The Mark 3 Haploscope

A computer-operated binocular vision testing device was developed as one part of a system designed for NASA to evaluate the visual function of astronauts during spaceflight. This particular device, called the Mark 3 Haploscope, employs semi-automated psychophysical test procedures to measure visual acuity, stereopsis, phoria, fixation disparity, refractive state and accommodation/convergence relationships. Test procedures are self-administered and can be used repeatedly without subject memorization. The Haploscope was designed as one module of the complete NASA Vision Testing System. However, it is capable of stand-alone operation. Moreover, the compactness and portability of the Haploscope make possible its use in a broad variety of testing environments

Insect inspired visual motion sensing and flying robots

International audienceFlying insects excellently master visual motion sensing techniques. They use dedicated motion processing circuits at a low energy and computational costs. Thanks to observations obtained on insect visual guidance, we developed visual motion sensors and bio-inspired autopilots dedicated to flying robots. Optic flow-based visuomotor control systems have been implemented on an increasingly large number of sighted autonomous robots. In this chapter, we present how we designed and constructed local motion sensors and how we implemented bio-inspired visual guidance scheme on-board several micro-aerial vehicles. An hyperacurate sensor in which retinal micro-scanning movements are performed via a small piezo-bender actuator was mounted onto a miniature aerial robot. The OSCAR II robot is able to track a moving target accurately by exploiting the microscan-ning movement imposed to its eye's retina. We also present two interdependent control schemes driving the eye in robot angular position and the robot's body angular position with respect to a visual target but without any knowledge of the robot's orientation in the global frame. This "steering-by-gazing" control strategy, which is implemented on this lightweight (100 g) miniature sighted aerial robot, demonstrates the effectiveness of this biomimetic visual/inertial heading control strategy

Studies of human dynamic space orientation using techniques of control theory

Studies of human orientation and manual control in high order systems are summarized. Data cover techniques for measuring and altering orientation perception, role of non-visual motion sensors, particularly the vestibular and tactile sensors, use of motion cues in closed loop control of simple stable and unstable systems, and advanced computer controlled display systems

Nystagmus generation, oculomotor tracking and visual motion perception.

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1974.Leaves 520 and 521 reversed. Vita.Bibliography: leaves 511-524.Ph.D

Design, Control, and Evaluation of a Human-Inspired Robotic Eye

Schulz S. Design, Control, and Evaluation of a Human-Inspired Robotic Eye. Bielefeld: Universität Bielefeld; 2020.The field of human-robot interaction deals with robotic systems that involve humans and robots closely interacting with each other. With these systems getting more complex, users can be easily overburdened by the operation and can fail to infer the internal state of the system or its ”intentions”. A social robot, replicating the human eye region with its familiar features and movement patterns, that are the result of years of evolution, can counter this. However, the replication of these patterns requires hard- and software that is able to compete with the human characteristics and performance. Comparing previous systems found in literature with the human capabili- ties reveal a mismatch in this regard. Even though individual systems solve single aspects, the successful combination into a complete system remains an open challenge. In contrast to previous work, this thesis targets to close this gap by viewing the system as a whole — optimizing the hard- and software, while focusing on the replication of the human model right from the beginning. This work ultimately provides a set of interlocking building blocks that, taken together, form a complete end-to-end solution for the de- sign, control, and evaluation of a human-inspired robotic eye. Based on the study of the human eye, the key driving factors are identified as the success- ful combination of aesthetic appeal, sensory capabilities, performance, and functionality. Two hardware prototypes, each based on a different actua- tion scheme, have been developed in this context. Furthermore, both hard- ware prototypes are evaluated against each other, a previous prototype, and the human by comparing objective numbers obtained by real-world mea- surements of the real hardware. In addition, a human-inspired and model- driven control framework is developed out, again, following the predefined criteria and requirements. The quality and human-likeness of the motion, generated by this model, is evaluated by means of a user study. This frame- work not only allows the replication of human-like motion on the specific eye prototype presented in this thesis, but also promotes the porting and adaption to less equipped humanoid robotic heads. Unlike previous systems found in literature, the presented approach provides a scaling and limiting function that allows intuitive adjustments of the control model, which can be used to reduce the requirements set on the target platform. Even though a reduction of the overall velocities and accelerations will result in a slower motion execution, the human characteristics and the overall composition of the interlocked motion patterns remain unchanged

A cortical model for binocular vergence control without explicit calculation of disparity

n/

Optimizing the Use of the United States Army OH-58D Helicopter Simulator and Aircraft for Full-Authority Digital Electronic Control Manual Throttle Training

Over the past decade the United States Army has used a Full-Authority Digital Electronic Control (FADEC) system to control fuel flow to the engine of the OH-58D helicopter. Currently, part of the training is primarily conducted for the scenario of a FADEC system failure in the aircraft. Because of the complexity of this task, a number of accidents have occurred resulting in minor to severe damage to the aircraft. The United States Army has recently fielded two OH-58D Operational Flight Training Simulators in an effort to increase training efficiency and effectiveness. It is anticipated that the simulators will provide a safer environment and an effected transfer of training to the aircraft. Currently the OH-58D training unit has implemented the simulator into the manual throttle stage of training. This implementation has occurred through verification and validation of the Program of Instruction (POI) currently in use. An investigation into the transfer of training from the simulator to the aircraft was conducted to further optimize the distributions of training time in the simulator versus the aircraft. The primary source of data was collected from aircraft and simulator trials and flight hours to evaluate the transfer effectiveness ratio. The secondary source of data was collected through the use of pilot surveys and questionnaires. The pilots reported a mean workload rating of 2.52 using the Bedford Workload Rating Scale in the aircraft after the simulator, which indicates a low workload. The Pilots reported mild to moderate simulator sickness symptoms after flying in the simulator. A total severity score of 20.06 was computed through the use of the Simulator Sickness Questionnaire. When compared to other helicopter simulators this score is fairly high. Overall there were low Pilot-Vehicle Interface problems in the simulator and aircraft. There was no decline in Situational Awareness from the simulator to the aircraft. The overall Transfer Effectiveness Ratios indicated a positive Transfer of Training. The current Program of Instruction and simulator hours are validated. The focus in the simulator should be placed on Method of Instructions step two “failure at a hover” and step four “running landing or approach to a hover.

Aerospace Medicine and Biology: A continuing bibliography with indexes

This bibliography lists 253 reports, articles, and other documents introduced into the NASA scientific and technical information system in October 1975

Purkinje image eyetracking: A market survey

The Purkinje image eyetracking system was analyzed to determine the marketability of the system. The eyetracking system is a synthesis of two separate instruments, the optometer that measures the refractive power of the eye and the dual Purkinje image eyetracker that measures the direction of the visual axis