The effects of motion cues and motion scaling on one- and two-axis compensatory control tasks
Effects of motion cues and motion scaling on one and two axis compensatory control tasks with application to flight simulators
Adams, J. J.↗
SEARCH · Search NASA
Results for “motion cueing”
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.
Motion Cueing Algorithm Development: New Motion Cueing Program Implementation and Tuning
A computer program has been developed for the purpose of driving the NASA Langley Research Center Visual Motion Simulator (VMS). This program includes two new motion cueing algorithms, the optimal algorithm and the nonlinear algorithm. A general description of the program is given along with a description and flowcharts for each cueing algorithm, and also descriptions and flowcharts for subroutines used with the algorithms. Common block variable listings and a program listing are also provided. The new cueing algorithms have a nonlinear gain algorithm implemented that scales each aircraft degree-of-freedom input with a third-order polynomial. A description of the nonlinear gain algorithm is given along with past tuning experience and procedures for tuning the gain coefficient sets for each degree-of-freedom to produce the desired piloted performance. This algorithm tuning will be needed when the nonlinear motion cueing algorithm is implemented on a new motion system in the Cockpit Motion Facility (CMF) at the NASA Langley Research Center.
Houck, Jacob A.↗
Man-systems evaluation of moving base vehicle simulation motion cues
A motion cue investigation program is reported that deals with human factor aspects of high fidelity vehicle simulation. General data on non-visual motion thresholds and specific threshold values are established for use as washout parameters in vehicle simulation. A general purpose similator is used to test the contradictory cue hypothesis that acceleration sensitivity is reduced during a vehicle control task involving visual feedback. The simulator provides varying acceleration levels. The method of forced choice is based on the theory of signal detect ability.
Kirkpatrick, M.↗
Motion Cueing Algorithm Modification for Improved Turbulence Simulation
Atmospheric turbulence cueing produced by flight simulator motion systems has been less than satisfactory because the turbulence profiles have been attenuated by the motion cueing algorithms. Cardullo and Ellor initially addressed this problem by directly porting the turbulence model output to the motion system. Reid and Robinson addressed the problem by employing a parallel aircraft model, which is only stimulated by the turbulence inputs and adding a filter specially designed to pass the higher turbulence frequencies. There have been advances in motion cueing algorithm development at the Man-Machine Systems Laboratory, at SUNY Binghamton. In particular, the system used to generate turbulence cues has been studied. The Reid approach, implemented by Telban and Cardullo, was employed to augment the optimal motion cueing algorithm installed at the NASA LaRC Simulation Laboratory, driving the Visual Motion Simulator. In this implementation, the output of the primary flight channel was added to the output of the turbulence channel and then sent through a non-linear cueing filter. The cueing filter is an adaptive filter; therefore, it is not desirable for the output of the turbulence channel to be augmented by this type of filter. The likelihood of the signal becoming divergent was also an issue in this design. After testing on-site it became apparent that the architecture of the turbulence algorithm was generating unacceptable cues. As mentioned above, this cueing algorithm comprised a filter that was designed to operate at low bandwidth. Therefore, the turbulence was also filtered, augmenting the cues generated by the model. If any filtering is to be done to the turbulence, it will utilize a filter with a much higher bandwidth, above the frequencies produced by the aircraft response to turbulence. The authors have developed an implementation wherein only the signal from the primary flight channel passes through the nonlinear cueing filter. This paper discusses three new algorithms. Testing shows that the new methods provide the pilot with a more realistic sensation of turbulence; the cues are not attenuated by algorithm. Results of offline testing show the credibility of the models. Offline test verification was based primarily on the evaluation of the power spectral density of the outputs and the time response.
Ercole, Anthony V.↗
A model for the pilot's use of motion cues in roll-axis tracking tasks
Simulated target-following and disturbance-regulation tasks were explored with subjects using visual-only and combined visual and motion cues. The effects of motion cues on task performance and pilot response behavior were appreciably different for the two task configurations and were consistent with data reported in earlier studies for similar task configurations. The optimal-control model for pilot/vehicle systems provided a task-independent framework for accounting for the pilot's use of motion cues. Specifically, the availability of motion cues was modeled by augmenting the set of perceptual variables to include position, rate, acceleration, and accleration-rate of the motion simulator, and results were consistent with the hypothesis of attention-sharing between visual and motion variables. This straightforward informational model allowed accurate model predictions of the effects of motion cues on a variety of response measures for both the target-following and disturbance-regulation tasks.
Levison, W. H.↗
Refinement of Objective Motion Cueing Criteria Investigation Based on Three Flight Tasks
The objective of this paper is to refine objective motion cueing criteria for commercial transport simulators based on pilots' performance in three flying tasks. Actuator hardware and software algorithms determine motion cues. Today, during a simulator qualification, engineers objectively evaluate only the hardware. Pilot inspectors subjectively assess the overall motion cueing system (i.e., hardware plus software); however, it is acknowledged that pinpointing any deficiencies that might arise to either hardware or software is challenging. ICAO 9625 has an Objective Motion Cueing Test (OMCT), which is now a required test in the FAA's part 60 regulations for new devices, evaluating the software and hardware together; however, it lacks accompanying fidelity criteria. Hosman has documented OMCT results for a statistical sample of eight simulators which is useful, but having validated criteria would be an improvement. In a previous experiment, we developed initial objective motion cueing criteria that this paper is trying to refine. Sinacori suggested simple criteria which are in reasonable agreement with much of the literature. These criteria often necessitate motion displacements greater than most training simulators can provide. While some of the previous work has used transport aircraft in their studies, the majority used fighter aircraft or helicopters. Those that used transport aircraft considered degraded flight characteristics. As a result, earlier criteria lean more towards being sufficient, rather than necessary, criteria for typical transport aircraft training applications. Considering the prevalence of 60-inch, six-legged hexapod training simulators, a relevant question is "what are the necessary criteria that can be used with the ICAO 9625 diagnostic?" This study adds to the literature as follows. First, it examines well-behaved transport aircraft characteristics, but in three challenging tasks. The tasks are equivalent to the ones used in our previous experiment, allowing us to directly compare the results and add to the previous data. Second, it uses the Vertical Motion Simulator (VMS), the world's largest vertical displacement simulator. This allows inclusion of relatively large motion conditions, much larger than a typical training simulator can provide. Six new motion configurations were used that explore the motion responses between the initial objective motion cueing boundaries found in a previous experiment and what current hexapod simulators typically provide. Finally, a sufficiently large pilot pool added statistical reliability to the results.
motion simulation↗
Motion Cueing Algorithm Development: Human-Centered Linear and Nonlinear Approaches
While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. Prior research identified viable features from two algorithms: the nonlinear "adaptive algorithm", and the "optimal algorithm" that incorporates human vestibular models. A novel approach to motion cueing, the "nonlinear algorithm" is introduced that combines features from both approaches. This algorithm is formulated by optimal control, and incorporates a new integrated perception model that includes both visual and vestibular sensation and the interaction between the stimuli. Using a time-varying control law, the matrix Riccati equation is updated in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. The neurocomputing approach was crucial in that the number of presentations of an input vector could be reduced to meet the real time requirement without degrading the quality of the motion cues.
Houck, Jacob A.↗
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.↗
Objective Motion Cueing Criteria for Commercial Transport Simulators
This paper adds data to establish fidelity criteria for the simulator motion system diagnostic test now required during commercial aircraft simulator approval in the United States. Nineteen airline transport pilots flew three tasks under six different motion conditions in an experiment on the NASA Vertical Motion Simulator. The motion conditions allowed refinement of the initial fidelity criteria developed in previous experiments. In line with these previous experiments, the motion condition significantly affected (1) false motion cue pilot ratings, and sink rate and longitudinal deviation at touchdown in the approach and landing task, (2) false motion cue pilot ratings, roll deviations, and maximum pitch rate in the stall task, and (3) false motion cue pilot ratings, heading deviation, and pedal reaction time after an engine failure in the take-off task. Combining data from three experiments, significant differences in pilot-vehicle performance were used to define objective motion cueing criteria boundaries. These fidelity boundaries suggest that some hexapod simulators can possibly produce motion cues with improved fidelity in several degrees of freedom.
simulator motion↗
Objective Motion Cueing Criteria for Commercial Transport Simulators
This paper adds data to establish fidelity criteria for the simulator motion system diagnostic test now required during commercial aircraft simulator approval in the United States. Nineteen airline transport pilots flew three tasks under six different motion conditions in an experiment on the NASA Vertical Motion Simulator. The motion conditions allowed refinement of the initial fidelity criteria developed in previous experiments. In line with these previous experiments, the motion condition significantly affected (1) false motion cue pilot ratings, and sink rate and longitudinal deviation at touchdown in the approach and landing task, (2) false motion cue pilot ratings, roll deviations, and maximum pitch rate in the stall task, and (3) false motion cue pilot ratings, heading deviation, and pedal reaction time after an engine failure in the take-off task. Combining data from three experiments, significant differences in pilot-vehicle performance were used to define objective motion cueing criteria boundaries. These fidelity boundaries suggest that some hexapod simulators can possibly produce motion cues with improved fidelity in several degrees of freedom.
pilot performance↗
Nonlinear Motion Cueing Algorithm: Filtering at Pilot Station and Development of the Nonlinear Optimal Filters for Pitch and Roll
Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cueing algorithm at the Visual Motion Simulator (VMS) at the NASA Langley Research Center in 2005. The latest version of the non-linear algorithm performed filtering of motion cues in all degrees-of-freedom except for pitch and roll. This manuscript describes the development and implementation of the non-linear optimal motion cueing algorithm for the pitch and roll degrees of freedom. Presented results indicate improved cues in the specified channels as compared to the original design. To further advance motion cueing in general, this manuscript describes modifications to the existing algorithm, which allow for filtering at the location of the pilot's head as opposed to the centroid of the motion platform. The rational for such modification to the cueing algorithms is that the location of the pilot's vestibular system must be taken into account as opposed to the off-set of the centroid of the cockpit relative to the center of rotation alone. Results provided in this report suggest improved performance of the motion cueing algorithm.
Zaychik, Kirill B.↗
Motion cue effects on human pilot dynamics in manual control
Two experiments were conducted to study the motion cue effects on human pilots during tracking tasks. The moving-base simulator of National Aerospace Laboratory was employed as the motion cue device, and the attitude director indicator or the projected visual field was employed as the visual cue device. The chosen controlled elements were second-order unstable systems. It was confirmed that with the aid of motion cues the pilot workload was lessened and consequently the human controllability limits were enlarged. In order to clarify the mechanism of these effects, the describing functions of the human pilots were identified by making use of the spectral and the time domain analyses. The results of these analyses suggest that the sensory system of the motion cues can yield the differential informations of the signal effectively, which coincides with the existing knowledges in the physiological area.
Washizu, K.↗
Effect of motion cues during complex curved approach and landing tasks: A piloted simulation study
A piloted simulation study was conducted to examine the effect of motion cues using a high fidelity simulation of commercial aircraft during the performance of complex approach and landing tasks in the Microwave Landing System (MLS) signal environment. The data from these tests indicate that in a high complexity MLS approach task with moderate turbulence and wind, the pilot uses motion cues to improve path tracking performance. No significant differences in tracking accuracy were noted for the low and medium complexity tasks, regardless of the presence of motion cues. Higher control input rates were measured for all tasks when motion was used. Pilot eye scan, as measured by instrument dwell time, was faster when motion cues were used regardless of the complexity of the approach tasks. Pilot comments indicated a preference for motion. With motion cues, pilots appeared to work harder in all levels of task complexity and to improve tracking performance in the most complex approach task.
Scanlon, Charles H.↗
Model for human use of motion cues in vehicular control
A feedback model for human use of motion cues in tracking and regulation tasks is offered. The motion cue model is developed as a simple extension of a structural model of the human pilot, although other equivalent dynamic representations of the pilot could be used in place of the structural model. In the structural model,it is hypothesized that proprioceptive cues and an internal representation of the vehicle dynamics allow the human to create compensation characteristics that are appropriate for the dynamics of the particular vehicle being controlled. It is shown that an additional loop closure involving motion feedback can improve the pilot/vehicle dynamics by decreasing high-frequency phase lags in the effective open-loop system transfer function. Data from a roll-attitude tracking/regulation task conducted on a moving base simulator are used to verify the modeling approach.
Hess, Ronald A.↗
Use of the optimal control model in the design of motion cue experiments
An experiment is presented in which the effects of roll motions on human operator performance were investigated. The motion cues considered were the result of commanded vehicle motion and vehicle disturbances. An optimal control pilot-vehicle model was used in the design of the experiment and to predict system performance prior to executing the experiment. The model predictions and experimental results are compared. Seventy-eight per cent of the model predictions are within one standard deviation of the means of the experimental results. The high correlation between model predictions and system performance indicate the usefulness of the predictive model for experimental design and for prediction of pilot performance influenced by motion cues.
Junker, A. M.↗
Some effects of motion cues on manual tracking
Effects of motion cues on manual tracking ability of pilots
MOTION PERCEPTION↗
Human Perception of Ambiguous Inertial Motion Cues
Human daily activities on Earth involve motions that elicit both tilt and translation components of the head (i.e. gazing and locomotion). With otolith cues alone, tilt and translation can be ambiguous since both motions can potentially displace the otolithic membrane by the same magnitude and direction. Transitions between gravity environments (i.e. Earth, microgravity and lunar) have demonstrated to alter the functions of the vestibular system and exacerbate the ambiguity between tilt and translational motion cues. Symptoms of motion sickness and spatial disorientation can impair human performances during critical mission phases. Specifically, Space Shuttle landing records show that particular cases of tilt-translation illusions have impaired the performance of seasoned commanders. This sensorimotor condition is one of many operational risks that may have dire implications on future human space exploration missions. The neural strategy with which the human central nervous system distinguishes ambiguous inertial motion cues remains the subject of intense research. A prevailing theory in the neuroscience field proposes that the human brain is able to formulate a neural internal model of ambiguous motion cues such that tilt and translation components can be perceptually decomposed in order to elicit the appropriate bodily response. The present work uses this theory, known as the GIF resolution hypothesis, as the framework for experimental hypothesis. Specifically, two novel motion paradigms are employed to validate the neural capacity of ambiguous inertial motion decomposition in ground-based human subjects. The experimental setup involves the Tilt-Translation Sled at Neuroscience Laboratory of NASA JSC. This two degree-of-freedom motion system is able to tilt subjects in the pitch plane and translate the subject along the fore-aft axis. Perception data will be gathered through subject verbal reports. Preliminary analysis of perceptual data does not indicate that the GIF resolution hypothesis is completely valid for non-rotational periodic motions. Additionally, human perception of translation is impaired without visual or spatial reference. The performance of ground-base subjects in estimating tilt after brief training is comparable with that of crewmembers without training.
Zhang, Guan-Lu↗
Experimental measurements of motion cue effects on STOL approach tasks
An experimental program to investigate the effects of motion cues on STOL approach is presented. The simulator used was the Six-Degrees-of-Freedom Motion Simulator (S.01) at Ames Research Center of NASA which has ?2.7 m travel longitudinally and laterally and ?2.5 m travel vertically. Three major experiments, characterized as tracking tasks, were conducted under fixed and moving base conditions: (1) A simulated IFR approach of the Augmentor Wing Jet STOL Research Aircraft (AWJSRA), (2) a simulated VFR task with the same aircraft, and (3) a single-axis task having only linear acceleration as the motion cue. Tracking performance was measured in terms of the variances of several motion variables, pilot vehicle describing functions, and pilot commentary.
Ringland, R. F.↗