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Robot controller moves cursor and manipulates images. Use of force-feedback hand-held controller proposed to help computer operators position cursors on computer video displays. To control cursor, hand controller replaces joystick or electronic mouse. Operator presses button on handle to obtain action when cursor reaches desired position indicated by icon or image. Controller has additional degrees of freedom.
The production of animated motion sequences on computer-controlled display systems presents a technical problem because large images cannot be transferred from disk storage to image memory at conventional frame rates. A technique is described in which a single base image can be used to generate a broad class of motion stimuli without the need for such memory transfers. This technique was applied to the generation of drifting sine-wave gratings (and by extension, sine wave plaids). For each drifting grating, sine and cosine spatial phase components are first reduced to 1 bit/pixel using a digital halftoning technique. The resulting pairs of 1-bit images are then loaded into pairs of bit planes of the display memory. To animate the patterns, the display hardware's color lookup table is modified on a frame-by-frame basis; for each frame the lookup table is set to display a weighted sum of the spatial sine and cosine phase components. Because the contrasts and temporal frequencies of the various components are mutually independent in each frame, the sine and cosine components can be counterphase modulated in temporal quadrature, yielding a single drifting grating. Using additional bit planes, multiple drifting gratings can be combined to form sine-wave plaid patterns. A large number of resultant plaid motions can be produced from a single image file because the temporal frequencies of all the components can be varied independently. For a graphics device having 8 bits/pixel, up to four drifting gratings may be combined, each having independently variable contrast and speed.
Data link Air Traffic Control (ATC) and Air Traffic Service (ATS) message and data exchange offers the potential benefits of increased flight safety and efficiency by reducing communication errors and allowing more information to be transferred between aircraft and ground facilities. Digital communication also presents an opportunity to relieve the overloading of ATC radio frequencies which hampers message exchange during peak traffic hours in many busy terminal areas. A piloted simulation study to develop pilot factor guidelines and assess potential flight crew benefits and liabilities from using data link ATC message exchange was completed. The data link ATC message exchange concept, implemented on an existing navigation computer Control Display Unit (CDU) required maintaining a voice radio telephone link with an appropriate ATC facility. Flight crew comments, scanning behavior, and measurements of time spent in ATC communication activities for data link ATC message exchange were compared to similar measures for simulated conventional voice radio operations. The results show crew preference for the quieter flight deck environment and a perception of lower communication workload.
Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.
Computer Aided Design (CAD) systems that have been developed for electrical and mechanical design tasks are also effective tools for the process of designing Computer Generated Holograms (CGHs), particularly when these holograms are to be fabricated using electron beam lithography. CAD workstations provide efficient and convenient means of computing, storing, displaying, and preparing for fabrication many of the features that are common to CGH designs. Experience gained in the process of designing CGHs with various types of encoding methods is presented. Suggestions are made so that future workstations may further accommodate the CGH design process.
Flight Dynamics/Space Transportation System Three-Dimensional Monitor System (3-D Mon) is real-time graphical mission-monitoring software tool. Main objective to compute and display realistic three-dimensional solid model image of Space Shuttle, remote-manipulator system, payload, and surroundings from real-time Space Shuttle telemetry data. Ability to support spacecraft other than Space Shuttle also incorporated. Display shows almost any desired perspective. Written in C programming language.
A vacuum compatible scanning tunneling microscope was designed and built, capable of imaging solid surfaces with atomic resolution. The single piezoelectric tube design is compact, and makes use of sample mounting stubs standard to a commercially available surface analysis system. Image collection and display is computer controlled, allowing storage of images for further analysis. Calibration results from atomic scale images are presented.
Algorithm introduces systematic disturbance into otherwise optimal rotation of body from prescribed initial to prescribed final orientation. Disturbance introduced as deviation of actual axis of rotation from optimal one, like wobble of top. Algorithm effects rotational transformations and solves differential equations necessary to compute disturbed trajectory. Devised for use with motion-control program and three-dimensional computer-graphical display to study ability of observers to distinguish between optimal and suboptimal rotational trajectories.
Attitude and heading determination using GPS interferometry is a well-understood concept. However, efforts have been concentrated mainly in the development of robust algorithms and applications for low dynamic, rigid platforms (e.g., shipboard). This paper presents results of what is believed by the authors to be the first realtime flight test of a GPS attitude and heading determination system. The system is installed in Ohio University's Douglas DC-3 research aircraft. Signals from four antennas are processed by an Ashtech 3DF 24-channel GPS receiver. Data from the receiver are sent to a microcomputer for storage and further computations. Attitude and heading data are sent to a second computer for display on a software generated artificial horizon. Demonstration of this technique proves its candidacy for augmentation of aircraft state estimation for flight control and navigation as well as for numerous other applications.
Virtual environments presented via head-mounted, computer-driven displays provide a new media for communication. They may be analyzed by considering: (1) what may be meant by an environment; (2) what is meant by the process of virtualization; and (3) some aspects of human performance that constrain environmental design. Their origins are traced from previous work in vehicle simulation and multimedia research. Pointers are provided to key technical references, in the dispersed, archival literature, that are relevant to the development and evaluation of virtual-environment interface systems.
Attitude and heading determination using GPS interferometry is a well-understood concept. However, efforts have been concentrated mainly in the development of robust algorithms and applications for low-dynamic, rigid platforms (e.g., shipboard). This paper presents results of what is believed to be the first real-time flight test of a GPS attitude and heading determination system. Signals from four antennas are processed by a 24-channel GPS receiver. Data from the receiver are sent to a microcomputer for storage and further computations. Attitude and heading data are sent to a second computer for display on a software-generated artificial horizon. Demonstration of this technique proves its candidacy for augmentation of aircraft state estimation for flight control and navigation, as well as for numerous other applications.
Methods and results for realtime pitch, roll, and heading determination of a dynamic flexible platform are presented. Consideration is given to a GPS attitude and heading determination system installed in Ohio University's Douglas DC-3 research aircraft. Signals from four antennas are processed by an Ashtech 3DF 24-channel GPS receiver. Data from the receiver are sent to a microcomputer for storage and further computations. Attitude and heading data are sent to a second computer for display on a software generated artificial horizon. Demonstration of this technique proves its candidacy for augmentation of aircraft state estimation for flight control and navigation as well as for numerous other applications, such as reliable aircraft state estimation, measurement of structural flexing of large space structures, synthetic aperture radar, aerial photogrammetry, pointing systems, spacecraft attitude control, rendezvous and docking, and road mapping.
A grid quality manipulation system is described. The elements of the system are the measures by which quality is assessed, the computer graphic display of those measures, and the local grid manipulation to provide a response to the viewed quality indication. The display is an overlaid composite where the region is first covered with colors to reflect the values of the quality indicator, the grid is then placed on top of those colors, and finally a control net is placed on top of everything. The net represents the grid in terms of the control point form of algebraic grid generation. As a control point is moved, both the grid and the colored quality measures also move. This is a real time dynamic action so that the consequences of the manipulation are continuously seen.
The Advanced Display and Computer Augmented Control (ADCACS) Program at ACT is sponsored by NASA Ames to investigate the broad field of technologies which must be combined to design a 'virtual' workstation for the Space Station Freedom. This program is progressing in several areas and resulted in the definition of requirements for a workstation. A unique combination of technologies at the ACT Laboratory have been networked to effectively create an experimental environment. This experimental environment allows the integration of nonconventional input devices with a high power graphics engine within the framework of an expert system shell which coordinates the heterogeneous inputs with the 'virtual' presentation. The flexibility of the workstation is evolved as experiments are designed and conducted to evaluate the condition descriptions and rule sets of the expert system shell and its effectiveness in driving the graphics engine. Workstation productivity has been defined by the achievable performance in the emulator of the calibrated 'sensitivity' of input devices, the graphics presentation, the possible optical enhancements to achieve a wide field of view color image and the flexibility of conditional descriptions in the expert system shell in adapting to prototype problems.
Examining techniques to study the dynamics of structural changes in various molecules has been an ongoing goal of the space program. Knowing how these phenomena occur in biological systems is fundamental to understanding what is necessary for life to remain functional in the space environment. A hierarchy of biological organization is functionally described when cells join together small organic molecules to form larger and more complex molecules. Characterizing the architecture of a particular macromolecule helps determine how that molecule works in the living cell and is basic to the diversity of life. Understanding this arrangement involves the correlation of the structure of macromolecules with their functions. A light scattering photometer was developed for detecting continuous measurement of the angular spectrum of light scattered by dynamically changing systems. The analysis of light scattered by biological macromolecules can be used to determine concentration, size, shape, molecular weight, and structural changes of cells, such as erythrocytes. Some light scattering photometers can collect and store 120 angular scattering spectra per minute, with an angular resolution of 0.2 deg which can be displayed with computer graphics. The light scattering photometer does the following: functions to produce and detect scattered light; determines scatter angles; and collects, stores, and analyzes data.
This paper describes an algorithm for the scheduling of time-critical rendering and computation tasks on single- and multiple-processor architectures, with minimal pipelining. It was developed to manage scientific visualization scenes consisting of hundreds of objects, each of which can be computed and displayed at thousands of possible resolution levels. The algorithm generates the time-critical schedule using progressive-refinement techniques; it always returns a feasible schedule and, when allowed to run to completion, produces a near-optimal schedule which takes advantage of almost the entire multiple-processor system.
Four experiments were carried out to investigate observers' abilities to judge rolling motions. The experiments were designed to assess whether two important aspects of such motions are appreciated: the kinematic coupling of rotation and translation, and the dynamic effects of gravity. Different motion contexts of rolling wheels were created using computer-generated displays. The first experiment involved wheels rolling down an inclined plane. Observers spontaneously appreciated the anomaly of wheels that failed to accelerate, but they were not able to differentiate between different acceleration functions. Moreover, their judgements were almost exclusively based on the translation component of the rolling motion, neglecting the rotation component. In a second experiment it was found that observers could accurately estimate the perimeter of various objects. Thus, their inability to consider rotation information is not attributable to misperceptions of the geometry of wheels. In a third experiment the finding that rolling wheels appear to overrotate was replicated; however, findings from this experiment also showed, together with those from a fourth experiment, that observers are able to make very accurate judgments about translation-rotation coupling in rolling wheels when information is provided about the orientation of the wheel and the texture of the surface on which it rolls.
The stereokinetic effect (SKE) has been defined and studied by nested circular patterns rotating on a turntable. Circles must appear not to rotate as they revolve, which in turn results in their appearing to translate relative to one another. A powerful illusion of object depth results even though the individual circles do not undergo an appropriate foreshortening consistent with their apparent changes in slant. It is suggested and tested that the SKE is based on the changing positions between the nested contours despite the absence of any change within each contour, whereas the kinetic depth effect (KDE) entails both kinds of change. It follows that a turntable method of presentation is not necessary, and between-contour transformations can be simulated by computer animation. Displays consisting of simple translations were shown to evoke robust depth impressions as were patterns consisting of contours of varying shapes. Comparisons of the depth, compellingness, and rigidity of matched SKE and KDE displays are reported. The SKE is taken to be paradigmatic for how the visual system perceives depth when observing small object rotations that occur in everyday situations.