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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1964

The Effect of Information Feedback Upon Psychophysical Judgments

An analysis was made of the role of presentation schedules and information feedback on performance in a forced-choice signal detection task. The experimental results indicate that information feedback facilitates performance, but only for certain presentation schedules. The present study was designed to assess performance in a signal detection task under two conditions of information feedback. In the I-condition, S was told on each trial whether his detection response was correct or incorrect; in the !-condition S was given no feedback regarding the correctness of his response. The task involved a 2-response, forced-choice auditory detection problem. On each trial 2 temporal intervals were defined and S was required to report which interval he believed contained the signal; i. e., in one interval a tone burst in a background of white noise was presented, while the other interval contained only white noise. A trial will be denoted as s1 or s2, depending on whether the signal was embedded in the 1st or 2nd interval; the S's response will be denoted A1 or A2 to indicate which interval he reported contained the signal. The probability of an s1 trial will be denoted as y. In this study two values of y were used (.50 and.75) and, as indicated above, two conditions of information feedback. Thus there were 4 experimental conditions (501, · 50I, 751, 75I); each S was run under all 4 conditions. Method Gaussian noise was presented binaurally in S's headphones throughout a test session and the signal was a 1000-cps sinusoid tone; the tone was presented for 100 msec. including equal fall and rise times of 20 msec. The ratio of signal energy to noise power in a unit bandwidth was 2.9, and was constant throughout the study. The. S was seated before a stimulus display board. On each trial a red warning light was flashed for 100 msec. Two amber lights then came on successively each for 1 sec.; these lights defined the 2 observation intervals. The onset of the signal occurred 500 msec. after the onset of one of the observation intervals. After the second amber light went off, S indicated his response by pressing 1 of 2 wand switches under cards reading "1st interval" and "2nd interval." For the !-condition a green light flashed on above the correct response key after S's response; the green light was omitted in the !-condition. Each trial lasted 6 sec. The S's were 12 male college students with normal hearing. They were run for two practice sessions followed by 20 test sessions. Test sessions were run on consecutive days, 350 trials/day. Each day S ran on 1 of the 4 experimental conditions; in successive 4-day blocks S ran one day on each of the 4 experimental conditions in a random order. Thus, over 20 days each of the experimental conditions was repeated 5 times.

Atkinson, Richard C.↗
NASA NTRS1992

Interchangeable end effector tools utilized on the PFMA

An instrumented task board, used for measuring forces applied by the Protoflight Manipulator Arm (PFMA) to the task board, was fabricated and delivered to Marshall Space Flight Center. SRS Technologies phased out the existing IBM compatible data acquisition system, used with a instrumented task board, and integrated the force measuring electronic hardware in with the Macintosh II data acquisition system. The purpose of this change was to acquire all data with the same time tag, allowing easier and more accurate data reduction in addition to real-time graphics. A three-dimensional optical position sensing system for determining the location of the PFMA's end effect or in reference to the center of the instrumented task board was also designed and delivered under. An improved task board was fabricated which included an improved instrumented beam design. The modified design of the task board improved the force/torque measurement system by increasing the sensitivity, reliability, load range and ease of maintenance. A calibration panel for the optical position system was also designed and fabricated. The calibration method developed for the position sensors enhanced the performance of the sensors as well as simplified the installation and calibration procedures required. The modifications made under this effort expanded the capabilities of the task board system. The system developed determines the arm's position relative to the task board and measures the signals to the joints resulting from the operator's control signals in addition to the task board forces. The software and hardware required to calculate and record the position of the PFMA during the performance of tasks with the instrumented task board were defined, designed and delivered to MSFC. PFMA joint input signals can be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to realtime force and position sensor data presentation.

Cody, Joe↗
NASA NTRS1991

Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and interaction problems. A flexible research tool that is designed as an easily reproducible product prototype has been constructed to explore the variety of possible force interaction.

Russo, Massimo↗
NASA NTRS1992

A procedure for the frequency analysis of telerobotic tasks data

In the last few years, teleoperated tasks have been the subject of extensive research to determine the best combination of control modalities according to specific criteria. The operator's performance were compared on the basis of task completion time and of force and torque measurements during the tasks. This paper proposes a procedure for the spectral analysis of force and torque signals generated during teleoperation experiments. There are two main reasons for examining teleoperation data in the frequency domain: a spectral analysis of different tasks can validate the assumptions made in the design of the teleoperator, and a task's frequency signature can be a valuable measure of the operator's performance.

Fiorini, Paolo↗
NASA NTRS2013

Effects of Type and Strength of Force Feedback on Movement Time in a Target Selection Task

Future cockpits will likely include new onboard technologies, such as cockpit displays of traffic information, to help support future flight deck roles and responsibilities. These new technologies may benefit from multimodal feedback to aid pilot information processing. The current study investigated the effects of multiple levels of force feedback on operator performance in an aviation task. Participants were presented with two different types of force feedback (gravitational and spring force feedback) for a discrete targeting task, with multiple levels of gain examined for each force feedback type. Approach time and time in target were recorded. Results suggested that the two highest levels of gravitational force significantly reduced approach times relative to the lowest level of gravitational force. Spring force level only affected time in target. Implications of these findings for the design of future cockpit displays will be discussed.

CDTI↗
NASA NTRS1982

Hybrid Position/Force Control of Robot Manipulators

In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.

Raibert, M. H.↗
NASA NTRS1995

Computational Virtual Reality (VR) as a human-computer interface in the operation of telerobotic systems

This presentation focuses on the application of computer graphics or 'virtual reality' (VR) techniques as a human-computer interface tool in the operation of telerobotic systems. VR techniques offer very valuable task realization aids for planning, previewing and predicting robotic actions, operator training, and for visual perception of non-visible events like contact forces in robotic tasks. The utility of computer graphics in telerobotic operation can be significantly enhanced by high-fidelity calibration of virtual reality images to actual TV camera images. This calibration will even permit the creation of artificial (synthetic) views of task scenes for which no TV camera views are available.

Bejczy, Antal K.↗
NASA NTRS2016

Human and Robotic Exploration Missions to Phobos Prior to Crewed Mars Surface Missions

Phobos is a scientifically significant destination that would facilitate the development and operation of the human Mars transportation infrastructure, unmanned cargo delivery systems and other Mars surface systems. In addition to developing systems relevant to Mars surface missions, Phobos offers engineering, operational, and public engagement opportunities that could enhance subsequent Mars surface operations. These opportunities include the use of low latency teleoperations to control Mars surface assets associated with exploration science, human landing‐site selection and infrastructure development which may include in situ resource utilization (ISRU) to provide liquid oxygen for the Mars Ascent Vehicle (MAV). A human mission to Mars' moons would be preceded by a cargo predeploy of a surface habitat and a pressurized excursion vehicle (PEV) to Mars orbit. Once in Mars orbit, the habitat and PEV would spiral to Phobos using solar electric propulsion based systems, with the habitat descending to the surface and the PEV remaining in orbit. When a crewed mission is launched to Phobos, it would include the remaining systems to support the crew during the Earth‐Mars transit and to reach Phobos after insertion in to Mars orbit. The crew would taxi from Mars orbit to Phobos to join with the predeployed systems in a spacecraft that is based on a MAV, dock with and transfer to the PEV in Phobos orbit, and descend in the PEV to the surface habitat. A static Phobos surface habitat was chosen as a baseline architecture, in combination with the PEV that was used to descend from orbit as the main exploration vehicle. The habitat would, however, have limited capability to relocate on the surface to shorten excursion distances required by the PEV during exploration and to provide rescue capability should the PEV become disabled. To supplement exploration capabilities of the PEV, the surface habitat would utilize deployable EVA support structures that allow astronauts to work from portable foot restraints or body restrain tethers in the vicinity of the habitat. Prototype structures were tested as part of NEEMO 20. PEVs would contain closed loop guidance and provide life support and consumables for two crew for 2 weeks plus reserves. The PEV has a cabin that uses the exploration atmosphere of 8.2 psi with 34% oxygen, enabling use of suit ports for rapid EVA with minimal oxygen prebreathe as well as dust control by keeping the suits outside the pressurized volume. When equipped with outriggers and control moment gyros, the PEV enables EVA tasks of up to 8 pounds of force application without the need to anchor. Tasks with higher force requirements can be performed with PEV propulsion providing the necessary thrust to react forces. Exploration of Phobos builds heavily from the developments of the cis‐lunar proving ground, and significantly reduces Mars surface risk by facilitating the development and testing of habitats, MAVs, and pressurized rover cabins that are all Mars surface forward. A robotic precursor mission to Phobos and Deimos is also under consideration and would need to launch in 2022 to support a 2031 human Phobos mission.

Gernhardt, Michael L.↗
NASA NTRS2020

Evaluation of Tablet-Based Methods for Assessment of Contrast Sensitivity

Some astronauts have suffered degradation of vision during long-duration space flight, suffering from a condition that has come to be known as Spaceflight Associated Neuro-ocular Syndrome (SANS). While related morphological changes can be observed with imaging technologies such as optical coherence tomography (OCT), it may be useful to have a rapid method for functional vision assessment. In this paper, we compare three tablet-based methods for rapid assessment of contrast sensitivity. First, a relatively novel method developed expressly for touch screens, in which the subject ”swipes” a frequency/contrast sweep grating to indicate the boundary between visible and invisible patterns; second, a method-of-adjustment task in which the subject adjusts the contrast of a grating patch up and down to bracket the visual threshold; and third, a traditional temporal two-alternative forced choice (2AFC) task, in which the subject is presented with a near-threshold stimulus in one of two intervals, and must report the interval containing the stimulus. The swipe method shows variability comparable to the 2AFC method, and shows good agreement in estimates of the spatial frequency of peak sensitivity. The absolute sensitivity estimated with the swipe method is higher than that of the other methods, perhaps because subjects are biased to trace outside of the visible pattern region, or perhaps due to stimulus differences.

Mulligan, Jeffrey B.↗
NASA NTRS1992

Operator performance with alternative manual control modes in teleoperation

Recent experiments conducted at the JPL comparing alternative manual control modes using the JPL Advanced Teleoperator system are described. Of particular interest were control modes that provide force reflection to the operator. The task selected for the experiment is a portion of the Solar Maximum Satellite Repair procedure we developed to demonstrate the repair of the Solar Maximum Satellite with teleoperators. The seven manual control modes evaluated in the experiment are combinations of manual position or resolved motion rate control with alternative control schemes for force reflection and remote manipulator compliance. Performance measures used were task completion times, average force and torque exerted during the execution of the task, and cumulative force and torque exerted. The results were statistically analyzed and they show that, in general, force reflection significantly improves operator performance and indicate that a specific force-reflecting scheme may yield the best performance among the control modes we tested. Also, our experiment showed that, for the selected task, the position control modes were preferable to the rate control modes and slave manipulator compliance reduced task interaction forces and torques.

Das, H.↗
NASA NTRS2002

Tool actuation and force feedback on robot-assisted microsurgery system

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Das, Hari↗
NASA NTRS1993

A macro-micro robot for precise force applications

This paper describes an 8 degree-of-freedom macro-micro robot capable of performing tasks which require accurate force control. Applications such as polishing, finishing, grinding, deburring, and cleaning are a few examples of tasks which need this capability. Currently these tasks are either performed manually or with dedicated machinery because of the lack of a flexible and cost effective tool, such as a programmable force-controlled robot. The basic design and control of the macro-micro robot is described in this paper. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system.

Marzwell, Neville I.↗
NASA NTRS1997

Effects of static fingertip loading on carpal tunnel pressure

The purpose of this study was to explore the relationship between carpal tunnel pressure and fingertip force during a simple pressing task. Carpal tunnel pressure was measured in 15 healthy volunteers by means of a saline-filled catheter inserted percutaneously into the carpal tunnel of the nondominant hand. The subjects pressed on a load cell with the tip of the index finger and with 0, 6, 9, and 12 N of force. The task was repeated in 10 wrist postures: neutral; 10 and 20 degrees of ulnar deviation; 10 degrees of radial deviation; and 15, 30, and 45 degrees of both flexion and extension. Fingertip loading significantly increased carpal tunnel pressure for all wrist angles (p = 0.0001). Post hoc analyses identified significant increase (p < 0.05) in carpal tunnel pressure between unloaded (0 N) and all loaded conditions, as well as between the 6 and 12 N load conditions. This study demonstrates that the process whereby fingertip loading elevates carpal tunnel pressure is independent of wrist posture and that relatively small fingertip loads have a large effect on carpal tunnel pressure. It also reveals the response characteristics of carpal tunnel pressure to fingertip loading, which is one step in understanding the relationship between sustained grip and pinch activities and the aggravation or development of median neuropathy at the wrist.

NASA Center ARC↗
NASA NTRSDate not supplied

LIS-Hydro: Authoritative Source for OCONUS Hydro-Intelligence

U.S. military forces are often tasked to participate in a variety of transboundary water-related decision-making activities, including humanitarian assistance operations through Department of State tasking, support of in-country infrastructure development activities that help develop or improve diplomatic relationships, and support of transboundary water treaty negotiations or disputes to reduce risk of conflict caused by water security issues. The U.S. intelligence communities have identified the coordination over shared water resources as an area of significant concern to U.S. national security (U.S. National Defense Strategy, 2018). Such transboundary water issues are projected to intensify in the future under increasingly complex population dynamics, political tensions due to parallel issues, and a changing climate. A 2017 joint NASA, USACE/RDC, and U.S. Air Force co-sponsored workshop revealed a lack of sufficient decision support tools and access to timely technical and contextual information needed to assess and respond to potential water-related threats around the world. The need for an integrated operational service, with the capacity to combine and synthesize hydrological modeling, assimilation, forecasting, and visualization capabilities across the U.S. Government, was highlighted as a key recommendation. In direct response, a subset of the U.S. Department of Defense, National Intelligence Community, and Oak Ridge National Laboratory are collaborating on the development of a fully integrated hydro-modeling and streamflow prediction system (i.e., LIS-Hydro). Completion of the project and sustainment of the operational capability by Air Force Weather will establish a national asset to assist federal agencies implement government-wide strategies around water resources (U.S. Global Water Strategy, 2017). The hydrological products and services will, for the very first time, establish a routinely available authoritative source of global water intelligence information supporting war-fighters, planners, and decision makers at all echelons and services of the U.S. military, Federal government, and intelligence community. A summary of the interagency scientific collaboration in addressing some of the key gaps and needs identified during the 2017 workshop will be presented.

Land Information System↗
NASA NTRS2002

Classification image analysis: estimation and statistical inference for two-alternative forced-choice experiments

We consider estimation and statistical hypothesis testing on classification images obtained from the two-alternative forced-choice experimental paradigm. We begin with a probabilistic model of task performance for simple forced-choice detection and discrimination tasks. Particular attention is paid to general linear filter models because these models lead to a direct interpretation of the classification image as an estimate of the filter weights. We then describe an estimation procedure for obtaining classification images from observer data. A number of statistical tests are presented for testing various hypotheses from classification images based on some more compact set of features derived from them. As an example of how the methods we describe can be used, we present a case study investigating detection of a Gaussian bump profile.

Non-NASA Center↗
NASA NTRS2003

Force-Measuring Clamps

Force-measuring clamps have been invented to facilitate and simplify the task of measuring the forces or pressures applied to clamped parts. There is a critical need to measure clamping forces or pressures in some applications for example, while bonding sensors to substrates or while clamping any sensitive or delicate parts. Many manufacturers of adhesives and sensors recommend clamping at specific pressures while bonding sensors or during adhesive bonding between parts in general. In the absence of a force-measuring clamp, measurement of clamping force can be cumbersome at best because of the need for additional load sensors and load-indicating equipment. One prior method of measuring clamping force involved the use of load washers or miniature load cells in combination with external power sources and load-indicating equipment. Calibrated spring clamps have also been used. Load washers and miniature load cells constitute additional clamped parts in load paths and can add to the destabilizing effects of loading mechanisms. Spring clamps can lose calibration quickly through weakening of the springs and are limited to the maximum forces that the springs can apply. The basic principle of a force-measuring clamp can be implemented on a clamp of almost any size and can enable measurement of a force of almost any magnitude. No external equipment is needed because the component(s) for transducing the clamping force and the circuitry for supplying power, conditioning the output of the transducers, and displaying the measurement value are all housed on the clamp. In other words, a force-measuring clamp is a complete force-application and force-measurement system all in one package. The advantage of unitary packaging of such a system is that it becomes possible to apply the desired clamping force or pressure with precision and ease.

Nunnelee, Mark↗
NASA NTRS1970

EMG-force dynamics in human skeletal muscle

On-line parameter tracking algorithm, obtaining parameters in mathematical relation between full wave rectified EMG and human triceps muscle force during isometric task

Bekey, G. A.↗