Engineering topics
Publications and source records attributed to Stark, L..
It is argued that triplicate planning for telerobotics applicable to space stations is needed. It is important to carry out research to accomplish tasks: (1) with man alone (such as extra-vehicular activities), (2) with autonomous robots, and (3) with telerobotics. The research necessary to carry out these approaches is compared and contrasted in order to clarify present problems.
An experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views.
Anatomical, experimental, and computer simulation studies were used to determine the structure of the neurophysiological model of the pupil size control system. The computer simulation of this model demonstrates the role played by each of the elements in the neurological pathways influencing the size of the pupil. Simulations of the effect of drugs and common abnormalities in the system help to illustrate the workings of the pathways and processes involved. The simulation program allows the user to select pupil condition (normal or an abnormality), specific site along the neurological pathway (retina, hypothalamus, etc.) drug class input (barbiturate, narcotic, etc.), stimulus/response mode, display mode, stimulus type and input waveform, stimulus or background intensity and frequency, the input and output conditions, and the response at the neuroanatomical site. The model can be used as a teaching aid or as a tool for testing hypotheses regarding the system.
Experimentally obtained dynamics of time-optimal, horizontal head rotations have previously been simulated by a sixth order, nonlinear model driven by rectangular control signals. Electromyography (EMG) recordings have spects which differ in detail from the theoretical rectangular pulsed control signal. Control signals for time-optimal as well as sub-optimal horizontal head rotations were obtained by means of an inverse modelling procedures. With experimentally measured dynamical data serving as the input, this procedure inverts the model to produce the neurological control signals driving muscles and plant. The relationships between these controller signals, and EMG records should contribute to the understanding of the neurological control of movements.
Original results for a newly developed eight-order nonlinear limb antagonistic muscle model of elbow flexion and extension are presented. A wider variety of sensitivity analysis techniques are used and a systematic protocol is established that shows how the different methods can be used efficiently to complement one another for maximum insight into model sensitivity. It is explicitly shown how the sensitivity of output behaviors to model parameters is a function of the controller input sequence, i.e., of the movement task. When the task is changed (for instance, from an input sequence that results in the usual fast movement task to a slower movement that may also involve external loading, etc.) the set of parameters with high sensitivity will in general also change. Such task-specific use of sensitivity analysis techniques identifies the set of parameters most important for a given task, and even suggests task-specific model reduction possibilities.
Blink rate is reported to vary dependent upon ongoing task performance, perceptual, attentional and cognitive factors, and fatigue. Five levels of task difficulty were operationally defined and task performance as lines read aloud per minute were measured. A single noninvasive infrared TV eyetracker was modified to measure blinking and an on-line computer program identified and counted blinks while the subject performed the tasks. Blink rate decreased by 50% when either task performance increased (fast reading) or visual difficulty increased (blurred text); blink rate increased greatly during rest breaks. There was no change in blink rate during one hour experiments even though subjects complained of severe fatigue.
Visual fixation can be maintained in spite of finger pressure on the monocularly viewing eye. The amount of extraocular muscle effort required to counter the eyepress is measured as the secondary deviation of the occluded fellow eye. Using this method, without drugs or neurological lesions, it is shown that corollary discharge (CD) governs perception of position of a luminous point in darkness, that is, an unstructured visual field. CD also controls visuomotor coordination measured with open-loop pointing and the matching of visual and auditory direction in light and in darkness. The incorrectly biased CD is superseded by visual position perception in normal structured environments, a phenomenon called visual capture of Matin. When the structured visual field is extinguished, leaving only a luminous point, gradual release from visual capture and return to the biased CD direction follows after a delay of about 5 sec.
Pupil responses to light are greatly influenced by initial pupil size. Small pupils, operating under photopic conditions, show tonic responses to step increases of light and high gains; thus the pupil is a good regulator of light. Large pupils, operating under mesopic or scotopic conditions show phasic responses, 'pupillary escape', and smaller gains: the pupil only transiently influences retinal flux. By using accommodation level to set the size of the pupil, the mechanism of the 'pupil size effect' is shown to be dependent on retinal light level only so far as retinal activity sets pupil size.
A method is presented for the use of a unit impulse response and responses to impulse pairs of variable separation in the calculation of the second-degree kernels of a quadratic system. A quadratic system may be built from simple linear terms of known dynamics and a multiplier. Computer simulation results on quadratic systems with building elements of various time constants indicate reasonably that the larger time constant term before multiplication dominates in the envelope of the off-diagonal kernel curves as these move perpendicular to and away from the main diagonal. The smaller time constant term before multiplication combines with the effect of the time constant after multiplication to dominate in the kernel curves in the direction of the second-degree impulse response, i.e., parallel to the main diagonal. Such types of insight may be helpful in recognizing essential aspects of (second-degree) kernels; they may be used in simplifying the model structure and, perhaps, add to the physical/physiological understanding of the underlying processes.
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It is pointed out that head movements play an important role in gaze. The interaction between eye and head movements involves both their shared role in directing gaze and the compensatory vestibular ocular reflex. The dynamics of head trajectories are discussed, taking into account the use of parameterization to obtain the peak velocity, peak accelerations, the times of these extrema, and the duration of the movement. Attention is given to the main sequence, neck muscle EMG and details of the head-movement trajectory, types of head model accelerations, the latency of eye and head movement in coordinated gaze, gaze latency as a function of various factors, and coordinated gaze types. Clinical examples of gaze-plane analysis are considered along with the instantaneous change of compensatory eye movement (CEM) gain, and aspects of variability.
Scanning eye movements of airline pilots were recorded while they judged air traffic situations displayed on cockpit displays of traffic information (CDTI). The observed 1st order transition patterns between points of interest on the display showed reliable deviation from those patterns predicted by the assumption of statistical independence. However, both patterns of transitions correlated quite well with each other. Accordingly, the assumption of independence provided a surprisingly good model of the results. Nevertheless, the deviation between the observed patterns of transition and that based on the assumption of independence was for all subjects in the direction of increased determinism. Thus, the results provide objective evidence consistent with the existence of "scanpaths" in the data.
The pupillary control system is examined using a microprocessor based integrative pupillometer. The real time software functions of the microprocessor include: data collection, stimulus generation and area to diameter conversion. Results of an analysis of linear and nonlinear phenomena are presented.
Voluntary active head rotations produced vestibulo-ocular reflex eye movements (VOR) with the subject viewing a fixation target. When this target jumped, the size of the refixation saccades were a function of the ongoing initial velocity of the eye. Saccades made against the VOR were larger in magnitude. Simulation of a reciprocally innervated model eye movement provided results comparable to the experimental data. Most of the experimental effect appeared to be due to linear summation for saccades of 5 and 10 degree magnitude. For small saccades of 2.5 degrees, peripheral nonlinear interaction of state variables in the neuromuscular plant also played a role as proven by comparable behavior in the simulated model with known controller signals.
Recent biophysical and physiological studies identified some of the detailed mechanisms involved in excitation-contraction coupling, muscle contraction, and deactivation. Mathematical models incorporating these mechanisms allow independent estimates of key parameters, direct interplay between basic muscle research and the study of motor control, and realistic model behaviors, some of which are not accessible to previous, simpler, models. The existence of previously unmodeled behaviors has important implications for strategies of motor control and identification of neural signals. New developments in the analysis of differential equations make the more detailed models feasible for simulation in realistic experimental situations.
We present three conclusions regarding the neural control of saccadic eye movements, resulting from comparisons between recorded movements and computer simulations. The controller signal to the muscles is probably a multipulse-step. This kind of signal drives the fastest model trajectories. Finally, multipulse signals explain differences between model and electrophysiological results.
Isolation and definition of specific response components in pupil reflexes through comparison of the dynamic features of light-induced and accommodation-induced pupil movements. A quantitative analysis of the behavior of the complex nonlinear pupil responses reveals the presence of two independent nonlinear characteristics: a range-dependent gain and a direction dependence or movement asymmetry. These nonlinear properties are attributed to motor processes because they are observable in pupil responses to both light and accommodation stimuli. The possible mechanisms and consequences of these pupil response characteristics are quantitatively defined and discussed.