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NASA NTRS1995

Tracking magnetogram proper motions by multiscale regularization

Long uninterrupted sequences of solar magnetograms from the global oscillations network group (GONG) network and from the solar and heliospheric observatory (SOHO) satellite will provide the opportunity to study the proper motions of magnetic features. The possible use of multiscale regularization, a scale-recursive estimation technique which begins with a prior model of how state variables and their statistical properties propagate over scale. Short magnetogram sequences are analyzed with the multiscale regularization algorithm as applied to optical flow. This algorithm is found to be efficient, provides results for all the spatial scales spanned by the data and provides error estimates for the solutions. It is found that the algorithm is less sensitive to evolutionary changes than correlation tracking.

Jones, Harrison P.↗

NASA NTRS1999

Microwave Treatment for Cardiac Arrhythmias

Method and apparatus are provided for propagating microwave energy into heart tissues to produce a desired temperature profile therein at tissue depths sufficient for thermally ablating arrhythmogenic cardiac tissue to treat ventricular tachycardia and other arrhythmias while preventing excessive heating of surrounding tissues, organs, and blood. A wide bandwidth double-disk antenna is effective for this purpose over a bandwidth of about six gigahertz. A computer simulation provides initial screening capabilities for an antenna such as antenna, frequency, power level, and power application duration. The simulation also allows optimization of techniques for specific patients or conditions. In operation, microwave energy between about 1 Gigahertz and 12 Gigahertz is applied to monopole microwave radiator having a surface wave limiter. A test setup provides physical testing of microwave radiators to determine the temperature profile created in actual heart tissue or ersatz heart tissue. Saline solution pumped over the heart tissue with a peristaltic pump simulates blood flow. Optical temperature sensors disposed at various tissue depths within the heart tissue detect the temperature profile without creating any electromagnetic interference. The method may be used to produce a desired temperature profile in other body tissues reachable by catheter such as tumors and the like.

Arndt, G. Dickey↗

NASA NTRS2000

Transcatheter Antenna For Microwave Treatment

Method and apparatus are provided for propagating microwave energy into heart tissues to produce a desired temperature profile therein at tissue depths sufficient for thermally ablating arrhythmogenic cardiac tissue to treat ventricular tachycardia and other arrhythmias while preventing excessive heating of surrounding tissues, organs, and blood. A wide bandwidth double-disk antenna is effective for this purpose over a bandwidth of about six gigahertz. A computer simulation provides initial screening capabilities for an antenna such as antenna, frequency, power level, and power application duration. The simulation also allows optimization of techniques for specific patients or conditions. In operation, microwave energy between about 1 Gigahertz and 12 Gigahertz is applied to monopole microwave radiation having a surface wave limiter. A test setup provides physical testing of microwave radiators to determine the temperature profile created in actual heart tissue or ersatz heart tissue. Saline solution pumped over the heart tissue with a peristaltic pump simulates blood flow. Optical temperature sensors disposed at various tissue depths within the heart tissue detect the temperature profile without creating any electromagnetic interference. The method may he used to produce a desired temperature profile in other body tissues reachable by catheter such as tumors and the like.

Arndt, G. Dickey↗

NASA NTRS2001

In Vivo Simulator for Microwave Treatment

Method and apparatus are provided for propagating microwave energy into heart tissues to produce a desired temperature profile therein at tissue depths sufficient for thermally ablating arrhythmogenic cardiac tissue to treat ventricular tachycardia and other arrhythmias while preventing excessive heating of surrounding tissues, organs, and blood. A wide bandwidth double-disk antenna is effective for this purpose over a bandwidth of about 6 GHz. A computer simulation provides initial screening capabilities for an antenna such as antenna. frequency, power level, and power application duration. The simulation also allows optimization of techniques for specific patients or conditions. In operation, microwave energy between about 1 GHz and 12 GHz is applied to monopole microwave radiator having a surface wave limiter. A test setup provides physical testing of microwave radiators to determine the temperature profile created in actual heart tissue or ersatz heart tissue. Saline solution pumped over the heart tissue with a peristaltic pump simulates blood flow. Optical temperature sensors disposed at various tissue depths within the heart tissue detect the temperature profile without creating any electromagnetic interference. The method may be used to produce a desired temperature profile in other body tissues reachable by catheter such as tumors and the like.

Arndt, G. Dickey↗

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 NTRS1996

Translation and Rotation Trade Off in Human Visual Heading Estimation

We have previously shown that, during simulated curvilinear motion, humans can make reasonably accurate and precise heading judgments from optic flow without either oculomotor or static-depth cues about rotation. We now systematically investigate the effect of varying the parameters of self-motion. We visually simulated 400 ms of self-motion along curved paths (constant rotation and translation rates, fixed retinocentric heading) towards two planes of random dots at 10.3 m and 22.3 m at mid-trial. Retinocentric heading judgments of 4 observers (2 naive) were measured for 12 different combinations of translation (T between 4 and 16 m/s) and rotation (R either 8 or 16 deg/s). In the range tested, heading bias and uncertainty decrease quasilinearly with T/R, but the bias also appears to depend on R. If depth is held constant, the ratio T/R can account for much of the variation in the accuracy and precision of human visual heading estimation, although further experiments are needed to resolve whether absolute rotation rate, total flow rate, or some other factor can account for the observed -2 deg shift between the bias curves.

Stone, Leland S.↗

NASA NTRS1997

Quantitative Simulations of MST Visual Receptive Field Properties Using a Template Model of Heading Estimation

We previously developed a template model of primate visual self-motion processing that proposes a specific set of projections from MT-like local motion sensors onto output units to estimate heading and relative depth from optic flow. At the time, we showed that that the model output units have emergent properties similar to those of MSTd neurons, although there was little physiological evidence to test the model more directly. We have now systematically examined the properties of the model using stimulus paradigms used by others in recent single-unit studies of MST: 1) 2-D bell-shaped heading tuning. Most MSTd neurons and model output units show bell-shaped heading tuning. Furthermore, we found that most model output units and the finely-sampled example neuron in the Duffy-Wurtz study are well fit by a 2D gaussian (sigma approx. 35deg, r approx. 0.9). The bandwidth of model and real units can explain why Lappe et al. found apparent sigmoidal tuning using a restricted range of stimuli (+/-40deg). 2) Spiral Tuning and Invariance. Graziano et al. found that many MST neurons appear tuned to a specific combination of rotation and expansion (spiral flow) and that this tuning changes little for approx. 10deg shifts in stimulus placement. Simulations of model output units under the same conditions quantitatively replicate this result. We conclude that a template architecture may underlie MT inputs to MST.

Stone, Leland S.↗

NASA NTRS1999

Short-latency primate vestibuloocular responses during translation

Short-lasting, transient head displacements and near target fixation were used to measure the latency and early response gain of vestibularly evoked eye movements during lateral and fore-aft translations in rhesus monkeys. The latency of the horizontal eye movements elicited during lateral motion was 11.9 +/- 5.4 ms. Viewing distance-dependent behavior was seen as early as the beginning of the response profile. For fore-aft motion, latencies were different for forward and backward displacements. Latency averaged 7.1 +/- 9.3 ms during forward motion (same for both eyes) and 12.5 +/- 6.3 ms for the adducting eye (e.g., left eye during right fixation) during backward motion. Latencies during backward motion were significantly longer for the abducting eye (18.9 +/- 9.8 ms). Initial acceleration gains of the two eyes were generally larger than unity but asymmetric. Specifically, gains were consistently larger for abducting than adducting eye movements. The large initial acceleration gains tended to compensate for the response latencies such that the early eye movement response approached, albeit consistently incompletely, that required for maintaining visual acuity during the movement. These short-latency vestibuloocular responses could complement the visually generated optic flow responses that have been shown to exhibit much longer latencies.

Non-NASA Center↗

NASA NTRS1998

Visually induced adaptation in three-dimensional organization of primate vestibuloocular reflex

The adaptive plasticity of the spatial organization of the vestibuloocular reflex (VOR) has been investigated in intact and canal-plugged primates using 2-h exposure to conflicting visual (optokinetic, OKN) and vestibular rotational stimuli about mutually orthogonal axes (generating torsional VOR + vertical OKN, torsional VOR + horizontal OKN, vertical VOR + horizontal OKN, and horizontal VOR + vertical OKN). Adaptation protocols with 0.5-Hz (+/-18 degrees ) head movements about either an earth-vertical or an earth-horizontal axis induced orthogonal response components as high as 40-70% of those required for ideal adaptation. Orthogonal response gains were highest at the adapting frequency with phase leads present at lower and phase lags present at higher frequencies. Furthermore, the time course of adaptation, as well as orthogonal response dynamics were similar and relatively independent of the particular visual/vestibular stimulus combination. Low-frequency (0. 05 Hz, vestibular stimulus: +/-60 degrees ; optokinetic stimulus: +/-180 degrees ) adaptation protocols with head movements about an earth-vertical axis induced smaller orthogonal response components that did not exceed 20-40% of the head velocity stimulus (i.e., approximately 10% of that required for ideal adaptation). At the same frequency, adaptation with head movements about an earth-horizontal axis generated large orthogonal responses that reached values as high as 100-120% of head velocity after 2 h of adaptation (i.e., approximately 40% of ideal adaptation gains). The particular spatial and temporal response characteristics after low-frequency, earth-horizontal axis adaptation in both intact and canal-plugged animals strongly suggests that the orienting (and perhaps translational) but not inertial (velocity storage) components of the primate otolith-ocular system exhibit spatial adaptability. Due to the particular nested arrangement of the visual and vestibular stimuli, the optic flow pattern exhibited a significant component about the third spatial axis (i.e., orthogonal to the axes of rotation of the head and visual surround) at twice the oscillation frequency. Accordingly, the adapted VOR was characterized consistently by a third response component (orthogonal to both the axes of head and optokinetic drum rotation) at twice the oscillation frequency after earth-horizontal but not after earth-vertical axis 0.05-Hz adaptation. This suggests that the otolith-ocular (but not the semicircular canal-ocular) system can adaptively change its spatial organization at frequencies different from those of the head movement.

Non-NASA Center↗

NASA NTRS1997

Misperceptions of angular velocities influence the perception of rigidity in the kinetic depth effect

Accuracy in discriminating rigid from nonrigid motion was investigated for orthographic projections of three-dimension rotating objects. In 3 experiments the hypothesis that magnitudes of angular velocity are misperceived in the kinetic depth effect was tested, and in 4 other experiments the hypothesis that misperceiving angular velocities leads to misperceiving rigidity was tested. The principal findings were (a) the magnitude of perceived angular velocity is derived heuristically as a function of a property of the first-order optic flow called deformation and (b) perceptual performance in discriminating rigid from nonrigid motion is accurate in cases when the variability of the deformations of the individual triplets of points of the stimulus displays favors this interpretation and not accurate in other cases.

NASA Center ARC↗

NASA NTRS2006

The Interplay Between Strategic And Adaptive Control Mechanisms In Plastic Recalibration Of Locomotor Function

We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes immediate strategic modifications (Richards et al. 2004) as well as an after effect reflecting adaptive modification of the control of position and trajectory during over-ground locomotion (Mulavara et al. 2005). The process of sensorimotor adaptation is comprised of both strategic and adaptive control mechanisms. Strategic control involves cognitive, on-line corrections to limb movements once one is aware of a sensory discordance. Over an extended period of exposure to the sensory discordance, new strategic sensorimotor coordination patterns are reinforced until they become more automatic, and therefore adaptive, in nature. The objective of this study was to investigate how strategic changes in trunk control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping. Subjects (n = 10) walked on a motorized linear treadmill while viewing a wide field-of-view virtual scene for 24 minutes. The scene was static for the first 4 minutes and then, for the last 20 minutes, depicted constant rate self-motion equivalent to walking in a counter-clockwise, circular path around the perimeter of a room. Subjects performed five stepping trials both before and after the exposure period to assess after effects. Results from our previous study showed a significant change in heading direction (HD) during post-exposure step tests that was opposite the direction in which the scene rotated during the adaptation period. For the present study, we quantified strategic modifications in trunk movement control during scene exposure using normalized root mean square (R(sub p)) variation of the subject's 3D trunk positions and normalized sum of standard deviations (R(sub o)) variation of 3D trunk orientations during scene rotation relative to that during static scene presentation. Associated 95% confidence intervals, CI(sub P) and CI(sub O), were calculated to investigate the variation of strategic modifications during scene exposure. Repeated measures ANOVA and individual subject regression analyses showed that R(sub P) and R(sub O) (i.e. strategic modifications) for trunk fore/aft (X) and yaw movements, respectively, decreased significantly over the exposure period. Furthermore, we found a significant correlation between the magnitude change in HD and the rate at which the variation of strategic modifications in trunk X decreased. We also found evidence of a correlation between HD and the rate at which strategic modifications in trunk yaw decreased (p = .06). We infer that adaptive recalibration of locomotor trajectory using optic flow stimuli depends on the rate at which strategic intervention is reduced.

Richards, J. T.↗

NASA NTRS2006

Attenuating Stereo Pixel-Locking via Affine Window Adaptation

For real-time stereo vision systems, the standard method for estimating sub-pixel stereo disparity given an initial integer disparity map involves fitting parabolas to a matching cost function aggregated over rectangular windows. This results in a phenomenon known as 'pixel-locking,' which produces artificially-peaked histograms of sub-pixel disparity. These peaks correspond to the introduction of erroneous ripples or waves in the 3D reconstruction of truly Rat surfaces. Since stereo vision is a common input modality for autonomous vehicles, these inaccuracies can pose a problem for safe, reliable navigation. This paper proposes a new method for sub-pixel stereo disparity estimation, based on ideas from Lucas-Kanade tracking and optical flow, which substantially reduces the pixel-locking effect. In addition, it has the ability to correct much larger initial disparity errors than previous approaches and is more general as it applies not only to the ground plane.

pixel locking effect↗

NASA NTRS2011

Algorithm for Autonomous Landing

Because of their small size, high maneuverability, and easy deployment, micro aerial vehicles (MAVs) are used for a wide variety of both civilian and military missions. One of their current drawbacks is the vast array of sensors (such as GPS, altimeter, radar, and the like) required to make a landing. Due to the MAV s small payload size, this is a major concern. Replacing the imaging sensors with a single monocular camera is sufficient to land a MAV. By applying optical flow algorithms to images obtained from the camera, time-to-collision can be measured. This is a measurement of position and velocity (but not of absolute distance), and can avoid obstacles as well as facilitate a landing on a flat surface given a set of initial conditions. The key to this approach is to calculate time-to-collision based on some image on the ground. By holding the angular velocity constant, horizontal speed decreases linearly with the height, resulting in a smooth landing. Mathematical proofs show that even with actuator saturation or modeling/ measurement uncertainties, MAVs can land safely. Landings of this nature may have a higher velocity than is desirable, but this can be compensated for by a cushioning or dampening system, or by using a system of legs to grab onto a surface. Such a monocular camera system can increase vehicle payload size (or correspondingly reduce vehicle size), increase speed of descent, and guarantee a safe landing by directly correlating speed to height from the ground.

Kuwata, Yoshiaki↗

NASA NTRS2012

Localization Using Visual Odometry and a Single Downward-Pointing Camera

Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.

Swank, Aaron J.↗

NASA NTRS2011

Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

robotics↗

NASA NTRS2014

Improving Sensorimotor Adaptation Following Long Duration Space Flight by Enhancing Vestibular Information Transfer

Crewmember adapted to the microgravity state may need to egress the vehicle within a few minutes for safety and operational reasons after gravitational transitions. The transition from one sensorimotor state to another consists of two main mechanisms: strategic and plastic-adaptive and have been demonstrated in astronauts returning after long duration space flight. Strategic modifications represent "early adaptation" - immediate and transitory changes in control that are employed to deal with short-term changes in the environment. If these modifications are prolonged then plastic-adaptive changes are evoked that modify central nervous system function, automating new behavioral responses. More importantly, this longer term adaptive recovery mechanism was significantly associated with their strategic ability to recover on the first day after return to Earth G. We are developing a method based on stochastic resonance to enhance information transfer by improving the brain's ability to detect vestibular signals (Vestibular Stochastic Resonance, VSR) especially when combined with balance training exercises such as sensorimotor adaptability (SA) training for rapid improvement in functional skill, for standing and mobility. This countermeasure to improve detection of vestibular signals is a stimulus delivery system that is wearable/portable providing low imperceptible levels of white noise based binaural bipolar electrical stimulation of the vestibular system (stochastic vestibular stimulation). To determine efficacy of vestibular stimulation on physiological and perceptual responses during otolith-canal conflicts and dynamic perturbations we have conducted a series of studies: We have shown that imperceptible binaural bipolar electrical stimulation of the vestibular system across the mastoids enhances balance performance in the mediolateral (ML) plane while standing on an unstable surface. We have followed up on the previous study showing VSR stimulation improved balance performance in both ML and anteroposterior planes while stimulating in the ML axis only. We have shown the efficacy of VSR stimulations on enhancing physiological and perceptual responses of whole-body orientation during low frequency perturbations (0.1 Hz) on the ocular motor system using a variable radius centrifuge on both physiological (using eye movements) and perceptual responses (using a joystick) to track imposed oscillations. The variable radius centrifuge provides a selective tilting sensation that is detectable only by the otolith organs providing conflicting information from the canal organs of the vestibular system (intra-vestibular conflict). These results indicate that VSR can improve performance in sensory conflict scenarios like that experienced during space flight. We have showed the efficacy of VSR stimulation to improve balance and locomotor control on subjects exposed to continuous, sinusoidal lateral motion of the support surface while walking on a treadmill while viewing perceptually matched linear optic flow. We have shown the safety of short term continuous use of up to 4 hours of VSR stimulation and its efficacy in improving balance and locomotor function in Parkinson's Disease patients. This technique for improving vestibular signal detection may thus provide additional information to improve strategic abilities. We hypothesize that VSR stimulation will act synergistically with SA training to improve adaptability by increased utilization of vestibular information and therefore serve to optimize and personalize the SA countermeasure prescription. This forms the basis of its usefulness both as a training modality and further help in significantly reducing the number of days required to recover functional performance to preflight levels after long duration space flight.

Mulavara, A. P.↗

NASA NTRS2014

Push-Pull Locomotion for Vehicle Extrication

For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.

extrication↗

NASA NTRS2009

Robust Landing Using Time-to-Collision Measurement with Actuator Saturation

This paper considers a landing problem for an MAV that uses only a monocular camera for guidance. Although this sensor cannot measure the absolute distance to the target, by using optical flow algorithms, time-to-collision to the target is obtained. Existing work has applied a simple proportional feedback control to simple dynamics and demonstrated its potential. However, due to the singularity in the time-to-collision measurement around the target, this feedback could require an infinite control action. This paper extends the approach into nonlinear dynamics. In particular, we explicitly consider the saturation of the actuator and include the effect of the aerial drag. It is shown that the convergence to the target is guaranteed from a set of initial conditions, and the boundaries of such initial conditions in the state space are numerically obtained. The paper then introduces parametric uncertainties in the vehicle model and in the time-to-collision measurements. Using an argument similar to the nominal case, the robust convergence to the target is proven, but the region of attraction is shown to shrink due to the existence of uncertainties. The numerical simulation validates these theoretical results.

parametric uncertainty↗