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All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

A ROS-based Simulator for Testing the Enhanced Autonomous Navigation of the Mars 2020 Rover

In order to achieve the ambitious objectives of the Mars 2020 (M2020) mission, in particular the ability to autonomously traverse more challenging terrains more efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision was made early in the project, before most of the new surface flight software (FSW) existed, which created a need for a separate framework where the new navigation algorithms could be quickly prototyped and tested, before more realistic FSW-based testbeds became available. The JPL robotics team chose the Robot Operating System [1] (ROS) as the environment in which to test the new ENav algorithms. This made it possible to write the algorithms in the C language required by the FSW, so they could be directly ported over to the flight module later on, while leveraging all the C++ libraries and tools provided by ROS for simulation and testing. The ENav algorithms were developed as a separate C library, and stubs were used to replace any FSW-specific code, such as Event Reporting (EVRs) and data products (DPs). A ROS simulator was developed to generate a rich set of varied 3D terrains representative of the candidate Mars landing sites and simulate the physics of the rover motion, the point cloud perceived by the rover’s stereo vision system, and the new thinking-while-driving (TWD) navigation logic which directs the rover to drive autonomously to user-specified waypoints. To simulate the rover motion and perception, a ROS node was developed that uses a software library called HyperDrive Sim (HDSim), which is a wrapper for the Rover Sequencing and Visualization Program [2] (RSVP). That library provides roverterrain settling, realistic slip modelling, and camera rendering capability based on the rover’s NavCam machine vision models. To simulate the navigation logic, a ROS node was created that initializes and runs the ENav algorithms in a way that mimics the FSW execution, while also providing the capability to load and replay data products, including re-running the recorded inputs through the ENav algorithms for testing. An engineering Graphical User Interface (GUI) was also developed to visualize various elements, such as the rover pose during the drive, the simulated and perceived terrain, the selected local and global paths to the goal, the evaluated candidate paths and the reasons why they were rejected, the keep-in and keep-out zones (KIOZs), etc. Finally, an advanced Monte Carlo (MC) framework that can run many simulations in parallel on the Cloud and automatically generate reports that capture the key ENav performance metrics was developed to evaluate the system in a statisticallymeaningful way. This paper provides an overview of the ROSbased simulator used for testing the M2020 ENav algorithms.

Toupet, Olivier↗
NASA NTRS2012

Color Choice is Everything - Impacts Color makes to the Lighting Environment

When contracts are let out to design multiple systems in a vehicle, it is a challenge to maintain integration between system leads. Designers on niche systems, like lighting and control panel design, often get caught up in the challenge of designing the light source or visual interface and fail to include time in their schedule to work with system architects on how their lighting system will be integrated. Additionally, behavioral scientists, industrial designers, and materials engineers get caught up with the materials and look of the system, but often fail to consider how the selection of their materials could affect the certification or performance of electronic devices like lighting systems. Additionally, computer modeling of the system architecture often assumes a perfect environment without the clutter of actual human use (dirt, stowage, crowding). As a result, lighting systems, and backlit displays run the risk of being overdesigned or under designed. Engineers making the assumption that because they have no input or there is no requirement on work surface reflectance, make the assumption that they can t count on good material choices and thus may install more lighting than is necessary. While having more lights may seem better, for a vehicle that is trying to conserve power, more lights may not be a good option. On the other hand, designers who made the opposite assumption and designed a lighting system that only produced just enough light, often wind up with a system that did conserve power, but didn t produce enough light. These situations are exasperated when the system starts to be used and the models are not perfect anymore. The lack of coordination and iterative design not only can impact lighting levels within an environment, but also can affect color perception. This is because, if materials do not represent a gradation of white or black, the material unevenly absorbs and reflects light at different wavelengths of the visual spectrum. The lighting designer may have built a light that meets light spectra requirements, but the eventual light reaching the human user may not be the spectra of light architects intended, if materials near the light source change the spectrum just by how much color is absorbed or reflected. With the recent findings concerning Circadian rhythm, where the spectra of light is extremely important for addressing crew sleep and wake cycles, system architects should pay considerable attention on the impact material choices have in changing the light spectrum in an environment. This presentation will show examples of how material choices impact the resulting illuminance, color spectrum, and power usage of an illuminated space. Its goal is to encourage system designers and planners to use more care in development of requirements and the verification of systems intended for the human visual interface.

Clark, Toni A.↗
NASA NTRS1990

Filling in the retinal image

The optics of the eye form an image on a surface at the back of the eyeball called the retina. The retina contains the photoreceptors that sample the image and convert it into a neural signal. The spacing of the photoreceptors in the retina is not uniform and varies with retinal locus. The central retinal field, called the macula, is densely packed with photoreceptors. The packing density falls off rapidly as a function of retinal eccentricity with respect to the macular region and there are regions in which there are no photoreceptors at all. The retinal regions without photoreceptors are called blind spots or scotomas. The neural transformations which convert retinal image signals into percepts fills in the gaps and regularizes the inhomogeneities of the retinal photoreceptor sampling mosaic. The filling-in mechamism plays an important role in understanding visual performance. The filling-in mechanism is not well understood. A systematic collaborative research program at the Ames Research Center and SRI in Menlo Park, California, was designed to explore this mechanism. It was shown that the perceived fields which are in fact different from the image on the retina due to filling-in, control some aspects of performance and not others. Researchers have linked these mechanisms to putative mechanisms of color coding and color constancy.

Larimer, James↗
NASA NTRS1997

Studies of the Interactions Between Vestibular Function and Tactual Orientation Display Systems

When humans experience conditions in which internal vestibular cues to movement or spatial location are challenged or contradicted by external visual information, the result can be spatial disorientation, often leading to motion sickness. Spatial disorientation can occur in any situation in which the individual is passively moved in the environment, but is most common in automotive, aircraft, or undersea travel. Significantly, the incidence of motion sickness in space travel is great: The majority of individuals in Shuttle operations suffer from the syndrome. Even after the space-sickness-producing influences of spatial disorientation dissipate, usually within several days, there are other situations in which, because of the absence of reliable or familiar vestibular cues, individuals in space still experience disorientation, resulting in a reliance on the already preoccupied sense of vision. One possible technique to minimize the deleterious effects of spatial disorientation might be to present attitude information (including orientation, direction, and motion) through another less-used sensory modality - the sense of touch. Data from experiences with deaf and blind persons indicate that this channel can provide useful communication and mobility information on a real-time basis. More recently, technologies have developed to present effective attitude information to pilots in situations in which dangerously ambiguous and conflicting visual and vestibular sensations occur. This summers project at NASA-Johnson Space Center will evaluate the influence of motion-based spatial disorientation on the perception of tactual stimuli representing veridical position and orientation information, presented by new dynamic vibrotactile array display technologies. In addition, the possibility will be explored that tactile presentations of motion and direction from this alternative modality might be useful in mitigating or alleviating spatial disorientation produced by multi-axis rotatory systems, monitored by physiological recording techniques developed at JSC.

Cholewiak, Roger W.↗
NASA NTRS1976

Human dynamic orientation model applied to motion simulation

The Ormsby model of dynamic orientation, in the form of a discrete time computer program was used to predict non-visually induced sensations during an idealized coordinated aircraft turn. To predict simulation fidelity, the Ormsby model was used to assign penalties for incorrect attitude and angular rate perceptions. It was determined that a three rotational degree of freedom simulation should remain faithful to attitude perception even at the expense of incorrect angular rate sensations. Implementing this strategy, a simulation profile for the idealized turn was designed for a Link GAT-1 trainer. A simple optokinetic display was added to improve the fidelity of roll rate sensations.

Borah, J. D.↗
DOE OSTI2023

VISILIENCE: An Interactive Visualization Framework for Resilience Analysis using Control-Flow Graph

Soft errors have become one of the major concerns for the error resilience of HPC applications, as those errors can cause HPC applications to generate serious outcomes such as Silent Data Corruptions (SDCs). A large body of approaches has been proposed to analyze the resilience of HPC applications. However, existing studies rarely address the challenges of the analysis result perception. Specifically, resilience analysis techniques often produce a massive volume of unstructured data, making it difficult for programmers to conduct the resilience analysis due to non-intuitive raw data. Furthermore, different analysis models produce diverse results with multiple levels of details, which may create hurdles to compare and explore the resilience of HPC program execution. To this end, we present VISILIENCE, an interactive VISual resILIENCE analysis framework to allow programmers to facilitate the resilience analysis of HPC applications. In particular, VISILIENCE leverages an effective visualization approach Control Flow Graph (CFG) to present a function execution. In addition, three widely-used models for resilience analysis (i.e., Y-Branch, IPAS, and TRIDENT) are seamlessly embedded into the framework for resilience analysis and result comparison. Multiple case studies have been conducted to demonstrate the effectiveness of our proposed framework VISILIENCE.

Jiang, Hailong↗
NASA NTRSDate not supplied

Visual and Inertial Datasets for an eVTOL Aircraft Approach and Landing Scenario

A National Aeronautics and Space Administration (NASA) project developing computer vision algorithms for autonomous flight is producing real-world datasets with cameras mounted on aircraft. In related domains, such as autonomous driving, open datasets are key to innovation and advancement in computer vision and autonomous perception for future Advanced Air Mobility (AAM) operations. Few vision datasets, however, are publicly available in the aviation context. This paper introduces preliminary datasets containing several examples of approach and landing scenarios. The platform aircraft include a multirotor small unmanned aerial system (sUAS) and a crewed helicopter as surrogates for future electric vertical take-off and landing (eVTOL) aircraft. The dataset provides video imagery with associated inertial navigation system-global positioning system (INS-GPS) position and attitude estimates and other sensors. Surveyed locations of the visual features of the landing area are included. This dataset is the first to be released in an ongoing effort to collect and share large, diverse datasets relevant to autonomous aviation; community critique that can inform and improve future flight campaigns is welcome.

Nelson Brown↗
DOE OSTI2024

Self-reported health impacts of do-it-yourself air cleaner use in a smoke-impacted community

Smoke exposure from wildfires or residential wood burning for heat is a public health problem for many communities. Do-It-Yourself (DIY) portable air cleaners (PACs) are promoted as affordable alternatives to commercial PACs, but evidence of their effect on health outcomes is limited. Pilot test an evaluation of the effect of DIY PAC usage on self-reported symptoms, and investigate barriers and facilitators of PAC use, among members of a tribal community that routinely experiences elevated concentrations of fine particulate matter (PM 2.5 ) from smoke. We conducted studies in Fall 2021 (“wildfire study”; N = 10) and Winter 2022 (“wood stove study”; N = 17). Each study included four sequential one-to-two-week phases: 1) initial, 2) DIY PAC usage ≥8 h/day, 3) commercial PAC usage ≥8 h/day, and 4) air sensor with visual display and optional PAC use. We continuously monitored PAC usage and indoor/outdoor PM 2.5 concentrations in homes. Concluding each phase, we conducted phone surveys about participants’ symptoms, perceptions, and behaviors. We analyzed symptoms associated with PAC usage and conducted an analysis of indoor PM 2.5 concentrations as a mediating pathway using mixed effects multivariate linear regression. We categorized perceptions related to PACs into barriers and facilitators of use. No association was observed between PAC usage and symptoms, and the mediation analysis did not indicate that small observed trends were attributable to changes in indoor PM 2.5 concentrations. Small sample sizes hindered the ability to draw conclusions regarding the presence or absence of causal associations. DIY PAC usage was low; loud operating noise was a barrier to use. This research is novel in studying health effects of DIY PACs during wildfire and wood smoke exposures. Such research is needed to inform public health guidance. Recommendations for future studies on PAC use during smoke exposure include building flexibility of intervention timing into the study design.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1975

Slushy weightings for the optimal pilot model

A pilot model is described which accounts for the effect of motion cues in a well defined visual tracking task. The effect of visual and motion cues are accounted for in the model in two ways. First, the observation matrix in the pilot model is structured to account for the visual and motion inputs presented to the pilot. Secondly, the weightings in the quadratic cost function associated with the pilot model are modified to account for the pilot's perception of the variables he considers important in the task. Analytic results obtained using the pilot model are compared to experimental results and in general good agreement is demonstrated. The analytic model yields small improvements in tracking performance with the addition of motion cues for easily controlled task dynamics and large improvements in tracking performance with the addition of motion cues for difficult task dynamics.

Dillow, J. D.↗
NASA NTRS1977

Adaptive control of a robotic manipulator

A control hierarchy for a robotic manipulator is described. The hierarchy includes perception and robot/environment interaction, the latter consisting of planning, path control, and terminal guidance loops. Environment-sensitive features include the provision of control governed by proximity, tactile, and visual sensors as well as the usual kinematic sensors. The manipulator is considered as part of an overall robot system. 'Adaptive control' in the present context refers to both the hierarchical nature of the control system and to its environment-responsive nature.

Lewis, R. A.↗
NASA NTRS1993

Transfer of perceptual adaptation to space sickness: What enhances an individual's ability to adapt?

The objectives of this project were to explore systematically the determiners of transfer of perceptual adaptation as these principles might apply to the space adaptation syndrome. The perceptual experience of an astronaut exposed to the altered gravitational forces involved in spaceflight shares much with that of the subject exposed in laboratory experiments to optically induced visual rearrangement with tilt and dynamic motion illusions such as vection; and experiences and symptoms reported by the trainee who is exposed to the compellingly realistic visual imagery of flight simulators and virtual reality systems. In both of these cases the observer is confronted with a variety of inter- and intrasensory conflicts that initially disrupt perception, as well as behavior, and also produce symptoms of motion sickness.

Source record↗
NASA NTRS1992

Effect Of Contrast On Perceived Motion Of A Plaid

Report desribes series of experiments examining effect of contrast on perception of moving plaids. Each plaid pattern used in experiments was sum of two drifting sinusoidal gratings of different orientations. One of many studies helping to show how brain processes visual information on moving patterns. When gratings forming plaid differ in contrast, apparent direction of motion of plaid biased up to 20 degrees toward direction of grating of higher contrast.

Stone, L. S.↗
NASA NTRS1998

Recent Advances in Visualizing 3D Flow with LIC

Line Integral Convolution (LIC), introduced by Cabral and Leedom in 1993, is an elegant and versatile technique for representing directional information via patterns of correlation in a texture. Although most commonly used to depict 2D flow, or flow over a surface in 3D, LIC methods can equivalently be used to portray 3D flow through a volume. However, the popularity of LIC as a device for illustrating 3D flow has historically been limited both by the computational expense of generating and rendering such a 3D texture and by the difficulties inherent in clearly and effectively conveying the directional information embodied in the volumetric output textures that are produced. In an earlier paper, we briefly discussed some of the factors that may underlie the perceptual difficulties that we can encounter with dense 3D displays and outlined several strategies for more effectively visualizing 3D flow with volume LIC. In this article, we review in more detail techniques for selectively emphasizing critical regions of interest in a flow and for facilitating the accurate perception of the 3D depth and orientation of overlapping streamlines, and we demonstrate new methods for efficiently incorporating an indication of orientation into a flow representation and for conveying additional information about related scalar quantities such as temperature or vorticity over a flow via subtle, continuous line width and color variations.

Interrante, Victoria↗
NASA NTRS1998

Relationship between selected orientation rest frame, circular vection and space motion sickness

Space motion sickness (SMS) and spatial orientation and motion perception disturbances occur in 70-80% of astronauts. People select "rest frames" to create the subjective sense of spatial orientation. In microgravity, the astronaut's rest frame may be based on visual scene polarity cues and on the internal head and body z axis (vertical body axis). The data reported here address the following question: Can an astronaut's orientation rest frame be related and described by other variables including circular vection response latencies and space motion sickness? The astronaut's microgravity spatial orientation rest frames were determined from inflight and postflight verbal reports. Circular vection responses were elicited by rotating a virtual room continuously at 35 degrees/s in pitch, roll and yaw with respect to the astronaut. Latency to the onset of vection was recorded from the time the crew member opened their eyes to the onset of vection. The astronauts who used visual cues exhibited significantly shorter vection latencies than those who used internal z axis cues. A negative binomial regression model was used to represent the observed total SMS symptom scores for each subject for each flight day. Orientation reference type had a significant effect, resulting in an estimated three-fold increase in the expected motion sickness score on flight day 1 for astronauts who used visual cues. The results demonstrate meaningful classification of astronauts' rest frames and their relationships to sensitivity to circular vection and SMS. Thus, it may be possible to use vection latencies to predict SMS severity and duration.

short duration↗
NASA NTRS2000

Discriminability measures for predicting readability of text on textured backgrounds

Several discriminability measures were examined for their ability to predict reading search times for three levels of text contrast and a range of backgrounds (plain, a periodic texture, and four spatial-frequency-filtered textures created from the periodic texture). Search times indicate that these background variations only affect readability when the text contrast is low, and that spatial frequency content of the background affects readability. These results were not well predicted by the single variables of text contrast (Spearman rank correlation = -0.64) and background RMS contrast (0.08), but a global masking index and a spatial-frequency-selective masking index led to better predictions (-0.84 and -0.81, respectively). c2000 Optical Society of America.

NASA Discipline Space Human Factors↗
DOE OSTI2023

Numerical and Visual Representations of Uncertainty Lead to Different Patterns of Decision Making

Although visualizations are a useful tool for helping people to understand information, they can also have unintended effects on human cognition. This is especially true for uncertain information, which is difficult for people to understand. Prior work has found that different methods of visualizing uncertain information can produce different patterns of decision making from users. However, uncertainty can also be represented via text or numerical information, and few studies have systematically compared these types of representations to visualizations of uncertainty. We present two experiments that compared visual representations of risk (icon arrays) to numerical representations (natural frequencies) in a wildfire evacuation task. Like prior studies, we found that different types of visual cues led to different patterns of decision making. In addition, our comparison of visual and numerical representations of risk found that people were more likely to evacuate when they saw visualizations than when they saw numerical representations. These experiments reinforce the idea that design choices are not neutral: seemingly minor differences in how information is represented can have important impacts on human risk perception and decision making.

97 MATHEMATICS AND COMPUTING↗