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NASA NTRS2008

Carbon Nanotube/Polymer Nanocomposites Flexible Stress and Strain Sensors

Conformable stress and strain sensors are required for monitoring the integrity of airframe structures as well as for sensing the mechanical stimuli in prosthetic arms. For this purpose, we have developed a series of piezoresistive single-wall carbon nanotube (SWCNT)/polymer nanocomposites. The electromechanical coupling of pressure with resistance changes in these nanocomposites is exceptionally greater than that of metallic piezoresistive materials. In fact, the piezoresistive stress coefficient (pi) of a SWCNT/polymer nanocomposite is approximately two orders of magnitude higher than that of a typical metallic piezoresistive. The piezoresistive stress coefficient is a function of the nanotube concentration wherein the maximum value occurs at a concentration just above the percolation threshold concentration (phi approx. 0.05 %). This response appears to originate from a change in intrinsic resistivity under compression/tension. A systematic study of the effect of the modulus of the polymer matrix on piezoresistivity allowed us to make flexible and conformable sensors for biomedical applications. The prototype haptic sensors using these nanocomposites are demonstrated. The piezocapacitive properties of SWCNT/polymer are also characterized by monitoring the capacitance change under pressure.

Kang, Jin Ho↗

NASA NTRS2008

Piloted Evaluation of the H-Mode, a Variable Autonomy Control System, in Motion-Based Simulation

As aircraft become able to autonomously respond to a range of situations with performance surpassing human operators, we are compelled to look for new methods that help understand their use and guide the design of new, more effective forms of automation and interaction. The "H-mode" is one such method and is based on the metaphor of a well-trained horse. The concept allows the pilot to manage a broad range of control automation functionality, from augmented manual control to FMS-like coupling and automation initiated actions, using a common interface system and easily learned set of interaction skills. The interface leverages familiar manual control interfaces (e.g., the control stick) and flight displays through the addition of contextually dependent haptic-multimodal elements. The concept is relevant to manned and remotely piloted vehicles. This paper provides an overview of the H-mode concept followed by a presentation of the results from a recent evaluation conducted in a motion-based simulator. The evaluation focused on assessing the overall usability and flying qualities of the concept with an emphasis on the effects of turbulence and cockpit motion. Because the H-mode results in interactions between traditional flying qualities and management of higher-level flight path automation, these effects are of particular interest. The results indicate that the concept may provide a useful complement or replacement to conventional interfaces, and retains the usefulness in the presence of turbulence and motion.

Goodrich, Kenneth H.↗

NASA NTRS2009

Space Flight and Manual Control: Implications for Sensorimotor Function on Future Missions

Control of vehicles, and other complex mechanical motion systems, is a high-level integrative function of the central nervous system (CNS) that requires good visual acuity, eye-hand coordination, spatial (and, in some cases, geographic) orientation perception, and cognitive function. Existing evidence from space flight research (Paloski et.al., 2008, Clement and Reschke 2008, Reschke et al., 2007) demonstrates that the function of each of these systems is altered by removing (and subsequently by reintroducing) a gravitational field that can be sensed by vestibular, proprioceptive, and haptic receptors and used by the CNS for spatial orientation, navigation, and coordination of movements. Furthermore, much of the operational performance data collected as a function of space flight has not been available for independent analysis, and those data that have been reviewed are equivocal owing to uncontrolled environmental and/or engineering factors. Thus, our current understanding, when it comes to manual control, is limited primarily to a review of those situations where manual control has been a factor. One of the simplest approaches to the manual control problem is to review shuttle landing data. See the Figure below for those landing for which we have Shuttle velocities over the runway threshold.

Reschke, Millard F.↗

NASA NTRS2009

NASA Tech Briefs, June 2009

Topics covered include: Device for Measuring Low Flow Speed in a Duct, Measuring Thermal Conductivity of a Small Insulation Sample, Alignment Jig for the Precise Measurement of THz Radiation, Autoignition Chamber for Remote Testing of Pyrotechnic Devices, Microwave Power Combiners for Signals of Arbitrary Amplitude, Synthetic Foveal Imaging Technology, Airborne Antenna System for Minimum-Cycle-Slip GPS Reception, Improved Starting Materials for Back-Illuminated Imagers, Multi-Modulator for Bandwidth-Efficient Communication, Some Improvements in Utilization of Flash Memory Devices, GPS/MEMS IMU/Microprocessor Board for Navigation, T/R Multi-Chip MMIC Modules for 150 GHz, Pneumatic Haptic Interfaces, Device Acquires and Retains Rock or Ice Samples, Cryogenic Feedthrough Test Rig, Improved Assembly for Gas Shielding During Welding or Brazing, Two-Step Plasma Process for Cleaning Indium Bonding Bumps, Tool for Crimping Flexible Circuit Leads, Yb14MnSb11 as a High-Efficiency Thermoelectric Material, Polyimide-Foam/Aerogel Composites for Thermal Insulation, Converting CSV Files to RKSML Files, Service Management Database for DSN Equipment, Chemochromic Hydrogen Leak Detectors, Compatibility of Segments of Thermoelectric Generators, Complementary Barrier Infrared Detector, JPL Greenland Moulin Exploration Probe, Ultra-Lightweight Self-Deployable Nanocomposite Structure for Habitat Applications, and Room-Temperature Ionic Liquids for Electrochemical Capacitors.

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NASA NTRS2006

Simulating Humans as Integral Parts of Spacecraft Missions

The Collaborative-Virtual Environment Simulation Tool (C-VEST) software was developed for use in a NASA project entitled "3-D Interactive Digital Virtual Human." The project is oriented toward the use of a comprehensive suite of advanced software tools in computational simulations for the purposes of human-centered design of spacecraft missions and of the spacecraft, space suits, and other equipment to be used on the missions. The C-VEST software affords an unprecedented suite of capabilities for three-dimensional virtual-environment simulations with plug-in interfaces for physiological data, haptic interfaces, plug-and-play software, realtime control, and/or playback control. Mathematical models of the mechanics of the human body and of the aforementioned equipment are implemented in software and integrated to simulate forces exerted on and by astronauts as they work. The computational results can then support the iterative processes of design, building, and testing in applied systems engineering and integration. The results of the simulations provide guidance for devising measures to counteract effects of microgravity on the human body and for the rapid development of virtual (that is, simulated) prototypes of advanced space suits, cockpits, and robots to enhance the productivity, comfort, and safety of astronauts. The unique ability to implement human-in-the-loop immersion also makes the C-VEST software potentially valuable for use in commercial and academic settings beyond the original space-mission setting.

Bruins, Anthony C.↗

NASA NTRS2001

Neurophysiology Summary

The terrestrial gravitational field serves as an important orientation reference for human perception and movement, being continually monitored by sensory receptors in the skin, muscles, joints, and vestibular otolith organs. Cues from these graviceptors are used by the brain to estimate spatial orientation and to control balance and movement. Changes in these cues associated with the tonic changes in gravity (gravito-inertial force),during the launch and entry phases of space flight missions result in altered perceptions, degraded motor control performance, and in some cases, "motion" sickness during, and for a period of time after, the g-transitions. In response to these transitions, however, physiological and behavioral response mechanisms are triggered to compensate for altered graviceptor cues and/or to adapt to the new sensory environment. Basic research in the neurophysiology discipline is focused on understanding the characteristic features of and the underlying mechanisms for the normal human response to tonic changes in the gravito-inertial force environment. These studies address fundamental questions regarding the role of graviceptors in orientation and movement in the terrestrial environment, as well as the capacity, specificity, and modes for neural plasticity in the sensory-motor and perceptual systems of the brain. At the 2001 workshop basic research studies were presented addressing: neuroanatomical responses to altered gravity environments, the neural mechanisms for resolving the ambiguity between tilting and translational stimuli in otolith organ sensory input, interactions between the vestibular system and the autonomic nervous system , the roles of haptic and visual cues in spatial orientation, mechanisms for training environment-appropriate sensorimotor responses triggered by environment-specific context cues, and studies of sensori-motor control of posture and locomotion in the terrestrial environment with and without recent exposure to space flight. Building on these basic research studies are more applied studies focused on the development of countermeasures to the untoward neurophysiological responses to space flight. At the 2001 workshop, applied research studies were presented addressing issues related to the use of rotational artificial gravity (centripetal acceleration) as a multisystem (bone, muscle, cardiovascular, and, perhaps, neurovestibular) countermeasure. Also presented was a clinical study reporting on a new rating system for clinical evaluation of postflight functional neurological status.

Paloski, William H.↗

NASA NTRS2010

Robonaut 2 (R2) Overview

This slide presentation reviews the development and uses of the second robot designed to work in space. The presentation reviews the motivation for developing Robonaut, the cooperative commercial relationship with General Motors, the evolution design of Robonaut Robonaut 2 improvements over the first robonaut (R1), Robonaut 2's hand dexterity, finger impedance control, tactile system, finger haptics, arm control, strength, neck movement and head sensors, human interaction, and the controller. Also the plans for use on board the International Space Station are reviewed. The patent for the Phalange Tactile Load Cell is included.

Diftler, Myron↗

NASA NTRS2003

NASA Tech Briefs, July 2003

Topics covered include: Real-Time, High-Frequency QRS Electrocardiograph; Software for Improved Extraction of Data From Tape Storage; Radio System for Locating Emergency Workers; Software for Displaying High-Frequency Test Data; Capacitor-Chain Successive-Approximation ADC; Simpler Alternative to an Optimum FQPSK-B Viterbi Receiver; Multilayer Patch Antenna Surrounded by a Metallic Wall; Software To Secure Distributed Propulsion Simulations; Explicit Pore Pressure Material Model in Carbon-Cloth Phenolic; Meshed-Pumpkin Super-Pressure Balloon Design; Corrosion Inhibitors as Penetrant Dyes for Radiography; Transparent Metal-Salt-Filled Polymeric Radiation Shields; Lightweight Energy Absorbers for Blast Containers; Brush-Wheel Samplers for Planetary Exploration; Dry Process for Making Polyimide/ Carbon-and-Boron-Fiber Tape; Relatively Inexpensive Rapid Prototyping of Small Parts; Magnetic Field Would Reduce Electron Backstreaming in Ion Thrusters; Alternative Electrochemical Systems for Ozonation of Water; Interferometer for Measuring Displacement to Within 20 pm; UV-Enhanced IR Raman System for Identifying Biohazards; Prognostics Methodology for Complex Systems; Algorithms for Haptic Rendering of 3D Objects; Modeling and Control of Aerothermoelastic Effects; Processing Digital Imagery to Enhance Perceptions of Realism; Analysis of Designs of Space Laboratories; Shields for Enhanced Protection Against High-Speed Debris; Study of Dislocation-Ordered In(x)Ga(1-x)As/GaAs Quantum Dots; and Tilt-Sensitivity Analysis for Space Telescopes.

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NASA NTRS2011

Directions for Development of the Field of Electroactive Polymer (EAP)

In last few years, the rate of development and advances in the field of EAP has accelerated significantly and it is increasingly getting closer to the point of finding them used in commercial products. Substantial development has been reported in the understanding of their drive mechanisms and the parameters that control their electro-activation behavior. Further, efforts are being made to develop mass production techniques with greatly improved actuation capability and operation durability. The recent efforts to develop energy harvesting techniques, haptic interfacing (including refreshable braille displays), and toys are further increasing the likelihood of finding niches for these materials. In this paper, the author sought to examine the potential directions for the future development of the field of EAP in relation to the state-of-the-art.

actuators↗

NASA NTRS2015

Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Space flight

Control of vehicles and other complex systems is a high-level integrative function of the central nervous system (CNS). It requires well-functioning subsystem performance, including good visual acuity, eye-hand coordination, spatial and geographic orientation perception, and cognitive function. Evidence from space flight research demonstrates that the function of each of these subsystems is altered by removing gravity, a fundamental orientation reference, which is sensed by vestibular, proprioceptive, and haptic receptors and used by the CNS for spatial orientation, posture, navigation, and coordination of movements. The available evidence also shows that the degree of alteration of each subsystem depends on a number of crew- and mission-related factors. There is only limited operational evidence that these alterations cause functional impacts on mission-critical vehicle (or complex system) control capabilities. Furthermore, while much of the operational performance data collected during space flight has not been available for independent analysis, those that have been reviewed are somewhat equivocal owing to uncontrolled (and/or unmeasured) environmental and/or engineering factors. Whether this can be improved by further analysis of previously inaccessible operational data or by development of new operational research protocols remains to be seen. The true operational risks will be estimable only after we have filled the knowledge gaps and when we can accurately assess integrated performance in off-nominal operational settings (Paloski et al. 2008). Thus, our current understanding of the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Space flight is limited primarily to extrapolation of scientific research findings, and, since there are limited ground-based analogs of the sensorimotor and vestibular changes associated with space flight, observation of their functional impacts is limited to studies performed in the space flight environment. Fortunately, many sensorimotor and vestibular experiments have been performed during and/or after space flight missions since 1959 (Reschke et al. 2007). While not all of these experiments were directly relevant to the question of vehicle/complex system control, most provide insight into changes in aspects of sensorimotor control that might bear on the physiological subsystems underlying this high-level integrated function.

Bloomberg, Jacob J.↗

NASA NTRS2015

Tactile Data Entry System

The patent-pending Glove-Enabled Computer Operations (GECO) design leverages extravehicular activity (EVA) glove design features as platforms for instrumentation and tactile feedback, enabling the gloves to function as human-computer interface devices. Flexible sensors in each finger enable control inputs that can be mapped to any number of functions (e.g., a mouse click, a keyboard strike, or a button press). Tracking of hand motion is interpreted alternatively as movement of a mouse (change in cursor position on a graphical user interface) or a change in hand position on a virtual keyboard. Programmable vibro-tactile actuators aligned with each finger enrich the interface by creating the haptic sensations associated with control inputs, such as recoil of a button press.

Adams, Richard J.↗

NASA NTRS2017

NASA's Hybrid Reality Lab: One Giant Leap for Full Dive

This presentation demonstrates how NASA is using consumer VR headsets, game engine technology and NVIDIA's GPUs to create highly immersive future training systems augmented with extremely realistic haptic feedback, sound, additional sensory information, and how these can be used to improve the engineering workflow. Include in this presentation is an environment simulation of the ISS, where users can interact with virtual objects, handrails, and tracked physical objects while inside VR, integration of consumer VR headsets with the Active Response Gravity Offload System, and a space habitat architectural evaluation tool. Attendees will learn how the best elements of real and virtual worlds can be combined into a hybrid reality environment with tangible engineering and scientific applications.

Delgado, Francisco J.↗

NASA NTRS2017

Dual Extended Kalman Filter for the Identification of Time-Varying Human Manual Control Behavior

A Dual Extended Kalman Filter was implemented for the identification of time-varying human manual control behavior. Two filters that run concurrently were used, a state filter that estimates the equalization dynamics, and a parameter filter that estimates the neuromuscular parameters and time delay. Time-varying parameters were modeled as a random walk. The filter successfully estimated time-varying human control behavior in both simulated and experimental data. Simple guidelines are proposed for the tuning of the process and measurement covariance matrices and the initial parameter estimates. The tuning was performed on simulation data, and when applied on experimental data, only an increase in measurement process noise power was required in order for the filter to converge and estimate all parameters. A sensitivity analysis to initial parameter estimates showed that the filter is more sensitive to poor initial choices of neuromuscular parameters than equalization parameters, and bad choices for initial parameters can result in divergence, slow convergence, or parameter estimates that do not have a real physical interpretation. The promising results when applied to experimental data, together with its simple tuning and low dimension of the state-space, make the use of the Dual Extended Kalman Filter a viable option for identifying time-varying human control parameters in manual tracking tasks, which could be used in real-time human state monitoring and adaptive human-vehicle haptic interfaces.

manual control↗

NASA NTRS2020

Evaluation of Low Cost, User-Centered Alerting Devices for the Mitigation of Flight Crew Spatial Disorientation

The National Aeronautics and Space Administration (NASA) is conducting research into technologies which have the potential to reduce flight crew Spatial Disorientation (SD). While flight deck technology has advanced rapidly over the past fifty (50) years, the reported occurrences of flight crew SD have not decreased. The Cost-Effective Devices for Alerting Research (CEDAR) effort has focused on the identification and development of low cost, user-centered alerting solutions for the purpose of mitigating the occurrence of flight crew SD. This effort seeks to evaluate both existing technologies as well as new and emerging technologies which have a viable path to implementation in commercial aviation within the next five (5) years. This research is intended to develop a proof-of-concept for real-time SD mitigation which could eventually be utilized to improve safety in future air transport operations. NASA has partnered with the United States Naval Aeromedical Research Unit in Dayton, OH (NAMRU-D) to conduct flight crew SD research utilizing their Disorientation Research Device (DRD), dubbed “The Kraken”. This high-tech simulator features never-before-seen capabilities for side-by-side commercial aviation flight crew SD research, and is capable of re-creating the forces necessary to induce SD illusions in a safe and repeatable manner. Prototype SD mitigation solutions were incorporated into this simulator for scenario-based testing and evaluation using airline pilots within a contextually representative operational environment. SD mitigation technology prototypes designed to provide haptic feedback for both alerting and guidance, as well as innovative visual and aural alerting displays were evaluated. In December 2014, as a result of analyzing eighteen (18) loss-of-control events, the Commercial Aviation Safety Team (CAST) recommended research into flight deck technologies that have potential to mitigate the problems and contributing factors that lead to flight crew loss of airplane state awareness (ASA) and conditions likely to produce SD. The aviation community (government, industry and academia) have been charged with conducting research into cost-effective, user-centered flight deck alerting systems to alert flight crews; especially for the two conditions that produced SD (sub-threshold rolls and the somatogravic illusion). Somatogravic illusions are defined as illusions in which “there is a false perception of attitude on exposure to a force vector that differs in direction and/or magnitude from the normal gravitational force”. The sub-threshold roll illusion (aka the “leans” illusion) is a false sensation of roll attitude. A prolonged roll of less than two degrees becomes physiologically imperceptible to the pilot, and can lead to an incorrect perception of aircraft orientation. The sub-threshold roll illusion forms the entry point for the “graveyard spiral”, a maneuver in which the pilot’s corrective action (based on their false perception of aircraft orientation) causes the aircraft to spiral down into the ground. In both of these SD illusions, it is when the pilot attempts to correct the aircraft’s attitude (based on a false perception of its state) that problems arise, sometimes with lethal consequences.

Ronald J Daiker↗

NASA NTRS2009

TPSAS-NF1676L-9785-DND

Evaluate feasibility of inferring aspects of pilot state using active (force-feedback) side-stick, including a) contact with stick (haptic monitoring), b) Desire to change automation support level, c) pilot workload, and d) stress. Conduct human-in-the loop experiment to generate database for off-line investigation of potential signals and identification methods

Ken Goodrich↗

NASA NTRS2002

Enabling novel space and terrestrial applications using transducing materials at JPL

Transducing materials are being used in many aspects of our daily life serving as actuators, sensors, displays, communications and other components of commercial mechanisms. At JPL, such materials are being used to enable novel space and terrestrial applications. This effort involves mostly the use of piezoelectric, electroactive polymers (EAP), and shape memory alloys (SMA). The piezoelectric based devices and mechanisms that were developed include ultrasonic motors, piezopump, ultrasonic/sonic drilledcorer (USDC), and ferrosource. Further, the electroactive polymers were used to demonstrate a gripper, wiper, lifter and haptic interfaces. The research and develop tasks consists of analytical modeling, experimental corroboration, material characterization as well as devices and mechanisms design, construction and demonstration.

electroactive↗

DOE OSTI2017

LaserSnake2: An Innovative Approach to Nuclear Decommissioning - 17080

Nuclear decommissioning challenges exist the world over and require innovative approaches to ensure safe and cost effective dismantling of high hazard nuclear facilities. LaserSnake technology makes use of the flexibility and dexterity of snake arm robots to deploy high-powered laser cutting, lifting and manipulation tools. This paper describes the development and use of the system to achieve the successful size reduction and removal of a substantial stainless steel vessel within the First Generation Reprocessing Plant (FGRP) at Sellafield in the UK. Due to the environment, nuclear decommissioning is an extremely challenging activity. High ambient radiation levels often preclude entry to the areas involved, and as industry tries to minimise dose uptake, even moderate radiation levels now require remote solutions. 'In-situ' size reduction of process plant, including vessels and pipework, will allow the removal of the nuclear inventory from a building prior to further decontamination and demolition. The term 'in situ' is in this case used to mean work done on plant items within their existing cells as opposed to moving items from their original location to a dedicated size reduction facility. Traditional size reduction cutting methods, such as reciprocating saws or grinders, pose a significant challenge for remote deployment platforms. This includes the loss of haptic feedback and the length of time taken to perform the task, and difficulty dealing with the reaction forces. Although remote engineered solutions for these tools are possible, they are are typically complicated, unreliable and expensive. Robot deployed laser cutting is widely used in non-nuclear industrial sectors, and offers a simpler method for size reduction. LaserSnake2 is a UK collaborative project, co-funded by the Nuclear Decommissioning Authority, Innovate UK and the Department of Energy and Climate Change. The project combined the skills of robotic experts and laser and optic specialists, to develop a remote handling technology suited for deployment within active nuclear environments. As well as meeting strict safety case requirements, the system provides a safe and cost effective method for decommissioning of complex nuclear spaces. An overview of the system development and deployment is presented in this paper. In July 2016, a successful decommissioning campaign was conducted in the FGRP at Sellafield. The LaserSnake2 system was used to size reduce a double-skinned dissolver vessel within a radiologically active nuclear cell. Planning of the size reduction method and processes, as well as results of the campaign itself are described in this paper. The containment procedures and radiological considerations for the system are presented along with the effects of operations on the cell and ventilation systems. LaserSnake, developed as a modular arm system with up to 4.5 m of articulation, carries an integrated tool comprising a high power, decommissioning specific, laser cutting head, high definition cameras and high powered illumination LEDs. It is designed for precise dismantling work within confined and hazardous environments. The tool can be interchanged, allowing the snake-arm robot also to carry grippers, environmental mapping sensors and other tools which may prove advantageous during a decommissioning campaign. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2015

Remotely controlled manipulators using tele-robotic software provide enhanced efficiency and ergonomy for work in hot cells - 15101

Computer aid and electrical assistance have been applied to remote manipulation inside hostile environments. A heavy duty master/slave manipulator system, the MT200, has been updated with the addition of an electronic bay with specialized software, a motion module and a poly-articulated master arm. This is the result of an ambitious 20-year continuous improvement program undertaken by the French nuclear institutions, CEA LIST Interactive Robotics Unit and AREVA in order to improve ergonomics, safety and efficiency at the AREVA La Hague nuclear plant. The new manipulator system, named MT200 TAO, uses tele-robotics to improve ergonomics by literally lightening the workload transmitted to operators. The link between the master and slave arms is electrical rather than mechanical. The poly-articulated master arm uses haptic (force feedback) technology, so the operator effort is multiplied by a homothetic coefficient in the slave arm. Simplification of the offset function, now integrated into the master arm, means that the operator can be correctly positioned for each task. Some repetitive tasks can be carried out with great precision in playback (robotic mode). In addition, this technology contributes to better efficiency, higher availability rate, lower maintenance costs with increased MTBF (Mean Time Between Failures), reduced waste, improved performance and safer use (remote workstations are feasible). (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗