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NASA NTRS2000

Mapping the zone of eye-height utility for seated and standing observers

In a series of experiments, we delimited a region within the vertical axis of space in which eye height (EH) information is used maximally to scale object heights, referred to as the "zone of eye height utility" (Wraga, 1999b Journal of Experimental Psychology, Human Perception and Performance 25 518-530). To test the lower limit of the zone, linear perspective (on the floor) was varied via introduction of a false perspective (FP) gradient while all sources of EH information except linear perspective were held constant. For seated (experiment 1a) observers, the FP gradient produced overestimations of height for rectangular objects up to 0.15 EH tall. This value was taken to be just outside the lower limit of the zone. This finding was replicated in a virtual environment, for both seated (experiment 1b) and standing (experiment 2) observers. For the upper limit of the zone, EH information itself was manipulated by lowering observers' center of projection in a virtual scene. Lowering the effective EH of standing (experiment 3) and seated (experiment 4) observers produced corresponding overestimations of height for objects up to about 2.5 EH. This zone of approximately 0.20-2.5 EH suggests that the human visual system weights size information differentially, depending on its efficacy.

NASA Discipline Space Human Factors↗

NASA NTRS1991

The exploration metaphor

NASA's experience in planetary exploration has demonstrated that the desktop workstation is inadequate for many visualization situations. The primary mission displays for the unmanned Surveyor missions to the moon during the mid-1960's, for example, were environmental images assembled on the inside surfaces of spherical shells. Future exploration missions will greatly benefit from advances in digital computer and display technology, but there remain unmet user interface needs. Alternative user interfaces and metaphors are needed for planetary exploration and other interactions with complex spatial environments. These interfaces and metaphors would enable the user to directly explore environments and naturally manipulate objects in those environments. Personal simulators, virtual workstations, and telepresence user interfaces are systems capable of providing this integration of user space and task space. The Exploration Metaphor is a useful concept for guiding the design of user interfaces for virtual environments and telepresence. To apply the Exploration Metaphor is to assert that computing is like exploration, and to support objects, operations, and contexts comparable to those encountered in the exploration of natural environments. The Exploration Metaphor, under development for user interfaces in support of NASA's planetary exploration missions and goals, will also benefit other applications where complex spatial information must be visualized. Visualization methods and systems for planetary exploration are becoming increasingly integrated and interactive as computing technology improves. These advances will benefit from virtual environment and telepresence interface technology. A key development has been the processing of multiple images and other sensor data to create detailed digital models of the planets and moons. Data from images of the Earth, Mars, and Miranda, for example, have been converted into 3D models, and dynamic virtual fly-overs have been computed as demonstrations. Similar processing of lower altitude photography and the use of computer aided design tools promise to produce very detailed models in the future.

Mcgreevy, Michael W.↗

NASA NTRS1994

Multivariate statistical analysis software technologies for astrophysical research involving large data bases

We developed a package to process and analyze the data from the digital version of the Second Palomar Sky Survey. This system, called SKICAT, incorporates the latest in machine learning and expert systems software technology, in order to classify the detected objects objectively and uniformly, and facilitate handling of the enormous data sets from digital sky surveys and other sources. The system provides a powerful, integrated environment for the manipulation and scientific investigation of catalogs from virtually any source. It serves three principal functions: image catalog construction, catalog management, and catalog analysis. Through use of the GID3* Decision Tree artificial induction software, SKICAT automates the process of classifying objects within CCD and digitized plate images. To exploit these catalogs, the system also provides tools to merge them into a large, complete database which may be easily queried and modified when new data or better methods of calibrating or classifying become available. The most innovative feature of SKICAT is the facility it provides to experiment with and apply the latest in machine learning technology to the tasks of catalog construction and analysis. SKICAT provides a unique environment for implementing these tools for any number of future scientific purposes. Initial scientific verification and performance tests have been made using galaxy counts and measurements of galaxy clustering from small subsets of the survey data, and a search for very high redshift quasars. All of the tests were successful, and produced new and interesting scientific results. Attachments to this report give detailed accounts of the technical aspects for multivariate statistical analysis of small and moderate-size data sets, called STATPROG. The package was tested extensively on a number of real scientific applications, and has produced real, published results.

Djorgovski, S. George↗

NASA NTRS1994

Multivariate Statistical Analysis Software Technologies for Astrophysical Research Involving Large Data Bases

We developed a package to process and analyze the data from the digital version of the Second Palomar Sky Survey. This system, called SKICAT, incorporates the latest in machine learning and expert systems software technology, in order to classify the detected objects objectively and uniformly, and facilitate handling of the enormous data sets from digital sky surveys and other sources. The system provides a powerful, integrated environment for the manipulation and scientific investigation of catalogs from virtually any source. It serves three principal functions: image catalog construction, catalog management, and catalog analysis. Through use of the GID3* Decision Tree artificial induction software, SKICAT automates the process of classifying objects within CCD and digitized plate images. To exploit these catalogs, the system also provides tools to merge them into a large, complex database which may be easily queried and modified when new data or better methods of calibrating or classifying become available. The most innovative feature of SKICAT is the facility it provides to experiment with and apply the latest in machine learning technology to the tasks of catalog construction and analysis. SKICAT provides a unique environment for implementing these tools for any number of future scientific purposes. Initial scientific verification and performance tests have been made using galaxy counts and measurements of galaxy clustering from small subsets of the survey data, and a search for very high redshift quasars. All of the tests were successful and produced new and interesting scientific results. Attachments to this report give detailed accounts of the technical aspects of the SKICAT system, and of some of the scientific results achieved to date. We also developed a user-friendly package for multivariate statistical analysis of small and moderate-size data sets, called STATPROG. The package was tested extensively on a number of real scientific applications and has produced real, published results.

Djorgovski, S. G.↗

NASA NTRS1987

System architecture for telerobotic servicing and assembly tasks

The architecture of an integrated telerobotics laboratory which is being used for research on the mechanisms, controls, sensing, and operator interface required to accomplish space telerobotic tasks is described. The laboratory hardware is considered, including manipulator and controller, end effector, and vision. The virtual architecture, a common reference model for most of the laboratory applications, is discussed. Teleoperator and robotics system simulations which have been performed using the system are discussed.

Harrison, F. Wallace, Jr.↗

NASA NTRS1998

Virtual Environment User Interfaces to Support RLV and Space Station Simulations in the ANVIL Virtual Reality Lab

Several virtual reality I/O peripherals were successfully configured and integrated as part of the author's 1997 Summer Faculty Fellowship work. These devices, which were not supported by the developers of VR software packages, use new software drivers and configuration files developed by the author to allow them to be used with simulations developed using those software packages. The successful integration of these devices has added significant capability to the ANVIL lab at MSFC. In addition, the author was able to complete the integration of a networked virtual reality simulation of the Space Shuttle Remote Manipulator System docking Space Station modules which was begun as part of his 1996 Fellowship. The successful integration of this simulation demonstrates the feasibility of using VR technology for ground-based training as well as on-orbit operations.

Dumas, Joseph D., II↗

NASA NTRS2002

Human Factors and Information Operation for a Nuclear Power Space Vehicle

This paper describes human-interactive systems needed for a crewed nuclear-enabled space mission. A synthesis of aircraft engine and nuclear power plant displays, biofeedback of sensory input, virtual control, brain mapping for control process and manipulation, and so forth are becoming viable solutions. These aspects must maintain the crew's situation awareness and performance, which entails a delicate function allocation between crew and automation.

Trujillo, Anna C.↗

NASA NTRS2003

NASA Virtual Glovebox (VBX): Emerging Simulation Technology for Space Station Experiment Design, Development, Training and Troubleshooting

The International Space Station demonstrates the greatest capabilities of human ingenuity, international cooperation and technology development. The complexity of this space structure is unprecedented; and training astronaut crews to maintain all its systems, as well as perform a multitude of research experiments, requires the most advanced training tools and techniques. Computer simulation and virtual environments are currently used by astronauts to train for robotic arm manipulations and extravehicular activities; but now, with the latest computer technologies and recent successes in areas of medical simulation, the capability exists to train astronauts for more hands-on research tasks using immersive virtual environments. We have developed a new technology, the Virtual Glovebox (VGX), for simulation of experimental tasks that astronauts will perform aboard the Space Station. The VGX may also be used by crew support teams for design of experiments, testing equipment integration capability and optimizing the procedures astronauts will use. This is done through the 3D, desk-top sized, reach-in virtual environment that can simulate the microgravity environment in space. Additional features of the VGX allow for networking multiple users over the internet and operation of tele-robotic devices through an intuitive user interface. Although the system was developed for astronaut training and assisting support crews, Earth-bound applications, many emphasizing homeland security, have also been identified. Examples include training experts to handle hazardous biological and/or chemical agents in a safe simulation, operation of tele-robotic systems for assessing and diffusing threats such as bombs, and providing remote medical assistance to field personnel through a collaborative virtual environment. Thus, the emerging VGX simulation technology, while developed for space- based applications, can serve a dual use facilitating homeland security here on Earth.

Smith, Jeffrey D.↗

NASA NTRS1991

Interacting with virtual worlds

What tools should we provide the user for defining and interacting with objects and agents in virtual environments at varying levels of complexity? Understanding the appropriate simplifications to make is critical for modeling nontrivial environments and agents with varying levels of autonomy. I describe a set of abstraction mechanisms appropriate for constructing and interacting with virtual worlds, and I discuss how programming, and direct manipulation of guiding techniques, can be used to afford users interactive access to graphical simulations at appropriate levels of abstraction.

Zeltzer, David↗

NASA NTRS1997

Virtual Passive Controller for Robot Systems Using Joint Torque Sensors

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented on several joints of a laboratory robot. The controller showed good stability robustness to system parameter error and to the exclusion of nonlinear dynamic effects on the joints. The controller enhanced position tracking performance and, in the absence of position control, dissipated joint energy.

Aldridge, Hal A.↗

NASA NTRS1989

The development of the Canadian Mobile Servicing System Kinematic Simulation Facility

Canada will develop a Mobile Servicing System (MSS) as its contribution to the U.S./International Space Station Freedom. Components of the MSS will include a remote manipulator (SSRMS), a Special Purpose Dexterous Manipulator (SPDM), and a mobile base (MRS). In order to support requirements analysis and the evaluation of operational concepts related to the use of the MSS, a graphics based kinematic simulation/human-computer interface facility has been created. The facility consists of the following elements: (1) A two-dimensional graphics editor allowing the rapid development of virtual control stations; (2) Kinematic simulations of the space station remote manipulators (SSRMS and SPDM), and mobile base; and (3) A three-dimensional graphics model of the space station, MSS, orbiter, and payloads. These software elements combined with state of the art computer graphics hardware provide the capability to prototype MSS workstations, evaluate MSS operational capabilities, and investigate the human-computer interface in an interactive simulation environment. The graphics technology involved in the development and use of this facility is described.

Beyer, G.↗

NASA NTRS1996

A convertor and user interface to import CAD files into worldtoolkit virtual reality systems

Virtual Reality (VR) is a rapidly developing human-to-computer interface technology. VR can be considered as a three-dimensional computer-generated Virtual World (VW) which can sense particular aspects of a user's behavior, allow the user to manipulate the objects interactively, and render the VW at real-time accordingly. The user is totally immersed in the virtual world and feel the sense of transforming into that VW. NASA/MSFC Computer Application Virtual Environments (CAVE) has been developing the space-related VR applications since 1990. The VR systems in CAVE lab are based on VPL RB2 system which consists of a VPL RB2 control tower, an LX eyephone, an Isotrak polhemus sensor, two Fastrak polhemus sensors, a folk of Bird sensor, and two VPL DG2 DataGloves. A dynamics animator called Body Electric from VPL is used as the control system to interface with all the input/output devices and to provide the network communications as well as VR programming environment. The RB2 Swivel 3D is used as the modelling program to construct the VW's. A severe limitation of the VPL VR system is the use of RB2 Swivel 3D, which restricts the files to a maximum of 1020 objects and doesn't have the advanced graphics texture mapping. The other limitation is that the VPL VR system is a turn-key system which does not provide the flexibility for user to add new sensors and C language interface. Recently, NASA/MSFC CAVE lab provides VR systems built on Sense8 WorldToolKit (WTK) which is a C library for creating VR development environments. WTK provides device drivers for most of the sensors and eyephones available on the VR market. WTK accepts several CAD file formats, such as Sense8 Neutral File Format, AutoCAD DXF and 3D Studio file format, Wave Front OBJ file format, VideoScape GEO file format, Intergraph EMS stereolithographics and CATIA Stereolithographics STL file formats. WTK functions are object-oriented in their naming convention, are grouped into classes, and provide easy C language interface. Using a CAD or modelling program to build a VW for WTK VR applications, we typically construct the stationary universe with all the geometric objects except the dynamic objects, and create each dynamic object in an individual file.

Wang, Peter Hor-Ching↗

NASA NTRS1994

Virtual environment application with partial gravity simulation

To support manned missions to the surface of Mars and missions requiring manipulation of payloads and locomotion in space, a training facility is required to simulate the conditions of both partial and microgravity. A partial gravity simulator (Pogo) which uses pneumatic suspension is being studied for use in virtual reality training. Pogo maintains a constant partial gravity simulation with a variation of simulated body force between 2.2 and 10 percent, depending on the type of locomotion inputs. this paper is based on the concept and application of a virtual environment system with Pogo including a head-mounted display and glove. The reality engine consists of a high end SGI workstation and PC's which drive Pogo's sensors and data acquisition hardware used for tracking and control. The tracking system is a hybrid of magnetic and optical trackers integrated for this application.

Ray, David M.↗

NASA NTRS1999

Wireless Augmented Reality Prototype (WARP)

Initiated in January, 1997, under NASA's Office of Life and Microgravity Sciences and Applications, the Wireless Augmented Reality Prototype (WARP) is a means to leverage recent advances in communications, displays, imaging sensors, biosensors, voice recognition and microelectronics to develop a hands-free, tetherless system capable of real-time personal display and control of computer system resources. Using WARP, an astronaut may efficiently operate and monitor any computer-controllable activity inside or outside the vehicle or station. The WARP concept is a lightweight, unobtrusive heads-up display with a wireless wearable control unit. Connectivity to the external system is achieved through a high-rate radio link from the WARP personal unit to a base station unit installed into any system PC. The radio link has been specially engineered to operate within the high- interference, high-multipath environment of a space shuttle or space station module. Through this virtual terminal, the astronaut will be able to view and manipulate imagery, text or video, using voice commands to control the terminal operations. WARP's hands-free access to computer-based instruction texts, diagrams and checklists replaces juggling manuals and clipboards, and tetherless computer system access allows free motion throughout a cabin while monitoring and operating equipment.

Devereaux, A. S.↗

NASA NTRS1994

Virtual Environments in Scientific Visualization

Virtual environment technology is a new way of approaching the interface between computers and humans. Emphasizing display and user control that conforms to the user's natural ways of perceiving and thinking about space, virtual environment technologies enhance the ability to perceive and interact with computer generated graphic information. This enhancement potentially has a major effect on the field of scientific visualization. Current examples of this technology include the Virtual Windtunnel being developed at NASA Ames Research Center. Other major institutions such as the National Center for Supercomputing Applications and SRI International are also exploring this technology. This talk will be describe several implementations of virtual environments for use in scientific visualization. Examples include the visualization of unsteady fluid flows (the virtual windtunnel), the visualization of geodesics in curved spacetime, surface manipulation, and examples developed at various laboratories.

Bryson, Steve↗

NASA NTRS1994

Virtual Environments in Scientific Visualization

Bryson, Steve↗

NASA NTRS1991

Development and application of virtual reality for man/systems integration

While the graphical presentation of computer models signified a quantum leap over presentations limited to text and numbers, it still has the problem of presenting an interface barrier between the human user and the computer model. The user must learn a command language in order to orient themselves in the model. For example, to move left from the current viewpoint of the model, they might be required to type 'LEFT' at a keyboard. This command is fairly intuitive, but if the viewpoint moves far enough that there are no visual cues overlapping with the first view, the user does not know if the viewpoint has moved inches, feet, or miles to the left, or perhaps remained in the same position, but rotated to the left. Until the user becomes quite familiar with the interface language of the computer model presentation, they will be proned to lossing their bearings frequently. Even a highly skilled user will occasionally get lost in the model. A new approach to presenting type type of information is to directly interpret the user's body motions as the input language for determining what view to present. When the user's head turns 45 degrees to the left, the viewpoint should be rotated 45 degrees to the left. Since the head moves through several intermediate angles between the original view and the final one, several intermediate views should be presented, providing the user with a sense of continuity between the original view and the final one. Since the primary way a human physically interacts with their environment should monitor the movements of the user's hands and alter objects in the virtual model in a way consistent with the way an actual object would move when manipulated using the same hand movements. Since this approach to the man-computer interface closely models the same type of interface that humans have with the physical world, this type of interface is often called virtual reality, and the model is referred to as a virtual world. The task of this summer fellowship was to set up a virtual reality system at MSFC and begin applying it to some of the questions which concern scientists and engineers involved in space flight. A brief discussion of this work is presented.

Brown, Marcus↗

NASA NTRS1992

Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

Hale, J. P., II↗