Some data processing requirements for precision Nap-Of-the-Earth (NOE) guidance and control of rotorcraft

Nap-Of-the-Earth (NOE) flight in a conventional helicopter is extremely taxing for two pilots under visual conditions. Developing a single pilot all-weather NOE capability will require a fully automatic NOE navigation and flight control capability for which innovative guidance and control concepts were examined. Constrained time-optimality provides a validated criterion for automatically controlled NOE maneuvers if the pilot is to have confidence in the automated maneuvering technique. A second focus was to organize the storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan. A method is presented for using pre-flight geodetic parameter identification to establish guidance commands for planned flight profiles and alternates. A method is then suggested for interpolating this guidance command information with the aid of forward and side looking sensors within the resolution of the stored data base, enriching the data content with real-time display, guidance, and control purposes. A third focus defined a class of automatic anticipative guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles and to address the effects of processing delays in digital guidance and control system candidates. The results of this three-fold research effort offer promising alternatives designed to gain pilot acceptance for automatic guidance and control of rotorcraft in NOE operations

Pilot dynamic response to sudden flight control system failures and implications for design

Pilot dynamic response to sudden flight control system failure

Temporal malleability to auditory feedback perturbation is modulated by rhythmic abilities and auditory acuity

Auditory feedback perturbation studies have indicated a link between feedback and feedforward mechanisms in speech production when participants compensate for applied shifts. In spectral perturbation studies, speakers with a higher perceptual auditory acuity typically compensate more than individuals with lower acuity. However, the reaction to feedback perturbation is unlikely to be merely a matter of perceptual acuity but also affected by the prediction and production of precise motor action. This interplay between prediction, perception, and motor execution seems to be crucial for the timing of speech and non-speech motor actions. In this study, to examine the relationship between the responses to temporally perturbed auditory feedback and rhythmic abilities, we tested 45 adult speakers on the one hand with a temporal auditory feedback perturbation paradigm, and on the other hand with rhythm perception and production tasks. The perturbation tasks temporally stretched and compressed segments (onset + vowel or vowel + coda) in fluent speech in real-time. This technique sheds light on the temporal representation and the production flexibility of timing mechanisms in fluent speech with respect to the structure of the syllable. The perception tasks contained staircase paradigms capturing duration discrimination abilities and beat-alignment judgments. The rhythm production tasks consisted of finger tapping tasks taken from the BAASTA tapping battery and additional speech tapping tasks. We found that both auditory acuity and motor stability in finger tapping affected responses to temporal auditory feedback perturbation. In general, speakers with higher auditory acuity and higher motor variability compensated more. However, we observed a different weighting of auditory acuity and motor stability dependent on the prosodic structure of the perturbed sequence and the nature of the response as purely online or adaptive. These findings shed light on the interplay of phonological structure with feedback and feedforward integration for timing mechanisms in speech

Intelligent flight control systems

The capabilities of flight control systems can be enhanced by designing them to emulate functions of natural intelligence. Intelligent control functions fall in three categories. Declarative actions involve decision-making, providing models for system monitoring, goal planning, and system/scenario identification. Procedural actions concern skilled behavior and have parallels in guidance, navigation, and adaptation. Reflexive actions are spontaneous, inner-loop responses for control and estimation. Intelligent flight control systems learn knowledge of the aircraft and its mission and adapt to changes in the flight environment. Cognitive models form an efficient basis for integrating 'outer-loop/inner-loop' control functions and for developing robust parallel-processing algorithms

A multivariable sampled-data model of an automobile driver

In this thesis, a multivariable system model of driver performance in the basic driving tasks is presented. The driver model described acts as a serial-process, priority-accessed, time-sharing computer. This model processes the input or output task which currently possesses the highest priority. Input tasks are represented by continuous signals sampled intermittently according to priority laws. Output tasks are modeled as simple analog processes operating on the last few intermittently generated output controls. An individual priority rule is constructed for each input and output task. The performance of the driver in the lateral control task involves a feedforward pattern which is consequence of the fact the driver looks several feet ahead of the pathway. A laboratory analysis of the feedforward aspects of the driver in the single-input single-output lateral control task is described --Abstract, page ii

Technical approaches for measurement of human errors

Human error is a significant contributing factor in a very high proportion of civil transport, general aviation, and rotorcraft accidents. The technical details of a variety of proven approaches for the measurement of human errors in the context of the national airspace system are presented. Unobtrusive measurements suitable for cockpit operations and procedures in part of full mission simulation are emphasized. Procedure, system performance, and human operator centered measurements are discussed as they apply to the manual control, communication, supervisory, and monitoring tasks which are relevant to aviation operations

Systems Identification of Sensorimotor Control for Visually Guided Wrist Movements

The sensorimotor control system is a complicated system in which the neural controller uses the feedback information from sensory modalities (visual, proprioceptive, vestibular, auditory, etc.) to actuate the musculo-skeletal system in order to execute intended movements. It has been an ongoing research to decode this sensorimotor integration. The current study utilized a systems identification approach in conjunction with a one-degree-of-freedom robotic manipulandum to quantify (delays, noises, wrist dynamics and controller parameters) a simplified (linear time-invariant) model of sensorimotor control for visually guided wrist stabilization movements. Four sensorimotor tasks were used to characterize the parameters of the sensorimotor control model. Open loop visual and proprioceptive delays along with effective feedforward delay (associated with motor processing and feedforward conduction) were estimated from subject\u27s response to perturbation (Exp. 1) using cross-correlation analysis. Multiplicative feedforward (motor) noise was estimated by measuring the force variability in isometric torque contractions at 5 different torque levels (Exp. 2). Frequency response analysis (Exp.3 and 4) was used to obtain estimates of wrist dynamics (inertia, viscosity and stiffness), the feedback (visual and proprioceptive) gains, the controller gains (proportional, integral and derivative) and an additive sensory noise. The experimental paradigms were validated by simulating and testing the experimental task along with the sensorimotor control model in SIMULINK®. The ability of the experiments to characterize the model was tested over a range of parameter values to determine the robustness of the approach. Model performance was measured by characterizing the sensorimotor control system in 11 subjects. Variance Accounted For (VAF) by the model was used as a performance metric to compare model\u27s response (obtained using the parameters measured for each subject in the model) with subject\u27s performance (Exp. 5). The proposed model of sensorimotor control contained 13 parameters, which were measured successively to study their interaction during wrist stabilization in 11 neurologically-intact subjects. The model parameters estimated for human subjects resulted in accurate predictions of hand position, with a high percentage of variance accounted for (VAF) across all subjects (78.3±3.3 %). Future studies will use these techniques to quantify how the sensorimotor control changes across tasks (tracking vs. stabilization), age and neuro-motor disabilities

Distributed Sensing and Stimulation Systems Towards Sense of Touch Restoration in Prosthetics

Modern prostheses aim at restoring the functional and aesthetic characteristics of the lost limb. To foster prosthesis embodiment and functionality, it is necessary to restitute both volitional control and sensory feedback. Contemporary feedback interfaces presented in research use few sensors and stimulation units to feedback at most two discrete feedback variables (e.g. grasping force and aperture), whereas the human sense of touch relies on a distributed network of mechanoreceptors providing high-fidelity spatial information. To provide this type of feedback in prosthetics, it is necessary to sense tactile information from artificial skin placed on the prosthesis and transmit tactile feedback above the amputation in order to map the interaction between the prosthesis and the environment. This thesis proposes the integration of distributed sensing systems (e-skin) to acquire tactile sensation, and non-invasive multichannel electrotactile feedback and virtual reality to deliver high-bandwidth information to the user. Its core focus addresses the development and testing of close-loop sensory feedback human-machine interface, based on the latest distributed sensing and stimulation techniques for restoring the sense of touch in prosthetics. To this end, the thesis is comprised of two introductory chapters that describe the state of art in the field, the objectives and the used methodology and contributions; as well as three studies distributed over stimulation system level and sensing system level. The first study presents the development of close-loop compensatory tracking system to evaluate the usability and effectiveness of electrotactile sensory feedback in enabling real-time close-loop control in prosthetics. It examines and compares the subject\u2019s adaptive performance and tolerance to random latencies while performing the dynamic control task (i.e. position control) and simultaneously receiving either visual feedback or electrotactile feedback for communicating the momentary tracking error. Moreover, it reported the minimum time delay needed for an abrupt impairment of users\u2019 performance. The experimental results have shown that electrotactile feedback performance is less prone to changes with longer delays. However, visual feedback drops faster than electrotactile with increased time delays. This is a good indication for the effectiveness of electrotactile feedback in enabling close- loop control in prosthetics, since some delays are inevitable. The second study describes the development of a novel non-invasive compact multichannel interface for electrotactile feedback, containing 24 pads electrode matrix, with fully programmable stimulation unit, that investigates the ability of able-bodied human subjects to localize the electrotactile stimulus delivered through the electrode matrix. Furthermore, it designed a novel dual parameter -modulation (interleaved frequency and intensity) and compared it to conventional stimulation (same frequency for all pads). In addition and for the first time, it compared the electrotactile stimulation to mechanical stimulation. More, it exposes the integration of virtual prosthesis with the developed system in order to achieve better user experience and object manipulation through mapping the acquired real-time collected tactile data and feedback it simultaneously to the user. The experimental results demonstrated that the proposed interleaved coding substantially improved the spatial localization compared to same-frequency stimulation. Furthermore, it showed that same-frequency stimulation was equivalent to mechanical stimulation, whereas the performance with dual-parameter modulation was significantly better. The third study presents the realization of a novel, flexible, screen- printed e-skin based on P(VDF-TrFE) piezoelectric polymers, that would cover the fingertips and the palm of the prosthetic hand (particularly the Michelangelo hand by Ottobock) and an assistive sensorized glove for stroke patients. Moreover, it developed a new validation methodology to examine the sensors behavior while being solicited. The characterization results showed compatibility between the expected (modeled) behavior of the electrical response of each sensor to measured mechanical (normal) force at the skin surface, which in turn proved the combination of both fabrication and assembly processes was successful. This paves the way to define a practical, simplified and reproducible characterization protocol for e-skin patches In conclusion, by adopting innovative methodologies in sensing and stimulation systems, this thesis advances the overall development of close-loop sensory feedback human-machine interface used for restoration of sense of touch in prosthetics. Moreover, this research could lead to high-bandwidth high-fidelity transmission of tactile information for modern dexterous prostheses that could ameliorate the end user experience and facilitate it acceptance in the daily life