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In 1990, Sterling Software, Inc., developed the Flow Analysis Software Toolkit (FAST) for NASA Ames on contract. FAST is a workstation based modular analysis and visualization tool. It is used to visualize and animate grids and grid oriented data, typically generated by finite difference, finite element and other analytical methods. FAST is now available through COSMIC, NASA's software storehouse.
In this paper, we will present a look at the current state of the art in human-computer interface technologies, including intelligent interactive agents, natural speech interaction and gestural based interfaces. We describe our use of these technologies to implement a cost effective, immersive experience on a public region in Second Life. We provision our Artificial Agents as a German Shepherd Dog avatar with an external rules engine controlling the behavior and movement. To interact with the avatar, we implemented a natural language and gesture system allowing the human avatars to use speech and physical gestures rather than interacting via a keyboard and mouse. The result is a system that allows multiple humans to interact naturally with AI avatars by playing games such as fetch with a flying disk and even practicing obedience exercises using voice and gesture, a natural seeming day in the park.
NASA Jet Propulsion Laboratory’s (JPL’s)Architecture Team (A-Team) has nearly a decade of experiencein maturing early formulation mission and technology conceptsby combining innovative collaborative engineering methodswith cutting-edge subject matter expertise and advancedanalysis tools in an in-person environment. When COVID-19forced JPL’s workforce to work remotely in March 2020, ATeamhad to quickly pivot from an in-person collaborativeenvironment to a remote working environment.Through introspection, careful planning, and considerablepractice, A-Team was able to develop new operating proceduresto effectively continue early formulation studies in a virtualenvironment. A-Team has held over 57 remote studies in the 10months since the start of mandatory telework at JPL in March2020. In the remote setting, A-Team conducts studies in half-daysessions with clients and subject matter experts (SMEs) viavideoconferencing, shared computer screens, and digitalcollaborative tools.The key lesson is that increased staffing and planning is neededto prepare and successfully run remote A-Team studies. RemoteA-Team studies require careful selection of the appropriatetools for security, accessibility, and usability within theNASA/JPL environment. Knowledge capture methods andtemplates need to be thought out and agreed upon in advance asthere is less room for improvising in a remote format. Variouscommunication channels have to be monitored to allow for teamcoordination while maintaining fruitful participant engagementduring a session. In addition, technical backup for all roleswithin the A-Team have to be identified to allow the study tocontinue even if a team member’s connectivity is temporarilyinterrupted. Finally, careful thought has to be put into methodsand processes to create a collaborative environment in a virtualspace such that a group of experts who are only connected viathe internet can experience the creative spark and flow of a greatcollaborative and innovative study.
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The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and interaction problems. A flexible research tool that is designed as an easily reproducible product prototype has been constructed to explore the variety of possible force interaction.
Most virtual-reality systems use LCD-based displays that achieve a large field-of-view at the expense of resolution. A typical display will consist of approximately 86,000 pixels uniformly distributed over an 80-degree by 60-degree image. Thus, each pixel subtends about 13 minutes of arc at the retina; about the same as the resolvable features of the 20/200 line of a Snellen Eye Chart. The low resolution of LCD-based systems limits task performance in some applications. We have examined target-detection performance in a low-resolution virtual world. Our synthesized three-dimensional virtual worlds consisted of target objects that could be positioned at a fixed distance from the viewer, but at random azimuth and constrained elevation. A virtual world could be bounded by chromatic walls or by wire-frame, or it could be unbounded. Viewers scanned these worlds and indicated by appropriate gestures when they had detected the target object. By manipulating the viewer's field size and the chromatic and luminance contrast of annuli surrounding the field-of-view, we were able to assess the effect of field size on the detection of virtual objects in low-resolution synthetic worlds.
In this study, human factor design engineers wanted to know, by using subject matter experts (SMEs), if there would be any differences in testing low-fidelity conceptual designs in a physical environment compared to a digital/virtual one. Results indicated that when testing a design concept at this early stage, a high correlation between the two environments exists, meaning SMEs found little to no difference when evaluating a design in either a physical or a digital/virtual environment. There are advantages and limitations to both environments. The virtual world gave the experts a better sense of the microgravity space environment and the relationships of space and human presence that are difficult to simulate in a 1-g physical environment. However, the interaction between human and mechanics is better enhanced in the physical world compared to the virtual world. These advantages and limitations of each environment are important; however, cost is also an important consideration when early design concepts are being used. With the cost analysis of materials, hardware, and labor conducting for this study, virtual reality showed a 68% decrease in cost over the physical mock-up build. Thus, taking all aspects of the study into consideration, at this early design life cycle phase, virtual reality shows great promise as an evaluation environment for testing early design concepts that will cost less, give more options, and increase designer’s time to design.
The Next Generation Exploration Conference (NGEC) brought together the emerging next generation of space leaders over three intensive days of collaboration and planning. The participants extended the ongoing work of national space agencies to draft a common strategic framework for lunar exploration, to include other destinations in the solar system. NGEC is the first conference to bring together emerging leaders to comment on and contribute to these activities. The majority of the three-day conference looked beyond the moon and focused on the "next destination": Asteroids, Cis-Lunar, Earth 3.0, Mars Science and Exploration, Mars Settlement and Society, and Virtual Worlds and Virtual Exploration.
New York City's Office of Emergency Management (OEM) originally ran hundreds of classroom based courses, where they brought together civil servants to learn how to run a Hurricane Shelter (HS). This approach was found to be costly, time consuming and lacked any sense of an impending disaster and need for emergency response. In partnership with the City of New York University School of Professional studies, Gronstedt Group and Daden Limited, the OEM wanted to create a simulation that overcame these issues, providing users with a more immersive and realistic approach at a lower cost. The HS simulation was built in the virtual world Second Life (SL). Virtual worlds are a genre of online communities that often take the form of a computer-based simulated environments, through which users can interact with one another and use or create objects. Using this technology allowed managers to apply their knowledge in both classroom and remote learning environments. The shelter simulation is operational 24/7, guiding users through a 4 1/2 hour narrative from start to finish. This paper will describe the rationale for the project, the technical approach taken - particularly the use of a web based authoring tool to create and manage the immersive simulation, and the results from operational use.
The technology described in this paper was designed to reduce latency to user interactions in immersive virtual reality environments. It is also ideally suited to telerobotic applications such as interaction with remote robotic manipulators in space or in deep sea operations. in such circumstances the significant latency is observed response to user stimulus which is due to communications delays, and the disturbing jerkiness due to low and unpredictable frame rates on compressed video user feedback or computationally limited virtual worlds, can be masked by our techniques. The user is provided with highly responsive visual feedback independent of communication or computational delays in providing physical video feedback or in rendering virtual world images. Virtual and physical environments can be combined seamlessly using these techniques.
A new concept has been developed that allows temperature to be part of the virtual world. The Displaced Temperature Sensing System (DTSS) can 'display' temperature in a virtual reality system.The DTSS can also serve as a feedback device for telerobotics. For virtual reality applications the virtual world software would be required to have a temperature map of its world. By whatever means (magnetic tracker, ultrasound tracker, etc.) the hand and fingers, which have been instrumented with thermodes, would be tracked. The temperature associated with the current position would be transmitted to the DRSS via a serial data link. The DTSS would provide that temperature to the fingers. For telerobotic operation the function of the DTSS is to transmit a temperature from a remote location to the fingers where the temperature can be felt.
In this presentation we will examine some of the ways sound can be used in a virtual world. We make the case that many different types of audio experience are available to us. A full range of audio experiences include: music, speech, real-world sounds, auditory displays, and auditory cues or messages. The technology of recreating real-world sounds through physical modeling has advanced in the past few years allowing better simulation of virtual worlds. Three-dimensional audio has further enriched our sensory experiences.
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.
Work has begun on the merger of two well known systems, VEOS (HITLab) and CLIPS (NASA). In the recent past, the University of Massachusetts Lowell developed a parallel version of NASA CLIPS, called P-CLIPS. This modification allows users to create smaller expert systems which are able to communicate with each other to jointly solve problems. With the merger of a VEOS message system, PCLIPS-V can now act as a group of entities working within VEOS. To display the 3D virtual world we have been using a graphics package called HOOPS, from Ithaca Software. The artificial reality environment we have set up contains actors and objects as found in our Lincoln Logs Factory of the Future project. The environment allows us to view and control the objects within the virtual world. All communication between the separate CLIPS expert systems is done through VEOS. A graphical renderer generates camera views on X-Windows devices; Head Mounted Devices are not required. This allows more people to make use of this technology. We are experimenting with different types of virtual vehicles to give the user a sense that he or she is actually moving around inside the factory looking ahead through windows and virtual monitors.
Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.
Software tool that utilizes a virtual world to visualize and navigate NASA digital elevation models.