Mark Mulder

Mark Mulder
Erasmus MC | Erasmus MC · Department of Internal Medicine

MSc MD PhD
Fellowship Medical Oncology

About

71
Publications
19,252
Reads
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2,559
Citations
Citations since 2017
5 Research Items
1508 Citations
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Introduction
I first graduated (MSc) from Delft University of Technology in 2000. In 2002 I started my PhD thesis on a project with Nissan Motor Company. Our research contributed to the development of Nissan's "world first" Distance Control Assist haptic gas pedal. In 2008 I started medical school from which I graduated in 2014. I worked in Internal Medicine at Reinier de Graaf Gasthuis and Intensive Care at Maasstad Hospital. Currently I am a Fellow Oncology at Erasmus MC in Rotterdam.
Additional affiliations
January 2021 - January 2022
Erasmus MC
Position
  • Fellow
Description
  • In- and Outpatient Clinics in Oncology Palliative Care Unit
September 2020 - December 2020
Erasmus MC
Position
  • AIOS Internal Medicine (Resident)
January 2020 - August 2020
Erasmus MC
Position
  • PostDoc Position
Description
  • Postdoctoral researcher eHealth - "Consultation 2030" project. Collaboration between Erasmus Medical Center, Delft University of Technology and Erasmus University - School of Health Policy & Management
Education
September 2011 - December 2014
September 2008 - September 2011
April 2002 - January 2007
Delft University of Technology
Field of study
  • Aerospace Engineering

Publications

Publications (71)
Article
Full-text available
The physical and social distancing measures that have been adopted worldwide because of COVID-19 will probably remain in place for a long time, especially for senior adults, people with chronic conditions, and other at-risk populations. Teleconsultations can be useful in ensuring that patients continue to receive clinical care while reducing physic...
Preprint
UNSTRUCTURED The physical and social distancing measures that have been adopted worldwide because of COVID-19 will probably remain in place for a long time, especially for senior adults, people with chronic conditions, and other at-risk populations. Teleconsultations can be useful in ensuring that patients continue to receive clinical care while re...
Article
Full-text available
Shared control is an increasingly popular approach to facilitate control and communication between humans and intelligent machines. However, there is little consensus in guidelines for design and evaluation of shared control, or even in a definition of what constitutes shared control. This lack of consensus complicates cross fertilization of shared...
Article
Adrenocortical carcinoma is a rare and highly malignant disease which can cause hypercortisolism leading to dysregulation of blood pressure and glucose levels. Most patients present with advanced disease. We describe the classic presentation of a functional adrenocortical carcinoma in a patient with metabolic syndrome.
Conference Paper
Over many years the current state-of-the-art of passive suspension systems have greatly improved driver and passenger ride-comfort. With the advent of active suspension systems, the possibilities for even more fine-tuned ride comfort have increased significantly. Pushing the performance of the active suspension systems beyond the existing ride comf...
Article
Biodynamic feedthrough (BDFT) refers to the feedthrough of vehicle accelerations through the human body, leading to involuntary control device inputs. BDFT impairs control performance in a large range of vehicles under various circumstances. Research shows that BDFT strongly depends on adaptations in the neuromuscular admittance dynamics of the hum...
Chapter
Full-text available
Shared control is an exciting up-and-coming engineering field that is blending the boundaries of control, where humans interact with robots or vehicles that are partly automated. The main challenges for robotics and automation today are posed by the less structured, unpredictable environments, in which humans operate naturally, especially when they...
Article
A large number of haptic driver support systems have been described in the scientific literature. However, there is little consensus regarding the design, evaluation methods, and effectiveness of these systems. This literature survey aimed to investigate: (1) what haptic systems (in terms of function, haptic signal, channel, and supported task) hav...
Conference Paper
Full-text available
A haptic interface, also called haptic display, is a system that informs and aids a human operator by forces on the control device (stick, steering wheel or other). These interfaces are being explored for many fields, e.g., for UAV control, (tele-)robotics, automotive control and flying. The force feedback helps in control tasks and increases the o...
Conference Paper
Full-text available
Biodynamic feedthrough (BDFT) is the feedthrough of vehicle accelerations through the human body, leading to involuntary control device inputs. BDFT is a relevant problem as it reduces control performance in a large range of vehicles under various circumstances. This paper proposes an approach to mitigate BDFT. What differentiates this method from...
Conference Paper
Haptic shared control systems aim to guide drivers during steering using guidance torques. Many such systems generate torques using a simplified and constant lane-keeping model based on a look-ahead controller, without accounting for individual differences. Literature on haptic steering support shows beneficial effects (reduced control activity and...
Conference Paper
We predominantly rely on our (intermittent) visual perception of the environment to perform a driving task safely, robustly, and with sufficient experience seemingly effortless and comfortably. Research has shown that haptic shared control can improve car-following performance, curve negotiation, evasive manoeuvring, eco-driving and even adhering t...
Article
Full-text available
Biodynamic feedthrough (BDFT) occurs when vehicle accelerations feed through the human body and cause involuntary control inputs. This paper proposes a model to quantitatively predict this effect in rotorcraft. This mathematical BDFT model aims to fill the gap between the currently existing black box BDFT models and physical BDFT models. The model...
Article
Full-text available
A biodynamic feedthrough (BDFT) model is proposed that describes how vehicle accelerations feed through the human body, causing involuntary limb motions and so involuntary control inputs. BDFT dynamics strongly depend on limb dynamics, which can vary between persons (between-subject variability), but also within one person over time, e.g., due to t...
Article
Full-text available
Biodynamic feedthrough (BDFT) is a complex phenomenon, which has been studied for several decades. However, there is little consensus on how to approach the BDFT problem in terms of definitions, nomenclature, and mathematical descriptions. In this paper, a framework for biodynamic feedthrough analysis is presented. The goal of this framework is two...
Patent
A target-travel-path generating circuit calculates a target travel path along which the controlled object can travel in the future from the current controlled object position, an ideal-control-signal calculating circuit calculates a control profile Ŝ to travel along the target travel path P, and a difference calculating circuit calculates a differe...
Article
Full-text available
Haptic shared control was investigated as a human-machine interface that can intuitively share control between drivers and an automatic controller for curve negotiation. As long as automation systems are not fully reliable, a role remains for the driver to be vigilant to the system and the environment to catch any automation errors. The conventiona...
Conference Paper
Haptic shared control is a powerful way of combining the best of humans and intelligent vehicles, keeping humans in the loop while avoiding many automation issues. Literature has shown that haptic shared control can support drivers to increase performance at reduced control effort, but also points out that even then, subtle conflicts occur between...
Conference Paper
Drivers usually maintain an error-neglecting control strategy (passive phase) in keeping their vehicle on the road, only to change to an error-correcting approach (active phase) when the vehicle state becomes inadequate. We developed an algorithm that is capable of detecting whether the driver is currently error-neglecting or error-correcting in st...
Conference Paper
Steer-by-Wire (SbW) systems currently under development by the automotive industry offer interesting new approaches to designing driver-steering wheel interactions. The traditional, emerging dynamics in mechanically linked steering systems can be re-designed with SbW to improve or even extend the steering 'feel'. In this article we manipulated the...
Conference Paper
Full-text available
Biodynamic feedthrough (BDFT) refers to a phenomenon where vehicle accelerations feed through the human body, causing involuntary limb motions, which may cause involuntary control inputs. Many studies have been devoted to mitigating BDFT effects. In the current paper, the effectiveness of a simple, cheap and widely-used hardware component is studie...
Article
Full-text available
When performing a manual control task, vehicle accelerations can cause involuntary limb motions, which can result in unintentional control inputs. This phenomenon is called biodynamic feedthrough (BDFT). In the past decades, many studies into BDFT have been performed, but its fundamentals are still only poorly understood. What has become clear, tho...
Article
Full-text available
Literature points to persistent issues in human- automation interaction, which are caused either when the human does not understand the automation or when the automation does not understand the human. Design guidelines for human-automation interaction aim to avoid such issues and commonly agree that the human should have continuous interaction and...
Conference Paper
Full-text available
Vehicle accelerations may feed through the human body, causing involuntary limb motions which may lead to involuntary control inputs. This phenomenon is called biodynamic feedthrough (BDFT). Signal cancellation is a possible way of mitigating biodynamic feedthrough. It makes use of a BDFT model to estimate the involuntary control inputs. The BDFT e...
Conference Paper
Continuous haptic feedback can improve manual control task performance and application methods on steering wheel (haptic steering guidance) have been studied. However, the current haptic steering guidance systems assume there is an average, constant driver's response to force (which can be quantified as the admittance). To improve the performance o...
Conference Paper
Full-text available
Driver control behaviour is highly time variant. When studying the neuromuscular system of drivers in interaction with the steering wheel, the common Fourier system identification techniques are only applicable when time-invariant behaviour is assumed. This paper describes how wavelets can be used to identify time-variant neuromuscular admittance....
Conference Paper
Knowing the neuromuscular admittance of drivers helps understanding how drivers adapt to different steering wheel configurations. System identification allows, through force perturbations on the steering wheel, for identification of endpoint admittance. Design of the forcing function can greatly influence the obtained results. We conducted an exper...
Conference Paper
Full-text available
With shared control both driver and support system have control authority and as such exert control actions to maneuver the car. In haptic shared control, the support system acts through guiding forces on the same control interface with which the driver interacts with the vehicle. Previous research showed beneficial results when drivers are support...
Article
A target-travel-path generating circuit calculates a target travel path along which the controlled object can travel in the future from the current controlled object position, an ideal-control-signal calculating circuit calculates a control profile S to travel along the target travel path P, and a difference calculating circuit calculates a differe...
Article
Full-text available
Biodynamic feedthrough (BDFT) refers to a phenomenon where accelerations cause involuntary limb motions, which can result in unintentional control inputs that can substantially degrade manual control. It is known that humans can adapt the dynamics of their limbs by adjusting their neuromuscular settings, and it is likely that these adaptations have...
Article
Full-text available
The research presented in this paper focuses on the design of a driver support system for the manual longitudinal control of a car during car-following. The aim of the design was to develop a system that would cooperate with the driver in comfortably maintaining (safe) separation with a lead vehicle. Three important design issues for a haptic gas p...
Article
Full-text available
To accomplish air traffic growth in a safe and efficient way, future air traffic management concepts require aircraft to accurately execute 4-dimensional (4D) trajectories. A trajectory planned prior to takeoff, might, however, require in-flight revision. To support the flight crew in their task of accurately replanning a flight plan up to a meteri...
Patent
Vehicle and method of steering such a vehicle, wherein the vehicle has a steering wheel and steerable driving wheels and a transfer system for converting steering wheel actions to a steering angle of the steerable driving wheels, and wherein the transfer system is provided with a predefined stiffness value that determines said transfer system's tra...
Article
Full-text available
A haptic gas pedal feedback system is developed that provides car-following information via haptic cues from the gas pedal. During normal car-following situations, the haptic feedback (HF) cues were sufficient to reduce control activity and improve car-following performance. However, in more critical following situations, drivers use the brake peda...
Conference Paper
Full-text available
Vehicle accelerations may lead to involuntary limb motions. These motions can result into involuntary control inputs when performing a manual control task. This phenomenon is called biodynamic feedthrough (BDFT). This paper aims to show that task interpretation plays an important role in the occurrence of BDFT. Results of an experiment are presente...
Conference Paper
Haptic guidance on the steering wheel has been shown to be useful in supporting drivers during lane keeping and curve negotiation. One successful realization is haptic guidance that continuously produces torques on the steering wheel depending on predicted lateral lane deviations. Thus, both driver and support system contribute to the steering whee...
Conference Paper
Most collision avoidance systems for highway scenarios are shifting the role of the driver from manual execution to a supervisory position. In the interface design of the proposed collision avoidance system proposed in this article, the human-machine issues complicating task automation were avoided by adopting a human-centered approach. In this pap...
Conference Paper
Haptic shared control is a promising way to support humans in vehicular control or teleoperation, through forces on the control interface. Although it is recognized in literature that the human response to forces can change substantially, and although much relevant knowledge about measuring and modeling such adaptations exists in the field of neuro...
Conference Paper
Elderly drivers suffer from deterioration of sight and hearing. This makes visual and auditory information for driver support during curve negotiation not very suitable. We present the design and experimental evaluation of a haptic guidance system for curve negotiation. Twelve elderly (>50 years) subjects participated in a fixed-base driving experi...
Conference Paper
This goal of this study is to understand which parts of the the neuromuscular system contribute during a pitch control task. A novel method developed at the Delft University of Technology allows us to determine the contribution of the neuromuscular feedback system by identifying the admittance, which is the frequency response function of the yielde...
Article
Full-text available
A direct manipulation interface for 4-dimensional (spatio-temporal) in-flight re- planning was developed. The interface coupled the pilots’ actions and the conse- quences of these actions for the overall replanning goals through a visual display of the flight plan’s temporal and spatial layout, as well as the temporal and spatial constraints on alt...
Chapter
Desktop-based simulations are extremely useful tools for the development of new controller applications and techniques as is evident from the theoretical sections of this book. But, in addition to testing the new controllers in an off-line, desktop-based benchmark simulation, an online piloted moving-base simulator evaluation can give new insights...
Patent
A target-travel-path generating circuit calculates a target travel path along which the controlled object can travel in the future from the current controlled object position, an ideal-control-signal calculating circuit calculates a control profile Ŝ to travel along the target travel path P, and a difference calculating circuit calculates a differe...
Chapter
Full-text available
The experiments showed that the possible adaptation range in human impedance control is extremely large when controlling a steering wheel: at low frequencies a factor of a 1000 could be distinguished between giving way to forces and resisting them. This adaptability confirms the underlying hypothesis of this chapter that it is difficult to design s...
Conference Paper
Full-text available
A haptic gas pedal was developed, which continuously displays inter-vehicle separation information to drivers during car following. The haptic information is generated by combining time-headway and time-to-contact to the lead vehicle. It is expected that haptic gas pedal feedback will allow drivers to better divide their attention between the car-f...
Conference Paper
Full-text available
Biodynamic feedthrough (BDFT) refers to a phenomenon where accelerations cause involuntary limb mo- tions which, when coupled to a control device, can result in unintentional control inputs. This study aims to increase the understanding of BDFT, and the role of the neuromuscular system (NMS) in particular. The fundamental question driving this rese...
Conference Paper
Biodynamic feedthrough (BDFT) refers toaphenomenon where accelerations cause involuntary limb motions which, when coupled to a control device, can result in unintentional control inputs. Biodynamic feedthrough can occur in many different vehicles and under various conditions, which makes it highly relevant to study its mechanisms. In this paper the...
Article
Cooperative-Adaptive Cruise Control (C-ACC) systems are seen as a potential technology to increase capacity and safety within Intelligent Traffic Systems (ITS). In this research, interaction mediums of the driver for both advisory and autonomous platforms are investigated. Two different advisory and automated frameworks with three different interfa...
Article
Air traffic controller workload is considered to be one of the most important limiting factors to the growth of air traffic. The difficulty of a traffic control task can be analyzed through examining the problem's solution space, i.e., all possible vector commands that satisfy the various constraints. But apart from deriving metrics for workload, a...
Conference Paper
Full-text available
When an operator in a moving vehicle is performing a manual control task, the accelerations to which the operator is subjected can result in unintentional control inputs. This biodynamic feedthrough (BDFT) depends on the properties of the control device and of the control limb. Humans can adjust the dynamics properties of their limbs, effectively c...
Conference Paper
Full-text available
A haptic gas pedal feedback system was developed at Delft University of Technology that translated the separation to a lead vehicle into continuous haptic cues (force, stiffness) on the gas pedal. During normal car-following situations, the haptic feedback cues were sufficient to reduce control activity and improve car-following performance. Howeve...
Conference Paper
Full-text available
Current pilot models oversimplify the neuromuscular system as a second-order low-pass filter, merely fo- cusing on its role in limiting the stick position bandwidth. However, the neuromuscular system also functions as a fast feedback control system due to reflexive activity and inherent muscle visco-elasticity, allowing pilots to respond intuitivel...
Article
Full-text available
A promising way to support operators in a manual control task is to provide them with guiding feedback forces on the control device (e.g., the steering wheel). These additional forces can suggest a safe course of action, which operators can follow or over-rule. This paper explores the idea that the feedback forces can be designed not only to depend...
Article
Full-text available
During pitch rotation of the aircraft, a pilot, seated in front of the aircraft center of gravity, is subjected to rotational pitch and vertical heave motion. The heave motion is a combination of the vertical motion of the aircraft center of gravity and the heave motion as a result of the pitch rotation. In a pitch tracking task, all of these cues...
Conference Paper
Full-text available
To accomplish air traffic growth in a safe and efficient way, future air traffic management concepts require aircraft to accurately plan and execute 4D trajectories. A trajectory planned prior to takeoff, may, however, require in-flight revision. To support the flight crew in their task of accurately re- planning a flight plan up to a meter fix, in...
Article
Full-text available
Active driver support systems either automate a control task or present warnings to drivers when their safety is seriously degraded. In a novel approach, utilising neither automation nor discrete warnings, a haptic gas pedal (accelerator) interface was developed that continuously presents car-following support information, keeping the driver in the...
Conference Paper
Full-text available
Haptic feedback on the steering wheel is reported in literature as a promising way to support drivers during steering tasks. Haptic support allows drivers to remain in the direct manual control loop, avoiding known human factors issues with automation. This paper proposes haptic guidance based on the concept of shared control, where both the driver...
Article
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...
Conference Paper
The last years, increased effort has been dedicated to the design of systems that assist the driver in car following. The need for assistance systems arises from the fallibility of the visual feedback loop, for example due to inattention. Existing driver assistance systems either automate the car-following task or support drivers with binary warnin...
Article
Full-text available
The research presented in this dissertation focuses on supporting drivers in the longitudinal control of their vehicle during car-following. The goal of the research is the human-centred development of a haptic gas pedal interface that comfortably supports drivers in maintaining a safe separation with a leading vehicle during car-following. Two dif...
Conference Paper
A procedure is developed to identify the driver frequency response functions (FRF) of a serial multi-loop car-following model. It is shown that with a single forcing function both the inner-loop and outer-loop FRF's can be identified, although indirectly. Parameterisation of the driver FRF's is done using the concepts of the simplified precision mo...
Conference Paper
Full-text available
A car-following experiment was conducted to investigate the effects of lead vehicle speed and separation distance on driver car-following behavior. Furthermore, the influence of a driver support system with haptic gas pedal feedback was investigated as well. The experiment was set up such that system identification techniques could be applied using...
Conference Paper
An experiment was carried out to investigate the influence of a reaction-time task on car-following with an active gas pedal. Two sessions were held, the first one to investigate reaction times, the second one to investigate task effects. Under the conditions of the experiments, stiffness feedback yielded lower, and force feedback higher than base-...
Conference Paper
Full-text available
A car-following experiment was conducted to investigate the influence of haptic feedback via the gas pedal on the processing of visual information from the driving scene. During the driving task visual stimuli were presented in the central and peripheral field of view of the drivers to which they had to react as quickly as possible. Two haptic feed...

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