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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

The use of visual cues for vehicle control and navigation

At least three levels of control are required to operate most vehicles: (1) inner-loop control to counteract the momentary effects of disturbances on vehicle position; (2) intermittent maneuvers to avoid obstacles, and (3) outer-loop control to maintain a planned route. Operators monitor dynamic optical relationships in their immediate surroundings to estimate momentary changes in forward, lateral, and vertical position, rates of change in speed and direction of motion, and distance from obstacles. The process of searching the external scene to find landmarks (for navigation) is intermittent and deliberate, while monitoring and responding to subtle changes in the visual scene (for vehicle control) is relatively continuous and 'automatic'. However, since operators may perform both tasks simultaneously, the dynamic optical cues available for a vehicle control task may be determined by the operator's direction of gaze for wayfinding. An attempt to relate the visual processes involved in vehicle control and wayfinding is presented. The frames of reference and information used by different operators (e.g., automobile drivers, airline pilots, and helicopter pilots) are reviewed with particular emphasis on the special problems encountered by helicopter pilots flying nap of the earth (NOE). The goal of this overview is to describe the context within which different vehicle control tasks are performed and to suggest ways in which the use of visual cues for geographical orientation might influence visually guided control activities.

Hart, Sandra G.↗
NASA NTRS1991

Spatial vision within egocentric and exocentric frames of reference

It is remarkable that we are able to perceive a stable visual world and judge the directions, orientations, and movements of visual objects given that images move on the retina, the eyes move in the head, the head moves on the body, and the body moves in space. An understanding of the mechanisms underlying perceptual stability and spatial judgements requires precise definitions of relevant coordinate systems. An egocentric frame of reference is defined with respect to some part of the observer. There are four principal egocentric frames of reference, a station-point frame associated with the nodal point of the eye, an retinocentric frame associated with the retina, a headcentric frame associated with the head, and a bodycentric frame (torsocentric) associated with the torso. Additional egocentric frames can be identified with respect to any segment of the body. An egocentric task is one in which the position, orientation, or motion of an object is judged with respect to an egocentric frame of reference. A proprioceptive is a special kind of egocentric task in which the object being judged is also part of the body. An example of a proprioceptive task is that of directing the gaze toward the seen or unseen toe. An exocentric frame of reference is external to the observer. Geographical coordinates and the direction of gravity are examples of exocentric frames of reference. These various frames are listed in tabular form, together with examples of judgements of each type.

Howard, Ian P.↗
NASA NTRS1991

Visual direction as a metric of virtual space

Two experiments examine the abilities of ten subjects to visualize directions shown on a perspective display. Subjects indicated their perceived directions by adjusting a head-mounted cursor to correspond to the direction depicted on the display. This task is required of telerobotic operators who use map-like pictures of their workspace to determine the direction of objects seen by direct view. Results show significant open loop judgment biases that may be composed of errors arising from misinterpretation of the map geometry and overestimation of gaze direction.

Ellis, Stephen R.↗
NASA NTRS1992

A new neural net approach to robot 3D perception and visuo-motor coordination

A novel neural network approach to robot hand-eye coordination is presented. The approach provides a true sense of visual error servoing, redundant arm configuration control for collision avoidance, and invariant visuo-motor learning under gazing control. A 3-D perception network is introduced to represent the robot internal 3-D metric space in which visual error servoing and arm configuration control are performed. The arm kinematic network performs the bidirectional association between 3-D space arm configurations and joint angles, and enforces the legitimate arm configurations. The arm kinematic net is structured by a radial-based competitive and cooperative network with hierarchical self-organizing learning. The main goal of the present work is to demonstrate that the neural net representation of the robot 3-D perception net serves as an important intermediate functional block connecting robot eyes and arms.

Lee, Sukhan↗
NASA NTRS1994

SAVA 3: A testbed for integration and control of visual processes

The development of an experimental test-bed to investigate the integration and control of perception in a continuously operating vision system is described. The test-bed integrates a 12 axis robotic stereo camera head mounted on a mobile robot, dedicated computer boards for real-time image acquisition and processing, and a distributed system for image description. The architecture was designed to: (1) be continuously operating, (2) integrate software contributions from geographically dispersed laboratories, (3) integrate description of the environment with 2D measurements, 3D models, and recognition of objects, (4) capable of supporting diverse experiments in gaze control, visual servoing, navigation, and object surveillance, and (5) dynamically reconfiguarable.

Crowley, James L.↗
NASA NTRS1994

Object tracking with stereo vision

A real-time active stereo vision system incorporating gaze control and task directed vision is described. Emphasis is placed on object tracking and object size and shape determination. Techniques include motion-centroid tracking, depth tracking, and contour tracking.

Huber, Eric↗
NASA NTRS1992

The effect of space flight on spatial orientation

Both during and following early space missions, little neurosensory change in the astronauts was noted as a result of their exposure to microgravity. It is believed that this lack of in-flight adaptation in the spatial orientation and perceptual-motor system resulted from short exposure times and limited interaction with the new environment. Parker and Parker (1990) have suggested that while spatial orientation and motion information can be detected by a passive observer, adaptation to stimulus rearrangement is greatly enhanced when the observer moves through or acts on the environment. Experience with the actual consequences of action can be compared with those consequences expected on the basis of prior experience. Space flight today is of longer duration, and space craft volume has increased. These changes have forced the astronauts to interact with the new environment of microgravity, and as a result substantial changes occur in the perceptual and sensory-motor repsonses reflecting adaptation to the stimulus rearrangement of space flight. We are currently evaluating spatial orientation and the perceptual-motor systems' adaptation to microgravity by examining responses of postural control, head and gaze stability during locomotion, goal oriented vestibulo-ocular reflex (VOR), and structured quantitative perceptual reports. Evidence suggests that humans can successfully replace the gravitational reference available on Earth with cues available within the spacecraft or within themselves, but that adaptation to microgravity is not appropriate for a return to Earth. Countermeasures for optimal performance on-orbit and a successful return to earth will require development of preflight and in-flight training to help the astronauts acquire and maintain a dual adaptive state. An understanding of spatial orientation and motion perception, postural control, locomotion, and the VOR will aid in this process.

Reschke, Millard F.↗
NASA NTRS1994

The Cervico-Ocular Reflex of normal human subjects in response to transient and sinusoidal trunk rotations

We used the magnetic search coil technique to measure the horizontal cervico-ocular reflex (COR) of 8 subjects in response to transient or sinusoidal (0.1-1.0 Hz) trunk rotations while their heads were firmly immobilized. Although we were able to resolve eye rotations of less than 0.05 deg, the COR was hardly measurable (gain was always less than 0.07). This finding, made with the most precise measurement technique used to date, suggests that the COR makes a negligible contribution to the stability of gaze in normal subjects during natural activities.

Sawyer, Robert N., Jr.↗
NASA NTRS1996

Studies of Vestibular Neurons in Normal, Hyper- and Hypogravity

During the past year, pre-, in- and postflight studies were conducted in association with the Axon project for Bion 10 (Cosmos 2229). Recordings were made during pre- and postflight studies, from 118 horizontal semicircular canal afferents and 27 vestibular nucleus neurons in 7 rhesus monkeys; 137 pulse rotation protocols alone were executed (548 acceleration and deceleration responses were curve fit). Usable data was obtained from 127 horizontal afferents concerning their spontaneous discharge. Curve fits and analysis was made of sinusoidal and sum of sinusoidal responses from 42 and 35 horizontal afferents, respectively. Also recordings were made from neurons inflight from the two flight animals. The mean spontaneous rate varied from 128 spikes/sec. during preflight to 92 spikes/sec during postflight (day 5) - a change of 28%. In direct contrast to the results of Cosmos 2044, the best fitted neural adaptation operator (k) and the gain of the pulse response were decreased during post flight when compared to preflight. Surprisingly, the best fitted gain and k values for the sum of sines were slightly elevated during post flight tests. The gain and phase of single sine responses were compared for pre- and post flight tests and compared to a larger population of afferents. In contrast to Cosmos 2044 results where on the first day of post flight testing the gains of the best fitted sine response were skewed toward the higher values of the Miles and Braitman distribution, the gain of the best fitted sine responses during the first day of post flight testing (day 2) during Cosmos 2229 were exactly on the mode of the Miles and Braitman distribution. Thus, at least for the periodic stimuli, (pulses and sine waves) we found no change in gain and neural adaptation during post flight testing following Cosmos 2229. This conclusion is different from the one derived following the Cosmos 2044 flight. Cosmos flight 2229 differed from Cosmos flight 2044 in several significant ways: For example, during preflight, (1) The animals preflight training was different (less well trained on the gaze task) and (2) the animals were exposed to more experimental manipulations (surgical and rotational). Inflight, (1) the animals were required to make a pointing gesture (motor response) in association with eye movements to obtain reward, (2) the inflight diet was different (more balanced), (3) the feeder for one of the animals clogged following 9 days of flight resulting in evident dehydration and probably less head motion exposure in that monkey and (4) there was limited video taping of the monkeys in space. During postflight, (1) we were unable to test the flight animals until 26 hours postflight as compared to 14.5 hours during Cosmos 2044, (2) the animals received significantly more exposure to motion stimuli during postflight testing than during Cosmos 2044. These differences in the vestibular environment will require analysis of several parameters other than just neural and eye movement responses. For example, computer programs will have to be written and used to recover and quantify the number of head movements made by each animal during flight. This activity is critical to the production of neural adaptation and increased gain.

Correia, Manning J.↗
NASA NTRS1996

Virtual Keyboard for Hands-Free Operations

The measurement of direction of gaze (d.o.g.) has been used for clinical purposes to detect illness, such as nystagmus, unusual fixation movements and many others. It also is used to determine the points of interest in objects. In this study we employ a measurement of d.o.g. as a computer interface. The interface provides a full keyboard as well as a mouse function. Such an interface is important to computer users with paralysis or in environments where hand-free machine interface is required. The study utilizes the commercially available (ISCAN Model RK426TC) headset which consists of an InfraRed (IR) source and an IR camera to sense deflection of the illuminating beam. It also incorporates image processing package that provides the position of the pupil as well as the pupil size. The study shows the ability of implementing a full keyboard, together with some control functions, imaged on a head mounted monitor screen. This document is composed of four sections: (1) The Nature of the Equipment; (2) The Calibration Process; (3) Running Process; and (4) Conclusions.

Abou-Ali, Abdel-Latief↗
NASA NTRS1993

An Investigation of Horizontal Combined Eye-Head Tracking in Patients with Abnormal Vestibular and Smooth Pursuit Eye Movements

We investigated the interaction of smooth ocular pursuit (SP) and the vestibulo-ocular reflex (VOR) during horizontal, combined eye-head tracking (CEHT) in patients with abnormalities of either the VOR or SP movements. Our strategy was to apply transient stimuli that capitalized on the different latencies to onset of SP and the VOR. During CEHT of a target moving at 15 deg/sec, normal subjects and patients with VOR deficits all tracked the target with a gain close to 1.O. When the heads of normal subjects were suddenly and unexpectedly braked to a halt during CEHT, the eye promptly began to move in the orbit to track the target, but eye-in-orbit velocity transiently fell to about 60-70% of target velocity. In patients with deficient labyrinthine function, following the onset of the head brake, eye movements to track the target were absent, and SP movements were not generated until about 100 msec later. In patients with deficient SP, CEHT was superior to SP tracking with the head stationary; after the onset of the head brake, tracking eye movements were initiated promptly, but eye velocity was less than 50% of target velocity and increased only slightly thereafter. These results indicate that at least two mechanisms operate to overcome the VOR and allow gaze to track the target during CEHT: (1) the SP system provides a signal to cancel a normally-operating VOR (this cancellation signal is not needed by labyrinthine-deficient patients who have no VOR to cancel), and (2) a reduction of the gain of the VOR is achieved, an ability that is preserved even in patients with cerebral lesions that impair SP.

Huebner, William P.↗
NASA NTRS1992

Comparison of Predictable Smooth Ocular and Combined Eye-Head Tracking Behaviour in Patients with Lesions Affecting the Brainstem and Cerebellum

We compared the ability of eight normal subjects and 15 patients with brainstem or cerebellar disease to follow a moving visual stimulus smoothly with either the eyes alone or with combined eye-head tracking. The visual stimulus was either a laser spot (horizontal and vertical planes) or a large rotating disc (torsional plane), which moved at one sinusoidal frequency for each subject. The visually enhanced Vestibulo-Ocular Reflex (VOR) was also measured in each plane. In the horizontal and vertical planes, we found that if tracking gain (gaze velocity/target velocity) for smooth pursuit was close to 1, the gain of combined eye-hand tracking was similar. If the tracking gain during smooth pursuit was less than about 0.7, combined eye-head tracking was usually superior. Most patients, irrespective of diagnosis, showed combined eye-head tracking that was superior to smooth pursuit; only two patients showed the converse. In the torsional plane, in which optokinetic responses were weak, combined eye-head tracking was much superior, and this was the case in both subjects and patients. We found that a linear model, in which an internal ocular tracking signal cancelled the VOR, could account for our findings in most normal subjects in the horizontal and vertical planes, but not in the torsional plane. The model failed to account for tracking behaviour in most patients in any plane, and suggested that the brain may use additional mechanisms to reduce the internal gain of the VOR during combined eye-head tracking. Our results confirm that certain patients who show impairment of smooth-pursuit eye movements preserve their ability to smoothly track a moving target with combined eye-head tracking.

Grant, Michael P.↗
NASA NTRS1993

Abnormal Eye Movements in Creutzfeldt-Jakob Disease

We report 3 patients with autopsy-proven Creutzfeldt-Jakob disease who, early in their course, developed abnormal eye movements that included periodic alternating nystagmus and slow vertical saccades. These findings suggested involvement of the cerebellar nodulus and uvula, and the brainstem reticular formation, respectively. Cerebellar ataxia was also an early manifestation and, in one patient, a frontal lobe brain biopsy was normal at a time when ocular motor and cerebellar signs were conspicuous. As the disease progressed, all saccades and quick phases of nystagmus were lost, but periodic alternating gaze deviation persisted. At autopsy, 2 of the 3 patients had pronounced involvement of the cerebellum, especially of the midline structures. Creutzfeldt-Jakob disease should be considered in patients with subacute progressive neurological disease when cognitive changes are overshadowed by ocular motor findings or ataxia.

Grant, Michael P.↗
NASA NTRS1992

A Reevaluation of the Vestibulo-Ocular Reflex: New Ideas of its Purpose, Properties, Neural Substrate, and Disorders

Conventional views of the Vestibulo-Ocular Reflex (VOR) have emphasized testing with caloric stimuli and by passively rotating patients at low frequencies in a chair. The properties of the VOR tested under these conditions differ from the performance of this reflex during the natural function for which it evolved-locomotion. Only the VOR (and not visually mediated eye movements) can cope with the high-frequency angular and linear perturbations of the head that occur during locomotion; this is achieved by generating eye movements at short latency (less than 16 msec). Interpretation of vestibular testing is enhanced by the realization that, although the di- and trisynaptic components of the VOR are essential for this short-latency response, the overall accuracy and plasticity of the VOR depend upon a distributed, parallel network of neurons involving the vestibular nuclei. Neurons in this network variously encode inputs from the labyrinthine semicircular canals and otoliths, as well as from the visual and somatosensory systems. The central vestibular pathways branch to contact vestibular cortex (for perception) and the spinal cord (for control of posture). Thus, the vestibular nuclei basically coordinate the stabilization of gaze and posture, and contribute to the perception of verticality and self-motion. Consequently, brainstem disorders that disrupt the VOR cause not just only nystagmus, but also instability of posture (eg, increased fore-aft sway in patients with downbeat nystagmus) and disturbance of spatial orientation (eg, tilt of the subjective visual vertical in Wallenberg's syndrome).

Leigh, R. John↗
NASA NTRS1999

Context-Specific Adaptation of Gravity-Dependent Vestibular Reflex Responses (NSBRI Neurovestibular Project 1)

Impairment of gaze and head stabilization reflexes can lead to disorientation and reduced performance in sensorimotor tasks such as piloting of spacecraft. Transitions between different gravitoinertial force (gif) environments - as during different phases of space flight - provide an extreme test of the adaptive capabilities of these mechanisms. We wish to determine to what extent the sensorimotor skills acquired in one gravity environment will transfer to others, and to what extent gravity serves as a context cue for inhibiting such transfer. We use the general approach of adapting a response (saccades, vestibuloocular reflex: VOR, or vestibulocollic reflex: VCR) to a particular change in gain or phase in one gif condition, adapting to a different gain or phase in a second gif condition, and then seeing if gif itself - the context cue - can recall the previously-learned adapted responses. Previous evidence indicates that unless there is specific training to induce context-specificity, reflex adaptation is sequential rather than simultaneous. Various experiments in this project investigate the behavioral properties, neurophysiological basis, and anatomical substrate of context-specific learning, using otolith (gravity) signals as a context cue. In the following, we outline the methods for all experiments in this project, and provide details and results on selected experiments.

Shelhamer, Mark↗
NASA NTRS1999

Context-Specific Adaptation of Gravity-Dependent Vestibular Reflex Responses

Stabilization of the eyes and head during body movements is important for maintaining balance and keeping the images of objects stationary on our retinas. Impairment of this ability can lead to disorientation and reduced performance in sensorimotor tasks such as piloting of spacecraft. In the absence of a normal earth gravity field, the dynamics of head stabilization, and the interpretation of vestibular signals that sense gravity and linear acceleration, are subject to change. Transitions between different gravitoinertial force environments - as during different phases of space flight - provide an extreme test of the adaptive mechanisms that maintain these reflexive abilities. It is vitally important to determine human adaptive capabilities in such a circumstance, so that we can know to what extent the sensorimotor skills acquired in one gravity environment will transfer to others. Our work lays the foundation for understanding these capabilities, and for determining how we can aid the processes of adaptation and readaptation. An integrated set of experiments addresses this issue. We use the general approach of adapting some type of reflexive eye movement (saccades, the angular vestibulo-ocular reflex (AVOR), the linear vestibulo-ocular reflex (LVOR)), or the vestibulo-collic reflex (VCR), to a particular change in gain or phase in one condition of gravitoiner-tial force, and adapting to a different gain or phase (or asking for no change) in a second gravitoinertial force condition, and then seeing if the gravitoinertial force itself - the context cue - can recall the previously learned adapted responses. The majority of the experiments in the laboratory use the direction of vertical gaze or the direction of gravity (head tilt) as the context cue. This allows us to study context-specificity in a ground-based setting. One set of experiments, to be performed in parabolic flight, specifically uses the magnitude of gravitoinertial force as a context cue. This is a much better analog of the situation encountered in space flight. Various experiments investigate the behavioral properties, neurophysiological basis, and anatomical substrate of context-specific learning mechanisms. We use otolith (gravity) signals as the contextual cue for switching between adapted states of the saccadic system, the angular and linear vestibulo-ocular reflexes, and the VCR. (By LVOR we mean the oculomotor response - horizontal, vertical, and torsional - to linear translation of the head and body.) We are studying the effect of context on adaptation of saccade gain, phase and gain of the AVOR and LVOR, on ocular counterrolling (OCR) in response to static head tilt, and on head/neck reflexes (VCR) in response to rotation in different orientations. Such research is particularly germane to potential problems of postural and oculomotor control upon exposure to different gravitational environments.

Shelhamer, Mark J.↗
NASA NTRS2002

Motor scaling by viewing distance of early visual motion signals during smooth pursuit

The geometry of gaze stabilization during head translation requires eye movements to scale proportionally to the inverse of target distance. Such a scaling has indeed been demonstrated to exist for the translational vestibuloocular reflex (TVOR), as well as optic flow-selective translational visuomotor reflexes (e.g., ocular following, OFR). The similarities in this scaling by a neural estimate of target distance for both the TVOR and the OFR have been interpreted to suggest that the two reflexes share common premotor processing. Because the neural substrates of OFR are partly shared by those for the generation of pursuit eye movements, we wanted to know if the site of gain modulation for TVOR and OFR is also part of a major pathway for pursuit. Thus, in the present studies, we investigated in rhesus monkeys whether initial eye velocity and acceleration during the open-loop portion of step ramp pursuit scales with target distance. Specifically, with visual motion identical on the retina during tracking at different distances (12, 24, and 60 cm), we compared the first 80 ms of horizontal pursuit. We report that initial eye velocity and acceleration exhibits either no or a very small dependence on vergence angle that is at least an order of magnitude less than the corresponding dependence of the TVOR and OFR. The results suggest that the neural substrates for motor scaling by target distance remain largely distinct from the main pathway for pursuit.

Non-NASA Center↗
NASA NTRS2001

Intrinsic near-24-h pacemaker period determines limits of circadian entrainment to a weak synchronizer in humans

Endogenous circadian clocks are robust regulators of physiology and behavior. Synchronization or entrainment of biological clocks to environmental time is adaptive and important for physiological homeostasis and for the proper timing of species-specific behaviors. We studied subjects in the laboratory for up to 55 days each to determine the ability to entrain the human clock to a weak circadian synchronizing stimulus [scheduled activity-rest cycle in very dim (approximately 1.5 lux in the angle of gaze) light-dark cycle] at three approximately 24-h periods: 23.5, 24.0, and 24.6 h. These studies allowed us to test two competing hypotheses as to whether the period of the human circadian pacemaker is near to or much longer than 24 h. We report here that imposition of a sleep-wake schedule with exposure to the equivalent of candle light during wakefulness and darkness during sleep is usually sufficient to maintain circadian entrainment to the 24-h day but not to a 23.5- or 24.6-h day. Our results demonstrate functionally that, in normally entrained sighted adults, the average intrinsic circadian period of the human biological clock is very close to 24 h. Either exposure to very dim light and/or the scheduled sleep-wake cycle itself can entrain this near-24-h intrinsic period of the human circadian pacemaker to the 24-h day.

NASA Discipline Regulatory Physiology↗