Identification of agitation of an operator during hovering flight of an RC helicopter

Abstract

An operator's finger suddenly shows big motion during hovering flight of an RC helicopter. It is considered that this big motion expresses the operator's agitation caused by the unexpected airframe motion. Thus we analyzed these motions using chaos time series analysis and researched structures of them. As the results, it was found that patterns of the big motion were divided into two kinds of types depending on condition. The difference between these types could be seen as values of the lyapunov exponents for the motion. According to relationship between the finger motion and the airframe motion, the lyapunov exponents of the finger motion is positive under intentional control, and is negative under unintentional control. The sudden big motion has negative lyapunov exponents. Since it is considered that this big motion expresses the operator's agitation, the agitation is identified with the finger motion.