DYNAMIC RESPONSE OF HUMAN LINEARVECTION
by
WILLIAM HON NING CHU
B.A.SC., University of Toronto
1973
SUBMITTED IN PARTIAL FULFILLMENT
OF THE REQUIREMENTS FOR THE
DEGREE OF MASTER OF SCIENCE
at the
MASSACHUSETTS
INSTITUTE
OF TECHNOLOGY
February, 1976
Signature of Author-Departmn
of Aeronau
cs and Astronautics
October 3, 1975
Certified by
/
/
Thesis Supervisor
Accepted by
Chairan, Departmental Graduate Committee
Archives
JUN 9 1976
Nraas
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t
4
V
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p
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d
DYNAMIC
RESPONSE OF
HUMAN LINEAPVECTION
by
WILLIAM H.N. CHU
Submitted to the department of Aeronautics and
Astronautics on OCTOBER 3, 1975,
in partial fulfillment
of the reouirements for the degree of Master of Science.
ABSTRACT
The
of
function
linear
motion
the
investiaate
linearvection
and
increasing
studied.
It
It was
upward
motion.
moving
was
shown
was
There
that
also
sensation
than
seemed
than
the
human
the
decrease
for
was
also
induced
downward
sensation
the
to
to
both
that
response
visually
stronaer
the
of
shown
in
The
designed
steady
Asymmetry
sensation
examined.
was
response
exhibited
freauency.
induced
mainly
were
frequency
phase
sensation
visually
(linearvection)
mechanism.
moving
backward
human
performed
experiments
gain
of
be
forward
a
stronger
one.
break frequency was found to be approximately 0.1 Hz.
Thesis Supervisor:
Laurence P. Young
Title: Professor of Aeronautics and
Astronautics
2
of
The
ACKNOWLEDGMENTS
The
author
Professor
Laurence
guidance
Thanks
are
thank
Mr.
stage
offered
by
provided
due
express
whose
E.
of
Chao
this
Mr.
significant
Tole
of
advice
this
M.
Oman
their
his
cooporation
also
Technical
Mr.
contributions
and
wishes
in
the
assistance
William
to
and
valuable
author
and
to
research.
The
research.
John
patient
for
for
gratitude
Charles
Curry
suggestions.
Alfred
his
realization
Professor
Renwick
and
to
Young
the
also
discussions
early
R.
permitted
Professor
to
wishes
the
Morrison
success
of
the experimental work.
Finally,
to
his
greatest
dedicated
the
wife,
Grace,
burden
to
author
his
of
who
expresses
without
graduate
wife
and
deep
doubt
life.
parents
appreciation
carried
This
for
thesis
their
the
is
constant
support and encouragement.
The
research
was
supported
22-009-701.
3
by
NASA
grant
NGR
TABLE OF CONTENTS
Chapter No.
CHAPTER
I
Page No.
INTRODUCTION
1.1
Background
8
1.2
Objectives of the Thesis
9
1.3
Results of the Thesis
1.3.1
Response to Constant Velocity stimuli
1.3.2
Linearvection Frequency Response to
Periodic
1.3.3
Inputs
9
10
Linearvection Frequency Response to
Pseudo Random Inputs
12
Effects of Manual Pursuit Tracking
13
1.4
Outline
14
CHAPTER II
EXPERIMENTS
2.1
Brief Outline of the Experiments
2.2
Experimental Facilities and
1.3.4
of the Thesis
15
Organizations
2.2.1
Description of the Equipment
15
2.2.2
Experimental Organization
20
2.3
Experimental Software
23
2.4
Experimental Procedures
2.4.1
Static Case
29
2.4.2
Dynamic Case
33
CHAPTFP III
3.1
ANALYSIS
AND
RESULTS
Cross Correlation Analysis and
Results
3.2
35
Fourier Analysis
3.2.1
Periodic Input
39
3.2.2
Pseudo Random Input
47
3.3
Asymmetrical Response
54
3.4
Effects of Manual Pursuit Tracking
55
4
I
CHAPTEP
IV
CONCLUSIONS AND SUGGESTIONS FOP
FURTHER PESFARCH
4.1
Summary of Human Linearvection Dynamics
61
4.2
Suggestions for Further Pesearch
62
A
Operational Details of the Fxperiment
64
B
Operational Details of the Data
68
A
Appendices
Analysis
C
Program Listinqs
References
72
101
I
I
I
I
5
I
LIST OF
FIGURES
Fiaure No.
2.1
2.2
Page No.
Overview of Experimental Set up
Film Loop Motor Response to Dicitize d
16
18
Inputs
2.3
Motor Linearity Curve
2.4
System Configuration
19
for the
Experiment
2.5
21
System Configuration
for the
Data Analysis
22
2.6,2.7,
Test Cases on Cross Correlation
25,26
2.8,2.9
Coefficient Program
27,28
2.10
Bode Plot of a Known Transfer
Function by the Digital Program
FFTPLT
2.11
Typical LV Response to Pure
Sinusoidal
2.12
30
Input
31
Results of Fast Fourier Transform
Analysis of Signals Shown in
Fia.2.10 by Digital
3.1
Program FFTPPT
32
Typical Subjective Response to
Hozontally Moving Stripes with
Constant Step Velocity.
3.2
Cross Correlation of Signals Shown
in Fiq. 3.1
3.3
36
37
Summary of Cross Correlation Between
Horizontal LV and the Constant Step
Velocity Input
3.4
Typical Vertical LV Response to Pure
Sinusoidal
3.5
38
Velocity Input
Harmonic Analysis
6
40
42
3.6,3.7
3.8,3.9
3.10
Summary of Vertical LV Frequency
Response to Sinusoidal Input, Gain
43
vs Frequency and Phase vs Frequency
44
Comparison of Results of Berthoz et al,
45
Gain vs Frequency and Phase vs Frequency
46
Typical Vertical LV Response to
Pseudo Random Velocity Input
3.11
I
48
Results of Fast Fourier Transform on
Fiq.3.10 by Digital Program FFTPPT
49
3.12,3.13 Summary of Vertical LV Frequency
3.14
Response to Pseudo Random Input,
50
Gain vs Freguency and Phase vs Frequency
51
Sketch of Discontinuity and Method of
Adjustment for the Gain vs Frequency
53
Curves in Fig.3.12
3.15
Comparison of Pursuit Tracking Tasks
3.16,3.17 Effects of Manual Pursuit Tracking
on the Response to Pseudo Random Input,
57
59
60
Gain vs Freguency and Phase vs Frequency
A.1
Flow Chart of Program BVECTN
66
A.2
Data Flow During the Experimental Phase
67
B.1
Data Flow Durinq the Data Analysis Phase
71
TABLE 3.1 Normalized Output DC Amplitudes
56
t
t
I
I
7
CHAPTER I
INTRODUCTION
1.1 Background
Flight
full
six
degree
limited motion
study
is
to
be
linear
the
always
a
with
the
function
self-motion,
based
fixed
of
fidelity
flight
between
compromise
and
the
The purpose
of
this
of
induced
freedom motion
in
the laboratory.
in
inteqrated
improve
of
examine
of
sensation
is
simulation
the
air
visually
may
which
eventually
simulator
motion
to
and
ride
cues
also
of
his
simulation
quality.
Besides
play
an
arises
there
when
is
an
vestibular
information.
vestibular
information
man's
judgment
Disorientation
orientation.
and
position
spatial
in
role
important
visual
stimulation,
vestibular
incongruity
conflicting
These
are
visual
and
visual
and
between
considered
currently
a main
contribution to motion sickness.
Visually
induced
is
(linearvection)
experience
the
of
movement
system,
being
let
visual
the
self-translation
neighboring
acceleration
system
of
illustrated
easily
sensing
of
sensation
take
8
vehicle.
sensitive,
over
the
linear
motion
a
common
by
while
The
cannot
task
noticing
vestibular
help
of
but
motion
I
in
perception
a
effects
Self-motion
tilt
(Dichgan et
Oman
1974;
velocity
been
have
al,1972),
studied
pitch,
environment.
in
roll,
yaw, lateral
yaw
(Young
and
Young, Oman and Dichgan 1975) and in linear
(Berthoz et al 1975).
motion
Berthoz's
and
constant
aft
studies
horizontal
study
present
were
direction,
is
carried
the
whereas
investigate
to
in
out
the
the
goal
fore
of
the
response
of
linearvection in the vertical direction.
1.2 Objectives of the Thesis
The objectives of the thesis are twofold:
(1) To
study
magnitude
the
and
causal
in
phase,
relationship,
both
between a static
in
constant
visual stimulus and linearvection.
(2)
To
study
the
dynamic
response
of
linearvection
in
the presence of varying visual stimulus.
1.3 Results of the Thesis
1.3.1 Response to Constant Velocity Stimuli
The basis of
the first part of the experiment is
the static phasic relationship between visual
and
for
subjective
both
motion perception.
constant
vertical
and
The
stimulus
response
latency
horizontal
moving
9
I
stripes
holds
is
for
is
for
about
most
approximately
3
seconds.
all
stripe
the
maximun
value,
the
subjects
of
velocities
up
This
to
before
30
field.
induced
sense
of
environment.
visually
under
above.
the
Secondly,
throughout
Some
is
the
of
first
latter
in
the
motion
is
complete
and
suggests
This
definition
this
subject's
self-motion
definition
occurs,
experimental
meanings
motion.
which
2.
that
saturation
time
in
still
maximal
definition
of
saturation
which
is
implied
this thesis.
subjects
increasing
case
of
only
sensation
the
two
implies
possessing
includes
It
has
sensation
induced
certainly
this
it
Firstly,
visually
the
'saturation'
word
cm/sec
saturation
condition described in detail in Chapter
The
delay
stripe
does
had
slightly
velocity
not
occur
auicker
under
response
saturation.
frequently
enough
to
However
to
render
the finding conclusive.
1.3.2 Linearvection Frequency Response to Periodic
Inputs
The
steady
peripheral
generally
as
the
field
state
with
periodic.
frequency
sinusoidally
The
of
subjective
gain
of
stimulus
10
response
varying
the
to
velocity
response
increases.
moving
is
decreases
The
result
4
(Fig.
the
shows
3.6)
drop
average
between
of
Hz
0.03
and
range
exhibit
strong
agreement
with
However,
Berthoz's
result
(Fig. 3.8).
greater
than
0.02
Hz.
was
only
one
The
between
lowest
The
patterns
and
is
adopted
moving
fore
by
stripe
0.8
Berthoz
indicated
in
this
gain
difference
aft
Berthoz
patterns
and
moving
and
around
experiment
condition
of
in
The
Hz.
of
significant
direction
gain
frequencies
used
experimental
the
in
those
to
The
horizontally
were
down
Hz.
present
Berthoz's
response
frequency
0.03125
the
field.
for
db
11
frequency
data
the
an
that of
peripheral
moving
random
while
vertically
were
used
up
in
this
experiment.
As
as a
expected,
function
phasic
of
phase
frequency.
relationship
stripe-velocity
is
agree
with
those
below
0.2
Hz.
limiting
about
Hz.
However,
a
steady
increase
collected
decrease
in
phase
60
lag
may
for
increase
illustrates
the
input
even
The
results
frequency
is
the
beyond
reaches
frequency
(Fig . 3.9)
Furthermore,
imply
frequencies
range
asymptotic
which
results
lag.
visual
the
lag
degrees
phase
to
nature.
in
phase
Berthoz's
(Fig. 3.9)
in
observed
the
in
3.7
the
Berthoz
Also
observed
Figure
when
of
of
0.2
was
periodic
characteristic
value
lag
a
greater
a
of
showed
the
data
possible
than
0.5
11
I
Hz.
However,
this
fact
remains to
be proven
until
more
data above 1.0 Hz can be gathered.
The
harmonic
made
as
to
the
shape
which
of
sinusoidal
strong
the
first
figure
3.5
of
the
(Fig.
The
of
significant.
of
the
down-moving
measure
of
clearly
sugaests
as
great
this
The
synthesis
illustrated
in
resemblance
to
of
the third
harmonics
the
typical
subjective
of
loss
sudden
three
However,
pure
Fourier
process
out
attaining
it.
of
not
were
subharmonics
stronger
auantitative
a
to
to
the
harmonics.
emphasis
slow
other
3.4)
shows
terms
in
and
linearvection
of
to be
most
response
third harmonics
the
sensations:
Fig.
third
confirmingly
explained
reported
of
and the
can
presence
and
the
contribute
results
The
presence
responses.
conclusions
linearvection
2.11
typical
be
permits
subharmonics
input.
transform
the
analysis
found
four
of
sensation
asymmetry
The
to
be
subjects
up.
than
is discussed
The
in
Chapter 3.2.
1.3.3 Linearvection Frequency Pesponse to Pseudo
Pandom Inputs
The
stripe
figure
response
linearvection
velocity
3.13.
is
summarized
Essentially,
there
12
to
in
is
pseudo
figure
a
random
3.12
steady
drop
and
in
I
both
gain
and
phase
within
considered.
However,
two
response
different
from
as
Firstly,
the
gain
the
distinct
is
that
features
of
higher
frequency
range
mark
the periodic
at
low
the
input.
freqencies.
Secondly, the phase lag exhibits steady increase.
As
far
as
concerned,
the
of obtaining
pseudo-random
favored
unanimously
though
the
pseudo-random
input
even
ease
stripe
be
the
velocity
visual
best
unpredictable
at
task
difficult
to
linearvection
the
magnitude
times
due
to
of
the
estimation
high
the
was
stimulus,
nature
made
is
a
frequency
contents.
1.3.4 Effects of Manual Pursuit Tracking
Due
to
tracking
in
the
the
should
tracking
response.
of
be modified
pseudo-random
figure
3.16
manual
significant
response
claim
figure
and
curves
that
3.12
both
and
The
far
results
of
the
off
In
general,
task
altering
concerned.
the
large
phase
lag
the
were
Hence,
pursuit
results
pursuit
to
data
summarized
the
were
the
correction
were
3.17.
3.13
up,
input
is
figure
manual
taking
tracking
as
of
set
by
velocity
figure
pursuit
as
task
experimental
obtained
with
inherent
we
and
mainly
effects
not
shape
can
gain
due
in
very
of
the
safely
drop
to
in
the
13
I
linearvection mechanism.
1.4 Outline of the Thesis
The
2.
were
experiment
Hardware
considered
experimental
made
the
and
about
vertical
described
software
are
dynamic
of
suggestions
for
the
futher
analyzed
Finally,
thesis
work
are
detail
of
In
response
direction.
conclusions
in
portion
separately.
results
the
is
are
the
in Chapter
experiment
Chapter
and
of
3
the
discussions
are
linearvection
in
Chapter
stated
made.
A
and
the
some
Appendix A
B describe the operational details of the experiment.
14
in
and
CHAPTER II
EXPERIMENTS
2.1 Brief Outline of the Experiments
The
a
basic
simple
subject
block
what
block
is
of
block
were
move
stick
to
to
magnitude
tape
input
and
was
to
moving
film
in
a
meter
increase
estimation.
processed
provided
at
the
and
2.1.
two
by
human
blocks.
find.
The
inputs
which
were
in
The
essence
to
this
made
by
the side windows
of
the
subject
was
seated.
the
subject
was
instructed
spring
provided
data
end
restrained
stick
was
such
were
of
made
visual
of
sequenced
the
a
control
in
turn
method
in
of
stored
on
analog
run.
The
system
digitally
2.2 Experimental Facilities and Organization
2.2.1 Description of the Equipment
To
feedback
PDP-8 computer.
15
The
was
accuracy
The
illustrated
generator
control
which
the
into
loop onto
which
The
is
figure
stripes
proportional,
accordingly.
drive
order
strived
linearvection,
the
in
functionally
moving
trainer
the
shown
setup
linearvection
visul
a
Link
report
to
divided
thesis
projecting
the
diagram
human
this
experimental
by
the
r
G (S)
I
SI------
H(S)
MFTFR
H
FIG. 2.1 OVERVIEW OF EXPERIMENTAL
as
0*
*as
00.
SET
UP
|11OUTPUT
a
consists
communication
The
computer.
permitting
digital
and
analog
the
of
details
operational
GPS
loqic
diqital
some
the
between
the
is
facilities
hybrid
and
circuits
DECTAPE(magnetic
computer
are
included
Also
290-T.
under
analog
The
computer
hybrid
the
computer
PDP-8
system.
tape)
of
portion
digital
(1) The
system
are documented in the Man-Vehicle Laboratory.
(2)
The
motor
film-loop
of
bandwidth
2.2
Figure
input
of
the
the
motor
waveform
was
motor
desirable
to
amplitude
made
the
The
The
The
was
of
low pass
on
filtering
the
linearity
2.3
showed
programmed
input
Figure
calibrated.
was
responses
typical
unnecessary.
amplifier
satisfactory.
very
waveform.
linearity.
the
motor
the
hence
the
the digitized
digital
the
of
illustrates
to
motor
nature
were
the
motor 's
the
waveform,
input
the
a Torque
Within
PL-5011A-233BA.
characteristics
response
the
model
design,
System
is
unit
amplifier
and
limited
operated well under
to 3 volts,
its linear
range.
(3) The
35
opaque
mm
and
film
loop
transparent
consisted
stripes
of
of
alternating
approximately
3.2 mm in width.
(4) A
Prodo
Universal
projector
17
with
high
resolution
4
-J
-
-IjjH
Digitized Waveform, input to
the film loop motor
a
I
Filtered version
of the above
0
4
0
A
9-
Film Loop Motor
Response, Signal
from Motor Tach
Feedback
-C
g
0
Figure 2.2 Film Loop Motor Response to
Digitized Input.
0
18
0
0
100
VELOCITY
(CM/SEC)
90
80
70
60
50
40
30
20
10
-10
-8
-6
2
-4
4
8
6
-10
10
VO LT
-20
-30
-40
-50
-60
-70
-80
-.-90
-100
FIG.2.3
LINEARITY OF THE
FILM-LOOP MOTOR;
STRIPE VELOCITY VS INPUT VOLTAGE
LOOP MOTOR AMPLIFIER.
19
WINDOW
TO THE FILM-
4
lens was used.
(5)
Link
The
GAT-1
the
subject
and
projector
Through
images
a
was
trainer
was
seated.
the
The
film
were mounted on
series
of
loop
top of
prism and
were projected
in which
simulator
transport
the
mirror
trainer.
arrangement,
onto the side windows
trainer.
The
width
width.
The
shortest
of
the
stripes
distance
was
from
80
the
of the
mm
in
subject's
eye to the side window was about 32 cm.
(6) The control
stick was
basically the model
airplane
joystick made by the Rand Manufacturing Co. Inc.
(7) The
Brush
Mark
240
strip
chart recorder
displayed
all the inputs, responses and results.
(8) A Sanborn
model
2000
FM tape-recorder
handled
all
the storage of raw data.
2.2.2 Fxpeirmental Organizations
Figure
2.4
the
system
and
data
was
completely
and
figure 2.5 depict an
configuration
analysis.
The
used
in
both
the
experiment
of
the
experiment
hybrid
computing
seguencing
controlled
by
overview of
the
facilities.
The digital
clock
on
the
automatically
computer
analog
was
basically
computer.
sequenced
The
through
slaved
digital
a
to the
program
predetermined
20
0
0
0
n
FIG. 2.4
SYSTEM
CONFIGURATION
FOR THE
EXPERIMENT.
.V
6
v
-A/D--
FM
TAPE RECC RDER
ANALOG
COMPUTER
--- D/A
DIGITAL
COMPUTER
-
(AMPLIFICAT ION,
FILTERING etc.)
[
STRIP CHART
RECORDER
(CROSS
CORRELATION,
FAST FOURIER
TRANSFORM)
DEC
PDP-8
GPS
290 T
TELETYPE
OUTPUT
FIG.2.5
0
0
SYSTEM
CONFIGURATION
00
0
FOR DATA
f0
'
ANALYSIS
0
Idb
aAm
of
pattern
analog
input
waveforms.
of
counterparts
D/A
After
digital
the
conversion,
the
was
fed
waveforms
to the amplifier which drove the film-loop motor.
The
subjective
linearvection
created
signals
was
through
were
magnitude
represented
the
then
use
by
of
amplified
estimation
a
on
the
analog
control
the analog
on
signal
stick.
The
computer and
subsequently recorded on FM tape.
During
the
analysis
reversed.
The
results
outputed
onto
the
converted
and
The
details
of
the
the
digital
Teletype
displayed
on
phase,
on
data
data
data
strip
flow
and
was
analysis
were
and/or
D/A
machine,
the
flow
chart
data
recorder.
manipulation
were summarized in Appendices A and B.
2.3 Experimenral Software
Proqram
BCP
computed
cross-correlation
coefficient pXY
X(k)Y(k+T)
I__TT)
X(X
-
X(k)Y(k)
2
-2
-2(21
(k)-Y(k)
(k) -X (k) 2(Y
T=1,2,...,9 sec
between
response
fitting
X(k)
to
time
and
Y(k)
perceived
delay
was
being
LV
chosen
23
the
film
respectively.
to
be
the
speed
and
The
best
which
gave
4
the
maximun
coefficient.
This program
was
also
written
to be real-time executable.
To
2.6)
demonstrate
with
known
resulting
in
cross
cross
figure
this
program,
correlation
correlation
2.7.
Since
was
cross
two
were
as
signals
(Fig.
processed.
expected
correlation
and
The
shown
coefficients
6
were
and
actually
bias
final
of
computed,
the
theoretically
signal
coefficients.
should
This
fact
have
was
the
no
amplitide
effect
also
on
the
satisfactorily
6
demonstrated
different
figure
by
processing
amplitude
2.9
were
and
very
signals
bias.
similar
to
(Fig.
The
2.8)
results
those
with
shown
shown
in
in
figure
0
2.7.
Program
BVECTN
timing
of
pseudo
random
controlled
calibration,
pure
the
sequencing
sinusoidal
and
input
and
0
input.
calibration
as
implemented
into
lines.
well
Pure
The
as
the
capability
calibration
program
sinusoidal
at
through
inputs
of
repeated
random
the
were
use
time
of
was
sense
calculated
internally in this program.
BRAND
generated
was
the
called
from
pseudo-random
BVECTN.
inputs
by
This
summing
routine
up
the
same number of sinusoidal signal used in BVECTN.
FFTPLT
performed
Fast
Fourier
Transform
on
both
results
were
6
the
input
and
LV
response
signals.
The
24
0
0
0
w
@
5 sec
Uj
FIG.2.6
ZERO-MEAN AND EQUAL-AMPLITUDE SQUARE
CROSS CORRELATED.
WAVES
TOBE
w
DELAY
0.8
T(SEC)
exY
0.6
0
0.99
0.4
1
0.62
2
0.24
TIME
0
-0.14
4
-0.52
5
-0.90
6
-0.72
7
-0.34
-0.6
8
0.04
-0.8
9
0.36
a
THEORETICAL
0.2
3
FIG.2.7
a
1.0
CROSS
CORRELATION
COEFFICIENT
5
8
9
-0.2
-0.4
-1.0
RESULTS OF CROSS CORRELATION OF TWO SIGNALS
0~
a
SHOWN IN FIG.2.6.
a
zc
00
0
A
FIG. 2.8
w
0
-
SIGNALS TOBE CROSS CORRELATED;(A)
(B) BIAS.
5sec
-
ZERO MEAN
DELAY
1.0
CROSS
CORRELATION
COEFFICIENT
0.8
T(SEC)
exy
0.6
0
1.00
1
0.61
2
0.20
TIME
0.4
0.2
0
3
-0.19
4
-0.57
5
-0.93
6
-0.73
7
-0.28
-0.6
8
0.18
-0.8
9
0.57
FIG.2.9
THEORETICAL
1
2
5
8
9
-0.2
-0.4
-1.0
RESULTS OF CROSS CORRELATION OF TWO SIGNALS SHOWN IN FIG. 2.8.
00 0' 0
0
0
aS
aa
'a
'db
on
plotted
by
its
an
such
judged
input,
output
signal
of
illustrated
as
basically
was
plot
of
condition
working
the
hence
2.10
Figure
Bode
The
example.
and
can be
function.
transfer
expected
the program
a pair
on
performance
known
with
of
reliability
The
diagrams.
Bode
terms of
in
recorder
chart
strip
the
the
program was assumed.
of
information
Teletype.
the
obtained
manually from
the
analysing
typical
result
from
sinusoidal
input.
Figure
a
Fiqure
results.
2.12
a
found
of
details
these
to
pure
input.
can
be
series
of
programs
digital
be
representative
a
output from an analysis on pseudo-random
The
on
showed
2.11
response
gave
out
thus
can
information
plot
Bode
on
phase
and
printed
were
subharmonics
the
Transform
Fourier
amplitude
the
However
signals.
the
Fast
only
FFTPPT performed
in Appendix A and B.
Procedures
2.4 Experimental
2.4.1 Static Case
Six
subjects
constant
velocity
to
the
move
perceived
visual
control
LV.
The
to
exposed
were
field
stick
visual
29
motion
according
field
a
steps
to
motion
the
was
and
asked
amount
in
of
the
4
|(t)
2+-
(volt)
-
1
4
(a)
-1-LL
-2-
O(t)
A
-
10 SEC
-F-.-,-.
2
-
(volt)
~
1
4
(b)
-1-
-2-
4
-I
20
(c)
GAIN
(db)
0
4
4.
a
180PHASE
(deg)
(d)
900
6
-90
-180
1.0
.1
.01
i(t)
1
s+1
10
rad/sec
01
o t)
6
FIG. 2.10 BODE PLOT OF A KNOWN TRANSFER FUNCTION BY THE
DIGITAL PROGRAM FFTPLT.(a) INPUT WITH VAN HOUTTE'S
SPECTRUM(
REF.10
) (b)OUTPU T (c) GAIN (d) PHASE
30
01
ST RIPE
VELOCITY
o
1 ik7~f I tm T~i~-4
- -
30
-
'-=1
(c m/sec)
(a)
0
f= -Lhz
64
-30
10 sec
SUBJECTIVE
VERTICAL LV
RESPONSE:
OUTPUT OF
CONTROL
STICK
(volt)
(b)
23
1
(c)
0.0000
0.0456
F
=
2
=OUTPUT
F
F
F
F
F
F
F
F
4
=INPUT
=
=
0.0000
=
0.0151
0.0305
=
=
=
=
=
=
=
=
-
3
0.0456
0.0610
0.0761
0.1066
0.1372
0.1525
0.2287
z
II
f
i
-3
fI
I ,--
- ,* j
4~o~n
A =
A =
X222
0.3271
5.8691
0 =
0 =
-180.00
- 89.29
A
A
A
A
A
A
A
A
A
A
-3
X2
0.9472
0.4638
0.5761
6.2695
0.3857
0.3759
0.3613
0.7031
0.3710
0.4492
0
0
0
0
0
0
0
0
0
0
-180.00
-170-33
+178.06
-105.11
+132.45
1.49
+140.53
- 33.66
-102.91
+ 31.28
F - FREQUENCY (HZ)
A - AMPLITUDE
0 - PHASE (DEG)
FIG.2.11
TYPICAL VERTICAL LV RESPONSE TO PURE SINUSOIDAL
VELOCITY INPUT (a) INPUT STRIPE VELOCITY COMMAND
(b) SUBJECTIVE RESPONSE (c) FAST FOURIER TRANSFORM
RESULTS FROM DIGITAL PROGRAM FFTPRT.
31
55
FFTPRT
1 =
=
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
F =
2
INPUT
0.0000
0.0151
0.0227
0.0380
0.0532
0.0837
0.1296
0.1752
0.1831
0.2136
0.2211
0.2822
0.3583
0.4499
0.5568
0.6789
0.8161
0.9687
1.1367
1.3198
1.5180
1.7470
1.9147
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
A
A
A
A
A
A
A
A
A
A
=
=
=
1.5087
6.7968
6.7675
=
6.6259
=
=
=
=
=
=
6.4941
5.9912
5.2783
4.4970
3.9501
0.3271
=OUTPUT
=
=
=
=
=
=
=
=
F
F
F
F
F
F
F
F =
F =
0.0000
0.0151
0.0227
0.0380
0.0532
0.0837
0.1296
0.1752
0.2211
0.2822
xz5
1.4697
6.8359
6.8603
6.8212
6.8896
6.8115
6.8701
6.7675
0.3173
0.3271
6.8798
0.6884
0.6738
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
0.6835
0.6542
0.6640
0.6738
0.6640
0.6445
0.6005
0.5957
0.5566
0.5371
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
-180.00
- 82.70
+101.42
- 71.19
+116.54
+131.74
- 25.83
3.07
-179.12
-165.32
-160.31
+ 50.80
- 93.33
+133.85
+
5.97
-114.25
+104.23
-150.99
+114.25
-156.53
+121.64
+ 54.66
- 42.01
0
0
0
0
=
=
=
=
=
=
=
=
=
=
-180.00
- 88.15
+ 92.98
- 84.90
+ 97.55
+103.27
- 65.74
- 51.67
+144.75
- 11.95
xz5
0
0
0
0
0
0
F- FREOUENCY (HZ)
A - AMPLITUDE
0- PHASE (DEG)
FIG.2.12
g
RESULTS OF FOURIER ANALYSIS OF SIGNALS SHOWN
IN FIG. 2.10 FROM DIGITAL PROGRAM FFTPRT.
32
horizontal
was
steps
obtained
and
fore
designed
by
cross
aft
direction.
to
be
of the
sequence
Hence
random.
the
method
correlation
time delay for all
average
The
results
would
be
an
the possible step jumps.
2.4.2 Dynamic Case
Four
part
of
exposed
the
subjects
the
to
a
number
exact
told
the
They
were
also
the
appropriate
speed
the
the
stick
of
data
in
this
the
subjects
were
step
is
the
velocities
film
to move
the control
visible
a
under
This
position.
control
could
subject
the
exposure.
stick
to
was
task
which
output,
even
though
stick
was
the
They
meter
procedure
indicate
for
display
device.
spring-centered
training
and
take
as the calibration purposes.
by
to
control
constant
relative
assisted
to
Firstly,
instructed
corresponded
the
of
as well
were
calibration
used
experiment.
training
further
were
This
repeated
until
film
speed
correct
without being told.
Calibration
cm/sec
in
calibration
sinusoidal
peak
both
frequencies
up
and
period,
inputs
velocity
down
the
with
namely
was
were
velocities
directions.
subject
30 cm/sec.
chosen
was
different
at
33
15
30,
Followinq
exposed
frequencies
The
random
in
and
order
order
of
7.5
the
to
pure
but
same
the
input
to minimize
4
the
inputs,
the
effects.
order
the
stripe
to
exposure
sinusoidal
subject might be asked to track his LV(not
velocity)
against
the
was done
in order
to
This
again.
the
During
speeds
calibration
see
how
the
strong
habituation was if there were any.
and
response
differ
was
to
reach
duration
of
exposure
The
slightly.
frequency
was
produced
from
between
was
taken
One
two
longer
total
when
for
experimental
breaks
state
each
steady
also
duration of about
response
record
being
A pause of ten
frequencies.
successive
were
each
for
state
the response
two
varies,
frequency
exposure
strip chart recorder.
from the
seconds
or
of
end
determined
by judging
assumed
steady
time
the
the
therefore
is desired to take data of steady state
it
Since
the
within
taken
45 minutes as
it
0
might be requested by the subject.
After
were
sixteen discrete sinusoidal
all
given,
pseudo-random velocity
the
subject was
pattern.
instructed
perceived velocity
was
subject
the
of
to
exposed
During
the
faithfully
self-motion
rather
velocities
the
to
whole
run,
indicate his
than that
of
the film stripes.
34
01
CHAPTER III
ANALYSIS AND RESULTS
3.1 Cross correlation Analysis and Results
To
determine
constant
step
algorithm
was
velocity
of
the
input,
The
in
response
real-time
scheme
was
to
a
analytical
based
on
the
coefficient
correlation
cross
inherent
2.1
equation
correlation
time
delay
2.1).
However,
assumed
LV
developed.
application
(equation
the
to
was
assumptions
coefficient.
property
invariant
compute
Mainly,
stationary
be
to
adopted
the
ergodic
and
was
existed
also
the
when
cross
signals
were
processes.
The
Figure
2.6
implied.
to figure 2.9 illustrated the use of this algorithm.
Figure
response
3.1
horizontally
to
correlation
results
in
3.2.
figure
of
The
as
essentially
similar
to
with
The
subjects.
An
stripes.
The
are
summarized
of
those
was
deviation
average
3.1
all
shown
average
response
standard
moving
shapes
curves
linearvection
typical
figure
coefficient
linearvection.
a
illustrates
the
0.75
of
to
for
in
3.3
were
vertical
horizontal
be 2.67 seconds
seconds
3.15
cross
correlation
figure
delay
computed
value
also
obtained
time
of
35
in
subjective
for
seconds
six
with
FI LM
BACKWARD -f
--$---
FILM
FORWARD
-41-
t
-
SUBJECTIVE'
FORWARD
Jl
i
-
FIG. 3.1 TYPICAL HORIZONTAL LV RESPONSE TO MOVING STRIPES
CONSTAN T STEP VELOC ITY.
a
--
-
- -
BACKWARD
-
Q
a
WITH
Ah
w
W.
U
w
v
o
a
w
w
1.0
DELAY
0.9
TIME
CROSS
CORRELATION
COEFFICIENT
0.8
T(SEC)
eXY
0
0.62
1
0.674
2
0.694
0.5
3
0.702
0.4
4
0.703
6
0.693
0.2
7
0.682
0.1
8
0.665
0.7
0
0
0
0
00O
0
0
0.6 4
O0
-J
0.3
0 I
0
.
.-.
1
2
1
3
4
5
.I
.
.
6
7
8
9
9
' (SEC)
FIG.3.2
CROSS CORRELATION OF SIGNALS SHOWN
IN FIG. 3.1.
0.643
0.9
DATA FROM 6 SUBJECTS
0.8LL
L-
w
OE
0
U
z
0
w
0
U
U)
U)
0
0.61
0.5
0
1
2
3
4
5
6
7
8
9
DELAY TIME
(sec)
FIG.3.3
SUMMARY OF CROSS CORRELATION COEFFICIENT BETWEEN
HORIZONTAL LV AND CONSTANT STEP VELOCITY INPUT.
38
standard
deviation
vertical
used
on
0.88
linearvection
in
the
of
the
two
vertical
means
seconds
response.
case.
showed
was
Four
Standard
that
significant with significance
found
the
level
for
subjects
t-test
the
were
performed
difference
was
not
of 0.1.
3.2 Fourier Analysis
3.2.1
Periodic Inputs
The
was
software
mainly
the
of
and
by
response
this
Van
part
of
Houtte,
the
a
the
analysis
former
frequency
involved
in
of
Cooley
algorithm
student
components
signals were analyzed.
technique
the
basically
in
Both
Transform
Fourier
was
developed
laboratory.
input
the
used
of
The Fast
the
analysis
and
Tukey
(Ref.1, Pef.3).
2.11
Figure
example.
the
obtain
observed
dc
from
accurately
level,
frequency.
again
gain
the
This
to
frequency
its
input
since
reliability,
39
in
periodic
other
the
order
information.
than
component
of
results.
typical
oerformed
the
performance
strengthened
more
difference
data,
analyzed,
only
be
phase
and
these
some
showed
had
calculation
Hand
were
3.4
Figure
representative
a
illustrated
As
signals
some
small
the
input
was
computer
and
to
the
software
results
4
4
STRIPE
30.
V ELOCI T Y
(cm/ sec)
z
f =.
0
30-
4
SUBJECTIVE
VERTICAL LV
RESPONSE:
OUTPUT OF
CON TROL
STICK
(volt)
3-
0-
I
-3-
22
FFTPRT
4
1 = INPUT
F
=
2=
F=
F=
F =
A
A
0.0305
x2-2
0.7470
0.6347
4.4824
0.4931
0.3271
0.3417
0.5029
0.0000
0.0151
0.0305
0.0456
0.0610
0.0915
0.1066
=
F
A
FREQUENCY(HZ)
AMPLI TUDE
PHASE (DEG)
FIG. 3.4
0 = -180.00
0
=
-
88.33
4
OUTPUT
F
0
-2
x2
0.1513
5.9082
0
0
0
0
0
0
0
= -180.00
+ 83.84
= -103.18
-
= + 40.60
= - 35.33
= - 25.40
+ 64.16
I
I
TYPICAL VERTICAL LV RESPONSE TO PURE
SINUSOIDAL VELOCITY OF FREQUENCY 1 /32hz.
40
4
from
the digital
output
The
composed
of
the
which
response
outstanding
had
the
the
This
of
input.
typical
response
response
by
existence
the
of
The
led
strong
and
third
among
all
the
of
the
figure
3.5
third
harmonics
One
harmonic
the
other
reconstruction
the
summing
in
large
the
to
general
amolitude.
response
to
between
the
resemblance
that
shown
a
was
in
linearvection
appropriately
as
harmonics
varying
amplitude
observation
shape
sinusoidal
with
harmonics
greatest
were
signals
many harmonics
of
harmonics.
of
analysis would be more trustworthy.
reconstructed
first
and
third
confirmed
distortion
in
the
the
linearvection response to sinusoidal input.
Other
than
amplitude
not
harmonics
that
specially
of
other
than
considered
remnants
smaller
third
and
were
therefore
However,
all
the
frequency
the
analyzed.
components
substantially
contained
of
the
to
had
fundamental
the
be
response
linearvection
process.
gain
The
fundamental
and
frequency
gathered
respectively.
subjects
were
in
the
which
and
phase
were
together
figure
results
summarized
from
computed
in
Averaged
data
difference
in
figure
Berthoz
41
et
for
3.6
for
each
and
subject
figure
across
the
3.8 and
figure
al
(Ref.2
)
the
3.7
four
for
3.9
the
4
10 SEC
41
//O,***\
1ST HARMONIC
0.03125 HZ
/*O"\\
4
6
3RD HARMONIC
0.09375 HZ
6
61
1 ST+3RDHARMONICS
6
0
TYPICAL VERTICAL LV
RESPONSE TO 1ST
HARMONIC
6
0
FIG.3.5 HARMONIC
ANALYSIS
42
01
4
FREQUENCY (HZ)
2
GAIN
(DB)
001
0
II
U
0.1
I
U
U
1.0
Nm
I
I
~~
a
I
~
~
*
1
-2
O
-
-4
-6
0
-8
-10
-12
x
X
X
-14
0
-16
-18
-20
FIG 3.6 VERTICAL
LINEARVECTION;
FREQUENCY
RESPONSE
TO MOVING
WITH SINUSOIDAL VELOCITY; GAIN VS FREQUENCY .
I
STRIPES
40
PHASE
20
( 0 )
0
FREOUENCY(HZ)
-
0.01
0.1
a
I
I
I
I
I
U
I
I
S
U
S
1.0
I
I
I
-20
X
-40
0
AD
-60
-80
-100
-120
-140
-160
-180
FIG.3.7 VERTICAL LINEARVECTION: FREQUENCY
WITH SINUSOIDAL VELOCITY;
-200F
e
~T
e
0
00
0
0e
RESPONSE TO MOVING
STRIPES
PHASE VS FREQUENCY.
a
F-1
4
GAIN
(DB) 2
FREQUENCY(HZ)
0-1
1.0
0
-2
I TI
-4
-6
-8
Un
-10
-12
A-BERTHOZ(HORIZONTAL
O-MEAN
-14
I
OF
LINEARVECTION)
4 SUBJECTS
_ 16
-16
-18
-20
FIG.3.8 VERTICAL LINEARVECTION: FREQUENCY RESPONSE TO MOVING
STRIPES WITH SiNUSOIDAL VELOCITY ; GAIN VS FREQUENCY.
I
40
PHASE
(o)
FREQUEN CY(HZ)
20
0.01
1
0-1
T
-20
T
-40
I
-60
40
1
-80
.ol
w'
\T {-4
o----*o
-100
A-
-120
-140
BERTHOZ (HORIZONTAL
O-MEAN
LINEARVECTION)
OF 4 SUBJECTS
-+16
-160
-180-200
FIG.3.9 VERTICAL LINEARVECTION : FREQUENCY RESPONSE TO MOVING
STRIPES WITH SINUSOIDAL VELOCI TY ; PHASE VS FRQUENCY.
I'
similar
experiments
in
the
horizontal
plane
was
also
were
used
here
included.
3.2.2 Pseudo Random Input
Similar
to
analyze
velocity
the
digital
linearvection
input.
the
and
phase
the
This
were
complex
input
procedure
software
of
used.
and
Again
plots
obtained
by
those
computed
directly
hand
diagram
to
of
the
the
fact
gain
response.
check
the
the
Bode
that
were
hand
components
double
calculation
the
was
directly
getting
those
the
by
software
frequency
helped
random
Neverthless,
in
the
pseudo
the
Bode
performed
between
random
redundant
the
to
recorder.
also
difference
pseudo
feature
plotting
chart
programs
response
added
of
strip
computations
of
An
capability
onto
computer
similar
computer
proved
to
the
consistency of the software.
Figure
3.10
to
vertical
LV
and
subsequent
the
programs
subjects'
and
figure
response
FFTPLT
pseudo
Fourier
and
results
to
3.11
random
analysis
FFTPPT.
are
displays
The
shown
typical
velocity
by
summary
together
a
in
both
of
input
digital
the
four
figure
3.13
figure 3.14.
Although
subjects
did
there
not
were
response
limited
to
47
high
instances
when
frequencies
some
during
4
-pie
down
s
30
PSEUDO RANDOM
VELOCITY INPUT
(cm/sec)
-
(ai)
A
t
4
SUBJECTIVE VERTICAL
LV RESPONSE
(OUTPUT OF CONTROL
STICK)
(volt)
(b)
0
I1
3
O~VV~~r
4
(C)
GAI N
(db)
0
-20
I
I
20T
2KLi
I
-
1
~
I
-
---- ----
PHASE
(deg)
(d)
180-
6
0-
6-
1
-180
a
.01
FIG.3.10
1
1.0
10
r ad/ sec
TYPICAL VERTICAL LV RESPONSE TO PSEUDO RANDOM
VELOCITY INPUT (a) INPUT (b)SUBJECTIVE RESPONSE;
(c)GAIN AND (d)PHASE OF BODE PLOT DONE BY
DIGITAL PROGRAM FFTPLT.
0
48
0
0
w
0
2
FF TPRT
1 =
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
INPUT
=
0.0000
=
=
0.0305
0.0456
=
0.0761
=
=
=
=
=
=
=
=
=
=
=
=
=
0.1066
0.1677
0.1982
0.2592
0.2897
0.3508
0.4423
0.4729
0.5644
0.6254
0.6560
0.7170
0.8085
F
A
0
FIG.3.11
-4
x2
1.0156
3.3593
3.3691
3.3447
3.3837
3.3349
3.3886
3.3056
3.3935
0.3320
0.3320
0.3466
0. 3271
0.3320
0.3466
0.3271
0.3222
FREQUENCY (HZ)
AMPLITUDE
PHASE(DEG)
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-180.00
- 76.11
+111.26
- 54.84
+139.74
+168.22
+
2.37
+ 30.67
-154.42
+ 74.79
- 66.44
+130.42
6.76
-159.43
+ 35.24
+ 66.09
- 75.14
=OUTPUT
=
0.0000
F =
0.0151
F
F =
0.0305
0.0456
F
F
F
F
0.0761
0.0915
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
F
RESULTS OF FAST FOURIER TRANSFORM
OF DIGITAL PROGRAM FFTPRT .
=
=
=
=
=
=
0.0610
0.1066
0.1220
0.1372
=
=
=
=
=
=
=
=
=
=
=
=
=
=
0.1525
0.1677
0.1831
0.1982
0.2136
0.2287
0.2441
0.2592
0.2746
0.2897
0.3051
0.3508
0.3662
0.3813
=
=
=
=
0.4118
0.4423
0.4729
0.5034
ON
xz5
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
3.6279
0.4443
6.1572
4.2578
1.2158
2.9101
1.2792
2.7685
0.4345
1.0156
0.9619
2.2509
0.8691
2.1728
0.5468
0.3808
0.7031
2.5781
0.6738
2.4316
0.8593
0.5859
0.5810
0.6689
0.3271
0.3710
0.4980
0.3662
SIGNALS IN FIG3.10; OUTPUT
-180.00
- 56.68
- 77.43
+ 79.45
+ 66.88
-106.52
-130.16
+ 94.30
+139.57
+126.56
-127.52
+108.98
- 27.15
- 59.76
- 58.18
- 77.43
+ 34.18
- 50.97
+112.06
+137.72
+162.77
7.20
- 14.58
+176.66
- 40.07
- 99.84
+ 48.16
- 94.57
4
GAIN
(DB) 2
FREQUENCY(HZ)
0.1
1-0
0
03
-2
-4
-6
-8
0
0-~~
U,
C)
-10
-12
-14
0\
C
-16
-18
0/
-20
a,
FIG.3.12 VERTICAL LINEARVECTION: FREOUENCY RESPONSE TO MOVING STRIPES
WITH PSEUDO-RANDOM VELOCITY; GAIN VS FREQUENCY.
0'
0
0
a
Ba'
a
'm
e
o
e
w
S~~
a
e
40
PHASE
( 0 ) 20
FREQUENCY (HZ)
0
1-0
0.1
0.01
t-
-w
-r
w
-
E
II
1
a
i
i
II
-
-
-
I
-
-
v
-
-20
A
-40
-60
0,-
-80
U,
H
0
-100
0
-120
-140
x\
-160
180 F
0
-200
FIG.3.13VERTICAL
LINEARVECTION: FREQUENCY RESPONSE TO MOVING
STRIPES WITH PSEUDO-RANDOM VELOCITY ; PHASE VS FREQUENCY.
I
4
discrete
sinusoidal
inputs,
responses
to-
random
In
instances.
components
signal.
pseudo
other
of
the
From
the
data
of
having
above
Hz
was
0.5
For
large.
phenomenon
of
a
increased
some
high
not appear
collected,
no
response
considered
example,
observation
input
words,
input did
probability
the
figure
subject's
those
frequency
the
response
qualitatively
to
to
3.11
in
on
input
be
frequencies
significantly
showed
response
the
this
to
low-pass
pseudo
random
input.
Intuitively,
by
in
the
inherent
the
this
2 to
static
velocity
input
response
phenomenon
3 second
constant
beyond
delay
be
explained
response delay as
input.
0.5
time
might
The
Hz was
constant
found
variation
of
certainly within
the
of
the
linearvection
system.
Also
results
0.359
observed
were
Hz.
the
A
made
phenomenon
occured
components
equal
amplitude
ten
the
was
of
because
and
the
shown
of
greater
times
less
components.
identification
gain
discontinuities
sketch
adjustment
frequency
from
'shelf'
figure
the
fact
than
52
frequency
occured
phenomenon
than
a
which
in
Such
is
versus
0.359
those
a
the
3.14.
that
Hz
of
high
standard
and
at
This
frequency
had
the
input
lower
frequency
practice
in
GAIN
FREQUENCY
o.359
N
(HZ)
'K
EXTRAPOLATION
P
EXTRAPOLATED
o
DATA
A
ADJUSTED
FIG. 3.14
POINT
FOR CONTINUITY.
DATA
SKETCH OF DISCONTINUITY AND METHOD OF
ADJUSTMENT FOR GAIN VS FREQUENCY CURVES
IN FIG.3.12.
53
4
manual
done
by
the
simple
accordingly
argument
of
the
Bode
of
section
latter
by
The
control(McRuer,1974).
start
to
extrapolating
at
the
continuity.
plot
portion
was
not
of
was
the
observed
were
Hence
was
the point which
front
however,
phenomenon,
adjustments
the
shifted
determined
curve.
in
This
the
phase
4
versus frequency results.
3.3 Asymmetrical Response
A
the
difference
dc
in
components
suggest
a
sign
of
and/or
input
possibility
of
and
amplitude
output
asymmetry
between
signals
in
the
would
vertical
linearvection response.
The
signals
input
small
was
dc
not
bias
recordings
dc
originally
was
not
during
showed
up
slight
bias
after
inherent
components
in
noise
the
intended.
detected
the
the
in
input
Even
on
the
experiment,
it
Fast
the
input
in
the
Fourier
was
command
though
strip
this
chart
neverthless
Transform.
possibly
amplifiers
of
due
The
to
the
the
analog
computer.
If
moving
input
in
an
g
0
the
LV
stripes
bias
equal
responses
were
would
to
the same,
appear
quantity.
in
then
is,
and
downward
the response
the output
That
54
upward
the
response
dc
to
the
signal
amplitude
of
6
the
output
the
case
3.1
in
eauals
as
observed
which
dividing
that of
were
the
from
input.
the data
tabulated
dc
output
hypothesis
data
determine
how
different
from
level
of
0.005
value
of
0.3
occasional
three
for
to
output
were
the
moving
moving
signals
plus
confirmingly
subject
the
in
done
results
by
the
on
dc
subjects
the
level
show
of
with
that
their
than
level
that
in
the
hypothesis
what
a
However
larger
dc
and
reported
sensation.
The
agreement
of
who had
stripes was
stripes.
Table
The significance
three
consistently
did
that
output
input.
moving
in
not
obtained
was
the
for
fourth
upward
upward
downward
the
obtained
stronger
subjects
response
of
was
of
by
testing
significant
that
summarized
amplitude
Standard
was
this was
the cuantities
input.
to
However
the
test
three
subjects had reported after the experiments.
3.4 Effects of Manual Pursuit Tracking Task
Inherent
of
manual
to
pursuit
Conventionally,
pursuit
the
tracking
which
consist
3.15).
The
minimize
the
the
of
task
experimental
set up was
tracking
as
illstrated
inputs
to
the
task
the
are
involved
distance
in
the
pursuing
the
target
target
2.1,
in
a
variables
follower
the
task
Fig.
operator
displayed
and
between
55
human
both
target
in
the
and
(Fig.
is
to
the
4
4
SUBJECT
o U
I--
A
B
C
D
1.37
8.23
3.44
-1.04
1.78
13.53
3.69
-0.61
2.25
11.26
4.58
1.92
1.31
16.74
3.73
2.52
9.65
3.72
0.96
8.13
2.53
(L10.51
6
6
0 -
8.62
2.06
7.07
1.81
18.44
13.11
POSITIVE
INDICATES
DOWNWARD
LV
0
0
0
Table 3.1 Normalized Output dc Amplitudes.
56
6
TARGET
POSITION
DISPLAY
HUMAN
CON TROL
OPERATOR
FOLLOWER
(a)
LV(QUANTIFIED
(b)
FIG.3.15 COMPARISON OF PURSUIT TRACKING TASKS.
(b) SUBTASK OF PURSUIT TRACKING IN EXPERIMENT;
(a) CONVENTIONAL PURSUIT TRACKING.
57
4
follower.
inputs
to
one of
the
the
human
the
inputs
other
which
was
we
tracking
in
tracking
and
different.
the
While
imaginary
quantity
a
purely
as
quantified
similarity
of
as
the
data
previous
linearvection.
the
two
of
types
of
pursuit
conventional
pursuit
subtask
identify the
shall
experiment
the
were
experiment,
quantity,
was
sufficient
task,
present
a physically displayed
label
shall
Assuming
the
operator
variable
we
pursuit
in
However,
(Ref.
5)
for
collected
conventional pursuit tracking were subequently used.
We
can
mechanism
taking
isolate
the
overall
from
off
Using
now
effects
the
the
notation
in
the
response
manual
of
Fig.
linearvection
human
2.1
of
the
pursuit
the
system
by
tracking.
human
vertical
linearvection mechanism can be easily expressed as
g
Y
Data
for
results
LV
H(s)
of
G(s)
H(s)
(S)=
were
those
in
figure
adjustment
to
G(s)
same.
of
to
the
linearvection
3.16
and
the
was
expected.
not
were
not
Hence
the
large
large
phase
The
data
were
amount
and
the
remained
lag
altered
contribution
5).
The
response
significantly
the
(Ref.
3.17.
very
linearvection
Especially,
frequencies
be
Elkind
modification
summarized
feature
of
of
at
as
the
of
basic
the
high
might
pursuit
tracking task to the overall experiment was small.
58
6
0
0
qw
w
4
GAIN
(DB) 2
FREQUENCY(HZ)
1.0
0.1
0
-2
-4
Un
-6
-8
-10
-12
s-MEAN OF 4 SUBJECTS ±1d
-14
A-CORRECTED MEAN
-16
-18
VALUE
FIG.3.16 CORRECTION OF VERTICAL LINEARVECTION
DUE
RESPONSE
TO MANUAL PURSUIT TRACKING;
PSEUDO-RANDOM
INPUT;
GAIN
VSFREQUENCY.
i>d
A
A
-20
mr
4
0r
PHASE
(0)
20
FREQUENCY (HZ)
0.1
1.0
0 0.01
-20
6
-40
6
-60
TT
0T0
-80
T
-100
-120-140
- MEAN OF 4 SUBJECTS!1S
A - CORRECTED
MEAN
A
VALUE
-160-180-
FIG.3.17 CORRECTION OF VERTICAL LINEARVECTION
-200-
0
0
RESPONSE
DUE TO MANUAL PURSUIT TRACKING;
PSEUDO-RANDOM INPUT; PHASE VS FREQUENCY.
0
e
0
e
a
b
'a
CHAPTER IV
FOR
CONCLUSIONS AND SUGGESTIONS
FURTHER RESEARCH
4.1 Summary of Human LV Dynamics
in
studies
future
obtained
flight
simulators
interactions.
The
designs
future
use
the
incorporating
for
in
be used
also
may
results
vestibular
visual
groundwork
the
lay
to
serves
thesis
This
of
peripheral
of
moving visual fields.
Secondly,
the
increasing
frequency.
0.1
in
drop
sharp
The
Hz.
The
input.
phase
phase
frequency.
However,
sinusoidal
input,
observed
of
lag
the
lags
response
sinusoidal
also
lag
with
3.8,
with
a
above
behind
the
increasing
the predictable
to
phase
the
velocity.
frequencies
for
increases
due
to
figure
to
Referring
was
gain
response
decreases
response
subject's
velocity,
of
periodic
to
exposed
when
seconds
constant
with
field
visual
peripheral
moving
3
subjective
the
for
found
was
time
response
to
2
of
average
an
Firstly,
nature
of
off
to
levels
approximately 60 degrees.
Thirdly,
stripes
be
with
frequency
the
pseudo
LV
response
random
velocity
in
dependent
61
to
the
vertically
was- also
following
moving
found
to
manner.
4
Similar
to
steady
drop
responses
larger
drop
0.2
of
sinusoidal
as
to
those
gain
was
sinusoidal
is
the
the
below
0.2
sinusoidal
also
observed
the
phase
frequency
of
for
exhibits
However,
Hz
were
a
the
generally
response.
A
sharp
for
frequencies
above
was
larger
those
lag
The
increase
gain
increases,
response.
continuing
which
of
Overall,
Hz.
the
freauency
frequencies
than
in
input,
striking
phase
which
difference
lag
the
than
above
phase
lag
was
0.2
Hz
of
the
sinusoidal response tends to start levelling off.
Fourthly,
induced
subjects
subjective
Although,
seemed
the
sensation
be
of
data
also
moving
a
were
backward
alter
the
that
the
did
not
Hence
can
claim
were
we
in
essence
the
downward.
there
subjective
the peripheral
task
dynamics
stronger
available,
the horizontal
inherent
a
induced
for
the
tracking
had
moving
not
larger
field moving fore and aft in
Fifthly,
of
sensation
quantitative
to
generally
of
plane.
manual
result
pursuit
significantly.
conclusions
of
visual
human
made
above
linearvection
response.
4.2 Suggestions for Further Research
Similar
13),
to
experiments
the
could
study
be
by
done
Young
in
and
order
Oman
to
find
(Ref.
out
62
6
of
effects
the
otolithes
that
Assuming
found
that
both
an
erect
and
orientations,
the
to
linear
Another
is
would
the
acceleration
important
improvement
of
be
it
were
the
might
sensitive
minimum
hence
and
these
in
least
be
for
maximum
since
head,
human's
for
then
response
result.
and vestibular conflicts
visual
linearvection.
responsible
inverted
otolith
on
motion,
LV
vertical
the
vertical
were
linear
vertical
of
sensing
position
head
consideration
magnitude
for
estimation
future
work
method
used
in indicating the subjective response.
Sinusoidal
deserve
also
be
a
trend
responses
further
of
to
frequencies
attention,
in
decrease
above 0.8 Hz.
63
since
phase
lag
0.8
Hz
seemed
to
above
there
for
frequency
APPENDIX A
OPERATIONAL DETAILS OF THE EXPERIMENT
A.1 Digital Portion
To
run
the
linearvection,
which
programs
in
The
BVECTN:
the
The
the
Hz.
The
the
basic
frequency
were
termination
Program BRAND
is
called
written
by Van
the
was
random
pseudo
at 1/64
set
change
called
it,
signals.
the
seconds,
0.015625
is
are only prime multiples
used.
The
of
prime
of
numbers
2,3,5.7.ll13,17,l9,23,29,3l,37,4l,43,47
should
numbers
These
at
found
represented
signals
made
Houtte
which
line
to
Van
A.l.
original
the
frequencies
53.
starting
was
for
Other
can be
clearly
random
modification
as
were
chosen
is
figure
in
of computation
period
frequency,
basic
used
only
logic
BRAND
are
10).
pseudo
components
frequency
Sense
the
program.
this
and
shown
generates
Houtte.
For
chart
flow
which
from
program
programs
by Van Houtte
(Ref.
vertical
in appendix C.
listed
written
thesis
the
digital
following
were
his doctoral
(1)
by
the
Program BVECTN was
used.
for
experiment
600
location
to
bit
zero
was
of
each
frequency
shorten
the
used
wait
64
those
numbers
in
program
BRAND.
control
the
replace
617
to
exposure.
routine
if
arbitrary
Also
desired.
it
was
Sense
4
line
bit
one
was
implemented
having calibration
at any time.
(2)
BRAND:
This
program
Houtte's doctoral
is
the
This
routine
was
the
well
flexibility
documented
Also needed
thesis.
which
for
computes
the
in
in
of
Van
this program
sine
of
an
angle.
I
routine was also contained in Van Houtte's work.
A.2 Analog Portion
Basically
digital
in
programs
order
to
corresponds
Subjective
voltage
tape.
details
to
a
further
The
signals
amplified
maximum
about
response
of
command
were
have
output
magnitude
were
the
30
also
3 volts.
reduced
diagram
by
the
voltage
cm/sec
signals
were
on
in
input
half
and
figure
3
of
so
then
A.2
to
the
computer
which
£
velocity.
control
as
and
by
volts
stripe
terms
Both
analog
of
of
adjusted
in
computed
give
output
stick
peak
signals
recorded
summarizes
on
FM
the
of the data flow.
65
0
FIG. A.1 FLOW
CHART OF PROGRAM
66
BVECTN
A40
CHART
RECORDER
FILM MOTOR
AMPLIFIER
TAPE
CH.1
A74
A44
T2
-1
CHART
RECORDER
A56
A54
A50
P20
SUBJECTIVE
RESPONSE
3V P/P
TAPE CH.3
OUTPUT OF
CONTROL STICK
A
FIG. A.2
DATA FLOW
DURING
EXPERIMENTAL
PHASE-
T
AMPLIFIER
TRUNK LINE
P
POT
V
VOLT
P/P PEAK TO PEAK
a
a
0
000
1 a
'
adb
is
APPENDIX B
OPERATIONAL DETAILS OF DATA ANALYSIS
B.1 Digital Portion
All
analysis
Fast
the
were
Fourier
Digital
these
Equipment
programs
thesis.
originally
Transform
The
written
be
this
by
routine
program
can
in
used
programs
Van
was
found
following
in
The
from
Documentation
Van
gives
the
Houtte.
gotten
library.
of
part
Houtte's
some
the
of
doctoral
more
helpful
operational tips in using this program complex.
(1)
Six
different
programs
need
to
be
loaded
into
the
computer.
(a) routine which computes square root.
(b) routine which computes arc tangent.
(c) routine which computes logrithm.
(d)
FFT routine.
(e) constant table for FFT routine.
(f) patch program for FFT routine.
program listed
thesis volume 3,
section
(2)
The
in
Either the
section 4a of Van Houtte's
or
the program listed
in
4c may be used.
program
complex
68
which
includes
the
patch
I
from
program
strip
program
amplitude
Teletype.
phase
and
main
This
only
4c performs
section
from
includes
which
complex
program
The
program
The
main
was
named
the
patch
this thesis.
FFTPLT in
(3)
This
recorder.
chart
Bode plot on
and
FFT
4a performs
section
are printed
results
program
was
signals.
FFT on
named
on
out
in
FFTPRT
the
this
thesis.
(4)
The
manual
starting
inputs
addresses
are
and
requested,
the
such
addresses
as
the
where
number
of
I
signals, are obvious from the patch program listings.
(5)
One
that
one
points
the
of
out.
amplitudes
the
two
The
first
amplitudes
Proper
shown
deserve
and
printed
digits
of
the
amplitudes
amplitudes
special
by
second
are
two
out
that
the
attention
have
the
to
be
FFTPRT
is
for
output
obtained
raised
to
by
the
fact
adjusted
first
digits
the
is
for
the
input
amplitudes.
negative
the
of
the
EPS
in
appropriate digit mentioned above.
(6)
Also
FFTPRT,
to
which
be
noted
seems
to
is
the
variable
determine
the
U
prints
multiplying
the
by
called
threshold
U
value
69
a
for
the
amplitudes
to
be
printed
out.
It
may
be
desired to manually change EPS to vary the threshold.
(7) The
table
thesis
should
samplinq
1 and
be
2 on page
referenced
rate as well as
in
the
128
of
order
Van
Houtte's
to determine
frequency
the
range that the
Fourier Transform can handle.
B.2 Analog Portion
Figure
B.1
summarizes
analysis
of
recorded
input command
played
back
Transform.
displayed
output
on
the
the
signals.
and
A/D
the
data
flow
Essentially,
and
output
converted
for
the
the previously
response signals are
for
the
Fast
Fourier
The output of FFTPLT are D/A converted and
on
the
the signals'
chart
recorder.
frequency
chart recorder.
FFTPRT
spectrum
However,
this
not found to be quantitatively useful.
70
can
also
to be displayed
information was
AFS1
A
BODE
GAIN
DA1
L
A62
A70
S
AD1
TO PDP-8
135
P23
T2
CH.1
Plo
TAPE
RECORDER
OUTPUT
Ti
T2
T3
CHART
RECORDER
T4
-_j
P25
CH.2
A72
T
P24
167
A66
X1
A64
T5
BODE
TO PDP-8
PHASE
AD 2
-i0
'DA-2
L...J
AFS 1
FIG. B.1
m.
DATA
FLOW DURING
ANALYSIS
PHASE
APPENDIX C
PROGRAM LISTINGS
72
BVECTN: /VERTICAL LINEARVECTION CONTROL PROGRAM
/CALIBRATION OF 30,15,7.5 CM/SEC
/PURE SINUSOIDAL RESPONSE
/RANDOM INPUT (LOAD BRAND FIRST)
/SET CLOCK AT 1/64 SEC
/WM. CHU P MVL, MIT
0200
0201
0202
0203
0204
0205
0206
0207
0210
0211
0212
0213
0214
0215
0216
0217
0220
0221
0222
0223
0224
0225
0226
0227
0230
0231
0232
0233
0234
0235
0236
0237
0240
0241
0242
0243
0244
0245
0246
0247
0250
7200
6454
7240
1055
3014
1056
3050
4212
7402
5251
0000
1414
6564
6454
6461
7610
5216
6 561
1057
3052
4330
2050
5213
6435
7004
7500
5242
7200
1056
1014
3014
1056
3050
5213
7200
6564
6561
1060
3052
4330
5612
*200
CALIBs CLA
CLAF
SMi
TAD LVOLT
DCA 14
TAD M7
DCA CNTRC
JMS LOOP
HLT
JMP SINES
LOOP 1, 0
TAD I 14
DAL4
CLAF
SNAF
SKP CLA
JMP .-2
DACY
TAD M128 0
/20 SEC FOR EACH CALIB SPEED
DCA CNTR H
JMS HOLD
ISz CNTR Ci
JMP LOOP 1 +1
LASL
/IF SENSE BIT 1 TURNED 'ON'
RAL
/REPEAT CALIBRATION VELOCITY
SLZ
JMP .+10
CLA
TAD M7
TAD 14
DCA 14
TAD M7
DCA CNTRC
JMP LOOP1 +1
CLA
DAL4
DACY
TAD PAUZE
DCA CNTRH
JMS HOLD
JMP I LOOPI
0251
0252
0253
7200
1062
3051
SINESsCLA
TAD M16
DCA CNTR
73
I
0254
0255
0256
0257
0260
0261
0262
0263
0264
0265
0266
0267
0270
0271
0272
0273
0274
0275
0276
0277
0300
0301
0302
0303
0304
0305
0306
0307
0310
0311
0312
0313
0314
0315
0316
0317
0320
0321
0322
0323
0324
0325
0326
0327
1053
3054
3065
7200
1065
1454
3065
1065
4464
7421
1066
4463
6564
6454
6461
7610
5272
6561
6435
7500
5257
7200
6564
6561
1061
3052
4330
1060
3052
4330
6435
7004
7500
5322
7200
1056
3050
4212
7200
2054
2051
5256
7402
5467
0330
0331
0332
0333
0334
0335
0336
0337
0340
0000
6461
7610
5331
6454
6435
7510
5344
2052
TAD LFREQ
DCA PFREQ
NEXT, DCA ANGL
LOOP?,CLA
TAD ANGL
TAD I PFRE
DCA ANGL
TAD ANGL
JMS I PSINE
/JUMP TO SINE ROUTINE(REF. 10)
MQL
TAD AMP
JMS I PMUL
/JUMP TO MULTIPLICATION
DAL4
/ROUTINE (REF. 10)
CLAF
SNAF
SKP CLA
JMP .-2
DACY
LASL
SENSE BIT 0 ON
/IF
SLZ
/END OF THIS F RFQUENCY
JMP L.OOP2
CLA
E ALA/
DACY
TAD M64
DCA CNTRH
JMS HOLD
TAD PAUZE
DCA CNTRH
JMS HOLD
LASL
RAL
SLZ
/IF SENSE BIT' I ON, MORE CALIB VELCITY
JMP .+5
CLA
TAD M7
DCA CNTRC
JMS LOOPI
CLA
ISZ PFRFQ
I SZ CN TR
JMP NEXT
HLT
JMP I PSTART
/START RAMDOM INPUT
HOLDs 0
WAIT, SNAF
/WAIT ROUTINE
SKP CLA
JMP .-2
CLAF
LASL
SPA
JMP .+5
IS9 CNTRH
74
I
4
I
I
t
I
I
I
I
0341
0342
0343
0344
0345
0346
0347
5331
7200
5730
7200
1061
3052
5331
0050
0051
0052
0053
0054
0055
0056
0057
0060
0061
0062
0063
0064
0065
0066
0067
0000
0000
0000
0150
0000
0070
7771
5400
6600
7700
7760
5741
7401
0000
0632
0400
*50
CNTRC,0
CNTR,0
CNTRH,0
LFREQsFREQS
PFREQ,0
LVOLTVOLT
M7,7771
M1280,5400
PAJZE,6600
M64,7700
M16,7760
PMUL,5741
PSINF7401
ANGLs0
AMF0632
/1 VOLT AMPLITUDE
PSTART,0400
0070
0071
0072
0073
0074
0075
0076
0077
0100
0101
0102
0103
0104
0105
0106
0107
0110
0111
0112
0113
0114
0115
0116
0117
0120
0121
0122
0315
0146
0063
0000
7715
7632
7463
7632
0063
0315
0000
7463
7715
0146
0146
7632
7463
0000
0315
0063
7715
0000
0000
0000
0000
0000
0000
VOLT,0315
0146
0063
0000
7715
7632
7463
7632
0063
0315
0000
7463
7715
0146
0146
7632
7463
0000
0315
0063
7715
0000
0000
0000
0000
0000
0000
JMP
CLA
JMP
CLA
TAD
DCA
JMP
WAIT
I HOLD
M64
CNTRH
WAIT
75
I
0123
0000
0150
0151
0152
0153
0154
0155
0156
0157
0160
0161
0162
0163
0164
0165
0166
0167
0002
0003
0027
0035
0065
0005
0023
0057
0021
0053
0015
0051
0013
0045
0007
0037:
0000
*150
FRES,2
3
27
35
65
5
23
57
21
53
15
51
13
45
7
37
I
AMP
ANGL
CALIB
CNTR
CNTRC
CNTRH
FREOS
HOLD
LFREQ
LOOPI
LOOP2
LVOLT
M1280
M16
M64
M7
NEXT
PAUZE
PFREQ
PMUL
PSINE
PSTART
SINES
VOLT
WAIT
0066
0065
0200
0051
0050
0052
0150
0330
0053
0212
0257
0055
0057
0062
0061
0056
0256
0060
0054
0063
0064
0067
0251
0070
0331
76
/COMPUTES CROSS CORRELATION
/COEFFICIENT OF TWO SIGNALS.
*200
/TEN PAIRS OF NUMBERS OUTPUTED
/ONTO TELETYPE. EACH PAIR
CLAF
CLA
/CORRESPONDS TO THE NUMERATOR AND
TAD ACORR /DENOMINATOR OF EQUATION 2.1, P. 23
TAD P19
DCA PONT9
DCA FLAG
TAD ACORR
DCA 10
TAD M30
DCA CONT
DCA I 10
ISZ CONT
JMP .-2
TAD BLKB
DCA 11
DCA SMAH
DCA SMAL
DCA SMBL
DCA SMBH
DCA SMAAH
DCA SMBBH
DCA SMAAL
DCA SMBBL
DCA T
TENSCsTAD BLXA
DCA 10
DCA CYCLE
DCA BILL
HI,
TAD CYCLE
CIA
DCA CONTR
TAD CYCLE
TAD CYCLE
IAC
TAD ACORR
DCA TEMAD
JMS I PSAMP
TAD BLKA
DCA 12
JMS CORCM
HOs
CLA
TAD M9
TAD CYCLE
SNA
JMP RESET
CLA
TAD FLAG
SZA
JmP MORE
CYC,
ISE CYCLE
CLA
DCA BILL
BCR:
0200
0201
0202
0203
0204
0205
0206
0207
0210
0211
0212
0213
0214
02-15
0216
0217
0220
0221
0222
0223
0224
0225
0226
0227
0230
0231
0232
0233
0234
0235
0236
0237
0240
0241
0242
0243
0244
0245
0246
0247
0250
0251
0252
0253
0254
0255
0256
0257
0260
0261
0262
0263
6454
7200
1026
1031
3051
3050
1026
3010
1032
3037
3410
2037
5212
1027
3011
3073
3072
3074
3075
3076
3077
3100
3101
3102
1030
3010
3040
3357
1040
7041
3041
1040
1040
7001
1026
3042
4452
1030
3012
4312
7200
1035
1040
7450
5265
7200
1050
7440
5272
2040
7200
3357
77
0264
0265
0266
0267
0270
0271
0272
0273
0274
0275
0276
0277
0300
0301
0302
0303
0304
0305
0306
0307
0310
0311
0312
0313
0314
0315
0316
0317
0320
0321
0322
0323
0324
0325
0326
0327
0330
0331
0332
0333
0334
0335
0336
0337
0340
0341
0342
0343
0344
0345
0346
0347
0350
0351
5234
7040
3047
7040
3050
5230
7200
1047
7040
3047
1047
7440
5261
1051
3042
1040
1036
3041
1035
1040
3357
5247
0000
4453
7100
7200
1044
1442
3442
7430
7001
2042
1043
3020
1442
3021
4531
1022
3442
1040
7041
1357
1031
1042
3045
1360
1445
3445
1041
7450
5712
2357
2041
5352
JMP HI
RESETsCMA
DCA FAG
CMA
DCA FLAG
JMP TENSC
MORE* CLA
TAD FAG
CMA
DCA FAG
TAD FAG
SZA
JMP CYC
TAD PONT9
DCA TEMAD
TAD CYCLE
TAD M8
DCA CONTR
TAD M9
TAD CYCLE
DCA BILL
JMP HO
CORCMs0
JMS I PMSUM
CLL
CLA
TAD TEMP2
TAD I TEMAD
DCA I TEMAD
SZL
IAC
ISZ TEMAD
TAD TEMPI
DCA WI
TAD I TEMAD
DCA W2
JMS I PFLOW
TAD SUM
DCA I TEMAD
TAD CYCLE
CIA
TAD BILL
TAD P19
TAD TEMAD
DCA ADTIM
TAD PS
TAD I ADTIM
DCA I ADTIM
TAD CONTR
SNA
JMP I CORCM
ISZ BILL
ISZ CONTR
iMP .+1
78
I
0352
0353
0354
0355
0356
0357
0360
0361
0362
0363
0364
0365
0366
0367
0370
0371
0372
0373
0374
0375
0376
0377
0400
0401
0402
0403
0404
0405
0406
0407
0410
0411
0412
0413
0414
0415
0416
0417
0420
0421
0422
0423
0424
0425
0426
0427
0430
0431
0432
0433
0434
0435
0436
0437
7200
1034
1042
3042
5313
0000
0005
0000
7200
3043
3044
1027
7001
3046
1033
3037
1446
2046
7421
1412
4425
1043
3043
7501
7100
1044
3044
7420
5532
7200
1043
7001
3043
2037
5620
1453
3023
5423
0372
0000
7200
1033
3037
6454
6461
7410
5226
6545
6532
6531
5233
6534
3070
1070
CLA
TAD M3
TAD TEMAD
DCA TEMAD
JMP CORCM+1
BILL,0
P5,0005
MSUM5, 0
CLA
DCA TEMPI
DCA TEMP2
TAD BLKB
IAC
DCA ADRE
TAD MS
DCA CONT
TAD I ADRE
AG,
ISZ ADRE
MQL
TAD I 12
JMS I PMUL
TAD TEMP1
DCA TEMPI
MQA
CLL
TAD TEMP2
DCA TFMP2
SNL
JMP I PINC
CLA
TAD TEMPI
IAC
DCA TEMPI
ISZ CONT
INC,
JMP I PAG
TAD I PMSUM
DCA BAK
JMP I BAK
PAGAG
SAMPLE, 0
CLA
TAD M5
DCA CONT
AGAN, CLAF
SNAF
SKP
iMP --2
ADCC ADIC
ADCV
ADSF
iMP .-1
ADRB
DCA SA
TAD SA
79
0440
0441
0442
0443
0444
0445
0446
0447
0450
0451
0452
0453
0454
0455
0456
0457
0460
0461
0462
0463
3410
6544
6532
6531
5243
6534
3071
1071
3411
4663
2037
5661
1027
3011
1452
3262
5662
0425
0000
0600
0020
0021
0022
0023
0024
0025
0026
0027
0030
0031
0032
0033
0034
0035
0036
0037
0040
0041
0042
0043
0044
0045
0046
0047
0050
0051
0052
0053
0000
0000
0000
0000
6200
6341
1777
2047
2077
0023
774P
7773
7775
7767
7770
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0421
0361
2000
0000
2050
0000
DCA I 10
ADIC
ADCV
ADSF
iMP 0-1
ADRB
DCA SB
TAD SB
DCA I 11
JMS I PSSUM
ISZ CONT
JMP I PAGAI
TAD BLKB
DCA 11
TAD I PSAMP
DCA TEP
JMP I TEP
PAGAIAGAN
TEP,0
FSSUMSSUM
*20
W1,0
W2,0
SUM,0
BAK,0
I-PDIV,6200
PMUL,6341
ACORRCORR-1
BLKB,B-1
BLKAA-1
P19,23
M30,7742
M5,7773
M3,7775
M9,7767
M8,7770
CONT,0
CYCLE,0
CONTH,0
TEMAD,0
TEMP1,0
TEMP2,0
ADTIMO
ADRE,0
FAG,0
FLAG,0
PONT9,O
PSAMPSAMPLE
PMSUMMSUM5
*2000
CORRO
*2050
B,0
*2100
80
I
2100
0000
0070
0071
0072
0073
0074
0075
0076
0077
0100
0101
0102
0103
0104
0105
0106
0107
0110
0111
0112
0113
0114
0115
0116
0117
0120
0121
0122
0123
0124
0125
0126
0127
0130
0131
0132
0133
0134
0135
0136
0137
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
7766
2023
5124
4706
5100
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0240
7510
0673
3000
0413
3037
5076
1400
1410
1006
A,0
*70
SA,0
SB,0
SMAL,0
SMAH,0
SMBL,0
SMBH,0
SMAAH,0
SMBBH,0
SMAAL,0
SMBBL,0
T,0
SX,0
WORDL,0
WORDH,0
OUT,0
M1O,7766
TIMES,2023
PPRNTV,5124
SPEC3,4706
PSPEC,5100
AMEAN,0
BMEAN,0
PMHI,0
PMLO,0
AAMEAN,0
BBMEAN,0
XRT,0
YRT,0
DH,0
DL,0
K240,240
PSQRTsSQRT
PDUP,DIIPRE
PFLOWOFLOW
PINCINC
PSEUDOSEUDO
PSPACFSPACE
PCRLF,CRLF
PTYPTYP
PAVEAVE
81
I
*600
0600
0601
0602
0603
0604
0605
0606
0607
0610
0611
0612
0613
0614
0615
0616
0617
0620
0621
0622
0623
0624
0625
0626
0627
0630
0631
0632
0633
0634
0635
0636
0637
0640
0641
0642
0643
0644
0645
0646
0647
0650
0651
0652
0653
0654
0655
0656
0657
0660
0661
0662
0663
0000
1070
3103
1072
3104
1073
3105
4273
3073
1104
3072
1071
3103
1074
3104
1075
3105
4273
3075
1104
3074
1070
7421
1070
4425
3020
7501
7100
1100
3100
7430
7001
1020
3020
1076
3021
4531
1022
3076
1071
7421
1071
4425
3020
7501
7100
1101
3101
7430
7001
1020
3020
I
SSUM, 0
TAD
DCA
TAD
DCA
TAD
DCA
JMS
DCA
TAD
DCA
TAD
DCA
TAD
DCA
TAD
DCA
JMS
DCA
TAD
DCA
TAD
MQL
TAD
SA
Sx
SMAL
WORDL
SMAH
WORDH
DUPRE
SMAH
WORDL
SMAL
SB
Sx
SMBL
WORDL
SMBH
WORDH
DUPRE
SMBH
WO RDL
SMBL
SA
I
I
I
SA
I
JMS I PMUL
DCA
MQA
CLL
TAD
DCA
SZL
IAC
TAD
DCA
TAD
DCA
JMS
TAD
DCA
TAD
MQL
TAD
JMS
DCA
MQA
CLL
TAD
DCA
SZL
I AC
TAD
DCA
W1
SMAAL
SMAAL
I
W1
Wi
SMAAH
W2
I PFLOW
SUM
SMAAH
SB
SB
I PMUL
Wi
I
I
SMBBL
SMBBL
I
W1
W1
82
I
066'4
0665
0666
0667
0670
0671
0672
1077
3021
4531
1022
3077
2102
5600
0673
0674
0675
0676
0677
0700
0701
0702
0703
0704
0705
0706
0707
0710
0711
0712
0713
0714
0715
0716
0717
0720
0721
0722
0723
0000
1103
7004
7420
5304
7200
7040
3323
5306
7200
3323
7100
1104
1103
3104
7430
7001
1323
3020
1105
3021
4531
1022
5673
0000
TAD
DCA
JMS
TAD
DCA
I SZ
JMP
SMBBH
W2
I PFLOW
SUM
SMBBH
T
I SSUM
DUPREs 0
TAD Sx
RAL
SNL
JMP
CLA
CMA
DCA SXH
.+3
CLA
DCA SXH
CLL
TAD WORDL
TAD sx
DCA WORDL
SZL
IAC
TAD SXH
DCA
TAD WORDH
DCA v 2
JMS I PFLOW
TAP SUM
JMP I DUPRE
SXHsv 0
83
I
1000
1001
1002
1003
1004
1005
1006
1007
1010
1011
1012
1013
1014
1015
1016
1017
1020
1021
1022
1023
1024
1025
1026
1027
1030
1031
1032
1033
1034
1035
1036
1037
1040
1041
1042
1043
1044
1045
1046
1047
1050
1051
1052
1053
1054
1055
1056
1057
1060
1061
1062
1063
1107
3037
1026
3010
1110
3011
1112
3513
7200
7421
1411
3060
1410
7421
1410
4533
0000
4424
3117
1102
3060
1072
7421
1073
4424
3114
1102
3060
1074
7421
1075
4424
3115
1115
7421
1114
4425
7040
3105
7501
7450
2105
7041
7100
1117
3117
7430
7001
1220
1105
3116
1102
AVE,
*1000
TAD M10
DCA CONT
TAD ACORR
DCA 10
TAD TIMES
DCA 11
TAD SPEC3
DCA I PSPEC
CLA
MQL
TAD I 11
DCA DIVSOR
TAD I 10
MQL
TAD I 10
JMS I PSEUDO
SIHI,0
JMS I PPDIV
DCA PMLO
TAD T
DCA DIVSOR
TAD SMAL
MQL
TAD SMAH
JMS I PPDIV
DCA AMEAN
TAD T
DCA DIVSOR
TAD StMBL
MOL
TAD SMBH
JMS I PPDIV
DCA BMEAN
TAD BMEAN
MOL
TAD AMEAN
dMS I PMUL
CMA
DCA WORDH
MQA
SNA
ISZ WORDH
CIA
CLL
TAD PMLO
DCA PMLO
SZ.L
IAC
TAD SIHI
TAD WORDH
DCA PMHI
TAD T
I
84
I
1064
1065
1066
1067
1070
1071
1072
1073
1074
1075
1076
1077
1100
1101
1102
1103
1104
1105
1106
1107
1110
1111
1112
1113
1114
1115
1116
1117
1120
1121
1122
1123
1124
1125
1126
1127
1130
1131
1132
1133
1134
1135
1136
1137
1140
1141
1142
1143
1144
1145
1146
1147
1150
1151
3060
1100
7421
1076
4533
0000
4424
3120
1102
3060
1101
7421
1077
4533
0000
4424
3121
1114
7421
1114
4425
7040
3105
7501
7450
2105
7041
7100
1120
3120
7430
7001
1271
1105
7421
1120
4527
3122
1115
7421
1115
4425
7040
3105
7501
7450
2105
7041
7100
1121
3121
7430
7001
1302
DCA DIVSOR
TAD SMAAL
MQL
TAD SMAAH
JMS I PSEUDO
AAH I,0
JMS I PPDIV
DCA AAMEAN
TAD T
DCA DIVSOR
TAD SMBBL
MQL
TAD SMBBH
JMS I PSEUDO
BBHI s0
JMS I PPDIV
DCA BBMFAN
TAD AMEAN
MQL
TAD AMEAN
JMS I PMUL
CMA
DCA WORDH
MQA
SNA
ISz WORDH
CIA
CLL
TAD AAMEAN
DCA AAMEAN
SZL
IAC
TAD AAH I
TAD WORDH
MQL
TAD AAMEPN
JMS I PSORT
PCA XRT
TAD EMEAN
MQL
TAD BMEAN
JMS I PMUL
CMA
DCA WORDH
MQA
SNA
I Sz WORDH
CIA
CLL
TAD BBMEAN
DCA BBMEAN
SZL
IAC
TAD BBH I
85
I
1152
1153
1154
1155
1156
1157
1160
1161
1162
1163
1164
1165
1166
1167
1170
1171
1172
1173
1174
1175
1176
1177
1200
1201
1202
1203
1204
1205
1206
1207
1210
1211
1212
1105
7421
1121
4527
3123
1122
7421
1123
4425
3124
7501
3125
1117
7421
1116
4511
1107
3040
1126
4536
2040
5374
1112
3513
7200
1125
7421
1124
4511
4535
2037
5537
7402
1400
1401
1402
1403
1404
1405
1406
1407
0000
1206
4210
1207
4210
5600
0215
0212
CRLF,0
TAD K215
dMS TYP
TAD 1212
JMS TYP
iMP I CRLF
K215,215
K212,212
1410
1411
1412
1413
1414
1415
0000
6046
6041
5212
7200
5610
TYP,0
TLS
TSF
iMP .- 1
CLA
JMP I TYP
TAD
MQL
TAD
JMS
DCA
TAD
MQL
TAD
JMS
DCA
MQA
DCA
TAD
MOL
TAD
JMS
TAD
DCA
TAD
JMS
ISZ
iMP
TAD
DCA
CLA
TAD
MQL
TAD
JMS
JMS
ISE
WORDH
BBMEAN
I PSQRT
YRT
XRT
YRT
I PMUL
DH
DL
PMLO
PMHI
I PPRNTV
M10
CYCLE
X240
I PTYP
CYCLE
0-3
SPEC3
I PSPEC
DL
DH
I PPRNTV
I PCRLF
CONT
iMP I PAVE
HLT
*1400
I
86
3
3000
3001
3002
3003
3004
3005
3006
3007
3010
3011
3012
0000
7300
1020
0236
1021
7430
5213
7004
7430
5222
5227
*3000
OFLOWs0
CLA C LL
TAD W 1
AND MAiSK
TAD W 2
SZL
JMP N ENEG
RAL
SEL
iMP P OSNG
iMP P OSPO
3013
3014
3015
3016
3017
3020
3021
7300
1020
1021
7500
7402
3022
5600
NENEGsCLA
TAD
TAD
SMA
HLT
DCA
JMP
3022
3023
3024
3025
3026
7200
1020
1021
3022
5600
POSNGCLA
TAD
TAD
DCA
iMP
3027
3030
3031
3032
3033
3034
3035
7300
1020
1021
7510
7402
3022
5600
POSPOsCLA
TAD
TAD
SPA
HLT
DCA
iMP
3036
3037
3040
3041
3042
3043
3044
3045
3046
3047
3050
3051
3052
4000
0000
7510
5247
3106
3637
1106
2237
5637
3106
7040
3637
5244
MASKs#4000
SFUDO,0
SPA
iMP
DCA
DCA
TAD
ISZ
iMP
DCA
CMA
DCA
iMP
/OVERFLOW ROUTINE
C LL
W1
W2
S UM
I OFLOW
W1
W2
S UM
I OFLOW
C LL
W1
W2
S UM
I OFLOW
. +6
0 UT
I SEUDO
0 UT
SEUDO
I SEUDO
0 UT
I SEUDO
. -6
87
7510
7511
7512
7513
7514
7515
7516
7517
7520
7521
7522
7523
7524
0000
3302
3370
1304
3307
7344
3306
3367
7413
0003
7550
5331
1303
*7510
SQRTs0
DCA LOW2
DCA ROOT
TAD CN5
DCA CNT
SM2
DCA DOUBLE
DCA REMAN
SHL
0003
SGZ
JMP CLEAR
TAD CN1
7525
7526
7527
7530
3367
1370
7124
3370
SETsDCA REMAN
TAD ROOT
CLL CML HAL
DCA ROOT
7531
7532
7533
7534
2307
5350
2306
5344
CLEARs ISZ CNT
JMP NXTBIT
ISZ DOUBLE
JMP GETLOW
7535
7536
7537
7540
7541
7542
7543
1370
7040
1367
7700
7101
1370
5710
DGNE, TAD ROOT
CMA
TAP REMAN
SLZ CLA
CLL IAC
TAD ROOT
JMP I SQRT
7544
7545
7546
7547
1302
7421
1305
3307
GETLOWs TAD LOW2
MOL
TAD CN6
DCA CNT
7550
7551
7552
7553
7554
7555
7556
7557
7560
7561
7562
7563
7564
7565
7566
1367
7413
0001
3367
1370
7100
7066
1367
7420
5325
7200
1370
7104
3370
5331
NXTBITsTAD REMAN
SHL
0001
DCA REMAN
TAD ROOT
CLL
CMA CML RTL
TAD REMAN
SNL
JMP SET
CLA
TAD ROOT
CLL RAL
DCA ROOT
JMP CLEAR
88
7567
7570
0000
0000
7502
7503
7504
7505
7506
7507
0000
7777
7773
7772
0000
0000
REMAN,0
ROOT,0
*7502
LOW2, 0
CN1v-1
CN5, -5
CN6s -6
DOUBLE,0
CNTs 0
89
I
6200
6201
6202
6203
6204
6205
6206
6207
6210
6211
6212
6213
6214
6215
6216
6217
6220
6221
6222
6223
622*4
6225
6226
6227
6230
6231
6232
6233
6234
6235
6236
6237
6240
6241
6242
6243
6244
6245
6246
6247
0000
7100
7500
5215
7060
3061
7501
7041
7420
2061
7421
7120
7410
3061
1060
7510
7061
3227
7420
7040
3373
1Of 1
7407
0000
7430
7L,02
3376
7501
3064
1376
7141
7004
1227
7710
7101
1064
2373
7041
7100
5600
6250
6251
6252
6253
6254
6255
6256
6257
6260
6261
6262
0000
7100
7500
5265
7060
3061
7501
7041
7420
2061
7421
*6200
/VAN HOUTTE'S DIVIDE AND MULTIPLY
SDVI,0
/ROUTINES.
SEE REF. 10
CLL
/
ENTER WITH LOW IN MQ, HIGH IN AC
SMA
JMP POS
CMA CML
DCA HIGH
MQA
CIA
SNL
ISZ HIGH
MOL
CLI. CML
SHP
POSDCA HIGH
TAD PIVSOR
SPA
CIA CML
DCA DUSOR
SNL
CMA
DCA SIGNN
TAD HIGH
DV I
DVSOH,0I
SZL
HLT / CHFCX STOP, IF OVERFLOW, HIGH>DIVSOR
DCA RFMAIN
DCA QUOT
TAD REMAIN
CIA CLL
DV SO R
CLA
CLL
QUOT
SIGNN
JMP I SDVI
'I
I
I
1
I
PAL
TAD
SPA
IAC
TAD
ISZ
CIA
CLL
I
I
/
EXIT WITH QUOT IN AC
SMULDP, 0
CLL
/ ENTER WITH LOW
SMA
/
HIGH
JMP POSDP
CMA CML
DCA HIGH
MGA
CIA
SNL
ISZ HIGH
MOL
IN MQ
IN AC
I
I
90
I
6263
6264
6265
6266
6267
6270
6271
6272
6273
6274
6275
6276
6277
6300
6301
6302
6303
6304
6305
6306
6307
6310
6311
6312
6313
6314
6315
6316
6317
6320
6321
6322
6323
6324
6325
6326
6327
6330
6331
6332
6333
6334
6335
6336
6337
6340
7120
7410
3061
1063
7510
7061
3276
7430
7040
3373
7405
0000
3062
7501
3227
1276
3306
1061
7425
0000
3061
7501
1062
3062
7430
7101
1061
3061
1227
2373
5650
701i1
3227
1062
7040
7430
7101
3062
1061
7040
7430
7101
3061
1227
7100
5650
CLL CML
SKP
POSDPsDCA HIGH
TAD MULT
SPA
CML CIA
DCA MULTI
SZL
CMA
DCA SIGNN
MUY
MULT1,0
DCA LOW
MQA
DCA PO
TAD MULTI
DCA MULT2
TAD HIGH
MQL MUY
MULT2, 0
DCA HIGH
MCA
TAD LOW
DCA LOW
SZL
IAC CLL
TAD HIGH
DCA HIGH
TAD PO
ISZ SIGNN
JMP I SMU LDP
CIA
DCA PO
TAD LOW
CMA
SZL
IAC CLL
DCA LOW
TAD HIGH
CMA
SZL
CLL IAC
DCA HIGH
TAD PO
CLL
JMP I SMULLDP / EXIT WITH LOWLOW IN AC
6341
6342
6343
6344
6345
6346
6347
0000
7100
7510
7061
3356
7501
7510
A
SMUL, 0 I
/ ENTRY WITH TERMS IN AC AND MQ
CLL
SPA
CIA CMIL
DCA MLTPLR
MQA
SPA
91
6350
6351
6352
6353
6354
6355
6356
6357
6360
6361
6362
6363
6364
6365
6366
6367
6370
6371
6372
6373
6374
6375
6376
7061
7421
7430
7040
3373
7405
0000
2373
5741
3356
7501
7141
7421
1356
7040
7430
7001
7100
5741
0000
7402
7402
0000
CIA CML
MQL
SZL
CMA
DCA -SIGNN
MUY
MLTPLRs0
ISZ SIGNN
JMP I SMUL
DCA HIGHER
MOA
CLL CIA
MQL
TAD HIGHER
CMA
SZL
IAC
CLL
JMP I SMLUL
SIGNNs0
7402
7402
hEMAINs0
/
EXIl
WITH LOW IN MQ, HIGH IN AC
PO=DVSOR
HICHER=MLTPLR
*0064
0064
0000
QUOTs0
9
I
I
92
I
*5000
5000
5001
5002
5003
5004
5005
5006
5007
5010
5011
5012
5013
5014
5015
5016
5017
5020
5021
5022
5023
5024
5025
5026
5027
5030
5031
5032
5033
5034
5035
5036
5037
5040
5041
5042
5043
5044
5045
50146
5047
5050
5051
5052
5053
5054
5055
5056
5057
5060
5061
5062
0000
1300
7710
7040
3355
1300
0275
3343
1300
7417
0005
0275
3300
1300
7041
1275
7710
5226
1300
7040
1343
7500
7402
3300
1300
3362
2355
5236
1363
4305
1301
3355
3363
1755
7450
5267
2363
4305
2355
2300
5241
1343
7040
3300
2300
7410
5600
7344
4305
1755
4305
/VAN HOUTTE'S OUTPUT ROUTINE
/SEE REF. 10.
OUTPUT,0
TAD SPEC
SPA CLA
CMA
DCA SGNPR
TAD SPEC
AND C0007
DCA DEC
TAD SPEC
LSR
5
AND C0007
DCA TOT
TAD TOT
CIA
TAD C0007
SPA CLA
JMP STOP
TAD TOT
CMA
1AD DEC
SMA
/ CHECK STOP
STOPHLT
DCA COUNT
TAD COUNT
[CA SKIP
ISZ SGNPR
JMP .+3
TAD SGN
JMS TYPE
TAD ADD
DCA PADD
DCA CHFCK
OVER1,TAL I PADD
SNA
JMP ZERO
ISZ CHECK
INJMS TYPE
ISZ PADD
ISZ COUNT
JMP OVERI
TAD DEC
CMA
DCA COUNT
ISZ COUNT
SKP
JMP I OUTPUT
CLA CLL CMA RAL
JMS TYPE
OVERPTAD I PADD
JMS TYPE
93
5063
5064
5065
5066
5067
5070
5071
5072
5073
5074
2355
2300
5261
5600
1363
2362
7640
5245
1276
5245
ISZ PADD
ISZ COUNT
JMP OVEH2
JMP I OUTPUT
ZEROTAD CHECK
ISZ SKIP
SZA CLA
JMP IN
TAD SPACE
JMP IN
5075
5076
5077
0007
7760
0260
C0007,7
SPACE,240-260
C260,260
5100
0000
SPEC,0
5101
5102
5103
5104
5361
5200
5226
5301
ADDTABLEl
PSIGNSIGN
PVOLTVOLT
PCOVRTBINBCD
5105
5106
5107
5110
5111
5112
5113
0000
1277
6046
6041
5310
7200
5705
TYPE,0
TAD C260
TLS
TSF
JMP .-1
CLA
JMP I TYPE
5114
5115
5116
5117
5120
5121
5122
5123
0000
4343
4702
2305
4703
4704
4200
5714
PRNTQ,0
JMS SCALE
JMS I PSIGN
ISZ TYPE
JMS I PVOLT
JMS I PCOVRT
JMS OUTPUT
JMP I PRNTQ
5124
5125
5126
5127
5130
5131
0000
4702
4703
4704
4200
5724
PRNTV,0
JMS I PSIGN
JMS I PVOLT
JMS I PCOVRT
JMS OUTPUT
JMP I PRNTV
5132
5133
5134
5135
5136
0000
4702
4704
4200
5732
PRNTN,0
JMS I PSIGN
JMS I PCOVRT
JMS OUTPUT
JMP I PRNTN
5137
5140
0000
4704
PRNT,0
JMS I PCOVRT
94
5141
5142
4200
5737
JMS OUTPUT
JMP I PRNT
5143
5144
5145
5146
5147
5150
5151
5152
5153
5154
0000
4773
7710
7001
1062
7421
1061
7413
0000
5743
SCALE, 0
JMS I PMULDP
SPA CLA
IAC
TAD LOW
MOL
TAD HIGH
SHL
0
JMP I SCALE
5155
5156
5157
5160
5161
0000
3063
7040
3305
5755
INCR,0
DCA MULT
CMA
DCA TYPE
JMP I INCR
5162
0000
SKIIP,0
5163
5164
5165
5166
5167
5170
0000
3060
7330
7421
4772
3063
5171
5763
DECR,0
DCA DIVSOR
CLA CLL CML R,
MQL
JMS I PDVI
DCA MULT
/DCA TYPE NOT NECESSARY
JMP I DECR
5172
5173
5174
5175
5176
5177
5600
5650
5774
5775
5776
5777
PDU I, 5600
PMULDP,#5650
PDVSOR,5774
PMe-ULT, 5775
PHIGH,5776
PLOW, 5777
DEC=SCALE
TOT=SPEC
COUNT=TOT
SGN=DECR
CHECK=SGN
PADD=INCR
SGNPR=PADD
*60
0060
0061
0062
0063
0000
0000
0000
0000
/ LOCATED IN MAIN
DIVSOR,0
HIGH 0
LOW, 0
MULT, 0
*OUTPUT+200
95
PROGRAM
I
5200
5201
5202
5203
5204
5205
5206
5207
5210
5211
5212
5213
5214
5215
5216
5217
5220
5221
5222
5223
0000
3352
1352
7710
5210
1224
3777
5222
1225
3777
1352
7140
3352
7501
7041
7421
7430
7101
1352
5600
SIGN,0
DCA NUMB
TAD NUMB
SPA CLA
JMP NFG
TAD PLUS
DCA I PSGN
JMP THRU
NFGTAD MINUS
DCA I PSGN
TAD NUMB
CMA CLL
DCA NUMB
MQA
CIA
MOL
SZL
IAC CLL
THRUTAD NUMB
JMP I SIGN
5224
5225
7773
7775
PLUS,253-260
MINUS,255-260
5226
5227
5230
5231
5232
5233
5234
5235
5236
5237
5240
5241
5242
5243
5244
5245
5246
5247
5250
5251
5252
5253
5254
5255
5256
5257
5260
5261
5262
0000
7417
0000
3361
7501
3362
1361
7417
0004
3363
7501
3364
1363
7417
0001
3365
7501
3366
1363
7140
3363
1364
7041
3364
7430
2363
7000
7100
3200
VOLT, 0
L.SR
0
DCA P1H
MCA
DCA PIL
TAD P1H
LSR
4
DCA P2H
MQA
DCA P2L
TAD P2H
LSR
1
DCA P3H
MOA
DCA P3L
TAD P2H
CMA CLL
DCA P2H
TAD P2L
CIA
DCA P2L
SZL
ISE P2H
/
NOP
CLL
DCA LINK
I
I1
I
I
I
U
I
I
A MUST
I
96
I
5263
5264
5265
5266
5267
5270
5271
5272
5273
5274
5275
5276
5277
5300
1362
1364
7430
2200
7100
1366
7421
7430
7101
1200
1361
1363
1365
5626
TAD
TAD
SZL
ISZ
CLL
TAD
MOL
SZL
IAC
TAD
TAD
TAD
TAD
JMP
5301
5302
5303
5304
5305
5306
5307
5310
5311
5312
5313
5314
5315
5316
5317
5320
5321
5322
5323
5324
5325
5326
5327
5330
5331
5332
5333
5334
5335
5336
5337
5340
5341
5342
5343
5344
5345
5346
5347
0000
3352
3361
3362
3363
3364
7346
3200
1371
3316
1372
3323
7100
1374
1352
7510
5327
3352
2361
5315
1226
5322
3226
1200
0357
7640
5336
7430
5325
2316
2323
2200
5316
1352
3364
1360
3200
1373
3352
BINBCD,0
DCA BIN
DCA BCD1
DCA BCD2
DCA BCD3
DCA BCD4
CLA CLL CMA RTL
DCA CNTR
TAD INST
DCA LOCI
TAD INST+1
DCA LOC2
CLL
LOC1sTAD CONS
TAD BIN
SPA
JMP NEXT
DCA BIN
LOC2,ISZ TABLE1
JMP LOC1-1
BACKsTAD TEMP
JMP LOC2-1
NEXTDCA TEMP
TAD CNTR
AND C2
SZA CLA
JMP .+3
SZL
JMP BACK
ISZ LCCI
ISZ LOC2
ISZ CNTR
JMP LOCI
TAD BIN
DCA BCD4
TAD CN4
DCA CNTR
TAD INST+2
DCA LOC3
PIL
P2L
LINK
P3L
CLL
LINE
P1H
P2H
P3H
I VOLT
97
I
5350
5351
5352
5353
5354
5355
5356
7405
0012
3365
2352
2200
5350
5701
LOOPMTY
0012
LOC3,DCA TABLE2
ISZ LOC3
ISZ CNTR
JMP LOOP
JMP I BINBCD
5357
5360
0002
7774
C2,2
CN4,-4
5361
5362
5363
5364
5365
5366
5367
5370
0000
0000
0000
0000
0000
0000
0000
0000
BCD1,0
BCD2,0
BCD3,0
BCD4,0
BCD5,0
BCD6,0
BCD7,0
BCD8,0
5371
5372
5373
5374
5375
5376
1374
2361
3365
6030
7634
7766
INSTTAD CONS
ISZ TAPLEI
DCA TABLE2
CONS,6030
7634
7766
5377
5163
PSGNSGN
I
CNTR=SICN
LINK=CNTR
TFMP=VOLT
BIN=LOC3
NUMB=BIN
TABLE1=BCD1
TABLE2=BCD5
P1H=BCD1
P1L=BCD2
P2H=BC D3
P2L=BCD4
P3H=BCD5
P3L=BCD6
9
I
98
I
A
AAH I
AAMEAN
ACORR
ADD
ADRE
ADTIM
AG
AGAN
AMEAN
AVE
B
BACK
BAK
BBHI
BBMEAN
BCD1
BCD2
BCD3
BCD4
BCD5
BCD6
BCD7
BCD8
BILL
BIN
BINBCD
BLFA
BLKB
BMEAN
CHECK
CLEAR
CNT
CNTR
CN1
CN4
CN5
CN6
CONS
CONT
CONTR
CORCM
CORP
COUNT
CRLF
CYC
CYCLE
C0007
C2
C260
DEC
DECR
DH
2100
1071
0120
0026
5101
0046
0045
0372
0425
0114
1006
2050
5325
0023
1102
0121
5361
5362
5363
5364
5365
5366
5367
5370
0357
5352
5301
0030
0027
0115
5163
7531
7507
5200
7503
5360
7504
7505
5374
0037
0041
0312
2000
5100
1400
0261
0040
5075
5357
5077
5143
5163
0124
DIVSOR
DL
DONE
DOUBLE
DUPRE
DVSOR
FAG
FLAG
GETLOW
HI
HIGH
HI GH:FR
HO
IN
INC
INCR
INST
E212
K215
K240
LINK
LOC 1
LOC 2
LOC3
LOOP
LOW
LOW2
MASK
MINUS
MLTPLR
MORE
MSIJM5
MULT
MULT 1
M-ULT2
M10
M30
M30
M5S
M
M9
NEG
NENEG
NEXT
NUMB
NXTBIT
OFLOW
OUT
OUTPUT
OVER1
OVER2
PADD
PAG
PAGAI
99
0060
0125
7535
7506
0673
6227
0047
0050
7544
0234
0061
6356
0247
5045
0413
5155
5371
1407
1406
0126
5200
5316
5323
5352
5350
0062
7502
3036
5225
6356
0272
0361
0063
6276
6306
0107
0034
0032
0033
0036
0035
5210
3013
5327
5352
7550
3000
0106
5000
5041
5061
5155
0420
0461
PAVE
PCOURT
PCRLSDVI
PDUP
PDUP
P EV 1
PDVSOR
PFLOW
PHIGH
PINC
PLOW
PLUS
PMHI
PMLO
PMSUM
PMUL
PMULDP
PMULT
PONT9
Pos
POSDP
POSNG
POSPO
PPDIV
PPRNTV
PRNT
PRNTN
PRNTQ
PRNTV
PSAMP
PSEUDO
PSGN
PSIGN
PSPACE
PSPEC
PSORT
PSSUM
PTYP
PVOLT
P0O
Ph
PIL
P19
P2H
P2L
P3H
P3L
PS
QUOT
REMAIN
REMAN
RESET
ROOT
SA
SAMPLE
0137
5104
SB
SCALE
0130
0130
5172
5174
0131
5176
0132
5177
5224
0116
0117
0053
0025
5173
5175
0051
6215
6265
3022
3027
0024
0111
5137
5132
5114
5124
0052
0133
5377
5102
0134
0113
0127
0463
0136
5103
6227
5361
5362
0031
5363
5364
5365
5366
0360
0064
6376
7567
0265
7570
0070
0421
SET
SEUDO
SGN
SGNPR
SIGN
SIGNN
SIHI
SKIP
SPAAH
SMAAL
SMAH
SMAL
SMAL
SMBL
SMBH
SMBL
SMUL
SMULDP
SPAC
SPEC
SPEC3
SPET
SSQm
STOP
SUO
SX
SXH
T
TABLEl
TABiLE2
TAMAE
TEMA
TEMP
TEMP1
TEMP2
TEN
T EP
THRU
TIMES
TOT
TYP
TYPE
VOLT
WORDH
WORDL
WI
W2
XRT
YRT
ZERO
0071
5143
6200
7525
3037
5163
5155
5200
6373
1373
5162
0076
0100
0073
0072
0077
0101
0075
0074
6341
6250
25076
5100
511
7510
7510
5026
0022
002
0723
012
5361
5365
0042
2
5226
0043
0044
02
0462
5222
0110
5100
1410
5105
5226
0105
0104
0020
0021
0122
0123
5067
100
I
PEFERENCES
1.
Bergland, G
Transform,"
2.
D.
"A Guided Tour of
the Fast Fourier
IEEE Spectrum, July, 1969.
Berthoz, A.,
Pavard, B. and Young, L. R.,
"Perception
of Linear Horizontal Self-Motion Induced by Peripheral
Vision
(Linearvection)," Experimental Brain Research,
in press, 1975.
3.
Bingham,
C.,
Godfrey,
M. D.,
Tudey,
J.
W.,
Techniques of Power Spectrum Estimation,"
on Audio and Electroacoustics, Vol.
"Modern
IEEE Trans
AU-15, No.2,
June, 1967.
4.
Dichgan,
Held,
J.,
R.,
Young,
L.
R.
and Brandt,
Th.
"Apparent Direction of Gravity Is Influenced by Moving
Visual Scenes,"
5.
Elkind, J. I.
Science, V. 178, P.1217-1219, 1972.
"Characterstics of Simple Manual Control
Systems," Technical Report NO. 111, Lincoln Lab.
M.I.T.
6.
1956.
McPuer, D. T.
and Krendel, E.
S.,
"Mathematical
Models of Human Pilot Behavior," AGARD-AG-188, 1974.
7.
Meiry, J. L.,
Space
"The Vestibular System and Human Dynamic
Orientation,"
Laboratory
M.I.T.
Sc.D Thesis,
1965.
101
Man-Vehicle
I
8.
Peters,
R. A.,
of the Vestibular System and
"Dynamics
Their Relation to Motion Perception, Spatial
Disorientation and Illusions," NASA CR-1309,
April,1969.
9.
Shirley,
P. S.,
"Motion
Cues
in
Control,"
Man-Vehicle
1968.
Sc.D. Thesis, Man-Vehicle Laboratory, M.I.T.
10.
Van Houtte,
N.
A.
J.,
"Display Instrumentation
V/STOL Aircraft in Landing," Vol.3
Man-Vehicle Laboratory
11. Young,
L.
R.,
Dichgans,
M.I.T.,
J.,
Sc.D. Thesis,
1970.
Murphy,
R.
and Brandt,
and Vestibular
"Interaction of Optokinetic
for
Th.
Stimuli in
Motion Perception," Acta Otolaryng 76:24-31, 1973.
12. Young, L. P.,
Dichgans, J. and Oman, C.,
Induced Sensation of Motion,"
"Visually
10th Annual Manual Control
Conference, P.351-356, 1974.
13. Young,
L.
P. and Oman,
C.,
"Influence
of Head
and Field on Visually Induced Motion Effects
Axes of Rotation,"
14. Young,
L.
R.,
10th Annual Manual,
"On Visual-Vestibular
Position
in Three
P 319-340,1974.
Interaction,"
Fifth
Symposium on the Role of the Vestibular Organs in Space
Exploration, P.205-210, 1970.
15. Young, L. R.,
"The Current Status of Vestibular Models,"
Automatica, Vol.5, P369-383, 1969.
102
I