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The design and analysis of multi-agent human cyber-physical systems in safety-critical or industry-critical domains calls for an adequate semantic foundation capable of exhaustively and rigorously describing all emergent effects in the joint dynamic behavior of the agents that are relevant to their safety and well-behavior. We present such a semantic foundation. This framework extends beyond previous approaches by extending the agent-local dynamic state beyond state components under direct control of the agent and belief about other agents (as previously suggested for understanding cooperative as well as rational behavior) to agent-local evidence and belief about the overall cooperative, competitive, or coopetitive game structure. We argue that this extension is necessary for rigorously analyzing systems of human cyber-physical systems because humans are known to employ cognitive replacement models of system dynamics that are both non-stationary and potentially incongruent. These replacement models induce visible and potentially harmful effects on their joint emergent behavior and the interaction with cyber-physical system components. 

BackgroundResearch on task performance under visual field loss is often limited due to small and heterogenous samples. Simulations of visual impairments hold the potential to account for many of those challenges. Digitally altered pictures, glasses, and contact lenses with partial occlusions have been used in the past. One of the most promising methods is the use of a gaze-contingent display that occludes parts of the visual field according to the current gaze position. In this study, the gaze-contingent paradigm was implemented in a static driving simulator to simulate visual field loss and to evaluate parallels in the resulting driving and gaze behavior in comparison to patients. MethodsThe sample comprised 15 participants without visual impairment. All the subjects performed three drives: with full vision, simulated left-sided homonymous hemianopia, and simulated right-sided homonymous hemianopia, respectively. During each drive, the participants drove through an urban environment where they had to maneuver through intersections by crossing straight ahead, turning left, and turning right. ResultsThe subjects reported reduced safety and increased workload levels during simulated visual field loss, which was reflected in reduced lane position stability and greater absence of large gaze movements. Initial compensatory strategies could be found concerning a dislocated gaze position and a distorted fixation ratio toward the blind side, which was more pronounced for right-sided visual field loss. During left-sided visual field loss, the participants showed a smaller horizontal range of gaze positions, longer fixation durations, and smaller saccadic amplitudes compared to right-sided homonymous hemianopia and, more distinctively, compared to normal vision. ConclusionThe results largely mirror reports from driving and visual search tasks under simulated and pathological homonymous hemianopia concerning driving and scanning challenges, initially adopted compensatory strategies, and driving safety. This supports the notion that gaze-contingent displays can be a useful addendum to driving simulator research with visual impairments if the results are interpreted considering methodological limitations and inherent differences to the pathological impairment. 

We performed a driving simulator study to investigate merging decisions with respect to an interaction partner in time-critical situations. The experimental paradigm was a two-alternative forced choice, where the subjects could choose to merge before human vehicles or highly automated vehicles (HAV). Under time pressure, subjects showed a significantly higher gap acceptance during merging situations when interacting with HAV. This confirmed our original hypothesis that when interacting with HAV, drivers would exploit the HAV's technological advantages and defensive programming in time-critical situations. 

We propose a reference architecture of safety-critical or industry-critical human cyber-physical systems (CPSs) capable of expressing essential classes of system-level interactions between CPS and humans relevant for the societal acceptance of such systems. To reach this quality gate, the expressivity of the model must go beyond classical viewpoints such as operational, functional, and architectural views and views used for safety and security analysis. The model does so by incorporating elements of such systems for mutual introspections in situational awareness, capabilities, and intentions to enable a synergetic, trusted relation in the interaction of humans and CPSs, which we see as a prerequisite for their societal acceptance. The reference architecture is represented as a metamodel incorporating conceptual and behavioral semantic aspects. We illustrate the key concepts of the metamodel with examples from cooperative autonomous driving, the operating room of the future, cockpit-tower interaction, and crisis management.