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NASA NTRS1990

Filling in the retinal image

The optics of the eye form an image on a surface at the back of the eyeball called the retina. The retina contains the photoreceptors that sample the image and convert it into a neural signal. The spacing of the photoreceptors in the retina is not uniform and varies with retinal locus. The central retinal field, called the macula, is densely packed with photoreceptors. The packing density falls off rapidly as a function of retinal eccentricity with respect to the macular region and there are regions in which there are no photoreceptors at all. The retinal regions without photoreceptors are called blind spots or scotomas. The neural transformations which convert retinal image signals into percepts fills in the gaps and regularizes the inhomogeneities of the retinal photoreceptor sampling mosaic. The filling-in mechamism plays an important role in understanding visual performance. The filling-in mechanism is not well understood. A systematic collaborative research program at the Ames Research Center and SRI in Menlo Park, California, was designed to explore this mechanism. It was shown that the perceived fields which are in fact different from the image on the retina due to filling-in, control some aspects of performance and not others. Researchers have linked these mechanisms to putative mechanisms of color coding and color constancy.

Larimer, James↗

NASA NTRS1990

Algorithms and architectures for robot vision

The scope of the current work is to develop practical sensing implementations for robots operating in complex, partially unstructured environments. A focus in this work is to develop object models and estimation techniques which are specific to requirements of robot locomotion, approach and avoidance, and grasp and manipulation. Such problems have to date received limited attention in either computer or human vision - in essence, asking not only how perception is in general modeled, but also what is the functional purpose of its underlying representations. As in the past, researchers are drawing on ideas from both the psychological and machine vision literature. Of particular interest is the development 3-D shape and motion estimates for complex objects when given only partial and uncertain information and when such information is incrementally accrued over time. Current studies consider the use of surface motion, contour, and texture information, with the longer range goal of developing a fused sensing strategy based on these sources and others.

Schenker, Paul S.↗

NASA NTRS1989

Spaceborne radar observations: A guide for Magellan radar-image analysis

Geologic analyses of spaceborne radar images of Earth are reviewed and summarized with respect to detecting, mapping, and interpreting impact craters, volcanic landforms, eolian and subsurface features, and tectonic landforms. Interpretations are illustrated mostly with Seasat synthetic aperture radar and shuttle-imaging-radar images. Analogies are drawn for the potential interpretation of radar images of Venus, with emphasis on the effects of variation in Magellan look angle with Venusian latitude. In each landform category, differences in feature perception and interpretive capability are related to variations in imaging geometry, spatial resolution, and wavelength of the imaging radar systems. Impact craters and other radially symmetrical features may show apparent bilateral symmetry parallel to the illumination vector at low look angles. The styles of eruption and the emplacement of major and minor volcanic constructs can be interpreted from morphological features observed in images. Radar responses that are governed by small-scale surface roughness may serve to distinguish flow types, but do not provide unambiguous information. Imaging of sand dunes is rigorously constrained by specific angular relations between the illumination vector and the orientation and angle of repose of the dune faces, but is independent of radar wavelength. With a single look angle, conditions that enable shallow subsurface imaging to occur do not provide the information necessary to determine whether the radar has recorded surface or subsurface features. The topographic linearity of many tectonic landforms is enhanced on images at regional and local scales, but the detection of structural detail is a strong function of illumination direction. Nontopographic tectonic lineaments may appear in response to contrasts in small-surface roughness or dielectric constant. The breakpoint for rough surfaces will vary by about 25 percent through the Magellan viewing geometries from low to high Venusian latitudes. Examples of anomalies and system artifacts that can affect image interpretation are described.

Ford, J. P.↗

NASA NTRS1989

Spatial Displays and Spatial Instruments

The conference proceedings topics are divided into two main areas: (1) issues of spatial and picture perception raised by graphical electronic displays of spatial information; and (2) design questions raised by the practical experience of designers actually defining new spatial instruments for use in new aircraft and spacecraft. Each topic is considered from both a theoretical and an applied direction. Emphasis is placed on discussion of phenomena and determination of design principles.

Ellis, Stephen R.↗

NASA NTRS1989

Spatial constraints of stereopsis in video displays

Recent development in video technology, such as the liquid crystal displays and shutters, have made it feasible to incorporate stereoscopic depth into the 3-D representations on 2-D displays. However, depth has already been vividly portrayed in video displays without stereopsis using the classical artists' depth cues described by Helmholtz (1866) and the dynamic depth cues described in detail by Ittleson (1952). Successful static depth cues include overlap, size, linear perspective, texture gradients, and shading. Effective dynamic cues include looming (Regan and Beverly, 1979) and motion parallax (Rogers and Graham, 1982). Stereoscopic depth is superior to the monocular distance cues under certain circumstances. It is most useful at portraying depth intervals as small as 5 to 10 arc secs. For this reason it is extremely useful in user-video interactions such as telepresence. Objects can be manipulated in 3-D space, for example, while a person who controls the operations views a virtual image of the manipulated object on a remote 2-D video display. Stereopsis also provides structure and form information in camouflaged surfaces such as tree foliage. Motion parallax also reveals form; however, without other monocular cues such as overlap, motion parallax can yield an ambiguous perception. For example, a turning sphere, portrayed as solid by parallax can appear to rotate either leftward or rightward. However, only one direction of rotation is perceived when stereo-depth is included. If the scene is static, then stereopsis is the principal cue for revealing the camouflaged surface structure. Finally, dynamic stereopsis provides information about the direction of motion in depth (Regan and Beverly, 1979). Clearly there are many spatial constraints, including spatial frequency content, retinal eccentricity, exposure duration, target spacing, and disparity gradient, which - when properly adjusted - can greatly enhance stereodepth in video displays.

Schor, Clifton↗

NASA NTRS1989

The effects of viewpoint on the virtual space of pictures

Pictorial displays whose primary purpose is to convey accurate information about the 3-D spatial layout of an environment are discussed. How and how well, pictures can convey such information is discussed. It is suggested that picture perception is not best approached as a unitary, indivisible process. Rather, it is a complex process depending on multiple, partially redundant, interacting sources of visual information for both the real surface of the picture and the virtual space beyond. Each picture must be assessed for the particular information that it makes available. This will determine how accurately the virtual space represented by the picture is seen, as well as how it is distorted when seen from the wrong viewpoint.

Sedgwick, H. A.↗

NASA NTRS1989

Perceived orientation, spatial layout and the geometry of pictures

The purpose is to discuss the role of geometry in determining the perception of spatial layout and perceived orientation in pictures viewed at an angle. This discussion derives from Cutting's (1988) suggestion, based on his analysis of some of the author's data (Goldstein, 1987), that the changes in perceived orientation that occur when pictures are viewed at an angle can be explained in terms of geometrically produced changes in the picture's virtual space.

Goldstein, E. Bruce↗

NASA NTRS1989

On the efficacy of cinema, or what the visual system did not evolve to do

Spatial displays, and a constraint that they do not place on the use of spatial instruments are discussed. Much of the work done in visual perception by psychologists and by computer scientists has concerned displays that show the motion of rigid objects. Typically, if one assumes that objects are rigid, one can then proceed to understand how the constant shape of the object can be perceived (or computed) as it moves through space. The author maintains that photographs and cinema are visual displays that are also powerful forms of art. Their efficacy, in part, stems from the fact that, although viewpoint is constrained when composing them, it is not nearly so constrained when viewing them. It is obvious, according to the author, that human visual systems did not evolve to watch movies or look at photographs. Thus, what photographs and movies present must be allowed in the rule-governed system under which vision evolved. Machine-vision algorithms, to be applicable to human vision, should show the same types of tolerance.

Cutting, James E.↗

NASA NTRS1989

Development of a stereo 3-D pictorial primary flight display

Computer-generated displays are becoming increasingly popular in aerospace applications. The use of stereo 3-D technology provides an opportunity to present depth perceptions which otherwise might be lacking. In addition, the third dimension could also be used as an additional dimension along which information can be encoded. Historically, the stereo 3-D displays have been used in entertainment, in experimental facilities, and in the handling of hazardous waste. In the last example, the source of the stereo images generally has been remotely controlled television camera pairs. The development of a stereo 3-D pictorial primary flight display used in a flight simulation environment is described. The applicability of stereo 3-D displays for aerospace crew stations to meet the anticipated needs for 2000 to 2020 time frame is investigated. Although, the actual equipment that could be used in an aerospace vehicle is not currently available, the lab research is necessary to determine where stereo 3-D enhances the display of information and how the displays should be formatted.

Nataupsky, Mark↗

NASA NTRS1989

Telerobotic Architecture for an on-Orbit Servicer

An on-orbit servicer system has unique functional and human factors requirements. The servicing, whether it be teleoperation task, a supervised control task or an autonomous robotic task, the man-machine interface function is likely to be a bottleneck to the operation of the whole system. The man-machine interface system for a space servicer, namely the operator control station, includes several subsystems with a hierarchical architecture. Those subsystems include a reasoning and planning subsystem (also known as the artificial intelligence planner), a run-time control subsystem, a manipulator control and mechanization subsystem, and a sensing and perception subsystem. Indicative of these potentials, certain generic tasks, suggestive of space assembly, maintenance and repair, were performed in a testbed environment. Through performance in several modes: direct teleoperation, shared control, traded control, and robotic operation, the benefits of the individual technology contributions to the operation were quantized and recommendations for use in telerobotic systems were established.

Operator Control Station↗

NASA NTRS1990

Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described.

Duffie, Neil A.↗

NASA NTRS1990

Process and representation in graphical displays

How people comprehend graphics is examined. Graphical comprehension involves the cognitive representation of information from a graphic display and the processing strategies that people apply to answer questions about graphics. Research on representation has examined both the features present in a graphic display and the cognitive representation of the graphic. The key features include the physical components of a graph, the relation between the figure and its axes, and the information in the graph. Tests of people's memory for graphs indicate that both the physical and informational aspect of a graph are important in the cognitive representation of a graph. However, the physical (or perceptual) features overshadow the information to a large degree. Processing strategies also involve a perception-information distinction. In order to answer simple questions (e.g., determining the value of a variable, comparing several variables, and determining the mean of a set of variables), people switch between two information processing strategies: (1) an arithmetic, look-up strategy in which they use a graph much like a table, looking up values and performing arithmetic calculations; and (2) a perceptual strategy in which they use the spatial characteristics of the graph to make comparisons and estimations. The user's choice of strategies depends on the task and the characteristics of the graph. A theory of graphic comprehension is presented.

Gillan, Douglas J.↗

NASA NTRS1989

Perceptual telerobotics

A sensory world modeling system, congruent with a human expert's perception, is proposed. The Experiential Knowledge Base (EKB) system can provide a highly intelligible communication interface for telemonitoring and telecontrol of a real time robotic system operating in space. Paradigmatic acquisition of empirical perceptual knowledge, and real time experiential pattern recognition and knowledge integration are reviewed. The cellular architecture and operation of the EKB system are also examined.

Ligomenides, Panos A.↗

NASA NTRS1989

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗

NASA NTRS1989

Response to reflected-force feedback to fingers in teleoperations

Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.

Sutter, P. H.↗

NASA NTRS1989

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

Hayati, Samad↗

NASA NTRS1989

Next generation space robot

The recent research effort on the next generation space robots is presented. The goals of this research are to develop the fundamental technologies and to acquire the design parameters of the next generation space robot. Visual sensing and perception, dexterous manipulation, man machine interface and artificial intelligence techniques such as task planning are identified as the key technologies.

Iwata, Tsutomu↗

NASA NTRS1989

Sensor fusion: Spatial reasoning and scene interpretation; Proceedings of the Meeting, Cambridge, MA, Nov. 7-9, 1988

The present conference discusses topics in the fusion of active and passive sensors, object estimation and verification, three-dimensional representation and knowledge integration, three-dimensional perception from multisensor data, the representation of uncertainty in multisensor fusion, and sensor calibration and registration. Also discussed are the areas of multisensor target detection and classification, multisensor processing architectures, knowledge structures and spatial reasoning, sensory interfaces to telerobotic systems, and navigation with spatial data bases.

Schenker, Paul S.↗