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NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗

NASA NTRS1986

Vestibular models for design and evaluation of flight simulator motion

The use of spatial orientation models in the design and evaluation of control systems for motion-base flight simulators is investigated experimentally. The development of a high-fidelity motion drive controller using an optimal control approach based on human vestibular models is described. The formulation and implementation of the optimal washout system are discussed. The effectiveness of the motion washout system was evaluated by studying the response of six motion washout systems to the NASA/AMES Vertical Motion Simulator for a single dash-quick-stop maneuver. The effects of the motion washout system on pilot performance and simulator acceptability are examined. The data reveal that human spatial orientation models are useful for the design and evaluation of flight simulator motion fidelity.

Bussolari, S. R.↗

NASA NTRS1987

Design of source coders and joint source/channel coders for noisy channels

A theory behind a proposed joint source/channel coding approach is developed and a variable rate design approach which provides substantial improvement over current joint source/channel coder designs is obtained. The Rice algorithm as applied to the output of the Gamma Ray Detector of the Mars Orbiter is evaluated. An alternative algorithm is obtained which outperforms the Rice both in terms of data compression and noisy channel performance. A high-fidelity low-rate image compression algorithm is developed which provides almost distortionless compression of high resolution images.

Sayood, Khalid↗

NASA NTRS1987

Telerobotic research at NASA Langley Research Center

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Sliwa, Nancy E.↗

NASA NTRS1988

A high fidelity real-time simulation of a small turboshaft engine

A high-fidelity component-type model and real-time digital simulation of the General Electric T700-GE-700 turboshaft engine were developed for use with current generation real-time blade-element rotor helicopter simulations. A control system model based on the specification fuel control system used in the UH-60A Black Hawk helicopter is also presented. The modeling assumptions and real-time digital implementation methods particular to the simulation of small turboshaft engines are described. The validity of the simulation is demonstrated by comparison with analysis-oriented simulations developed by the manufacturer, available test data, and flight-test time histories.

Ballin, Mark G.↗

NASA NTRS1987

Multimodal user input to supervisory control systems - Voice-augmented keyboard

The use of a voice-augmented keyboard input modality is evaluated in a supervisory control application. An implementation of voice recognition technology in supervisory control is proposed: voice is used to request display pages, while the keyboard is used to input system reconfiguration commands. Twenty participants controlled GT-MSOCC, a high-fidelity simulation of the operator interface to a NASA ground control system, via a workstation equipped with either a single keyboard or a voice-augmented keyboard. Experimental results showed that in all cases where significant performance differences occurred, performance with the voice-augmented keyboard modality was inferior to and had greater variance than the keyboard-only modality. These results suggest that current moderately priced voice recognition systems are an inappropriate human-computer interaction technology in supervisory control systems.

Mitchell, Christine M.↗

NASA NTRS1988

Using full-mission simulation for human factors research in air transport operations

This study examined state-of-the-art mission oriented simulation and its use in human factors research. Guidelines were developed for doing full-mission human factors research on crew member behavior during simulated air transport operations. The existing literature was reviewed. However, interviews with experienced investigators provided the most useful information. The fundamental scientific and practical issues of behavioral research in a simulation environment are discussed. Guidelines are presented for planning, scenario development, and the execution of behavioral research using full-mission simulation in the context of air transport flight operations . Research is recommended to enhance the validity and productivity of full-mission research by: (1) validating the need for high-fidelity simulation of all major elements in the operational environment, (2) improving methods for conducting full-mission research, and (3) examining part-task research on specific problems through the use of vehicles which contain higher levels of abstraction (and lower fidelity) of the operational environment.

Orlady, Harry W.↗

NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗

NASA NTRS1988

The development of an automated flight test management system for flight test planning and monitoring

The development of an automated flight test management system (ATMS) as a component of a rapid-prototyping flight research facility for AI-based flight systems concepts is described. The rapid-prototyping facility includes real-time high-fidelity simulators, numeric and symbolic processors, and high-performance research aircraft modified to accept commands for a ground-based remotely augmented vehicle facility. The flight system configuration of the ATMS includes three computers: the TI explorer LX and two GOULD SEL 32/27s.

Hewett, Marle D.↗

NASA NTRS1989

The Shane Wirtanen counts - Observability of the galaxy correlation function

An explicit test of the ability of the galaxy two-point correlation function to be recovered from the Lick counts of galaxies (Shane and Wirtanen, 1967) is reported. High-fidelity simulations are created, starting with the distribution of galaxies in space. These distributions are projected onto a set of simulated Lick plates which are reduced to a uniform limiting magnitude with the method of Seldner et al. (1977). The simulated catalogs are then analyzed with the methods of Groth and Peebles (1977). The resulting correlation functions are found to reproduce accurately the correlation functions that were built in during the first step of the simulations.

Brown, Michael E.↗

NASA NTRS1989

A rapid prototyping facility for flight research in advanced systems concepts

The Dryden Flight Research Facility of the NASA Ames Research Facility of the NASA Ames Research Center is developing a rapid prototyping facility for flight research in flight systems concepts that are based on artificial intelligence (AI). The facility will include real-time high-fidelity aircraft simulators, conventional and symbolic processors, and a high-performance research aircraft specially modified to accept commands from the ground-based AI computers. This facility is being developed as part of the NASA-DARPA automated wingman program. This document discusses the need for flight research and for a national flight research facility for the rapid prototyping of AI-based avionics systems and the NASA response to those needs.

Duke, Eugene L.↗

NASA NTRS1989

Development of a tactical guidance research and evaluation system (TGRES)

The ongoing development of a tool for tactical guidance research and the analysis of airplane system performance in a tactically significant environment are described. The objective of the tool is to provide a means by which researchers can explore and exploit enhancements to high-performance airplane agility. The completed tool will include high-fidelity batch and piloted simulation capabilities, an advanced tactical guidance logic, and a user-friendly interface. While the tool is being developed for the purpose of studying fighter agility, its modularity should make it easily adaptable to the analysis of other technologies and, thus, be of interest to a number of potential users.

Goodrich, Kenneth H.↗

NASA NTRS1989

A real-time expert system for self-repairing flight control

An integrated environment for specifying, prototyping, and implementing a self-repairing flight-control (SRFC) strategy is described. At an interactive workstation, the user can select paradigms such as rule-based expert systems, state-transition diagrams, and signal-flow graphs and hierarchically nest them, assign timing and priority attributes, establish blackboard-type communication, and specify concurrent execution on single or multiple processors. High-fidelity nonlinear simulations of aircraft and SRFC systems can be performed off-line, with the possibility of changing SRFC rules, inference strategies, and other heuristics to correct for control deficiencies. Finally, the off-line-generated SRFC can be transformed into highly optimized application-specific real-time C-language code. An application of this environment to the design of aircraft fault detection, isolation, and accommodation algorithms is presented in detail.

Gaither, S. A.↗

NASA NTRS1989

A comparison of select image-compression algorithms for an electronic still camera

This effort is a study of image-compression algorithms for an electronic still camera. An electronic still camera can record and transmit high-quality images without the use of film, because images are stored digitally in computer memory. However, high-resolution images contain an enormous amount of information, and will strain the camera's data-storage system. Image compression will allow more images to be stored in the camera's memory. For the electronic still camera, a compression algorithm that produces a reconstructed image of high fidelity is most important. Efficiency of the algorithm is the second priority. High fidelity and efficiency are more important than a high compression ratio. Several algorithms were chosen for this study and judged on fidelity, efficiency and compression ratio. The transform method appears to be the best choice. At present, the method is compressing images to a ratio of 5.3:1 and producing high-fidelity reconstructed images.

Nerheim, Rosalee↗

NASA NTRS1989

Communication variations and aircrew performance

Crew-related communication variations and their effects on performance are examined. The communication analysis involves evaluating the performance of 18 pilots to a high-fidelity full-mission simulation. Initiating speech consists of four categories: commands, questions, observations, and dysfluencies. Response speech is coded as: reply, acknowledgements, and zero response. A standard form of communication has been adopted which should aid in the coordination process and enhance crew performance.

Kanki, Barbara G.↗

NASA NTRS1990

An integrated environment for tactical guidance research and evaluation

NASA-Langley's Tactical Guidance Research and Evaluation System (TGRES) constitutes an integrated environment for the development of tactical guidance algorithms and evaluating the effects of novel technologies; the modularity of the system allows easy modification or replacement of system elements in order to conduct evaluations of alternative technologies. TGRES differs from existing systems in its capitalization on AI programming techniques for guidance-logic implementation. Its ability to encompass high-fidelity, six-DOF simulation models will facilitate the analysis of complete aircraft dynamics.

Goodrich, Kenneth H.↗

NASA NTRS1982

Low-Visibility Visual Simulation with Real Fog

An environmental fog simulation (EFS) attachment was developed to aid in the study of natural low-visibility visual cues and subsequently used to examine the realism effect upon the aircraft simulator visual scene. A review of the basic fog equations indicated that the two major factors must be accounted for in the simulation of low visibility-one due to atmospheric attenuation and one due to veiling luminance. These factors are compared systematically by: comparing actual measurements lo those computed from the Fog equations, and comparing runway-visual-range-related visual-scene contrast values with the calculated values. These values are also compared with the simulated equivalent equations and with contrast measurements obtained from a current electronic fog synthesizer to help identify areas in which improvements are needed. These differences in technique, the measured values, the Features of both systems, a pilot opinion survey of the EFS fog, and improvements (by combining features of both systems) that are expected to significantly increase the potential as well as flexibility for producing a very high-fidelity, low-visibility visual simulation are discussed.

Chase, Wendell D.↗

NASA NTRS1989

The case for planetary sample return missions. 2. History of Mars

Principal science goals for exploration of Mars are to establish the chemical, isotopic, and physical state of Martian material, the nature of major surface-forming processes and their time scales, and the past and present biological potential of the planet. Many of those goals can only be met by detailed analyses of atmospheric gases and carefully selected samples of fresh rocks, weathered rocks, soils, sediments, and ices. The high-fidelity mineral separations, complex chemical treatments, and ultrasensitive instrument systems required for key measurements, as well as the need to adapt analytical strategies to unanticipated results, point to Earth-based laboratory analyses on returned Martian samples as the best means for meeting the stated objectives.

NASA Center ARC↗