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NASA NTRS1992

USRA/RIACS

The Research Institute for Advanced Computer Science (RIACS) was established by the Universities Space Research Association (USRA) at the NASA Ames Research Center (ARC) on 6 June 1983. RIACS is privately operated by USRA, a consortium of universities with research programs in the aerospace sciences, under a cooperative agreement with NASA. The primary mission of RIACS is to provide research and expertise in computer science and scientific computing to support the scientific missions of NASA ARC. The research carried out at RIACS must change its emphasis from year to year in response to NASA ARC's changing needs and technological opportunities. A flexible scientific staff is provided through a university faculty visitor program, a post doctoral program, and a student visitor program. Not only does this provide appropriate expertise but it also introduces scientists outside of NASA to NASA problems. A small group of core RIACS staff provides continuity and interacts with an ARC technical monitor and scientific advisory group to determine the RIACS mission. RIACS activities are reviewed and monitored by a USRA advisory council and ARC technical monitor. Research at RIACS is currently being done in the following areas: Parallel Computing; Advanced Methods for Scientific Computing; Learning Systems; High Performance Networks and Technology; Graphics, Visualization, and Virtual Environments.

Oliger, Joseph↗

NASA NTRS1992

The distributed virtual windtunnel

An implementation of a distributed virtual environment for the shared interactive visualization of large unsteady three-dimensional flowfields is described. Computation of the visualizations is performed on a Convex C3240 computer, and the visualization data are transferred over a high-speed network to a Silicon Graphics Iris workstation for rendering. A boom-mounted six-degree-of-freedom head-position-sensitive stereo CRT (cathode ray tube) system is used for display. A hand-position-sensitive glove controller is used for controlling various tracers for the visualization of the flow. User commands are sent to the Convex, which interprets these commands and computes the corresponding visualization. With this architecture, several users may share and cooperatively control the visualization generated by the Convex. The distributed architecture is also interesting to those using conventional screen and mouse interfaces.

Bryson, Steve↗

NASA NTRS1991

Tactual interfaces: The human perceiver

Increasingly complex human-machine interactions, such as in teleoperation or in virtual environments, have necessitated the optimal use of the human tactual channel for information transfer. This need leads to a demand for a basic understanding of how the human tactual system works, so that the tactual interface between the human and the machine can receive the command signals from the human, as well as display the information to the human, in a manner that appears natural to the human. The tactual information consists of two components: (1) contact information which specifies the nature of direct contact with the object; and (2) kinesthetic information which refers to the position and motion of the limbs. This paper is mostly concerned with contact information.

Srinivasan, M. A.↗

NASA NTRS1991

The display of tactile information

There are a number of examples of natural tactile displays that can five us some insights about the solid geometry of touch, and recent experimental work on the subject has extended our thinking considerably. The concern of here is, however, more with synthetic or artificial displays for the production of a virtual environment. Features of synthetic displays that have enjoyed some success in one of the following two enterprises are discussed: the study of the spatio-temporal dimensions of stimuli that afford accurate and rapid processing of environmental information, or the use of displays in the design of sensory aids for disabled persons.

Sherrick, Carl E.↗

NASA NTRS1991

The Teleprasenz Consortium: Structure and intentions

The Teleprasenz-Consortium is an open group of currently 37 scientists of different disciplines who devote a major part of their research activities to the foundations of telepresence technology. Telepresence technology is basically understood as a means to bridge spatial and temporal gaps as well as certain kinds of concealment, inaccessibility and danger of exposure. The activities of the consortium are organized into three main branches: virtual environment, surveillance and control systems, and speech and language technology. A brief summary of the main activities in these areas is given.

Blauert, Jens↗

NASA NTRS1991

A high performance two degree-of-freedom kinesthetic interface

This summary focuses on the kinesthetic interface of a virtual environment system that was developed at the Newman Laboratory for Biomechanics and Human Rehabilitation at M.I.T. for the study of manual control in both motorically impaired and able-bodied individuals.

Adelstein, Bernard D.↗

NASA NTRS1991

A physical control interface with proprioceptive feedback and multiple degrees of freedom

The use of the drug thalidomide by pregnant mothers in Britain resulted in a variety of deformities including the birth of children having no arms. Such children were provided with powered artificial arms with up to five degrees of freedom simultaneously controlled in real time by shoulder movement. The physiological sense of proprioception was extended from the user into the device, reducing the need for visual feedback and conscious control. With the banning of thalidomide, this technique fell into disuse but it is now being re-examined as a control mechanism for other artificial limbs and it may have other medical applications to allow patients to control formerly paralyzed limbs moved by electrical stimulation. It may also have commercial applications in robotic manipulation or physical interaction with virtual environments. To allow it to be investigated further, the original pneumatic control system has recently been converted to an electrical analogue to allow interfacing to electronic and computer-assisted systems. A harness incorporates force-sensitive resistors and linear potentiomenters for sensing position and force at the interface with the skin, and miniature electric motors and lead screws for feeding back to the user the position of the robotic arm and the forces applied to it. In the present system, control is applied to four degrees of freedom using elevation/depression and protraction/reaction of each shoulder so that each collar bone emulates a joystick. However, both electrical and mechanical components have been built in modular form to allow rapid replication and testing of a variety of force and position control strategies.

Creasey, G. H.↗

NASA NTRS1991

Human-machine interface hardware: The next decade

In order to understand where human-machine interface hardware is headed, it is important to understand where we are today, how we got there, and what our goals for the future are. As computers become more capable, faster, and programs become more sophisticated, it becomes apparent that the interface hardware is the key to an exciting future in computing. How can a user interact and control a seemingly limitless array of parameters effectively? Today, the answer is most often a limitless array of controls. The link between these controls and human sensory motor capabilities does not utilize existing human capabilities to their full extent. Interface hardware for teleoperation and virtual environments is now facing a crossroad in design. Therefore, we as developers need to explore how the combination of interface hardware, human capabilities, and user experience can be blended to get the best performance today and in the future.

Marcus, Elizabeth A.↗

NASA NTRS1991

Manual discrimination of force

Optimal design of human-machine interfaces for teleoperators and virtual-environment systems which involve the tactual and kinesthetic modalities requires knowledge of the human's resolving power in these modalities. The resolution of the interface should be appropriately matched to that of the human operator. We report some preliminary results on the ability of the human hand to distinguish small differences in force under a variety of conditions. Experiments were conducted on force discrimination with the thumb pushing an interface that exerts a constant force over the pushing distance and the index finger pressing against a fixed support. The dependence of the sensitivity index d' on force increment can be fit by a straight line through the origin and the just-noticeable difference (JND) in force can thus be described by the inverse of the slope of this line. The receiver operating characteristic (ROC) was measured by varying the a priori probabilities of the two alternatives, reference force and reference force plus an increment, in one-interval, two-alternative, forced-choice experiments. When plotted on normal deviate coordinates, the ROC's were roughly straight lines of unit slope, thus supporting the assumption of equal-variance normal distributions and the use of the conventional d' measure. The JND was roughly 6-8 percent for reference force ranging from 2.5 to 10 newtons, pushing distance from 5 to 30 mm, and initial finger-span from 45 to 125 mm. Also, the JND remained the same when the subjects were instructed to change the average speed of pushing from 23 to 153 mm/sec. The pushing was terminated by reaching either a wall or a well, and the JND's were essentially the same in both cases.

Pang, Xiao-Dong↗

NASA NTRS1993

Marshall Space Flight Center's Virtual Reality Applications Program 1993

A Virtual Reality (VR) applications program has been under development at the Marshall Space Flight Center (MSFC) since 1989. Other NASA Centers, most notably Ames Research Center (ARC), have contributed to the development of the VR enabling technologies and VR systems. This VR technology development has now reached a level of maturity where specific applications of VR as a tool can be considered. The objectives of the MSFC VR Applications Program are to develop, validate, and utilize VR as a Human Factors design and operations analysis tool and to assess and evaluate VR as a tool in other applications (e.g., training, operations development, mission support, teleoperations planning, etc.). The long-term goals of this technology program is to enable specialized Human Factors analyses earlier in the hardware and operations development process and develop more effective training and mission support systems. The capability to perform specialized Human Factors analyses earlier in the hardware and operations development process is required to better refine and validate requirements during the requirements definition phase. This leads to a more efficient design process where perturbations caused by late-occurring requirements changes are minimized. A validated set of VR analytical tools must be developed to enable a more efficient process for the design and development of space systems and operations. Similarly, training and mission support systems must exploit state-of-the-art computer-based technologies to maximize training effectiveness and enhance mission support. The approach of the VR Applications Program is to develop and validate appropriate virtual environments and associated object kinematic and behavior attributes for specific classes of applications. These application-specific environments and associated simulations will be validated, where possible, through empirical comparisons with existing, accepted tools and methodologies. These validated VR analytical tools will then be available for use in the design and development of space systems and operations and in training and mission support systems.

Hale, Joseph P., II↗

NASA NTRS1993

MACH 3: Past and future approaches to intelligent tutoring

In 1986, the U.S. Army Research Institute created an intelligent tutoring system as a proof-of-concept for artificial intelligence applications in Army training. The Maintenance Aid Computer HAWK Intelligent Institutional Instructor (MACH 3) taught student mechanics to maintain and troubleshoot the AN/MPQ-57 High Power Illuminator Radar (HPIR) of the HAWK Air Defense Missile System. In 1989, TRADOC Analysis Command compared the effectiveness of MACH 3 to traditional paper-based troubleshooting drills. For the study, all students received lecture and hands-on training as usual. However, during troubleshooting drills, students traced faults using either MACH 3 or the traditional paper-based method. Class records showed that the MACH 3 group completed significantly more troubleshooting tasks and progressed through tasks of greater difficulty than the paper-based group. Upon completion of training, students took written, practical, and oral essay tests. Mean test scores showed that students performed similarly regardless of the drill method used. However, significantly different standard deviations showed that the MACH 3 group performed more consistently than the paper-based group. Furthermore, significantly different time measures showed that the MACH 3 group reached faster troubleshooting solutions on the actual radar transmitter than the paper-based group. We will present the study results and discuss how updating the design of the MACH 3 can include desktop computing in a virtual environment.

Acchione-Noel, Sylvia↗

NASA NTRS1993

Living Color Frame System: PC graphics tool for data visualization

Living Color Frame System (LCFS) is a personal computer software tool for generating real-time graphics applications. It is highly applicable for a wide range of data visualization in virtual environment applications. Engineers often use computer graphics to enhance the interpretation of data under observation. These graphics become more complicated when 'run time' animations are required, such as found in many typical modern artificial intelligence and expert systems. Living Color Frame System solves many of these real-time graphics problems.

Truong, Long V.↗

NASA NTRS1996

Inertial Head-Tracker Sensor Fusion by a Complementary Separate-Bias Kalman Filter

Current virtual environment and teleoperator applications are hampered by the need for an accurate, quick-responding head-tracking system with a large working volume. Gyroscopic orientation sensors can overcome problems with jitter, latency, interference, line-of-sight obscurations, and limited range, but suffer from slow drift. Gravimetric inclinometers can detect attitude without drifting, but are slow and sensitive to transverse accelerations. This paper describes the design of a Kalman filter to integrate the data from these two types of sensors in order to achieve the excellent dynamic response of an inertial system without drift, and without the acceleration sensitivity of inclinometers.

Foxlin, Eric↗

NASA NTRS1996

A convertor and user interface to import CAD files into worldtoolkit virtual reality systems

Virtual Reality (VR) is a rapidly developing human-to-computer interface technology. VR can be considered as a three-dimensional computer-generated Virtual World (VW) which can sense particular aspects of a user's behavior, allow the user to manipulate the objects interactively, and render the VW at real-time accordingly. The user is totally immersed in the virtual world and feel the sense of transforming into that VW. NASA/MSFC Computer Application Virtual Environments (CAVE) has been developing the space-related VR applications since 1990. The VR systems in CAVE lab are based on VPL RB2 system which consists of a VPL RB2 control tower, an LX eyephone, an Isotrak polhemus sensor, two Fastrak polhemus sensors, a folk of Bird sensor, and two VPL DG2 DataGloves. A dynamics animator called Body Electric from VPL is used as the control system to interface with all the input/output devices and to provide the network communications as well as VR programming environment. The RB2 Swivel 3D is used as the modelling program to construct the VW's. A severe limitation of the VPL VR system is the use of RB2 Swivel 3D, which restricts the files to a maximum of 1020 objects and doesn't have the advanced graphics texture mapping. The other limitation is that the VPL VR system is a turn-key system which does not provide the flexibility for user to add new sensors and C language interface. Recently, NASA/MSFC CAVE lab provides VR systems built on Sense8 WorldToolKit (WTK) which is a C library for creating VR development environments. WTK provides device drivers for most of the sensors and eyephones available on the VR market. WTK accepts several CAD file formats, such as Sense8 Neutral File Format, AutoCAD DXF and 3D Studio file format, Wave Front OBJ file format, VideoScape GEO file format, Intergraph EMS stereolithographics and CATIA Stereolithographics STL file formats. WTK functions are object-oriented in their naming convention, are grouped into classes, and provide easy C language interface. Using a CAD or modelling program to build a VW for WTK VR applications, we typically construct the stationary universe with all the geometric objects except the dynamic objects, and create each dynamic object in an individual file.

Wang, Peter Hor-Ching↗

NASA NTRS1995

The design of pictorial instruments

An historical overview of the development and design of pictorial displays is presented with particular emphasis on the research related to civilian aerospace applications carried out at the Ames Research Center. The use of geometric and symbolic enhancements to counteract the inherent ambiguities in perspective projections is discussed with reference to an aircraft traffic display application. Current design and perceptual issues related to head-mounted systems for virtual environment simulation and telepresence displays are also discussed. Finally, the importance of incorporating error display and control in the design of pictorial displays is addressed in the context of an orbital maneuver planning application.

Ellis, Stephen R.↗

NASA NTRS1995

Alternative display and interaction devices

While virtual environment systems are typically thought to consist of a head mounted display and a flex-sensing glove, alternative peripheral devices are beginning to be developed in response to application requirements. Three such alternatives are discussed: fingertip sensing gloves, fixed stereoscopic viewers, and counterbalanced head mounted displays. A subset of commercial examples that highlight each alternative is presented as well as a brief discussion of interesting engineering and implementation issues.

Bolas, M. T.↗

NASA NTRS1995

How far away is plug 'n' play? Assessing the near-term potential of sonification and auditory display

The commercial music industry offers a broad range of plug 'n' play hardware and software scaled to music professionals and scaled to a broad consumer market. The principles of sound synthesis utilized in these products are relevant to application in virtual environments (VE). However, the closed architectures used in commercial music synthesizers are prohibitive to low-level control during real-time rendering, and the algorithms and sounds themselves are not standardized from product to product. To bring sound into VE requires a new generation of open architectures designed for human-controlled performance from interfaces embedded in immersive environments. This presentation addresses the state of the sonic arts in scientific computing and VE, analyzes research challenges facing sound computation, and offers suggestions regarding tools we might expect to become available during the next few years. A list of classes of audio functionality in VE includes sonification -- the use of sound to represent data from numerical models; 3D auditory display (spatialization and localization, also called externalization); navigation cues for positional orientation and for finding items or regions inside large spaces; voice recognition for controlling the computer; external communications between users in different spaces; and feedback to the user concerning his own actions or the state of the application interface. To effectively convey this considerable variety of signals, we apply principles of acoustic design to ensure the messages are neither confusing nor competing. We approach the design of auditory experience through a comprehensive structure for messages, and message interplay we refer to as an Automated Sound Environment. Our research addresses real-time sound synthesis, real-time signal processing and localization, interactive control of high-dimensional systems, and synchronization of sound and graphics.

Bargar, Robin↗

NASA NTRS1996

Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter

Current virtual environment and teleoperator applications are hampered by the need for an accurate, quick responding head-tracking system with a large working volume. Gyroscopic orientation sensors can overcome problems with jitter, latency, interference, line-of-sight obscurations, and limited range, but suffer from slow drift. Gravimetric inclinometers can detect attitude without drifting, but are slow and sensitive to transverse accelerations. This paper describes the design of a Kalman filter to integrate the data from these two types of sensors in order to achieve the excellent dynamic response of an inertial system without drift, and without the acceleration sensitivity of inclinometers.

Foxlin, Eric↗