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A head-mounted, wide-angle, stereoscopic display system controlled by operator position, voice and gesture is under development for use as a multipurpose interface environment. Initial applications of the system are in telerobotics, data-management and human factors research. System configuration and research directions are described.
The development of a three-dimensional auditory display system is discussed. Theories of human sound localization and techniques for synthesizing various features of auditory spatial perceptions are examined. Psychophysical data validating the system are presented. The human factors applications of the system are considered.
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.
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.
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Computer system designed and programmed to serve multiple users in research laboratory. Provides for computer control and monitoring of laboratory instruments, acquisition and anlaysis of data from those instruments, and interaction with users via remote terminals. System provides fast access to shared central processing units and associated large (from megabytes to gigabytes) memories. Underlying concept of system also applicable to monitoring and control of industrial processes.
Reason and Brand (1975) noted that motion sickness occurs in many situations involving either passive body motion or active interaction with the world via indirect sensorimotor interfaces (e.g., prism spectacles). As might be expected, motion sickness is being reported in VEs that involve apparent self-motion through space, the best known examples being flight simulators (Kennedy et al., 1990). The goals of this paper are to introduce the motion-sickness symptomatology; to outline some concepts that are central to theories of motion sickness, spatial orientation, and adaptation; and to discuss the implications of some trends in VE research and development.
The work performed during the past year on this cooperative agreement covered two major areas and two lesser ones. The two major items included further development and validation of the Compressible Navier-Stokes Finite Volume (CNSFV) code and providing computational support for the Laminar Flow Supersonic Wind Tunnel (LFSWT). The two lesser items involve a Navier-Stokes simulation of an oscillating control surface at transonic speeds and improving the basic algorithm used in the CNSFV code for faster convergence rates and more robustness. The work done in all four areas is in support of the High Speed Research Program at NASA Ames Research Center.
Surface acquisition deals with the reconstruction of three dimensional objects from a set of data points. The most straightforward techniques require human intervention, a time consuming proposition. It is desirable to develop a fully automated alternative. Such a method is proposed in this paper. It makes use of surface measurements obtained from a 3-D laser digitizer - an instrument which provides the (x,y,z) coordinates of surface data points from various viewpoints. These points are assembled into several partial surfaces using a visibility constraint and a 2-D triangulation technique. Reconstruction of the final object requires merging these partial surfaces. This is accomplished through a procedure that emulates milling, a standard machining operation. From a geometrical standpoint the problem reduces to constructing the intersection of two or more non-convex polyhedra.
Fortran and C++ are the dominant programming languages used in scientific computation. Consequently, extensions to these languages are the most popular for programming massively parallel computers. We discuss two such approaches to parallel Fortran and one approach to C++. The High Performance Fortran Forum has designed HPF with the intent of supporting data parallelism on Fortran 90 applications. HPF works by asking the user to help the compiler distribute and align the data structures with the distributed memory modules in the system. Fortran-S takes a different approach in which the data distribution is managed by the operating system and the user provides annotations to indicate parallel control regions. In the case of C++, we look at pC++ which is based on a concurrent aggregate parallel model.
The topics covered include the following: the need for telerobotics in rehabilitation; barriers to telerobotics technology in rehabilitation and health care; institutional barriers; technical barriers; and a partial view of the future.
Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.
Conference report contains compilation of papers relating to interactions between humans and machines from perspectives of telepresence and sensorimotor adaptation, measurement and evaluation of performance, and design principles and predictive models. Topics discussed include neural networks, sensory technology, display, and feedback controls. Covers state of art of remote sensing and control by humans for space or other operations.
Like two enormous steam engines, throttles wide-open, bells clanging and whistles screeching, careening toward each other down the same track, two powerful forces are about to collide and the point of collision will be smack in the middle of the white-collar workplace. Moreover, once the dust has settled, it is quite likely that we will never be able to think about the white-collar workplace in quite the same way again. The forces couldn't be more different. One force, the theory of complex adaptive systems, has its roots in the radical new sciences of chaos and complexity. The other force, the notion of organizations being learning systems, more like living organisms than 'information factories,' is an outgrowth of the new management thinking of leading organizational theorists like the Claremont Graduate School's Peter Drucker, MIT's Peter Senge, and Hitotsubashi University's Ikujiro Nonaka. Nevertheless, both the new science and the new management thinking seem to point to a similar and perhaps even startling conclusion: the business organization of the 21st century will look nothing like the bureaucratic organizational model that prevails in most companies today, a model that has remained largely unchanged since the manufacturing heydays of 1950s. While the details of the new organization remain sketchy, its rough outline is already beginning to take shape. Rather than simply being flatter through the elimination of layer upon layer of 'middle management,' the new organization is likely to be made up of networks of specialists who will be, for all practical purposes, self-managing. Rather than focusing on issues like re-engineering business processes, a holdover from Taylorism, the focus will be on supporting the continuous learning of an organization's specialists, the sharing of this learning with other specialists, and the embedding of this learning in the organization's physical structure. Finally, rather than viewing themselves as going through relatively long periods of stability punctuated by shorts bursts of 'reorganization,' business enterprises will come to realize that their very survival depends upon their being in a state of continuous organization. The implications of the new organization with respect to how companies approach the planning, design, and management of the technology infrastructure that enables individual learning, self-management, and continuous orgsnization, are both numerous and far-reaching. As part of this technology infrastructure, the white-collar workplace exists in the form it does today as a direct result of management's beliefs about how time, space, and tools ought to be organized and managed in order to accomplish useful intellectual work. Obviously, if these beliefs change radically, as both the new science and the new management thinking suggest is about to happen, then it is almost inevitable that the form and function of the white-collar workplace will change radically, as well. Will there even be a white-collar workplace in the 21st century, in the sense of purpose-built facilities designed to support the co-location of large numbers of white-collar workers? Only time will tell. However, the leading indicators seem to suggest that, as the old saying goes, 'We ain't seen nothin' yet!'
The development of Prospero moved from the University of Washington to ISI and several new versions of the software were released from ISI during the contract period. Changes in the first release from ISI included bug fixes and extensions to support the needs of specific users. Among these changes was a new option to directory queries that allows attributes to be returned for all files in a directory together with the directory listing. This change greatly improves the performance of their server and reduces the number of packets sent across their trans-pacific connection to the rest of the internet. Several new access method were added to the Prospero file method. The Prospero Data Access Protocol was designed, to support secure retrieval of data from systems running Prospero.
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.
A videotape presentation of flow in a packed bed of spheres is provided. The flow experiment consisted of three principal elements: (1) an oil tunnel 76.2 mm by 76.2 mm in cross section, (2) a packed bed of spheres in regular and irregular arrays, and (3) a flow characterization methodology, either (a) full flow field tracking (FFFT) or (b) computational fluid dynamic (CFD) simulation. The refraction indices of the oil and the test array of spheres were closely matched, and the flow was seeded with aluminum oxide particles. Planar laser light provided a two-dimensional projection of the flow field, and a traverse simulated a three-dimensional image of the entire flow field. Light focusing and reflection rendered the spheres black, permitting visualization of the planar circular interfaces in both the axial and transverse directions. Flows were observed near the wall-sphere interface and within the set of spheres. The CFD model required that a representative section of a packed bed be formed and gridded, enclosing and cutting six spheres so that symmetry conditions could be imposed at all cross-boundaries. Simulations had to be made with the flow direction at right angles to that used in the experiments, however, to take advantage of flow symmetry. Careful attention to detail was required for proper gridding. The flow field was three-dimensional and complex to describe, yet the most prominent finding was flow threads, as computed in the representative 'cube' of spheres with face symmetry and conclusively demonstrated experimentally herein. Random packing and bed voids tended to disrupt the laminar flow, creating vortices.
"The orbit of any one planet depends on the combined motion of all the planets, not to mention the actions of all these on each other. To consider simultaneously all these causes of motion and to define these motions by exact laws allowing of convenient calculation exceeds, unless I am mistaken, the forces of the entire human intellect" -Isaac Newton 1687. Epochal surveys are throwing down the gauntlet for cosmological simulation. We describe three keys to meeting the challenge of N-body simulation: adaptive potential solvers, adaptive integrators and volume renormalization. With these techniques and a dedicated Teraflop facility, simulation can stay even with observation of the Universe. We also describe some problems in the formation and stability of planetary systems. Here, the challenge is to perform accurate integrations that retain Hamiltonian properties for 10(exp 13) timesteps.