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NASA NTRS1991

Plan recognition and generalization in command languages with application to telerobotics

A method for pragmatic inference as a necessary accompaniment to command languages is proposed. The approach taken focuses on the modeling and recognition of the human operator's intent, which relates sequences of domain actions ('plans') to changes in some model of the task environment. The salient feature of this module is that it captures some of the physical and linguistic contextual aspects of an instruction. This provides a basis for generalization and reinterpretation of the instruction in different task environments. The theoretical development is founded on previous work in computational linguistics and some recent models in the theory of action and intention. To illustrate these ideas, an experimental command language to a telerobot is implemented. The program consists of three different components: a robot graphic simulation, the command language itself, and the domain-independent pragmatic inference module. Examples of task instruction processes are provided to demonstrate the benefits of this approach.

Yared, Wael I.↗

NASA NTRS2004

Two Aircraft Head-Up Traffic Surveillance Symbology Issues: Range Filter and Inboard Field-of-View Symbology

The purpose of the eXternal Visibility System (XVS) effort for NASA s High-Speed Research Program was to determine and to provide required pilot visual information for a High Speed Civil Transport vehicle concept to allow safe and efficient operation in the absence of forward windows. The objective of this preliminary experiment conducted at NASA Langley Research Center was to investigate two head-up surveillance symbology (HUSS) display issues. The first issue was concerned with the benefits of adding a range filter to the current HUSS concept. A range filter limits the amount of traffic symbols displayed head-up by setting a range boundary (e.g. 7-nmi) around the ownship. The second issue was concerned with the need to incorporate HUSS in the inboard field-of-view (IFOV) display of the XVS concept. The hypothesis tested was that adding a range filter to the XVS display and HUSS to the IFOV display would enhance the pilot s effectiveness of traffic surveillance tasks. Using a high-resolution graphics flight simulator, each of three pilots flew departure and arrival scenarios under visual meteorological conditions. The pilots main tasks, while managing flight path, were to detect and assess potential airborne traffic hazards and to maintain overall situation awareness. Upon completing all the runs, each pilot completed a subjective questionnaire. Results showed that having both the HUSS on the IFOV and the range filter on each of the XVS displays enhanced the effectiveness of the XVS surveillance display concept. This configuration had the least head down time and the lowest mental workload. Combining both features gave the best target detection, the earliest threat recognition, and enabled the pilots to create a better strategy for evasive action when it became necessary.

Wong, Douglas T.↗

NASA NTRS1987

RB-ARD: A proof of concept rule-based abort

The Abort Region Determinator (ARD) is a console program in the space shuttle mission control center. During shuttle ascent, the Flight Dynamics Officer (FDO) uses the ARD to determine the possible abort modes and make abort calls for the crew. The goal of the Rule-based Abort region Determinator (RB/ARD) project was to test the concept of providing an onboard ARD for the shuttle or an automated ARD for the mission control center (MCC). A proof of concept rule-based system was developed on a LMI Lambda computer using PICON, a knowdedge-based system shell. Knowdedge derived from documented flight rules and ARD operation procedures was coded in PICON rules. These rules, in conjunction with modules of conventional code, enable the RB-ARD to carry out key parts of the ARD task. Current capabilities of the RB-ARD include: continuous updating of the available abort mode, recognition of a limited number of main engine faults and recommendation of safing actions. Safing actions recommended by the RB-ARD concern the Space Shuttle Main Engine (SSME) limit shutdown system and powerdown of the SSME Ac buses.

Smith, Richard↗

NASA NTRS2001

Two New Aircraft Traffic Surveillance Symbology Concepts: Range Filter and Inboard Field-of-View Symbology

The objective of this preliminary experiment was to investigate two head-up surveillance symbology (HUSS) display issues. The first issue was concerned with the benefits of adding a range filter to the current HUSS concept. A range filter limits the amount of traffic symbols displayed head-up by setting a range boundary (e.g., 7-nmi) around the ownship. The second issue was concerned with the need to incorporate HUSS in the inboard field-of-view (IFOV) display of the eXternal Visibility System (XVS) concept. The hypothesis tested was that adding a range filter to the XVS display and HUSS to the IFOV display would enhance the pilot's effectiveness in traffic surveillance tasks. Using a high-resolution graphics flight simulator, each of three pilots flew departure and arrival scenarios under visual meteorological conditions. The pilots' main tasks, while managing flight path, were to detect and assess potential airborne traffic hazards and to maintain overall situation awareness. Upon completing all the runs, each pilot completed a subjective questionnaire. Results showed that having both the HUSS on the IFOV and the range filter on each of the XVS displays enhanced the effectiveness of the XVS surveillance display concept. This configuration had the least head down time and the lowest mental workload. Combining both features gave the best target detection and, the earliest threat recognition performances, and enabled the pilots to create a better strategy for evasive action when it became necessary.

Wong, Douglas T.↗

NASA NTRS1989

Plan recognition for space telerobotics

Current research on space telerobots has largely focused on two problem areas: executing remotely controlled actions (the tele part of telerobotics) or planning to execute them (the robot part). This work has largely ignored one of the key aspects of telerobots: the interaction between the machine and its operator. For this interaction to be felicitous, the machine must successfully understand what the operator is trying to accomplish with particular remote-controlled actions. Only with the understanding of the operator's purpose for performing these actions can the robot intelligently assist the operator, perhaps by warning of possible errors or taking over part of the task. There is a need for such an understanding in the telerobotics domain and an intelligent interface being developed in the chemical process design domain addresses the same issues.

Goodman, Bradley A.↗

NASA NTRS1989

The perception of geometrical structure from congruence

The principle function of vision is to measure the environment. As demonstrated by the coordination of motor actions with the positions and trajectories of moving objects in cluttered environments and by rapid recognition of solid objects in varying contexts from changing perspectives, vision provides real-time information about the geometrical structure and location of environmental objects and events. The geometric information provided by 2-D spatial displays is examined. It is proposed that the geometry of this information is best understood not within the traditional framework of perspective trigonometry, but in terms of the structure of qualitative relations defined by congruences among intrinsic geometric relations in images of surfaces. The basic concepts of this geometrical theory are outlined.

Lappin, Joseph S.↗

NASA NTRS1990

Topics in inference and decision-making with partial knowledge

Two essential elements needed in the process of inference and decision-making are prior probabilities and likelihood functions. When both of these components are known accurately and precisely, the Bayesian approach provides a consistent and coherent solution to the problems of inference and decision-making. In many situations, however, either one or both of the above components may not be known, or at least may not be known precisely. This problem of partial knowledge about prior probabilities and likelihood functions is addressed. There are at least two ways to cope with this lack of precise knowledge: robust methods, and interval-valued methods. First, ways of modeling imprecision and indeterminacies in prior probabilities and likelihood functions are examined; then how imprecision in the above components carries over to the posterior probabilities is examined. Finally, the problem of decision making with imprecise posterior probabilities and the consequences of such actions are addressed. Application areas where the above problems may occur are in statistical pattern recognition problems, for example, the problem of classification of high-dimensional multispectral remote sensing image data.

Safavian, S. Rasoul↗

NASA NTRS1987

Flight problem evaluation for Space Shuttle Orbiter

The flight problems experienced with the reusable Space Shuttle Orbiter have decreased during subsequent flights of each vehicle. By comparison to first flights of previous vehicles, the problems encountered on the initial flight of each new vehicle entering the fleet decreased. This improvement in turn has reduced the turnaround time between flights significantly and thus greatly enhanced the increased Space Shuttle launch frequency. The reusable manned space vehicle concept necessitated the development of a flight problem recognition and resolution system which would enable a thorough and timely vehicle turnaround flow. Flight evaluation, testing, and repair of manned spacecraft to enhance reliability and to ensure mission success is a unique activity. Real-time recognition of the flight problem, prompt isolation of the cause, and timely implementation of the corrective action are the keys to maintaining an operational fleet. Examples of flight problems that have been encountered as well as the corrective actions implemented during the first 24 Space Shuttle missions are presented. The corrective actions taken to preclude problem recurrence include modifications of hardware designs, manufacturing processes, flight software, test methods, and operational procedures.

Mechelay, Joseph E.↗

NASA NTRS1985

Study to determine potential flight applications and human factors design guidelines for voice recognition and synthesis systems

A study was conducted to determine potential commercial aircraft flight deck applications and implementation guidelines for voice recognition and synthesis. At first, a survey of voice recognition and synthesis technology was undertaken to develop a working knowledge base. Then, numerous potential aircraft and simulator flight deck voice applications were identified and each proposed application was rated on a number of criteria in order to achieve an overall payoff rating. The potential voice recognition applications fell into five general categories: programming, interrogation, data entry, switch and mode selection, and continuous/time-critical action control. The ratings of the first three categories showed the most promise of being beneficial to flight deck operations. Possible applications of voice synthesis systems were categorized as automatic or pilot selectable and many were rated as being potentially beneficial. In addition, voice system implementation guidelines and pertinent performance criteria are proposed. Finally, the findings of this study are compared with those made in a recent NASA study of a 1995 transport concept.

White, R. W.↗

NASA NTRS1975

South Louisiana remote-sensing environmental information system

Satellite gathered remote sensor data were used to update a basic environmental atlas of southern Louisiana to reflect recent dynamic geological changes, such as erosion by wave action along the coast and active delta building in the lower part of the Mississippi Basin. Standard pattern recognition programs were utilized to update LANDSAT pictures for three categories (generalized land use, ecological zones and vegetation) to obtain a simulated color photomap for LANDSAT frames for further rectification by a table lookup program.

Gordon, J. P.↗

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

NASA Space Missions to Asteroids: Protecting the Earth from NEO Impacts

There is now a general recognition of the hazard of impacts on Earth by comets and asteroids, but there is yet no consensus concerning international actions that should be taken to protect the planet from such impacts. An essential step in the analysis of the situation involves estimating the relative hazard posed by comets and asteroids of different sizes and orbits. All recent studies agree that the larger impacts pose the greater danger, and that our primary concern from the perspective of total risk should be on impacts that are large enough to cause global ecological catastrophe. These global catastrophes are also of special interest, since they (alone among natural disasters) have the potential to destroy civilization. Studies of the sensitivity of the Earth's environment suggest that the energy threshold energy for causing a global catastrophe is at about 1 million megatons, corresponding to impactor diameters of 1.5 to 2 km. This information leads naturally to a strategy of concentrating on the larger NEOs, say those 1 km or more in diameter. This is the rationale for the Spaceguard Survey, which must be the highest priority in mitigation efforts. The second question concerns the value of developing standing defensive systems that could deflect or destroy an incoming NEO. In the case of the asteroids larger than 1 km in diameter, no such system is needed, since there will be ample time (at least several decades) between the discovery of the threatening object by Spaceguard and the requirement to take action against it. In the case of objects smaller than 1 km diameter, development of defensive systems is not cost-effective; there are many greater dangers to persons and property that are much more urgent. Only in the case of large long-period comets is there a rationale for standing defense systems. The question is also raised whether the risks inherent in developing and maintaining a defense system might be greater than the impact risks it is intended to guard against. These and related issues are the focus of much current international debate on defense of the planet against NEO impacts. Meanwhile, the most critical issue remains the expansion of the telescopic search for NEOs.

Morrison, David↗

NASA NTRS1992

The adult literacy evaluator: An intelligent computer-aided training system for diagnosing adult illiterates

An important part of NASA's mission involves the secondary application of its technologies in the public and private sectors. One current application being developed is The Adult Literacy Evaluator, a simulation-based diagnostic tool designed to assess the operant literacy abilities of adults having difficulties in learning to read and write. Using ICAT system technology in addition to speech recognition, closed-captioned television (CCTV), live video and other state-of-the art graphics and storage capabilities, this project attempts to overcome the negative effects of adult literacy assessment by allowing the client to interact with an intelligent computer system which simulates real-life literacy activities and materials and which measures literacy performance in the actual context of its use. The specific objectives of the project are as follows: (1) To develop a simulation-based diagnostic tool to assess adults' prior knowledge about reading and writing processes in actual contexts of application; (2) to provide a profile of readers' strengths and weaknesses; and (3) to suggest instructional strategies and materials which can be used as a beginning point for remediation. In the first and developmental phase of the project, descriptions of literacy events and environments are being written and functional literacy documents analyzed for their components. Examples of literacy events and situations being considered included interactions with environmental print (e.g., billboards, street signs, commercial marquees, storefront logos, etc.), functional literacy materials (e.g., newspapers, magazines, telephone books, bills, receipts, etc.) and employment related communication (i.e., job descriptions, application forms, technical manuals, memorandums, newsletters, etc.). Each of these situations and materials is being analyzed for its literacy requirements in terms of written display (i.e., knowledge of printed forms and conventions), meaning demands (i.e., comprehension and word knowledge) and social situation. From these descriptions, scripts are being generated which define the interaction between the student, an on-screen guide and the simulated literacy environment. The proposed outcome of the Evaluator is a diagnostic profile which will present broad classifications of literacy behaviors across the major areas of metacognitive abilities, word recognition, vocabulary knowledge, comprehension and writing. From these classifications, suggestions for materials and strategies for instruction with which to begin corrective action will be made. The focus of the Literacy Evaluator will be essentially to provide an expert diagnosis and an interpretation of that assessment which then can be used by a human tutor to further design and individualize a remedial program as needed through the use of an authoring system.

Yaden, David B., Jr.↗

NASA NTRS1992

A vision architecture for the extravehicular activity retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools, equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This report documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios will be discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, complementary usage of the sensors and redundant capabilities.

Magee, Michael↗

NASA NTRS1993

A vision system planner for increasing the autonomy of the Extravehicular Activity Helper/Retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools and equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This paper documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios are discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, and complementary usage of the sensors and redundant capabilities.

Magee, Michael↗

NASA NTRS1993

Acting to gain information

This report is concerned with agents that act to gain information. In previous work, we developed agent models combining qualitative modeling with real-time control. That work, however, focused primarily on actions that affect physical states of the environment. The current study extends that work by explicitly considering problems of active information-gathering and by exploring specialized aspects of information-gathering in computational perception, learning, and language. In our theoretical investigations, we analyzed agents into their perceptual and action components and identified these with elements of a state-machine model of control. The mathematical properties of each was developed in isolation and interactions were then studied. We considered the complexity dimension and the uncertainty dimension and related these to intelligent-agent design issues. We also explored active information gathering in visual processing. Working within the active vision paradigm, we developed a concept of 'minimal meaningful measurements' suitable for demand-driven vision. We then developed and tested an architecture for ongoing recognition and interpretation of visual information. In the area of information gathering through learning, we explored techniques for coping with combinatorial complexity. We also explored information gathering through explicit linguistic action by considering the nature of conversational rules, coordination, and situated communication behavior.

Rosenchein, Stanley J.↗

NASA NTRS2004

Beagle 2: Mission to Mars - Current Status

Beagle 2 is a 72 kg probe (with a 32 kg lander) developed in the United Kingdom for inclusion on the European Space Agency's 2003 Mars Express. Beagle 2 was launched on June 2, 2003 with Mars Express on a Soyuz-Fregat rocket from the Baikonur Cosmodrome in Kazakhstan. Beagle 2 landed on Mars on December 25th, 2003 in Isidis Planitia (approx. 10.7 N and 268.6 W), a large sedimentary basin that overlies the boundary between ancient highlands and northern plains. Isidis Planitia, the third largest impact basin on Mars, which is possibly filled with sediment deposited at the bottom of long-standing lakes or seas, offers an ideal environment for preserving traces of life. The team is awaiting signals from the Beagle 2 lander at the time when this abstract was written. Current status of the mission will be reported. Beagle 2 was developed to search for organic material and other volatiles on and below the surface of Mars in addition to the study of the inorganic chemistry and mineralogy. Several fundamental properties can be used to determine the existence of an active or past biology on any planet, Earth or Mars. Beagle 2's targets for investigation included: (a) The presence of water, or the existence of minerals deposited from water to show that water was present, even if only transiently; (b) The detection of carbonaceous debris, the remains of organisms that might have lived in water or were washed to a final resting place by the action of water; (c) The structure of organic matter, to demonstrate that it might have been synthesized for a biological purpose; (d) The recognition of isotopic fractionation between carbonaceous phases (organic vs inorganic carbon phases), a condition which on Earth suggests that life emerged nearly 4 billion years ago.

Gibson, E. K., Jr.↗

NASA NTRS1989

A commentary on perception-action relationships in spatial display instruments

Transfer of information across disciplines is promoted, while basic and applied researchers are cautioned about the danger of assuming simple relationships between stimulus information, perceptual impressions, and performance including pattern recognition and sensorimotor skills. A theoretical and empirical foundation was developed predicting those relationships.

Shebilske, Wayne L.↗