Search NASA⌕ Search

SEARCH · Search NASA

Results for “Perception”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,513 records · Page 84

Autonomous vehicle motion control, approximate maps, and fuzzy logic

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Ruspini, Enrique H.↗

Group Task Force on Satellite Rescue and Repair

The Group Task Force was chartered by the Administrator of NASA to recommend 'a policy outlining the criteria, the design standards, and the pricing model to guide NASA in assessing the responsibilities for government and nongovernment Satellite Rescue and Repair Missions.' Criteria for accepting such missions, risks, and benefits to all sectors of our economy involved in satellite services, adequacy of planning and training, and the impact on NASA's primary mission were reviewed. The Group began by asking a more fundamental question; is satellite rescue and repair a logical element of NASA's mission? Factors considered were: (1) the probability of rescue or repair opportunities arising; (2) the economic justification for such attempts; (3) the benefits to NASA, both from such ad hoc learning experiences in space operations and the impact on the public perception of NASA; (4) the effect of such unanticipated missions on NASA's scheduled activities; (5) any potential effect on NASA's technical capability to work in space; and (6) any potential effect on U.S. economic competitiveness.

Source record↗

Investigation of the effects of Extra Vehicular Activity (EVA) and Launch and Entry (LES) gloves on performance

Human capabilities such as dexterity, manipulability, and tactile perception are unique and render the hand as a very versatile, effective and a multipurpose tool. This is especially true for unknown environments such as the EVA environment. In the microgravity environment interfaces, procedures, and activities are too complex, diverse, and defy advance definition. Under these conditions the hand becomes the primary means of locomotion, restraint, and material handling. Facilitation of these activities, with simultaneous protection from the cruel EVA environment are the two, often conflicting, objectives of glove design. The objectives of this study was (1) to assess the effects of EVA gloves at different pressures on human hand capabilities, (2) to devise a protocol for evaluating EVA gloves, (3) to develop force time relations for a number of EVA glove pressure combinations, and (4) to evaluate two types of launch and entry suit gloves. The objectives were achieved through three experiments. The experiments for achieving objectives 1, 2, and 3 were performed in the glove box in building 34. In experiment 1 three types of EVA gloves were tested at five pressure differentials. A number of performance measures were recorded. In experiment 2 the same gloves as in experiment 1 were evaluated in a reduced number of pressure conditions. The performance measure was endurance time. Six subjects participated in both the experiments. In experiment 3 two types of launch and entry suit gloves were evaluated using a paradigm similar to experiment 1. Currently the data is being analyzed. However for this report some summary analyses have been performed. The results indicate that a) With EVA gloves strength is reduced by nearly 50 percent, b) performance decrements increase with increasing pressure differential, c) TMG effects are not consistent across the three gloves tested, d) some interesting gender glove interactions were observed, some of which may have been due to the extent (or lack of) fit of the glove to the hand, and e) differences in performance exist between partial pressure suit glove and full pressure suit glove, especially in the unpressurized condition.

Bishu, Ram R.↗

Robotics technology discipline

Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

Montemerlo, Melvin D.↗

NASA supporting studies for microgravity research on eye movements

The purpose of the work on this project was to provide support for ground-based studies on the effects of gravity on eye movements. The effects of microgravity on the optokinetic eye movements of humans are investigated. OKN was induced by having subjects watch 3.3 deg stripes moving at 35 deg/s for 45 s in a binocular, head-fixed apparatus. The field (hor., 88 deg; vert., 72 deg), was rotated about axes that were upright or tilted 45 deg or 90 deg. The head was upright or tilted 45 deg on the body. Head-horizontal (yaw axis) and head-vertical (pitch axis) components of OKN were recorded with electro-oculography (EOG). Slow phase velocity vectors were determined relative to gravity. With the head upright, the axis of eye rotation during yaw axis OKN was coincident with the stimulus axis and the spatial vertical. With the head tilted 45 deg on the body, a persistent vertical component of eye velocity developed during yaw axis stimulation, and there was an average shift of the axis of eye rotation toward the spatial vertical of approximately 18 deg in six subjects. During oblique optokinetic stimulation with the head upright, the axis of eye rotation shifted 12 deg toward the spatial vertical. When the head was tilted, the axis of eye rotation rotated to the other side of the spatial vertical by 5.4 deg during the same oblique stimulation. This counter-rotation of the axis of eye rotation is similar to the 'Muller (E) effect', in which the perception of the upright counter-rotates to the opposite side of the spatial vertical when subjects are tilted in darkness. The data were simulated by a model of OKN. Despite the short OKAN time constants, strong horizontal to vertical cross-coupling was produced if the horizontal and vertical time constants were in proper ratio, and there was no suppression of nystagmus orthogonal to the stimulus direction. This shows that the spatial orientation of OKN can be due to a restructuring of the system matrix of velocity storage as a function of gravity. It is concluded that although human OKAN is weak, velocity storage orients the slow phase velocity of OKN towards the spatial vertical.

Cohen, Bernard↗

Quantification of human responses

Human perception is a complex phenomenon which is difficult to quantify with instruments. For this reason, large panels of people are often used to elicit and aggregate subjective judgments. Print quality, taste, smell, sound quality of a stereo system, softness, and grading Olympic divers and skaters are some examples of situations where subjective measurements or judgments are paramount. We usually express what is in our mind through language as a medium but languages are limited in available choices of vocabularies, and as a result, our verbalizations are only approximate expressions of what we really have in mind. For lack of better methods to quantify subjective judgments, it is customary to set up a numerical scale such as 1, 2, 3, 4, 5 or 1, 2, 3, ..., 9, 10 for characterizing human responses and subjective judgments with no valid justification except that these scales are easy to understand and convenient to use. But these numerical scales are arbitrary simplifications of the complex human mind; the human mind is not restricted to such simple numerical variations. In fact, human responses and subjective judgments are psychophysical phenomena that are fuzzy entities and therefore difficult to handle by conventional mathematics and probability theory. The fuzzy mathematical approach provides a more realistic insight into understanding and quantifying human responses. This paper presents a method for quantifying human responses and subjective judgments without assuming a pattern of linear or numerical variation for human responses. In particular, quantification and evaluation of linguistic judgments was investigated.

Steinlage, R. C.↗

Materials education activities

Last year, at NEW: Update '91, a panel discussion was held to address the unique difficulties of attracting and retaining minorities and women in technical studies. Unfortunately, retention in technical majors is a problem of varying proportions for the entire student population, and must be improved in order to maintain the strength of the nation's industrial base. To investigate the cause of student attrition in technical majors, in-depth interviews of both current and former (non-graduating) engineering students at four colleges and universities in Colorado were conducted by Hewitt and Seymour. They found that there was no significant difference in the level of high school preparation and undergraduate academic performance in these two groups, despite the prevailing faculty perception that most students who switch from technical to nontechnical majors were underprepared. The majority of engineering students who changed majors reported that they were turned off by science, while one-third complained of poor teaching.

Ries, Heidi R.↗

Sensor fusion for assured vision in space applications

By using emittance and reflectance radiation models, the effects of angle of observation, polarization, and spectral content are analyzed to characterize the geometrical and physical properties--reflectivity, emissivity, orientation, dielectric properties, and roughness--of a sensed surface. Based on this analysis, the use of microwave, infrared, and optical sensing is investigated to assure the perception of surfaces on a typical lunar outpost. Also, the concept of employing several sensors on a lunar outpost is explored. An approach for efficient hardware implementation of the fused sensor systems is discussed.

Collin, Marie-France↗

Factors influencing perceived angular velocity

Angular velocity perception is examined for rotations both in depth and in the image plane and the influence of several object properties on this motion parameter is explored. Two major object properties are considered, namely, texture density which determines the rate of edge transitions for rotations in depth, i.e., the number of texture elements that pass an object's boundary per unit of time, and object size which determines the tangential linear velocities and 2D image velocities of texture elements for a given angular velocity. Results of experiments show that edge-transition rate biased angular velocity estimates only when edges were highly salient. Element velocities had an impact on perceived angular velocity; this bias was associated with 2D image velocity rather than 3D tangential velocity. Despite these biases judgements were most strongly determined by the true angular velocity. Sensitivity to this higher order motion parameter appeared to be good for rotations both in depth (y-axis) and parallel to the line of sight (z-axis).

Kaiser, Mary K.↗

Distance and organization in multifunction displays

One approach to organizing information in a multifunction display (MFD) is to place related screens of information closer to each other. This study identified three metrics that could be used to operationalize the concept of distance in an MFD. The proposed distance metrics - navigational (the number of choice points lying between two screens), organizational (the hierarchical structure of the data base), and cognitive (the user's perception of relationships among screens) - were empirically examined by using a simulated, hierarchically arranged, menu-driven MFD in an aviation context. Subjects engaged in two tasks that required them to access different target screens from various starting screens in a 290-screen MFD. The tasks differed in the navigational mechanisms subjects were allowed to use to navigate around the MFD and the relationships between the starting and target screens. The results suggest that the three distance metrics are meaningful within the context of a multifunction display.

Seidler, Karen S.↗

Using the stereokinetic effect to convey depth - Computationally efficient depth-from-motion displays

Recent developments in microelectronics have encouraged the use of 3D data bases to create compelling volumetric renderings of graphical objects. However, even with the computational capabilities of current-generation graphical systems, real-time displays of such objects are difficult, particularly when dynamic spatial transformations are involved. In this paper we discuss a type of visual stimulus (the stereokinetic effect display) that is computationally far less complex than a true three-dimensional transformation but yields an equally compelling depth impression, often perceptually indiscriminable from the true spatial transformation. Several possible applications for this technique are discussed (e.g., animating contour maps and air traffic control displays so as to evoke accurate depth percepts).

Kaiser, Mary K.↗

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a heirarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Erickson, J.↗

Human factors issues in the use of night vision devices

An account is given of the critical human factors that arise in field data on the differences between night vision displays and unaided day vision. Attention is given to the findings of empirical studies of performance on rotorcraft-flight-relevant perceptual tasks in which depth and distance perception are critical factors. Suggestions are made for man-machine-critical component design modifications in current night vision systems.

Kaiser, Mary K.↗

Performance considerations for high-definition head-mounted displays

Design image-optimization for helmet-mounted displays (HMDs) for military systems is presently discussed within the framework of a systems-engineering approach that encompasses (1) a description of natural targets in the field; (2) the characteristics of human visual perception; and (3) device specifications that directly relate to these ecological and human-factors parameters. Attention is given to target size and contrast and the relationship of the modulation transfer function to image resolution.

Edwards, Oliver J.↗

Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992

The present volume on cooperative intelligent robotics in space discusses sensing and perception, Space Station Freedom robotics, cooperative human/intelligent robot teams, and intelligent space robotics. Attention is given to space robotics reasoning and control, ground-based space applications, intelligent space robotics architectures, free-flying orbital space robotics, and cooperative intelligent robotics in space exploration. Topics addressed include proportional proximity sensing for telerobots using coherent lasar radar, ground operation of the mobile servicing system on Space Station Freedom, teleprogramming a cooperative space robotic workcell for space stations, and knowledge-based task planning for the special-purpose dextrous manipulator. Also discussed are dimensions of complexity in learning from interactive instruction, an overview of the dynamic predictive architecture for robotic assistants, recent developments at the Goddard engineering testbed, and parallel fault-tolerant robot control.

Erickson, Jon D.↗

A comparison of neural network and fuzzy clustering techniques in segmenting magnetic resonance images of the brain

Magnetic resonance (MR) brain section images are segmented and then synthetically colored to give visual representations of the original data with three approaches: the literal and approximate fuzzy c-means unsupervised clustering algorithms and a supervised computational neural network, a dynamic multilayered perception trained with the cascade correlation learning algorithm. Initial clinical results are presented on both normal volunteers and selected patients with brain tumors surrounded by edema. Supervised and unsupervised segmentation techniques provide broadly similar results. Unsupervised fuzzy algorithms were visually observed to show better segmentation when compared with raw image data for volunteer studies. However, for a more complex segmentation problem with tumor/edema or cerebrospinal fluid boundary, where the tissues have similar MR relaxation behavior, inconsistency in rating among experts was observed.

Hall, Lawrence O.↗

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Schenker, Paul S.↗

An intercomparison of artificial intelligence approaches for polar scene identification

The following six different artificial-intelligence (AI) approaches to polar scene identification are examined: (1) a feed forward back propagation neural network, (2) a probabilistic neural network, (3) a hybrid neural network, (4) a 'don't care' feed forward perception model, (5) a 'don't care' feed forward back propagation neural network, and (6) a fuzzy logic based expert system. The ten classes into which six AVHRR local-coverage arctic scenes were classified were: water, solid sea ice, broken sea ice, snow-covered mountains, land, stratus over ice, stratus over water, cirrus over water, cumulus over water, and multilayer cloudiness. It was found that 'don't care' back propagation neural network produced the highest accuracies. This approach has also low CPU requirement.

Tovinkere, V. R.↗