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NASA NTRS1992

Spatial operator factorization and inversion of the manipulator mass matrix

This paper advances two linear operator factorizations of the manipulator mass matrix. Embedded in the factorizations are many of the techniques that are regarded as very efficient computational solutions to inverse and forward dynamics problems. The operator factorizations provide a high-level architectural understanding of the mass matrix and its inverse, which is not visible in the detailed algorithms. They also lead to a new approach to the development of computer programs or organize complexity in robot dynamics.

Rodriguez, Guillermo↗

NASA NTRS1991

Human factors issues for interstellar spacecraft

Developments in research on space human factors are reviewed in the context of a self-sustaining interstellar spacecraft based on the notion of traveling space settlements. Assumptions about interstellar travel are set forth addressing costs, mission durations, and the need for multigenerational space colonies. The model of human motivation by Maslow (1970) is examined and directly related to the design of space habitat architecture. Human-factors technology issues encompass the human-machine interface, crew selection and training, and the development of spaceship infrastructure during transtellar flight. A scenario for feasible instellar travel is based on a speed of 0.5c, a timeframe of about 100 yr, and an expandable multigenerational crew of about 100 members. Crew training is identified as a critical human-factors issue requiring the development of perceptual and cognitive aids such as expert systems and virtual reality.

Cohen, Marc M.↗

NASA NTRS1993

Perceptual factors that influence use of computer enhanced visual displays

This document is the final report for the NASA/Langley contract entitled 'Perceptual Factors that Influence Use of Computer Enhanced Visual Displays.' The document consists of two parts. The first part contains a discussion of the problem to which the grant was addressed, a brief discussion of work performed under the grant, and several issues suggested for follow-on work. The second part, presented as Appendix I, contains the annual report produced by Dr. Ann Fulop, the Postdoctoral Research Associate who worked on-site in this project. The main focus of this project was to investigate perceptual factors that might affect a pilot's ability to use computer generated information that is projected into the same visual space that contains information about real world objects. For example, computer generated visual information can identify the type of an attacking aircraft, or its likely trajectory. Such computer generated information must not be so bright that it adversely affects a pilot's ability to perceive other potential threats in the same volume of space. Or, perceptual attributes of computer generated and real display components should not contradict each other in ways that lead to problems of accommodation and, thus, distance judgments. The purpose of the research carried out under this contract was to begin to explore the perceptual factors that contribute to effective use of these displays.

Littman, David↗

NASA NTRS1993

Robust controller design for flexible structures using normalized coprime factor plant descriptions

Stabilization is a fundamental requirement in the design of feedback compensators for flexible structures. The search for the largest neighborhood around a given design plant for which a single controller produces closed-loop stability can be formulated as an H(sub infinity) control problem. The use of normalized coprime factor plant descriptions, in which the plant perturbations are defined as additive modifications to the coprime factors, leads to a closed-form expression for the maximum neighborhood boundary allowing optimal and suboptimal H(sub infinity) compensators to be computed directly without the usual gamma iteration. A summary of the theory on robust stabilization using normalized coprime factor plant descriptions is presented, and the application of the theory to the computation of robustly stable compensators for the phase version of the Control-Structures Interaction (CSI) Evolutionary Model is described. Results from the application indicate that the suboptimal version of the theory has the potential of providing the bases for the computation of low-authority compensators that are robustly stable to expected variations in design model parameters and additive unmodeled dynamics.

Armstrong, Ernest S.↗

NASA NTRS1951

Determination and Use of the Local Recovery Factor for Calculating the Effectiveness Gas Temperature for Turbine Blades / Jack B. Esgar and Alfred L. Lea

In an in experimental investigation of local recovery factors for a blade having a pressure distribution similar to that of a typical reaction-type turbine blade, it a was found that the recovery factors were essentially independent of Mach number, Reynolds number, pressure gradient, and position on the blade surface except for regions where the boundary layer was probably in the transition range from laminar to turbulent. The recommended value of local subsonic recovery factor for use in calculating the effective gas temperature for gas turbine blades was 0.89.

HEAT TRANSFER, CASCADES↗

NASA NTRS1924

The Influence of the Form of a Wooden Beam on Its Stiffness and Strength II : Form Factors of Beams Subjected to Transverse Loading Only

The general aim of the investigation described in this report is the achievement of efficient design in wing beams. The purpose of the tests was to determine factors to apply to the usual beam formula in order that the properties of wood based on tests of rectangular sections might be used as a basis of design for beams of any sections and if practical to develop formulas for determining such factors and to verify them by experiment. Such factors for various sections have been determined from test by comparing properties of the beam in question to similar properties of matched beams 2 by 2 inches in section. Furthermore, formulas were worked out, more or less empirical in character, which check all of these test values remarkably well.

Newlin, J A↗

NASA NTRS1993

A piloted simulation investigation of the normal load factor and longitudinal thrust required for air-to-air acquisition and tracking

A piloted simulation study was performed by the U.S. Army Aeroflighydynamics Directorate to develop insight into the maneuverability requirements for aggressive helicopter maneuvering tasks such as air-to-air combat. Both a conventional helicopter and a helicopter with auxiliary thrust were examined. The aircraft parameters of interest were the normal and longitudinal load factor envelopes. Of particular interest were the mission performance and handling qualities tradeoffs with the parameters of interest. Two air-to-air acquisition and tracking tasks and a return-to-cover task were performed to assess mission performance. Results indicate that without auxiliary thrust, the ownship normal load factor capability needs to match that of the adversary in order to provide satisfactory handling qualities. Auxiliary thrust provides significant handling qualities advantages and can be substituted to some extent for normal load factor capability. Auxiliary thrust levels as low as 0.2 thrust/weight can provide significant handling qualities advantages.

Whalley, Matthew S.↗

NASA NTRS1993

Factors that control the stable carbon isotopic composition of methane produced in an anoxic marine sediment

The carbon isotopic composition of methane produced in anoxic marine sediment is controlled by four factors: (1) the pathway of methane formation, (2) the isotopic composition of the methanogenic precursors, (3) the isotope fractionation factors for methane production, and (4) the isotope fractionation associated with methane oxidation. The importance of each factor was evaluated by monitoring stable carbon isotope ratios in methane produced by a sediment microcosm. Methane did not accumulate during the initial 42-day period when sediment contained sulfate, indicating little methane production from 'noncompetitive' substrates. Following sulfate depletion, methane accumulation proceeded in three distinct phases. First, CO2 reduction was the dominant methanogenic pathway and the isotopic composition of the methane produced ranged from -80 to -94 per thousand. The acetate concentration increased during this phase, suggesting that acetoclastic methanogenic bacteria were unable to keep pace with acetate production. Second, acetate fermentation became the dominant methanogenic pathway as bacteria responded to elevated acetate concentrations. The methane produced during this phase was progressively enriched in C-13, reaching a maximum delta(C-13) value of -42 per thousand. Third, the acetate pool experienced a precipitous decline from greater than 5 mM to less than 20 micro-M and methane production was again dominated by CO2 reduction. The delta(C-13) of methane produced during this final phase ranged from -46 to -58 per thousand. Methane oxidation concurrent with methane production was detected throughout the period of methane accumulation, at rates equivalent to 1 to 8 percent of the gross methane production rate. Thus methane oxidation was too slow to have significantly modified the isotopic signature of methane. A comparison of microcosm and field data suggests that similar microbial interactions may control seasonal variability in the isotopic composition of methane emitted from undisturbed Cape Lookout Bight sediment.

Alperin, M. J.↗

NASA NTRS1992

Factor analysis as a tool for spectral line component separation 21cm emission in the direction of L1780

The spectra of the 21cm HI radiation from the direction of L1780, a small high-galactic latitude dark/molecular cloud, were analyzed by multivariate methods. Factor analysis was performed on HI (21cm) spectra in order to separate the different components responsible for the spectral features. The rotated, orthogonal factors explain the spectra as a sum of radiation from the background (an extended HI emission layer), and from the L1780 dark cloud. The coefficients of the cloud-indicator factors were used to locate the HI 'halo' of the molecular cloud. Our statistically derived 'background' and 'cloud' spectral profiles, as well as the spatial distribution of the HI halo emission distribution were compared to the results of a previous study which used conventional methods analyzing nearly the same data set.

Toth, L. V.↗

NASA NTRS1994

Determining F-factor using ground-based Doppler radar: Validation and results

Using a two-dimensional linear least-squares method applied to Doppler radar data, we test the viability of determining F-factor remotely. The ultimate application of such an algorithm will be supplying real-time F-factor maps, derived from ground-based Doppler radars to air traffic control personnel and pilots. Data from NASA deployments to the MIT/Lincoln Lab TDWR testbed radar in Orlando in 1991 and 1992 along with NASA deployments to the NCAR TDWR testbed radar in Denver are examined. Preliminary analyses show that the two-dimensional method correlates reasonably well with in situ measurements. Several effects, independent of the method used, act to reduce the correlation to less than one. These include time differences between radar and aircraft data, vertical misalignment between the aircraft and the radar beam, different spatial resolution scales between aircraft and radar data, inhomogeneous radar beam filling, noise in radar data that eludes filtering, and phase lag between time and space due to low pass filtering of the aircraft data. In the final assessment, it appears that a shear-based F-factor algorithm is preferable to the currently implemented TDWR algorithms which lack any local shear estimates.

Elmore, K. L.↗

NASA NTRS1994

Probabilistic Simulation of the Human Factor in Structural Reliability

The formal approach described herein computationally simulates the probable ranges of uncertainties for the human factor in probabilistic assessments of structural reliability. Human factors such as marital status, professional status, home life, job satisfaction, work load, and health are studied by using a multifactor interaction equation (MFIE) model to demonstrate the approach. Parametric studies in conjunction with judgment are used to select reasonable values for the participating factors (primitive variables). Subsequently performed probabilistic sensitivity studies assess the suitability of the MFIE as well as the validity of the whole approach. Results show that uncertainties range from 5 to 30 percent for the most optimistic case, assuming 100 percent for no error (perfect performance).

Chamis, Christos C.↗

NASA NTRS1991

Human factors requirements for telerobotic command and control: The European Space Agency experimental programme

Space Telerobotics research, performed under contract to the European Space Agency (ESA), concerning the execution of human factors experiments, and ultimately leading to the development of a telerobotics test bed, has been carried out since 1985 by a British Consortium consisting of British Aerospace, the United Kingdom Atomic Energy Authority and, more recently, the UK National Advanced Robotics Research Centre. The principal aim of the first study of the series was to derive preliminary requirements for a teleoperation servicing system, with reference to two mission model scenarios. The first scenario introduced the problem of communications time delays, and their likely effect on the ground-based operator in control of a manipulator system on board an unmanned servicing vehicle in Low Earth Orbit. In the second scenario, the operator was located on the NASA Orbiter aft flight deck, supervising the control of a prototype manipulator in the 'servicing' of an experimental payload in the cargo bay area. Human factors analyses centered on defining the requirements for the teleoperator workstation, such as identifying basic ergonomic requirements for workstation and panel layouts, defining teleoperation strategies, developing alphanumeric and graphic screen formats for the supervision or direct control of the manipulator, and the potential applications of expert system technology. The second study for ESA involved an experimental appraisal of some of the important issues highlighted in the first study, for which relevant human factors data did not exist. Of central importance during the second study was the issue of communications time delays and their effect on the manual control of a teleoperated manipulator from a ground-based command and control station.

Stone, Robert J.↗

NASA NTRS1994

Human factors certification: A useful concept?

This paper considers what is involved in certification processes and their relation to human factors aspects of systems. It derives from recognition of a lack of understanding of the processes and purposes of certification. This was encountered when attempting to address the workshop topic by integrating an understanding of human factors with the observed processes of certification. The paper considers what human factors (HF) certification might be and then develops a simple model of the elements of a certification process. It then tries to relate these elements to the needs of the aviation communities and other parties with an interest in the certification of advance aviation technologies.

Jackson, Alistair↗

NASA NTRS1994

Human factors certification in the development of future air traffic control systems

If human factors certification of aviation technologies aims to encompass the wide range of issues which need to be addressed for any new system, then human factors involvement must be present throughout the whole design process in a manner which relates to final certification. A certification process cannot simply be applied to the final product of design. Standards and guidelines will be required by designers at the outset of design for reference in preparing for certification. The most effective use of human factors principles, methods, and measures is made as part of an iterative design process, leading to a system which reflects these as far as possible. This particularly applies where the technology is complex and may be represented by a number of components or sub-systems. Some aspects of the system are best certified during early prototyping, when there is still scope to make changes to software or hardware. At this stage in design, financial and/or time pressures will not rule out the possibility of necessary changes, as may be the case later. Other aspects of the system will be best certified during the final phases of design when the system is in a more complete form and in a realistic environment.

Evans, Alyson E.↗

NASA NTRS1995

A new method for determining the CO to H2 conversion factor for translucent clouds

In this paper we describe a new technique for obtaining the conversion factor between the molecular hydrogen column density and the CO(J = 1-0) integrated antenna temperature. This factor, typically known as X(sub CO) is often to be of order a few times 10(exp 20)/sq cm/K km/s) for the molecular clouds in the Galaxy and is one of the primary means of determining the molecular cloud mass from CO observations. However, for the low-extinction interstellar clouds known as the translucent molecular clouds, estimates of X(sub CO) vary by up to a factor of 60 depending on the object and techniques employed to calibrate X(sub CO). Since the cloud mass is directly proportional to X(sub CO) uncertainties in mass estimates of translucent clouds can be more than an order of magnitude. We calibrate the H2 content in translucent clouds by using the linear relationship between the CH and H2 column densities. The CH column density is readily determined from observations of the CH ground-state hyperfine main-line transition at 3335 MHz. Using CH as a surrogate tracer for H2 and CO(J = 1-0) observations of a sample of translucent and dark molecular clouds, we find a wide variation in values for X(sub CO). For translucent clouds, X(sub CO) ranges from 0.3 to 6.8 x 10(exp 20) and for dark clouds the values range from 0.8 to 8.6. Although the average values for both types of cloud are similar to the canonical value determined for the Galactic molecular cloud ensemble (2-4 x 10(exp 20)), the scatter in individual X(sub CO) values may indicate that X(sub CO) for a given translucent cloud cannot be determined a priori and must be obtained for each cloud so that a reliable mass determination may be made.

Magnani, L.↗

NASA NTRS1990

Improving the human factors of software with CLIPS

The use of CLIPS has transformed a conventional graduate course on the human factors of software. Previously, the class centered on lectures and discussions of a mix of ideas for improving the user-friendliness of software. By using CLIPS, the course can focus instead on teaching students to build three rule-based projects in CLIPS for improving the human factors of software. For the first project, students construct a friendly CLIPS front-end to existing software. For the second project students build a CLIPS expert system to help comply with user-interface guidelines. Alternatively, students may build an expert system to assist in detecting discrepancies between user-interfaces and guidelines. For the third project, students use CLIPS to implement a GOMS Model Methodology to assess the human performance impacts of given user-interfaces. Feedback on the projects from the students' colleagues and superiors in the workplace confirm the effectiveness of this CLIPS project-oriented approach to teaching the human factors of user-computer systems. Future refinements are described. Suggestions for those wishing to try this approach are outlined.

Nagy, Thomas J.↗

NASA NTRS1994

Human Factors Engineering: Current and Emerging Dual-Use Applications

Human Factors Engineering is a multidisciplinary endeavor in which information pertaining to human characteristics is used in the development of systems and machines. Six representatives considered to be experts from the public and private sectors were surveyed in an effort to identify the potential dual-use of human factors technology. Each individual was asked to provide a rating as to the dual-use of 85 identified NASA technologies. Results of the survey were as follows: nearly 75 percent of the technologies were identified at least once as high dual-use by one of the six survey respondents, and nearly 25 percent of the identified NASA technologies were identified as high dual-use technologies by a majority of the respondents. The perceived level of dual-use appeared to be independent of the technology category. Successful identification of dual-use technology requires expanded input from industry. As an adjunct, cost-benefit analysis should be conducted to identify the feasibility of the dual-use technology. Concurrent with this effort should be an examination of precedents established by other technologies in other industrial settings. Advances in human factors and systems engineering are critical to reduce risk in any workplace and to enhance industrial competitiveness.

Chandlee, G. O.↗

NASA NTRS1996

A human factors analysis of EVA time requirements

Human Factors Engineering (HFE), also known as Ergonomics, is a discipline whose goal is to engineer a safer, more efficient interface between humans and machines. HFE makes use of a wide range of tools and techniques to fulfill this goal. One of these tools is known as motion and time study, a technique used to develop time standards for given tasks. A human factors motion and time study was initiated with the goal of developing a database of EVA task times and a method of utilizing the database to predict how long an ExtraVehicular Activity (EVA) should take. Initial development relied on the EVA activities performed during the STS-61 mission (Hubble repair). The first step of the analysis was to become familiar with EVAs and with the previous studies and documents produced on EVAs. After reviewing these documents, an initial set of task primitives and task time modifiers was developed. Videotaped footage of STS-61 EVAs were analyzed using these primitives and task time modifiers. Data for two entire EVA missions and portions of several others, each with two EVA astronauts, was collected for analysis. Feedback from the analysis of the data will be used to further refine the primitives and task time modifiers used. Analysis of variance techniques for categorical data will be used to determine which factors may, individually or by interactions, effect the primitive times and how much of an effect they have.

Pate, D. W.↗