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NASA NTRS2004

Applications of Intelligent Tutoring Systems to Human-Robotic Exploration of Mars

Space missions with small crews extending over several years with time-delay preventing normal conversations with people on earth will raise many challenges for training. Of special interest are possible three-year missions to Mars, requiring refresher instruction and learning new skills based on unexpected problems with machines and environmental conditions. For example, the crew will be required to monitor and repair more complex life support systems for air and water recycling than we even know how to build today. Highly educated astronauts, often with several doctorate degrees, require a very different mode of interaction than we have developed for school children or even typical college students. Explanation methods may need to differ-using analogies and techniques from different domains-depending on whether the astronaut is an astrophysicist, a pilot, or a geologist.Virtual reality (e.g., for Hubble repair missions) and "integrated" simulations (involving role-playing and emphasizing failure scenarios) are the most common advanced forms of instruction used in space flight today. The emphasis is on collaborative, embodied interaction with the same workstations and tools used in practice (e.g., a cockpit simulator). Otherwise, computerized instructional technology used by NASA is not model-based or tutorial in nature. This discussion will review some of the key instructional methods used at NASA over the past two decades and consider why ITS methods have not been exploited. Some of the problems and opportunities for training for Mars missions are examined, including how using robots in exploration activities will help but raise new training problems. These ideas will be illustrated with examples from the BrahmsVE system in which a browser- based virtual reality display with avatars allows interacting with a distributed multiagent system, in which agents can be people, robots, or software programs. Using BrahmsVE may provide a way for astronauts to interact with proxies of people who serve as instructional coaches on Mars.

Clancey, William J.↗
NASA NTRS2004

Transportation Network Topologies

A discomforting reality has materialized on the transportation scene: our existing air and ground infrastructures will not scale to meet our nation's 21st century demands and expectations for mobility, commerce, safety, and security. The consequence of inaction is diminished quality of life and economic opportunity in the 21st century. Clearly, new thinking is required for transportation that can scale to meet to the realities of a networked, knowledge-based economy in which the value of time is a new coin of the realm. This paper proposes a framework, or topology, for thinking about the problem of scalability of the system of networks that comprise the aviation system. This framework highlights the role of integrated communication-navigation-surveillance systems in enabling scalability of future air transportation networks. Scalability, in this vein, is a goal of the recently formed Joint Planning and Development Office for the Next Generation Air Transportation System. New foundations for 21st thinking about air transportation are underpinned by several technological developments in the traditional aircraft disciplines as well as in communication, navigation, surveillance and information systems. Complexity science and modern network theory give rise to one of the technological developments of importance. Scale-free (i.e., scalable) networks represent a promising concept space for modeling airspace system architectures, and for assessing network performance in terms of scalability, efficiency, robustness, resilience, and other metrics. The paper offers an air transportation system topology as framework for transportation system innovation. Successful outcomes of innovation in air transportation could lay the foundations for new paradigms for aircraft and their operating capabilities, air transportation system architectures, and airspace architectures and procedural concepts. The topology proposed considers air transportation as a system of networks, within which strategies for scalability of the topology may be enabled by technologies and policies. In particular, the effects of scalable ICNS concepts are evaluated within this proposed topology. Alternative business models are appearing on the scene as the old centralized hub-and-spoke model reaches the limits of its scalability. These models include growth of point-to-point scheduled air transportation service (e.g., the RJ phenomenon and the Southwest Effect). Another is a new business model for on-demand, widely distributed, air mobility in jet taxi services. The new businesses forming around this vision are targeting personal air mobility to virtually any of the thousands of origins and destinations throughout suburban, rural, and remote communities and regions. Such advancement in air mobility has many implications for requirements for airports, airspace, and consumers. These new paradigms could support scalable alternatives for the expansion of future air mobility to more consumers in more places.

Holmes, Bruce J.↗
NASA NTRS2004

Usability Evaluation of a Flight-Deck Airflow Hazard Visualization System

Many aircraft accidents each year are caused by encounters with unseen airflow hazards near the ground, such as vortices, downdrafts, low level wind shear, microbursts, or turbulence from surrounding vegetation or structures near the landing site. These hazards can be dangerous even to airliners; there have been hundreds of fatalities in the United States in the last two decades attributable to airliner encounters with microbursts and low level wind shear alone. However, helicopters are especially vulnerable to airflow hazards because they often have to operate in confined spaces and under operationally stressful conditions (such as emergency search and rescue, military or shipboard operations). Providing helicopter pilots with an augmented-reality display visualizing local airflow hazards may be of significant benefit. However, the form such a visualization might take, and whether it does indeed provide a benefit, had not been studied before our experiment. We recruited experienced military and civilian helicopter pilots for a preliminary usability study to evaluate a prototype augmented-reality visualization system. The study had two goals: first, to assess the efficacy of presenting airflow data in flight; and second, to obtain expert feedback on sample presentations of hazard indicators to refine our design choices. The study addressed the optimal way to provide critical safety information to the pilot, what level of detail to provide, whether to display specific aerodynamic causes or potential effects only, and how to safely and effectively shift the locus of attention during a high-workload task. Three-dimensional visual cues, with varying shape, color, transparency, texture, depth cueing, and use of motion, depicting regions of hazardous airflow, were developed and presented to the pilots. The study results indicated that such a visualization system could be of significant value in improving safety during critical takeoff and landing operations, and also gave clear indications of the best design choices in producing the hazard visual cues.

Aragon, Cecilia R.↗
NASA NTRS2004

Hearing in True 3-D

In 1984, researchers from Ames Research Center came together to develop advanced human interfaces for NASA s teleoperations that would come to be known as "virtual reality." The basis of the work theorized that if the sensory interfaces met a certain threshold and sufficiently supported each other, then the operator would feel present in the remote/synthetic environment, rather than present in their physical location. Twenty years later, this prolific research continues to pay dividends to society in the form of cutting-edge virtual reality products, such as an interactive audio simulation system.

Source record↗
NASA NTRS2003

Major Impact of Fleet Renewal Over Airports Located in the Most Important Region of Brazil

The present article discusses and analyses the major impacts of the Brazilian carriers fleet renewal regarding Brazilian airport infrastructure in the most important region of the country, the Southeast (SE). A brief historical overview of the country's airline fleet will be presented, demonstrating the need for its renewal (m fact, Brazilian carriers started a major fleet renewal program m the last five years), while analyzing the periods in which a new breed of aircraft was put into service by the major carriers operating in the SE region. The trend of operating the classic regional jets plus the forthcoming entry into service of the "large regional jets" (LRJ, 70-115 seaters) in several point-to-point routes are presented along with the country's carriers" reality of operating these former aircraft in several high-capacity and medium-range routes. The article will focus on the ability of four of the major Southeast's airports to cope with the fleet modernization, mainly due to the fact that the region studied is the most socioeconomic developed, by far, with the largest demand for air transportation, thus making the impacts much more perceptible for the communities and the airport management involved. With the emergence of these impacts, several new projects and investments are being discussed and pushed forward, despite budgetary constrains being a reality in almost every Brazilian city, even in the SE region. In view of this, the paper presents how the general planning could be carried out in order to adapt the airports' infrastructures in function of the proposed (and in some cases, necessary) fleet renewal. Ultimately, we will present the present picture and two future scenarios m order to determine the level of service in the existent passenger terminal facilities in the wake of the possible operation of several new aircraft. Keywords: Airline fleet planning, Airport planning, Regional development, Regional Jets.

Maters, Rafael Waltz↗
NASA NTRS2005

Return to Flight: Crew Activities Resource Reel 1 of 2

The crew of the STS-114 Discovery Mission is seen in various aspects of training for space flight. The crew activities include: 1) STS-114 Return to Flight Crew Photo Session; 2) Tile Repair Training on Precision Air Bearing Floor; 3) SAFER Tile Inspection Training in Virtual Reality Laboratory; 4) Guidance and Navigation Simulator Tile Survey Training; 5) Crew Inspects Orbital Boom and Sensor System (OBSS); 6) Bailout Training-Crew Compartment; 7) Emergency Egress Training-Crew Compartment Trainer (CCT); 8) Water Survival Training-Neutral Buoyancy Lab (NBL); 9) Ascent Training-Shuttle Motion Simulator; 10) External Tank Photo Training-Full Fuselage Trainer; 11) Rendezvous and Docking Training-Shuttle Engineering Simulator (SES) Dome; 12) Shuttle Robot Arm Training-SES Dome; 13) EVA Training Virtual Reality Lab; 14) EVA Training Neutral Buoyancy Lab; 15) EVA-2 Training-NBL; 16) EVA Tool Training-Partial Gravity Simulator; 17) Cure in Place Ablator Applicator (CIPAA) Training Glove Vacuum Chamber; 16) Crew Visit to Merritt Island Launch Area (MILA); 17) Crew Inspection-Space Shuttle Discovery; and 18) Crew Inspection-External Tank and Orbital Boom and Sensor System (OBSS). The crew are then seen answering questions from the media at the Space Shuttle Landing Facility.

Source record↗
NASA NTRS2003

Systems Analysis Initiated for All-Electric Aircraft Propulsion

A multidisciplinary effort is underway at the NASA Glenn Research Center to develop concepts for revolutionary, nontraditional fuel cell power and propulsion systems for aircraft applications. There is a growing interest in the use of fuel cells as a power source for electric propulsion as well as an auxiliary power unit to substantially reduce or eliminate environmentally harmful emissions. A systems analysis effort was initiated to assess potential concepts in an effort to identify those configurations with the highest payoff potential. Among the technologies under consideration are advanced proton exchange membrane (PEM) and solid oxide fuel cells, alternative fuels and fuel processing, and fuel storage. Prior to this effort, the majority of fuel cell analysis done at Glenn was done for space applications. Because of this, a new suite of models was developed. These models include the hydrogen-air PEM fuel cell; internal reforming solid oxide fuel cell; balance-of-plant components (compressor, humidifier, separator, and heat exchangers); compressed gas, cryogenic, and liquid fuel storage tanks; and gas turbine/generator models for hybrid system applications. Initial mass, volume, and performance estimates of a variety of PEM systems operating on hydrogen and reformate have been completed for a baseline general aviation aircraft. Solid oxide/turbine hybrid systems are being analyzed. In conjunction with the analysis efforts, a joint effort has been initiated with Glenn s Computer Services Division to integrate fuel cell stack and component models with the visualization environment that supports the GRUVE lab, Glenn s virtual reality facility. The objective of this work is to provide an environment to assist engineers in the integration of fuel cell propulsion systems into aircraft and provide a better understanding of the interaction between system components and the resulting effect on the overall design and performance of the aircraft. Initially, three-dimensional computer-aided design (CAD) models of representative PEM fuel cell stack and components were developed and integrated into the virtual reality environment along with an Excel-based model used to calculate fuel cell electrical performance on the basis of cell dimensions (see the figure). CAD models of a representative general aviation aircraft were also developed and added to the environment. With the use of special headgear, users will be able to virtually manipulate the fuel cell s physical characteristics and its placement within the aircraft while receiving information on the resultant fuel cell output power and performance. As the systems analysis effort progresses, we will add more component models to the GRUVE environment to help us more fully understand the effect of various system configurations on the aircraft.

Kohout, Lisa L.↗
NASA NTRS2005

Postural Control Disturbances Produced By Exposure to HMD and Dome Vr Systems

Two critical and unresolved human factors issues in VR systems are: 1) potential "cybersickness", a form of motion sickness which is experienced in virtual worlds, and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Most astronauts and cosmonauts experience perceptual and sensorimotor disturbances during and following space flight. All astronauts exhibit decrements in postural control following space flight. It has been suggested that training in virtual reality (VR) may be an effective countermeasure for minimizing perceptual and/or sensorimotor disturbances. People adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, and experimentally-produced stimulus rearrangements (e.g., reversing prisms, magnifying lenses, flight simulators, and VR systems). Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays. Individuals recovered from motion sickness and the detrimental effects of exposure to virtual reality on postural control within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and address safety concerns about aftereffects.

Harm, D. L.↗
NASA NTRS2007

Constraint, Intelligence, and Control Hierarchy in Virtual Environments

This paper seeks to deal directly with the question of what makes virtual actors and objects that are experienced in virtual environments seem real. (The term virtual reality, while more common in public usage, is an oxymoron; therefore virtual environment is the preferred term in this paper). Reality is difficult topic, treated for centuries in those sub-fields of philosophy called ontology- "of or relating to being or existence" and epistemology- "the study of the method and grounds of knowledge, especially with reference to its limits and validity" (both from Webster s, 1965). Advances in recent decades in the technologies of computers, sensors and graphics software have permitted human users to feel present or experience immersion in computer-generated virtual environments. This has motivated a keen interest in probing this phenomenon of presence and immersion not only philosophically but also psychologically and physiologically in terms of the parameters of the senses and sensory stimulation that correlate with the experience (Ellis, 1991). The pages of the journal Presence: Teleoperators and Virtual Environments have seen much discussion of what makes virtual environments seem real (see, e.g., Slater, 1999; Slater et al. 1994; Sheridan, 1992, 2000). Stephen Ellis, when organizing the meeting that motivated this paper, suggested to invited authors that "We may adopt as an organizing principle for the meeting that the genesis of apparently intelligent interaction arises from an upwelling of constraints determined by a hierarchy of lower levels of behavioral interaction. "My first reaction was "huh?" and my second was "yeah, that seems to make sense." Accordingly the paper seeks to explain from the author s viewpoint, why Ellis s hypothesis makes sense. What is the connection of "presence" or "immersion" of an observer in a virtual environment, to "constraints" and what types of constraints. What of "intelligent interaction," and is it the intelligence of the observer or the intelligence of the environment (whatever the latter may mean) that is salient? And finally, what might be relevant about "upwelling" of constraints as determined by a hierarchy of levels of interaction?

Sheridan, Thomas B.↗
NASA NTRS2006

Adaptive Changes In Postural Equilibrium And Motion Sickness Following Repeated Exposures To Virtual Environments

Virtual environments offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Two unresolved human factors issues in virtual reality (VR) systems are: 1) potential "cybersickness", and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Changes in the environmental sensory stimulus conditions and the way we interact with the new stimuli may result in motion sickness, and perceptual, spatial orientation and sensorimotor disturbances. Initial interpretation of novel sensory information may be inappropriate and result in perceptual errors. Active exploratory behavior in a new environment, with resulting feedback and the formation of new associations between sensory inputs and response outputs, promotes appropriate perception and motor control in the new environment. Thus, people adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, unilateral labyrinthectomy and experimentally produced stimulus rearrangements. Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays, and to examine the effects of exposure duration, and repeated exposures to VR systems. Forty-one subjects (21 men, 20 women) participated in the study with an age range of 21-49 years old. One training session was completed in order to achieve stable performance on the posture and VR tasks before participating in the experimental sessions. Three experimental sessions were performed each separated by one day. The subjects performed a navigation and pick and place task in either a dome or head-mounted display (HMD) VR system for either 30 or 60 min. The environment was a square room with 15 pedestals on two opposite walls. The objects appeared on one set of pedestals and the subject s objective was to move the objects to the other set of pedestals. After the subject picked up an object, a pathway appeared and they were required to follow the pathway to the other side of the room. The subject was instructed to perform the task as quickly and accurately as possible, avoiding hitting walls and other any obstacles and placing the object on the center of the pedestal. Postural equilibrium was measured (using the Equitest CDP balance system, Neurocom, International) before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. Postural equilibrium was measured during quiet stance with eyes open, eyes closed and vision and/or ankle proprioceptive inputs selectively altered by servo-controlling the visual surround and/or support surface to the subject s center of mass sway. Posture data was normalized using a log transformation and motion sickness data were normalized using the square root. In general, we found that exposure to VR resulted in decrements in postural stability. The largest decrements were observed in the tests performed immediately following exposure to VR and showed a fairly rapid recovery across the remaining test sessions. In addition, subjects generally showed improvement across days. We found significant main effects for day and time for the composite equilibrium score and for sensory organization tests (SOT) 1, 2 and 6. Significant main effects were observed for day for SOT 3 and 5. Although we found no significant main effects for gender (when center of gravity was used as a covariate), we did observe significant gender X time interaction effects for composite equilibrium and for SOT 1, 3, 4 and 5. Women appeared to show larger decrements in postural stability immediately after exposure to VR than men, but recover more quickly than n. Finally, we found no significant main effects for type of VR device or for exposure duration, however, these factors did interact with other factors during some of the SOTs. Subjects exhibited rapid recovery of motion sickness symptoms across time following exposure to VR and significantly less severe symptoms across days. We did not observe main effects for gender, type of device or duration of exposure. Individuals recovered from the detrimental effects of exposure to virtual reality on postural control and motion sickness within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight.

Harm, D. L.↗
NASA NTRS2009

Employing Earned Value Management in Government Research and Design - Lessons Learned from the Trenches

To effectively manage a project, the project manager must have a plan, understand the current conditions, and be able to take action to correct the course when challenges arise. Research and design projects face technical, schedule, and budget challenges that make it difficult to utilize project management tools developed for projects based on previously demonstrated technologies. Projects developing new technologies by their inherent nature are trying something new and thus have little to no data to support estimates for schedule and cost, let alone the technical outcome. Projects with a vision for the outcome but little confidence in the exact tasks to accomplish in order to achieve the vision incur cost and schedule penalties when conceptual solutions require unexpected iterations or even a reinvention of the plan. This presentation will share the project management methodology and tools developed through trial and error for a NASA research and design project combining industry, academia, and NASA inhouse work in which Earned Value Management principles were employed but adapted for the reality of the government financial system and the reality of challenging technology development. The priorities of the presented methodology are flexibility, accountability, and simplicity to give the manager tools to help deliver to the customer while not using up valuable time and resources on extensive planning and analysis. This presentation will share the methodology, tools, and work through failed and successful examples from the three years of process evolution.

Simon, Tom↗
NASA NTRS2009

Comparison of the Effects of RAS vs. Kain-Fritsch Convective Schemes on Katrina Forecasts with GEOS-5

Global forecasts were made with the 0.25-degree latitude version of GEOS-5, with the RAS scheme and with the Kain-Fritsch scheme. Examination was made of the Katrina (2005) hurricane simulation. Replacement of the RAS convective scheme with the K-F scheme results in a much more vigorous Katrina, closer to reality. Still, the result is not as vigorous as reality. In terms of wind maximum, the gap was closed by ~50%. The result seems to be due to the RAS scheme drying out the boundary layer, thus hampering the grid-scale secondary circulation and attending cyclone development. The RAS case never developed a full warm core, whereas the K-F case did. Not shown here: The K-F scheme also resulted in a more vigorous storm than when GEOS-5 is run with no convective parameterization. Also not shown: An experiment in which the RAS firing level was moved up by 3 model levels resulted in a stronger, warm-core storm, though not as strong as the K-F case. Effects on storm track were noticed, but not studied.

Miller, Timothy L.↗
NASA NTRS2010

Making Games Not Work: Paradoxes Embedded in Game-Based Training and Concepts for Overcoming Them

An interest in game-based training solutions is natural. All one has to do is watch someone fully engaged in a modern game to see the potential of harnessing that attention for training. However, the reality of game-based training has not fully satisfied these expectations. This paper explains two paradoxes that must be overcome for games to support training. These paradoxes are a result of the realities of the basic human condition clashing with the requirements of learning theory. 80th paradoxes arise from the concept of "engagement" that is central to games. The first comes from a more robust definition of engagement, which is the condition of Flow or Optimal Experience. Flow is the state game developers want to see in users. One aspect of Flow is loss of sense of self as the individual becomes immersed in the experience. The paradox arises because this loss of self directly contradicts the learning requirement of self-reflection. The second paradox comes from theories of play, which state in part that play requires a level of individual freedom. The contradiction arises when game-based play must be harnessed to an organizational training program or regimen. The paper will discuss these paradoxes in the context of an effort to design a game-based training modality to train combat medics and will close with a review of compensating strategies identified by the designers. The paper will provide information important to anyone interested in conceptualizing and designing game-based training.

Jones, Phillip N.↗
NASA NTRS2010

The Application of Modeling and Simulation to the Behavioral Deficit of Autism

This abstract describes a research effort to apply technological advances in virtual reality simulation and computer-based games to create behavioral modification programs for individuals with Autism Spectrum Disorder (ASD). The research investigates virtual social skills training within a 3D game environment to diminish the impact of ASD social impairments and to increase learning capacity for optimal intellectual capability. Individuals with autism will encounter prototypical social contexts via computer interface and will interact with 3D avatars with predefined roles within a game-like environment. Incremental learning objectives will combine to form a collaborative social environment. A secondary goal of the effort is to begin the research and development of virtual reality exercises aimed at triggering the release of neurotransmitters to promote critical aspects of synaptic maturation at an early age to change the course of the disease.

Anton, John J.↗
NASA NTRS2011

ARC+(Registered Trademark) and ARC PC Welding Simulators: Teach Welders with Virtual Interactive 3D Technologies

123 Certification Inc., a Montreal based company, has developed an innovative hands-on welding simulator solution to help build the welding workforce in the most simple way. The solution lies in virtual reality technology, which has been fully tested since the early 90's. President and founder of 123 Certification Inc., Mr. Claude Choquet Ing. Msc. IWE. acts as a bridge between the welding and the programming world. Working in these fields for more than 20 years. he has filed 12 patents world-wide for a gesture control platform with leading edge hardware related to simulation. In the summer of 2006. Mr Choquet was proud to be invited to the annual IIW International Weld ing Congress in Quebec City to launch the ARC+ welding simulator. A 100% virtual reality system and web based training center was developed to simulate multi process. multi-materiaL multi-position and multi pass welding. The simulator is intended to train welding students and apprentices in schools or industries. The welding simulator is composed of a real welding e[eetrode holder (SMAW-GTAW) and gun (GMAW-FCAW). a head mounted display (HMD), a 6 degrees of freedom tracking system for interaction between the user's hands and head. as well as external audio speakers. Both guns and HMD are interacting online and simultaneously. The welding simulation is based on the law of physics and empirical results from detailed analysis of a series of welding tests based on industrial applications tested over the last 20 years. The simulation runs in real-time, using a local logic network to determine the quality and shape of the created weld. These results are based on the orientation distance. and speed of the welding torch and depth of penetration. The welding process and resulting weld bc.1d are displayed in a virtual environment with screenplay interactive training modules. For review. weld quality and recorded process values can be displayed and diagnosed after welding. To help in the le.tming process, a learning curve for each student and each Virtual Welding Class'" can be plotted, for an instructor's review or a required third party evaluation.

Choquet, Claude↗
NASA NTRS2012

Advanced Aero-Propulsive Mid-Lift-to-Drag Ratio Entry Vehicle for Future Exploration Missions

NASA is currently looking well into the future toward realizing Exploration mission possibilities to destinations including the Earth-Moon Lagrange points, Near-Earth Asteroids (NEAs) and the Moon. These are stepping stones to our ultimate destination Mars. New ideas will be required to conquer the significant challenges that await us, some just conceptions and others beginning to be realized. Bringing these ideas to fruition and enabling further expansion into space will require varying degrees of change, from engineering and integration approaches used in spacecraft design and operations, to high-level architectural capabilities bounded only by the limits of our ideas. The most profound change will be realized by paradigm change, thus enabling our ultimate goals to be achieved. Inherent to achieving these goals, higher entry, descent, and landing (EDL) performance has been identified as a high priority. Increased EDL performance will be enabled by highly-capable thermal protection systems (TPS), the ability to deliver larger and heavier payloads, increased surface access, and tighter landing footprints to accommodate multiple asset, single-site staging. In addition, realizing reduced cost access to space will demand more efficient approaches and reusable launch vehicle systems. Current operational spacecraft and launch vehicles do not incorporate the technologies required for these far-reaching missions and goals, nor what is needed to achieve the desired launch vehicle cost savings. To facilitate these missions and provide for safe and more reliable capabilities, NASA and its partners will need to make ideas reality by gaining knowledge through the design, development, manufacturing, implementation and flight testing of robotic and human spacecraft. To accomplish these goals, an approach is recommended for integrated development and implementation of three paradigm-shifting capabilities into an advanced entry vehicle system with additional application to launch vehicle stage return, thus making ideas reality. These paradigm shifts include the technology maturation of advanced flexible thermal protection materials onto mid lift-to-drag ratio entry vehicles, the development of integrated supersonic aero-propulsive maneuvering, and the implementation of advanced asymmetric launch shrouds. These paradigms have significant overlap with launch vehicle stage return already being developed by the Air Force and several commercial space efforts. Completing the realization of these combined paradigms holds the key to a high-performing entry vehicle system capability that fully leverages multiple technology benefits to accomplish NASA's Exploration missions to atmospheric planetary destinations.

Campbell, C. H.↗
NASA NTRS2013

Time Counts! Some Comments on System Latency in Head-Referenced Displays

System response latency is a prominent characteristic of human-computer interaction. Laggy systems are; however, not simply annoying but substantially reduce user productivity. The impact of latency on head referenced display systems, particularly head-mounted systems, is especially disturbing since not only can it interfere with dynamic registration in augmented reality displays but it also can in some cases indirectly contribute to motion sickness. We will summarize several experiments using standard psychophysical discrimination techniques that suggest what system latencies will be required to achieve perceptual stability for spatially referenced computer-generated imagery. In conclusion I will speculate about other system performance characteristics that I would hope to have for a dream augmented reality system.

human-computer interaction↗
NASA NTRS2015

Human-Robot Interaction

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.

Sandor, Aniko↗