
Symbol  Meanings  Definitions 

 Conceptual human controller model. The input and output are assumed as and , respectively  in Figure 2 
 State transition function describing change of the intention  (1) 
 Output function of operational command  (2) 
 Conditional probabilistic distribution of a transition of intention from to  
 Conditional probabilistic distribution of judgment that outputs if the intentions happens to be true  
 SOM map for the function (SOM mapping function which is trained using an input vector consisting of and )  (5) 
 SOM map for the function (SOM mapping function which is trained using an input vector consisting of and )  (6) 
