Contact

Mario Olivari

Address: Spemannstr. 38
72076 Tübingen
Room number: 110
Phone: +49 7071 601 607
Fax: +49 7071 601 616
E-Mail: mario.olivari

 

Picture of Olivari, Mario

Mario Olivari

Position: Research Scientist  Unit: Bülthoff

Research Scientist

I work in the Cybernetics Approach to Perception and Action and Motion Perception and Simulation research groups.

My research interests include haptic guidance systems, pilot identification, motion cueing, and real-time model predictive control.

 

Background

I obtained my B.Sc. degree in computer engineering and my M.Sc. degree in automation engineering (both cum laude) from the University of Pisa. Between 2013 and 2016, I worked in a collaborative research project between University of Pisa and Max Planck Institute for Biological Cybernetics, resulting in a PhD for my work on identification of pilot control behavior.

 

Selected publications:

  • Identifying Time-Varying Pilot Responses: A Regularized Recursive Least-Squares Algorithm AIAA Modeling and Simulation Technologies Conference (2016)
  • Methods for Multiloop Identification of Visual and Neuromuscular Pilot Responses IEEE Transactions on Cybernetics (2015)
  • Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks Journal of Guidance, Control, and Dynamics (2014)

Haptic Aid as Pilot Support System: a Human-Centered Design

 

Introduction

Haptic aids aim at helping pilots during a control task by providing force feedback on the control device. To assess whether the force feedback has a positive effect on the pilot performing the task, an insight is required into the pilot control behaviour. The dynamics of the neuromuscular system play an important role when trying to investigate the effect of haptic aids on pilot behaviour. Estimating the neuromuscular dynamics would provide quantitative insights into how pilots adapt their control behavior to the haptic aid.

Previous works have investigated methods to estimate the neuromuscular system during control tasks. However, a key limitation with much of estimation methods is that they make assumptions that may not hold for many practical applications [1, 3].

 

Goals

The goal of the project is to develop methods for estimating the neuromuscular system dynamics in compensatory tracking tasks with haptic aids, see Fig.1. The knowledge of pilot adaptation to haptic aids will be used to design the haptic aid based on pilot control behaviour (human-centered design).

 

Compensatory tracking task with haptic aids

Fig. 1 Tracking task with compensatory display and haptic aids.

 

Methods

We have shown that the commonly used method (CSD-based method) for estimating neuromuscular dynamics gives biased estimates in cases when a non-interference assumption is not fulfilled. We presented two different procedures, one based on ARX models (ARX-based method) and a multi-loop cross-spectral density method (CSD-ML method), which allow overcoming this limitation.

The two novel methods were validated with Monte-Carlo simulations and compared to the method commonly used in literature [1].  Furthermore, these methods were applied to experimental data obtained from closed-loop aircraft control tasks with pilot in-the-loop and with different haptic aids [2].

The CSD-based, ARX-based, and CSD-ML methods assume a time-invariant behaviour of neuromuscular response. However, the neuromuscular response is likely to be time-variant in realistic control scenarios, since pilots change their behaviour depending on environmental variables, fatigue, etc. Therefore, we have developed a method for estimating time-varying neuromuscular responses (RLS-based method) [3]. We are currently in the process of validating this method with experimental data.

 

Initial results

ARX-based and CSD-ML methods provided reliable estimates of time-invariant neuromuscular response, even when the commonly-used method failed [1]. Furthermore, results from pilot in-the-loop control tasks indicated that participants adapted their neuromuscular response Hadm to fully exploit different haptic aids, see Fig. 2 [2].

The RLS-based method gave reliable estimates of time-varying neuromuscular responses in a set of Monte-Carlo simulations [3].

 

Fig. 2 Neuromuscular responses for force-related tasks (force, relax, position) and for aircraft control tasks with different haptic aids (DHA, NoHA, IHA)

Fig. 2. Neuromuscular responses for force-related tasks (force, relax, position) and for aircraft control tasks with different haptic aids (DHA, NoHA, IHA)


Initial conclusions

In this project, we showed that humans significantly adapt their neuromuscular response to the provided haptic aid. Future works will focus on designing the haptic aid based on the estimated neuromuscular responses.

 

References

1. Olivari M, Nieuwenhuizen FM, Venrooij J, Bülthoff HH, and Pollini L "Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks", IEEE Transactions on Cybernetics, in press

2. Olivari M, Nieuwenhuizen FM, Bülthoff HH, and Pollini L (October 2014) "Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks", Journal of Guidance, Control, and Dynamics, Vol. 37, No. 6 (2014), pp. 1741-1753

3. Olivari M, Nieuwenhuizen FM, Bülthoff HH, and Pollini L (October 2014) Identifying Time-varying Neuromuscular System with a Recursive Least-squares Algorithm: a Monte-Carlo Simulation Study, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2014), IEEE, Piscataway, NJ, USA

Mario Olivari

 

Mario Olivari is a research scientist in the "Cybernetics Approach to Perception and Action" group and the "Motion Perception and Simulation" group. His research interests include haptic guidance systems, identification of pilot control behavior, motion cueing, and real time model predictive control.

 

Current position

Since Jul '16 

Research Scientist at Max Planck Institute for Biological Cybernetics, Tübingen, Germany.

 

Education

Feb '13 - Jul '16

Ph.D. Candidate at Max Planck Institute for Biological Cybernetics, Tübingen, Germany (in collaboration with University of Pisa, Italy).

Thesis title: Measuring pilot control behavior in control tasks with haptic feedback.

Dec '08 - Dec '12

Master's Degree in Automation Engineering, University of Pisa, Italy.

Thesis title: Multi-loop pilot behaviour identification in response to simultaneous visual and haptic stimuli.

Final mark: cum laude
Sep '01 - Dec '07

Bachelor's Degree in Computer Engineering, University of Pisa, Italy.

Thesis title: Identifying linear systems with time delay by using Principal Component Analysis (PCA).

Final mark: cum laude

 

Experience

Nov '11 - Jun '12

Research Internship at Max Planck Institute for Biological Cybernetics, Department of Human Perception, Cognition and Action, Germany.

Project: Identifying pilot responses in control tasks with haptic aids

Dec '08 - Dec '09

Fellowship student at Italian National Research Council (CNR), Institute of Information Science and Technologies (ISTI), Italy.

Project: Investigating protocols for wireless communication

Dec '07 - Dec '08

Employee at University of Pisa, Italy.

Function: Computer and Network maintenance.

 

Honors and awards

Dec '16

Winner of the Best Dissertation Award 2016 from the Max-Planck-Institut für biologische Kybernetik and Förderverein für neurowissenschaftliche Forschung e.V.

This award is yearly awarded for the best Ph.D. dissertation of the Max Planck Institute for Biological Cybernetics.

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Show abstracts

Articles (3):

Geluardi S, Venrooij J, Olivari M, Bülthoff HH and Pollini L (October-2017) Transforming Civil Helicopters into Personal Aerial Vehicles: Modeling, Control, and Validation Journal of Guidance, Control, and Dynamics 40(10) 2481-2495.
Olivari M, Nieuwenhuizen F, Venrooij J, Bülthoff HH and Pollini L (December-2015) Methods for Multiloop Identification of Visual and Neuromuscular Pilot Responses IEEE Transactions on Cybernetics 45(12) 2780 - 2791.
Olivari M, Nieuwenhuizen F, Bülthoff HH and Pollini L (November-2014) Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks Journal of Guidance, Control, and Dynamics 37(6) 1741-1753.

Conference papers (17):

Bufalo F, Olivari M, Geluardi S, Gerboni CA, Pollini L and Bülthoff HH (October-2017) Force-Stiffness Haptic Feedback for Learning a Disturbance Rejection Task, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2017), -. accepted
Olivari M, Pretto P, Venrooij J and Bülthoff HH (September-7-2017) Defining the Kinematic Requirements for a Theoretical Driving Simulator, DSC 2017 Europe: Driving Simulation Conference & Exhibition, -.
Fabbroni D, Geluardi S, Gerboni CA, Olivari M, Pollini L and Bülthoff HH (September-2017) Quasi-Transfer-of-Training of Helicopter Trainer from Fixed-Base to Motion-Base Simulator, 43rd European Rotorcraft Forum (ERF 2017), -. accepted
Fabbroni D, Geluardi S, Gerboni CA, Olivari M, D'Intino G, Pollini L and Bülthoff HH (May-2017) Design of a Haptic Helicopter Trainer for Inexperienced Pilots, 73rd American Helicopter Society International Annual Forum (AHS 2017), 1-12.
D'Intino G, Olivari M, Geluardi S, Venrooij J, Pollini L and Bülthoff HH (January-2017) Experimental evaluation of haptic support systems for learning a 2-DoF tracking task, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2017, Curran, Red Hook, NY, USA, 366-375.
D'Intino G, Olivari M, Geluardi S, Venrooij J, Innocenti M, Bülthoff HH and Pollini L (October-2016) Evaluation of Haptic Support System for Training Purposes in a Tracking Task, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), IEEE, Piscataway, NJ, USA, 002169-002174.
Venrooij J, Olivari M and Bülthoff HH (August-2016) Biodynamic Feedthrough: Current Status and Open Issues, 13th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems (HMS 2016), Elsevier, Frankfurt a.M., Germany, IFAC-PapersOnLine, 49(19), 120–125.
pdf
Pollini L, Razzanelli M, Olivari M, Brandimarti A, Maimeri M, Pazzaglia P, Pittiglio G, Nuti R, Innocenti M and Bülthoff HH (August-2016) Design, Realization and Experimental Evaluation of a Haptic Stick for Shared Control Studies, 13th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems (HMS 2016), Elsevier, Frankfurt a.M., Germany, IFAC-PapersOnLine, 49(19), 78–83.
Picardi G, Geluardi S, Olivari M and Bülthoff HH (May-2016) L1-based Model Following Control of an Identified Helicopter Model in Hover In: Leveraging Emerging Technologies for Future Capabilities, , 72nd American Helicopter Society International Annual Forum (AHS 2016), Curran, Red Hook, NY, USA, 1770-1777.
Olivari M, Venrooij J, Nieuwenhuizen FM, Pollini L and Bülthoff HH (January-2016) Identifying Time-Varying Pilot Responses: A Regularized Recursive Least-Squares Algorithm, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2016, Curran, Red Hook, NY, USA, 385-399.
Maimeri M, Olivari M, Bülthoff HH and Pollini L (January-2016) On Effects of Failures in Haptic and Automated Pilot Support Systems, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2016, Curran, Red Hook, NY, USA, 373-384.
Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (October-2015) Identifying Time-Varying Neuromuscular Response: a Recursive Least-Squares Algorithm with Pseudoinverse, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2015), IEEE, Piscataway, NJ, USA, 3079-3085.
Gerboni CA, Geluardi S, Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (July-2015) Development of a 6 dof nonlinear helicopter model for the MPI Cybermotion Simulator, 40th European Rotorcraft Forum (ERF 2014), Curran, Red Hook, NY, USA, 615-626.
pdf
Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (January-2015) Identifying Time-Varying Neuromuscular Response: Experimental Evaluation of a RLS-based Algorithm, AIAA Modeling and Simulation Technologies Conference 2015: Held at the SciTech Forum 2015, Curran, Red Hook, NY, USA, 284-298.
Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (October-2014) Identifying Time-Varying Neuromuscular System with a Recursive Least-Squares Algorithm: a Monte-Carlo Simulation Study, IEEE International Conference on Systems, Man and Cybernetics (SMC 2014), IEEE, Piscataway, NJ, USA, 3573-3578.
Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (January-2014) An Experimental Comparison of Haptic and Automated Pilot Support Systems, AIAA Modeling and Simulation Technologies Conference 2014: Held at the SciTech Forum 2014, Curran, Red Hook, NY, USA, 163-173.
pdf
Olivari M, Nieuwenhuizen FM, Venrooij J, Bülthoff HH and Pollini L (August-2012) Multi-loop Pilot Behavior Identification in Response to Simultaneous Visual and Haptic Stimuli, AIAA Modeling and Simulation Technologies Conference 2012, Curran, Red Hook, NY, USA, 892-914.
pdf

Posters (5):

Symeonidou ER, Olivari M, Venrooij J, Bülthoff HH and Chuang LL (November-13-2016): EEG oscillatory modulations (10-12 Hz) discriminate for voluntary motor control and limb movement, 46th Annual Meeting of the Society for Neuroscience (Neuroscience 2016), San Diego, CA, USA.
Symeonidou E-R, Olivari M, Bülthoff HH and Chuang LL (March-10-2015): Direct haptic feedback benefits control performance during steering, 57th Conference of Experimental Psychologists (TeaP 2015), Hildesheim, Germany.
Symeonidou E-R, Olivari M, Bülthoff HH and Chuang LL (September-2014): The Role of Direct Haptic Feedback in a Compensatory Tracking Task, 12th Biannual Conference of the German Cognitive Science Society (KogWis 2014), Tübingen, Germany, Cognitive Processing, 15(Supplement 1) S71.
Symeonidou E-R, Olivari M, Bülthoff HH and Chuang LL (June-2014): The Role of Direct Haptic Feedback in a Compensatory Tracking Task, 6th International Conference on Brain and Cognitive Engineering (BCE 2014), Tübingen, Germany.
Olivari M (January-9-2014): Human-Centered Design of Haptic Aids for Aerial Vehicles, Presentazione attività anno 2013: Scuola di Ingegneria: Università di Pisa Dottorati di Ricerca in Automatica, Robotica e Bioingegneria, Ingegneria Meccanica, Ingegneria Chimica, Ingegneria Aerospaziale, Ingegneria Nucleare, Pisa, Italy.

Theses (1):

Olivari M: Measuring Pilot Control Behavior in Control Tasks with Haptic Feedback, University of Pisa: Department of Information Engineering, (June-2016). PhD thesis

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Last updated: Monday, 22.05.2017