One of the major goals of this thesis is to investigate the extent to which correspondence noise, (i.e., the false pairing of dots in adjacent frames) limits motion detection performance in random dot kinematograms (RDKs). The performance measures of interest are Dmax and Dmin i.e., the largest and smallest inter-frame dot displacement, respectively, for which motion can be reliably detected. Dmax and threshold coherence (i.e., the smallest proportion of dots that must be moved between frames for motion to be reliably detected) in RDKs are known to be affected by false pairing or correspondence noise. Here the roles of correspondence noise and receptive field geometry in limiting performance are investigated. The range of Dmax observed in the literature is consistent with the current information-limit based interpretation. Dmin is interpreted in the light of correspondence noise and under-sampling. Based on the psychophysical experiments performed in the early parts of the dissertation, a model for correspondence noise based on the principle of receptive field scaling is developed for Dmax. Model simulations provide a good account of psychophysically estimated Dmax over a range of stimulus parameters, showing that correspondence noise and receptive field geometry have a major influence on displacement thresholds.

One of the major goals of this thesis is to investigate the extent to which correspondence noise, (i.e., the false pairing of dots in adjacent frames) limits motion detection performance in random dot kinematograms (RDKs). The performance measures of interest are Dmax and Dmin i.e., the largest and smallest inter-frame dot displacement, respectively, for which motion can be reliably detected. Dmax and threshold coherence (i.e., the smallest proportion of dots that must be moved between frames for motion to be reliably detected) in RDKs are known to be affected by false pairing or correspondence noise. Here the roles of correspondence noise and receptive field geometry in limiting performance are investigated. The range of Dmax observed in the literature is consistent with the current information-limit based interpretation. Dmin is interpreted in the light of correspondence noise and under-sampling. Based on the psychophysical experiments performed in the early parts of the dissertation, a model for correspondence noise based on the principle of receptive field scaling is developed for Dmax. Model simulations provide a good account of psychophysically estimated Dmax over a range of stimulus parameters, showing that correspondence noise and receptive field geometry have a major influence on displacement thresholds.

Muitas das interações que temos com o ambiente envolvem situações dinâmicas. Raramente estas situações são realizadas de maneira isolada. Em ações interceptativas, por exemplo, o sistema nervoso precisa estimar quando um alvo irá atingir uma determinada posição e constantemente ajustar os movimentos para diferentes contextos. Apesar de estudos psicofísicos terem investigado possíveis variáveis ópticas e modulações do contexto envolvidas na integração visuomotora, pouca atenção foi direcionada para compreender os mecanismos cerebrais da integração de informação visual de movimento e ações motoras em cenários dinâmicos. O objetivo geral desta tese foi investigar estes mecanismos e entender como o contexto modula a atividade cerebral em ações interceptativas em adultos jovens saudáveis. No primeiro experimento, foram investigadas quais áreas estão associadas com a integração entre informação visual de movimento e ação motora sincronizatória. Foi utilizado desenho relacionado à eventos em ressonância magnética funcional avaliando a atividade cerebral em tarefa de timing coincidente. Foi identificada uma rede fronto-parietal bilateral dorsal e ativação bilateral do braço ascendente do sulco temporal inferior, região funcionalmente definida como hV5+, e giro angular. No segundo experimento, foi testada a influência causal da área hV5+ e córtex pré-motor dorsal no viés comportamental que tentativa prévia exerce sobre a tentativa atual usando estimulação magnética transcraniana. Os resultados deste experimento sugerem que o efeito da tentativa prévia depende fortemente de um mecanismo de memória de curto prazo implícito no córtex pré-motor dorsal e moderadamente da área hV5+. No terceiro experimento, o objetivo foi verificar o efeito da repetição e expectativa de repetição da velocidade do estímulo nas áreas associadas com ações interceptativas. Para isso, os participantes interceptaram pares de alvos móveis com velocidade igual ou diferente em experimento relacionado à eventos em ressonância magnética funcional. A expectativa sobre a repetição da velocidade do estímulo foi manipulada pela probabilidade de repetição da velocidade do alvo em diferentes blocos. Os resultados comportamentais indicaram que a velocidade do primeiro estímulo enviesou o erro temporal dos participantes para responder ao segundo estímulo e que a manipulação da expectativa dos participantes não resultou em diferença no erro temporal. Não houve modulação da amplitude do sinal BOLD pela repetição do estímulo ou pela manipulação da expectativa sobre a repetição de velocidade. No quarto experimento, foram investigados os mecanismos cerebrais que permitem que a expectativa influencie o comportamento em uma tarefa de timing coincidente. Para isso, a expectativa sobre a velocidade do alvo foi manipulada a cada tentativa por meio de dicas em um experimento relacionado à eventos em ressonância magnética funcional. Os resultados deste experimento mostraram que a expectativa sobre a velocidade do alvo aumenta o sinal BOLD para expectativa válida em hV5+ e córtex pré-motor dorsal. Em geral, os resultados desta tese mostram que a integração visuomotora em ações interceptativas está associada com atividade em uma rede fronto-parietal dorsal e da área hV5+. Destas áreas, foi verificado que o córtex pré-motor dorsal e área hV5+ tem papel de armazenar informação da tentativa prévia que enviesa o comportamento na tentativa atual. Por fim, foi mostrado que a expectativa sobre a velocidade do alvo modula o sinal BOLD em áreas iniciais do processamento sensorial e de planejamento motor. Estes resultados avançam o conhecimento sobre os mecanismos neurais associados à integração visuomotora em ações interceptativas e mostram como o contexto em que a tarefa é realizada modula essa integração / Many of our interactions with the environment happen in dynamic situations. These situations are rarely experienced in isolation. In interceptive actions, for example, the nervous system needs to estimate when a target will arrive at a certain position and constantly adjust movements for different contexts. Although psychophysical studies have investigated the putative optical variables and contextual modulations in visuomotor integration, less attention has been devoted to understand brain mechanisms underlying the integration of visual motion information and motor actions in dynamic scenarios. The main goal of the present thesis was to investigate the brain mechanisms involved in visuomotor integration of interceptive actions in healthy young adults. In the first experiment, it was investigated which brain areas are associated with integration of visual motion information and timed motor action in an event-related functional magnetic resonance imaging experiment. Results showed greater BOLD signal in a bilateral dorsal fronto-parietal network, as well as hV5+ and angular gyrus. In the second experiment, it was tested the causal influence of area hV5+ and dorsal premotor cortex on the behavioral bias that previous trial exerts on the current trial using transcranial magnetic stimulation. The results of this experiment provide causal evidence that the previous trial effect is mediated to a large extent by an implicit shortterm memory mechanism in the dorsal premotor cortex, and to a lesser extent by hV5 +, in a visuomotor integration task with moving objects. In the third experiment, the goal was to verify the effect of repetition and expectation about repetition of speed in brain areas associated with visuomotor integration in interceptive actions. To that end, participants intercepted pairs of moving targets with either same or different speed in an event-related functional magnetic resonance experiment. Expectation about speed repetition of target speed was manipulated through the probability of speed repetition in different blocks. Behavioral results indicate that speed from the first stimulus biased participants\' temporal error for the second stimulus. However, manipulation of participants\' expectation did not affect temporal error. In addition, BOLD signal amplitude was modulated by neither stimulus speed repetition nor expectation. In the forth experiment, brain mechanisms that allow expectation to influence behavior in a coincident timing task were investigated. Participant\'s expectation about target speed was manipulated on a trial-by-trial basis by means of cues in an event-related functional magnetic resonance experiment. The results of this experiment showed that expectation about target speed increases BOLD signal for valid expectations in hV5+ and dorsal premotor cortex. Overall, the results in this thesis show that visuomotor integration in interceptive actions is associated with activity in a dorsal fronto-parietal network and hV5+. In addition, it was verified that dorsal premotor cortex and hV5+ have a role in storing information from previous trial that bias behavior on the current trial. Lastly, it was shown that expectation about upcoming target speed modulates BOLD signal in early stage visual motion processing as well as motor planning areas. These results advance knowledge about the brain mechanisms associated with visuomotor integration in interceptive actions and show how context modulates this integration process

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Muitas das interações que temos com o ambiente envolvem situações dinâmicas. Raramente estas situações são realizadas de maneira isolada. Em ações interceptativas, por exemplo, o sistema nervoso precisa estimar quando um alvo irá atingir uma determinada posição e constantemente ajustar os movimentos para diferentes contextos. Apesar de estudos psicofísicos terem investigado possíveis variáveis ópticas e modulações do contexto envolvidas na integração visuomotora, pouca atenção foi direcionada para compreender os mecanismos cerebrais da integração de informação visual de movimento e ações motoras em cenários dinâmicos. O objetivo geral desta tese foi investigar estes mecanismos e entender como o contexto modula a atividade cerebral em ações interceptativas em adultos jovens saudáveis. No primeiro experimento, foram investigadas quais áreas estão associadas com a integração entre informação visual de movimento e ação motora sincronizatória. Foi utilizado desenho relacionado à eventos em ressonância magnética funcional avaliando a atividade cerebral em tarefa de timing coincidente. Foi identificada uma rede fronto-parietal bilateral dorsal e ativação bilateral do braço ascendente do sulco temporal inferior, região funcionalmente definida como hV5+, e giro angular. No segundo experimento, foi testada a influência causal da área hV5+ e córtex pré-motor dorsal no viés comportamental que tentativa prévia exerce sobre a tentativa atual usando estimulação magnética transcraniana. Os resultados deste experimento sugerem que o efeito da tentativa prévia depende fortemente de um mecanismo de memória de curto prazo implícito no córtex pré-motor dorsal e moderadamente da área hV5+. No terceiro experimento, o objetivo foi verificar o efeito da repetição e expectativa de repetição da velocidade do estímulo nas áreas associadas com ações interceptativas. Para isso, os participantes interceptaram pares de alvos móveis com velocidade igual ou diferente em experimento relacionado à eventos em ressonância magnética funcional. A expectativa sobre a repetição da velocidade do estímulo foi manipulada pela probabilidade de repetição da velocidade do alvo em diferentes blocos. Os resultados comportamentais indicaram que a velocidade do primeiro estímulo enviesou o erro temporal dos participantes para responder ao segundo estímulo e que a manipulação da expectativa dos participantes não resultou em diferença no erro temporal. Não houve modulação da amplitude do sinal BOLD pela repetição do estímulo ou pela manipulação da expectativa sobre a repetição de velocidade. No quarto experimento, foram investigados os mecanismos cerebrais que permitem que a expectativa influencie o comportamento em uma tarefa de timing coincidente. Para isso, a expectativa sobre a velocidade do alvo foi manipulada a cada tentativa por meio de dicas em um experimento relacionado à eventos em ressonância magnética funcional. Os resultados deste experimento mostraram que a expectativa sobre a velocidade do alvo aumenta o sinal BOLD para expectativa válida em hV5+ e córtex pré-motor dorsal. Em geral, os resultados desta tese mostram que a integração visuomotora em ações interceptativas está associada com atividade em uma rede fronto-parietal dorsal e da área hV5+. Destas áreas, foi verificado que o córtex pré-motor dorsal e área hV5+ tem papel de armazenar informação da tentativa prévia que enviesa o comportamento na tentativa atual. Por fim, foi mostrado que a expectativa sobre a velocidade do alvo modula o sinal BOLD em áreas iniciais do processamento sensorial e de planejamento motor. Estes resultados avançam o conhecimento sobre os mecanismos neurais associados à integração visuomotora em ações interceptativas e mostram como o contexto em que a tarefa é realizada modula essa integração / Many of our interactions with the environment happen in dynamic situations. These situations are rarely experienced in isolation. In interceptive actions, for example, the nervous system needs to estimate when a target will arrive at a certain position and constantly adjust movements for different contexts. Although psychophysical studies have investigated the putative optical variables and contextual modulations in visuomotor integration, less attention has been devoted to understand brain mechanisms underlying the integration of visual motion information and motor actions in dynamic scenarios. The main goal of the present thesis was to investigate the brain mechanisms involved in visuomotor integration of interceptive actions in healthy young adults. In the first experiment, it was investigated which brain areas are associated with integration of visual motion information and timed motor action in an event-related functional magnetic resonance imaging experiment. Results showed greater BOLD signal in a bilateral dorsal fronto-parietal network, as well as hV5+ and angular gyrus. In the second experiment, it was tested the causal influence of area hV5+ and dorsal premotor cortex on the behavioral bias that previous trial exerts on the current trial using transcranial magnetic stimulation. The results of this experiment provide causal evidence that the previous trial effect is mediated to a large extent by an implicit shortterm memory mechanism in the dorsal premotor cortex, and to a lesser extent by hV5 +, in a visuomotor integration task with moving objects. In the third experiment, the goal was to verify the effect of repetition and expectation about repetition of speed in brain areas associated with visuomotor integration in interceptive actions. To that end, participants intercepted pairs of moving targets with either same or different speed in an event-related functional magnetic resonance experiment. Expectation about speed repetition of target speed was manipulated through the probability of speed repetition in different blocks. Behavioral results indicate that speed from the first stimulus biased participants\' temporal error for the second stimulus. However, manipulation of participants\' expectation did not affect temporal error. In addition, BOLD signal amplitude was modulated by neither stimulus speed repetition nor expectation. In the forth experiment, brain mechanisms that allow expectation to influence behavior in a coincident timing task were investigated. Participant\'s expectation about target speed was manipulated on a trial-by-trial basis by means of cues in an event-related functional magnetic resonance experiment. The results of this experiment showed that expectation about target speed increases BOLD signal for valid expectations in hV5+ and dorsal premotor cortex. Overall, the results in this thesis show that visuomotor integration in interceptive actions is associated with activity in a dorsal fronto-parietal network and hV5+. In addition, it was verified that dorsal premotor cortex and hV5+ have a role in storing information from previous trial that bias behavior on the current trial. Lastly, it was shown that expectation about upcoming target speed modulates BOLD signal in early stage visual motion processing as well as motor planning areas. These results advance knowledge about the brain mechanisms associated with visuomotor integration in interceptive actions and show how context modulates this integration process

Dans cette thèse, nous nous intéressons au problème de l’atterrissage lunaire autonome et nous proposons une méthode innovante amenant une alternative à l’utilisation de capteurs classiques qui peuvent se révéler encombrants, énergivores et très onéreux.La première partie est consacrée au développement et à la construction de capteurs de mouvement inspirés de la vision des insectes volants et mesurant le flux optique.Le flux optique correspond à la vitesse angulaire relative de l’environnement mesurée par la rétine d’un agent. Dans un environnement fixe, les mouvements d’un robot génèrent un flux optique contenant des informations essentielles sur le mouvement de ce dernier. En utilisant le principe du « temps de passage », nous présentons les résultats expérimentaux obtenus en extérieur avec deux versions de ces capteurs.Premièrement, un capteur mesurant le flux optique dans les deux directions opposées est développé et testé en laboratoire. Deuxièmement un capteur adapté à la mesure des faibles flux optiques similaires à ceux pouvant être mesurés lors d’un alunissage est développé, caractérisé et enfin testé sur un drone hélicoptère en conditions extérieures.Dans la seconde partie, une méthode permettant de réaliser le guidage, la navigation et la commande (GNC pour Guidance Navigation and Control) du système est proposée. L’innovation réside dans le fait que l’atterrissage en douceur est uniquement assuré par les capteurs de flux optique. L’utilisation des capteurs inertiels est réduite au maximum. Plusieurs capteurs orientés dans différentes directions de visée, et fixés à la structure de l’atterrisseur permettent d’atteindre les conditions finales définies par les partenaires industriels. Les nombreuses informations décrivant la position et l’attitude du système contenues dans le flux optique sont exploitées grâce aux algorithmes de navigation qui permettent d’estimer les flux optiques ventraux et d’expansion ainsi que le tangage.Nous avons également montré qu’il est possible de contrôler l’atterrisseur planétaire en faisant suivre aux flux optiques estimés une consigne optimale au sens de la consommation d’énergie. Les simulations réalisées durant la thèse ont permis de valider le fonctionnement et le potentiel de la solution GNC proposée en intégrant le code du capteur ainsi que des images simulées du sol de la lune. / In this PhD thesis, the challenge of autonomous lunar landing was addressed and an innovative method was developed, which provides an alternative to the classical sensor suites based on RADAR, LIDAR and cameras, which tend to be bulky, energy consuming and expensive. The first part is devoted to the development of a sensor inspired by the fly’s visual sensitivity to optic flow (OF). The OF is an index giving the relative angular velocity of the environment sensed by the retina of a moving insect or robot. In a fixed environment (where there is no external motion), the self-motion of an airborne vehicle generates an OF containing information about its own velocity and attitude and the distance to obstacles. Based on the “Time of Travel” principle we present the results obtained for two versions of 5 LMSs based optic flow sensors. The first one is able to measure accurately the OF in two opposite directions. It was tested in the laboratory and gave satisfying results. The second optic flow sensor operates at low velocities such as those liable to occur during lunar landing was developed. After developing these sensors, their performances were characterized both indoors and outdoors, and lastly, they were tested onboard an 80-kg helicopter flying in an outdoor environment. The Guidance Navigation and Control (GNC) system was designed in the second part on the basis of several algorithms, using various tools such as optimal control, nonlinear control design and observation theory. This is a particularly innovative approach, since it makes it possible to perform soft landing on the basis of OF measurements and as less as possible on inertial sensors. The final constraints imposed by our industrial partners were met by mounting several non-gimbaled sensors oriented in different gaze directions on the lander’s structure. Information about the lander’s self-motion present in the OF measurements is extracted by navigation algorithms, which yield estimates of the ventral OF, expansion OF and pitch angle. It was also established that it is possible to bring the planetary lander gently to the ground by tracking a pre-computed optimal reference trajectory in terms of the lowest possible fuel consumption. Software-in-the-loop simulations were carried out in order to assess the potential of the proposed GNC approach by testing its performances. In these simulations, the sensor firmware was taken into account and virtual images of the lunar surface were used in order to improve the realism of the simulated landings.

La prise de décision est un mécanisme qui fait intervenir les structures neuronales supérieures afin d’effectuer un lien entre la perception du signal et l’action. Plusieurs travaux qui cherchent à comprendre les mécanismes de la prise de décision sont menés à divers ni- veaux allant de l’analyse comportementale cognitive jusqu'à la modélisation computationnelle. Le but de ce projet a été d’évaluer d’un instant à l’autre comment la variabilité du signal observé («bruit»), influence la capacité des sujets humains à détecter la direction du mouvement dans un stimulus visuel. Dans ces travaux, nous avons éliminé l’une des sources potentielles de variabilité, la variabilité d’une image à l’autre, dans le nombre de points qui portaient les trois signaux de mouvements cohérents (gauche, droite, et aléatoire) dans les stimuli de Kinématogramme de points aléatoires (KPA), c’est-à-dire la variabilité d’origine périphérique. Les stimuli KPA de type « V6 » étaient des stimuli KPA standard avec une variabilité instantanée du signal, et par contre les stimuli KPA de type « V8 », étaient modifiés pour éliminer la variabilité stochastique due à la variabilité du nombre de pixels d’un instant à l’autre qui portent le signal cohérent. Si la performance des sujets, qui correspond à leur temps de réaction et au nombre de bonnes réponses, diffère en réponse aux stimuli dont le nombre de points en mouvement cohérent varie (V6) ou ne varie pas (V8), ceci serait une preuve que la variabilité d’origine périphérique modulerait le processus décisionnel. Par contre, si la performance des sujets ne diffère pas entre ces deux types de stimuli, ceci serait une preuve que la source majeure de variabilité de performance est d’origine centrale. Dans nos résultats nous avons constaté que le temps de réaction et le nombre de bonnes réponses sont modulés par la preuve nette du mouvement cohérent. De plus on a pu établir qu’en éliminant la variabilité d’origine périphérique définit ci-dessus, on n’observe pas réellement de modification dans les enregistrements. Ce qui nous à amené à penser qu’il n y a pas de distinction claire entre la distribution des erreurs et les bonnes réponses effectuées pour chacun des essais entre les deux stimuli que nous avons utilisé : V6 et V8. C’est donc après avoir mesuré la « quantité d’énergie » que nous avons proposé que la variabilité observée dans les résultats serait probablement d’origine centrale. / Decision-making is a mechanism that primarily involves supraspinal neural structures to perform a link between the perception of the signal and action. Several studies that seek to understand the mechanisms of decision-making are conducted at various levels ranging from cognitive behavioral analysis to computational modeling. The purpose of this project was to evaluate how moment-to-moment variability of the sensory stimuli observed, influences the ability of humans to detect the direction of motion in a visual stimulus. In this work, we eliminated one of the potential sources of variability, namely variability from one visual image to another of the number of points which carried three different motion signals (coherent left, coherent right, and random) in Random-dot Kinematogram (RDK) stimuli, i.e a source of variability of external origin. “V6” stimuli were standard RDK stimuli with instantaneous (i.e., moment-to-moment) signal variability, whereas “V8” stimuli were modified to eliminate the stochastic variability due to variability in the number of points, which carried the coherent signal from image frame to image frame in the RDK stimuli. If the performance of the subjects, as measured by their reaction times and the number of correct answers, differs in response to the stimuli of which the number of points moving coherently varies (V6) or does not vary (V8) from moment to moment in the visual stimulus, this would be a proof that the variability of peripheral origin would modulate the decision-making process. On the other hand, if the performance of the subjects does not differ between the two types of stimuli, this would be a proof that the major source of variability of performance is of central origin. In our results we found that the strength of coherent movement modulates the reaction times and the number of correct responses of subjects. However, eliminating the variability of peripheral origin defined above, had little significant effect on the performance of the subjects. There is no clear difference between the distribution of reaction times or between errors and correct answers for each test performed between both V6 and V8 stimuli. Finally, after measuring the amount of motion energy in the RDK stimuli, we could propose that: the origin of the observed variability in the results would primarily be of central origin.