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NASA NTRS2002

Hubble Space Telescope On-orbit NiH2 Battery Performance

This paper summarizes the Hubble Space Telescope (HST) nickel-hydrogen (NiH2) battery performance from launch to the present time. Over the life of HST vehicle configuration, charge system degradation and failures together with thermal design limitations have had a significant effect on the capacity of the HST batteries. Changes made to the charge system configuration in order to protect against power system failures and to maintain battery thermal stability resulted in undercharging of the batteries. This undercharging resulted in decreased usable battery capacity as well as battery cell voltage/capacity divergence. This cell divergence was made evident during on-orbit battery capacity measurements by a relatively shallow slope of the discharge curve following the discharge knee. Early efforts to improve the battery performance have been successful. On-orbit capacity measurement data indicates increases in the usable battery capacity of all six batteries as well as improvements in the battery cell voltage/capacity divergence. Additional measures have been implemented to improve battery performance, however, failures within the HST Power Control Unit (PCU) have prevented verification of battery status. As this PCU fault prevents the execution of on-orbit capacity testing, the HST Project has based the battery capacity on trends, which utilizes previous on-orbit battery capacity test data, for science mission and servicing mission planning. The Servicing Mission 38 (SM-3B) in March 2002 replaced the faulty PCU. Following the servicing mission, on-orbit capacity test resumed. A summary of battery performance is reviewed since launch in this paper.

Rao, Gopalakrishna M.↗

NASA NTRS2003

High End Computing Technologies for Earth Science Applications: Trends, Challenges, and Innovations

Earth science applications of the future will stress the capabilities of even the highest performance supercomputers in the areas of raw compute power, mass storage management, and software environments. These NASA mission critical problems demand usable multi-petaflops and exabyte-scale systems to fully realize their science goals. With an exciting vision of the technologies needed, NASA has established a comprehensive program of advanced research in computer architecture, software tools, and device technology to ensure that, in partnership with US industry, it can meet these demanding requirements with reliable, cost effective, and usable ultra-scale systems. NASA will exploit, explore, and influence emerging high end computing architectures and technologies to accelerate the next generation of engineering, operations, and discovery processes for NASA Enterprises. This article captures this vision and describes the concepts, accomplishments, and the potential payoff of the key thrusts that will help meet the computational challenges in Earth science applications.

Parks, John↗

NASA NTRS2002

Methods for semi-automated indexing for high precision information retrieval

OBJECTIVE: To evaluate a new system, ISAID (Internet-based Semi-automated Indexing of Documents), and to generate textbook indexes that are more detailed and more useful to readers. DESIGN: Pilot evaluation: simple, nonrandomized trial comparing ISAID with manual indexing methods. Methods evaluation: randomized, cross-over trial comparing three versions of ISAID and usability survey. PARTICIPANTS: Pilot evaluation: two physicians. Methods evaluation: twelve physicians, each of whom used three different versions of the system for a total of 36 indexing sessions. MEASUREMENTS: Total index term tuples generated per document per minute (TPM), with and without adjustment for concordance with other subjects; inter-indexer consistency; ratings of the usability of the ISAID indexing system. RESULTS: Compared with manual methods, ISAID decreased indexing times greatly. Using three versions of ISAID, inter-indexer consistency ranged from 15% to 65% with a mean of 41%, 31%, and 40% for each of three documents. Subjects using the full version of ISAID were faster (average TPM: 5.6) and had higher rates of concordant index generation. There were substantial learning effects, despite our use of a training/run-in phase. Subjects using the full version of ISAID were much faster by the third indexing session (average TPM: 9.1). There was a statistically significant increase in three-subject concordant indexing rate using the full version of ISAID during the second indexing session (p < 0.05). SUMMARY: Users of the ISAID indexing system create complex, precise, and accurate indexing for full-text documents much faster than users of manual methods. Furthermore, the natural language processing methods that ISAID uses to suggest indexes contributes substantially to increased indexing speed and accuracy.

Evaluation Studies↗

NASA NTRS2005

Proposed Project Selection Method for Human Support Research and Technology Development (HSR&TD)

The purpose of HSR&TD is to deliver human support technologies to the Exploration Systems Mission Directorate (ESMD) that will be selected for future missions. This requires identifying promising candidate technologies and advancing them in technology readiness until they are acceptable. HSR&TD must select an may of technology development projects, guide them, and either terminate or continue them, so as to maximize the resulting number of usable advanced human support technologies. This paper proposes an effective project scoring methodology to support managing the HSR&TD project portfolio. Researchers strongly disagree as to what are the best technology project selection methods, or even if there are any proven ones. Technology development is risky and outstanding achievements are rare and unpredictable. There is no simple formula for success. Organizations that are satisfied with their project selection approach typically use a mix of financial, strategic, and scoring methods in an open, established, explicit, formal process. This approach helps to build consensus and develop management insight. It encourages better project proposals by clarifying the desired project attributes. We propose a project scoring technique based on a method previously used in a federal laboratory and supported by recent research. Projects are ranked by their perceived relevance, risk, and return - a new 3 R's. Relevance is the degree to which the project objective supports the HSR&TD goal of developing usable advanced human support technologies. Risk is the estimated probability that the project will achieve its specific objective. Return is the reduction in mission life cycle cost obtained if the project is successful. If the project objective technology performs a new function with no current cost, its return is the estimated cash value of performing the new function. The proposed project selection scoring method includes definitions of the criteria, a project evaluation questionnaire, and a scoring formula.

Jones, Harry↗

NASA NTRS2005

NASA GTE TRACE-P Augmentation

There were three major tasks and objectives that the Tropospheric Trace Gas and Airborne Measurement Group's (TTGAMG) worked on for different aspects of this grant: 1) Migrate the data acquisition system from HP-UX to Linux, thus reducing future costs as the result of software and operating system (OS) upgrades and improving upon usability as membership in the group changes; 2) Rework the Optical Parametric Oscillator (OPO) cavities. These are the OPOs that are integral to the Georgia Institute of Technology Airborne Laser Induced Fluorescent Experiment (GITALIFE) that the TTGAMG flew on TRACE-P. The objective was to improve upon optimizing the pump laser energy and narrowing the linewidth of the UV wavelength generated by the OPOs; 3) Improve and expand the interactive website on http://tmbk2.eas.gatech.edu by adding 3-D graphing, improve the response time for Joe Surfer Dude, improve performance, usability, and expand the database. If I were to assign a letter grade to each of the above tasks, I would give the TTGAMG two Bs and an A to the tasks listed above.

Sandholm, Scott↗

NASA NTRS2003

Data-Mining Toolset Developed for Determining Turbine Engine Part Life Consumption

The current practice in aerospace turbine engine maintenance is to remove components defined as life-limited parts after a fixed time, on the basis of a predetermined number of flight cycles. Under this schedule-based maintenance practice, the worst-case usage scenario is used to determine the usable life of the component. As shown, this practice often requires removing a part before its useful life is fully consumed, thus leading to higher maintenance cost. To address this issue, the NASA Glenn Research Center, in a collaborative effort with Pratt & Whitney, has developed a generic modular toolset that uses data-mining technology to parameterize life usage models for maintenance purposes. The toolset enables a "condition-based" maintenance approach, where parts are removed on the basis of the cumulative history of the severity of operation they have experienced. The toolset uses data-mining technology to tune life-consumption models on the basis of operating and maintenance histories. The flight operating conditions, represented by measured variables within the engine, are correlated with repair records for the engines, generating a relationship between the operating condition of the part and its service life. As shown, with the condition-based maintenance approach, the lifelimited part is in service until its usable life is fully consumed. This approach will lower maintenance costs while maintaining the safety of the propulsion system. The toolset is a modular program that is easily customizable by users. First, appropriate parametric damage accumulation models, which will be functions of engine variables, must be defined. The tool then optimizes the models to match the historical data by computing an effective-cycle metric that reduces the unexplained variability in component life due to each damage mode by accounting for the variability in operational severity. The damage increment due to operating conditions experienced during each flight is used to compute the effective cycles and ultimately the replacement time. Utilities to handle data problems, such as gaps in the flight data records, are included in the toolset. The tool was demonstrated using the first stage, high-pressure turbine blade of the PW4077 engine (Pratt & Whitney, East Hartford, CT). The damage modes considered were thermomechanical fatigue and oxidation/erosion. Each PW4077 engine contains 82 first-stage, high-pressure turbine blades, and data from a fleet of engines were used to tune the life-consumption models. The models took into account not only measured variables within the engine, but also unmeasured variables such as engine health parameters that are affected by degradation of the engine due to aging. The tool proved effective at predicting the average number of blades scrapped over time due to each damage mode, per engine, given the operating history of the engine. The customizable tools are available to interested parties within the aerospace community.

Litt, Jonathan S.↗

NASA NTRS2005

Evaluation of Life Sciences Glovebox (LSG) and Multi-Purpose Crew Restraint Concepts

Within the scope of the Multi-purpose Crew Restraints for Long Duration Spaceflights project, funded by Code U, it was proposed to conduct a series of evaluations on the ground and on the KC-135 to investigate the human factors issues concerning confined/unique workstations, such as the design of crew restraints. The usability of multiple crew restraints was evaluated for use with the Life Sciences Glovebox (LSG) and for performing general purpose tasks. The purpose of the KC-135 microgravity evaluation was to: (1) to investigate the usability and effectiveness of the concepts developed, (2) to gather recommendations for further development of the concepts, and (3) to verify the validity of the existing requirements. Some designs had already been tested during a March KC-135 evaluation, and testing revealed the need for modifications/enhancements. This flight was designed to test the new iterations, as well as some new concepts. This flight also involved higher fidelity tasks in the LSG, and the addition of load cells on the gloveports.

Whitmore, Mihriban↗

NASA NTRS2007

Human Factors Assessment and Redesign of the ISS Respiratory Support Pack (RSP) Cue Card

The Respiratory Support Pack (RSP) is a medical pack onboard the International Space Station (ISS) that contains much of the necessary equipment for providing aid to a conscious or unconscious crewmember in respiratory distress. Inside the RSP lid pocket is a 5.5 by 11 inch paper procedural cue card, which is used by a Crew Medical Officer (CMO) to set up the equipment and deliver oxygen to a crewmember. In training, crewmembers expressed concerns about the readability and usability of the cue card; consequently, updating the cue card was prioritized as an activity to be completed. The Usability Testing and Analysis Facility at the Johnson Space Center (JSC) evaluated the original layout of the cue card, and proposed several new cue card designs based on human factors principles. The approach taken for the assessment was an iterative process. First, in order to completely understand the issues with the RSP cue card, crewmember post training comments regarding the RSP cue card were taken into consideration. Over the course of the iterative process, the procedural information was reorganized into a linear flow after the removal of irrelevant (non-emergency) content. Pictures, color coding, and borders were added to highlight key components in the RSP to aid in quickly identifying those components. There were minimal changes to the actual text content. Three studies were conducted using non-medically trained JSC personnel (total of 34 participants). Non-medically trained personnel participated in order to approximate a scenario of limited CMO exposure to the RSP equipment and training (which can occur six months prior to the mission). In each study, participants were asked to perform two respiratory distress scenarios using one of the cue card designs to simulate resuscitation (using a mannequin along with the hardware). Procedure completion time, errors, and subjective ratings were recorded. The last iteration of the cue card featured a schematic of the RSP, colors, borders, and simplification of the flow of information. The time to complete the RSP procedure was reduced by approximately three minutes with the new design. In an emergency situation, three minutes significantly increases the probability of saving a life. In addition, participants showed the highest preference for this design. The results of the studies and the new design were presented to a focus group of astronauts, flight surgeons, medical trainers, and procedures personnel. The final cue card was presented to a medical control board and approved for flight. The revised RSP cue card is currently onboard ISS.

Byrne, Vicky↗

NASA NTRS2007

Determining Desirable Cursor Control Device Characteristics for NASA Exploration Missions

The Crew Exploration Vehicle (CEV) that will travel to the moon and Mars, and all future Exploration vehicles and habitats will be highly computerized, necessitating an accurate method of interaction with the computers. The design of a cursor control device will have to take into consideration g-forces, vibration, gloved operations, and the specific types of tasks to be performed. The study described here is being undertaken to begin identifying characteristics of cursor control devices that will work well for the unique Exploration mission environments. The objective of the study is not to identify a particular device, but to begin identifying design characteristics that are usable and desirable for space missions. Most cursor control devices have strengths and weaknesses; they are more appropriate for some tasks and less suitable for others. The purpose of this study is to collect some initial usability data on a large number of commercially available and proprietary cursor control devices. A software test battery was developed for this purpose. Once data has been collected using these low-level, basic point/click/drag tasks, higher fidelity, scenario-driven evaluations will be conducted with a reduced set of devices. The standard tasks used for testing cursor control devices are based on a model of human movement known as Fitts law. Fitts law predicts that the time to acquire a target is logarithmically related to the distance over the target size. To gather data for analysis with this law, fundamental, low-level tasks are used such as dragging or pointing at various targets of different sizes from various distances. The first four core tasks for the study were based on the ISO 9241-9:(2000) document from the International Organization for Standardization that contains the requirements for non-keyboard input devices. These include two pointing tasks, one dragging and one tracking task. The fifth task from ISO 9241-9, the circular tracking task was not used because it is a movement that is not applicable to most of the applications used on aviation displays. Additionally, we opted to add a multi-size and multi-distance pointing task, and two ecologically more valid tasks which included text selection, and interaction with drop down menus, sliders, and checkboxes. The Visual Basic test battery tracks the task and trial numbers, measures the pointing, tracking or dragging time, as well as the number and types of errors. The testing session includes a practice set for each input device, then the randomized 7 tasks, and finally a questionnaire about the device. This is repeated for all the devices tested within a session. The experiment is a within-subjects design, with participants returning for multiple sessions to test additional devices. The input devices will be compared based on objective performance data from the tasks, as well as subjective feedback and ratings on the questionnaire.

Aniko Sandor↗

NASA NTRS1999

Silicon bulk micromachined, symmetric, degenerate vibratorygyroscope, accelerometer and sensor and method for using the same

When embodied in a microgyroscope, the invention is comprised of a silicon, four-leaf clover structure with a post attached to the center. The whole structure is suspended by four silicon cantilevers or springs. The device is electrostatically actuated and capacitively detects Coriolis induced motions of the leaves of the leaf clover structure. In the case where the post is not symmetric with the plane of the clover leaves, the device can is usable as an accelerometer. If the post is provided in the shape of a dumb bell or an asymmetric post, the center of gravity is moved out of the plane of clover leaf structure and a hybrid device is provided. When the clover leaf structure is used without a center mass, it performs as a high Q resonator usable as a sensor of any physical phenomena which can be coupled to the resonant performance.

Tang, Tony K.↗

NASA NTRS2005

Human Factors Assessment of Respiratory Support Pack (RSP) Cue Card

Whitmore, Mihriban↗

NASA NTRS2008

Lunar Frozen Orbits

Based upon the derivation of the equations of frozen orbits about the Earth, an analytical formulation is presented for lunar frozen orbits (LFO) in a wide altitude range. Global examination is made of combinations of inclination, semimajor axis, and eccentricity to zero out the mean eccentricity and argument of periapsis drift. Included in this development are the effects of both the lunar gravity potential and third body perturbations. Unlike the Earth frozen orbits, with the major perturbation due to the uniform 52 through J5 gravity terms, lunar frozen orbits are restricted by the distribution of the lunar mascons. With accurate modeling, they exhibit a predictive pattern that drives the overall mission design. In addition to a derivation for analytical expressions, a fill1 numerical simulation is used for verification and examination of secular drift from all third body effects. This presentation addresses a selection of usable lunar orbits that reduce or eliminate the need for stationkeeping while maintaining usable science or communication/navigation orbit parameters.

Folta, David↗

NASA NTRS2010

Lunar Surface Systems Wet-Bath Design Evaluation

The goal of the current evaluation was to examine five different wet-bath architectural design concepts. The primary means of testing the concepts required participants to physically act-out a number of functional tasks (e.g., shaving, showering, changing clothes, maintenance) in order to give judgments on the affordance of the volume as based on the design concepts. Each of the concepts was designed in such a way that certain features were exploited - for example, a concept may have a large amount of internal stowage, but minimum amount of usable space to perform tasks. The results showed that the most preferred concept was one in which stowage and usable space were balanced. This concept allowed for a moderate amount of stowage with some suggested redesign, but would not preclude additional personal items such as clothing. This concept also allowed for a greater distance to be achieved between the toilet and the sink with minimum redesign, which was desirable. Therefore, the all-in-one (i.e., toilet, sink, and shower all occupying a single volume) wet-bath concept seemed to be a viable solution in which there is a minimal amount of overall volume available with certain lunar habitat configurations.

Thompson, Shelby↗

NASA NTRS2004

Innovative Imagery System for Enhanced Habitability Onboard ISS: Desired Features and Possible Hardware Applications

With the advent of the ISS and the experience of Russian, European, and US crewmembers on Mir, the importance of the psychological element in long duration missions is increasingly recognized. An integrated imagery system or Magic Window System could enhance the habitability, performance, and productivity for long term stays in space. Because this is type of system is a new concept for space, functional and technical requirements need to be determined. As part of a three-year project, the functional and technical requirements for an Imagery System onboard the International Space Station (ISS) have been explored. Valuable information was gathered from a survey completed by participants that had been in analog environments (remote/isolated) such as Antarctica, Aquarius, ISS crewmember debriefs, and crew support meetings to identify key functions desired for an integrated Magic Window System. Exercise and medical care activities were identified as areas that could benefit from such a system. It was determined that for exercise, it was worth exploring the concept of displaying a dynamic screen that changes as the crewmember's speed changes while showing physiological measures in a combined display. In terms of enhancing the interfaces for medical care activities, the Magic Window System could show video clips along side procedures for just-in-time training scenarios through a heads-up display. In addition, the portability, usability, and reliability were stressed as important considerations for an integrated system of technologies or Magic Window System. In addition, a review of state-of-the-art screens and other existing technologies such as tablet PCs and Personal Digital Assistants (PDAs) was conducted and contributed to defining technical requirements and feasibility of systems. Some heuristic evaluations of large displays and PDAs were conducted. Finally, feasibility for implementation onboard ISS has been considered. Currently, specific headset units are undergoing usability testing. The outcome of these activities will be valuable to determine the best candidates for an integrated system that could accommodate different needs depending on task.

Whitmore, Mihriban↗

NASA NTRS2010

Evolving the Technical Infrastructure of the Planetary Data System for the 21st Century

The Planetary Data System (PDS) was established in 1989 as a distributed system to assure scientific oversight. Initially the PDS followed guidelines recommended by the National Academies Committee on Data Management and Computation (CODMAC, 1982) and placed emphasis on archiving validated datasets. But overtime user demands, supported by increased computing capabilities and communication methods, have placed increasing demands on the PDS. The PDS must add additional services to better enable scientific analysis within distributed environments and to ensure that those services integrate with existing systems and data. To face these challenges the Planetary Data System (PDS) must modernize its architecture and technical implementation. The PDS 2010 project addresses these challenges. As part of this project, the PDS has three fundamental project goals that include: (1) Providing more efficient client delivery of data by data providers to the PDS (2) Enabling a stable, long-term usable planetary science data archive (3) Enabling services for the data consumer to find, access and use the data they require in contemporary data formats. In order to achieve these goals, the PDS 2010 project is upgrading both the technical infrastructure and the data standards to support increased efficiency in data delivery as well as usability of the PDS. Efforts are underway to interface with missions as early as possible and to streamline the preparation and delivery of data to the PDS. Likewise, the PDS is working to define and plan for data services that will help researchers to perform analysis in cost-constrained environments. This presentation will cover the PDS 2010 project including the goals, data standards and technical implementation plans that are underway within the Planetary Data System. It will discuss the plans for moving from the current system, version PDS 3, to version PDS 4.

Beebe, Reta F.↗

NASA NTRS2010

Multi Sector Planning Tools for Trajectory-Based Operations

This paper discusses a suite of multi sector planning tools for trajectory-based operations that were developed and evaluated in the Airspace Operations Laboratory (AOL) at the NASA Ames Research Center. The toolset included tools for traffic load and complexity assessment as well as trajectory planning and coordination. The situation assessment tools included an integrated suite of interactive traffic displays, load tables, load graphs, and dynamic aircraft filters. The planning toolset allowed for single and multi aircraft trajectory planning and data communication-based coordination of trajectories between operators. Also newly introduced was a real-time computation of sector complexity into the toolset that operators could use in lieu of aircraft count to better estimate and manage sector workload, especially in situations with convective weather. The tools were used during a joint NASA/FAA multi sector planner simulation in the AOL in 2009 that had multiple objectives with the assessment of the effectiveness of the tools being one of them. Current air traffic control operators who were experienced as area supervisors and traffic management coordinators used the tools throughout the simulation and provided their usefulness and usability ratings in post simulation questionnaires. This paper presents these subjective assessments as well as the actual usage data that was collected during the simulation. The toolset was rated very useful and usable overall. Many elements received high scores by the operators and were used frequently and successfully. Other functions were not used at all, but various requests for new functions and capabilities were received that could be added to the toolset.

Prevot, Thomas↗

NASA NTRS2011

Lightweight, Ultra-High-Temperature, CMC-Lined Carbon/Carbon Structures

Carbon/carbon (C/C) is an established engineering material used extensively in aerospace. The beneficial properties of C/C include high strength, low density, and toughness. Its shortcoming is its limited usability at temperatures higher than the oxidation temperature of carbon . approximately 400 C. Ceramic matrix composites (CMCs) are used instead, but carry a weight penalty. Combining a thin laminate of CMC to a bulk structure of C/C retains all of the benefits of C/C with the high temperature oxidizing environment usability of CMCs. Ultramet demonstrated the feasibility of combining the light weight of C/C composites with the oxidation resistance of zirconium carbide (ZrC) and zirconium- silicon carbide (Zr-Si-C) CMCs in a unique system composed of a C/C primary structure with an integral CMC liner with temperature capability up to 4,200 F (.2,315 C). The system effectively bridged the gap in weight and performance between coated C/C and bulk CMCs. Fabrication was demonstrated through an innovative variant of Ultramet fs rapid, pressureless melt infiltration processing technology. The fully developed material system has strength that is comparable with that of C/C, lower density than Cf/SiC, and ultra-high-temperature oxidation stability. Application of the reinforced ceramic casing to a predominantly C/C structure creates a highly innovative material with the potential to achieve the long-sought goal of long-term, cyclic high-temperature use of C/C in an oxidizing environment. The C/C substructure provided most of the mechanical integrity, and the CMC strengths achieved appeared to be sufficient to allow the CMC to perform its primary function of protecting the C/C. Nozzle extension components were fabricated and successfully hot-fire tested. Test results showed good thermochemical and thermomechanical stability of the CMC, as well as excellent interfacial bonding between the CMC liner and the underlying C/C structure. In particular, hafnium-containing CMCs on C/C were shown to perform well at temperatures exceeding 3,500 F (.1,925 C). The melt-infiltrated CMC-lined C/C composites offered a lower density than Cf/SiC. The melt-infiltrated composites offer greater use temperature than Cf/SiC because of the more refractory ceramic matrices and the C/C substructure provides greater high-temperature strength. The progress made in this work will allow multiple high-temperature components used in oxidizing environments to take advantage of the low density and high strength of C/C combined with the high-temperature oxidation resistance of melt-infiltrated CMCs.

Wright, Matthew J.↗

NASA NTRS2011

Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics

Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed.

Ezer, Neta↗