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NAVIGATION AIDS IN ROUTE TRAINING: INCREASE NAVIGATION SPEED, DECREASE ROUTE RETENTION?
Title
NAVIGATION AIDS IN ROUTE TRAINING: INCREASE NAVIGATION SPEED, DECREASE ROUTE RETENTION?.
Creator
Holmquist, John, Lee, Gene, University of Central Florida
Abstract / Description
In the case of one car following another to a destination, it is very effective at getting the second vehicle to the destination quickly; however, the driver of the second car may not learn the route. Yet, for individuals, such as firefighters, law enforcement, and military personnel, it is imperative that a route be learned quickly and accurately and that an awareness of the situation is maintained while they traverse the given route. This leads to three questions, (a) will navigation aids...
Show moreIn the case of one car following another to a destination, it is very effective at getting the second vehicle to the destination quickly; however, the driver of the second car may not learn the route. Yet, for individuals, such as firefighters, law enforcement, and military personnel, it is imperative that a route be learned quickly and accurately and that an awareness of the situation is maintained while they traverse the given route. This leads to three questions, (a) will navigation aids affect initial route navigation; (b) will navigation aids affect retention; and (c) will navigation aids affect situation awareness while en route? The hypotheses of this study were that navigation aids would significantly increase the speed at which a person can initially navigate a route, but the use of the aids would significantly decrease the retention of the route navigated. The findings of this study support the hypotheses. The results suggest that participants that followed a confederate and participants that were given verbal directions were quicker and made fewer errors than participants that reviewed a map or initially figured the route out on their own (control group). The study also showed that as the participants navigated the route for a second time with no navigational assistance, the ones that reviewed a map or that were in the control group outperformed participants that initially had a confederate to follow or were given verbal directions their first time through. Finally, no real effects were found on the participants' situation awareness during the retention portion of the study.
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Date Issued
2005
Identifier
CFE0000520, ucf:46453
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0000520
TECHNIQUES FOR ASSESSING AND IMPROVING PERFORMANCE IN NAVIGATION AND WAYFINDING USING MOBILE AUGMENTED REALITY
Title
TECHNIQUES FOR ASSESSING AND IMPROVING PERFORMANCE IN NAVIGATION AND WAYFINDING USING MOBILE AUGMENTED REALITY.
Creator
Goldiez, Brian, Hancock, Peter, University of Central Florida
Abstract / Description
Augmented reality is a field of technology in which the real world is overlaid with additional information from a computer generated display. Enhancements to augmented reality technology presently support limited mobility which is expected to increase in the future to provide much greater real world functionality. This work reports on a set of experiments that investigate performance in search and rescue navigating tasks using augmented reality. Augmentation consisted of a spatially and...
Show moreAugmented reality is a field of technology in which the real world is overlaid with additional information from a computer generated display. Enhancements to augmented reality technology presently support limited mobility which is expected to increase in the future to provide much greater real world functionality. This work reports on a set of experiments that investigate performance in search and rescue navigating tasks using augmented reality. Augmentation consisted of a spatially and temporally registered map of a maze that was overlaid onto a real world maze. Participants were required to traverse the maze, answer spatially oriented questions in the maze, acquire a target object, and exit. Pre and post hoc questionnaires were administered. Time and accuracy data from one hundred twenty participants were collected across six treatments. The between subject treatments, which had an equal number of male and female participants, were a control condition with only a compass, a control condition with a paper map available prior to maze traversal and four experimental conditions consisting of combinations of egocentric and exocentric maps, and a continuously on and on demand map display. Data collected from each participant consisted of time to traverse the maze, percent of the maze covered, estimations of euclidian distance and direction, estimations of cardinal direction, and spatial recall. Data was also collected via pre and post hoc questionnaires. Results indicate that best performance with respect to time was in the control condition with a map. The small size of the maze could have facilitated this result through route memorization. Augmented reality can offer enhancement to performance as navigational tasks become more complex and saturate working memory. Augmented reality showed best performance in accuracy by facilitating participants' coverage of the maze. Exocentric maps generally exhibited better performance than egocentric maps. On demand displays also generally resulted in better performance than continuously on displays. Gender differences also were evident with males exhibiting better performance than females. Participants reporting an initial tendency to not rotate maps exhibited better performance than those reporting a tendency to rotate maps. Enhancements being made to augmented reality and related technologies will result in more features, improved form factor for users, and improved performance in the future. Guidelines provided in this work seek to ensure augmented reality systems continue to progress in enhancing performance
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Date Issued
2004
Identifier
CFE0000177, ucf:46157
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0000177
Navigation of an Autonomous Differential Drive Robot for Field Scouting in Semi-structured Environments
Title
Navigation of an Autonomous Differential Drive Robot for Field Scouting in Semi-structured Environments.
Creator
Freese, Douglas, Xu, Yunjun, Lin, Kuo-Chi, Kauffman, Jeffrey L., Behal, Aman, University of Central Florida
Abstract / Description
In recent years, the interests of introducing autonomous robots by growers into agriculture fields are rejuvenated due to the ever-increasing labor cost and the recent declining numbers of seasonal workers. The utilization of customized, autonomous agricultural robots has a profound impact on future orchard operations by providing low cost, meticulous inspection. Different sensors have been proven proficient in agrarian navigation including the likes of GPS, inertial, magnetic, rotary...
Show moreIn recent years, the interests of introducing autonomous robots by growers into agriculture fields are rejuvenated due to the ever-increasing labor cost and the recent declining numbers of seasonal workers. The utilization of customized, autonomous agricultural robots has a profound impact on future orchard operations by providing low cost, meticulous inspection. Different sensors have been proven proficient in agrarian navigation including the likes of GPS, inertial, magnetic, rotary encoding, time of flight as well as vision. To compensate for anticipated disturbances, variances and constraints contingent to the outdoor semi-structured environment, a differential style drive vehicle will be implemented as an easily controllable system to conduct tasks such as imaging and sampling.In order to verify the motion control of a robot, custom-designed for strawberry fields, the task is separated into multiple phases to manage the over-bed and cross-bed operation needs. In particular, during the cross-bed segment an elevated strawberry bed will provide distance references utilized in a logic filter and tuned PID algorithm for safe and efficient travel. Due to the significant sources of uncertainty such as wheel slip and the vehicle model, nonlinear robust controllers are designed for the cross-bed motion, purely relying on vision feedback. A simple image filter algorithm was developed for strawberry row detection, in which pixels corresponding to the bed center will be tracked while the vehicle is in controlled motion. This incorporated derivation and formulation of a bounded uncertainty parameter that will be employed in the nonlinear control. Simulation of the entire system was subsequently completed to ensure the control capability before successful validation in multiple commercial farms. It is anticipated that with the developed algorithms the authentication of fully autonomous robotic systems functioning in agricultural crops will provide heightened efficiency of needed costly services; scouting, disease detection, collection, and distribution.
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Date Issued
2018
Identifier
CFE0007401, ucf:52743
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0007401
General Vector Explicit - Impact Time and Angle Control Guidance
Title
General Vector Explicit - Impact Time and Angle Control Guidance.
Creator
Robinson, Loren, Qu, Zhihua, Behal, Aman, Xu, Yunjun, University of Central Florida
Abstract / Description
This thesis proposes and evaluates a new cooperative guidance law called General Vector Explicit -Impact Time and Angle Control Guidance (GENEX-ITACG). The motivation for GENEX-ITACGcame from an explicit trajectory shaping guidance law called General Vector Explicit Guidance(GENEX). GENEX simultaneously achieves design specifications on miss distance and terminalmissile approach angle while also providing a design parameter that adjusts the aggressiveness ofthis approach angle. Encouraged by...
Show moreThis thesis proposes and evaluates a new cooperative guidance law called General Vector Explicit -Impact Time and Angle Control Guidance (GENEX-ITACG). The motivation for GENEX-ITACGcame from an explicit trajectory shaping guidance law called General Vector Explicit Guidance(GENEX). GENEX simultaneously achieves design specifications on miss distance and terminalmissile approach angle while also providing a design parameter that adjusts the aggressiveness ofthis approach angle. Encouraged by the applicability of this user parameter, GENEX-ITACG is anextension that allows a salvo of missiles to cooperatively achieve the same objectives of GENEXagainst a stationary target through the incorporation of a cooperative trajectory shaping guidancelaw called Impact Time and Angle Control Guidance (ITACG).ITACG allows a salvo of missile to simultaneously hit a stationary target at a prescribed impactangle and impact time. This predetermined impact time is what allows each missile involvedin the salvo attack to simultaneously arrived at the target with unique approach angles, whichgreatly increases the probability of success against well defended targets. GENEX-ITACG furtherincreases this probability of kill by allowing each missile to approach the target with a uniqueapproach angle rate through the use of a user design parameter.The incorporation of ITACG into GENEX is accomplished through the use of linear optimal controlby casting the cost function of GENEX into the formulation of ITACG. The feasibility GENEXITACGis demonstrated across three scenarios that demonstrate the ITACG portion of the guidancelaw, the GENEX portion of the guidance law, and finally the entirety of the guidance law. Theresults indicate that GENEX-ITACG is able to successfully guide a salvo of missiles to simultaneouslyhit a stationary target at a predefined terminal impact angle and impact time, while alsoallowing the user to adjust the aggressiveness of approach.
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Date Issued
2015
Identifier
CFE0005876, ucf:50868
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0005876
ROBUST ESTIMATION AND ADAPTIVE GUIDANCE FOR MULTIPLE UAVS' COOPERATION
Title
ROBUST ESTIMATION AND ADAPTIVE GUIDANCE FOR MULTIPLE UAVS' COOPERATION.
Creator
Allen, Randal, Xu, Chengying, University of Central Florida
Abstract / Description
In this paper, an innovative cooperative navigation method is proposed for multiple Unmanned Air Vehicles (UAVs) based on online target position measurements. These noisy position measurement signals are used to estimate the target's velocity for non-maneuvering targets or the target's velocity and acceleration for maneuvering targets. The estimator's tracking capability is physically constrained due to the target's kinematic limitations and therefore is potentially improvable...
Show moreIn this paper, an innovative cooperative navigation method is proposed for multiple Unmanned Air Vehicles (UAVs) based on online target position measurements. These noisy position measurement signals are used to estimate the target's velocity for non-maneuvering targets or the target's velocity and acceleration for maneuvering targets. The estimator's tracking capability is physically constrained due to the target's kinematic limitations and therefore is potentially improvable by designing a higher performance estimator. An H-infinity filter is implemented to increase the robustness of the estimation accuracy. The performance of the robust estimator is compared to a Kalman filter and the results illustrate more precise estimation of the target's motion in compensating for surrounding noises and disturbances. Furthermore, an adaptive guidance algorithm, based on the seeker's field-of-view and linear region, is used to deliver the pursuer to the maneuvering target. The initial guidance algorithm utilizes the velocity pursuit guidance law because of its insensitivity to target motion; while the terminal guidance algorithm leverages the acceleration estimates (from the H-infinity filter) to augment the proportional navigation guidance law for increased accuracy in engaging maneuvering targets. The main objective of this work is to develop a robust estimator/tracker and an adaptive guidance algorithm which are directly applicable UAVs.
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Date Issued
2009
Identifier
CFE0002535, ucf:47650
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0002535
AUTONOMOUS CONTROLS ALGORITHMFOR FORMATION FLYING OF SATELLITES
Title
AUTONOMOUS CONTROLS ALGORITHMFOR FORMATION FLYING OF SATELLITES.
Creator
Santiago, Luis, Johnson, Roger, University of Central Florida
Abstract / Description
This document describes the design and analysis of the Navigation, Guidance and Control System for the KnightSat project. The purpose for the project is to test and demonstrate new technologies the Air Force would be interested in for research and development. The primary mission of KnightSat is to show how a constellation of satellites can maintain relative position with each other autonomously using the Microwave Electro Thermal (MET) thruster. The secondary mission is to use multiple...
Show moreThis document describes the design and analysis of the Navigation, Guidance and Control System for the KnightSat project. The purpose for the project is to test and demonstrate new technologies the Air Force would be interested in for research and development. The primary mission of KnightSat is to show how a constellation of satellites can maintain relative position with each other autonomously using the Microwave Electro Thermal (MET) thruster. The secondary mission is to use multiple satellite imagery to obtain 3 dimensional stereo photographs of observable terrain. Formation flying itself has many possible uses for future applications. Selected missions that require imaging or data collection can be more economically accomplished using smaller multiple satellites. The MET thruster is a very efficient, but low thrust alternative that can provide thrust for a very long time, hence provide the low thrust necessary to maintain the satellites at a constant separation. The challenge is to design a working control algorithm to provide the desired output data to be used to command the MET thrusters. The satellites are to maintain a constant relative distance from each other, and use the least amount of fuel possible. If one satellite runs out of fuel before the other, it would render the constellation less useful or useless. Hence, the satellites must use the same amount of fuel in order to maintain an optimal operational duration on orbit.
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Date Issued
2006
Identifier
CFE0001171, ucf:46854
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0001171
REALNAV: EXPLORING NATURAL USER INTERFACES FOR LOCOMOTION IN VIDEO GAMES
Title
REALNAV: EXPLORING NATURAL USER INTERFACES FOR LOCOMOTION IN VIDEO GAMES.
Creator
Williamson, Brian, LaViola, Joseph, University of Central Florida
Abstract / Description
We present an exploration into realistic locomotion interfaces in video games using spatially convenient input hardware. In particular, we use Nintendo Wii Remotes to create natural mappings between user actions and their representation in a video game. Targeting American Football video games, we used the role of the quarterback as an exemplar since the game player needs to maneuver effectively in a small area, run down the field, and perform evasive gestures such as spinning, jumping, or the...
Show moreWe present an exploration into realistic locomotion interfaces in video games using spatially convenient input hardware. In particular, we use Nintendo Wii Remotes to create natural mappings between user actions and their representation in a video game. Targeting American Football video games, we used the role of the quarterback as an exemplar since the game player needs to maneuver effectively in a small area, run down the field, and perform evasive gestures such as spinning, jumping, or the "juke". In our study, we developed three locomotion techniques. The first technique used a single Wii Remote, placed anywhere on the user's body, using only the acceleration data. The second technique just used the Wii Remote's infrared sensor and had to be placed on the user's head. The third technique combined a Wii Remote's acceleration and infrared data using a Kalman filter. The Wii Motion Plus was also integrated to add the orientation of the user into the video game. To evaluate the different techniques, we compared them with a cost effective six degree of freedom (6DOF) optical tracker and two Wii Remotes placed on the user's feet. Experiments were performed comparing each to this technique. Finally, a user study was performed to determine if a preference existed among these techniques. The results showed that the second and third technique had the same location accuracy as the cost effective 6DOF tracker, but the first was too inaccurate for video game players. Furthermore, the range of the Wii remote infrared and Motion Plus exceeded the optical tracker of the comparison technique. Finally, the user study showed that video game players preferred the third method over the second, but were split on the use of the Motion Plus when the tasks did not require it.
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Date Issued
2009
Identifier
CFE0002938, ucf:47956
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0002938
MARKERLESS TRACKING USING POLAR CORRELATION OF CAMERA OPTICAL FLOW
Title
MARKERLESS TRACKING USING POLAR CORRELATION OF CAMERA OPTICAL FLOW.
Creator
Gupta, Prince, da Vitoria Lobo, Niels, University of Central Florida
Abstract / Description
We present a novel, real-time, markerless vision-based tracking system, employing a rigid orthogonal configuration of two pairs of opposing cameras. Our system uses optical flow over sparse features to overcome the limitation of vision-based systems that require markers or a pre-loaded model of the physical environment. We show how opposing cameras enable cancellation of common components of optical flow leading to an efficient tracking algorithm that captures five degrees of freedom...
Show moreWe present a novel, real-time, markerless vision-based tracking system, employing a rigid orthogonal configuration of two pairs of opposing cameras. Our system uses optical flow over sparse features to overcome the limitation of vision-based systems that require markers or a pre-loaded model of the physical environment. We show how opposing cameras enable cancellation of common components of optical flow leading to an efficient tracking algorithm that captures five degrees of freedom including direction of translation and angular velocity. Experiments comparing our device with an electromagnetic tracker show that its average tracking accuracy is 80% over 185 frames, and it is able to track large range motions even in outdoor settings. We also present how opposing cameras in vision-based inside-looking-out systems can be used for gesture recognition. To demonstrate our approach, we discuss three different algorithms for recovering motion parameters at different levels of complete recovery. We show how optical flow in opposing cameras can be used to recover motion parameters of the multi-camera rig. Experimental results show gesture recognition accuracy of 88.0%, 90.7% and 86.7% for our three techniques, respectively, across a set of 15 gestures.
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Date Issued
2010
Identifier
CFE0003163, ucf:48611
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0003163
guide to Florida for tourists, sportsmen and settlers
Title
A guide to Florida for tourists, sportsmen and settlers.
Creator
Rhodes, Harrison, Dumont, Frederick Theodore Frelinghuysen, Dumont, Mary Wolfe., PALMM (Project)
Date Issued
1912
Identifier
AAA7991QF00010/16/200301/12/200515119BfamIa D0QF, ONICF150- 3, FHP C CF 2003-10-16, IID UF00016875, FCLA url 20040713xOCLC, 56815457, CF00001625, 2675440, ucf:25563
Format
E-book
PURL
http://purl.fcla.edu/fcla/tc/fhp/CF00001625.pdf
Visuo-spatial abilities in remote perception: A meta-analysis of empirical work
Title
Visuo-spatial abilities in remote perception: A meta-analysis of empirical work.
Creator
Fincannon, Thomas, Jentsch, Florian, Sims, Valerie, Bowers, Clint, Chen, Jessie, University of Central Florida
Abstract / Description
Meta-analysis was used to investigate the relationship between visuo-spatial ability and performance in remote environments. In order to be included, each study needed to examine the relationship between the use of an ego-centric perspective and various dimensions of performance (i.e., identification, localization, navigation, and mission completion time). The moderator analysis investigated relationships involving: (a) visuo-spatial construct with an emphasis on Carroll's (1993)...
Show moreMeta-analysis was used to investigate the relationship between visuo-spatial ability and performance in remote environments. In order to be included, each study needed to examine the relationship between the use of an ego-centric perspective and various dimensions of performance (i.e., identification, localization, navigation, and mission completion time). The moderator analysis investigated relationships involving: (a) visuo-spatial construct with an emphasis on Carroll's (1993) visualization (VZ) factor; (b) performance outcome (i.e., identification, localization, navigation, and mission completion time); (c) autonomy to support mission performance; (d) task type (i.e., navigation vs. reconnaissance); and (e) experimental testbed (i.e., physical vs. virtual environments). The process of searching and screening for published and unpublished analyses identified 81 works of interest that were found to represent 50 unique datasets. 518 effects were extracted from these datasets for analyses.Analyses of aggregated effects (Hunter (&) Schmidt, 2004) found that visuo-spatial abilities were significantly associated with each construct, such that effect sizes ranged from weak (r = .235) to moderately strong (r = .371). For meta-regression (Borenstein, Hedges, Figgins, (&) Rothstein, 2009; Kalaian (&) Raudenbush, 1996; Tabachnick (&) Fidell, 2007), moderation by visuo-spatial construct (i.e., focusing on visualization) was consistently supported for all outcomes. For at least one of the outcomes, support was found for moderation by test, the reliability coefficient of a test, autonomy (i.e. to support identification, localization, and navigation), testbed (i.e., physical vs. virtual environment), intended domain of application, and gender. These findings illustrate that majority of what researchers refer to as (")spatial ability(") actually uses measures that load onto Carroll's (1993) visualization (VZ) factor. The associations between this predictor and all performance outcomes were significant, but the significant variation across moderators highlight important issues for the design of unmanned systems and the external validity of findings across domains. For example, higher levels of autonomy for supporting navigation decreased the association between visualization (VZ) and performance. In contrast, higher levels of autonomy for supporting identification and localization increased the association between visualization (VZ) and performance. Furthermore, moderation by testbed, intended domain of application, and gender challenged the degree to which findings can be expected to generalize across domains and sets of participants.
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Date Issued
2013
Identifier
CFE0004680, ucf:49858
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0004680