Engineering topics

Diner, Daniel B.

Publications and source records attributed to Diner, Daniel B..

18 records

NASA NTRS1995

Helmet-Mounted Display Of Clouds Of Harmful Gases

Proposed helmet-mounted opto-electronic instrument provides real-time stereoscopic views of clouds of otherwise invisible toxic, explosive, and/or corrosive gas. Display semitransparent: images of clouds superimposed on scene ordinarily visible to wearer. Images give indications on sizes and concentrations of gas clouds and their locations in relation to other objects in scene. Instruments serve as safety devices for astronauts, emergency response crews, fire fighters, people cleaning up chemical spills, or anyone working near invisible hazardous gases. Similar instruments used as sensors in automated emergency response systems that activate safety equipment and emergency procedures. Both helmet-mounted and automated-sensor versions used at industrial sites, chemical plants, or anywhere dangerous and invisible or difficult-to-see gases present. In addition to helmet-mounted and automated-sensor versions, there could be hand-held version. In some industrial applications, desirable to mount instruments and use them similarly to parking-lot surveillance cameras.

Diner, Daniel B.↗

NASA NTRS1994

Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations

Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt, and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator's ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator's identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.

Diner, Daniel B.↗

NASA NTRS1993

Monocular TV vs. Stereo TV for Solar Mazimum Satellite Repair Subtasks

Several operators performed two Solar Maximum Repair substask while viewing the workspace with either three monocular (non-stereo) black and white TV cameras or with one pair of stereo ablack and white TV cameras. For the monocular TV viewing, the three camera views were presented on three TV monitors, and a second operator controller the pan, tilt and zoom lens power of two of the cameras.

Satellite Repair↗

NASA NTRS1993

Subpixel Resolution In Depth Perceived Via 3-D Television

Report describes experiment in which two black vertical bars on featureless white background placed near intersection of optical axes of two charge-coupled-device video cameras positioned to give stereoscopic views. Trained human observers found to perceive depths at subpixel resolutions in stereoscopic television images. This finding significant for remote stereoscopic monitoring, expecially during precise maneuvers of remotely controlled manipulators. Also significant for research in processing of visual information by human brain.

Diner, Daniel B.↗

NASA NTRS1993

Movable Cameras And Monitors For Viewing Telemanipulator

Three methods proposed to assist operator viewing telemanipulator on video monitor in control station when video image generated by movable video camera in remote workspace of telemanipulator. Monitors rotated or shifted and/or images in them transformed to adjust coordinate systems of scenes visible to operator according to motions of cameras and/or operator's preferences. Reduces operator's workload and probability of error by obviating need for mental transformations of coordinates during operation. Methods applied in outer space, undersea, in nuclear industry, in surgery, in entertainment, and in manufacturing.

Diner, Daniel B.↗

NASA NTRS1993

Robot-Control Station Would Adapt To Operator

Proposed control station for remote robot adapts control system to personal characteristics and preferences of operator. Automatically adjusts positions and angles of video cameras and monitors, adjusts characteristics of hand controller, process images, and provides graphical displays serving operator best. System of one or more video cameras, controlled by computer, views workspace of robot, as shown in article, "Movable Cameras and Monitors For Viewing Telemanipulator" (NPO-17837). Control station includes several video monitors, hand controller, image-processing system providing graphical displays, voice-input command system, keyboards, and mouse.

Diner, Daniel B.↗

NASA NTRS1993

Composite video and graphics display for camera viewing systems in robotics and teleoperation

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Diner, Daniel B.↗

NASA NTRS1992

Integrated Scene And Graphics For Multiple-Camera Viewing

Multiple-video-camera viewing system for monitoring telerobot undergoing development. System presents user with variety of information on single video display: picture of robot from any of five movable cameras, graphical depiction of location and orientation of camera producing current picture in middle of video display, graphical depiction of locations and orientations of other cameras, and graphical images of fields of view of cameras and three-dimensional relationship to workspace of telerobot. Display helps user control telerobot quickly and efficiently.

Diner, Daniel B.↗

NASA NTRS1991

Stereoscopic camera and viewing systems with undistorted depth presentation and reduced or eliminated erroneous acceleration and deceleration perceptions, or with perceptions produced or enhanced for special effects

Methods for providing stereoscopic image presentation and stereoscopic configurations using stereoscopic viewing systems having converged or parallel cameras may be set up to reduce or eliminate erroneously perceived accelerations and decelerations by proper selection of parameters, such as an image magnification factor, q, and intercamera distance, 2w. For converged cameras, q is selected to be equal to Ve - qwl = 0, where V is the camera distance, e is half the interocular distance of an observer, w is half the intercamera distance, and l is the actual distance from the first nodal point of each camera to the convergence point, and for parallel cameras, q is selected to be equal to e/w. While converged cameras cannot be set up to provide fully undistorted three-dimensional views, they can be set up to provide a linear relationship between real and apparent depth and thus minimize erroneously perceived accelerations and decelerations for three sagittal planes, x = -w, x = 0, and x = +w which are indicated to the observer. Parallel cameras can be set up to provide fully undistorted three-dimensional views by controlling the location of the observer and by magnification and shifting of left and right images. In addition, the teachings of this disclosure can be used to provide methods of stereoscopic image presentation and stereoscopic camera configurations to produce a nonlinear relation between perceived and real depth, and erroneously produce or enhance perceived accelerations and decelerations in order to provide special effects for entertainment, training, or educational purposes.

Diner, Daniel B.↗

NASA NTRS1991

Stereoscopic Configurations To Minimize Distortions

Proposed television system provides two stereoscopic displays. Two-camera, two-monitor system used in various camera configurations and with stereoscopic images on monitors magnified to various degrees. Designed to satisfy observer's need to perceive spatial relationships accurately throughout workspace or to perceive them at high resolution in small region of workspace. Potential applications include industrial, medical, and entertainment imaging and monitoring and control of telemanipulators, telerobots, and remotely piloted vehicles.

Diner, Daniel B.↗

NASA NTRS1991

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

Diner, Daniel B.↗

NASA NTRS1990

Competitive Parallel Processing For Compression Of Data

Momentarily-best compression algorithm selected. Proposed competitive-parallel-processing system compresses data for transmission in channel of limited band-width. Likely application for compression lies in high-resolution, stereoscopic color-television broadcasting. Data from information-rich source like color-television camera compressed by several processors, each operating with different algorithm. Referee processor selects momentarily-best compressed output.

Diner, Daniel B.↗

NASA NTRS1989

Correction And Use Of Jitter In Television Images

Proposed system stabilizes jittering television image and/or measures jitter to extract information on motions of objects in image. Alternative version, system controls lateral motion on camera to generate stereoscopic views to measure distances to objects. In another version, motion of camera controlled to keep object in view. Heart of system is digital image-data processor called "jitter-miser", which includes frame buffer and logic circuits to correct for jitter in image. Signals from motion sensors on camera sent to logic circuits and processed into corrections for motion along and across line of sight.

Diner, Daniel B.↗

NASA NTRS1989

Depth Perception In Remote Stereoscopic Viewing Systems

Report describes theoretical and experimental studies of perception of depth by human operators through stereoscopic video systems. Purpose of such studies to optimize dual-camera configurations used to view workspaces of remote manipulators at distances of 1 to 3 m from cameras. According to analysis, static stereoscopic depth distortion decreased, without decreasing stereoscopitc depth resolution, by increasing camera-to-object and intercamera distances and camera focal length. Further predicts dynamic stereoscopic depth distortion reduced by rotating cameras around center of circle passing through point of convergence of viewing axes and first nodal points of two camera lenses.

Diner, Daniel B.↗

NASA NTRS1989

Paradigm For Statistical Analysis Of Threshold Detection

Relative values assigned to double mistakes and changed iteratively. Method for statistical analysis of threshold detection saves experimental time by enabling use of same set of measurements with respect to two thresholds. Accounts for double mistakes, unresolvable by threshold-detection technique.

Diner, Daniel B.↗

NASA NTRS1989

Graphic overlays in high-precision teleoperation: Current and future work at JPL

In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated.

Diner, Daniel B.↗

NASA NTRS1988

Shifting Of Image Fields For Better Stereoscopic TV Images

Concept for shifting horizontal positions of TV image fields of stereoscopic TV display reduces stereoscopic depth distorting while increasing stereoscopic depth resolution of images. Applicable to form of stereoscopic TV in which two views of scene presented by two video cameras to different fields of one monitor. According to concept, view of left camera shifts to left, and right camera, to right. Images made to overlap, so observed comfortably. Shifting done by inexpensive electronic circuitry.

Diner, Daniel B.↗

NASA NTRS1988

Stereo depth distortions in teleoperation

In teleoperation, a typical application of stereo vision is to view a work space located short distances (1 to 3m) in front of the cameras. The work presented here treats converged camera placement and studies the effects of intercamera distance, camera-to-object viewing distance, and focal length of the camera lenses on both stereo depth resolution and stereo depth distortion. While viewing the fronto-parallel plane 1.4 m in front of the cameras, depth errors are measured on the order of 2cm. A geometric analysis was made of the distortion of the fronto-parallel plane of divergence for stereo TV viewing. The results of the analysis were then verified experimentally. The objective was to determine the optimal camera configuration which gave high stereo depth resolution while minimizing stereo depth distortion. It is found that for converged cameras at a fixed camera-to-object viewing distance, larger intercamera distances allow higher depth resolutions, but cause greater depth distortions. Thus with larger intercamera distances, operators will make greater depth errors (because of the greater distortions), but will be more certain that they are not errors (because of the higher resolution).

Diner, Daniel B.↗