Engineering topics

Merhav, S. J.

Publications and source records attributed to Merhav, S. J..

12 records

NASA NTRS1992

Man-in-the-loop study of filtering in airborne head tracking tasks

A human-factors study is conducted of problems due to vibrations during the use of a helmet-mounted display (HMD) in tracking tasks whose major factors are target motion and head vibration. A method is proposed for improving aiming accuracy in such tracking tasks on the basis of (1) head-motion measurement and (2) the shifting of the reticle in the HMD in ways that inhibit much of the involuntary apparent motion of the reticle, relative to the target, and the nonvoluntary motion of the teleoperated device. The HMD inherently furnishes the visual feedback required by this scheme.

Lifshitz, S.↗

NASA NTRS1991

Suppression of biodynamic interference in head-tracked teleoperation

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

NASA NTRS1991

Estimation of optical flow in airborne electro-optical sensors by stochastic approximation

The essence of motion or range estimation by passive electrooptical means is the ability to determine the correspondence of picture elements in pairs of image frames and to estimate their coordinates and their disparity (relative shifts) in the image plane of an electrooptical imaging sensor. The disparity can be in successive frames due to self-motion or in simultaneous frames of a stereo pair. A key issue is to provide these estimates on-line. This paper describes the theoretical background of such an interframe shift estimator. It is based on a stochastic gradient algorithm, specifically implementing a form of stochastic approximation, which can achieve rapid convergence of the shift estimate. Analytical and numerical simulation examples for random texture and isolated features validate the feasibility and the effectiveness of the estimator.

Merhav, S. J.↗

NASA NTRS1991

Visual field information in Nap-of-the-Earth flight by teleoperated Helmet-Mounted displays

The human ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays originates from a Forward Looking Infrared Radiation Camera, gimbal-mounted at the front of the aircraft and slaved to the pilot's line-of-sight, to obtain wide-angle visual coverage. Although these displays are proved to be effective in Apache and Cobra helicopter night operations, they demand very high pilot proficiency and work load. Experimental work presented in the paper has shown that part of the difficulties encountered in vehicular control by means of these displays can be attributed to the narrow viewing aperture and head/camera slaving system phase lags. Both these shortcomings will impair visuo-vestibular coordination, when voluntary head rotation is present. This might result in errors in estimating the Control-Oriented Visual Field Information vital in vehicular control, such as the vehicle yaw rate or the anticipated flight path, or might even lead to visuo-vestibular conflicts (motion sickness). Since, under these conditions, the pilot will tend to minimize head rotation, the full wide-angle coverage of the Helmet-Mounted Display, provided by the line-of-sight slaving system, is not always fully utilized.

Grunwald, Arthur J.↗

NASA NTRS1990

Suppression of biodynamic interference in head-tracked teleoperation

Results are reported from an experimental simulation study examining improvements achievable in pointing and tracking precision using dynamic display shifting in helmet-mounted displays. The experiment was conducted in a 6-deg-of-freedom motion base simulator with an emulated helmet-mounted sight. It is shown that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination is considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

NASA NTRS1987

Adaptive control and noise suppression by a variable-gain gradient algorithm

An adaptive control system based on normalized LMS filters is investigated. The finite impulse response of the nonparametric controller is adaptively estimated using a given reference model. Specifically, the following issues are addressed: The stability of the closed loop system is analyzed and heuristically established. Next, the adaptation process is studied for piecewise constant plant parameters. It is shown that by introducing a variable-gain in the gradient algorithm, a substantial reduction in the LMS adaptation rate can be achieved. Finally, process noise at the plant output generally causes a biased estimate of the controller. By introducing a noise suppression scheme, this bias can be substantially reduced and the response of the adapted system becomes very close to that of the reference model. Extensive computer simulations validate these and demonstrate assertions that the system can rapidly adapt to random jumps in plant parameters.

Merhav, S. J.↗

NASA NTRS1986

Design of adaptive control systems by means of self-adjusting transversal filters

The design of closed-loop adaptive control systems based on nonparametric identification was addressed. Implementation is by self-adjusting Least Mean Square (LMS) transversal filters. The design concept is Model Reference Adaptive Control (MRAC). Major issues are to preserve the linearity of the error equations of each LMS filter, and to prevent estimation bias that is due to process or measurement noise, thus providing necessary conditions for the convergence and stability of the control system. The controlled element is assumed to be asymptotically stable and minimum phase. Because of the nonparametric Finite Impulse Response (FIR) estimates provided by the LMS filters, a-priori information on the plant model is needed only in broad terms. Following a survey of control system configurations and filter design considerations, system implementation is shown here in Single Input Single Output (SISO) format which is readily extendable to multivariable forms. In extensive computer simulation studies the controlled element is represented by a second-order system with widely varying damping, natural frequency, and relative degree.

Merhav, S. J.↗

NASA NTRS1986

Performance characteristics of an adaptive controller based on least-mean-square filters

A closed-loop, adaptive-control scheme that uses a least-mean-square filter as the controller model is presented, along with simulation results that demonstrate the excellent robustness of this scheme. It is shown that the scheme adapts very well to unknown plants, even those that are marginally stable, responds appropriately to changes in plant parameters, and is not unduly affected by additive noise. A heuristic argument for the conditions necessary for convergence is presented. Potential applications and extensions of the scheme are also discussed.

Mehta, R. S.↗

NASA NTRS1984

Suppression of Biodynamic Interference by Adaptive Filtering

Preliminary experimental results obtained in moving base simulator tests are presented. Both for pursuit and compensatory tracking tasks, a strong deterioration in tracking performance due to biodynamic interference is found. The use of adaptive filtering is shown to substantially alleviate these effects, resulting in a markedly improved tracking performance and reduction in task difficulty. The effect of simulator motion and of adaptive filtering on human operator describing functions is investigated. Adaptive filtering is found to substantially increase pilot gain and cross-over frequency, implying a more tight tracking behavior. The adaptive filter is found to be effective in particular for high-gain proportional dynamics, low display forcing function power and for pursuit tracking task configurations.

Velger, M.↗

NASA NTRS1982

Less-Costly Inertial Guidance

Two gyroscopes mounted in gimbals yield signals that allow calculation of velocity, position and altitude of an aircraft. The mass lowers center of gravity of gimbal-and-gyro assembly to below the intersection of their axes. Combination acts as a two-axis pendulum. Rate signals from the leveling gyroscope are integrated, amplified, and fed to gimbal torquers to restore pendulum to alinement with local vertical.

Merhav, S. J.↗

NASA NTRS1981

Autonomous navigation system

An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

Merhav, S. J.↗

NASA NTRS1978

Effectiveness of basic display augmentation in vehicular control by visual field cues

The paper investigates the effectiveness of different basic display augmentation concepts - fixed reticle, velocity vector, and predicted future vehicle path - for RPVs controlled by a vehicle-mounted TV camera. The task is lateral manual control of a low flying RPV along a straight reference line in the presence of random side gusts. The man-machine system and the visual interface are modeled as a linear time-invariant system. Minimization of a quadratic performance criterion is assumed to underlie the control strategy of a well-trained human operator. The solution for the optimal feedback matrix enables the explicit computation of the variances of lateral deviation and directional error of the vehicle and of the control force that are used as performance measures.

Grunwald, A. J.↗