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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Flexible Micropost Arrays for Shear Stress Measurement

Increased fuel costs, heightened environmental protection requirements, and noise abatement continue to place drag reduction at the forefront of aerospace research priorities. Unfortunately, shortfalls still exist in the fundamental understanding of boundary-layer airflow over aerodynamic surfaces, especially regarding drag arising from skin friction. For example, there is insufficient availability of instrumentation to adequately characterize complex flows with strong pressure gradients, heat transfer, wall mass flux, three-dimensionality, separation, shock waves, and transient phenomena. One example is the acoustic liner efficacy on aircraft engine nacelle walls. Active measurement of shear stress in boundary layer airflow would enable a better understanding of how aircraft structure and flight dynamics affect skin friction. Current shear stress measurement techniques suffer from reliability, complexity, and airflow disruption, thereby compromising resultant shear stress data. The state-of-the-art for shear stress sensing uses indirect or direct measurement techniques. Indirect measurements (e.g., hot-wire, heat flux gages, oil interferometry, laser Doppler anemometry, small scale pressure drag surfaces, i.e., fences) require intricate knowledge of the studied flow, restrictive instrument arrangements, large surface areas, flow disruption, or seeding material; with smaller, higher bandwidth probes under development. Direct measurements involve strain displacement of a sensor element and require no prior knowledge of the flow. Unfortunately, conventional "floating" recessed components for direct measurements are mm to cm in size. Whispering gallery mode devices and Fiber Bragg Gratings are examples of recent additions to this type of sensor with much smaller (m) sensor components. Direct detection techniques are often single point measurements and difficult to calibrate and implement in wind tunnel experiments. In addition, the wiring, packaging, and installation of delicate micro-electromechanical devices impede the use of most direct shear sensors. Similarly, the cavity required for sensing element displacement is sensitive to particulate obstruction. This work was focused on developing a shear stress sensor for use in subsonic wind tunnel test facilities applicable to an array of test configurations. The non-displacement shear sensors described here have minimal packaging requirements resulting in minimal or no disturbance of boundary layer flow. Compared to previous concepts, device installation could be simple with reduced cost and down-time. The novelty lies in the creation of low profile (nanoscale to 100 μm) micropost arrays that stay within the viscous sub-layer of the airflow. Aerodynamic forces, which are related to the surface shear stress, cause post deflection and optical property changes. Ultimately, a reliable, accurate shear stress sensor that does not disrupt the airflow has the potential to provide high value data for flow physics researchers, aerodynamicists, and aircraft manufacturers leading to greater flight efficiency arising from more in-depth knowledge on how aircraft design impacts near surface properties.

Wohl, Christopher J.↗
NASA NTRS2014

Data Analysis & Statistical Methods for Command File Errors

This paper explains current work on modeling for managing the risk of command file errors. It is focused on analyzing actual data from a JPL spaceflight mission to build models for evaluating and predicting error rates as a function of several key variables. We constructed a rich dataset by considering the number of errors, the number of files radiated, including the number commands and blocks in each file, as well as subjective estimates of workload and operational novelty. We have assessed these data using different curve fitting and distribution fitting techniques, such as multiple regression analysis, and maximum likelihood estimation to see how much of the variability in the error rates can be explained with these. We have also used goodness of fit testing strategies and principal component analysis to further assess our data. Finally, we constructed a model of expected error rates based on the what these statistics bore out as critical drivers to the error rate. This model allows project management to evaluate the error rate against a theoretically expected rate as well as anticipate future error rates.

Correlation Analysis↗
NASA NTRS2016

Heuristics for Relevancy Ranking of Earth Dataset Search Results

As the Variety of Earth science datasets increases, science researchers find it more challenging to discover and select the datasets that best fit their needs. The most common way of search providers to address this problem is to rank the datasets returned for a query by their likely relevance to the user. Large web page search engines typically use text matching supplemented with reverse link counts, semantic annotations and user intent modeling. However, this produces uneven results when applied to dataset metadata records simply externalized as a web page. Fortunately, data and search provides have decades of experience in serving data user communities, allowing them to form heuristics that leverage the structure in the metadata together with knowledge about the user community. Some of these heuristics include specific ways of matching the user input to the essential measurements in the dataset and determining overlaps of time range and spatial areas. Heuristics based on the novelty of the datasets can prioritize later, better versions of data over similar predecessors. And knowledge of how different user types and communities use data can be brought to bear in cases where characteristics of the user (discipline, expertise) or their intent (applications, research) can be divined. The Earth Observing System Data and Information System has begun implementing some of these heuristics in the relevancy algorithm of its Common Metadata Repository search engine.

science data management↗
NASA NTRS2016

High Temperature Thermoplastic Additive Manufacturing Using Low-Cost, Open-Source Hardware

Additive manufacturing (or 3D printing) via Fused Filament Fabrication (FFF), also known as Fused Deposition Modeling (FDM), is a process where material is placed in specific locations layer-by-layer to create a complete part. Printers designed for FFF build parts by extruding a thermoplastic filament from a nozzle in a predetermined path. Originally developed for commercial printers, 3D printing via FFF has become accessible to a much larger community of users since the introduction of Reprap printers. These low-cost, desktop machines are typically used to print prototype parts or novelty items. As the adoption of desktop sized 3D printers broadens, there is increased demand for these machines to produce functional parts that can withstand harsher conditions such as high temperature and mechanical loads. Materials meeting these requirements tend to possess better mechanical properties and higher glass transition temperatures (Tg), thus requiring printers with high temperature printing capability. This report outlines the problems and solutions, and includes a detailed description of the machine design, printing parameters, and processes specific to high temperature thermoplastic 3D printing.

Gardner, John M.↗
NASA NTRS2017

Relevancy Ranking of Satellite Dataset Search Results

As the Variety of Earth science datasets increases, science researchers find it more challenging to discover and select the datasets that best fit their needs. The most common way of search providers to address this problem is to rank the datasets returned for a query by their likely relevance to the user. Large web page search engines typically use text matching supplemented with reverse link counts, semantic annotations and user intent modeling. However, this produces uneven results when applied to dataset metadata records simply externalized as a web page. Fortunately, data and search provides have decades of experience in serving data user communities, allowing them to form heuristics that leverage the structure in the metadata together with knowledge about the user community. Some of these heuristics include specific ways of matching the user input to the essential measurements in the dataset and determining overlaps of time range and spatial areas. Heuristics based on the novelty of the datasets can prioritize later, better versions of data over similar predecessors. And knowledge of how different user types and communities use data can be brought to bear in cases where characteristics of the user (discipline, expertise) or their intent (applications, research) can be divined. The Earth Observing System Data and Information System has begun implementing some of these heuristics in the relevancy algorithm of its Common Metadata Repository search engine.

science data management↗
NASA NTRS2017

Developmental Research in Space: Predicting Adult Neurobehavioral Phenotypes via Metabolomic Imaging

As human habitation and eventual colonization of space becomes an inevitable reality, there is a necessity to understand how organisms develop over the life span in the space environment. Microgravity, altered CO2, radiation and psychological stress are some of the key factors that could affect mammalian reproduction and development in space, however there is a paucity of information on this topic. Here we combine early (neonatal) in vivo spectroscopic imaging with an adult emotionality assay following a common obstetric complication (prenatal asphyxia) likely to occur during gestation in space. The neural metabolome is sensitive to alteration by degenerative changes and developmental disorders, thus we hypothesized that that early neonatal neurometabolite profiles can predict adult response to novelty. Late gestation fetal rats were exposed to moderate asphyxia by occluding the blood supply feeding one of the rats pair uterine horns for 15min. Blood supply to the opposite horn was not occluded (within-litter cesarean control). Further comparisons were made with vaginal (natural) birth controls. In one-week old neonates, we measured neurometabolites in three brain areas (i.e., striatum, prefrontal cortex, and hippocampus). Adult perinatally-asphyxiated offspring exhibited greater anxiety-like behavioral phenotypes (as measured the composite neurobehavioral assay involving open field activity, responses to novel object, quantification of fecal droppings, and resident-intruder tests of social behavior). Further, early neurometabolite profiles predicted adult responses. Non-invasive MRS screening of mammalian offspring is likely to advance ground-based space analogue studies informing mammalian reproduction in space, and achieving high-priority multigenerational research that will enable studies of the first truly space-developed mammals.

Schorn, Julia M.↗
NASA NTRS2017

Genetic Algorithm-Guided, Adaptive Model Order Reduction of Flexible Aircrafts

This paper presents a methodology for automated model order reduction (MOR) of flexible aircrafts to construct linear parameter-varying (LPV) reduced order models (ROM) for aeroservoelasticity (ASE) analysis and control synthesis in broad flight parameter space. The novelty includes utilization of genetic algorithms (GAs) to automatically determine the states for reduction while minimizing the trial-and-error process and heuristics requirement to perform MOR; balanced truncation for unstable systems to achieve locally optimal realization of the full model; congruence transformation for "weak" fulfillment of state consistency across the entire flight parameter space; and ROM interpolation based on adaptive grid refinement to generate a globally functional LPV ASE ROM. The methodology is applied to the X-56A MUTT model currently being tested at NASA/AFRC for flutter suppression and gust load alleviation. Our studies indicate that X-56A ROM with less than one-seventh the number of states relative to the original model is able to accurately predict system response among all input-output channels for pitch, roll, and ASE control at various flight conditions. The GA-guided approach exceeds manual and empirical state selection in terms of efficiency and accuracy. The adaptive refinement allows selective addition of the grid points in the parameter space where flight dynamics varies dramatically to enhance interpolation accuracy without over-burdening controller synthesis and onboard memory efforts downstream. The present MOR framework can be used by control engineers for robust ASE controller synthesis and novel vehicle design.

Numerical Analysi↗
NASA NTRS2017

Developmental Research in Space: Predicting Adult Neurobehavioral Phenotypes via Metabolomic Imaging

As human habitation and eventual colonization of space becomes an inevitable reality, there is a necessity to understand how organisms develop over the life span in the space environment. Microgravity, altered CO2, radiation and psychological stress are some of the key factors that could affect mammalian reproduction and development in space, however there is a paucity of information on this topic. Here we combine early (neonatal) in vivo spectroscopic imaging with an adult emotionality assay following a common obstetric complication (prenatal asphyxia) likely to occur during gestation in space. The neural metabolome is sensitive to alteration by degenerative changes and developmental disorders, thus we hypothesized that that early neonatal neurometabolite profiles can predict adult response to novelty. Late gestation fetal rats were exposed to moderate asphyxia by occluding the blood supply feeding one of the rats pair uterine horns for 15min. Blood supply to the opposite horn was not occluded (within-litter cesarean control). Further comparisons were made with vaginal (natural) birth controls. In one-week old neonates, we measured neurometabolites in three brain areas (i.e., striatum, prefrontal cortex, and hippocampus). Adult perinatally-asphyxiated offspring exhibited greater anxiety-like behavioral phenotypes (as measured the composite neurobehavioral assay involving open field activity, responses to novel object, quantification of fecal droppings, and resident-intruder tests of social behavior). Further, early neurometabolite profiles predicted adult responses. Non-invasive MRS screening of mammalian offspring is likely to advance ground-based space analogue studies informing mammalian reproduction in space, and achieving high-priority.

rodent development spacefligh↗
NASA NTRS2014

Ghost Imaging of Space Objects

would like to summarize that our "Ghost Imaging of Space Objects" NIAC research effort was successful. As anticipated, its main return has been the newly acquired knowledge and the understanding of the pathways that lead from this knowledge to its applications in observational astronomy. During this research we came across several fundamental insights that were not expected at the beginning. We came to realize that the ghost imaging of dark objects using background thermal light can be treated as a special case of Hanbury Brown and Twiss intensity interferometry in combination with the Babinet's principle for higher-order observables. Extensive recent work performed in this field by other research groups worldwide might seem to detract from the conceptual originality and novelty of our approach; but at the same time it serves as an encouraging indication that the chosen approach is acknowledged in the broader science community as promising. This newly found synergy, acknowledged in the CTA newsletter from May 2014 reporting on the Workshop on Hanbury Brown and Twiss interferometry in Nice, makes us confident that our published and otherwise disseminated results will be integrated into a larger-scale on-going research effort aimed at performing astronomy observations of both bright and dark objects with unparalleled resolution. While we are satisfied with acceptance of our results by the international research community as a contribution to the field of intensity interferometry as well as to the on-going mission-oriented projects, we also have been aiming at receiving support to continue and advance this research at JPL. Several proposals have been submitted in pursuit of this goal. Three of them are still under consideration, and we expect to learn about the funding decisions soon. These new projects would leverage the results of this NIAC study and extend it along well-defined directions that have been discussed above. Shifting the main paradigm of our approach towards intensity interferometry entailed another important realization, that the actual imaging of dark objects, in a sense of mapping the column optical density distribution, is possible by using known numerical techniques, such as the Gerchberg-Saxton approach. This insight was also unanticipated in the beginning and caused a shift of the research focus from the initial plan. While this focus shift has been well-justified and fruitful, it has left several issues unexplored. Some of these issues, too, are included in the future research proposals.

Optics↗
NASA NTRS2017

Environmental Enrichment in the ISS Rodent Habitat Hardware System

Responses of animals exposed to microgravity during in-space experiments were observed via available video recording stored in the NASA Ames Life Sciences Data Archive. These documented observations of animal behavior, as well as the range and level of activities during spaceflight, demonstrate that weightlessness conditions and the extreme novelty of the surroundings may exert damaging psychological stresses on the inhabitants. In response to a recognized need for in-flight animals to improve their wellbeing we propose to reduce such stresses by shaping and interrelating structures and surroundings to satisfying vital physiological needs of inhabitants. A Rodent Habitat Hardware System (RHHS) based housing facility incorporating a tubing network system, to maintain and monitor rodent health environment with advanced accessories has been proposed. Placing mice in a tubing-configured environment creates more natural space-restricted nesting environment for rodents, thereby facilitating a more comfortable transition to living in microgravity. A sectional tubing structure of the RHHS environment will be more beneficial under microgravity conditions than the provision of a larger space area that is currently utilized. The new tubing configuration was found suitable for further incorporation of innovative monitoring technology and accessories in the animal holding habitat unit which allow to monitor in real-time monitoring of valuable health related biological parameters under weightlessness environment of spaceflight.

modifications↗
NASA NTRS2019

Demonstration Testing for Ground Servicing of the Commercial Crew Vehicle Emergency Breathing Air Assembly

The new Commercial crew vehicle (CCV) Breathing Air Assembly (CEBAA) is a Composite Overwrapped Pressure Vessel (COPV) filled with high-pressure air, which is designed to provide portable emergency breathing air for up to five crew in the event of an ammonia leak aboard the International Space Station (ISS). Industrially, several common methods of delivering breathing air exist; however, ground processing constraints and flight requirements necessitate the more unusual approach of servicing a COPV with high purity gaseous nitrogen and oxygen serially to achieve a specific mixture of breathing air at approximately 4000 PSIA. A dwell period allows the gases to mix before sampling for composition verification. The novelty of this approach led to concerns about acceptable gas mixing and the ability to deliver accurate gas compositions. Tests examining mixing rate over a series of post-servicing dwell periods were conducted to determine the optimal time for achieving a homogeneous mixture. Further testing was conducted to examine process accuracy using temperature-pressure load criteria to target a specific concentration of oxygen and nitrogen. Test results show that while some stratification of nitrogen and oxygen was observed, a seven-day dwell is adequate time to achieve an acceptable level of mixing, and that existing ground support equipment can accurately service CEBAA COPVs to the required temperature, pressure and composition for flight.

Active Thermal↗
NASA NTRS2019

Demonstration Testing for Ground Servicing of the Commercial Crew Vehicle Emergency Breathing Air Assembly

The new Commercial crew vehicle (CCV) Emergency Breathing Air Assembly (CEBAA) is a Composite Overwrapped Pressure Vessel (COPV) filled with high-pressure air, which is designed to provide portable emergency breathing air for up to five crew in the event of an ammonia leak aboard the International Space Station (ISS). Industrially, several common methods of delivering breathing air exist; however, ground processing constraints and flight requirements necessitate the more unusual approach of servicing a COPV with high purity gaseous nitrogen and oxygen serially to achieve a specific mixture of breathing air at approximately 4000 PSIA. A dwell period allows the gases to mix before sampling for composition verification. The novelty of this approach led to concerns about acceptable gas mixing and the ability to deliver accurate gas compositions. Tests examining mixing rate over a series of post-servicing dwell periods were conducted to determine the optimal time for achieving a homogeneous mixture. Further testing was conducted to examine process accuracy using temperature-pressure load criteria to target a specific concentration of oxygen and nitrogen. Test results show that while some stratification of nitrogen and oxygen was observed, a seven-day dwell is adequate time to achieve an acceptable level of mixing, and that existing ground support equipment can accurately service CEBAA COPVs to the required temperature, pressure and composition for flight.

Active Thermal↗
NASA NTRS2016

Environmental Enrichment in the ISS Rodent Habitat Hardware System

Responses of animals exposed to microgravity during in-space experiments were reviewed from NASAs and ESA available video recording archives. These documented observation of animal behavior, as well as the range and level of activities during spaceflight, clearly demonstrate that weightlessness conditions and the extreme novelty of the surroundings exert damaging psychological stresses on the inhabitants. In response to a recognized need for in-flight animals to improve their wellbeing we propose to reduce such stresses by shaping and interrelating structures and surroundings to satisfying vital physiological needs of inhabitants. Rodent Habitat Hardware System based housing facility incorporating a tubing network system, to maintain and monitor rodent health environment with advanced accessories has been proposed. The new tubing configuration was found suitable for further incorporation of innovative monitoring technology and accessories in the animal holding habitat unit which allow to monitor in real-time the most valuable health related biological parameter under weightlessness environment of spaceflight.

Orr, Sophie↗
NASA NTRSDate not supplied

An Automated Meshing Framework for Progressive Damage Analysis of Fabrics Using CompDam

A meshing and model construction framework for progressive damage analysis of fabric composites is proposed. A mesoscale idealization is used such that the fiber tows are considered homogeneous and transversely isotropic continua, and the matrix is a homogeneous isotropic continuum. By using this idealization, relatively mature damage modeling techniques developed for laminates of unidirectional plies are transferrable to fabrics. Cohesive interface elements and a continuum damage mechanics (CDM) model implemented in the software CompDam are used to account for the key damage modes including cracking at the tow/matrix interface, transverse matrix cracking in the tows, and fiber breakage in the tows. Matrix degradation is accounted for by plasticity. The modeling approach is demonstrated for a 3D orthogonal woven fabric. The main novelty of the proposed model construction framework is in its flexibility resulting from a formulation that is agnostic to the fabric architecture and implementation using mesh based operations. The algorithm does not make any assumptions about the tow sizes, shape, path, or proximity to other tows, thus it is applicable to a broad range of fabric architectures. The matrix region mesh surrounding the tows is constructed from domain boundary and tow surface meshes (i.e. through a series of mesh-based operations) such that the model domain can be arbitrarily shaped.

Andrew Cole Bergan↗
NASA NTRS2020

Optimized Profile Retrievals of Aerosol Microphysical Properties from Simulated Spaceborne Multiwavelength Lidar

This work is an expanded study of one previously published onretrievals of aerosol microphysical properties from space-borne multiwavelengthlidarmeasurements. The earlier studiesand this one weredone in the framework of the NASA Aerosol-Clouds-Ecosystems (now the Aerosol Clouds Convection and Precipitation) NASA mission. The focus here is on the capabilities of a simulated spacebornemultiwavelengthlidar system for retrieving aerosol complex refractive index (m = mr+ imi) and spectral single scattering albedo (SSA(λ)), although other bulk parameters such as effective (reff) radius and particle volume (V) and surface (S) concentrations are also studied. The novelty presented here is the use of recently published, case dependent optimized-constraints on the microphysical retrievals using three backscattering coefficients (β) at 355, 532 and 1064 nm and two extinction coefficients (α) at 355 and 532 nm, typically known as the stand-alone 3β+2α lidar inversion. Case-dependent optimized-constraints (CDOC) limit the ranges of refractive index, both real (mr) and imaginary (mi) parts, and of radii that are permitted in the retrievals. Such constraints are selected directly from the 3β+2α41measurements through an analysis of the relationship between spectral dependence of aerosol extinction-to-backscatter ratios (LR) and the Ångström exponent of extinction. The analyses presented here for different sets ofsize distributions and refractive indices reveal that the direct determination of CDOCareonly feasible for cases where the uncertaintiesin the input optical data areless than 15 %.Forthe same simulated spacebornesystem and yield than in Whiteman et al., (2018), we demonstrated that the use of CDOC as essential for the retrievals of refractive index and also largely improved retrieval of bulk parameters. A discussion of the global representativeness of CDOC is presented using simulated lidar data from a 24-hour satellite track using GEOS model output to initialize the lidar simulator.We found that CDOCare representative of many aerosol mixtures in spite of some outliers (e.g. highly hydrated particles) associatedwith the assumptions of bimodal size distributions and of the same refractive index for fine and coarse modes. Moreover, sensitivity tests performed using synthetic data reveal that retrievals of imaginary refractive index (mi) and SSA are extremely sensitive to β(355).

NASA Aerosol-Clouds-Ecosystems↗
NASA NTRSDate not supplied

The System Modeling and Analysis of Resiliency in STEReO (SMARt-STEReO)

NASA's Scalable Traffic Management for Emergency Response Operations (STEReO) project aims to leverage Unmanned Aerial Systems (UAS) and UAS Traffic Management (UTM) to improve asset coordination and overall emergency response. One application of STEReO is wildfire response, which is the focus of this research. In order to implement the operations described in the STEReO project, these additions must have tangible benefits and proven safety. To this end, the System Modeling and Analysis of Resiliency in STEReO (SMARt-STEReO) project constructs a simulation model, developed through the Python modeling and resiliency analysis package fmdtools. The model describes wildfire response operations, including current operational concepts and emerging concepts utilizing UAS as described in STEReO. While previous simulation models focus primarily on fire propagation with some models including emergency response intervention, SMART-STEReO evaluates the system performance and resilience benefits gained by the addition of UAS and UTM. Due to the novelty and complexity of the model, initial model verification and validation efforts are conducted and a detailed description of the model is provided. Preliminary results from experimental analysis on the SMARt-STEReO model indicate that when compared to current operations, the addition of UAS in wildfire operations results in improved response efforts, in terms of fewer acres burned, as well as improved system resilience in response to a given fault.

Sequoia Andrade↗
NASA NTRSDate not supplied

Higher-Order Approximations for Stabilizing Zero-Energy Modes in Peridynamics Crystal Plasticity Models with Large Horizon Interactions

The non-ordinary state-based peridynamics theory combines non-local dynamic techniques with a desirable correspondence material principle, allowing for the use of continuum mechanics constitutive models. Such an approach presents a unique capability for solving problems involving discontinuities (e.g., strain localization, fracture, and fragmentation). However, the correspondence-based peridynamics models often suffer from zero-energy mode instabilities in numerical implementation, primarily due to the approximations of the non-local deformation gradient tensor. This paper focuses on a computational scheme for eliminating the zero-energy mode oscillations using a choice of influence functions that improve the truncation error in a higher-order Taylor series expansion of the deformation gradient. The novelty here is a tensor-based derivation of the linear constraint equations, which can be used to systematically identify the particle interaction weight functions for various user-specified horizon radii. In this paper, the proposed higher-order stabilization scheme is demonstrated for multi-dimensional examples involving polycrystalline and composite microstructures, along with comparisons against conventional finite element methods. The proposed stabilization scheme is shown to be highly effective in suppressing the spurious zero-energy mode oscillations in all numerical examples while enabling efficient simulations of strain localizations across material interfaces.

Non-Ordinary State-Based Peridynamics↗
NASA NTRS2022

Cockpit Interface for Locomotion and Manipulation Control of the NASA Valkyrie Humanoid in Virtual Reality (VR)

A virtual reality (VR) interface is presented for controlling NASA’s Valkyrie humanoid robot with flexible locomotion control options and intuitive teleoperation. Locomotion modes include navigating to a specified waypoint, sending desired velocities with a joystick, or manually placing a sequence of footsteps. On the other hand, teleoperation modes include voice commands to toggle relative whole-body tracking or high-level commandeering, and key bindings for common stored poses such as power grasps. The primary novelties of the interface are in the implementation of the cockpit mode and a floating augmented reality (AR) screen fixed with respect to the robot. The former enables embodied teleoperation and increased awareness during navigation in a mixed-reality setting. The latter preserves depth perception without the disparity clutter from a stereo point cloud. The interface is demonstrated on two real humanoids performing common explosive ordnance disposal (EOD) tasks such as door opening, vehicle inspection, and disruptor placement. Notably, the interface enables a single operator to control multiple humanoids. While the interface is motivated by EOD missions, the presented ideas are usable for other robots employing VR-based control.

Virtual-reality↗