Design study for LANDSAT-D attitude control system

The gimballed Ku-band antenna system for communication with TDRS was studied. By means of an error analysis it was demonstrated that the antenna cannot be open loop pointed to TDRS by an onboard programmer, but that an autotrack system was required. After some tradeoffs, a two-axis, azimuth-elevation type gimbal configuration was recommended for the antenna. It is shown that gimbal lock only occurs when LANDSAT-D is over water where a temporary loss of the communication link to TDRS is of no consequence. A preliminary gimbal control system design is also presented. A digital computer program was written that computes antenna gimbal angle profiles, assesses percent antenna beam interference with the solar array, and determines whether the spacecraft is over land or water, a lighted earth or a dark earth, and whether the spacecraft is in eclipse

Communication system for a tooth-mounted RF sensor used for continuous monitoring of nutrient intake

In this Thesis, the communication system of a wearable device that monitors the user’s diet is studied. Based in a novel RF metamaterial-based mouth sensor, different decisions have to be made concerning the system’s technologies, such as the power source options for the device, the wireless technology used for communications and the method to obtain data from the sensor. These issues, along with other safety rules and regulations, are reviewed, as the first stage of development of the Food-Intake Monitoring projectOutgoin

Development of Adaptive Tilt Tracker that Utilizes QUAD-cell Detector to Track Extended Objects

Atmospheric turbulence causes tilt distortion that requires telescopes to track and remove image jitter effects. This research develops an adaptive tilt tracking system to measure and compensate for centroid gain volatility while tracking extended objects. The adaptive tracker counteracts deviations in tilt measurement and correction, due to unintended centroid gain changes. Non-adaptive trackers experience sub-optimal bandwidths and possible instabilities. The adaptive tracker utilizes a quadrant (QUAD) cell tilt detector to measure tilt distortion and its centroid gain relates measured intensity imbalances amongst the four cells to tilt distortion. Additionally, this gain becomes a random variable as it is determined by random image spot characteristics. The tracked LEO object and atmospheric seeing govern spot characteristics. This research develops an innovative methodology that rotates the LEO object\u27s image to create a more favorable intensity distribution for the QUAD-cell. Along with image rotation, an adaptive gain term yields significant improvements in QUAD-cell measurement performance, up to 91% for the simulated tilt processes. Using the image rotation and adaptive gain methodology, this research realizes an adaptive tilt tracker model that dithers the fast steering mirror to detect non-optimal centroid gains. Results show the adaptive tracker effectively counteracts centroid-gain deviations

Summary of photovoltaic system performance models

A detailed overview of photovoltaics (PV) performance modeling capabilities developed for analyzing PV system and component design and policy issues is provided. A set of 10 performance models are selected which span a representative range of capabilities from generalized first order calculations to highly specialized electrical network simulations. A set of performance modeling topics and characteristics is defined and used to examine some of the major issues associated with photovoltaic performance modeling. Each of the models is described in the context of these topics and characteristics to assess its purpose, approach, and level of detail. The issues are discussed in terms of the range of model capabilities available and summarized in tabular form for quick reference. The models are grouped into categories to illustrate their purposes and perspectives

Development of new methodologies for the clinical, objective and automated evaluation of visual function based on the analysis of ocular movements : application in visual health

Healthy visual function not only relies on good visual acuity. Other systems such as accommodation or binocular vision need to be effective. Binocular vision is the ability of the visual system to coordinate and integrate the information received separately from the two eyes into a single binocular percept. Anomalies in the binocular vision system lead to dysfunctions which are often associated with symptoms like asthenopia, diplopia, or ocular strain. The most prevalent non-strabismic binocular dysfunction is convergence insufficiency. The tests typically used to evaluate binocular vision and diagnose binocular dysfunctions essentially consist in eliciting eye movements and asking the patients to report when they perceive diplopia or single vision. In a conventional optometric clinical setting, they are generally run subjectively, as their results depend on the answers of the patients or on the examiner’s criteria. However, there exist instruments to determine the gaze position and measure ocular movements objectively, i.e. eye-trackers. These instruments are used as research tools in a wide range of applications (neuroscience, psychology, marketing, computer science, ophthalmology, etc.). Eye tracking systems are seldom used in optometric clinical practice, although it seems reasonable to think that the evaluation of binocular vision could better rely on eye tracking systems rather than subjective observations. In this context, the main objective of this thesis is to develop new methodologies for the clinical, objective and automated evaluation of visual function based on the analysis of ocular movements. This thesis is divided in 4 studies. In the first study, new methods for an eye tracking system based on multiple corneal reflections are proposed. The other 3 studies aim to analyze ocular movements in clinically interesting situations for the objective and automated evaluation of binocular vision. The results of the first study showed that the light sources configurations that produced the reflections in the lower region of the cornea showed higher accuracy. Vertical accuracy was slightly better with a higher number of corneal reflections. However, the proposed normalization methods improved vertical accuracy and counteracted the tendency for increasing accuracy with the number of glints. As a result, if the light sources are optimally positioned to avoid the interference of the eyelids and the normalization methods are applied, there is no need for more than two light sources. In the second study, an automated and objective method to measure phoria was proposed. It was significantly more repeatable than two other conventional clinical methods. However, the phoria results of the three tests were not interchangeable. This study brings to light several advantages of using eye-trackers in optometric clinical settings. The third study analyzes the characteristics of saccadic movements that occur during the near point of convergence test. The results showed that saccadic amplitude increased and rate decrease at closer viewing distances. These changes might be explained by the more rapid change of vergence demand and the greater angular size of the fixation target at near than at far. In general, saccades contributed to correct vergence errors and fixation position errors of the dominant eye. Finally, the fourth study focuses on the effects of the stimulus’ predictability on the latency and response time of vergence step movements. The results confirmed that vergence movements to predictable stimulus had shorter latency and response time than when the stimulus was random. Latency of convergence and divergence movements was influenced by the direction of the phoria. Other factors such as attention or voluntary effort might also affect vergence responses. All these effects might influence the final result of the vergence facility test, although further research is needed to specify the impact on the clinical test.Una bona funció visual no és sinònim exclusivament de bona agudesa visual. Cal que altres sistemes com l’acomodatiu o la visió binocular siguin eficaços. La visió binocular és la capacitat del sistema visual per coordinar i integrar la informació que reben els dos ulls en una única percepció. Anomalies en el sistema de visió binocular poden donar lloc a disfuncions associades a símptomes com astenopia, o visió doble. La disfunció no estràbica de la visió binocular més prevalent és la insuficiència de convergència. Els tests que normalment es fan per avaluar la visió binocular es basen en estimular moviments oculars i demanar als pacients que indiquin quan veuen doble i quan fusionen. A la pràctica clínica convencional, aquests tests solen ser subjectius. No obstant, hi ha instruments que serveixen per determinar objectivament la posició de mirada i mesurar els moviments oculars: els eye-trackers o instruments de seguiment de mirada. Aquests instruments s’utilitzen en recerca en moltes disciplines (neurociència, psicologia, marketing, oftalmologia, etc.). Tot i que una aplicació directa dels eye-trackers podria ser en l’avaluació de la visió binocular, els sistemes de seguiment de mirada gairebé no s’utilitzen en la pràctica clínica optomètrica. En aquest context, l’objectiu principal d’aquesta tesi és desenvolupar noves metodologies per a l’avaluació clínica, objectiva i automatitzada de la funció visual basades en l’anàlisi dels moviments oculars. La tesi està estructurada en 4 estudis. En el primer, es proposen nous mètodes per a un eye-tracker basat en múltiples reflexos corneals. Els altres 3 estudis tenen com a objectiu analitzar els moviments oculars en situacions d’interès clínic per avaluar objectiva i automàticament la visió binocular. Els resultats del primer estudi demostren que les configuracions d’il·luminació dels eye-trackers que formen les reflexions corneals a la zona inferior de la còrnia són més precises. La precisió vertical és lleugerament millor amb més fonts de llum. Tot i això, els mètodes de normalització proposats milloren considerablement la precisió vertical i contraresten la tendència de més precisió amb més fonts de llum. D’aquesta manera, si les fonts de llum no interfereixen amb les parpelles i s’apliquen els mètodes de normalització, no cal que els eye-trackers tinguin més de dues fonts de llum. En el segon estudi s’ha proposat un mètode automàtic i objectiu per mesurar la fòria. Aquest mètode és significativament més repetitiu que dos altres mètodes clínics. Tot i això, els resultats amb els tres mètodes no són intercanviables. Aquest estudi posa de manifest avantatges que podrien tenir els eye-trackers a la pràctica clínica optomètrica. En el tercer estudi s’analitzen les característiques dels moviments sacàdics que es produeixen durant la prova del punt proper de convergència. Els resultats demostren que l’amplitud dels sacàdics augmenta i la freqüència disminueix a mesura que s’escurça la distància. Aquests canvis poden ser deguts a que la demanda de vergència canvia més ràpid a distàncies properes que llunyanes, i a l’increment de la mida angular de l’objecte de fixació. En general, els sacàdics contribueixen a corregir els errors de vergència i els errors de fixació de l’ull dominant. Finalment, el quart estudi se centra en els efectes de la predictibilitat de l’estímul en la latència i temps de resposta dels salts de vergència. Els resultats confirmen que els moviments de vergència tenen una latència i temps de resposta més curts quan l’estímul es predictible que quan és aleatori. La latència dels moviments de convergència i divergència està influenciada per la direcció de la fòria. Altres factors com el grau d’atenció o d’esforç voluntari pot ser que afectin els moviments de vergència. Tots aquests efectes probablement influencien en el resultat final de la prova de la instal·lació de vergència, encara que es necessiten més investigacions per especificar l'impacte en la prova clínica

Development of new methodologies for the clinical, objective and automated evaluation of visual function based on the analysis of ocular movements : application in visual health

Premi Extraordinari de Doctorat, promoció 2018-2019. Àmbit de CiènciesHealthy visual function not only relies on good visual acuity. Other systems such as accommodation or binocular vision need to be effective. Binocular vision is the ability of the visual system to coordinate and integrate the information received separately from the two eyes into a single binocular percept. Anomalies in the binocular vision system lead to dysfunctions which are often associated with symptoms like asthenopia, diplopia, or ocular strain. The most prevalent non-strabismic binocular dysfunction is convergence insufficiency. The tests typically used to evaluate binocular vision and diagnose binocular dysfunctions essentially consist in eliciting eye movements and asking the patients to report when they perceive diplopia or single vision. In a conventional optometric clinical setting, they are generally run subjectively, as their results depend on the answers of the patients or on the examiner’s criteria. However, there exist instruments to determine the gaze position and measure ocular movements objectively, i.e. eye-trackers. These instruments are used as research tools in a wide range of applications (neuroscience, psychology, marketing, computer science, ophthalmology, etc.). Eye tracking systems are seldom used in optometric clinical practice, although it seems reasonable to think that the evaluation of binocular vision could better rely on eye tracking systems rather than subjective observations. In this context, the main objective of this thesis is to develop new methodologies for the clinical, objective and automated evaluation of visual function based on the analysis of ocular movements. This thesis is divided in 4 studies. In the first study, new methods for an eye tracking system based on multiple corneal reflections are proposed. The other 3 studies aim to analyze ocular movements in clinically interesting situations for the objective and automated evaluation of binocular vision. The results of the first study showed that the light sources configurations that produced the reflections in the lower region of the cornea showed higher accuracy. Vertical accuracy was slightly better with a higher number of corneal reflections. However, the proposed normalization methods improved vertical accuracy and counteracted the tendency for increasing accuracy with the number of glints. As a result, if the light sources are optimally positioned to avoid the interference of the eyelids and the normalization methods are applied, there is no need for more than two light sources. In the second study, an automated and objective method to measure phoria was proposed. It was significantly more repeatable than two other conventional clinical methods. However, the phoria results of the three tests were not interchangeable. This study brings to light several advantages of using eye-trackers in optometric clinical settings. The third study analyzes the characteristics of saccadic movements that occur during the near point of convergence test. The results showed that saccadic amplitude increased and rate decrease at closer viewing distances. These changes might be explained by the more rapid change of vergence demand and the greater angular size of the fixation target at near than at far. In general, saccades contributed to correct vergence errors and fixation position errors of the dominant eye. Finally, the fourth study focuses on the effects of the stimulus’ predictability on the latency and response time of vergence step movements. The results confirmed that vergence movements to predictable stimulus had shorter latency and response time than when the stimulus was random. Latency of convergence and divergence movements was influenced by the direction of the phoria. Other factors such as attention or voluntary effort might also affect vergence responses. All these effects might influence the final result of the vergence facility test, although further research is needed to specify the impact on the clinical test.Una bona funció visual no és sinònim exclusivament de bona agudesa visual. Cal que altres sistemes com l’acomodatiu o la visió binocular siguin eficaços. La visió binocular és la capacitat del sistema visual per coordinar i integrar la informació que reben els dos ulls en una única percepció. Anomalies en el sistema de visió binocular poden donar lloc a disfuncions associades a símptomes com astenopia, o visió doble. La disfunció no estràbica de la visió binocular més prevalent és la insuficiència de convergència. Els tests que normalment es fan per avaluar la visió binocular es basen en estimular moviments oculars i demanar als pacients que indiquin quan veuen doble i quan fusionen. A la pràctica clínica convencional, aquests tests solen ser subjectius. No obstant, hi ha instruments que serveixen per determinar objectivament la posició de mirada i mesurar els moviments oculars: els eye-trackers o instruments de seguiment de mirada. Aquests instruments s’utilitzen en recerca en moltes disciplines (neurociència, psicologia, marketing, oftalmologia, etc.). Tot i que una aplicació directa dels eye-trackers podria ser en l’avaluació de la visió binocular, els sistemes de seguiment de mirada gairebé no s’utilitzen en la pràctica clínica optomètrica. En aquest context, l’objectiu principal d’aquesta tesi és desenvolupar noves metodologies per a l’avaluació clínica, objectiva i automatitzada de la funció visual basades en l’anàlisi dels moviments oculars. La tesi està estructurada en 4 estudis. En el primer, es proposen nous mètodes per a un eye-tracker basat en múltiples reflexos corneals. Els altres 3 estudis tenen com a objectiu analitzar els moviments oculars en situacions d’interès clínic per avaluar objectiva i automàticament la visió binocular. Els resultats del primer estudi demostren que les configuracions d’il·luminació dels eye-trackers que formen les reflexions corneals a la zona inferior de la còrnia són més precises. La precisió vertical és lleugerament millor amb més fonts de llum. Tot i això, els mètodes de normalització proposats milloren considerablement la precisió vertical i contraresten la tendència de més precisió amb més fonts de llum. D’aquesta manera, si les fonts de llum no interfereixen amb les parpelles i s’apliquen els mètodes de normalització, no cal que els eye-trackers tinguin més de dues fonts de llum. En el segon estudi s’ha proposat un mètode automàtic i objectiu per mesurar la fòria. Aquest mètode és significativament més repetitiu que dos altres mètodes clínics. Tot i això, els resultats amb els tres mètodes no són intercanviables. Aquest estudi posa de manifest avantatges que podrien tenir els eye-trackers a la pràctica clínica optomètrica. En el tercer estudi s’analitzen les característiques dels moviments sacàdics que es produeixen durant la prova del punt proper de convergència. Els resultats demostren que l’amplitud dels sacàdics augmenta i la freqüència disminueix a mesura que s’escurça la distància. Aquests canvis poden ser deguts a que la demanda de vergència canvia més ràpid a distàncies properes que llunyanes, i a l’increment de la mida angular de l’objecte de fixació. En general, els sacàdics contribueixen a corregir els errors de vergència i els errors de fixació de l’ull dominant. Finalment, el quart estudi se centra en els efectes de la predictibilitat de l’estímul en la latència i temps de resposta dels salts de vergència. Els resultats confirmen que els moviments de vergència tenen una latència i temps de resposta més curts quan l’estímul es predictible que quan és aleatori. La latència dels moviments de convergència i divergència està influenciada per la direcció de la fòria. Altres factors com el grau d’atenció o d’esforç voluntari pot ser que afectin els moviments de vergència. Tots aquests efectes probablement influencien en el resultat final de la prova de la instal·lació de vergència, encara que es necessiten més investigacions per especificar l'impacte en la prova clínica.Award-winningPostprint (published version

An Insect-Inspired Target Tracking Mechanism for Autonomous Vehicles

Target tracking is a complicated task from an engineering perspective, especially where targets are small and seen against complex natural environments. Due to the high demand for robust target tracking algorithms a great deal of research has focused on this area. However, most engineering solutions developed for this purpose are often unreliable in real world conditions or too computationally expensive to be used in real-time applications. While engineering methods try to solve the problem of target detection and tracking by using high resolution input images, fast processors, with typically computationally expensive methods, a quick glance at nature provides evidence that practical real world solutions for target tracking exist. Many animals track targets for predation, territorial or mating purposes and with millions of years of evolution behind them, it seems reasonable to assume that these solutions are highly efficient. For instance, despite their low resolution compound eyes and tiny brains, many flying insects have evolved superb abilities to track targets in visual clutter even in the presence of other distracting stimuli, such as swarms of prey and conspecifics. The accessibility of the dragonfly for stable electrophysiological recordings makes this insect an ideal and tractable model system for investigating the neuronal correlates for complex tasks such as target pursuit. Studies on dragonflies identified and characterized a set of neurons likely to mediate target detection and pursuit referred to as ‘small target motion detector’ (STMD) neurons. These neurons are selective for tiny targets, are velocity-tuned, contrast-sensitive and respond robustly to targets even against the motion of background. These neurons have shown several high-order properties which can contribute to the dragonfly’s ability to robustly pursue prey with over a 97% success rate. These include the recent electrophysiological observations of response ‘facilitation’ (a slow build-up of response to targets that move on long, continuous trajectories) and ‘selective attention’, a competitive mechanism that selects one target from alternatives. In this thesis, I adopted a bio-inspired approach to develop a solution for the problem of target tracking and pursuit. Directly inspired by recent physiological breakthroughs in understanding the insect brain, I developed a closed-loop target tracking system that uses an active saccadic gaze fixation strategy inspired by insect pursuit. First, I tested this model in virtual world simulations using MATLAB/Simulink. The results of these simulations show robust performance of this insect-inspired model, achieving high prey capture success even within complex background clutter, low contrast and high relative speed of pursued prey. Additionally, these results show that inclusion of facilitation not only substantially improves success for even short-duration pursuits, it also enhances the ability to ‘attend’ to one target in the presence of distracters. This inspect-inspired system has a relatively simple image processing strategy compared to state-of-the-art trackers developed recently for computer vision applications. Traditional machine vision approaches incorporate elaborations to handle challenges and non-idealities in the natural environments such as local flicker and illumination changes, and non-smooth and non-linear target trajectories. Therefore, the question arises as whether this insect inspired tracker can match their performance when given similar challenges? I investigated this question by testing both the efficacy and efficiency of this insect-inspired model in open-loop, using a widely-used set of videos recorded under natural conditions. I directly compared the performance of this model with several state-of-the-art engineering algorithms using the same hardware, software environment and stimuli. This insect-inspired model exhibits robust performance in tracking small moving targets even in very challenging natural scenarios, outperforming the best of the engineered approaches. Furthermore, it operates more efficiently compared to the other approaches, in some cases dramatically so. Computer vision literature traditionally test target tracking algorithms only in open-loop. However, one of the main purposes for developing these algorithms is implementation in real-time robotic applications. Therefore, it is still unclear how these algorithms might perform in closed-loop real-world applications where inclusion of sensors and actuators on a physical robot results in additional latency which can affect the stability of the feedback process. Additionally, studies show that animals interact with the target by changing eye or body movements, which then modulate the visual inputs underlying the detection and selection task (via closed-loop feedback). This active vision system may be a key to exploiting visual information by the simple insect brain for complex tasks such as target tracking. Therefore, I implemented this insect-inspired model along with insect active vision in a robotic platform. I tested this robotic implementation both in indoor and outdoor environments against different challenges which exist in real-world conditions such as vibration, illumination variation, and distracting stimuli. The experimental results show that the robotic implementation is capable of handling these challenges and robustly pursuing a target even in highly challenging scenarios.Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 201