Human pointing motion during interaction with an autonomous blimp
Abstract We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller. The Vector Integration to Endpoint (VITE) model, previously applied to human–comp...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2022-07-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-15016-w |
| _version_ | 1811323415291756544 |
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| author | Mengxue Hou Qiuyang Tao Fumin Zhang |
| author_facet | Mengxue Hou Qiuyang Tao Fumin Zhang |
| author_sort | Mengxue Hou |
| collection | DOAJ |
| description | Abstract We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller. The Vector Integration to Endpoint (VITE) model, previously applied to human–computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human–blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia. The asymptotic stability of the human–blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp. |
| first_indexed | 2024-04-13T13:54:43Z |
| format | Article |
| id | doaj.art-ab1ce617585a41ef8866cb11e0d8a160 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-13T13:54:43Z |
| publishDate | 2022-07-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-ab1ce617585a41ef8866cb11e0d8a1602022-12-22T02:44:14ZengNature PortfolioScientific Reports2045-23222022-07-0112111110.1038/s41598-022-15016-wHuman pointing motion during interaction with an autonomous blimpMengxue Hou0Qiuyang Tao1Fumin Zhang2Georgia Institute of Technology, School of Electrical and Computer EngineeringGeorgia Institute of Technology, School of Electrical and Computer EngineeringGeorgia Institute of Technology, School of Electrical and Computer EngineeringAbstract We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller. The Vector Integration to Endpoint (VITE) model, previously applied to human–computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human–blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia. The asymptotic stability of the human–blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp.https://doi.org/10.1038/s41598-022-15016-w |
| spellingShingle | Mengxue Hou Qiuyang Tao Fumin Zhang Human pointing motion during interaction with an autonomous blimp Scientific Reports |
| title | Human pointing motion during interaction with an autonomous blimp |
| title_full | Human pointing motion during interaction with an autonomous blimp |
| title_fullStr | Human pointing motion during interaction with an autonomous blimp |
| title_full_unstemmed | Human pointing motion during interaction with an autonomous blimp |
| title_short | Human pointing motion during interaction with an autonomous blimp |
| title_sort | human pointing motion during interaction with an autonomous blimp |
| url | https://doi.org/10.1038/s41598-022-15016-w |
| work_keys_str_mv | AT mengxuehou humanpointingmotionduringinteractionwithanautonomousblimp AT qiuyangtao humanpointingmotionduringinteractionwithanautonomousblimp AT fuminzhang humanpointingmotionduringinteractionwithanautonomousblimp |