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NASA NTRS1986

The NASA automation and robotics technology program

The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.

Holcomb, Lee B.↗
NASA NTRS1986

A stereo model based upon mechanisms of human binocular vision

A model for stereo vision, which is based on the human-binocular vision system, is proposed. Data collected from studies of neurophysiology of the human binocular system are discussed. An algorithm for the implementation of this stereo vision model is derived. The algorithm is tested on computer-generated and real scene images. Examples of a computer-generated image and a grey-level image are presented. It is noted that the proposed method is computationally efficient for depth perception, and the results indicate accuracies that are noise tolerant.

Griswold, N. C.↗
NASA NTRS1988

USSR Space Life Sciences Digest, issue 14

This is the fourteenth issue of NASA's USSR Space Life Sciences Digest. It contains abstracts of 32 papers recently published in Russian language periodicals and bound collections and of three new Soviet monographs. Selected abstracts are illustrated with figures and tables from the original. Also included is a review of a recent Soviet conference on Space Biology and Aerospace Medicine. Current Soviet life sciences titles available in English are cited. The materials included in this issue have been identified as relevant to the following areas of aerospace medicine and space biology: adaptation, biological rhythms, body fluids, botany, cardiovascular and respiratory systems, developmental biology, endocrinology, enzymology, equipment and instrumentation, gastrointestinal systems, habitability and environment effects, human performance, immunology, life support systems, mathematical modeling, metabolism, musculoskeletal system, neurophysiology, nutrition, operational medicine, perception, personnel selection, psychology, radiobiology, and space biology and medicine.

Hooke, Lydia Razran↗
NASA NTRS1988

Shock structure and noise of supersonic jets in simulated flight to Mach 0.4

Measured jet plume static pressure distributions and far-field acoustic spectra are presented for underexpanded jets in simulated flight up to a Mach number of 0.4. A gradual stretching of the downstream shock cells is found as the Mach number increases, with no perceptible change in the shock strength. There appears to be little effect of flight on the broadband shock noise amplitudes, and the small changes in its peak frequency for the same emission angle are correlated with the slightly longer shock cells in flight. The larger changes in the broadband peak frequency found at the same angle in wind tunnel coordinates are attributable to convection. Jet mixing noise production decreases significantly with increasing flight speed.

Norum, Thomas D.↗
NASA NTRS1987

NASA JSC neural network survey results

A survey of Artificial Neural Systems in support of NASA's (Johnson Space Center) Automatic Perception for Mission Planning and Flight Control Research Program was conducted. Several of the world's leading researchers contributed papers containing their most recent results on artificial neural systems. These papers were broken into categories and descriptive accounts of the results make up a large part of this report. Also included is material on sources of information on artificial neural systems such as books, technical reports, software tools, etc.

Greenwood, Dan↗
NASA NTRS1987

Development of Moire machine vision

Three dimensional perception is essential to the development of versatile robotics systems in order to handle complex manufacturing tasks in future factories and in providing high accuracy measurements needed in flexible manufacturing and quality control. A program is described which will develop the potential of Moire techniques to provide this capability in vision systems and automated measurements, and demonstrate artificial intelligence (AI) techniques to take advantage of the strengths of Moire sensing. Moire techniques provide a means of optically manipulating the complex visual data in a three dimensional scene into a form which can be easily and quickly analyzed by computers. This type of optical data manipulation provides high productivity through integrated automation, producing a high quality product while reducing computer and mechanical manipulation requirements and thereby the cost and time of production. This nondestructive evaluation is developed to be able to make full field range measurement and three dimensional scene analysis.

Harding, Kevin G.↗
NASA NTRS1987

Telerobotic truss assembly

The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.

Sheridan, Philip L.↗
NASA NTRS1988

USSR Space Life Sciences Digest, issue 15

This is the 15th issue of NASA's USSR Space Life Sciences Digest. It contains abstracts of 59 papers published in Russian language periodicals or presented at conferences and of two new Soviet monographs. Selected abstracts are illustrated with figures and tables from the original. An additional feature is a review of a conference devoted to the physiology of extreme states. The abstracts included in this issue have been identified as relevant to 29 areas of space biology and medicine. These areas are adaptation, biological rhythms, biospherics, body fluids, botany, cardiovascular and respiratory systems, endocrinology, enzymology, equipment and instrumentation, exobiology, genetics, habitability and environment effects, human performance, immunology, life support systems, mathematical modeling, metabolism, microbiology, musculoskeletal system, neurophysiology, nutrition, operational medicine, perception. personnel selection, psychology, radiobiology, reproductive biology, and space biology and medicine.

Hooke, Lydia Razran↗
NASA NTRS1987

Space station architectural elements model study

The space station must unite the properties and behavior of individual and place, using proportions from both to make whole the understanding of ourselves at this moment in evolution. Harmonious proportions in any environment are similar to the acceptance and enjoyment of the harmony of many well-tuned musical instruments. A well-tuned or well-ordered environment tends to have invisible proportions. They produce order but do not intrude on the perception and cognitive mapping of the environment. Systems of proportion are not ends in themselves but are a means to select a series of spaces which relate one to another in dimensionally specific terms. These internal relationships create a whole when the forms are harmonious. This harmonic relationship is of intrinsic value for individuals to be physically and psychologically in balance with their universe.

Kalil, Michael↗
NASA NTRS1988

USSR Space Life Sciences Digest, issue 16

This is the sixteenth issue of NASA's USSR Life Sciences Digest. It contains abstracts of 57 papers published in Russian language periodicals or presented at conferences and of 2 new Soviet monographs. Selected abstracts are illustrated with figures and tables from the original. An additional feature is the review of a book concerned with metabolic response to the stress of space flight. The abstracts included in this issue are relevant to 33 areas of space biology and medicine. These areas are: adaptation, biological rhythms, bionics, biospherics, body fluids, botany, cardiovascular and respiratory systems, developmental biology, endocrinology, enzymology, exobiology, gastrointestinal system, genetics, gravitational biology, habitability and environmental effects, hematology, human performance, immunology, life support systems, man-machine systems, mathematical modeling, metabolism, microbiology, musculoskeletal system, neurophysiology, nutrition, operational medicine, perception, personnel selection, psychology, radiobiology, reproductive biology, and space biology.

Hooke, Lydia Razran↗
NASA NTRS1986

Airborne and spaceborne radar images for geologic and environmental mapping in the Amazon rain forest, Brazil

Spaceborne and airborne radar image of portions of the Middle and Upper Amazon basin in the state of Amazonas and the Territory of Roraima are compared for purposes of geological and environmental mapping. The contrasted illumination geometries and imaging parameters are related to terrain slope and surface roughness characteristics for corresponding areas that were covered by each of the radar imaging systems. Landforms range from deeply dissected mountain and plateau with relief up to 500 m in Roraima, revealing ancient layered rocks through folded residual mountains to deeply beveled pediplain in Amazonas. Geomorphic features provide distinct textural signatures that are characteristic of different rock associations. The principle drainages in the areas covered are the Rio Negro, Rio Branco, and the Rio Japura. Shadowing effects and low radar sensitivity to subtle linear fractures that are aligned parallel or nearly parallel to the direction of radar illumination illustrate the need to obtain multiple coverage with viewing directions about 90 degrees. Perception of standing water and alluvial forest in floodplains varies with incident angle and with season. Multitemporal data sets acquired over periods of years provide an ideal method of monitoring environmental changes.

Ford, John P.↗
NASA NTRS1988

USSR Space Life Sciences Digest, Issue 18

This is the 18th issue of NASA's USSR Life Sciences Digest. It contains abstracts of 50 papers published in Russian language periodicals or presented at conferences and of 8 new Soviet monographs. Selected abstracts are illustrated with figures and tables from the original. A review of a recent Aviation Medicine Handbook is also included. The abstracts in this issue have been identified as relevant to 37 areas of space biology and medicine. These areas are: adaptation, aviation medicine, biological rhythms, biospherics, body fluids, cardiovascular and respiratory systems, cytology, developmental biology, endocrinology, enzymology, equipment and instrumentation, exobiology, gastrointestinal system, genetics, gravitational biology, group dynamics, habitability and environmental effects, hematology, human performance, immunology, life support systems, man-machine systems, mathematical modeling, metabolism, microbiology, musculoskeletal system, neurophysiology, nutrition, operational medicine, perception, personnel selection, psychology, radiobiology, reproductive biology, space biology and medicine, and space industrialization.

Hooke, Lydia Razran↗
NASA NTRS1988

Space station as a vital focus for advancing the technologies of automation and robotics

A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

Varsi, Giulio↗
NASA NTRS1987

Space station proximity operations windows: Human factors design guidelines

Proximity operations refers to all activities outside the Space Station which take place within a 1-km radius. Since there will be a large number of different operations involving manned and unmanned vehicles, single- and multiperson crews, automated and manually controlled flight, a wide variety of cargo, and construction/repair activities, accurate and continuous human monitoring of these operations from a specially designed control station on Space Station will be required. Total situational awareness will be required. This paper presents numerous human factors design guidelines and related background information for control windows which will support proximity operations. Separate sections deal with natural and artificial illumination geometry; all basic rendezvous vector approaches; window field-of-view requirements; window size; shape and placement criteria; window optical characteristics as they relate to human perception; maintenance and protection issues; and a comprehensive review of windows installed on U.S. and U.S.S.R. manned vehicles.

Haines, Richard F.↗
NASA NTRS1987

Design of a force reflecting hand controller for space telemanipulation studies

The potential importance of space telemanipulator systems is reviewed, along with past studies of master-slave manipulation using a generalized force reflecting master arm. Problems concerning their dynamic interaction with the human operator have been revealed in the use of these systems, with marked differences between 1-g and simulated weightless conditions. A study is outlined to investigate the optimization of the man machine dynamics of master-slave manipulation, and a set of specifications is determined for the apparatus necessary to perform this investigation. This apparatus is a one degree of freedom force reflecting hand controller with closed loop servo control which enables it to simulate arbitrary dynamic properties to high bandwidth. Design of the complete system and its performance is discussed. Finally, the experimental adjustment of the hand controller dynamics for smooth manual control performance with good operator force perception is described, resulting in low inertia, viscously damped hand controller dynamics.

Paines, J. D. B.↗
NASA NTRS1987

Observations of absorption lines from highly ionized atoms

In the ultraviolet spectra of hot stars, absorption lines can be seen from highly ionized species in the interstellar medium. Observations of these features which have been very influential in revising the perception of the medium's various physical states, are discussed. The pervasiveness of O 6 absorption lines, coupled with complementary observations of a diffuse background in soft X-rays and EUV radiation, shows that there is an extensive network of low density gas (n approx. few x 0.001/cu cm) existing at coronal temperatures log T = 5.3 or 6.3. Shocks created by supernova explosions or mass loss from early-type stars can propagate freely through space and eventually transfer a large amount of energy to the medium. To create the coronal temperatures, the shocks must have velocities in excess of 150 km/sec; shocks at somewhat lower velocity (v = 100 km/sec) can be directly observed in the lines of Si3. Observations of other lines in the ultraviolet, such as Si 4V and C 5, may highlight the widespread presence of energetic UV radiation from very hot, dwarf stars. More advanced techniques in visible and X-ray astronomical spectroscopy may open up for inspection selected lines from atoms in much higher stages of ionization.

Jenkins, Edward B.↗
NASA NTRS1988

Dissociation of performance and subjective measures of workload

A theory is presented to identify sources that produce dissociations between performance and subjective measures of workload. The theory states that performance is determined by (1) amount of resources invested, (2) resource efficiency, and (3) degree of competition for common resources in a multidimensional space described in the multiple-resources model. Subjective perception of workload, multidimensional in nature, increases with greater amounts of resource investment and with greater demands on working memory. Performance and subjective workload measures dissociate when greater resources are invested to improve performance of a resource-limited task; when demands on working memory are increased by time-sharing between concurrent tasks or between display elements; and when performance is sensitive to resource competition and subjective measures are more sensitive to total investment. These dissociation findings and their implications are discussed and directions for future research are suggested.

Yeh, Yei-Yu↗
NASA NTRS1988

Vertical displacement threshold sensitivity along the horizontal meridian as a function of stimulus rate, duration, and length

Four independent variables of visual perception during binocular viewing were studied. In 24 observers, the vertical displacement threshold (DT) sensitivity along the horizontal meridian was determined as a function of the rate, duration, and length of the stimulus. It was found that the DT increases with an increased angular separation of the stimulus image from the fovea (i.e., the stimulus must move farther in order to be correctly discriminated as having moved). In addition, it was found that the sensitivity to the stimulus displacement increases with increasing of the stimulus length, duration, and/or angular rate. These findings are related to the design optimization of dynamic attitude displays and symbology for aircraft.

Haines, Richard F.↗