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NASA NTRS2009

Effects of Frequency and Motion Paradigm on Perception of Tilt and Translation During Periodic Linear Acceleration

Previous studies have demonstrated an effect of frequency on the gain of tilt and translation perception. Results from different motion paradigms are often combined to extend the stimulus frequency range. For example, Off-Vertical Axis Rotation (OVAR) and Variable Radius Centrifugation (VRC) are useful to test low frequencies of linear acceleration at amplitudes that would require impractical sled lengths. The purpose of this study was to compare roll-tilt and lateral translation motion perception in 12 healthy subjects across four paradigms: OVAR, VRC, sled translation and rotation about an earth-horizontal axis. Subjects were oscillated in darkness at six frequencies from 0.01875 to 0.6 Hz (peak acceleration equivalent to 10 deg, less for sled motion below 0.15 Hz). Subjects verbally described the amplitude of perceived tilt and translation, and used a joystick to indicate the direction of motion. Consistent with previous reports, tilt perception gain decreased as a function of stimulus frequency in the motion paradigms without concordant canal tilt cues (OVAR, VRC and Sled). Translation perception gain was negligible at low stimulus frequencies and increased at higher frequencies. There were no significant differences between the phase of tilt and translation, nor did the phase significantly vary across stimulus frequency. There were differences in perception gain across the different paradigms. Paradigms that included actual tilt stimuli had the larger tilt gains, and paradigms that included actual translation stimuli had larger translation gains. In addition, the frequency at which there was a crossover of tilt and translation gains appeared to vary across motion paradigm between 0.15 and 0.3 Hz. Since the linear acceleration in the head lateral plane was equivalent across paradigms, differences in gain may be attributable to the presence of linear accelerations in orthogonal directions and/or cognitive aspects based on the expected motion paths.

Beaton, K. H.↗

NASA NTRS2012

Nonlinear Motion Cueing Algorithm: Filtering at Pilot Station and Development of the Nonlinear Optimal Filters for Pitch and Roll

Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cueing algorithm at the Visual Motion Simulator (VMS) at the NASA Langley Research Center in 2005. The latest version of the non-linear algorithm performed filtering of motion cues in all degrees-of-freedom except for pitch and roll. This manuscript describes the development and implementation of the non-linear optimal motion cueing algorithm for the pitch and roll degrees of freedom. Presented results indicate improved cues in the specified channels as compared to the original design. To further advance motion cueing in general, this manuscript describes modifications to the existing algorithm, which allow for filtering at the location of the pilot's head as opposed to the centroid of the motion platform. The rational for such modification to the cueing algorithms is that the location of the pilot's vestibular system must be taken into account as opposed to the off-set of the centroid of the cockpit relative to the center of rotation alone. Results provided in this report suggest improved performance of the motion cueing algorithm.

Zaychik, Kirill B.↗

NASA NTRS2012

Extension of the Time-Spectral Approach to Overset Solvers for Arbitrary Motion

Forced periodic flows arise in a broad range of aerodynamic applications such as rotorcraft, turbomachinery, and flapping wing configurations. Standard practice involves solving the unsteady flow equations forward in time until the initial transient exits the domain and a statistically stationary flow is achieved. It is often required to simulate through several periods to remove the initial transient making unsteady design optimization prohibitively expensive for most realistic problems. An effort to reduce the computational cost of these calculations led to the development of the Harmonic Balance method [1, 2] which capitalizes on the periodic nature of the solution. The approach exploits the fact that forced temporally periodic flow, while varying in the time domain, is invariant in the frequency domain. Expanding the temporal variation at each spatial node into a Fourier series transforms the unsteady governing equations into a steady set of equations in integer harmonics that can be tackled with the acceleration techniques afforded to steady-state flow solvers. Other similar approaches, such as the Nonlinear Frequency Domain [3,4,5], Reduced Frequency [6] and Time-Spectral [7, 8, 9] methods, were developed shortly thereafter. Additionally, adjoint-based optimization techniques can be applied [10, 11] as well as frequency-adaptive methods [12, 13, 14] to provide even more flexibility to the method. The Fourier temporal basis functions imply spectral convergence as the number of harmonic modes, and correspondingly number of time samples, N, is increased. Some elect to solve the equations in the frequency domain directly, while others choose to transform the equations back into the time domain to simplify the process of adding this capability to existing solvers, but each harnesses the underlying steady solution in the frequency domain. These temporal projection methods will herein be collectively referred to as Time-Spectral methods. Time-Spectral methods have demonstrated marked success in reducing the computational costs associated with simulating periodic forced flows, but have yet to be fully applied to overset or Cartesian solvers for arbitrary motion with dynamic hole-cutting. Overset and Cartesian grid methodologies are versatile techniques capable of handling complex geometry configurations in practical engineering applications, and the combination of the Time-Spectral approach with this general capability potentially provides an enabling new design and analysis tool. In an arbitrary moving-body scenario for these approaches, a Lagrangian body moves through a fixed Eulerian mesh and mesh points in the Eulerian mesh interior to the solid body are removed (cut or blanked), leaving a hole in the Eulerian mesh. During the dynamic motion some gridpoints in the domain are blanked and do not have a complete set of time-samples preventing a direct implementation of the Time-Spectral method. Murman[6] demonstrated the Time-Spectral approach for a Cartesian solver with a rigid domain motion, wherein the hole cutting remains constant. Similarly, Custer et al. [15, 16] used the NASA overset OVERFLOW solver and limited the amount of relative motion to ensure static hole-cutting and interpolation. Recently, Mavriplis and Mundis[17] demonstrated a qualitative method for applying the Time-Spectral approach to an unstructured overset solver for arbitrary motion. The goal of the current work is to develop a robust and general method for handling arbitrary motion with the Time-Spectral approach within an overset or Cartesian mesh method, while still approaching the spectral convergence rate of the original Time-Spectral approach. The viscous OVERFLOW solver will be augmented with the new Time-Spectral algorithm and the capability of the method for benchmark problems in rotorcraft and turbomachinery will be demonstrated. This abstract begins with a brief synopsis of the Time-Spectral approach for overset grids and provides details of e current approach to allow for arbitrary motion. Model problem results in one and two dimensions are included to demonstrate the viability of the method and the convergence properties. Section IV briefly outlines the implementation into the OVERFLOW solver, and the abstract closes with a description of the benchmark test cases which will be included in the final paper.

Leffell, Joshua Isaac↗

NASA NTRS2014

Applying Motion Constraints Based on Test Data

MSC ADAMS is a simulation software that is used to analyze multibody dynamics. Using user subroutines, it is possible to apply motion constraints to the rigid bodies so that they match the motion profile collected from test data. This presentation describes the process of taking test data and passing it to ADAMS using user subroutines, and uses the Morpheus free-flight 4 test as an example of motion data used for this purpose. Morpheus is the name of a prototype lander vehicle built by NASA that serves as a test bed for various experimental technologies (see backup slides for details) MSC.ADAMS"TM" is used to play back telemetry data (vehicle orientation and position) from each test as the inputs to a 6-DoF general motion constraint (details in backup slides) The MSC.ADAMS"TM" playback simulations allow engineers to examine and analyze flight trajectory as well as observe vehicle motion from any angle and at any playback speed. This facilitates the development of robust and stable control algorithms, increasing reliability and reducing development costs of this developmental engine The simulation also incorporates a 3D model of the artificial hazard field, allowing engineers to visualize and measure performance of the developmental autonomous landing and hazard avoidance technology ADAMS is a multibody dynamics solver. It uses forces, constraints, and mass properties to numerically integrate equations of motion. The ADAMS solver will ask the motion subroutine for position, velocity, and acceleration values at various time steps. Those values must be continuous over the whole time domain. Each degree of freedom in the telemetry data can be examined separately; however, linear interpolation of the telemetry data is invalid, since there will be discontinuities in velocity and acceleration.

Burlone, Michael↗

NASA NTRS2018

Applications of Phase-Based Motion Processing

Image pyramids provide useful information in determining structural response at low cost using commercially available cameras. The current effort applies previous work on the complex steerable pyramid to analyze and identify imperceptible linear motions in video. Instead of implicitly computing motion spectra through phase analysis of the complex steerable pyramid and magnifying the associated motions, instead present a visual technique and the necessary software to display the phase changes of high frequency signals within video. The present technique quickly identifies regions of largest motion within a video with a single phase visualization and without the artifacts of motion magnification, but requires use of the computationally intensive Fourier transform. While Riesz pyramids present an alternative to the computationally intensive complex steerable pyramid for motion magnification, the Riesz formulation contains significant noise, and motion magnification still presents large amounts of data that cannot be quickly assessed by the human eye. Thus, user-friendly software is presented for quickly identifying structural response through optical flow and phase visualization in both Python and MATLAB.

Branch, Nicholas A.↗

DOE OSTI2024

Performance assessment of near-fault buildings subjected to physics-based simulated earthquake ground motions with fling step

The effects of the co-seismic static offset (known as fling step) and associated velocity pulses on civil structures have been difficult to study because the static offset is typically removed during the processing of earthquake ground motion records. Simulated ground motions contain fling features and require no processing; therefore, they create new opportunities for representing fling features in seismic hazard analysis and assessing their influence on the seismic demands on near-fault structures. We use physics-based fault rupture simulations to study the characteristics of ground motions with fling step and the sensitivity of the near-fault structural demands to strong fling features. We uncover that simulated ground motions with a large fling step tend to have higher spectral intensity than those without a fling step at the same rupture distance, especially at periods longer than 2 s. As a result, the structural demands on flexible buildings tend to be the most sensitive to the fling features. Statistical analysis suggests that the ground motion spectral shape (represented by spectral accelerations at multiple periods) is—in most cases—a sufficient predictor of the structural demands on near-fault low-rise and mid-rise buildings at locations that are susceptible to strong fling effects. Finally, ground motion record selection experiments reveal that representing the spectral shape features at periods that are most relevant to a given structure may be an effective strategy to reduce the bias in the estimated demands on near-fault long-period structures when the available database of records is considered deficient in fling features.

Fling step↗

NASA NTRS1998

Self-motion perception: assessment by computer-generated animations

The goal of this research is more precise description of adaptation to sensory rearrangements, including microgravity, by development of improved procedures for assessing spatial orientation perception. Thirty-six subjects reported perceived self-motion following exposure to complex inertial-visual motion. Twelve subjects were assigned to each of 3 perceptual reporting procedures: (a) animation movie selection, (b) written report selection and (c) verbal report generation. The question addressed was: do reports produced by these procedures differ with respect to complexity and reliability? Following repeated (within-day and across-day) exposures to 4 different "motion profiles," subjects either (a) selected movies presented on a laptop computer, or (b) selected written descriptions from a booklet, or (c) generated self-motion verbal descriptions that corresponded most closely with their motion experience. One "complexity" and 2 reliability "scores" were calculated. Contrary to expectations, reliability and complexity scores were essentially equivalent for the animation movie selection and written report selection procedures. Verbal report generation subjects exhibited less complexity than did subjects in the other conditions and their reports were often ambiguous. The results suggest that, when selecting from carefully written descriptions and following appropriate training, people may be better able to describe their self-motion experience with words than is usually believed.

Non-NASA Center↗

NASA NTRS2022

Characterization of Infrared Optical Motion Tracking System in NASA's Simulated Lunar Operations (SLOPE) Laboratory

This work characterizes the accuracy of a 16 camera OptiTrack motion tracking system installed in NASA Glenn Research Center's Simulated Lunar Operations (SLOPE) laboratory. The position of a rigid body mounted on a motorized linear stage is compared to its position reported by the motion tracking system as it travels through the facility's 777m$^3$ capture volume of interest. Experiments show that the mean error reported by the motion tracking system for the aggregate capture volume is in-line with independent measurements collected using the motion stage. Error within regions of the capture volume exceed the mean error reported by the motion tracking system, likely due to occlusion, and suggests that additional cameras should be used to increase measurement accuracy in these regions. Overall, results show that error values reported by the motion tracking system are representative of the measurement error in a collected data set and validates the system's use for characterizing the mobility and tractive performance of robots, rovers, and other vehicles for planetary exploration.

Motion capture↗

DOE OSTI2026

Regional Earthquake Ground Motion Simulations for Southern California With EQSIM: Insights From the 2008 Chino Hills, 2024 Highland Park, and 2021 Carson Earthquakes

This study presents physics-based, 3D simulations using the EQSIM framework for several earthquakes in the Los Angeles region. The primary objective was to assess the ability of deterministic physics-based ground motion simulations to reproduce the observed motions from historical events. The selected events included the mathematical equation M w 5.4 2008 Chino Hills, the mathematical equation M w 4.4 2024 Highland Park, and the mathematical equation M w 4.3 2021 Carson events. The simulated motions were evaluated by comparing the recorded and simulated seismograms, as well as the Fourier amplitude spectra, across multiple seismic stations. The SCEC 3D velocity model, CVM-S4.26.M01, was used to represent the regional geology, and ground motion simulations were carried out with a resolution of up to 5 Hz. The results indicate that the simulated motions captured the recorded motions up to approximately 4 Hz. While careful iterations regarding source parameters and corner frequencies were required, and, for the case of the Highland Park event, some of the near-source stations had relatively low accuracy, the present study established a positive step toward the utilization of physics-based simulations in practical applications. The computational efficiencies exhibited by EQSIM, especially on GPU clusters, further supported this assertion, as wall-clock times of simulations involving more than 10 billion grid points were as low as mathematical equation minutes. This permits ensemble simulations for a considered scenario event so that modeling uncertainties (e.g., source and geology) can be bracketed.

EQSIM↗

NASA NTRS2001

Spatial scale of motion segmentation from speed cues

For the accurate perception of multiple, potentially overlapping, surfaces or objects, the visual system must distinguish different local motion vectors and selectively integrate similar motion vectors over space to segment the retinal image properly. We recently showed that large differences in speed are required to yield a percept of motion transparency. In the present study, to investigate the spatial scale of motion segmentation from speed cues alone, we measured the speed-segmentation threshold (the minimum speed difference required for 75% performance accuracy) for 'corrugated' random-dot patterns, i.e. patterns in which dots with two different speeds were alternately placed in adjacent bars of variable width. In a first experiment, we found that, at large bar widths, a smaller speed difference was required to segment and perceive the corrugated pattern of moving dots, while at small bar-widths, a larger speed difference was required to segment the two speeds and perceive two transparent surfaces of moving dots. Both the perceptual and segmentation performance transitions occurred at a bar width of around 0.4 degrees. In a second experiment, speed-segmentation thresholds were found to increase sharply when dots with different speeds were paired within a local pooling area. The critical pairing distance was about 0.2 degrees in the fovea and increased linearly with stimulus eccentricity. However, across the range of eccentricities tested (up to 15 degrees ), the critical pairing distance did not change much and remained close to the receptive field size of neurons within the primate primary visual cortex. In a third experiment, increasing dot density changed the relationship between speed-segmentation thresholds and bar width. Thresholds decreased for large bar widths, but increased for small bar widths. All of these results are well fit by a simple stochastic model, which estimates the probabilities of having identical or different motion vectors within a local pooling area whose size is the same as that of primate V1 neurons. Altogether, these results demonstrate that speed-based segmentation can function well, even at small spatial scales (i.e. high-spatial frequencies of spatial corrugation) and thereby emphasizes the critical role of a local pooling process early in the cortical motion-processing pathway.

NASA Discipline Neuroscience↗

NASA NTRS1987

Spacelab experiments on space motion sickness

Recent research results from ground and flight experiments on motion sickness and space sickness conducted by the Man Vehicle Laboratory are reviewed. New tools developed include a mathematical model for motion sickness, a method for quantitative measurements of skin pallor and blush in ambulatory subjects, and a magnitude estimation technique for ratio scaling of nausea or discomfort. These have been used to experimentally study the time course of skin pallor and subjective symptoms in laboratory motion sickness. In prolonged sickness, subjects become hypersensitive to nauseogenic stimuli. Results of a Spacelab-1 flight experiment are described in which four observers documented the stimulus factors for and the symptoms/signs of space sickness. The clinical character of space sickness differs somewhat from acute laboratory motion sickness. However SL-1 findings support the view that space sickness is fundamentally a motion sickness. Symptoms were subjectively alleviated by head movement restriction, maintenance of a familiar orientation with respect to the visual environment, and wedging between or strapping onto surfaces which provided broad contact cues confirming the absence of body motion.

Flight Experiment↗

NASA NTRS1996

The barberplaid illusion: plaid motion is biased by elongated apertures

The perceived direction of motion of plaids windowed by elongated spatial Gaussians is biased toward the window's long axis. The bias increases as the relative angle between the plaid motion and the long axis of the window increases, peaks at a relative angle of approximately 45 deg, and then decreases. The bias increases as the window is made narrower (at fixed height) and decreases as the component spatial frequency increases (at fixed aperture size). We examine several models of human motion processing (cross-correlation, motion-energy, intersection-of-constraints, and vector-sum), and show that none of these standard models can predict our data. We conclude that spatial integration of motion signals plays a crucial role in plaid motion perception and that current models must be explicitly expanded to include such spatial interactions.

NASA Center ARC↗

NASA NTRS1995

1st- and 2nd-order motion and texture resolution in central and peripheral vision

STIMULI. The 1st-order stimuli are moving sine gratings. The 2nd-order stimuli are fields of static visual texture, whose contrasts are modulated by moving sine gratings. Neither the spatial slant (orientation) nor the direction of motion of these 2nd-order (microbalanced) stimuli can be detected by a Fourier analysis; they are invisible to Reichardt and motion-energy detectors. METHOD. For these dynamic stimuli, when presented both centrally and in an annular window extending from 8 to 10 deg in eccentricity, we measured the highest spatial frequency for which discrimination between +/- 45 deg texture slants and discrimination between opposite directions of motion were each possible. RESULTS. For sufficiently low spatial frequencies, slant and direction can be discriminated in both central and peripheral vision, for both 1st- and for 2nd-order stimuli. For both 1st- and 2nd-order stimuli, at both retinal locations, slant discrimination is possible at higher spatial frequencies than direction discrimination. For both 1st- and 2nd-order stimuli, motion resolution decreases 2-3 times more rapidly with eccentricity than does texture resolution. CONCLUSIONS. (1) 1st- and 2nd-order motion scale similarly with eccentricity. (2) 1st- and 2nd-order texture scale similarly with eccentricity. (3) The central/peripheral resolution fall-off is 2-3 times greater for motion than for texture.

Pattern Recognition, Visual/physiology↗

NASA NTRS2016

Utilizing Commercial Hardware and Open Source Computer Vision Software to Perform Motion Capture for Reduced Gravity Flight

Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. Since gravity is not present to aid loading, astronauts will use resistive and aerobic exercise regimes for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the area available for an exercise device in the next generation of spacecraft is limited. Therefore, compact resistance exercise device prototypes are being developed. The NASA Digital Astronaut Project (DAP) is supporting the Advanced Exercise Concepts (AEC) Project, Exercise Physiology and Countermeasures (ExPC) project and the National Space Biomedical Research Institute (NSBRI) funded researchers by developing computational models of exercising with these new advanced exercise device concepts. To perform validation of these models and to support the Advanced Exercise Concepts Project, several candidate devices have been flown onboard NASAs Reduced Gravity Aircraft. In terrestrial laboratories, researchers typically have available to them motion capture systems for the measurement of subject kinematics. Onboard the parabolic flight aircraft it is not practical to utilize the traditional motion capture systems due to the large working volume they require and their relatively high replacement cost if damaged. To support measuring kinematics on board parabolic aircraft, a motion capture system is being developed utilizing open source computer vision code with commercial off the shelf (COTS) video camera hardware. While the systems accuracy is lower than lab setups, it provides a means to produce quantitative comparison motion capture kinematic data. Additionally, data such as required exercise volume for small spaces such as the Orion capsule can be determined. METHODS: OpenCV is an open source computer vision library that provides the ability to perform multi-camera 3 dimensional reconstruction. Utilizing OpenCV, via the Python programming language, a set of tools has been developed to perform motion capture in confined spaces using commercial cameras. Four Sony Video Cameras were intrinsically calibrated prior to flight. Intrinsic calibration provides a set of camera specific parameters to remove geometric distortion of the lens and sensor (specific to each individual camera). A set of high contrast markers were placed on the exercising subject (safety also necessitated that they be soft in case they become detached during parabolic flight); small yarn balls were used. Extrinsic calibration, the determination of camera location and orientation parameters, is performed using fixed landmark markers shared by the camera scenes. Additionally a wand calibration, the sweeping of the camera scenes simultaneously, was also performed. Techniques have been developed to perform intrinsic calibration, extrinsic calibration, isolation of the markers in the scene, calculation of marker 2D centroids, and 3D reconstruction from multiple cameras. These methods have been tested in the laboratory side-by-side comparison to a traditional motion capture system and also on a parabolic flight.

Biodynamics↗

NASA NTRSDate not supplied

Modified Autogenic Feedback Training Produces Effect on Motion Sickness

Motion sickness is a common physiological reaction to provocative motion and is characterized by a constellation of symptoms, including stomach awareness, nausea, emesis, pallor, sweating, hypersalivation, and fatigue. The emergence of these symptoms can pose a significant threat to safety, particularly in the context of aviation. Given its prevalence among aviators and its detrimental impact on performance, researchers have endeavored to identify effective countermeasures for motion sickness. Currently, many of the existing interventions are pharmacological in nature and while effective, they present a problem due to their associated adverse side effects. A modified two-hour version of Autogenic Feedback Training Exercise (AFTE) could be an effective countermeasure to motion sickness without adverse side effects. AFTE combines principles of autogenic therapy, biofeedback, and learning to teach individuals to control their own internal physiological reactions through a series of relaxation and arousal exercises. AFTE was administered over six days. On the first day, participants were exposed to provocative motion via a rotating chair test to collect baseline physiological data. AFTE sessions were conducted on four consecutive days and lasted approximately 30 minutes each session. Participants were exposed to the rotating chair again on the 6th day. Results: Participants (n = 16) were evaluated on the number of rotations experienced and cumulative minutes spun in the chair. Participants tended to ride longer (M = 21.0 min, SD = 16.56) and tolerated more rotations (M = 244.8 rotations, SD = 310.62) on their second rotating chair test compared to baseline (M = 14.0 min, SD = 9.35; M = 125.8 rotations, SD = 124.08; t(15) = 2.21, p = .02). A moderate effect size was recorded (Hedges’s g = 0.44). A modified two-hour version of the AFTE is effective at increasing tolerance of symptoms associated with motion sickness.

motion sickness↗

NASA NTRS1972

Initial operating experience with an aircraft simulator having extensive lateral motion

The flight simulation facility features an extensive cockpit motion system, emphasizing lateral motion for the simulation of lateral-directional control tasks. The motion capabilities of the simulator are briefly described, and the logic with which the motion drives are controlled to provide the most effective approximations of the motions of flight is discussed. Preliminary assessments of the effectiveness of these motions, in the simulation of large transport aircraft, are discussed.

Bray, R. S.↗

NASA NTRS1974

A study of the nonlinear aerodynamics of bodies in nonplanar motion

Concepts from the theory of functionals are used to develop nonlinear formulations of the aerodynamic force and moment systems acting on bodies in large-amplitude, arbitrary motions. The analysis, which proceeds formally once the functional dependence of the aerodynamic reactions upon the motion variables is established, ensures the inclusion, within the resulting formulation, of pertinent aerodynamic terms that normally are excluded in the classical treatment. Applied to the large-amplitude, slowly varying, nonplanar motion of a body, the formulation suggests that the aerodynamic moment can be compounded of the moments acting on the body in four basic motions: steady angle of attack, pitch oscillations, either roll or yaw oscillations, and coning motion. Coning, where the nose of the body describes a circle around the velocity vector, characterizes the nonplanar nature of the general motion.

Schiff, L. B.↗

NASA NTRS1974

Wind estimates from cloud motions: Phase 1 of an in situ aircraft verification experiment

An initial experiment was conducted to verify geostationary satellite derived cloud motion wind estimates with in situ aircraft wind velocity measurements. Case histories of one-half hour to two hours were obtained for 3-10km diameter cumulus cloud systems on 6 days. Also, one cirrus cloud case was obtained. In most cases the clouds were discrete enough that both the cloud motion and the ambient wind could be measured with the same aircraft Inertial Navigation System (INS). Since the INS drift error is the same for both the cloud motion and wind measurements, the drift error subtracts out of the relative motion determinations. The magnitude of the vector difference between the cloud motion and the ambient wind at the cloud base averaged 1.2 m/sec. The wind vector at higher levels in the cloud layer differed by about 3 m/sec to 5 m/sec from the cloud motion vector.

Hasler, A. F.↗