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NASA NTRS1992

The 1991-1992 walking robot design

The University of Maryland Walking Machine team designed and constructed a robot. This robot was completed in two phases with supervision and suggestions from three professors and one graduate teaching assistant. Bob was designed during the Fall Semester 1991, then machined, assembled, and debugged in the Spring Semester 1992. The project required a total of 4,300 student hours and cost under $8,000. Mechanically, Bob was an exercise in optimization. The robot was designed to test several diverse aspects of robotic potential, including speed, agility, and stability, with simplicity and reliability holding equal importance. For speed and smooth walking motion, the footpath contained a long horizontal component; a vertical aspect was included to allow clearance of obstacles. These challenges were met with a leg design that utilized a unique multi-link mechanism which traveled a modified tear-drop footpath. The electrical requirements included motor, encoder, and voice control circuitry selection, manual controller manufacture, and creation of sensors for guidance. Further, there was also a need for selection of the computer, completion of a preliminary program, and testing of the robot.

Azarm, Shapour↗

NASA NTRS2002

Application of Mobile Router to Military Communications

Cisco Systems and NASA Glenn Research Center under a NASA Space Act Agreement have been performing joint networking research to apply Internet technologies and protocols to space-based communications. During this time, Cisco Systems developed the mobile-router which NASA and Cisco jointly tested. The early field trials of this technology have been successfully completed. The mobile-router is software code that resides in a network router. A Mobile-Router allows entire networks to roam while maintaining connectivity to the Internet. This router code is pertinent to a myriad of applications for both the government and commercial sectors. This technology will be applied to the wireless battlefield. NASA and the Department of Defense will utilize this technology for near-planetary observation and sensing spacecraft. It is the enabling technology for communication via the Internet or Intranets to aircraft. Information such as weather, air traffic control, voice and video can be easily and inexpensively transmitted to the aircraft using Internet protocols. The mobile router can be incorporated into emergency vehicles particularly ambulances and life-flight aircraft to provide real-time connectivity back to the hospital and healthcare experts. Commercial applications include entertainment services, IP telephone, and Internet connectivity for cruise ships, commercial shipping, tour busses, aircraft, and eventually cars. This paper will briefly describe the mobile router operation. An upcoming wide area network field test with application to US Coast Guard communications will be described. The paper will also highlight military and government networks that will benefit from the deployment of mobile router and the associated applications.

Stewart, David H.↗

NASA NTRS1983

Jetliner Alert Systems

NASA research and design has significantly improved crew alert systems. The Engine Indication and Crew Alerting System (EICAS), developed by Psycho-Linguistic Research Associates, is technologically advanced and able to order alerts by priority. Ames has also developed computer controlled voice synthesizers for readouts during difficult landing approaches. This is available to airplane manufacturers.

Source record↗

NASA NTRS2002

Mobile Router Developed and Tested

The NASA Glenn Research Center, under a NASA Space Act Agreement with Cisco Systems, has been performing joint networking research to apply Internet-based technologies and protocols to space-based communications. As a result of this research, NASA performed stringent performance testing of the mobile router, including the interaction of routing and the transport-level protocol. In addition, Cisco Systems developed the mobile router for both commercial and Government markets. The code has become part of the Cisco Systems Internetworking Operating System (IOS) as of release 12.2 (4) T--which will make this capability available to the community at large. The mobile router is software code that resides in a network router and enables entire networks to roam while maintaining connectivity to the Internet. This router code is pertinent to a myriad of applications for both Government and commercial sectors, including the "wireless battlefield." NASA and the Department of Defense will utilize this technology for near-planetary observation and sensing spacecraft. It is also a key enabling technology for aviation-based information applications. Mobile routing will make it possible for information such as weather, air traffic control, voice, and video to be transmitted to aircraft using Internet-based protocols. This technology shows great promise in reducing congested airways and mitigating aviation disasters due to bad weather. The mobile router can also be incorporated into emergency vehicles (such as ambulances and life-flight aircraft) to provide real-time connectivity back to the hospital and health-care experts, enabling the timely application of emergency care. Commercial applications include entertainment services, Internet protocol (IP) telephone, and Internet connectivity for cruise ships, commercial shipping, tour buses, aircraft, and eventually cars. A mobile router, which is based on mobile IP, allows hosts (mobile nodes) to seamlessly "roam" among various IP subnetworks. This is essential in many wireless networks. A mobile router, unlike a mobile IP node, allows entire networks to roam. Hence, a device connected to the mobile router does not need to be a mobile node because the mobile router provides the roaming capabilities. There are three basic elements in the mobile IP: the home agent, the foreign agent, and the mobile node. The home agent is a router on a mobile node's home network that tunnels datagrams for delivery to the mobile node when it is away from home. The foreign agent is a router on a remote network that provides routing services to a registered mobile node. The mobile node is a host or router that changes its point of attachment from one network or subnetwork to another. In mobile routing, virtual communications are maintained by the home agent, which forwards all packets for the mobile networks to the foreign agent. The foreign agent passes the packets to the mobile router, which then forwards the packets to the devices on its networks. As the mobile router moves, it will register with its home agent on its whereabouts via the foreign agent to assure continuous connectivity.

Ivancic, William D.↗

NASA NTRS2007

Noise-Canceling Helmet Audio System

A prototype helmet audio system has been developed to improve voice communication for the wearer in a noisy environment. The system was originally intended to be used in a space suit, wherein noise generated by airflow of the spacesuit life-support system can make it difficult for remote listeners to understand the astronaut s speech and can interfere with the astronaut s attempt to issue vocal commands to a voice-controlled robot. The system could be adapted to terrestrial use in helmets of protective suits that are typically worn in noisy settings: examples include biohazard, fire, rescue, and diving suits. The system (see figure) includes an array of microphones and small loudspeakers mounted at fixed positions in a helmet, amplifiers and signal-routing circuitry, and a commercial digital signal processor (DSP). Notwithstanding the fixed positions of the microphones and loudspeakers, the system can accommodate itself to any normal motion of the wearer s head within the helmet. The system operates in conjunction with a radio transceiver. An audio signal arriving via the transceiver intended to be heard by the wearer is adjusted in volume and otherwise conditioned and sent to the loudspeakers. The wearer s speech is collected by the microphones, the outputs of which are logically combined (phased) so as to form a microphone- array directional sensitivity pattern that discriminates in favor of sounds coming from vicinity of the wearer s mouth and against sounds coming from elsewhere. In the DSP, digitized samples of the microphone outputs are processed to filter out airflow noise and to eliminate feedback from the loudspeakers to the microphones. The resulting conditioned version of the wearer s speech signal is sent to the transceiver.

Seibert, Marc A.↗

NASA NTRS2016

Internship Abstract and Final Reflection

The primary objective for this internship is the evaluation of an embedded natural language processor (NLP) as a way to introduce voice control into future space suits. An embedded natural language processor would provide an astronaut hands-free control for making adjustments to the environment of the space suit and checking status of consumables procedures and navigation. Additionally, the use of an embedded NLP could potentially reduce crew fatigue, increase the crewmember's situational awareness during extravehicular activity (EVA) and improve the ability to focus on mission critical details. The use of an embedded NLP may be valuable for other human spaceflight applications desiring hands-free control as well. An embedded NLP is unique because it is a small device that performs language tasks, including speech recognition, which normally require powerful processors. The dedicated device could perform speech recognition locally with a smaller form-factor and lower power consumption than traditional methods.

Sandor, Edward↗

NASA NTRS1987

Use of voice recognition for control of a robotic welding workcell

This paper describes work underway to evaluate the effectiveness of voice recognition systems as an element in the control of a robotic welding workcell. Factors being considered for control include program editor access security, preoperation checklist requirements, welding process variable control, and robot manipulator motion overrides. In the latter two categories, manual vocal control is being compared against manual tactile control and fully automatic control in terms of speed of response, accuracy, stability, reliability, and safety.

Watson, J. Kevin↗

NASA NTRS1993

Speech versus manual control of camera functions during a telerobotic task

This investigation has evaluated the voice-commanded camera control concept. For this particular task, total voice control of continuous and discrete camera functions was significantly slower than manual control. There was no significant difference between voice and manual input for several types of errors. There was not a clear trend in subjective preference of camera command input modality. Task performance, in terms of both accuracy and speed, was very similar across both levels of experience.

Bierschwale, John M.↗

NASA NTRS2010

Voice Over Internet Protocol (VoIP) in a Control Center Environment

The technology of transmitting voice over data networks has been available for over 10 years. Mass market VoIP services for consumers to make and receive standard telephone calls over broadband Internet networks have grown in the last 5 years. While operational costs are less with VoIP implementations as opposed to time division multiplexing (TDM) based voice switches, is it still advantageous to convert a mission control center s voice system to this newer technology? Marshall Space Flight Center (MSFC) Huntsville Operations Support Center (HOSC) has converted its mission voice services to a commercial product that utilizes VoIP technology. Results from this testing, design, and installation have shown unique considerations that must be addressed before user operations. There are many factors to consider for a control center voice design. Technology advantages and disadvantages were investigated as they refer to cost. There were integration concerns which could lead to complex failure scenarios but simpler integration for the mission infrastructure. MSFC HOSC will benefit from this voice conversion with less product replacement cost, less operations cost and a more integrated mission services environment.

Calvelage, Steven↗

NASA NTRS2010

Voice Over Internet Protocol (VoIP) in a Control Center Environment

Pirani, Joseph↗

NASA NTRS1989

Speech versus manual control of camera functions during a telerobotic task

Voice input for control of camera functions was investigated in this study. Objective were to (1) assess the feasibility of a voice-commanded camera control system, and (2) identify factors that differ between voice and manual control of camera functions. Subjects participated in a remote manipulation task that required extensive camera-aided viewing. Each subject was exposed to two conditions, voice and manual input, with a counterbalanced administration order. Voice input was found to be significantly slower than manual input for this task. However, in terms of remote manipulator performance errors and subject preference, there was no difference between modalities. Voice control of continuous camera functions is not recommended. It is believed that the use of voice input for discrete functions, such as multiplexing or camera switching, could aid performance. Hybrid mixes of voice and manual input may provide the best use of both modalities. This report contributes to a better understanding of the issues that affect the design of an efficient human/telerobot interface.

Bierschwale, John M.↗

NASA NTRS1989

The benefits and costs of automation in advanced helicopters - An empirical study

A helicopter simulation was conducted to examine the interaction between voice-activated controls and altitude-hold automation. A single-pilot scout/attack helicopter with conventional controls was simulated with full out-the-window computer-generated imagery. Helicopter pilots performed simulated missions which included hover, cruise and ground attack phases. For half of the flights, voice-activated controls were used instead of manual controls, for two flight tasks (weapon selection and data-burst transmission). Hover performance during data-burst hover improved when voice-activation was used. However, subjective ratings indicated higher workload levels with voice-activation. An altitude-hold automation manipulation was crossed with the voice-activation/manual manipulation. Altitude-hold automation provided two significant benefits: (1) pilots were able to hover with less lateral movement; and (2) pilots reported less workload. However, there was a performance cost associated with the automation. Pilots were significantly slower in responding to unexpected events during hover.

Bortolussi, Michael R.↗

NASA NTRS2013

Analysis of Interactive Conflict Resolution Tool Usage in a Mixed Equipage Environment

A human-in-the-loop simulation was conducted that examined separation assurance concepts in varying levels of traffic density with mixtures of aircraft equipage and automation. This paper's analysis focuses on one of the experimental conditions in which traffic levels were approximately fifty percent higher than today, and approximately fifty percent of the traffic within the test area were equipped with data communications (data comm) capabilities. The other fifty percent of the aircraft required control by voice much like today. Within this environment, the air traffic controller participants were provided access to tools and automation designed to support the primary task of separation assurance that are currently unavailable. Two tools were selected for analysis in this paper: 1) a pre-probed altitude fly-out menu that provided instant feedback of conflict probe results for a range of altitudes, and 2) an interactive auto resolver that provided on-demand access to an automation-generated conflict resolution trajectory. Although encouraged, use of the support tools was not required; the participants were free to use the tools as they saw fit, and they were also free to accept, reject, or modify the resolutions offered by the automation. This mode of interaction provided a unique opportunity to examine exactly when and how these tools were used, as well as how acceptable the resolutions were. Results showed that the participants used the pre-probed altitude fly-out menu in 14% of conflict cases and preferred to use it in a strategic timeframe on data comm equipped and level flight aircraft. The interactive auto resolver was also used in a primarily strategic timeframe on 22% of conflicts and that their preference was to use it on conflicts involving data comm equipped aircraft as well. Of the 258 resolutions displayed, 46% were implemented and 54% were not. The auto resolver was rated highly by participants in terms of confidence and preference. Factors such as aircraft equipage, ownership, and location of predicted separation loss appeared to play a role in the decision of controllers to accept or reject the auto resolver's resolutions.

auto resolver↗

NASA NTRS1989

Graphic overlays in high-precision teleoperation: Current and future work at JPL

In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated.

Diner, Daniel B.↗

NASA NTRS2005

Step 1: Human System Integration (HSI) FY05 Pilot-Technology Interface Requirements for Command, Control, and Communications (C3)

The document provides the Human System Integration(HSI) high-level functional C3 HSI requirements for the interface to the pilot. Description includes (1) the information required by the pilot to have knowledge C3 system status, and (2) the control capability needed by the pilot to obtain C3 information. Fundamentally, these requirements provide the candidate C3 technology concepts with the necessary human-related elements to make them compatible with human capabilities and limitations. The results of the analysis describe how C3 operations and functions should interface with the pilot to provide the necessary C3 functionality to the UA-pilot system. Requirements and guidelines for C3 are partitioned into three categories: (1) Pilot-Air Traffic Control (ATC) Voice Communications (2) Pilot-ATC Data Communications, and (3) command and control of the unmanned aircraft (UA). Each requirement is stated and is supported with a rationale and associated reference(s).

Source record↗

NASA NTRSDate not supplied

Enabling a Voice Management System for Space Applications

The sustainable missions beyond Low Earth Orbit (LEO) envisioned for NASA’s Artemis program will require autonomous capabilities. Moreover, Artemis mission crews will need a means to efficiently interact with a spacecraft’s autonomous systems. This interaction can be facilitated by voice and speech communications because voice-based controls enable users to interact hands- and eyes-free, allowing the user to better focus on critical tasks. The goal of our project was to explore the knowledge and technology needed to successfully design effective Voice User Interfaces (VUIs) for autonomous systems utilizing Human Centered Design (HCD) principles. The focus of the human factors’ aspect of engineering, pays close attention to psychological and physiological principles in the development of autonomous crew operation systems. A main objective was to understand how a crew member, through voice interaction, could efficiently and intuitively communicate with a notional autonomous vehicle system manager. This project was a part of the NASA Moon to Mars eXploration Systems and Habitation (M2M X-Hab) 2020 Academic Innovation Challenge. The work from the BLiSS Team, at the University of Michigan, resulted in the design of a system persona, Diego, to which an astronaut may quickly build trust with autonomous systems, to alleviate known stressors on mental health expected during long duration space missions. Optimal software to facilitate integration of the system persona into a reference Lunar orbiting Gateway station was defined. Additionally, a Speech to Text (STT) system and a Graphical User Interface (GUI) that could be implemented in future missions was developed on an Internet of Things (IOT) platform. The Voice User Interface (VUI) design for the M2M X-Hab 2020 project leveraged previous technology developed by the BLiSS team to incorporate a voice-based interface into NASA’s Platform for Autonomous Systems (NPAS) software. This required technologies to convert voice to text, conduct semantic interpretations, and convert responses from the autonomous system to text and to speech; additionally, the spacecraft background noise environment was assessed, a noise mitigation technique was developed, and a relatable personality for the autonomous system was developed in order to facilitate human-like conversations. The success of our effort was largely due to the diversity of the team that included expertise in Space Systems Engineering, Human Computer Interaction, Aerospace Engineering, Computer Science, Biomedical Engineering, and Applied Physics. The diverse perspectives fostered elaborate discussions, resulting in the conception of three main subsystems: (1) User-System, (2) NPAS-System, and (3) Environment-System. The VUI was unique and had to be efficient and intuitive. For this project, 5 subteams were formed, each with a separate objective, Voice Design team, Background Noise Mitigation team, Software Integration team and Graphical User Interface team. The BLiSS team crafted a personality for the VUI to enable human-like conversation and drive user adoption and trust. User surveys were completed and used to help determine the required VUI system personality traits by capturing perspectives and expectations of prospective “Artemis Generation Astronauts”. To further simulate human-like conversations, the system had to be able to quickly interpret user speech and be able to integrate with NASA’s NPAS platform for quick and reliable information transfer. The outcomes of our research were: (1) a working prototype user interface, that is compatible with NASA’s NPAS platform; (2) software that demonstrates the ability of the VUI system to interpret user requests and respond appropriately; (3) the capability to implement fully expanded conversations between user and system using intuitive communication in four request categories; and (4) software and hardware recommendations that optimize the system’s ability to operate in a noisy environment. Our research has laid the foundation for the development of VUI’s for autonomy, and provides a baseline for future VUI developments.

Voice user interface↗

NASA NTRSDate not supplied

Enabling a Voice Management System for Space Applications, Design and Software Development

Sustainable missions, beyond low Earth orbit, will require autonomous capabilities in order to achieve NASA’s Artemis program objectives. Correspondingly, the crew must have a means to efficiently interact with these autonomous systems; this can be facilitated via voice and speech communications. Voice-based controls enable the user to access autonomous systems hands-free/eyes-free, allowing the user to better focus on critical tasks. The goal of this project was to explore the knowledge and technology needed to successfully design effective voice interfaces for autonomous systems. The main objective was to understand how a crew member, through voice interaction, could most efficiently and intuitively communicate with a notional autonomous vehicle system manager. This project leveraged prior research conducted by the University of Michigan’s Bioastronautics and Life Support System (BLiSS) team as part of a NASA Moon to Mars eXploration Systems and Habitation (M2M X-Hab) 2020 Academic Innovation Challenge. The X-Hab 2020 work from the BliSS Team resulted in an intuitive graphical user interface/user experience that was built on an Internet of Things (IOT) platform. The Voice User Interface (VUI) design for the M2M X-Hab 2021 project leveraged this technology and incorporated a voice-based assistant and NASA’s Platform for Autonomous Systems (NPAS) software. This required technologies to convert voice to text, conduct semantic interpretations, and convert responses from the autonomous system to text and to speech; additionally, the background noise environment of spacecraft was assessed, and a relatable personality for the autonomous system to facilitate human-like conversations was created. This work’s success was largely due to the diverse team that included expertise in Space Systems Engineering, Human Computer Interaction, Aerospace Engineering, Computer Science, Biomedical Engineering, and Applied Physics. The differing perspectives fostered elaborate discussions, resulting in the conception of three main interactions: (1) User-System, (2) NPAS-System, and (3) Environment-System. The system developed, i.e. the VUI, had to be unique, efficient, and intuitive; thus, the team crafted a personality for the system to enable human-like conversation. User surveys sent to students and young professionals were used to help determine these personality traits by capturing perspectives and expectations of the “Artemis Generation Astronauts”. To further simulate human-like conversations, the system had to be able to quickly interpret user speech and be able to integrate with NASA’s NPAS system for quick and reliable information transfer. Results of this research include (1) a working prototype user interface, that is compatible with NASA’s NPAS system; (2) software that demonstrates the ability to interpret user requests and respond appropriately; (3) the capability to implement fully expanded conversations between user and system using intuitive communication in four request categories; and (4) software and hardware recommendations that optimize the system’s ability to operate, i.e. be heard, in a noisy environment. The technologies chosen for this project’s demonstrations included the following: Raspberry Pi, RASA, Mozilla Deep Speech, Coqui, RTX Voice and Adobe XD. This work has laid the foundation for the development of VUI’s used for autonomy, and is intended to provide guidance for future VUI development.

Tara Vega↗

NASA NTRS2019

Evaluation of Technology Concepts for Traffic Data Management and Relevant Audio for Datalink in Commercial Airline Flight Decks

Datalink is currently operational for departure clearances and in oceanic environments and is currently being tested in high altitude domestic enroute airspace. Interaction with even simple datalink clearances may create more workload for flight crews than the voice system they replace if not carefully designed. Datalink may also introduce additional complexity for flight crews with hundreds of uplink messages now defined for use. Finally, flight crews may lose airspace awareness and operationally relevant information that they normally pickup from Air Traffic Control (ATC) voice communications with other aircraft (i.e., “party-line” transmissions). Once again, automation may be poised to increase workload on the flight deck for incremental benefit. Datalink implementation to support future air traffic management concepts needs to be carefully considered, understanding human communication norms and especially, the change from voice- to text-based communications modality and its effect on pilot workload and situation awareness. Increasingly autonomous systems, where autonomy is designed to support human-autonomy teaming, may be suited to solve these issues. NASA is conducting research and development of increasingly autonomous systems, utilizing machine-learning algorithms seamlessly integrated with humans whereby task performance of the combined system is significantly greater than the individual components. Increasingly autonomous systems offer the potential for significantly improved levels of performance and safety that are superior to either human or automation alone. Two increasingly autonomous systems concepts - a traffic data manager and a conversational co-pilot - were developed to intelligently address the datalink issues in a complex, future state environment with significant levels of traffic. The system was tested for suitability of datalink usage for terminal airspace. The traffic data manager allowed for automated declutter of the Automatic Dependent Surveillance-Broadcast (ADS-B) display. The system determined relevant traffic for display based on machine learning algorithms trained by experienced human pilot behaviors. The conversational co-pilot provided relevant audio air traffic control messages based on context and proximity to ownship. Both systems made use of the connected aircraft concepts to provide intelligent context to determine relevancy above and beyond proximity to ownship. A human-in-the-loop test was conducted in NASA Langley Research Center’s Integration Flight Deck B-737-800 simulator to evaluate the traffic data manager and the conversational co-pilot. Twelve airline crews flew various normal and non-normal procedures and their actions and performance were recorded in response to the procedural events. This paper details the flight crew performance and evaluation during the events.

Etherington, Timothy↗