Emergency Stop Research Articles

ИССЛЕДОВАНИЕ ВИДИМОСТИ ТРАНСПОРТНОГО СРЕДСТВА

Research aims to study the visibility of the vehicle with the included short-range (high) lights, parking lights and emergency stop signal on the distance from the car. Considered legislation regulating the use of external lighting devices.

Strength analysis and optimization of welding robot mechanism in emergency stop state

Summary The contribution deals with the strength analysis and optimization of the welding robot mechanism in emergency stop state. The common operational positioning of the welding robot is characterized by smooth course of speeds in the time. The resulting load does not differ significantly from the static loading. However the safety requirements given by the norm require the ability of emergency stop function. Since the course of speed in time is rather steep the higher values of acceleration and thus higher excitation force is expected. The dynamical simulation performed describes the response of the robot mechanism in the form of stress course in time, quantifies the peak values of the stress caused by the dynamical component of loading and highlights the potential risks associated with this phenomenon.

Analyzing EEG signals to detect unexpected obstacles during walking.

BackgroundWhen an unexpected perturbation in the environment occurs, the subsequent alertness state may cause a brain activation responding to that perturbation which can be detected and employed by a Brain-Computer Interface (BCI). In this work, the possibility of detecting a sudden obstacle appearance analyzing electroencephalographic (EEG) signals is assessed. For this purpose, different features of EEG signals are evaluated during the appearance of sudden obstacles while a subject is walking on a treadmill. The future goal is to use this procedure to detect any obstacle appearance during walking when the user is wearing a lower limb exoskeleton in order to generate an emergency stop command for the exoskeleton. This would enhance the user-exoskeleton interaction, improving the safety mechanisms of current exoskeletons.MethodsIn order to detect the change in the brain activity when an obstacle suddenly appears, different features of EEG signals are evaluated using the recordings of five healthy subjects. Since the change in the brain activity occurs in the time domain, the features evaluated are: common spatial patterns, average power, slope, and the coefficients of a polynomial fit. A Linear Discriminant Analysis-based classifier is used to differentiate between two conditions: the appearance or not of an obstacle. The evaluation of the performance to detect the obstacles is made in terms of accuracy, true positive (TP) and false positive (FP) rates.ResultsFrom the offline analysis, the best performance is achieved when the slope or the polynomial coefficients are used as features, with average detection accuracy rates of 74.0 and 79.5 %, respectively. These results are consistent with the pseudo-online results, where a complete EEG recording is segmented into windows of 500 ms and overlapped 400 ms, and a decision about the obstacle appearance is made for each window. The results of the best subject were 11 out of 14 obstacles detected with a rate of 9.09 FPs/min, and 10 out of 14 obstacles detected with a rate of 6.34 FPs/min using slope and polynomial coefficients features, respectively.ConclusionsAn EEG-based BCI can be developed to detect the appearance of unexpected obstacles. The average accuracy achieved is 79.5 % of success rate with a low number of false detections. Thus, the online performance of the BCI would be suitable for commanding in a safely way a lower limb exoskeleton during walking.

Evaluation of an Elevator Emergency Stop Device With a Magnetorheological Fluid Damper Controlled in Conformity With the Elevator Safety Guide

During the operation of an elevator emergency stop device, the elevator cage decelerates significantly. Some passengers have been injured in emergency stoppages because they were subjected to a large impact force from the elevator emergency-stop device. Therefore, we focused on the passengers’ safety in elevators and proposed an emergency-stop device with a spring and a magnetorheological fluid damper that enables the damping coefficient to be varied continuously by controlling the magnetic field. In this paper, based on the International Standard and the guide for elevators, we evaluate the performance of three types of emergency stop device, namely, the conventional mechanical emergency-stop device, a stop device with a controller designed for a full complement, and a stop device with a revised controller.

Emergency Stop and Drive Analysis of Bolted Flange Joints

The strength and tightness of flange joints will be weaker due to the temperature fluctuations. There exists no mature calculation procedure that can accounts for the temperature fluctuations’ effect on the performance of flanged joint. Based on the finite element simulation of a flanged joint under emergency stop and drive condition using ANSYS, the strength integrity and sealing performance of it are evaluated according to code JB4732-2005. The results show that stress of every component increases after experiencing an emergency stop and drive, flange deflection is more serious, resulting in integrity and tightness failure and can’t meet the sealing requirements. Repeatedly stop and drive will lead to discontinuity and alternating loads for the flanged joints, which will increase the leakage trend.

Examination of appropriate intervals between announcements during an emergency stop of a monorail

Examination of appropriate intervals between announcements during an emergency stop of a monorail

Feasibility of Online Semantic Labeling of Deformable Tissues for Minimally Invasive Surgery1

Vascular injury accounts for one third of complications in laparoscopy [1]. It is the second highest cause of death within laparoscopic surgery, second only to anesthesia, with a mortality rate estimated at 15% [2]. Surgery is also extremely common, currently surgeries are performed at a rate of 50 million per year, giving the average American an expected seven surgeries in their lifetime [3]. There is currently no way to (1) detect imminent vascular injury during surgery (2) prevent it via alarm or possibly an automated emergency stop in the case of a surgical robot. Surgical robots have become increasingly popular. However, they remain a passive master–slave system with no safeguards for adverse events like vascular injury. In the past, this is because the robotic systems do not have sufficient means of (1) tracking deformable tissues during surgery and, crucially, (2) semantically labeling the tracked data; e.g., blood vessel to protect versus kidney tissue to resect. Time of flight cameras have been proposed for tracking tissue geometry through an endoscope [4]. We herein propose to use time of flight to track and semantically label tissues in real time. Specifically, we evaluated the feasibility of time of flight tracking for semantically distinguishing kidney tissue from connected vasculature in real time using a modified algorithm.

Vehicle following control under a rational initial state

To study the control problem of vehicle following system with a rational initial state is of greater practical significance than that with an irrational initial state. The Petri net is used to describe the state transition diagram of vehicle following control system with a rational initial state after vehicle following control model is constructed. An integrated control method, including the velocity-difference control based on dynamic safety following distance, the inter-vehicle distance control for efficiency improvement based on hyperbolic function and the emergency stopping control for collision avoidance, under their respective conditions, is presented for the establishment of a safe and efficient steady-following state. The numerical results show that the presented control method can be used by the following vehicle to adapt its own behavior in safety and efficiency to the preceding vehicle’s behavioral change, and lead vehicle following system with a rational initial state to enter the previous safe and efficient steady-following state or a new safe and efficient steady-following state.

Brain signal-based safety measure activation for robotic systems

In this paper, we present our approach for using EEG signals to activate safety measures of a robot when an error or unexpected event is perceived by the human operator. In particular, we consider brain-based error perception while the operator passively observes the robot performing an action. Our approach consists of monitoring EEG signals and detecting a brain potential called error related negativity (ERN) that spontaneously occurs when the operator perceives an error made by the robot or when an unexpected event occurs. We detect ERN by pre-training two linear classifiers using data collected from a preliminary experiment based on a visual reaction task. We derive the probability of failure in demand (PFD), commonly used to assess functional safety for a two-channel verification system based on the combination of linear classifiers. Functional safety analysis was then performed on a BMI-based robotic framework in which a signal was sent to the robot to active its safety measures in when an ERN was detected. Using brain-based signals, we demonstrate that it is possible to send an emergency stop action during mobile navigation task when unexpected events occur with an accuracy of 75%.

A new procedure for wind energy systems maintenance design

The present study introduces a new procedure to analyze and design wind farms maintenance plans, based on analysis of variance, that can be directly implemented by the own operator. This methodology, based on a one-way analysis of variance study of weather variables and wind turbine working conditions, allows to define the exact operating range at which each of the most frequent errors in wind farms used to happen. Typically, most frequent errors, like freezing of anemometers, excessive orientation time errors, brake shoe excessive temperature, emergency stop, and asymmetric currents, appear under certain weather, temperature, and wind velocity conditions, in such a way that they can be modeled as a function of wind velocity and wind direction. In a similar way, other analyzed errors, such as starting problems and errors in current phase sequence, showed a tendency to appear under specific wind orientations.

Myo-Signal Based Intuitive Driving Interface: Development and Evaluation

This study proposes an electromyogram (EMG)-based driving interface, MyoDrive, which uses two wrist motions to accelerate, brake, and steer in a simple manner. The horizontal angle of the right wrist is used for steering, and the vertical angle of the left wrist is used for speed control. Each angle was estimated from the EMG signals with a simple regression method. Conventional wheel/pedal interface and the proposed interface, MyoDrive, were compared with three tasks-slalom, speed tracking, and emergency stop to investigate their intuitive controllability. The proposed interface showed better learnability and response than wheel/pedal interface, but was behind in steering and speed control performance. In the speed tracking task, as the target speed increased, the deviation of MyoDrive increased whereas the deviation of Wheel/Pedal decreased in the slow region. It meant that Wheel/Pedal controlled speed more precisely. However, MyoDrive showed faster response both in the transition state and emergency.

The Effects of Hip and Spine Orthoses on Braking Parameters: A Simulated Study With Healthy Subjects

BackgroundAlthough a person's fitness to drive has gained more attention over the past few years, investigations have focused mainly on postsurgical (eg, hip arthroplasty) driving performance. Few data are available on how orthoses affect the ability to perform an emergency stop. ObjectiveTo determine whether common lumbar and hip orthoses impair driving performance by increasing brake response time and weakening brake force (BF). DesignCrossover repeated measures design. SettingUniversity hospital. ParticipantsA crossover, repeated-measures design was used to test 30 healthy volunteers with and without each of the orthoses in random order. MethodsA custom-made simulator was created from a car cabin fitted with measurement equipment to record braking parameters under realistic spatial constraints. Main Outcome MeasurementsReaction time (RT), foot transfer time (FTT) (these 2 together: brake response time), and maximum BF. ResultsAlthough spine orthoses lead to statistically significant increases in RT (Vertebradyn-Strong, P = .002; Horizon 637 LSO, P = .32; and SofTec Dorso, P = .013), this effect was not observed in hip orthoses, where instead FTT was prolonged (DynaCox and Hohmann-like orthosis, P < .001). BF was not significantly altered in any of the orthoses. ConclusionsThis study demonstrates that hip and spine orthoses lead to impaired driving performance. Depending on the type of immobilization, this effect mostly increases RT or FTT, lengthening total stopping distances by up to half a meter at 100 km/h. However, in the absence of an underlying pathological condition in individuals with orthoses, their braking performance should be sufficient to continue driving.

Multi-objective decoupling algorithm for active distance control of intelligent hybrid electric vehicle

The paper presents a novel active distance control strategy for intelligent hybrid electric vehicles (IHEV) with the purpose of guaranteeing an optimal performance in view of the driving functions, optimum safety, fuel economy and ride comfort. Considering the complexity of driving situations, the objects of safety and ride comfort are decoupled from that of fuel economy, and a hierarchical control architecture is adopted to improve the real-time performance and the adaptability. The hierarchical control structure consists of four layers: active distance control object determination, comprehensive driving and braking torque calculation, comprehensive torque distribution and torque coordination. The safety distance control and the emergency stop algorithms are designed to achieve the safety and ride comfort goals. The optimal rule-based energy management algorithm of the hybrid electric system is developed to improve the fuel economy. The torque coordination control strategy is proposed to regulate engine torque, motor torque and hydraulic braking torque to improve the ride comfort. This strategy is verified by simulation and experiment using a forward simulation platform and a prototype vehicle. The results show that the novel control strategy can achieve the integrated and coordinated control of its multiple subsystems, which guarantees top performance of the driving functions and optimum safety, fuel economy and ride comfort.

자동주행차량의 안전성 향상을 위한 원격비상정지시스템

Abstract: In this paper, a remote emergency stop system to improve the safety of an automated driving vehicle is proposed. One of the most serious problems of the previous wireless remote emergency system is that it does not work when the wireless channel is damaged in case of an emergency because it is composed of a single communication channel. Therefore, the proposed remote emergency stop system composed of a portable wireless remote system and a stationary wireless remote system is designed and the remote emergency stop system for automated driving vehicles is developed. By applying it to an automated driving vehicle to check it's performance, the wireless remote system is tested. Emergency stops using the portable wireless remote system is tested when the stationary wireless remote system is disconnected. Also, emergency stops using the stationary wireless remote system are tested when the portable wireless remote system is disconnected. The results of the emergency stop test show a satisfactory performance.Keywords: remote emergency stop system, safety, wireless remote, multiple channel, automated driving vehicle

The Control System Based on FPGA Technology For Fatigue Test Stand MZGS-100 PL

Abstract The paper presents a solution of the control system for fatigue test stand MZGS- -100 PL, comprising the integrated Real-Time controller based on FPGA (Field- Programmable Gate Array) technology with LabVIEW software. The described control system performs functions such as continuous regulation of speed induction motor, measuring strain of the lever machine and the test specimen, displacement of the polyharmonic vibrator, as well as the elimination of interferences, overload protection and emergency stop of the machine. The fatigue test stand also allows to set the pseudo-random history of energy parameter W(t).

Driving performance and driver discomfort in an elevated and standard driving position during a driving simulation

The primary purposes of a vehicle driver's seat, is to allow them to complete the driving task comfortably and safely. Within each class of vehicle (e.g. passenger, commercial, industrial, agricultural), there is an expected driving position to which a vehicle cabin is designed. This paper reports a study that compares two driving positions, in relation to Light Commercial Vehicles (LCVs), in terms of driver performance and driver discomfort. In the ‘elevated’ driving position, the seat is higher than usually used in road vehicles; this is compared to a standard driving position replicating the layout for a commercially available vehicle. It is shown that for a sample of 12 drivers, the elevated position did not, in general, show more discomfort than the standard position over a 60 min driving simulation, although discomfort increased with duration. There were no adverse effects shown for emergency stop reaction time or for driver headway for the elevated posture compared to the standard posture. The only body part that showed greater discomfort for the elevated posture compared to the standard posture was the right ankle. A second experiment confirmed that for 12 subjects, a higher pedal stiffness eliminated the ankle discomfort problem.

S1730102 歩行者保護を目的とする自動車のクリティカルインターロック

In recent years, fatal traffic accidents are expected to decrease by driver assistance system. PCS(Pre-Crash Safety system) that has been put into practical use in car is a typical example of the system. It is however intended to ensure probabilistic safety depending on the computer. Recent real risk-based safety may demand that the concept of intrinsically safe design should be also applied to the car safety. If you have in the face of danger that can't be avoided immediately, the accident must be prevented by stopping the system. The critical interlock is the ultimate emergency stop control triggered by human to protect him from the fatal damage of accident. As decisive safety means in case of facing accidents involving fatal damage, in this study, critical interlock is logically examined, and a mechanism for stopping the automobile inertia is studied on the base of critical safe control for compensating against fault in mechanical controled emergency stop operation.

2P1-I07 上部転回機構を有するロボティクス歩行器の開発 : 転回動作による着座支援の機能評価

In this paper, Over view and System configuration of Rbotics Walker are described. This has four types, Standby mode and Driving mode, Rotation mode, Warning mode. At power-on, it makes standby mode. Then, It becomes a Driving mode Walking for two-hand control SW is pressed, Rotation mode is pressed Upper rotation release SW. When walking, it's an emergency stop become more than set speed.

2A1-W03 オペレータの停止操作特性を含むロボットの総合停止性能の測定

2A1-W03 オペレータの停止操作特性を含むロボットの総合停止性能の測定

How do ankle braces affect braking performance? An experimental driving simulation study with healthy volunteers.

Fitness to drive a car has been investigated increasingly over recent years. However, most research has focussed on perioperative driving performance, and few data are available on how orthoses influence the ability to perform an emergency stop. This study investigated the effect of 4 common ankle braces (Kallassy, CaligaLoc, Air-Stirrup, ASO) on reaction time, foot transfer time (together: brake response time) and brake force. The hypothesis was that wearing these braces on the right ankle impairs braking performance, specifically by increasing foot transfer time, but also by altering brake force. A car cabin was set up with measurement equipment to register reaction time, foot transfer time, brake response time and brake force under realistic spatial constraints. A crossover repeated measures design was used to test 30 healthy volunteers with and without each of the braces. All 4 braces resulted in statistically significantly increased foot transfer time (p < 0.001), compared with measurements without a brace. Reaction time with a brace was significantly prolonged, with the exception of the Kallasy. Brake force was not statistically significantly impaired. This study demonstrates that ankle braces lead to impaired braking performance. Depending on the type of brace, a stopping distance increase of more than 1 m at 100 km/h can be expected.