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NASA NTRS1994

Real-time tracking using stereo and motion: Visual perception for space robotics

The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

Nishihara, H. Keith↗

NASA NTRS1988

Ground-based training for the stimulus rearrangement encountered during spaceflight

Approximately 65-70% of the crew members now experience motion sickness of some degree during the first 72 h of orbital flight on the Space Shuttle. Lack of congruence among signals from spatial orientation systems leads to sensory conflict, which appears to be the basic cause of space motion sickness. A project to develop training devices and procedures to preadapt astronauts to the stimulus rearrangements of microgravity is currently being pursued. The preflight adaptation trainers (PATs) are intended to: demonstrate sensory phenomena likely to be experienced in flight, allow astronauts to train preflight in an altered sensory environment, alter sensory-motor reflexes, and alleviate or shorten the duration of space motion sickness. Four part-task PATs are anticipated. The trainers are designed to evoke two adaptation processes, sensory compensation and sensory reinterpretation, which are necessary to maintain spatial orientation in a weightless environment. Recent investigations using one of the trainers indicate that self-motion perception of linear translation is enhanced when body tilt is combined with visual surround translation, and that a 270 degrees phase angle relationship between tilt and surround motion produces maximum translation perception.

Non-NASA Center↗

NASA NTRS2000

Visual motion integration for perception and pursuit

To examine the relationship between visual motion processing for perception and pursuit, we measured the pursuit eye-movement and perceptual responses to the same complex-motion stimuli. We show that humans can both perceive and pursue the motion of line-figure objects, even when partial occlusion makes the resulting image motion vastly different from the underlying object motion. Our results show that both perception and pursuit can perform largely accurate motion integration, i.e. the selective combination of local motion signals across the visual field to derive global object motion. Furthermore, because we manipulated perceived motion while keeping image motion identical, the observed parallel changes in perception and pursuit show that the motion signals driving steady-state pursuit and perception are linked. These findings disprove current pursuit models whose control strategy is to minimize retinal image motion, and suggest a new framework for the interplay between visual cortex and cerebellum in visuomotor control.

NASA Center ARC↗

NASA NTRS1996

High-power graphic computers for visual simulation: a real-time--rendering revolution

Advances in high-end graphics computers in the past decade have made it possible to render visual scenes of incredible complexity and realism in real time. These new capabilities make it possible to manipulate and investigate the interactions of observers with their visual world in ways once only dreamed of. This paper reviews how these developments have affected two preexisting domains of behavioral research (flight simulation and motion perception) and have created a new domain (virtual environment research) which provides tools and challenges for the perceptual psychologist. Finally, the current limitations of these technologies are considered, with an eye toward how perceptual psychologist might shape future developments.

NASA Discipline Space Human Factors↗

NASA NTRS2014

Improving Sensorimotor Function Using Stochastic Vestibular Stimulation

Astronauts experience sensorimotor changes during spaceflight, particularly during G-transition phases. Post flight sensorimotor changes may include postural and gait instability, spatial disorientation, and visual performance decrements, all of which can degrade operational capabilities of the astronauts and endanger the crew. Crewmember safety would be improved if these detrimental effects of spaceflight could be mitigated by a sensorimotor countermeasure and even further if adaptation to baseline could be facilitated. The goal of this research is to investigate the potential use of stochastic vestibular stimulation (SVS) as a technology to improve sensorimotor function. We hypothesize that low levels of SVS will improve sensorimotor performance through stochastic resonance (SR). The SR phenomenon occurs when the response of a nonlinear system to a weak input signal is optimized by the application of a particular nonzero level of noise. Two studies have been initiated to investigate the beneficial effects and potential practical usage of SVS. In both studies, electrical vestibular stimulation is applied via electrodes on the mastoid processes using a constant current stimulator. The first study aims to determine the repeatability of the effect of vestibular stimulation on sensorimotor performance and perception in order to better understand the practical use of SVS. The beneficial effect of low levels of SVS on balance performance has been shown in the past. This research uses the same balance task repeated multiple times within a day and across days to study the repeatability of the stimulation effects. The balance test consists of 50 sec trials in which the subject stands with his or her feet together, arms crossed, and eyes closed on compliant foam. Varying levels of SVS, ranging from 0-700 micro A, are applied across different trials. The subject-specific optimal SVS level is that which results in the best balance performance as measured by inertial measurement units placed on the upper and lower torso of the subjects. Additionally, each individual’s threshold for illusory motion perception of suprasensory electrical vestibular stimulation is measured multiple times within and across days to better understand how multiple SVS test methods compare. The second study aims to demonstrate stochastic resonance in the vestibular system using a perception based motion recognition task. This task measures an individual’s velocity threshold of motion recognition using a 6-degree of freedom Stewart platform and a 3-down/1-up staircase procedure. For this study, thresholds are determined using 150 trials in the upright, head-centered roll tilt motion direction at a 0.2 Hz frequency. We aim to demonstrate the characteristic bell shaped curve associated with stochastic resonance with each subject’s motion recognition thresholds at varying SVS levels ranging from 0 to 1500 micro A. The curve includes the individual’s baseline threshold with no SVS, optimal or minimal threshold at some mid-level of SVS, and finally degraded or increased threshold at a high SVS level. An additional aim is to formally retest each subject at his or her individual optimal SVS level on a different day than the original testing for additional validity. The overall purpose of this research is to further quantify the effects of SVS on various sensorimotor tasks and investigate the practical implications of its use in the context of human space flight so that it may be implemented in the future as a component of a comprehensive countermeasure plan for adaptation to G-transitions.

Galvan, R. C.↗

NASA NTRS1996

Yaw Motion Cues in Helicopter Simulation

A piloted simulation that examined the effects of yaw motion cues on pilot-vehicle performance, pilot workload, and pilot motion perception was conducted on the NASA Ames Vertical Motion Simulator. The vehicle model that was used represented an AH-64 helicopter. Three tasks were performed in which only combinations of vehicle yaw and vertical displacement were allowed. The commands issued to the motion platform were modified to present the following four motion configurations for a pilot located forward of the center of rotation: (1) only the linear translations, (2) only the angular rotation, (3) both the linear translations and the angular rotation, and (4) no motion. The objective data indicated that pilot-vehicle performance was reduced and the necessary control activity increased when linear motion was removed; however, the lack of angular rotation did not result in a measured degradation for almost all cases. Also, pilots provided subjective assessments of their compensation required, the motion fidelity, and their judgment of whether or not linear or rotational cockpit motion was present. Ratings of compensation and fidelity were affected only by linear acceleration, and the rotational motion had no significant impact. Also, when only linear motion was present, pilots typically reported the presence of rotation. Thus, linear acceleration cues, not yaw rotational cues, appear necessary to simulate hovering flight.

Schroeder, Jeffrey A.↗

NASA NTRS1995

Direction of Perceived Motion and Eye Movements Show Similar Biases for Asymmetrically Windowed Moving Plaids

We have shown that moving a plaid in an asymmetric window biases the perceived direction of motion (Beutter, Mulligan & Stone, ARVO 1994). We now explore whether these biased motion signals might also drive the smooth eye-movement response by comparing the perceived and tracked directions. The human smooth oculomotor response to moving plaids appears to be driven by the perceived rather than the veridical direction of motion. This suggests that human motion perception and smooth eye movements share underlying neural motion-processing substrates as has already been shown to be true for monkeys.

Beutter, B. R.↗

NASA NTRS1990

Factors affecting the perception of transparent motion

It is possible to create a perception of transparency by combining patterns having different motions. Two particular combination rules, have specific interpretations in terms of physical phenomena: additive (specular reflection) and multiplicative (shadow illumination). Arbitrary combination rules applied to random patterns generate percepts in which the motions of the two patterns are visible, but have super-imposed noise. It is also possible to combine the patterns (using an exclusive-OR rule) so that only noise is visible. Within a one-dimensional family of combination rules which include addition and multiplication, there is a range where smooth motions are seen with no superimposed noise; this range is centered about the additive combination. This result suggests that the motion system deals with a linear representation of luminance, and is consistent with the analysis of motion by linear sensors. This research gives tentative validation the use in beam splitters (which combine images additively) in the construction of heads-up aviation displays. Further work is needed to determine if the superiority of additive combination generalizes to the case of full-color imagery (there are results in the literature suggesting that subtractive color mixture yields the best legibility of overlapping alphanumerics).

Mulligan, Jeffrey B.↗

NASA NTRS2002

A Nonlinear, Human-Centered Approach to Motion Cueing with a Neurocomputing Solver

This paper discusses the continuation of research into the development of new motion cueing algorithms first reported in 1999. In this earlier work, two viable approaches to motion cueing were identified: the coordinated adaptive washout algorithm or 'adaptive algorithm', and the 'optimal algorithm'. In this study, a novel approach to motion cueing is discussed that would combine features of both algorithms. The new algorithm is formulated as a linear optimal control problem, incorporating improved vestibular models and an integrated visual-vestibular motion perception model previously reported. A control law is generated from the motion platform states, resulting in a set of nonlinear cueing filters. The time-varying control law requires the matrix Riccati equation to be solved in real time. Therefore, in order to meet the real time requirement, a neurocomputing approach is used to solve this computationally challenging problem. Single degree-of-freedom responses for the nonlinear algorithm were generated and compared to the adaptive and optimal algorithms. Results for the heave mode show the nonlinear algorithm producing a motion cue with a time-varying washout, sustaining small cues for a longer duration and washing out larger cues more quickly. The addition of the optokinetic influence from the integrated perception model was shown to improve the response to a surge input, producing a specific force response with no steady-state washout. Improved cues are also observed for responses to a sway input. Yaw mode responses reveal that the nonlinear algorithm improves the motion cues by reducing the magnitude of negative cues. The effectiveness of the nonlinear algorithm as compared to the adaptive and linear optimal algorithms will be evaluated on a motion platform, the NASA Langley Research Center Visual Motion Simulator (VMS), and ultimately the Cockpit Motion Facility (CMF) with a series of pilot controlled maneuvers. A proposed experimental procedure is discussed. The results of this evaluation will be used to assess motion cueing performance.

Telban, Robert J.↗

DOE OSTI2021

Human-automated vehicle interactions

This dissertation is proposed to answer the question: how can the interactions between human and automated vehicles be used to improve the overall performance of automated driving technology? Multiple different modules in automated vehicles such as the perception, motion plan and motion control modules can potentially be benefitted from human-automated vehicle interactions. For perception module, the self-correction of faulty sensors can be achieved using human demonstration data. For motion plan and motion control modules, the performance of the low-level motion controller can be improved with the help of human demonstration, and the behavior of the motion planner can be improved using human intervention data during automated driving. Moreover, a better model for a human driver could improve the overall efficiency and comfort of vehicles in connected mixed traffic. In this dissertation, the technical research toward these goals has been completed and has resulted in several peer-reviewed publications. Optimization methods and model predictive control are used extensively to improve energy efficiency while maintaining safe and comfort driving. An inverse model predictive control (IMPC) method has been developed and it has been proven to be effective in modeling the motion of human driven vehicles. The proposed method has demonstrated its benefits in both connected automated highway driving and the bilateral adaptation of human driver and automated driving controller in human-in-the loop simulations. The proposed future research seeks to broaden the application of IMPC by considering a more comprehensive cost function design and applying it to more complex driving situations.

Guo, Longxiang↗

DOE OSTI2021

HUMAN-AUTOMATED VEHICLE INTERACTIONS

Guo, Longxiang↗

NASA NTRS1991

Visually Guided Control of Movement

The papers given at an intensive, three-week workshop on visually guided control of movement are presented. The participants were researchers from academia, industry, and government, with backgrounds in visual perception, control theory, and rotorcraft operations. The papers included invited lectures and preliminary reports of research initiated during the workshop. Three major topics are addressed: extraction of environmental structure from motion; perception and control of self motion; and spatial orientation. Each topic is considered from both theoretical and applied perspectives. Implications for control and display are suggested.

Johnson, Walter W.↗

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

Percepts of rigid motion within and across apertures

Humans consistently err in their percepts of rotational motion viewed through an aperture. Such errors provide insight into the constraints observers use to interpret retinal images. In the first of two experiments, the subjects consistently perceived the fixed center of rotation for an unmarked line viewed through an aperture as located on the line, regardless of its actual location. Accuracy greatly improved with visible line endings. This finding was extended to explain why a square appears nonrigid when it rotates behind a partial occluder. This illusion is theorized to result from observers misperceiving the center of rotation of the unmarked square sides. In this situation, the subjects seemed unable to apply an object rigidity constraint across apertures. These findings support a conceptualization of the visual system in which consistent local information must be clearly present before prior knowledge can be used to interpret retinal stimulation.

Shiffrar, Maggie↗

NASA NTRS1991

Percepts of rigid motion within and across apertures

Humans consistently err in their percepts of rotational motion viewed through an aperture. Such errors provide insight into the constraints observers use to interpret retinal images. In the first of two experiments, Ss consistently perceived the fixed center of rotation for an unmarked line viewed through an aperture as located on the line, regardless of its actual location. Accuracy greatly improved with visible line endings. This finding was extended to explain why a square appears nonrigid when it rotates behind a partial occluder. This illusion may result from observers misperceiving the center of rotation of the unmarked square sides. In this situation, Ss seemed unable to apply an object rigidity constraint across apertures. These findings support a conceptualization of the visual system in which consistent local information must be clearly present before prior knowledge can be used to interpret retinal stimulation.

Shiffrar, Maggie↗

NASA NTRS1985

Reinterpretation of otolith input as a primary factor in space motion sickness

It is hypothesized that exposure to prolonged free fall is a form of sensory/motor rearrangement rather than a direct change in otolith sensitivity or sensory compensation for a reduced otolith input. The rearrangement of stimuli will force a new interpretation by the CNS of otolith input. This reinterpretation is necessary for a structured and meaningful interaction with the new environment. Data from two flight experiments are presented which support an otolith reinterpretation hypothesis. The first experiment measured vestibulo-spinal reflex changes as a function of sustained free fall. Findings indicate that when a monosynaptic reflex (H-reflex), measured from the major postural muscles (soleus), is used adaptation to space flight includes a change in how the CNS interprets a fall. In a normal gravity environment a sudden unexpected fall will produce a potentiated H reflex. After seven days in flight an equivalent fall does not potentiate the reflex. During postflight a greatly increased reflex is observed in those crewmen most susceptible to space motion sickness. In the second experiment self motion perception and torsional eyemovements were modified as a function of exposure to sustained free fall. Preflight roll motion (about the X axis) was perceived as pure roll, and the eye movements recorded were countertorsional. Postflight, roll stimulation was perceived as linear translation (side to side movement) with a small angular motion component. Eye movement measurements confirmed significantly more horizontal motion.

Reschke, M. F.↗

NASA NTRS1992

Effect of contrast on human speed perception

This study is part of an ongoing collaborative research effort between the Life Science and Human Factors Divisions at NASA ARC to measure the accuracy of human motion perception in order to predict potential errors in human perception/performance and to facilitate the design of display systems that minimize the effects of such deficits. The study describes how contrast manipulations can produce significant errors in human speed perception. Specifically, when two simultaneously presented parallel gratings are moving at the same speed within stationary windows, the lower-contrast grating appears to move more slowly. This contrast-induced misperception of relative speed 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). The misperception is large: a 70 percent contrast grating must, on average, be slowed by 35 percent to match a 10 percent contrast grating moving at 2 deg/sec (N = 6). Furthermore, it 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, the relative orientation of the two gratings is important. Finally, the effect depends on the temporal presentation of the stimuli: the effects of contrast on perceived speed appears lessened when the stimuli to be matched are presented sequentially. These data constrain both physiological models of visual cortex and models of human performance. We conclude that viewing conditions that effect contrast, such as fog, may cause significant errors in speed judgments.

Stone, Leland S.↗

NASA NTRS2024

Evaluation of Intranasal Scopolamine for the Prevention of Wave Motion Induced Motion Sickness While Maintaining Performance on Operationally Relevant Tasks

Motion sickness represents one of the greatest clinical challenges impacting crew activities during and following g-transitions. Our overall goal is to characterize the effectiveness of motion sickness countermeasures during controlled laboratory experiments using capsule wave motion simulation and during field testing in operational environments. This laboratory study focused on prevention of motion sickness using intranasal scopolamine using a double-blinded repeated measures design in 30 subjects (19M, 11F). Intranasal scopolamine was provided by Defender Pharmaceuticals, Inc. (DPI-386 Nasal Gel, referred to as Inscop) self-administered by a nasal pump (Aptar Pharma) that delivers 0.4 mg dose (0.2 mg / nostril). During each session, subjects were exposed to complex wave motion on a six degree-of-freedom platform that included pitch, roll and heave at provocative stimulus frequencies (0.1-0.25 Hz) while seated in an illuminated cabin deprived of external visual cues. Motion sickness symptoms were compared across treatment and placebo control sessions counterbalanced across subjects and separated by at least one week. The time-to-motion sickness endpoint was based on severe malaise, defined as symptom score of ≥8 points using the Pensacola Diagnostic Index [1]. The bioavailability of scopolamine for each session was estimated from plasma concentrations obtained every 15 min[2]. Side effects during the treatment session were minimal, and performance was not impaired on a test battery including motion perception tracking, tablet-based eye-hand coordination and psychomotor vigilance testing. The plasma concentration remained near-peak levels throughout the 45 min motion sickness testing for most subjects. The percentile ranking on the Motion Sickness Susceptibility Questionnaire [MSSQ, 3]was moderately correlated with the motion sickness time-to-endpoint during the placebo control session (rho = –0.3, p=0.056). Seventeen subjects did not reach an endpoint during their placebo session and were eliminated from subsequent analysis. Another subject was excluded due to insufficient plasma concentration during the treatment session. For the remaining 12 subjects, the change in time-to-motion sickness endpoint between placebo and treatment sessions was moderately correlated with plasma concentration (rho =0.48, p = 0.056), improving on average 4.4 ± 18.4 min, mean ± std with Inscop versus placebo. Our results are consistent with previous findings that intranasal delivery of scopolamine can be effective at reducing motion sickness symptoms with minimal cognitive or sedative side effects. Future work is needed to optimize the delivery of Inscop for rescue (treatment) of symptoms following g-transitions as one of the key advantages of this formulation is self-administration in a suited environment. We will also explore how the combination of Inscop with non-pharmaceutical sensory aids, e.g., vibrotactile feedback of Earth vertical, may further mitigate motion sickness and improve task performance.

S J Wood↗