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An experiment is described which examined the benefits of distributing the input demands of two tracking tasks as a function of task integrality. Visual and auditory compensatory tracking tasks were utilized. Results indicate that presenting the two tracking signals in two input modalities did not improve time-sharing efficiency. This was attributed to the difficulty insensitivity phenomenon.
Data are reviewed from experiments that have contrasted intra-modal (visual-visual) information presentation with cross-modal (visual-auditory) presentation. Five different processing mechanisms that are operating in dual stimulus tasks are described, and it is concluded that in studies where visual scanning is not required, cross-modal effects are of two classes. When the visual task is continuous (tracking), a discrete auditory stimulus will preempt tracking performance relative to a discrete visual stimulus, leading to an effective shift in allocation bias. When both tasks are discrete, the data regarding the relative advantages of cross- vs. intra-modal interference are ambivalent.
The use of timing diagrams is recommended in the design and testing of multi-task Ada programs. By displaying the task states vs. time, timing diagrams can portray the simultaneous threads of data flow and control which characterize tasking programs. This description of the system's dynamic behavior from conception to testing is a necessary adjunct to other graphical techniques, such as structure charts, which essentially give a static view of the system. A series of steps is recommended which incorporates timing diagrams into the design process. Finally, a description is provided of a prototype Ada Execution Analyzer (AEA) which automates the production of timing diagrams from VAX/Ada debugger output.
A methodology is described for developing a task complexity index based on combining the six basic motion primitives (three translation, three orientation) with force control and accuracy requirements. The result of this development is a set of complexity values that can be assigned to the high-level task primitives derived from a relatively shallow top-down mission analysis. These values are then averaged to arrive at total average mission complexities, such as for the mission of exchanging the Hubble Space Telescope (HST) battery modules. Application of this metric to a candidate set of NASA Flight Telerobotic Servicer evaluation tasks is discussed using the HST battery module mission for an in-depth example.
Differential geometric system and control theory is used to develop a new dynamic system feedback technique for robot task space commands. The nonlinear robot arm system is feedback-linearized and simultaneously is output-decoupled by an appropriate nonlinear feedback and nonlinear coordinate transformation. On the joint space level, the scheme only commands drive forces or torques or their equivalent quantities addressed to the joint drives. An important property of the technique is that the planned and commanded task space trajectory together with its time derivatives directly drive the robot arm through a linear system model. A method for task space motion planning matching the requirements of the new scheme is briefly presented. The implications of the new technique for second and third order model robot arms with and without force feedback measuremnts and for two or more dynamically cooperating robot arms are discussed.
The Lunar Energy Enterprise Case Study Task Force was asked to determine the economic viability and commercial potential of mining and extracting He-3 from the lunar soil, and transporting the material to Earth for use in a power-generating fusion reactor. Two other space energy projects, the Space Power Station (SPS) and the Lunar Power Station (LPS), were also reviewed because of several interrelated aspects of these projects. The specific findings of the Task Force are presented. Appendices contain related papers generated by individual Task Force Members.
The active research tasks, as of the fiscal year 1989, of the Microgravity Science and Applications Program, NASA Office of Space Science and Applications, involving several NASA Centers and other organizations are compiled. The purpose is to provide an overview of the program scope for managers and scientists in industry, university, and government communities. The scientists in industry, university, and government communities. An introductory description of the program, the strategy and overall goal, identification of the organizational structures and people involved, and a description of each task are included. Also provided is a list of recent publications. The tasks are grouped into several major categories: electronic materials, solidification of metals, alloys, and composites; fluids, interfaces, and transport; biotechnology; glasses and ceramics; combustion science; physical and chemistry experiments (PACE); and experimental technology, facilities, and instrumentation.
Graphical manipulation of human figures is essential for certain types of human factors analyses such as reach, clearance, fit, and view. In many situations, however, the animation of simulated people performing various tasks may be based on more complicated functions involving multiple simultaneous reaches, critical timing, resource availability, and human performance capabilities. One rather effective means for creating such a simulation is through a natural language description of the tasks to be carried out. Given an anthropometrically-sized figure and a geometric workplace environment, various simple actions such as reach, turn, and view can be effectively controlled from language commands or standard NASA checklist procedures. The commands may also be generated by external simulation tools. Task timing is determined from actual performance models, if available, such as strength models or Fitts' Law. The resulting action specification are animated on a Silicon Graphics Iris workstation in real-time.
One approach used to better understand the impact of visual flow on control tasks has been to use synthetic perspective flow patterns. Such patterns are the result of apparent motion across a grid or random dot display. Unfortunately, the optical flow so generated is based on a subset of the flow information that exists in the real world. The danger is that the resulting optical motions may not generate the visual flow patterns useful for actual flight control. Researchers conducted a series of studies directed at understanding the characteristics of synthetic perspective flow that support various pilot tasks. In the first of these, they examined the control of altitude over various perspective grid textures (Johnson et al., 1987). Another set of studies was directed at studying the head tracking of targets moving in a 3-D coordinate system. These studies, parametric in nature, utilized both impoverished and complex virtual worlds represented by simple perspective grids at one extreme, and computer-generated terrain at the other. These studies are part of an applied visual research program directed at understanding the design principles required for the development of instruments displaying spatial orientation information. The experiments also highlight the need for modeling the impact of spatial displays on pilot control tasks.
An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.
Five models that predict how performance of multiple tasks will interact in complex task scenarios are discussed. The models are shown in terms of the assumptions they make about human operator divided attention. The different assumptions about attention are then empirically validated in a multitask helicopter flight simulation. It is concluded from this simulation that the most important assumption relates to the coding of demand level of different component tasks.
The effects of competition on performance of a video-formatted task were examined in a series of experiments. Two rhesus monkeys (Macaca mulatta) were trained to manipulate a joystick to shoot at moving targets on a computer screen. The task was made competitive by requiring both animals to shoot at the same target and by rewarding only the animal that hit the target first each trial. The competitive task produced a significant and robust speed-accuracy trade-off in performance. The monkeys hit the target in significantly less time on contested than on uncontested trials. However, they required significantly more shots to hit the target on contested trials in relation to uncontested trials. This effect was unchanged when various schedules of reinforcement were introduced in the uncontested trials. This supports the influence of competition qua competition on performance, a point further bolstered by other findings of behavioral contrast presented here.
The results are described of an effort to establish commonality and standardization of generic crew extravehicular (crew-EVA) and telerobotic task analysis primitives used for the study of spaceborne operations. Although direct crew-EVA plans are the most visible output of spaceborne operations, significant ongoing efforts by a wide variety of projects and organizations also require tools for estimation of crew-EVA and telerobotic times. Task analysis tools provide estimates for input to technical and cost tradeoff studies. A workshop was convened to identify the issues and needs to establish a common language and syntax for task analysis primitives. In addition, the importance of such a syntax was shown to have precedence over the level to which such a syntax is applied. The syntax, lists of crew-EVA and telerobotic primitives, and the data base in diskette form are presented.
Multilimbed industrial robots that have at least one arm and two or more legs are suggested for enlarging robot workspace in industrial automation. To plan the motion of a multilimbed robot, the arm-leg motion-coordination problem is raised and task decomposition is proposed to solve the problem; that is, a given task described by the destination position and orientation of the end-effector is decomposed into subtasks for arm manipulation and for leg locomotion, respectively. The former is defined as the end-effector position and orientation with respect to the legged main body, and the latter as the main-body position and orientation in the world coordinates. Three approaches are proposed for the task decomposition. The approaches are further evaluated in terms of energy consumption, from which an optimal approach can be selected.
Presented here is a compilation of the active research tasks for FY 1991 sponsored by the Microgravity Science and Applications Division of the NASA Office of Space Science and Applications. The purpose is to provide an overview of the program scope for managers and scientists in industry, university, and government communities. Included is an introductory description of the program, the strategy and overall goal, identification of the organizational structures and the people involved, and a description of each. The tasks are grouped into several categories: electronic materials; solidification of metals, alloys, and composites; fluids, interfaces, and transport; biotechnology; combustion science; glasses and ceramics; experimental technology, instrumentation, and facilities; and Physical and Chemistry Experiments (PACE). The tasks cover both the ground based and flight programs.
Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.
This report is a compilation of the FY 1992 Principal Investigator program task descriptions funded by the Microgravity Science and Applications Division (MSAD), NASA Headquarters, Washington, DC. The document also provides a bibliography of FY 1992 publications and presentations cited by MSAD Principal Investigators, and an index of the Principal Investigators and their affiliations. The purpose of the document is to provide an overview and progress report for the funded tasks for scientists and researchers in industry, university, and government communities. The tasks are grouped into three categories appropriate to the type of research being done-space flight, ground based, and advanced technology development-and by science discipline. The science disciplines are: biotechnology, combustion science,, electronic materials, fluid physics, fundamental physics, glass and ceramics, metals and alloys, and protein crystal growth.
Task Analysis Report Generation Tool (TARGET) computer program is graphical-interface software tool used to capture procedural knowledge and translate knowledge into hierarchical report. Designed to help programmer document expert's task, enabling programmer to build expert-system computer program that helps others perform task. Flexibility key element of design and of knowledge-acquisition session. Easy to use and tailored to accommodate users ranging from novice to experienced builder of expert systems. Written in C language.