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NASA NTRS1992

Adaptive multisensor fusion for planetary exploration rovers

The purpose of the adaptive multisensor fusion system currently being designed at NASA/Johnson Space Center is to provide a robotic rover with assured vision and safe navigation capabilities during robotic missions on planetary surfaces. Our approach consists of using multispectral sensing devices ranging from visible to microwave wavelengths to fulfill the needs of perception for space robotics. Based on the illumination conditions and the sensors capabilities knowledge, the designed perception system should automatically select the best subset of sensors and their sensing modalities that will allow the perception and interpretation of the environment. Then, based on reflectance and emittance theoretical models, the sensor data are fused to extract the physical and geometrical surface properties of the environment surface slope, dielectric constant, temperature and roughness. The theoretical concepts, the design and first results of the multisensor perception system are presented.

Collin, Marie-France↗

NASA NTRS1994

Selective Use of Optical Variables to Control Forward Speed

Previous work on the perception and control of simulated vehicle speed has examined the contributions of optical flow rate (angular visual speed) and texture, or edge rate (frequency of passing terrain objects or markings) on the perception and control of forward speed. However, these studies have not examined the ability to selectively use edge rate or flow rate. The two studies reported here show that subjects found it very difficult to arbitrarily direct attention to one or the other of these variables; but that the ability to selectively use these variables is linked to the visual contextual information about the relative validity (linkage with speed) of the two variables. The selectivity also resulted in different velocity adaptation levels for events in which flow rate and edge rate specified forward speed. Finally, the role of visual context in directing attention was further buttressed by the finding that the incorrect perception of changes in ground texture density tended to be coupled with incorrect perceptions of changes in forward speed.

Johnson, Walter W.↗

NASA NTRS2000

Mechanisms of the early phases of plant gravitropism

Gravitropism is directed growth of a plant or plant organ in response to gravity and can be divided into the following temporal sequence: perception, transduction, and response. This article is a review of the research on the early events of gravitropism (i.e., phenomena associated with the perception and transduction phases). The two major hypotheses for graviperception are the protoplast-pressure and starch-statolith models. While most researchers support the concept of statoliths, there are suggestions that plants have multiple mechanisms of perception. Evidence supports the hypothesis that the actin cytoskeleton is involved in graviperception/transduction, but the details of these mechanisms remain elusive. A number of recent developments, such as increased use of the molecular genetic approach, magnetophoresis, and laser ablation, have facilitated research in graviperception and have allowed for refinement of the current models. In addition, the entire continuum of acceleration forces from hypo- to hyper-gravity have been useful in studying perception mechanisms. Future interdisciplinary molecular approaches and the availability of sophisticated laboratories on the International Space Station should help to develop new insights into mechanisms of gravitropism in plants.

NASA Discipline Plant Biology↗

NASA NTRS1999

Gravitropism of hypocotyls of wild-type and starch-deficient Arabidopsis seedlings in spaceflight studies

The major purpose of this spaceflight project was to investigate the starch-statolith hypothesis for gravity perception, and a secondary goal was to study plant growth and development under spaceflight conditions. This research was based on our ground studies of gravity perception in the wild type and three starch-deficient (one starchless and two reduced starch) mutants of Arabidopsis thaliana (L.) Heynh. Dark-grown seedlings that developed in microgravity were given one of several (30 min, 60 min, or 90 min) 1-g stimuli by an on-board centrifuge, and additional controls for seedling development also were performed. These latter control experiments included a morphological study of plants that developed in space in microgravity (F microg), in space on a centrifuge (F 1g), on the ground (G 1g), and on a rotating clinostat on the ground. Since elevated levels of ethylene were reported in the spacecraft atmosphere, additional controls for morphology and gravitropism with added ethylene also were performed. While exogenous ethylene reduced the absolute magnitude of the response in all four strains of Arabidopsis, this gas did not appear to change the relative graviresponsiveness among the strains. The relative response of hypocotyls of microgravity-grown seedlings to the stimuli provided by the in-flight centrifuge was: wild type > starch-deficient mutants. Although the protoplast pressure model for gravity perception cannot be excluded, these results are consistent with a statolith-based model for perception in plants.

Non-NASA Center↗

NASA NTRS2008

Simplified night sky display system

A portable structure, simply constructed with inexpensive and generally lightweight materials, for displaying a selected portion of the night sky and selected planets, satellites, comets and other astronomically observable objects that are visually perceptible within that portion of the night sky. The structure includes a computer having stored signals representing the observable objects, an image projector that converts and projects the stored signals as visually perceptible images, a first curvilinear light-reflecting surface to receive and reflect the visually perceptible images, and a second curvilinear surface to receive and display the visually perceptible images reflected from the first surface. The images may be motionless or may move with passage of time. In one embodiment, the structure includes an inflatable screen surface that receives gas in an enclosed volume, supports itself without further mechanical support, and optionally self-regulates pressure of the received gas within the enclosed volume.

Castellano, Timothy P.↗

NASA NTRS2020

Evaluation of Low Cost, User-Centered Alerting Devices for the Mitigation of Flight Crew Spatial Disorientation

The National Aeronautics and Space Administration (NASA) is conducting research into technologies which have the potential to reduce flight crew Spatial Disorientation (SD). While flight deck technology has advanced rapidly over the past fifty (50) years, the reported occurrences of flight crew SD have not decreased. The Cost-Effective Devices for Alerting Research (CEDAR) effort has focused on the identification and development of low cost, user-centered alerting solutions for the purpose of mitigating the occurrence of flight crew SD. This effort seeks to evaluate both existing technologies as well as new and emerging technologies which have a viable path to implementation in commercial aviation within the next five (5) years. This research is intended to develop a proof-of-concept for real-time SD mitigation which could eventually be utilized to improve safety in future air transport operations. NASA has partnered with the United States Naval Aeromedical Research Unit in Dayton, OH (NAMRU-D) to conduct flight crew SD research utilizing their Disorientation Research Device (DRD), dubbed “The Kraken”. This high-tech simulator features never-before-seen capabilities for side-by-side commercial aviation flight crew SD research, and is capable of re-creating the forces necessary to induce SD illusions in a safe and repeatable manner. Prototype SD mitigation solutions were incorporated into this simulator for scenario-based testing and evaluation using airline pilots within a contextually representative operational environment. SD mitigation technology prototypes designed to provide haptic feedback for both alerting and guidance, as well as innovative visual and aural alerting displays were evaluated. In December 2014, as a result of analyzing eighteen (18) loss-of-control events, the Commercial Aviation Safety Team (CAST) recommended research into flight deck technologies that have potential to mitigate the problems and contributing factors that lead to flight crew loss of airplane state awareness (ASA) and conditions likely to produce SD. The aviation community (government, industry and academia) have been charged with conducting research into cost-effective, user-centered flight deck alerting systems to alert flight crews; especially for the two conditions that produced SD (sub-threshold rolls and the somatogravic illusion). Somatogravic illusions are defined as illusions in which “there is a false perception of attitude on exposure to a force vector that differs in direction and/or magnitude from the normal gravitational force”. The sub-threshold roll illusion (aka the “leans” illusion) is a false sensation of roll attitude. A prolonged roll of less than two degrees becomes physiologically imperceptible to the pilot, and can lead to an incorrect perception of aircraft orientation. The sub-threshold roll illusion forms the entry point for the “graveyard spiral”, a maneuver in which the pilot’s corrective action (based on their false perception of aircraft orientation) causes the aircraft to spiral down into the ground. In both of these SD illusions, it is when the pilot attempts to correct the aircraft’s attitude (based on a false perception of its state) that problems arise, sometimes with lethal consequences.

Ronald J Daiker↗

NASA NTRSDate not supplied

Neuro-Vestibular Examination During and Following Spaceflight (Vestibular Health)

BACKGROUND Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances can include space motion sickness, spatial disorientation, and cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflexes, and control of posture and locomotion. Otolith-mediated reflex gains appear to adapt rapidly during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex. OBJECTIVES We are investigating temporal vestibular changes in crewmembers of short, 6-month, and one-year missions to identify trends in adaptation of vestibular health and performance in orbit and after landing. We are also differentiating between peripheral and central vestibular forms of vertigo and oculomotor disorders. METHODS Recordings of eye, head, and body movements, as well as subjective reports of perception of motion, are being used to determine the presence of abnormal eye movements, dysmetria, motion sickness symptoms, and illusions of motion during head or body movements. This includes characterization of temporal trends in central compensation for vestibular (otolith) asymmetry. In-flight examinations are being performed early in the mission (Flight Days 1 and 30) and once every 2-3 months thereafter. Postflight examinations are performed after return (R) from the mission on R+0, R+4, R+9, and R+30. The inflight and postflight motion sickness questionnaires are customized to support data sharing across related studies. Ground-based control testing has been performed on healthy volunteers(18 females, 14 males;38.6 ± 9.2 years) in the laboratory to estimate mean normative responses, and on patients with bilateral vestibulopathy (BVP) (17 females, 13 males; 60.6 ± 13.0 years) at the University of Caen. RESULTS As of September 2024, two crewmembers have completed all preflight, inflight, and postflight testing. Additional crewmembers are currently enrolled and data collection is currently ongoing. For ground testing, BVP patients performed similarly to previous postflight astronauts on R+0 in various walking performance tasks. Three additional body movement perception tasks have been tested. For the Triangle Completion Task, BVP patients had a larger mean angle of deviation and longer mean distance than healthy controls. For the Self-Rotation Task and Distance Perception Task, BVP patients had larger errors than healthy controls. These data suggest that vestibular deficiencies impact all aspects of body movement perception tested; whereas previous studies suggest that vestibular deficiencies are only associated with directional errors, not with overall trajectories/path lengths. These data will be compared to those of crewmembers during early postflight readaptation. RELEVANCE If the observed symptoms in crewmembers are more deleterious after the year-long missions than those documented after 6-month missions, then relevant countermeasures will be required to maintain the health and operational performance of astronauts during longer missions. Depending on the etiology of the vestibular syndrome revealed by these tests, countermeasures will be proposed based on vestibular rehabilitation therapies currently used in patients with vestibular disorders, such as habituation, gaze stabilization, and/or balance training exercises. ACKNOWLEDGEMENT This work is supported by NASA’s Human Research Program Human Health Countermeasures Element.

T R Macaulay↗

NASA NTRS2015

Well Clear: General Aviation and Commercial Pilots' Perceptioin of Unmanned Aerial Vehicles in the National Airspace System

This research explored how different pilots perceived the concept of the Well Clear Boundary (WCB) and observed if that boundary changed when dealing with manned versus unmanned aircraft systems (UAS), and the effects of other variables. Pilots' WCB perceptions were collected objectively through simulator recordings and subjectively through questionnaires. Objectively, significant differences were found in WCB perception between two pilot types (general aviation [GA], and Airline Transport Pilots [ATPs]), and significant WCB differences were evident when comparing two intruder types (manned versus unmanned aircraft). Differences were dependent on other manipulated variables (intruder approach angle, ownship speed, and background traffic levels). Subjectively, there were differences in WCB perception across pilot types; GA pilots trusted UAS aircraft higher than the more experienced ATPs. Conclusions indicate pilots' WCB mental models are more easily perceived as time-based boundaries in front of ownship, and more easily perceived as distance-based boundaries to the rear of ownship.

unmanned aerial systems↗

NASA NTRS1986

Preadapting to Weightlessness

Report discusses physiological and physical concepts of proposed training system to precondition astronauts to weightless environment. System prevents motion sickness, often experienced during early part of orbital flight. Also helps prevent seasickness and other forms of terrestrial motion sickness, often experienced during early part of orbital flight. Training affects subject's perception of inner-ear signals, visual signals, and kinesthetic motion perception. Changed perception resembles that of astronauts who spent many days in space and adapted to weightlessness.

Reschke, M. F.↗

NASA NTRS1988

Image management research

Two types of research issues are involved in image management systems with space station applications: image processing research and image perception research. The image processing issues are the traditional ones of digitizing, coding, compressing, storing, analyzing, and displaying, but with a new emphasis on the constraints imposed by the human perceiver. Two image coding algorithms have been developed that may increase the efficiency of image management systems (IMS). Image perception research involves a study of the theoretical and practical aspects of visual perception of electronically displayed images. Issues include how rapidly a user can search through a library of images, how to make this search more efficient, and how to present images in terms of resolution and split screens. Other issues include optimal interface to an IMS and how to code images in a way that is optimal for the human perceiver. A test-bed within which such issues can be addressed has been designed.

Watson, Andrew B.↗

NASA NTRS1989

Global models: Robot sensing, control, and sensory-motor skills

Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others.

Schenker, Paul S.↗

NASA NTRS1991

Motion sickness severity and physiological correlates during repeated exposures to a rotating optokinetic drum

Fifty-two subjects were exposed to a rotating optokinetic drum. Ten of these subjects who became motion sick during the first session completed two additional sessions. Subjects' symptoms of motion sickness, perception of self-motion, electrogastrograms (EGGs), heart rate, mean successive differences of R-R intervals (RRI), and skin conductance were recorded for each session. The results from the first session indicated that the development of motion sickness was accompanied by increased EGG 4-9 cpm activity (gastric tachyarrhythmia), decreased mean succesive differences of RRI, increased skin conductance levels, and increased self-motion perception. The results from the subjects who had three repeated sessions showed that 4-9 cpm EGG activity, skin conductance levels, perception of self-motion, and symptoms of motion sickness all increased significantly during the drum rotation period of the first session, but increased significantly less during the following sessions. Mean successive differences of RRI decreased significantly during the drum rotation period for the first session, but decreased significantly less during the following sessions. Results show that the development of motion sickness is accompanied by an increase in gastric tachyarrhythmia, and an increase in sympathetic activity and a decrease in parasympathetic activity, and that adaptation to motion sickness is accompanied by the recovery of autonomic nervous system balance.

Hu, Senqi↗

NASA NTRS1991

Time estimation in flight

Experiments were performed to determine whether edge rate and flow rate impact the perception of time during an active control task and to further examine the relationship between edge rate or flow rate and time perception. One experiment also examined the extent to which time perception is driven by: (1) the temporal structure of the world, i.e., edge rate/flow rate changes, and (2) the amount of activity involved in accomplishing a task. The second factor was varied by examining time estimations made while subjects passively viewed the simulated flight and while also actively engaged in controlling lateral craft disturbances.

Awe, Cynthia A.↗

NASA NTRS1991

Pictorial communication in virtual and real environments

Papers about the communication between human users and machines in real and synthetic environments are presented. Individual topics addressed include: pictorial communication, distortions in memory for visual displays, cartography and map displays, efficiency of graphical perception, volumetric visualization of 3D data, spatial displays to increase pilot situational awareness, teleoperation of land vehicles, computer graphics system for visualizing spacecraft in orbit, visual display aid for orbital maneuvering, multiaxis control in telemanipulation and vehicle guidance, visual enhancements in pick-and-place tasks, target axis effects under transformed visual-motor mappings, adapting to variable prismatic displacement. Also discussed are: spatial vision within egocentric and exocentric frames of reference, sensory conflict in motion sickness, interactions of form and orientation, perception of geometrical structure from congruence, prediction of three-dimensionality across continuous surfaces, effects of viewpoint in the virtual space of pictures, visual slant underestimation, spatial constraints of stereopsis in video displays, stereoscopic stance perception, paradoxical monocular stereopsis and perspective vergence. (No individual items are abstracted in this volume)

Ellis, Stephen R.↗

NASA NTRS1992

Some distinguishing characteristics of contour and texture phenomena in images

The development of generalized contour/texture discrimination techniques is a central element necessary for machine vision recognition and interpretation of arbitrary images. Here, the visual perception of texture, selected studies of texture analysis in machine vision, and diverse small samples of contour and texture are all used to provide insights into the fundamental characteristics of contour and texture. From these, an experimental discrimination scheme is developed and tested on a battery of natural images. The visual perception of texture defined fine texture as a subclass which is interpreted as shading and is distinct from coarse figural similarity textures. Also, perception defined the smallest scale for contour/texture discrimination as eight to nine visual acuity units. Three contour/texture discrimination parameters were found to be moderately successful for this scale discrimination: (1) lightness change in a blurred version of the image, (2) change in lightness change in the original image, and (3) percent change in edge counts relative to local maximum.

Jobson, Daniel J.↗

NASA NTRS1993

The 3-D Moons: The Voyager stereo atlas of the outer solar system

Comprehension and analysis of geologic features on any planet is enhanced manyfold by a clear perception between albedo and topography. On many of the icy satellites significant albedo contrasts due to mixtures of dark rocky and bright icy materials can be associated with topographic features. Subtle topographic features can be masked by albedo variation and under high solar illumination albedo and topography can be difficult to separate. To this end we are compiling an atlas of stereo image pairs of the outer solar system based on Voyager imaging for the investigation of various geologic problems and for general use. For the icy satellites, general perceptions of topography are usually gleaned from shape-from-shading information in the images processed by the human brain (i.e. visual inspection). With few exceptions, actual topography has been measured on a spot-by-spot basis using shadow heights or photoclinometry, or along limb profiles (where geographic context may be unavailable). Shadow heights are limited to regions within approximately 10 deg of the terminator and images with resolution better than approximately 1 km/pixel. Photoclinometric scans can be used more widely but are subject to a variety of errors, primarily uncertain assumptions of uniform scene albedo or poorly understood photometry. Stereoscopic analysis, where available, has the potential for greatly expanding topographic perception.

Schenk, P.↗

NASA NTRS1994

Physiological and genetic characterization of plant growth and gravitropism in LED light sources

Among the many problems of growing plants in completely controlled environments, such as those anticipated for the space station and the CELSS program, is the need to provide light that is both adequate for photosynthesis and of proper quality for normal growth and development. NASA scientists and engineers have recently become interested in the possibility of utilizing densely packed, solid state, light emitting diodes (LED's) as a source for this light. Unlike more conventional incandescent or electrical discharge lamps, these sources are highly monochromatic and lack energy in spectral regions thought to be important for normal plant development. In addition, a recent observation by NASA scientist has suggested that infra-red LED's, that are routinely used as photographic safelights for plants grown in darkness, may interact with the ability of plants to detect gravity. In order to establish how plants respond to light from these LED light sources we carried out a series of experiments with known pigment mutants of the model mustard plant, Arabidopsis thaliana, growing in either a gravity field or on a clinostat to simulate a micro-gravity environment. Results indicate that only red light from the 665 nm LED's disrupts the ability of normal wildtype seedlings to detect a gravity stimulus. There was no consistent effect found for the far-red (735 nm) LED's or either of the infrared (880 nm or 935 nm) LED sources but both showed some effect in one or more of the genotypes tested. Of these five members of the phytochrome multigene family in Arabidopsis, only the phytochrome B pigment mutant (hy3) lacked the ability to detect gravity under all conditions. There was no effect of either micro-gravity (clinostat) or the infra-red LED's on the light induced inhibition of hypocotyl elongation. Measurements of the pigment phytochrome in oats also showed no photoconversion by 15 min irradiations with the infra-red LED's. We conclude that phytochrome B is required for the perception of gravity and that only red light is able to disrupt this perception. The infra-red LED's also do not appear to interact with gravity perception in Arabidopsis, but caution should be exercised if infra-red LED's are to be used as photographic safelights for these types of experiments.

Deitzer, Gerald F.↗

NASA NTRS1995

Plant Roots: The Hidden Half: Calcium and Gravitropism - Chapter 16

Environmental signals such as light and gravity control many aspects of plant growth and development. In higher plants, the directional growth of an organ in response to stimuli such as gravity and light is considered a tropic movement. Such movement could be either positive or negative with respect to a specific stimulus. In general, stems show a positive response to light and negative response to gravity. In contrast, most roots show a positive response to gravity and a negative response to light. Investigations on plant tropism date back a century when Darwin studied the phototropic responses of maize seedlings (Darwin). Although the precise mechanism of signal perception and transduction in roots is not understood, Darwin recognized over 100 years ago that the root cap is the probable site of signal perception. He discovered that the removal of the root cap eliminates the ability of roots to respond to gravity. Other investigators have since confirmed Darwin's observation (Konings; Evans et al.). In recent years, especially with the advent of the U.S. Space Program, there has been a renewed interest in understanding how plants respond to extracellular signals such as gravity (Halstead and Dutcher). Studies on the mechanisms involved in perception and transduction of gravity signal by roots would ultimately help us to better understand gravitropism and also to grow plants under microgravity conditions as in space. In this chapter, we restrict ourselves to the role of calcium in transduction of the gravity signal. In doing so, emphasis is given to the role of calcium-modulated proteins and their role in signal transduction in gravitropism. Detailed reviews on various other aspects of gravitropism (Scott, Torrey, Wilkins, Fim and Digby, Feldman, Pickard, Moore and Evans, Halstead and Dutcher, Poovaiah et al.) and on the role of calcium as a messenger in signal transduction in general have been published (Helper and Wayne, Poovaiah and Reddy, Roberts and Hartnon, Bowler and Chua, Gilroy and Trewavas). Plant roots have been widely used to study the transduction of gravity and light signals (Poovaiah et al., Roux and Serlin). Most roots show positive gravitropic response in either dark or light. However, roots of some varieties of plants (e.g., Zea mays L., cv Merit, and Zea rwvs L., cv Golden Cross Bantam 70) show positive gravitropic response only in light (Feldman, Miyazaki et al.). Investigations from various laboratories indicate that calcium acts as a messenger in transducing gravity and light signals in plant roots(Pickard, Evans et al., Pooviah et al.).

Poovaiah, B. W.↗