Frank Cardullo - Academia.edu (original) (raw)
Papers by Frank Cardullo
disseminating the results of its research and development activities. These results are published... more disseminating the results of its research and development activities. These results are published by NASA in the NASA STI Report Series, which includes the following report types: • TECHNICAL PUBLICATION. Reports of completed research or a major significant phase of research that present the results of NASA programs and include extensive data or theoretical analysis. Includes compilations of significant scientific and technical data and information deemed to be of continuing reference value. NASA counterpart of peerreviewed formal professional papers, but having less stringent limitations on manuscript length and extent of graphic presentations.
The control inceptor used in a vehicle simulation is an important part of adequately representing... more The control inceptor used in a vehicle simulation is an important part of adequately representing the dynamics of the vehicle. The inceptor characteristics are typically based on a second order spring mass damper system with damping, force gradient, breakout force, and natural frequency parameters. Changing these parameters can have a great effect on pilot control of the vehicle. A quasi transfer of training experiment was performed employing a high fidelity and a low fidelity control inceptor. A disturbance compensatory task was employed which involved a simple horizon line disturbed in roll by a sum of sinusoids presented in an out-the-window display. Vehicle dynamics were modeled as 1/s and 1/s2. The task was to maintain level flight. Twenty subjects were divided between the high and the low fidelity training groups. Each group was trained to a performance asymptote, and then transferred to the high fidelity simulation. RMS tracking error, a PSD analysis, and a workload analysis ...
Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cue... more Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cueing algorithm at the Visual Motion Simulator (VMS) at the NASA Langley Research Center in 2005. The latest version of the non-linear algorithm performed filtering of motion cues in all degrees-of-freedom except for pitch and roll. This manuscript describes the development and implementation of the non-linear optimal motion cueing algorithm for the pitch and roll degrees of freedom. Presented results indicate improved cues in the specified channels as compared to the original design. To further advance motion cueing in general, this manuscript describes modifications to the existing algorithm, which allow for filtering at the location of the pilot's head as opposed to the centroid of the motion platform. The rational for such modification to the cueing algorithms is that the location of the pilot's vestibular system must be taken into account as opposed to the off-set of the centr...
AIAA Modeling and Simulation Technologies Conference, 2016
2018 AIAA Modeling and Simulation Technologies Conference, 2018
AIAA Modeling and Simulation Technologies Conference, 2010
ABSTRACT A research project is being presented aimed at the development of a system of methods th... more ABSTRACT A research project is being presented aimed at the development of a system of methods that in the future will make it both safe and practical to perform telerobotic surgery. To mitigate the effects of the physically unavoidable delay we propose a telepresence system framework, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller to provide the safety and efficiency of an operation. Three major research areas must be explored in order to ensure achieving the objectives of our project. They are: simulator as a predictor, image processing, and intelligent control. Each is equally necessary for success of the project. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of development team, to ensure an integrated system.
AIAA Modeling and Simulation Technologies Conference, 2009
Atmospheric turbulence cueing produced by flight simulator motion systems has been less than sati... more Atmospheric turbulence cueing produced by flight simulator motion systems has been less than satisfactory because the turbulence profiles have been attenuated by the motion cueing algorithms. Cardullo and Ellor initially addressed this problem by directly porting the turbulence model output to the motion system. Reid and Robinson addressed the problem by employing a parallel aircraft model, which is only stimulated by the turbulence inputs and adding a filter specially designed to pass the higher turbulence frequencies. There have been advances in motion cueing algorithm development at the Man-Machine Systems Laboratory, at SUNY Binghamton. In particular, the system used to generate turbulence cues has been studied. The Reid approach, implemented by Telban and Cardullo, was employed to augment the optimal motion cueing algorithm installed at the NASA LaRC Simulation Laboratory, driving the Visual Motion Simulator. In this implementation, the output of the primary flight channel was added to the output of the turbulence channel and then sent through a non-linear cueing filter. The cueing filter is an adaptive filter; therefore, it is not desirable for the output of the turbulence channel to be augmented by this type of filter. The likelihood of the signal becoming divergent was also an issue in this design. After testing on-site it became apparent that the architecture of the turbulence algorithm was generating unacceptable cues. As mentioned above, this cueing algorithm comprised a filter that was designed to operate at low bandwidth. Therefore, the turbulence was also filtered, augmenting the cues generated by the model. If any filtering is to be done to the turbulence, it will utilize a filter with a much higher bandwidth, above the frequencies produced by the aircraft response to turbulence. The authors have developed an implementation wherein only the signal from the primary flight channel passes through the nonlinear cueing filter. This paper discusses three new algorithms. Testing shows that the new methods provide the pilot with a more realistic sensation of turbulence; the cues are not attenuated by algorithm. Results of offline testing show the credibility of the models. Offline test verification was based primarily on the evaluation of the power spectral density of the outputs and the time response.
AIAA Modeling and Simulation Technologies Conference and Exhibit, 2002
This paper discusses the continuation of research into the development of new motion cueing algor... more This paper discusses the continuation of research into the development of new motion cueing algorithms first reported in 1999. In this earlier work, two viable approaches to motion cueing were identified: the coordinated adaptive washout algorithm or _adaptive algorithm", and the _optimal algorithm". In this study, a novel approach to motion cueing is discussed that would combine features of both algorithms. the adaptive and optimal algorithms. Results for the heave mode show the nonlinear algorithm producing a motion cue with a time-varying washout, sustaining small cues for a longer duration and washing out larger cues more quickly. The addition of the optokinetic influence from the integrated perception model was shown to improve the response to a surge input, producing a specific force response with no steady-state washout. Improved cues are also observed for
Modeling and Simulation Technologies Conference and Exhibit, 1999
AIAA Modeling and Simulation Technologies Conference and Exhibit, 2004
The problems of transport delay in a flight simulator, such as its sources and effects, are revie... more The problems of transport delay in a flight simulator, such as its sources and effects, are reviewed. Then their effects on a pilot-in-the-loop control system are investigated with simulations. Three current prominent delay compensators-the lead/lag filter, McFarland filter, and the Sobiski/Cardullo filter were analyzed and compared. This paper introduces two novel delay compensation techniques-an adaptive predictor using the Kalman estimator and a state space predictive filter using a reference aerodynamic model. Applications of these two new compensators on recorded data from the NASA Langley Research Center Visual Motion Simulator show that they achieve better compensation over the current ones.
An extremely innovative approach has been presented, which is to have the surgeon operate through... more An extremely innovative approach has been presented, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller component to enhance the safety and efficiency of a remotely conducted operation. The use of a simulator enables the surgeon to operate in a virtual environment free from the impediments of telecommunication delay. The simulator functions as a predictor and periodically the simulator state is corrected with truth data. Three major research areas must be explored in order to ensure achieving the objectives. They are: simulator as predictor, image processing, and intelligent control. Each is equally necessary for success of the project and each of these involves a significant intelligent component in it. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of our team, to ensure an integrated system. The following is a brief discussion of those areas. Simulator as a predictor: The delays encountered in remote robotic surgery will be greater than any encountered in human-machine systems analysis, with the possible exception of remote operations in space. Therefore, novel compensation techniques will be developed. Included will be the development of the real-time simulator, which is at the heart of our approach. The simulator will present real-time, stereoscopic images and artificial haptic stimuli to the surgeon. Image processing: Because of the delay and the possibility of insufficient bandwidth a high level of novel image processing is necessary. This image processing will include several innovative aspects, including image interpretation, video to graphical conversion, texture extraction, geometric processing, image compression and image generation at the surgeon station. Intelligent control: Since the approach we propose is in a sense predictor based, albeit a very sophisticated predictor, a controller, which not only optimizes end effector trajectory but also avoids error, is essential. We propose to investigate two different approaches to the controller design. One approach employs an optimal controller based on modern control theory; the other one involves soft computing techniques, i.e. fuzzy logic, neural networks, genetic algorithms and hybrids of these.
AIAA Modeling and Simulation Technologies Conference, 2012
The value of a dynamic motion platform to the flight simulator is a controversial issue within th... more The value of a dynamic motion platform to the flight simulator is a controversial issue within the flight training community. The motion of the flight simulator platform has been shown to affect pilot performance and behavior. Performance studies show that the operator’s performance is enhanced when introducing motion which might indicate that the operator experiences a sensation closer to real flight which should reflect positively on the pilot’s training. However, most transfer of training studies show no major benefit after being trained in a flight simulator with or without a motion system. Resolving these discrepancies and testing for flight simulator training effectiveness requires very time consuming and expensive testing of human performance, both in the aircraft and the simulator. This research aims to tackle this problem by developing a control theoretic approach with novel ideas that include; developing a novel structural model of a human-in-the-loop control system, devel...
: A study was conducted to investigate new approaches in motion simulation. The study developed a... more : A study was conducted to investigate new approaches in motion simulation. The study developed a conceptual model of pilot control of an aircraft which was subsequently used in a need-based analysis of motion cuing devices. The analysis technique involved a frequency domain representation of aircraft maneuvers, pilot perception of these maneuvers, and pilot perception of the cues from various simulator cuing devices. The analysis led to an assessment founded upon principles of pilot perception and behavior. An analysis task was performed on a pop-up attack in an F-4 aircraft to generate the aircraft maneuver time histories and pilot cue matrix. The results were used in a frequency domain analysis to determine the value of cuing devices for particular portions of the maneuver. The study investigated various cuing techniques beginning with proposed optimization of existing devices and proceeding to discuss several new techniques such as vibromyesthetic stimulation and direct electric...
2018 AIAA Modeling and Simulation Technologies Conference
Flight Simulation and Technologies
Flight Simulation Technologies Conference
Flight Simulation Technologies Conference, 1981
disseminating the results of its research and development activities. These results are published... more disseminating the results of its research and development activities. These results are published by NASA in the NASA STI Report Series, which includes the following report types: • TECHNICAL PUBLICATION. Reports of completed research or a major significant phase of research that present the results of NASA programs and include extensive data or theoretical analysis. Includes compilations of significant scientific and technical data and information deemed to be of continuing reference value. NASA counterpart of peerreviewed formal professional papers, but having less stringent limitations on manuscript length and extent of graphic presentations.
The control inceptor used in a vehicle simulation is an important part of adequately representing... more The control inceptor used in a vehicle simulation is an important part of adequately representing the dynamics of the vehicle. The inceptor characteristics are typically based on a second order spring mass damper system with damping, force gradient, breakout force, and natural frequency parameters. Changing these parameters can have a great effect on pilot control of the vehicle. A quasi transfer of training experiment was performed employing a high fidelity and a low fidelity control inceptor. A disturbance compensatory task was employed which involved a simple horizon line disturbed in roll by a sum of sinusoids presented in an out-the-window display. Vehicle dynamics were modeled as 1/s and 1/s2. The task was to maintain level flight. Twenty subjects were divided between the high and the low fidelity training groups. Each group was trained to a performance asymptote, and then transferred to the high fidelity simulation. RMS tracking error, a PSD analysis, and a workload analysis ...
Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cue... more Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cueing algorithm at the Visual Motion Simulator (VMS) at the NASA Langley Research Center in 2005. The latest version of the non-linear algorithm performed filtering of motion cues in all degrees-of-freedom except for pitch and roll. This manuscript describes the development and implementation of the non-linear optimal motion cueing algorithm for the pitch and roll degrees of freedom. Presented results indicate improved cues in the specified channels as compared to the original design. To further advance motion cueing in general, this manuscript describes modifications to the existing algorithm, which allow for filtering at the location of the pilot's head as opposed to the centroid of the motion platform. The rational for such modification to the cueing algorithms is that the location of the pilot's vestibular system must be taken into account as opposed to the off-set of the centr...
AIAA Modeling and Simulation Technologies Conference, 2016
2018 AIAA Modeling and Simulation Technologies Conference, 2018
AIAA Modeling and Simulation Technologies Conference, 2010
ABSTRACT A research project is being presented aimed at the development of a system of methods th... more ABSTRACT A research project is being presented aimed at the development of a system of methods that in the future will make it both safe and practical to perform telerobotic surgery. To mitigate the effects of the physically unavoidable delay we propose a telepresence system framework, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller to provide the safety and efficiency of an operation. Three major research areas must be explored in order to ensure achieving the objectives of our project. They are: simulator as a predictor, image processing, and intelligent control. Each is equally necessary for success of the project. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of development team, to ensure an integrated system.
AIAA Modeling and Simulation Technologies Conference, 2009
Atmospheric turbulence cueing produced by flight simulator motion systems has been less than sati... more Atmospheric turbulence cueing produced by flight simulator motion systems has been less than satisfactory because the turbulence profiles have been attenuated by the motion cueing algorithms. Cardullo and Ellor initially addressed this problem by directly porting the turbulence model output to the motion system. Reid and Robinson addressed the problem by employing a parallel aircraft model, which is only stimulated by the turbulence inputs and adding a filter specially designed to pass the higher turbulence frequencies. There have been advances in motion cueing algorithm development at the Man-Machine Systems Laboratory, at SUNY Binghamton. In particular, the system used to generate turbulence cues has been studied. The Reid approach, implemented by Telban and Cardullo, was employed to augment the optimal motion cueing algorithm installed at the NASA LaRC Simulation Laboratory, driving the Visual Motion Simulator. In this implementation, the output of the primary flight channel was added to the output of the turbulence channel and then sent through a non-linear cueing filter. The cueing filter is an adaptive filter; therefore, it is not desirable for the output of the turbulence channel to be augmented by this type of filter. The likelihood of the signal becoming divergent was also an issue in this design. After testing on-site it became apparent that the architecture of the turbulence algorithm was generating unacceptable cues. As mentioned above, this cueing algorithm comprised a filter that was designed to operate at low bandwidth. Therefore, the turbulence was also filtered, augmenting the cues generated by the model. If any filtering is to be done to the turbulence, it will utilize a filter with a much higher bandwidth, above the frequencies produced by the aircraft response to turbulence. The authors have developed an implementation wherein only the signal from the primary flight channel passes through the nonlinear cueing filter. This paper discusses three new algorithms. Testing shows that the new methods provide the pilot with a more realistic sensation of turbulence; the cues are not attenuated by algorithm. Results of offline testing show the credibility of the models. Offline test verification was based primarily on the evaluation of the power spectral density of the outputs and the time response.
AIAA Modeling and Simulation Technologies Conference and Exhibit, 2002
This paper discusses the continuation of research into the development of new motion cueing algor... more This paper discusses the continuation of research into the development of new motion cueing algorithms first reported in 1999. In this earlier work, two viable approaches to motion cueing were identified: the coordinated adaptive washout algorithm or _adaptive algorithm", and the _optimal algorithm". In this study, a novel approach to motion cueing is discussed that would combine features of both algorithms. the adaptive and optimal algorithms. Results for the heave mode show the nonlinear algorithm producing a motion cue with a time-varying washout, sustaining small cues for a longer duration and washing out larger cues more quickly. The addition of the optokinetic influence from the integrated perception model was shown to improve the response to a surge input, producing a specific force response with no steady-state washout. Improved cues are also observed for
Modeling and Simulation Technologies Conference and Exhibit, 1999
AIAA Modeling and Simulation Technologies Conference and Exhibit, 2004
The problems of transport delay in a flight simulator, such as its sources and effects, are revie... more The problems of transport delay in a flight simulator, such as its sources and effects, are reviewed. Then their effects on a pilot-in-the-loop control system are investigated with simulations. Three current prominent delay compensators-the lead/lag filter, McFarland filter, and the Sobiski/Cardullo filter were analyzed and compared. This paper introduces two novel delay compensation techniques-an adaptive predictor using the Kalman estimator and a state space predictive filter using a reference aerodynamic model. Applications of these two new compensators on recorded data from the NASA Langley Research Center Visual Motion Simulator show that they achieve better compensation over the current ones.
An extremely innovative approach has been presented, which is to have the surgeon operate through... more An extremely innovative approach has been presented, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller component to enhance the safety and efficiency of a remotely conducted operation. The use of a simulator enables the surgeon to operate in a virtual environment free from the impediments of telecommunication delay. The simulator functions as a predictor and periodically the simulator state is corrected with truth data. Three major research areas must be explored in order to ensure achieving the objectives. They are: simulator as predictor, image processing, and intelligent control. Each is equally necessary for success of the project and each of these involves a significant intelligent component in it. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of our team, to ensure an integrated system. The following is a brief discussion of those areas. Simulator as a predictor: The delays encountered in remote robotic surgery will be greater than any encountered in human-machine systems analysis, with the possible exception of remote operations in space. Therefore, novel compensation techniques will be developed. Included will be the development of the real-time simulator, which is at the heart of our approach. The simulator will present real-time, stereoscopic images and artificial haptic stimuli to the surgeon. Image processing: Because of the delay and the possibility of insufficient bandwidth a high level of novel image processing is necessary. This image processing will include several innovative aspects, including image interpretation, video to graphical conversion, texture extraction, geometric processing, image compression and image generation at the surgeon station. Intelligent control: Since the approach we propose is in a sense predictor based, albeit a very sophisticated predictor, a controller, which not only optimizes end effector trajectory but also avoids error, is essential. We propose to investigate two different approaches to the controller design. One approach employs an optimal controller based on modern control theory; the other one involves soft computing techniques, i.e. fuzzy logic, neural networks, genetic algorithms and hybrids of these.
AIAA Modeling and Simulation Technologies Conference, 2012
The value of a dynamic motion platform to the flight simulator is a controversial issue within th... more The value of a dynamic motion platform to the flight simulator is a controversial issue within the flight training community. The motion of the flight simulator platform has been shown to affect pilot performance and behavior. Performance studies show that the operator’s performance is enhanced when introducing motion which might indicate that the operator experiences a sensation closer to real flight which should reflect positively on the pilot’s training. However, most transfer of training studies show no major benefit after being trained in a flight simulator with or without a motion system. Resolving these discrepancies and testing for flight simulator training effectiveness requires very time consuming and expensive testing of human performance, both in the aircraft and the simulator. This research aims to tackle this problem by developing a control theoretic approach with novel ideas that include; developing a novel structural model of a human-in-the-loop control system, devel...
: A study was conducted to investigate new approaches in motion simulation. The study developed a... more : A study was conducted to investigate new approaches in motion simulation. The study developed a conceptual model of pilot control of an aircraft which was subsequently used in a need-based analysis of motion cuing devices. The analysis technique involved a frequency domain representation of aircraft maneuvers, pilot perception of these maneuvers, and pilot perception of the cues from various simulator cuing devices. The analysis led to an assessment founded upon principles of pilot perception and behavior. An analysis task was performed on a pop-up attack in an F-4 aircraft to generate the aircraft maneuver time histories and pilot cue matrix. The results were used in a frequency domain analysis to determine the value of cuing devices for particular portions of the maneuver. The study investigated various cuing techniques beginning with proposed optimization of existing devices and proceeding to discuss several new techniques such as vibromyesthetic stimulation and direct electric...
2018 AIAA Modeling and Simulation Technologies Conference
Flight Simulation and Technologies
Flight Simulation Technologies Conference
Flight Simulation Technologies Conference, 1981