RU2685988C1 - Method of estimating accuracy of three-coordinate control - Google Patents

Abstract

FIELD: measurement technology.SUBSTANCE: disclosed method of evaluating accuracy of three-coordinate control makes it possible to expand functional capabilities of methods by measuring integral time and accuracy of three-coordinate control of objects. Method consists in the fact that a person being tested is presented with a visual stimulus in a three-coordinate plane – a blue ball with a diameter of the specified size with a marked center and a controlled object in the form of a red ball with a diameter of a given size with a marked center, wherein the new one is that the person being tested with the help of two two-axis joystick handlers in the hands of the person being tested controls the motion of the controlled object along the proposed trajectory in three planes simultaneously and combines the centers of the visual stimulus and the controlled object, and at the moment of supposed alignment, the person being tested presses the "Ready" button, after which time is measured from the moment of appearance of the visual stimulus to pressing the "Ready" button and the error in guiding the sight and sight at the moment of pressing the "Ready" button, after which the test is repeated for a predetermined number of times and calculating motor tracking time.EFFECT: high accuracy of estimating guidance of a controlled object.1 cl, 2 dwg

Description

The invention relates to the field of modeling devices, which should be considered as training or training devices, causing sensations to learners that are identical to the sensations that arise when handling real devices, differing in ensuring the recording or measurement of the characteristics of the learner.

Currently, methods of conducting psychophysiological studies are aimed at measuring the speed and accuracy of human visual-motor tracking, based on the demonstration of a dynamic virtual target to the subject and measuring the delay time and anticipation of the reaction in the form of pressing the keys of the manipulator by the subject when the dynamic target and the target coincide. However, the available methods make it possible to fully appreciate only the accuracy of the visual-motor tracking of an object, simultaneously moving in two coordinates along a simple trajectory. Along with this, when conducting psychophysiological research in the process of training operators of technological machines, such as feller bunchers, feller-delimbing-bucking machines, forwarders, etc., it is extremely important to estimate the accuracy of the three-coordinate control. The operator who manages the actual technological equipment, for example, when the gripping-cutting device of the feller buncher is aimed at the tree, remotely controls the movement of the gripping-cutting device at the same time in three coordinates - controlling the telescopic boom device, turning the boom stand and the angle of the boom fracture. The low accuracy of the three-coordinate control in this case leads to high wear of the technological equipment components — swivel joints, hydraulic cylinders and high-pressure hoses, since delays or anticipation of the operator’s reactions, inaccurate assessment of the working body position in space creates high mechanical stresses in the indicated nodes.

There is a method of selection for martial arts [1], in which the subject is shown on the video monitor screen a circle on which a mark and a point object moving in a circle are placed. The subject, observing the movement of a point object, at the time of the supposed coincidence of its position with the mark by pressing the “Stop” button, stops the movement of the point object along a circle. Then, the mismatch error of the point object and the mark are calculated - the time of a lag error with a positive sign or lead time with a negative sign, and after a specified time resumes the movement of the point object in a circle. The subject performs the described procedure a specified number of times, after which a variational series of mismatch errors of the point object and the mark are constructed, the variational range of the series is calculated and the segment bounded by the largest and smallest members of the variational series is marked on the number axis. The method allows to assess the speed and accuracy of motor actions of the subject, thereby increasing the accuracy of the selection of adolescents for martial arts through instrumental studies.

There is a method for determining the response time of a person to an object moving in the direction from it [2], in which the subject is shown a closed loop on the screen of a video monitor, which is limiting, inside which a test object of a similar configuration is located. The test object is increased according to a given speed, simulating its movement towards the subject. At the time of the supposed coincidence of the sizes of the bounding closed contour and the test object, the subject stops the increase in the diameter of the test object by pressing the “Stop” button. Then, the error of mismatch between the diameters of the test object and the bounding contour is calculated — the time of a lag error with a positive sign or lead-through — with a negative sign and the specified time is again presented to the test subject a closed contour within which the test object of initial sizes and configuration is located. Then, the reaction time T _{p of a} person to a moving object is calculated as an arithmetic mean value using the formula:

,

,

where t _i is the i-th error of delay with a positive sign or lead with a negative, sign, ms; n is the number of tests, while the closed loop simultaneously with the increase of the test object is reduced in diameter at a given speed, then the decrease in the diameter of the closed loop is stopped by pressing the “Stop” button, and then after a specified time, the test subject is presented with a closed loop of the initial size.

There is a method of assessing the visual-motor reaction to the movement of an object in space [3], in which the subject visually observes a moving object and reacts to the object passing through the “finish gate” by pressing a button, using a metal ball moving along a chute as an object of observation successively through two induction sensors, the first is a triggering electric stopwatch and the second, located at the level of the “finish target”, stopping the stopwatch at the time of its passage, setting with The standard time for the ball to travel the distance between two sensors, then the second induction sensor is turned off, and the subject stops the stopwatch at the time of the visual passage of the “finish gate” by pressing the button.

There is a method of determining the ability to predict the course of events [4], in which, by the subject on the screen of a video monitor, a circle is placed on which a mark and a point object are placed. A point object moves at a given speed around the circle, for a specified time before reaching the mark disappears from the screen of the video monitor, while the movement of the point object around the circle continues. At the time of the supposed coincidence of the position of a moving point object with a well-tested test button, the Stop button stops the movement of the point object around the circle and the point object appears again on the monitor screen, in the place where its movement was stopped. Then, the mismatch error of the point object and the mark are calculated - the time of a lag error with a positive sign or lead time with a negative sign, and after a specified time resumes the movement of the point object in a circle. The described procedure is repeated a specified number of times, after which the ability to predict the position of a moving object relative to the T mark of the _{prog is} calculated as an arithmetic mean by the formula:

,

,

where t _i is the i-th error of delay with a positive sign or lead with a negative sign, ms; n is the number of stops of a point object in the position of the label.

A disadvantage of the known methods is their low technological capabilities, since they allow one to measure the reaction time of the subject to moving objects and to determine the ratio of the excitation and inhibition processes in the cerebral cortex when performing a simple sensorimotor reaction. However, in the process of human activity (including production), more complex psychomotor reactions are performed, associated with determining the location of an object and performing a targeted motor response. These psychomotor reactions may be impaired as a result of various neurodegenerative diseases or injuries and their effectiveness must be assessed in the process of medical or professional rehabilitation of the patient, which is impossible using known methods.

The closest in technical essence to the presented method is a method of assessing the level of the functional state of the central nervous system of a person based on the time measurement of the orienting visual-motor response of the person [5], in which the person is presented with a visual stimulus, a red circle with a diameter of 20 mm, which visually determines its place appearances; they bring the computer mouse cursor to its borders, measure the time from the moment of appearance of the stimulus to leading the cursor to its border, the procedure is repeated at least 50 times; based on the measured values of the reaction time, a histogram of their distribution over discharges with an interval of 20 ms is constructed, the analysis of the histogram of the distribution of the human response time determines the mode value - Mo and mode amplitude AMo, then calculates the level of the functional state of the CNS (UVStsns) by the formula:

,

,

- среднее значение; Кв – коэффициент вариации; Мо - середина разряда гистограммы, имеющего максимальную частоту; АМо - амплитуда моды в % - максимальная относительная частота гистограммы;

- вариационный размах; ln – натуральный логарифм; и далее определяют по величине рассчитанного показателя уровень функционального состояния ЦНС, причем при значении УФСцнс больше 24,57 уровень функционального состояния будет оцениваться как оптимальный, при УФСцнс от 24,56 до 18,53 - как сниженный и при УФСцнс меньше 18,52 - как существенно сниженный.Where

- average value; Ap - coefficient of variation; Mo is the middle of the discharge of the histogram having the maximum frequency; AMO - mode amplitude in% - the maximum relative frequency of the histogram;

- variational scope; ln is the natural logarithm; and further, the level of functional status of the CNS is determined by the value of the calculated indicator, and if the UVS value is greater than 24.57, the level of the functional state will be assessed as optimal, if UVS is from 24.56 to 18.53 - as reduced and if UVS is less than 18.52 - significantly reduced.

The disadvantage of this method is the inability to assess the accuracy of the implemented motor programs by the subjects, since only the time between the appearance of the stimulus and the realization of the motor program is evaluated. This, of course, gives an idea of the level of the functional state of the human central nervous system, however, to assess the accuracy of the three-coordinate control as the professionally important quality of operators in vocational training tasks, it is necessary to measure additionally the accuracy of motor programs implemented simultaneously in three spatial coordinates.

The technical result of the proposed solution is manifested in increasing the accuracy of the estimated guidance object.

This technical result is achieved by the fact that the subject on the screen of the video monitor is given a visual stimulus in the three-coordinate plane, a blue volume ball with a diameter of a given size with a marked center, randomly offset from the origin along each axis - X, Y and Z, the place of appearance of which is visually determined by the subject as well as a red sphere controlled object with a diameter of a given size with a marked center,

moreover, the subject is using a two-axis joystick manipulator with handles in the initial central position in the hands of the subject controls the movement of the controlled object along the proposed trajectory in three planes simultaneously, and combines the centers of the visual stimulus and the controlled object, and the moment of the supposed combination the subject presses the “Ready” button of the manipulator, after which the time from the moment when the visual stimulus appeared until the “Ready” button is pressed and the pointing error is measured I have a sight equal to the distance between the centers of the visual stimulus and the sight at the moment when the “Ready” button is pressed, after which the test is repeated a specified number of times and the implementation time of the motor tracking T _{ms is} calculated using the formula:

,

,

where t _i is the time taken to pass the i-th test, p., n is the number of tests,

the accuracy of the implementation of the motor tracking program E _ms by the formula:

,

,

where e _i is the aiming error in the i-th test, points; n is the number of tests.

FIG. 1 is a schematic representation of the screen of a test video monitor when aiming a sight at a visual stimulus.

FIG. 2 shows an image explaining the principle of random positioning of objects in three-dimensional space.

The proposed method for assessing the accuracy of three-coordinate control is as follows.

At the first stage, in the center of the screen of the monitor of the subject, the visual stimulus, the controlled object and the desired trajectory of the controlled object are displayed, the subject's hands are located on the handles of the two-axis joystick manipulators with the handles in the initial center position.

At the second stage, when subjects click on the “Ready” button manipulator, they automatically start counting the test execution time and allow the controlled object to move synchronously with the handles of the manipulators, and the displacement of the controlled object along the horizontal X axis corresponds to the deflection of the handle in the X axis the movement of the controlled object along the vertical axis Y corresponds to the deflection of the handle in the test subject’s right hand, along the axis Y, to the movement of the controlled object along B corresponds to the depth Z deflection arm located at the left hand of the subject, on the axis Y.

At the third stage, the subject implements the three-coordinate control program, following the desired trajectory and combining the centers of the visual stimulus and the controlled object as soon as possible and as accurately as possible by deflecting the handles of the manipulators. At the same time on the video monitor screen in real time display the position of the controlled object, corresponding to the deflection of the joystick handles.

At the fourth stage, after guiding the controlled object at the visual stimulus, the subject presses the “Ready” button on the manipulator, and then the time spent by the subjects on the implementation of the three-coordinate control program is finished counting and the guided object pointing error is equal to the distance in points from the center of the sight to the center of the visual stimulus, after which the test is repeated from the first stage a specified number of times.

At the fifth stage, the efficiency of visual-motor tracking is calculated in the form of an integral indicator of the speed of motor tracking T _ms and the accuracy of motor tracking E _ms, respectively, using the formulas:

,

,

where t _i is the time spent on passing the i-th test, p .; n is the number of tests

,

,

where e _i is the aiming error in the i-th test, points, n is the number of tests.

The proposed method for assessing the accuracy of three-coordinate control allows you to extend the functionality of the methods by measuring the integral indicators of time and accuracy of the three-coordinate operator control of moving objects in the process of professional training of operators at its various stages.

Literature:

 1. Patent No. 2540164 of the Russian Federation A61B5 / 16. The selection method for martial arts // Mamaeva A.V. (RF), Zakamsky A.V. (RF), Polevshchikov M.M. (RF), Rozhentsov V.V. (RF). Application: 2013148546/14, 10/30/2013 Publ. 02/10/2015, Byul. No. 4

2. Patent No. 2497452 of the Russian Federation A61B5 / 16. The method for determining the time of a person's reaction to an object moving in the direction from it // Kurasov PA (RF), Petukhov I.V. (RF). Application: 2012104099/14, 06.02.2012 Publ. 08/20/2013, Byul. No. 23

3. Patent No. 2525638 of the Russian Federation A61B5 / 16. The method of evaluating the visual-motor reaction to the movement of an object in space // OV Levashov. (RF), Pavlov S.F. (RF). Application 2013124413/14, 05/28/2013 Publ. 08/20/2014, Bull. No. 23

4. Patent No. 2381742 of the Russian Federation A61B5 / 16. The method of determining the ability to predict the course of events // Petukhov I.V. (RF). Application: 2008146586/14, 25.11.2008 Publ. 20.02.2010, Bull. No. 5

5. Patent No. 2573340 of the Russian Federation A61B5 / 16. The method of assessing the level of the functional state of the central nervous system of a person based on the measurement of the time of an approximate visual motor response of a person // Tsarev AN (RF). Application 2014117131/14, 04/29/2014 Publ. 01.20.2016, Bull. No. 2

Claims (9)

A method for assessing the accuracy of three-coordinate control, in which a visual stimulus in a three-coordinate plane is shown on a video monitor screen in a three-coordinate plane - a blue volumetric ball with a diameter of a given size with a marked center, randomly shifted relative to the origin along each of the axes - X, Y and Z; the subject and the controlled object in the form of a red ball with a diameter of a given size with a marked center, moreover, the subject is using a two-axis joystick manipulator with handles in the initial central position in the subject's hands, controls the movement of the controlled object along the proposed trajectory in three planes at the same time and combines the centers of the visual stimulus and the controlled object, and the moment of the supposed combination the subject presses the “Ready” button of the manipulator, after which the time from the moment when the visual stimulus appeared until the “Ready” button is pressed and the pointing error is measured I have a sight equal to the distance between the centers of the visual stimulus and the sight at the moment when the “Ready” button is pressed, after which the test is repeated a specified number of times and the time taken to implement the motor tracking is calculated

according to the formula:

where t _i is the time spent on the i-th test, s, n is the number of tests accuracy of the implementation of the motor tracking program

according to the formula:

where e _i is the aiming error in the i-th test, points, n is the number of tests.

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