram block algebra to obtain the desired frequency response estimates. The identi cation techniques were validated using Monte Carlo simulations of a closed-loop control task. Both techniques were compared with the results of another identi cation method well known in literature and based on cross-spectral density estimates. All those methods were applied in an experimental setup in which pilots performed a pitch control task with di erent haptic aids. Two di erent haptic aids for tracking task are presented, a Direct Haptic Aid and an Indirect Haptic Aid. The two haptic aids were compared with a baseline condition in which no haptic force was used. The data obtained with the proposed method provide insight in how the pilot adapts his control behavior in relation to di erent haptic feedback schemes. From the experimental results it can be concluded that humans adapt their neuromuscular admittance in relation with di erent haptic aids. Furthermore, the two new identi cation techniques seemed to give more reliable admittance estimates.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/Olivari2012.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2012-4795}, event_place = {Minneapolis, MN, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference 2012}, ISBN = {978-1-62410-183-0}, DOI = {10.2514/6.2012-4795}, author = {Olivari, M and Nieuwenhuizen, FM and Venrooij, J and B{\"u}lthoff, HH and Pollini, L} } @Inproceedings { JumpPPWFFZSSBDSMHNB2011, title = {MyCopter: Enabling Technologies for Personal Air Transport Systems}, year = {2012}, month = {5}, pages = {336-347}, abstract = {This paper describes the European Commission (EC) Framework 7 funded project myCopter (2011-2014). The project is still at an early stage so the paper starts with the current transportation issues faced by developed countries and describes a means to solve them through the use of personal aerial transportation. The concept of personal air vehicles (PAV) is briefly reviewed and how this project intends to tackle the problem from a different perspective described. It is argued that the key reason that many PAV concepts have failed is because the operational infrastructure and socio-economic issues have not been properly addressed; rather, the start point has been the design of the vehicle itself. Some of the key aspects that would make a personal aerial transport system (PATS) viable include the required infrastructure and associated technologies, the skill levels and machine interfaces needed by the occupant or pilot and the views of society as a whole on the acceptability of such a proposition. The myCopter project will use these areas to explore the viability of PAVs within a PATS. The paper reports upon the early progress made within the project. An initial reference set of PAV requirements has been collated. A non-physical flight simulation model capable of providing a wide range of handling qualities characteristics has been developed and its function has undergone limited verification. Results from this exercise show that the model behaves as intended and that it can deliver a predictable range of vehicle dynamics. The future direction of the themes of work described within the paper are then described.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/ERF2011_122.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.erf2011.org/}, publisher = {Curran}, address = {Red Hook, NY, USA}, event_place = {Vergiate, Gallarate, Italy}, event_name = {37th European Rotorcraft Forum (ERF 2011)}, ISBN = {978-1-61839-626-6}, author = {Jump, M and Perfect, P and Padfield, GD and White, MD and Floreano, D and Fua, P and Zufferey, J-C and Schill, F and Siegwart, R and Bouabdallah, S and Decker, M and Schippl, J and Mayer, S and H{\"o}finger, M and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Inproceedings { NieuwenhuizenJPWPFSZFBSMSDGHB2011, title = {myCopter: Enabling Technologies for Personal Aerial Transportation Systems}, year = {2011}, month = {11}, pages = {1-8}, abstract = {Current road transportation systems throughout the European Union suffer from severe congestion problems. A solution can be to move towards a Personal Aerial Transportation System, in which vehicles would also have vertical space at their disposal. In the myCopter project, funded by the European Union under the 7th Framework Programme, the viability of such a system will be investigated. It is argued that this should be done by taking into account the required operational infrastructure, instead of starting with the design of a vehicle. By investigating human-machine interfaces and training, automation technologies, and socio-economic impact, the myCopter project aims to provide a basis for a transportation system based on Personal Aerial Vehicles. In this paper, an outline of the project is given. Early research results are detailed and provide a basis for the remainder of the project.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/HeliWorld-2011-Nieuwenhuizen.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.airtec.aero/index.php?id=55}, event_place = {Frankfurt a.M.}, event_name = {3rd International HELI World Conference 2011 ''Helicopter Technologies and Operations'' (HeliWorld 2011)}, author = {Nieuwenhuizen, FM and Jump, M and Perfect, P and White, MD and Padfield, GD and Floreano, D and Schill, F and Zufferey, J-C and Fua, P and Bouabdallah, S and Siegwart, R and Meyer, S and Schippl, J and Decker, M and Gursky, B and H{\"o}finger, M and B{\"u}lthoff, HH} } @Inproceedings { NieuwenhuizenMvB2011, title = {The Influence of Motion System Characteristics on Pilot Control Behaviour}, year = {2011}, month = {8}, pages = {204-218}, abstract = {Full flight simulators are widely being used for training of pilots as they provide a cost-effective alternative over aircraft. However, a compromise must always be found between the amount of motion cueing that needs to be presented to the pilot for effective training and the available workspace of the simulator. In literature, contradictory reports are found on the effect of motion cues on pilot performance in the simulator. In this paper, the results are presented of an experiment in which the influence of the quality of motion systems was investigated. A model of the MPI Stewart platform was simulated on the SIMONA Research Simulator and the motion system characteristics of both simulators were varied systematically to determine their effects on pilot control behaviour. The time delay and noise characteristics of the simulators did not have an effect in this experimental task. However, it was found that the bandwidth of the motion system had a significant effect on performance and control behaviour. Results indicate that the motion cues were barely used at all in conditions with a low bandwidth, and that participants relied on the visual cues to generate lead needed in their control task.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/AIAA-2011-6321-Nieuwenhuizen.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2011-6321}, publisher = {Curran}, address = {Red Hook, NY, USA}, event_place = {Portland, OR, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference 2011}, ISBN = {978-1-62410-154-0}, DOI = {10.2514/6.2011-6321}, author = {Nieuwenhuizen, FM and Mulder, M and van Paassen, MM and B{\"u}lthoff, HH} } @Inproceedings { JumpPWFZSSBDSHNB2011, title = {myCopter: Enabling Technologies for Personal Air Transport Systems}, year = {2011}, month = {6}, pages = {1-15}, abstract = {This paper describes the European Commission Framework 7 funded project myCopter (2011-2014). The project is still at an early stage so the paper starts with the current transportation issues faced by developed countries and describes a means to solve them through the use of personal aerial transportation. The concept of personal air vehicles (PAV) is briefly reviewed and how this project intends to tackle the problem from a different perspective described. It is argued that the key reason that many PAV concepts have failed is because the operational infrastructure and socio-economic issues have not been properly addressed; rather, the start point has been the design of the vehicle itself. Some of the key aspects that would make a personal aerial transport system (PATS) viable include the required infrastructure and associated technologies, the skill levels and machine interfaces needed by the occupant or pilot and the views of society as a whole on the acceptability of such a proposition. The myCopter project will use these areas to explore the viability of PAVs within a PATS. The paper provides an overview of the project structure, the roles of the partners, and hence the available research resources, and some of the early thinking on each of the key project topic areas.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/RAeS-Spring-2011-Nieuwenhuizen.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.aerosocietychannel.com/events/2011/03/future-rotorcraft/}, publisher = {Royal Aeronautical Society}, address = {London, UK}, booktitle = {The Future Rotorcraft: Enabling Capability through the Application of Technology}, event_place = {London, UK}, event_name = {Royal Aeronautical Society Conference on the Future Rotorcraft (RAeS 2011)}, ISBN = {1-85768-274-2}, author = {Jump, M and Padfield, GD and White, MD and Fua, P and Zufferey, J-C and Schill, F and Siegwart, R and Bouabdallah, S and Decker, M and Schippl, J and H{\"o}finger, M and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Inproceedings { 6715, title = {Implementation and validation of a model of the MPI Stewart platform}, journal = {Proceedings of the 2010 AIAA Modeling and Simulation Technologies Conference}, year = {2010}, month = {8}, pages = {1007-1019}, abstract = {A simulated model of the MPI Stewart platform can be used to identify the influence of motion system characteristics on human control behaviour in active closed-loop control experiments on the SIMONA Research Simulator. In this paper, a previously identified model of the MPI Stewart platform was analysed with describing function measurements, and it was found that a reduced form of the model was sufficient to capture the relevant dynamics. The reduced model was simulated on the SIMONA Research Simulator and describing function measurements were performed with two IMUs. Both IMUs revealed a resonance peak in measurements of response magnitude at the highest frequencies. A reduced time delay was found with the newer IMU. With the describing function measurements, the implementation of the MPI Stewart platform model was validated in terms of the frequency response and the time delay.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Nieuwenhuizen2010_[0].pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2010-8217}, publisher = {Curran}, address = {Red Hook, NY, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {American Institute of Aeronautics and Astronautics}, event_place = {Toronto, Canada}, event_name = {AIAA Modeling and Simulation Technologies Conference 2010}, language = {en}, ISBN = {978-1-62410-152-6}, DOI = {10.2514/6.2010-8217}, author = {Nieuwenhuizen, FM and van Paassen, MM and Mulder, M and B{\"u}lthoff, HH} } @Inproceedings { 5975, title = {The Effect of Simulator Motion on Pilot Control Behaviour for Agile and Inert Helicopter Dynamics}, journal = {35th European Rotorcraft Forum (ERF 2009)}, year = {2009}, month = {9}, pages = {1051-1063}, abstract = {Even though simulators are often used in flight training, the effects of the different motion components on pilot performance and control behaviour are still not fully understood. In most hexapod motion base simulators the translational motion needs to be reduced significantly to fit within the limited motion space, while the rotational motion might not need attenuation. This paper presents the results of an experiment that investigated the effects of simulator motion in a roll-lateral helicopter control task for both agile and inert helicopter dynamics. The experiment was performed in the MPI Motion Simulator, which has the unique ability of presenting the motion in this task 1-to-1. The results indicate that both roll and lateral motion are important for increasing performance in reducing the roll error. The lateral motion also significantly reduced the lateral tracking errors. Pilots increased their control activity, but had a lower performance in reducing the lateral error for the inert helicopter dynamics. These effects in performance and control activity were caused by a change in the pilotsÂ’ control strategy as was observed from the multimodal pilot model parameters. The effects on pilot tracking performance were also apparent from a significant change in the disturbance and target open-loop characteristics.}, department = {Department B{\"u}lthoff}, web_url = {http://www.erf2009.org}, editor = {Lopez, L. , P. Brandt}, publisher = {Deutsche Gesellschaft f{\"u}r Luft- und Raumfahrt}, address = {Bonn, Germany}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {Deutsche Gesellschaft f{\"u}r Luft- und Raumfahrt}, event_place = {Hamburg, Germany}, event_name = {35th European Rotorcraft Forum (ERF 2009)}, language = {en}, ISBN = {978-3-932182-65-0}, author = {Nieuwenhuizen, FM and Zaal, PMT and Teufel, H and Mulder, M and B{\"u}lthoff, HH} } @Inproceedings { 5861, title = {Does jerk have to be considered in linear motion simulation?}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference (AIAA 2009)}, year = {2009}, month = {8}, pages = {1381-1388}, abstract = {Perceptual thresholds for the detection of the direction of linear motion are important for motion simulation. There are situations in which a subject should not perceive the motion direction as, e.g., during repositioning of a simulator, but also opposite cases where a certain motion percept must intentionally be induced in the subject. The exact dependency of the perceptual thresholds on the time evolution of the presented motion profile is still an open question. Previous studies have found evidence for a sensitivity of the thresholds on the rate of change of acceleration, called jerk. In this study we investigate three motion profiles which differ in their jerk characteristics. We want to evaluate which profile can move people furthest in the horizontal plane in a given time without them noticing the direction. Our results suggest that a profile with a minimum peak jerk value should be chosen.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/AIAA2009-Soyka-kurz.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2009-6245}, publisher = {Curran}, address = {Red Hook, NY, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {American Institute of Aeronautics and Astronautics}, event_place = {Chicago, IL, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference 2009}, language = {en}, ISBN = {978-1-62410-161-8}, DOI = {10.2514/6.2009-6245}, author = {Soyka, F and Teufel, H and Beykirch, K and Robuffo Giordano, P and Butler, J and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Inproceedings { 5974, title = {Towards Simulating a Mid-size Stewart Platform on a Large Hexapod Simulator}, journal = {Proceedings of the 2009 AIAA Modeling and Simulation Technologies Conference}, year = {2009}, month = {8}, pages = {613-622}, abstract = {For a recent project on the influence of motion system characteristic on human perception and control behaviour, a dynamic model of the MPI Stewart platform was developed. The model parameters were estimated from measurements involving motion along a circular trajectory and frequency sweeps. Simulation results showed that the model response with optimised parameters was very close to the measured platform response. However, additional measurements are required to identify the platform mass and vertical centre of gravity position correctly. Validation of the dynamic model with platform measurements in heave showed favourable results. The dynamic model of the MPI Stewart platform will be validated further in multiple degrees-of-freedom and will be used in active closed-loop experiments.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Nieuwenhuizen2009b_5974[0].pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2009-5917}, publisher = {Curran}, address = {Red Hook, NY, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {American Institute of Aeronautics and Astronautics}, event_place = {Chicago, IL, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference 2009}, language = {en}, ISBN = {978-1-62410-161-8}, DOI = {10.2514/6.2009-5917}, author = {Nieuwenhuizen, FM and van Paassen, MM and Mulder, M and Beykirsch, K and B{\"u}lthoff, HH} } @Inproceedings { 5340, title = {Learning System Dynamics: Transfer of Training in a Helicopter Hover Simulator}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit (AIAA 2008)}, year = {2008}, month = {8}, pages = {1608-1618}, abstract = {Transfer of training between the simulation of an inert and an agile helicopter dynamic was assessed involving a quasi-transfer design. The focus of this study was to test the ability of flight-na{\"i}ve subjects to successfully acquire and transfer the skills required to perform lateral sidestep hover maneuvers in a helicopter simulation. The experiments were performed using the MPI Motion Simulator with its ability to realize a highly realistic 1:1 motion representation of a simulated helicopter maneuver. As a result, the amount of training needed to stabilize either an agile or an inert helicopter dynamic did not differ. A clear positive transfer effect was found for the acquired skills from the agile to the inert dynamics but not from the inert to the agile dynamics.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/AIAA2008-Nusseck_5340[0].pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2008-7107}, publisher = {Curran}, address = {Red Hook, NY, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {American Institute of Aeronautics and Astronautics}, event_place = {Honolulu, Hawaii}, event_name = {AIAA Modeling and Simulation Technologies Conference 2008}, language = {en}, ISBN = {978-1-60560-811-2}, DOI = {10.2514/6.2008-7107}, author = {Nusseck, H-G and Teufel, HJ and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Inproceedings { 5315, title = {Performance Measurements on the MPI Stewart Platform}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit (AIAA 2008)}, year = {2008}, month = {8}, pages = {401-411}, abstract = {The report AGARD-AR-144 provides a framework for systematically assessing the dynamic characteristics of flight simulator motion systems. Several measurements defined in the report were performed on the Stewart platform located at the Max Planck Institute for Biological Cybernetics. The measurements were performed with a setup consisting of real-time hardware and an off-the-shelf IMU. Results indicated that the motion platform describing functions were very similar to the standard motion filters implemented by the platform manufacturer, but included a time delay of 100 ms. The total noise of the system mainly consisted of stochastic and high-frequency non-linear components, that were attributed to the IMU. The measurements defined by AGARD-144 proved to provide useful insight into the platform characteristics.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Nieuwenhuizen2008_5315[0].pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2008-6531}, publisher = {Curran}, address = {Red Hook, NY, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {American Institute of Aeronautics and Astronautics}, event_place = {Honolulu, Hawaii}, event_name = {AIAA Modeling and Simulation Technologies Conference 2008}, language = {en}, ISBN = {978-1-60560-811-2}, DOI = {10.2514/6.2008-6531}, author = {Nieuwenhuizen, FM and Beykirch, K and Mulder, M and Paassen, MMV and Bonten, JLG and B{\"u}lthoff, HH} } @Inproceedings { 5042, title = {A Roll-Lateral Helicopter Side-Step Maneuver on the MPI Motion Simulator}, journal = {AHS 64th Annual Forum}, year = {2008}, month = {5}, pages = {834-841}, abstract = {The quality of helicopter pilot training could be improved with increased use of appropriate simulators. A novel design, the MPI Motion Simulator, is evaluated by comparison with a previous study designed to investigate the required motion fidelity for helicopter flight simulation. An experiment simulating a helicopter sidestep maneuver, using roll and lateral motion, was conducted to demonstrate the contribution such a design could have. Favorable results show this setup may indeed play such a role.}, department = {Department B{\"u}lthoff}, web_url = {http://www.proceedings.com/11806.html}, publisher = {American Helicopter Society International}, address = {Alexandria, VA, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {American Helicopter Society}, event_place = {Montr{\'e}al, CA}, event_name = {64th American Helicopter Society International Annual Forum (AHS 2008)}, language = {en}, ISBN = {978-1-61782-929-1}, author = {Beykirch, K and Nieuwenhuizen, FM and Teufel, H and Nusseck, H-GG and B{\"u}lthoff, HH} } @Inproceedings { 4717, title = {Control of a Lateral Helicopter Sidestep Maneuver on an Anthropomorphic Robot}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit (AIAA 2007)}, year = {2007}, month = {8}, pages = {1-8}, abstract = {Our society relies more and more on flight simulation for pilot training to enhance safety and reduce costs. But to meet the highest level of general technical requirements for simulators set forth by the FAA and EASA requires high-cost equipment. To make simulator use more accessible, reduced costs might be achieved with novel simulator designs and/or through research to improve the performance of existing designs. This report explores the use of such a novel design, based on an anthropomorphic robot arm to reproduce an experiment designed to evaluate flight simulator motion requirement for helicopter pilot training. Results compare promisingly well to those from a large, high-performance facility where the original work was performed.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Beykirch2007_4717[0].pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2007-6801}, publisher = {American Institute of Aeronautics and Astronautics}, address = {Reston, VA, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, event_place = {Hilton Head, SC, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference and Exhibit 2007}, language = {en}, ISBN = {978-1-62410-160-1}, DOI = {10.2514/6.2007-6801}, author = {Beykirch, K and Nieuwenhuizen, FM and Teufel, HJ and Nusseck, H-G and Butler, JS and B{\"u}lthoff, HH} } @Inproceedings { 4660, title = {Identification of Pilot Control Behavior in a Roll-Lateral Helicopter Hover Task}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit (AIAA 2007)}, year = {2007}, month = {8}, pages = {1-11}, abstract = {This paper focuses on the influence of different forms of motion feedback on the per- ception and control behavior of pilots in a roll-lateral helicopter hover task. To identify this influence, a combined target-following and disturbance-rejection task is carried out where the motion feedback is varied. The participants perform the control task with roll motion only, lateral motion only, combined roll-lateral motion, or with no motion. A cy- bernetic approach is taken to identify multi-loop pilot describing functions and estimate the parameters of a pilot model. Results show that participants perform significantly bet- ter at the control task with feedback of combined roll-lateral motion, and decrease their control activity. For the condition with feedback of roll motion a similar trend is observed. This is explained through the increased amount of information present in the inner roll stabilization loop.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Nieuwenhuizen2007_4660[0].pdf}, department = {Department B{\"u}lthoff}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2007-6799}, publisher = {American Institute of Aeronautics and Astronautics}, address = {Reston, VA, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {AIAA-2007-6799}, event_place = {Hilton Head, SC, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference and Exhibit 2007}, language = {en}, ISBN = {978-1-62410-160-1}, DOI = {10.2514/6.2007-6799}, author = {Nieuwenhuizen, FM and Beykirch, K and Mulder, M and B{\"u}lthoff, HH} } @Inproceedings { 3947, title = {A New Multi-Channel Pilot Model Identification Method for Use in Assessment of Simulator Fidelity}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit}, year = {2006}, month = {8}, pages = {6629-6629}, abstract = {For simulator fidelity research, insight into pilot control behaviour is an important tool. As pilots use multiple cues for the perception of self-motion, the control behaviour can be described with multi-channel pilot models. For identification of these models in the frequency domain a method using Fourier Coefficients is commonly used. In this paper an identification method using MISO ARX models is introduced and compared with the previous method using simulations. This method explicitly accounts for the remnant of the pilot, yielding continuous estimates of the pilot describing functions with lower variance. It is shown that this results in better estimates of the cross-over frequencies, phase margins and pilot model parameters. The forcing functions are subject to fewer constraints and are not required to be multi-sine signals commonly used in human operator research.}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Nieuwenhuizen2006_3947[0].pdf}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2006-6629}, publisher = {American Institute of Aeronautics and Astronautics}, address = {Reston, VA, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, event_place = {Keystone, CO, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference and Exhibit}, language = {en}, DOI = {10.2514/6.2006-6629}, author = {Nieuwenhuizen, FM and Zaal, PMT and Mulder, M and van Paassen, MM} } @Inproceedings { 3946, title = {Perception of Visual and Motion Cues During Control of Self-Motion in Optic Flow Environments}, journal = {Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit}, year = {2006}, month = {8}, pages = {6627-6627}, url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/Zaal2006_3946[0].pdf}, web_url = {http://arc.aiaa.org/doi/abs/10.2514/6.2006-6627}, publisher = {American Institute of Aeronautics and Astronautics}, address = {Reston, VA, USA}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, event_place = {Keystone, CO, USA}, event_name = {AIAA Modeling and Simulation Technologies Conference and Exhibit}, language = {en}, DOI = {10.2514/6.2006-6627}, author = {Zaal, PMT and Nieuwenhuizen, FM and Mulder, M and van Paassen, MM} } @Poster { ChuangNB2012, title = {Eye-movement planning during flight maneuvers}, journal = {Perception}, year = {2012}, month = {9}, volume = {41}, number = {ECVP Abstract Supplement}, pages = {99}, abstract = {How are eye-movements planned to access relevant visual information during flight control? From the cockpit perspective, there are two classes of visual information that are relevant for flight control. First, the changing visuals of the external world provide direct perceptual feedback on how the pilot's command of the control stick is affecting the aircraft's current position, orientation and velocity. Second, flight instruments provide abstracted and specific values—on factors such as the aircraft's compass bearing and vertical speed—that have to be continuously monitored, in order for the global objective of certain maneuvers (eg, turns) to be achieved. Trained pilots have to coordinate their eye-movements across this structured visual workspace (ie, outside view and instruments) to access timely and task-relevant information. The current work focuses on providing descriptions of these planned eye-movements. Eye-movements were recorded of pilots in a high-fidelity flight simulator (100\(^{\circ}\) field-of-view) whilst they performed specific flight maneuvers. Fixation durations and transitions between the individual instruments and aspects of the external environment are represented as network graphs. This allowed us to formally describe the sources of information that were relied on across the different tasks and to compare actual performance to expert predictions.}, department = {Department B{\"u}lthoff}, web_url = {http://www.perceptionweb.com/abstract.cgi?id=v120634}, event_place = {Alghero, Italy}, event_name = {35th European Conference on Visual Perception}, author = {Chuang, L and Nieuwenhuizen, F and B{\"u}lthoff, HH} } @Poster { ChuangNB2012_2, title = {Investigating Gaze Behavior of Novice Pilots during Basic Flight Maneuvers}, year = {2012}, month = {9}, department = {Department B{\"u}lthoff}, web_url = {http://research.fit.edu/hci-aero/hci-aero2012/Poster_Sessions.html}, event_place = {Bruxelles, Belgium}, event_name = {International Conference on Human-Computer Interaction in Aerospace (HCI-Aero 2012)}, author = {Chuang, LL and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Thesis { Nieuwenhuizen2012, title = {Changes in pilot control behaviour across Stewart platform motion systems}, year = {2012}, month = {7}, day = {4}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/Nieuwenhuizen-Diss-2012.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://repository.tudelft.nl/view/ir/uuid\%3A81b63869-6048-456d-99d2-aeade8da8ad2/}, institution = {Technische Universiteit Delft, Netherlands}, type = {PhD}, author = {Nieuwenhuizen, FM} } @Thesis { 4051, title = {Perception of Visual and Motion Cues during Control of Self-Motion in Optic Flow Environments}, year = {2005}, month = {12}, day = {21}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {Technische Universiteit Delft, Netherlands}, type = {Diplom}, language = {en}, author = {Nieuwenhuizen, FM and Zaal, PMT} } @Thesis { 4052, title = {A New Identification Method for Modelling Pilot Control Behaviour}, year = {2005}, month = {5}, day = {24}, note = {Preliminary thesis}, institute = {Biologische Kybernetik}, organization = {Max-Planck-Gesellschaft}, institution = {Technische Universiteit Delft, Netherlands}, type = {Diplom}, language = {en}, author = {Nieuwenhuizen, FM and Zaal, PMT} } @Conference { NieuwenhuizenBM2012, title = {Changes in Pilot Control Behaviour across Stewart Platform Motion Systems}, year = {2012}, month = {11}, day = {29}, abstract = {Low-cost motion systems have been proposed for certain training tasks that would otherwise be performed on high-performance full flight simulators. These systems have shorter stroke actuators, lower bandwidth, and higher noise. The influence of these characteristics on pilot perception and control behaviour is unknown, and can be investigated by simulating a model of a simulator with limited capabilities on a high-end simulator. The platform limitations, such as a platform filter, time delay, and simulator noise characteristics, can then be removed one by one and their effect on control behaviour studied in isolation. By applying a cybernetic approach, human behaviour can be measured objectively in target-following disturbance-rejection control tasks. Experimental results show that small changes in time delay and simulator noise characteristics do not negatively affect human behaviour in these tasks. However, the motion system bandwidth has a significant effect on performance and control behaviour. Participants barely use motion cues when these have a low bandwidth, and instead rely on visual cues to generate lead to perform the control task. Therefore, simulator motion cues must be considered carefully in piloted control tasks in simulators and measured results depend on simulator characteristics as pilots adapt their control behaviour to the available cues.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/Flight-Simulation-Research-2012-Nieuwenhuizen.pdf}, department = {Department B{\"u}lthoff}, talk_type = {Abstract Talk}, web_url = {http://aerosociety.com/Events/Event-List/258/Flight-Simulation-Research-Conference}, event_place = {London, UK}, event_name = {Autumn Flight Simulation Conference: Flight Simulation Research New Frontiers}, author = {Nieuwenhuizen, FM and B{\"u}lthoff, HH and Mulder, M} } @Conference { NieuwenhuizenCB2012, title = {myCopter: Enabling Technologies for Personal Aerial Transportation Systems A progress report}, year = {2012}, month = {11}, abstract = {The volume of both road and air transportation continues to increase despite many concerns regarding its financial and environmental impact. The European Union ‘Out of the Box’ study suggests a personal aerial transportation system (PATS) as an alternative means of transport for daily commuting. The aim of the myCopter project is to determine the social and technical aspects needed to set up such a transportation system based on personal aerial vehicles (PAVs). The project focuses on three research areas: the human-machine interface and training, automation technologies, and social acceptance. In the first phase of the project, requirements were defined for automation technologies in terms of sensors and test platforms. Additionally, desirable features for PAVs were investigated to support the design and evaluation of technologies for an effective human-machine interface. Furthermore, an overview of the social-technological environment provided insight into the challenges and issues that surround the realisation of a PATS and its integration into the current transportation system in Europe. The presentation will elaborate on the second phase of the myCopter project, in which initial designs for a human-machine interface and training are developed. These are evaluated experimentally with a focus on aiding non-expert pilots in closed-loop control scenarios. Additionally, first evaluations of novel automation technologies are performed in simulated environments and evaluations on flying test platforms. At the same time, technological issues are evaluated that contribute towards a reflexive design of PAV technologies based on criteria that are acceptable to the general public. The presentation will also focus on the next stages of the project, in which further experimental evaluations will be performed on technologies for human-machine interfaces, and where developed automation technologies will be fully tested on unmanned flying vehicles. The expectations and perspectives of potential PAV user will be evaluated in group interviews in different European countries. Interesting technological and regulatory challenges need to be resolved for the development of a transportation system based on PAVs. The myCopter consortium combines the expertise from several research fields to tackle these challenges and to develop the technological and social aspects of a personal aerial transportation system.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/HELIWorld-2012-Nieuwenhuizen.pdf}, department = {Department B{\"u}lthoff}, talk_type = {Abstract Talk}, event_place = {Frankfurt a.M., Germany}, event_name = {4th International HELI World Conference at the International Aerospace Supply Fair AIRTEC 2012}, author = {Nieuwenhuizen, F and Chuang, L and B{\"u}lthoff, HH} } @Conference { NieuwenhuizenB2012, title = {myCopter – Enabling Technologies for Personal Aerial Transportation Systems}, year = {2012}, month = {10}, day = {24}, department = {Department B{\"u}lthoff}, web_url = {http://ec.europa.eu/research/transport/news/items/joint_eu_us_workshop_en.htm}, event_place = {Brussels, Belgium}, event_name = {Joint EU–US Workshop on Small Aircraft and Personal Planes Systems}, author = {Nieuwenhuizen, F and B{\"u}lthoff, HH} } @Conference { Nieuwenhuizen2012_2, title = {Assessing Pilot Behaviour in Closed-loop Environments}, year = {2012}, month = {10}, day = {18}, department = {Department B{\"u}lthoff}, talk_type = {Invited Lecture}, event_place = {Braunschweig, Germany}, event_name = {2nd Simulator Oriented Flight Training Workshop: Deutsches Zentrum f{\"u}r Luft- und Raumfahrt}, author = {Nieuwenhuizen, F} } @Conference { Venrooij2012_2, title = {What if we simply fly to work? myCopter – Enabling Technologies for Personal Aerial Transportation Systems}, year = {2012}, month = {9}, day = {26}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/myCopter-Presentation-Venrooij.pdf}, department = {Department B{\"u}lthoff}, event_place = {Vicenza, Italy}, event_name = {Deutsch-Italienische Handelskammer: Workshop zur Investorengewinnung}, author = {Venrooij, J and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Conference { Venrooij2012, title = {What if we simply fly to work? myCopter – Enabling Technologies for Personal Aerial Transportation Systems}, year = {2012}, month = {9}, day = {25}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/myCopter-Presentation-Venrooij.pdf}, department = {Department B{\"u}lthoff}, event_place = {Torino, Italy}, event_name = {Deutsch-Italienische Handelskammer: Workshop zur Investorengewinnung}, author = {Venrooij, J and Nieuwenhuizen, FM and B{\"u}lthoff, HH} } @Conference { BulthoffN2012, title = {„Und wenn wir einfach zur Arbeit fliegen“ – Sind fliegende Autos ein Verkehrsmittel der Zukunft?}, year = {2012}, month = {9}, day = {18}, abstract = {Ein allmorgendliches Szenario: Stau auf den Autobahnen, die Hauptverkehrsstra{\ss}en der St{\"a}dte sind verstopft, Z{\"u}ge und Busse sind hoffnungslos {\"u}berf{\"u}llt. Der Pendlerverkehr ist l{\"a}ngst an seine Grenzen gesto{\ss}en und Abhilfe kann der Ausbau des bestehenden Verkehrsnetzes nur noch bedingt schaffen. Vielerorts fehlt es einfach an dem ben{\"o}tigten Platz f{\"u}r neue Stra{\ss}en und auch die Instandhaltung bestehender kostet schon Unsummen. Doch wie sehen die Alternativen aus? Ganz einfach: Der Individualverkehr hebt ab in die dritte Dimension! Diese Vision verfolgt Prof. Heinrich B{\"u}lthoff vom Max-Planck-Institut f{\"u}r biologische Kybernetik in T{\"u}bingen mit dem EU-Projekt „myCopter“. Ziel ist nicht, ein fliegendes Auto zu bauen, sondern vielmehr die technischen und gesellschaftlichen Bedingungen zu kl{\"a}ren, unter denen diese zu einem von der Gesellschaft akzeptierten und brauchbaren Verkehrsmittel werden k{\"o}nnten. Damit wird – in hoffentlich nicht allzu ferner Zukunft - unser Weg zur Arbeit wieder entspannter sein. Zum Konsortium geh{\"o}ren neben dem MPI f{\"u}r biologische Kybernetik, die Universit{\"a}t Liverpool, die {\'E}cole Polytechnique in Lausanne, die ETH Z{\"u}rich, das Karlsruher Institut f{\"u}r Technologie und das Deutsche Zentrum f{\"u}r Luft- und Raumfahrt.}, department = {Department B{\"u}lthoff}, talk_type = {Invited Lecture}, web_url = {http://gdnae.wordpress.com/2012/08/16/und-wenn-wir-einfach-zur-arbeit-fliegen-sind-fliegende-autos-ein-verkehrsmittel-der-zukunft/}, event_place = {G{\"o}ttingen, Germany}, event_name = {127. Versammlung der Gesellschaft Deutscher Naturforscher und {\"A}rzte e.V. (GDN{\"A})}, author = {B{\"u}lthoff, HH and Nieuwenhuizen, F} } @Conference { BulthoffN2011_2, title = {myCopter: Enabling Technologies for Personal Aerial Transportation Systems}, year = {2011}, month = {11}, day = {4}, department = {Department B{\"u}lthoff}, talk_type = {Abstract Talk}, web_url = {http://www.airtec.aero/index.php?id=55}, institution = {Max Planck Institute for Biological Cybernetics}, event_place = {Frankfurt a.M., Germany}, event_name = {3rd International HELI World Conference 2011 ''HELICOPTER Technologies and Operations''}, author = {B{\"u}lthoff, HH and Nieuwenhuizen, FM} } @Conference { BulthoffN2011, title = {myCopter: Enabling Technologies for Personal Aerial Transportation Systems}, year = {2011}, month = {3}, day = {31}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/Aerodays-2011-Buelthoff.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.aerospaceforum.org/PHP/noticias.php?id=76}, institution = {Max Planck Institute for Biological Cybernetics}, event_place = {Madrid, Spain}, event_name = {Sixth European Aerodays 2011}, author = {B{\"u}lthoff, HH and Nieuwenhuizen, F} }