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Telerobotic system performance measurement - Motivation and methods

A systems performance-based strategy for modeling and conducting experiments relevant to the design and performance characterization of telerobotic systems is described. A developmental testbed consisting of a distributed telerobotics network and initial efforts to implement the strategy described is presented. Consideration is given to the general systems performance theory (GSPT) to tackle human performance problems as a basis for: measurement of overall telerobotic system (TRS) performance; task decomposition; development of a generic TRS model; and the characterization of performance of subsystems comprising the generic model. GSPT employs a resource construct to model performance and resource economic principles to govern the interface of systems to tasks. It provides a comprehensive modeling/measurement strategy applicable to complex systems including both human and artificial components. Application is presented within the framework of a distributed telerobotics network as a testbed. Insight into the design of test protocols which elicit application-independent data is described.

Kondraske, George V.↗

A New Method for Interfacing Unsuited Subjects to Overhead Suspension Partial Gravity Simulators

The purpose of performing unsuited testing as part of a reduced gravity extravehicular (EVA) suited human performance research program is to define baseline performance. These results are then coupled with suited test results to evaluate how the suit system affects human performance at reduced gravity. The primary drawback to this approach is that previous studies used notably different systems to interface suited and unsuited subjects to overhead-suspension, partial-gravity simulators. A spreader bar (SB) assembly previously used for unsuited tests allowed limited pitch and roll of the subject, whereas the gimbal for suited tests allowed more pitch and roll, although the mass distribution led to large moments of inertia in the yaw axis. It is hypothesized that use of the same methods for offload of both unsuited and suited subjects is needed to make meaningful comparisons. A new gimbal (GIM) was designed with the idea that it could function with both suited and unsuited subjects. GIM was designed to minimize mass and moments of inertia and to be adjustable to co-locate the 3 axes of rotation with the subject s center of gravity. OBJECTIVE: To evaluate human performance differences between SB and GIM. METHODS: Ten unsuited subjects were off-loaded to 1/6-g using both interfaces. Subjects completed tasks including overground and treadmill ambulation, picking up objects, shoveling, postural stability, range of motion testing, and recovery from the kneeling and prone positions. Metabolic, biomechanical, and/or subjective data were collected based on task. RESULTS: Initial analyses suggest that subjects completed all tasks with lower levels of compensation and a more terrestrial approach to movement when suspended via GIM. With SB, subjects were not able to fall or get into a prone position and had increased difficulty both retrieving objects off the floor and with overground ambulation, especially at gait initiation, because they were unable to bend their torso. GIM shows promise as a new method.

Norcross, Jason R.↗

A New Method for Interfacing Unsuited Subjects to Overhead Suspension Partial Gravity Simulators

The purpose of performing unsuited testing as part of a reduced gravity extravehicular (EVA) suited human performance research program is to define baseline performance. These results are then coupled with suited test results to evaluate how the suit system affects human performance at reduced gravity. The primary drawback to this approach is that previous studies used notably different systems to interface suited and unsuited subjects to overhead-suspension, partial-gravity simulators. A spreader bar (SB) assembly previously used for unsuited tests allowed limited pitch and roll of the subject, whereas the gimbal for suited tests allowed more pitch and roll, although the mass distribution led to large moments of inertia in the yaw axis. It is hypothesized that use of the same methods for offload of both unsuited and suited subjects is needed to make meaningful comparisons. A new gimbal (GIM) was designed with the idea that it could function with both suited and unsuited subjects. GIM was designed to minimize mass and moments of inertia and to be adjustable to co-locate the 3 axes of rotation with the subject s center of gravity. OBJECTIVE: To evaluate human performance differences between SB and GIM. METHODS: Ten unsuited subjects were offloaded to 1/6-g using both interfaces. Subjects completed tasks including overground and treadmill ambulation, picking up objects, shoveling, postural stability, range of motion testing, and recovery from the kneeling and prone positions. Metabolic, biomechanical, and/or subjective data were collected based on task. RESULTS: Initial analyses suggest that subjects completed all tasks with lower levels of compensation and a more terrestrial approach to movement when suspended via GIM. With SB, subjects were not able to fall or get into a prone position and had increased difficulty both retrieving objects off the floor and with overground ambulation, especially at gait initiation, because they were unable to bend their torso. GIM shows promise as a new method.

Norcross, Jason↗

NASA Johnson Space Center Usability Testing and Analysis Facility (UTAF) Overview

The Usability Testing and Analysis Facility (UTAF) is part of the Space Human Factors Laboratory at the NASA Johnson Space Center in Houston, Texas. The facility provides support to the Office of Biological and Physical Research, the Space Shuttle Program, the International Space Station Program, and other NASA organizations. In addition, there are ongoing collaborative research efforts with external businesses and universities. The UTAF provides human factors analysis, evaluation, and usability testing of crew interfaces for space applications. This includes computer displays and controls, workstation systems, and work environments. The UTAF has a unique mix of capabilities, with a staff experienced in both cognitive human factors and ergonomics. The current areas of focus are: human factors applications in emergency medical care and informatics; control and display technologies for electronic procedures and instructions; voice recognition in noisy environments; crew restraint design for unique microgravity workstations; and refinement of human factors processes. This presentation will provide an overview of ongoing activities, and will address how the projects will evolve to meet new space initiatives.

Whitmore, M.↗

NASA Johnson Space Center Usability Testing and Analysis Facility (WAF) Overview

The Usability Testing and Analysis Facility (UTAF) is part of the Space Human Factors Laboratory at the NASA Johnson Space Center in Houston, Texas. The facility provides support to the Office of Biological and Physical Research, the Space Shuttle Program, the International Space Station Program, and other NASA organizations. In addition, there are ongoing collaborative research efforts with external businesses and universities. The UTAF provides human factors analysis, evaluation, and usability testing of crew interfaces for space applications. This includes computer displays and controls, workstation systems, and work environments. The UTAF has a unique mix of capabilities, with a staff experienced in both cognitive human factors and ergonomics. The current areas of focus are: human factors applications in emergency medical care and informatics; control and display technologies for electronic procedures and instructions; voice recognition in noisy environments; crew restraint design for unique microgravity workstations; and refinement of human factors processes. This presentation will provide an overview of ongoing activities, and will address how the projects will evolve to meet new space initiatives.

Whitmore, M.↗

NASA Johnson Space Center Usability Testing and Analysis facility (UTAF) Overview

The Usability Testing and Analysis Facility (UTAF) is part of the Space Human Factors Laboratory at the NASA Johnson Space Center in Houston, Texas. The facility performs research for NASA's HumanSystems Integration Program, under the HumanSystems Research and Technology Division. Specifically, the UTAF provides human factors support for space vehicles, including the International Space Station, the Space Shuttle, and the forthcoming Crew Exploration Vehicle. In addition, there are ongoing collaborative research efforts with external corporations and universities. The UTAF provides human factors analysis, evaluation, and usability testing of crew interfaces for space applications. This includes computer displays and controls, workstation systems, and work environments. The UTAF has a unique mix of capabilities, with a staff experienced in both cognitive human factors and ergonomics. The current areas of focus are: human factors applications in emergency medical care and informatics; control and display technologies for electronic procedures and instructions; voice recognition in noisy environments; crew restraint design for unique microgravity workstations; and refinement of human factors processes and requirements. This presentation will provide an overview of ongoing activities, and will address how the UTAF projects will evolve to meet new space initiatives.

Whitmore, Mihriban↗

Artificial Intelligence: Powering Human Exploration of the Moon and Mars

Artificial Intelligence (AI) is a growing field of computa- tional science techniques designed to mimic functions per- formed by people. Advancements in autonomy will depend on a portfolio of AI technologies. Automated planning and scheduling is a venerable field of study in AI, and is needed for a variety of mission planning functions. Plan execution technology is less well studied, but important for auton- omy and robotics. Specialized forms of automated reason- ing and machine learning are key technologies to enable fault management. Over the past decade, the NASA Au- tonomous Systems and Operations (ASO) project has devel- oped and demonstrated numerous autonomy enabling tech- nologies employing AI techniques. Our work has employed AI in three distinct ways to enable autonomous mission op- erations capabilities. Crew Autonomy gives astronauts tools to assist in the performance of each of these mission oper-ations functions. Vehicle System Management uses AI tech- niques to turn the astronaut's spacecraft into a robot, allow- ing it to operate when astronauts are not present, or to reduce astronaut workload. AI technology also enables Autonomous Robots as crew assistants or proxies when the crew are not present. When these capabilities are used to enable astro- nauts to operate autonomously, they must be integrated with user interfaces, introducing numerous human factors con- siderations; when these capabilities are used to enable vehi- cle system management, they must be integrated with flight software, and run on embedded processors under the control of real-time operating systems.We first describe human spaceflight mission operations capabilities. The remainder of the paper will describe the ASO project, and the development and demonstration per- formed by ASO since 2011. We will describe the AI tech- niques behind each of these demonstrations, which include a variety of symbolic automated reasoning and machine learn- ing based approaches. Finally, we conclude with an assess- ment of future development needs for AI to enable NASA's future Exploration missions.

Mission Operations↗

NASA Earth Systems Digital Twins (ESDT)

"Similarly to artificial intelligence, which is now revolutionizing many aspects of our daily lives, Earth system digital twin technologies have the potential to revolutionize the way Earth Science research will be conducted in the future, and how results and knowledge from this research will provide information to support decision making and yield impactful societal benefits. An Earth System Digital Twin or ESDT is a dynamic and interactive information system that first provides a digital replica of the past and current states of the Earth or Earth system as accurately and timely as possible; second, allows for computing forecasts of future states under nominal assumptions and based on the current replica; and third, offers the capability to investigate many hypothetical scenarios under varying impact assumptions. In other words, an ESDT provides the integrated What-Now, What-Next, and What-If pictures of the Earth or Earth system, by continuously ingesting newly observed data and by leveraging multiple interconnected models, machine learning as well advanced computing and visualization capabilities. Digital twins have been developed in engineering since 2002, but the interest in digital twins for the Earth domain is more recent and stems from the convergence of several developments: - The huge amount of diverse data that has now been collected continuously for more than 50 years, and that is becoming more and more difficult to access, understand, and utilize. - At the same time, because of climate change and its impacts the information produced by all of this data is becoming of interest to many new non-traditional users for analyzing and predicting various phenomena. - Because of advances in computational and visualization capabilities and the parallel unprecedented development of machine learning (ML), extracting relevant information from these large amounts of data and running complex models faster has become possible. As a result, it is becoming necessary and possible to build intuitive and interactive frameworks that will enable users with various skill levels and/or organizational hierarchy levels to easily access large amounts of targeted information along with the relevant tools and models (Earth system and human activity models), to support them in analyzing and visualizing this information, to help them understand interactions among models, to visualize the potential outcomes of various impacts, and to support decision or policy making. The full power of digital twins is that, through an integrated representation and standardized tools and software technologies, the same digital replica can address the needs of multiple users at various resolutions (spatial and temporal) and for various applications (science, economic, policy, etc.) – “from farmer to scientist”. With all these interests at stake, the challenges of building optimal digital twins are many and complex. The first challenge is to determine if a Digital Twin should be global or local, and multi-domain or thematic. For example, some domains such as Climate or Weather will require a global Digital Twin or Digital Twin capabilities while science areas such as Biodiversity might be more local. We can also envision that multiple thematic ESDTs, e.g., Air Quality, Wildfires, Hydrology could be federated or provide input to other ESDTs, either on a regional level or to a more global ESDT. Overall, we can imagine a future “web” of Digital Twins co-existing in a hierarchy or in a network, and capable of being connected or federated depending on the needs. This last point brings up the very important challenge of interoperability, including standards and protocols that will need to be built into these systems from the beginning. Each individual digital twin would have full flexibility in internal construction but would need standards-based interfaces (input and output) or hooks to make it compatible with others. Another challenge when building digital twins will be to decide how to organize each digital replica. Based on the applications targeted by the DT under implementation, various amounts and types of raw data, Analysis Ready Data (ARD) and information will need to be incorporated. Depending on the required latencies and needs of the users, various solutions can be considered, including Data Cubes, Data Lakes, pointers, or computing information on demand. We envision that each ESDT will choose a solution adapted to its specific objectives. Another important challenge is the type(s) of visualization that will be used, as well as the level of interactivity and refresh rate that will be required. Again, this will depend on the objectives of the ESDT, but also on the various users’ needs. In most cases, several types of visualizations and human interfaces will need to be offered depending on the projected users of that system. In parallel to the challenges highlighted above, there are also many tools and technologies that will need to be developed or improved for all types of digital twins. Among those are improved machine learning technologies, for example providing explainability, but also ML techniques for causality and providing a better integration of physics models. Additionally, reliable uncertainty quantification methods will be needed for all ESDT components, from validating data fusion and assimilation to assessing the accuracy of ML models and weighing the values of decisions supported by those systems. This presentation introduces the ESDT concept, presents several ESDT use cases, and a proposed ESDT architecture framework, as well as various technologies being developed by the Advanced Information Systems Technology (AIST) Program."

Earth Science Remote Sensing; Information Systems↗

Seroprevalence and risk factors for brucellosis amongst livestock and humans in a multi-herd ranch system in Kagera, Tanzania

Background Brucellosis remains a significant health and economic challenge for livestock and humans globally. Despite its public health implications, the factors driving the endemic persistence ofBrucellaat the human-livestock interface in Tanzania remain poorly elucidated. This study aimed to identify the seroprevalence ofBrucellainfection in livestock and humans within a ranching system and determine associated risk factors for disease endemicity. Methods A cross-sectional sero-epidemiological study was conducted in 2023 in Tanzania’s Karagwe District, involving 725 livestock (cattle, goats, sheep) from 10 herds and 112 humans from associated camps. Seroprevalence was assessed using competitive ELISA while epidemiological data were collected via questionnaires. Generalized Linear Models and Contrast Analysis were used to identify risk factors for infection. Results Overall seroprevalence was 34% in livestock and 41% in humans. Goats exhibited the highest prevalence (69.2%), while cattle had the lowest (22.6%). Mixed-species herds (Odds Ratio, OR = 2.96, CI [1.90–4.60]) and small ruminants-only herds (OR = 6.54, CI [3.65–11.72]) showed a significantly higher risk of seropositivity compared to cattle-only herds. Older cattle (OR = 5.23, CI [2.70–10.10]) and lactating females (OR = 2.87, CI [1.78–4.63]) represented significant risks for brucellosis in livestock. In humans, close contact with animals (OR = 7.20, CI [1.97–36.31]) and handling animals during parturition or aborted fetuses (OR = 2.37, CI [1.01–5.58]) were significant risk factors. Notably, no spatial association was found in seroprevalence between herds and nearby human communities. Conclusion The lack of spatial correlation between livestock and human seroprevalence suggests complex transmission dynamics, potentially involving endemic circulation in livestock and human infections from multiple sources of exposure to livestock. This study highlights the need for comprehensive zoonotic risk education and targeted intervention strategies. Further research is crucial to elucidate transmission pathways and improveBrucellainfection control. This includes developing robust methods for identifying infective species and implementing effective strategies to mitigateBrucellainfection in endemic regions.

Public, Environmental & Occupational Health↗

GT-MSOCC - A domain for research on human-computer interaction and decision aiding in supervisory control systems

The Georgia Tech-Multisatellite Operations Control Center (GT-MSOCC), a real-time interactive simulation of the operator interface to a NASA ground control system for unmanned earth-orbiting satellites, is described. The GT-MSOCC program for investigating a range of modeling, decision aiding, and workstation design issues related to the human-computer interaction is discussed. A GT-MSOCC operator function model is described in which operator actions, both cognitive and manual, are represented as the lowest level discrete control network nodes, and operator action nodes are linked to information needs or system reconfiguration commands.

Mitchell, Christine M.↗

Increased User Satisfaction Through an Improved Message System

With all of the enhancements in software methodology and testing, there is no guarantee that software can be delivered such that no user errors occur, How to handle these errors when they occur has become a major research topic within human-computer interaction (HCI). Users of the Multimission Spacecraft Analysis Subsystem(MSAS) at the Jet Propulsion Laboratory (JPL), a system of X and motif graphical user interfaces for analyzing spacecraft data, complained about the lack of information about the error cause and have suggested that recovery actions be included in the system error messages...The system was evaluated through usability surveys and was shown to be successful.

Human-computer interaction error handling direct m↗

Biocybernetic Closed-Loop System for Mitigating Hazardous States of Awareness

The past century of passenger flight has seen continuous improvement in aviation safety by the aerospace industry. However, while commercial aviation accident rates have continued to decline, human error-related incident and accident rates remain remarkably constant across all types of aviation (Shappell, et al., 2007). Unfortunately, this level of human error is unacceptable when considering projections for increased traffic volume (FAA, 2009), and is likely to yield more incidents and accidents unless a more complete understanding of operator error is achieved and remediations are implemented. One area of interest highlighted by researchers is Hazardous States of Awareness (HSAs) that can result from deficiencies in the design and inappropriate use of human-machine interfaces. Identifying and mitigating HSAs is critical for reducing operator errors. One promising approach uses psychophysiological measures which enable automated systems to adapt to the operator?s state and modify modes of operation to support optimal human performance (Scerbo, 2007). This paper will survey previous research and describe future directions for the application of psychophysiological measures of operators derived from cortical and autonomic assessment to perform real-time adaptive modulation of human-automation task mode mixes. The authors will present a summary of previous work done at NASA LaRC and Old Dominion University using a Psychophysiologically Adaptive System (PAS) in which the level of automation of the NASA Multi-Attribute Task Battery was modulated based on Engagement Indices derived from the users? electroencephalogram (Pope, Bogart, & Bartolome, 1995; for review see, Scerbo, Freeman, & Mikulka, 2003). Future theoretical and methodological directions for this type of closed-loop research will be discussed. Specifically, the capacity for this type of PAS to maintain effective operator state and to enable validation of candidate physiological indices will be described. Consideration will also be given to critical system characteristics (e.g., engagement indices, methods for invoking changes among system states, individual differences among users, etc.) that have been or still need to be studied. The potential of the PAS approach for interactive system design and prototyping will also be described. Examples of adaptive automation flight deck concepts in recent experiments will be highlighted and discussed.

Chad L Stephens↗

The JPL telerobot operator control station. Part 1: Hardware

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The hardware design, system architecture, and its integration and interface with the rest of the Telerobot Demonstrator System are discussed.

Kan, Edwin P.↗

Man-machine interfaces in LACIE/ERIPS

One of the most important aspects of the interactive portion of the LACIE/ERIPS software system is the way in which the analysis and decision-making capabilities of a human being are integrated with the speed and accuracy of a computer to produce a powerful analysis system. The three major man-machine interfaces in the system are (1) the use of menus for communications between the software and the interactive user; (2) the checkpoint/restart facility to recreate in one job the internal environment achieved in an earlier one; and (3) the error recovery capability which would normally cause job termination. This interactive system, which executes on an IBM 360/75 mainframe, was adapted for use in noninteractive (batch) mode. A case study is presented to show how the interfaces work in practice by defining some fields based on an image screen display, noting the field definitions, and obtaining a film product of the classification map.

Duprey, B. B.↗

Identification of Scenarios for System Interface Design Evaluation: CAST SE-210 Output 2 Report 5 of 6

This report is one in a series of reports describing research to develop enhanced approaches to design and evaluation of flight deck interaction. The research was conducted to support the Commercial Aviation Safety Team (CAST) response to incidents and accidents caused by failure of the flight crew to maintain aircraft attitude or energy state awareness. This report partially responds to Safety Enhancement (SE) 210.2 (CAST, 2014) by describing development of operational scenarios for evaluation of flight crew interaction. Evaluations of human performance with an interface rely on asking humans to perform operational tasks in an appropriate operational context. The report includes the major sources of material for developing operational scenarios—which include system state, operational tasks, operational context, and safety events—and a method for developing an appropriate set of operational scenarios for interface evaluation.

commercial aviation↗

Man-machine interface analysis of the flight design system

The objective of the current effort was to perform a broad analysis of the human factors issues involved in the design of the Flight Design System (FDS). The analysis was intended to include characteristics of the system itself, such as: (1) basic structure and functional capabilities of FDS; (2) user backgrounds, capabilities, and possible modes of use; (3) FDS interactive dialogue, problem solving aids; (4) system data management capabilities; and to include, as well, such system related matters as: (1) flight design team structure; (2) roles of technicians; (3) user training; and (4) methods of evaluating system performance. Wherever possible, specific recommendations are made. In other cases, the issues which seem most important are identified. In some cases, additional analyses or experiments which might provide resolution are suggested.

Ramsey, H. R.↗

Ultrasonic ranging for the oculometer

Ultrasonic tracking techniques are investigated for an oculometer. Two methods are reported in detail. The first is based on measurements of time from the start of a transmit burst to a received echo. Knowing the sound velocity, distance can be calculated. In the second method, a continuous signal is transmitted. Target movement causes phase shifting of the echo. By accumulating these phase shifts, tracking from a set point can be achieved. Both systems have problems with contoured targets, but work well on flat plates and the back of a human head. Also briefly reported is an evaluation of an ultrasonic ranging system. Interface circuits make this system compatible with the echo time design. While the system is consistently accurate, it has a beam too narrow for oculometer use. Finally, comments are provided on a tracking system using the Doppler frequency shift to give range data.

Guy, W. J.↗

Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90)

The papers from the symposium are presented. Emphasis is placed on human factors engineering and space environment interactions. The technical areas covered in the human factors section include: satellite monitoring and control, man-computer interfaces, expert systems, AI/robotics interfaces, crew system dynamics, and display devices. The space environment interactions section presents the following topics: space plasma interaction, spacecraft contamination, space debris, and atomic oxygen interaction with materials. Some of the above topics are discussed in relation to the space station and space shuttle.

Savely, Robert T.↗