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NASA NTRS1991

Perception, planning, and control for walking on rugged terrain

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

Simmons, Reid↗

NASA NTRS1990

Effect on real-world depth perception from exposure to heads-down stereoscopic flight displays

A stereoacuity test was used as part of the experimental protocol of a study in which eight transport pilots flew repeated simulated landing approaches using both stereo and nonstereo three-dimensional heads-down 'pathway in the sky' displays. At the decisionmaking crux of each approach, the pilots transitioned to a stereoacuity test employing real objects rather than a two-dimensional target apparatus. A statistical analysis of stereoacuity measures which compared a controlled condition of no exposure to any electronic flight display with the transition data from nonstereo and stereopsis displays indicated no significant differences for any of the conditions.

Busquets, Anthony M.↗

NASA NTRS1990

Perception of interstellar structure - Facing complexity

Some orthodox notions concerning the structure and evolution of star-forming regions are challenged; it is proposed that they arise largely by a dual process in which conceptual models are fashioned after categories which are in great part reflections of observational limitations, and the models are projected onto interpretations of data. Several examples are discussed. The need for internal support of molecular clouds is questioned. It is suggested that the inverse density-size relation often claimed for clouds and accounted for by several theoretical models is an artifact caused by limited dynamic range column density detectability, selection bias, distance uncertainties, and internal density gradients, and is contradicted by several unbiased surveys. Column density structures mapped with a large spatial and column density dynamic range are found to be dominated by irregular, connected, and nested forms on all sides. These features and a technique for the quantification of the complex structure are illustrated with a densely-sampled column density image of the Taurus region constructed from IRAS data.

Scalo, John↗

NASA NTRS1991

The perception of surface layout during low level flight

Although it is fairly well established that information about surface layout can be gained from motion cues, it is not so clear as to what information humans can use and what specific information they should be provided. Theoretical analyses tell us that the information is in the stimulus. It will take more experiments to verify that this information can be used by humans to extract surface layout from the 2D velocity flow field. The visual motion factors that can affect the pilot's ability to control an aircraft and to infer the layout of the terrain ahead are discussed.

Perrone, John A.↗

NASA NTRS1992

Effects of gravitoinertial force variations on optokinetic nystagmus and on perception of visual stimulus orientation

Recordings of horizontal and vertical eye movement were obtained with subjects exposed to vertical, horizontal, and oblique optokinetic stimulation during parabolic flight. When the optokinetic stimulation was vertical, the upward slow phase eye velocity increased increased during transition from high force level to free-fall, and decreased during transition from free-fall to high force level. During optokinetic stimulation in the horizontal and oblique plane, the gravitoinertial forces of parabolic flight induced changes in the velocity of the vertical component of the eye movements, and, therefore, changes in the plane of the eye movements. Some subjects also preceived modifications in the apparent orientation of the visual motion. These findings are in agreement with previous observations on the presence of a vertical nystagmus induced by changes in plane vertical acceleration. They also suggest a close interaction of reflexive eye movements induced by graviceptor inputs and visual inputs for visual stabilization during variations of gravitoinertial force level.

Clement, Gilles↗

NASA NTRS1993

Device For Perception Of Polarization

Polarized image viewed through rotating polarizing filter appears to pulsate. Optical device enables human observer to perceive polarization of light. Used alone for viewing in real time and/or in conjunction with video or movie camera to record for subsequent detailed quantitative analysis of polarization in scene. Device used in remote sensing to classify portions of scenes according to polarization characteristics, to enhance viewing through atmosphere and oceans and to enhance contrasts. Used to monitor oilspill from air and detect changes in soil moisture and to map wetlands, among many other possible civilian and military applications.

Whitehead, Victor S.↗

NASA NTRS1993

A study of video frame rate on the perception of moving imagery detail

The rate at which each frame of color moving video imagery is displayed was varied in small steps to determine what is the minimal acceptable frame rate for life scientists viewing white rats within a small enclosure. Two, twenty five second-long scenes (slow and fast animal motions) were evaluated by nine NASA principal investigators and animal care technicians. The mean minimum acceptable frame rate across these subjects was 3.9 fps both for the slow and fast moving animal scenes. The highest single trial frame rate averaged across all subjects for the slow and the fast scene was 6.2 and 4.8, respectively. Further research is called for in which frame rate, image size, and color/gray scale depth are covaried during the same observation period.

Haines, Richard F.↗

NASA NTRS1992

Human speed perception is contrast dependent

When two parallel gratings moving at the same speed are presented simultaneously, the lower-contrast grating appears slower. This misperception is evident across a wide range of contrasts (2.5-50 percent) and does not appear to saturate. On average, a 70 percent contrast grating must be slowed by 35 percent to match a 10 percent contrast grating moving at 2 deg/sec (N = 6). Furthermore, the effect is largely independent of the absolute contrast level and is a quasilinear function of log contrast ratio. A preliminary parametric study shows that, although spatial frequency has little effect, relative orientation is important. Finally, the misperception of relative speed appears lessened when the stimuli to be matched are presented sequentially.

Stone, Leland S.↗

NASA NTRS1992

Soviet space nuclear reactor incidents - Perception versus reality

Since the Soviet Union reportedly began flying nuclear power sources in 1965 it has had four publicly known accidents involving space reactors, two publicly known accidents involving radioisotope power sources and one close call with a space reactor (Cosmos 1900). The reactor accidents, particularly Cosmos 954 and Cosmos 1402, indicated that the Soviets had adopted burnup as their reentry philosophy which is consistent with the U.S. philosophy from the 1960s and 1970s. While quantitative risk analyses have shown that the Soviet accidents have not posed a serious risk to the world's population, concerns still remain about Soviet space nuclear safety practices.

Bennett, Gary L.↗

NASA NTRS1992

Human speed perception is contrast dependent

When two parallel gratings moving at the same speed are presented simultaneously, the lower-contrast grating appears slower. This misperception is evident across a wide range of contrasts (2.5-50 percent) and does not appear to saturate (e.g. a 50 percent contrast grating appears slower than a 70 percent contrast grating moving at the same speed). On average, a 70 percent contrast grating must be slowed by 35 percent to match a 10 percent contrast grating moving at 2 deg/sec (N = 6). Furthermore, the effect is largely independent of the absolute contrast level and is a quasi-linear function of log contrast ratio. A preliminary parametric study shows that, although spatial frequency has little effect, relative orientation is important. Finally, the misperception of relative speed appears lessened when the stimuli to be matched are presented sequentially.

Stone, Leland S.↗

NASA NTRS1991

Self-Motion Perception and Motion Sickness

Motion sickness typically is considered a bothersome artifact of exposure to passive motion in vehicles of conveyance. This condition seldom has significant impact on the health of individuals because it is of brief duration, it usually can be prevented by simply avoiding the eliciting condition and, when the conditions that produce it are unavoidable, sickness dissipates with continued exposure. The studies conducted examined several aspects of motion sickness in animal models. A principle objective of these studies was to investigate the neuroanatomy that is important in motion sickness with the objectives of examining both the utility of putative models and defining neural mechanisms that are important in motion sickness.

Robert A Fox↗

NASA NTRS1995

Robotic-Vehicle Perception Control For Detecting Obstacles

Obstacle-detection systems designed to make most of limited data-processing resources. Bump or step identified, from stereoscopic images of scene ahead, by obstacle-detection algorithm. If bump or step exceeds specified step height, marked as obstacle, and control actions taken to avoid obstacle.

Grandjean, Pierrick C.↗

NASA NTRS1991

Self Motion Perception and Motion Sickness

The studies conducted in this research project examined several aspects of motion sickness in animal models. A principle objective of these studies was to investigate the neuroanatomy that is important in motion sickness with the objectives of examining both the utility of putative models and defining neural mechanisms that are important in motion sickness.

Fox, Robert A.↗

NASA NTRS1995

Effects of Optical Pitch on Oculomotor Control and the Perception of Target Elevation

In two experiments, we used an ISCAN infrared video system to examine the influence of a pitched visual array on gaze elevation and on judgments of visually perceived eye level. In Experiment 1, subjects attempted to direct their gaze to a relaxed or to a horizontal orientation while they were seated in a room whose walls were pitched at various angles with respect to gravity. Gaze elevation was biased in the direction in which the room was pitched. In Experiment 2, subjects looked into a small box that was pitched at various angles while they attempted simply to direct their gaze alone, or to direct their gaze and place a visual target at their apparent horizon. Both gaze elevation and target settings varied systematically with the pitch orientation of the box. Our results suggest that under these conditions, an optostatic response, of which the subject is unaware, is responsible for the changes in both gaze elevation and judgments of target elevation.

Cohen, Malcolm M.↗

NASA NTRS1995

Effects of Optical Pitch on Oculomotor Control and the Perception of Target Elevation

Cohen, Malcom M.↗

NASA NTRS2000

The Impact Threat and Public Perception

Recent popular movies have raised public consciousness of the very real possibility of a comet or asteroid collision with the Earth, and a news report last year implying that asteroid 1997 XF11 had a distinct chance of hitting the Earth in the year 2028 further caught the public's eye. The report of possible impact was withdrawn the very next day, and the public perceived either that astronomers had made mistaken calculations, or that the pre-discovery observations found that day had been responsible for the revised prediction. But in fact, the original report of the possibility of impact in 2028 was simply a premature assessment. The XF11 affair has demonstrated the need for clarity and precision in public communications dealing with the possibility of Earth impact, as well as the importance of peer review before results are released to the press. This year, another potentially hazardous asteroid, 1999 AN10, has made the news, and this time there is indeed a remote chance of collision. Although impact is not possible during the asteroid's primary close approach in 2027, the uncertainties allow for a remarkably close passage, and embedded within the encounter's uncertainty region are many narrow "keyholes" which could bring the asteroid back for a close approach in a later year. Three keyholes have been identified which could perturb the asteroid onto trajectories that collide with the Earth in the years 2044, 2046, or 2039. At the time of this writing, the estimated impact probability for 1999 AN10 is on the order of 1 in 500,000, larger than for any other known object, but still significantly less than the probability of an undiscovered asteroid of equivalent size striking the Earth before 2044. Additional astrometric measurements of 1999 AN10 will likely drive its impact probability down to near-zero, but this may not happen for years, testing the public's reaction to a lingering remote possibility of impact. A side effect of the increasing discovery rate for Near Earth objects will be a growing number of cases like 1999 ANIO.

Chodas, Paul W.↗

NASA NTRS1994

Distance Perception of Stereoscopically Presented Virtual Objects Optically Superimposed on Physical Objects by a Head-Mounted See-Through Display

The influence of physically presented background stimuli on the perceived depth of optically overlaid, stereoscopic virtual images has been studied using headmounted stereoscopic, virtual image displays. These displays allow presentation of physically unrealizable stimulus combinations. Positioning of an opaque physical object either at the initial perceived depth of the virtual image or at a position substantially in front of the virtual image, causes the virtual image to perceptually move closer to the observer. In the case of objects positioned substantially in front of the virtual image, subjects often perceive the opaque object to become transparent. Evidence is presented that the apparent change of position caused by interposition of the physical object is not due to occlusion cues. According, it may have an alternative cause such as variation in the binocular vengeance position of the eyes caused by introduction of the physical object. This effect may complicate design of overlaid virtual image displays for near objects and appears to be related to the relative conspicuousness of the overlaid virtual image and the background. Consequently, it may be related to earlier analyses of John Foley which modeled open-loop pointing errors to stereoscopically presented points of light in terms of errors in determination of a reference point for interpretation of observed retinal disparities. Implications for the design of see-through displays for manufacturing will be discussed.

Ellis, Stephen R.↗

NASA NTRS2000

Roughness Perception of Haptically Displayed Fractal Surfaces

Surface profiles were generated by a fractal algorithm and haptically rendered on a force feedback joystick, Subjects were asked to use the joystick to explore pairs of surfaces and report to the experimenter which of the surfaces they felt was rougher. Surfaces were characterized by their root mean square (RMS) amplitude and their fractal dimension. The most important factor affecting the perceived roughness of the fractal surfaces was the RMS amplitude of the surface. When comparing surfaces of fractal dimension 1.2-1.35 it was found that the fractal dimension was negatively correlated with perceived roughness.

Costa, Michael A.↗