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NASA NTRS2013

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

robotics↗

NASA NTRSDate not supplied

Manual Crew Override of Vehicle Landings Following G-Transitions

BACKGROUND Manual control during exploration spaceflight consists of both planned automated supervisory control and unplanned crew override. This crew override capability is critical to enable overall mission success during landing contingencies. However, the introduction of manual override capabilities must be implemented to enable crews to mitigate risks introduced by human error. Adaptive changes in the sensorimotor system can manifest during g-transitions as spatial disorientation. While training and landing aids enable successful landing through disorientation, these adaptive changes may increase cognitive demand that needs to be accounted for in the manual control strategy. It is important to characterize these effects as soon as possible following the G-transition to develop appropriate countermeasures. METHODS In this study, we will examine operational piloting tasks following International Space Station (ISS) missions in a simulated lunar landing using a six-degree-of-freedom (6DOF) motion base. The motion-based simulation will be implemented in our laboratory at the Johnson Space Center (JSC) and will be available within hours following the return from commercial crew landings. The primary goals of this study are (1) to understand the impact of spaceflight on crew ability to perform manual crew override tasks, (2) to examine how adaptive changes in vestibular and cognitive function relate to changes in manual crew override proficiency, and (3) compare performance during late “just-in-time” on-board training with early post-flight crew performance. The impact of spaceflight on piloting capability will be assessed from pre- versus post-flight changes in crewmembers assigned to either short duration (< 30 day) or long duration (~6- month) missions to the International Space Station (ISS). Individual differences in post-flight vestibular and cognitive changes include motion sickness reports, measures of tilt motion perception accuracy and precision, and dual-task tracking. During the 6DOF lunar simulation, the crew will manually takeover attitude and rate-of-descent to the nominal or re-designated landing aim point during the approach phase. The outcome measures for the lunar crew override tasks will be the percent time maintaining actual vehicle states, e.g., attitude and rate-of-descent, within recommended guidance during the landing approach, number and maximum deviation outside limits, and root mean square error (RMSE). Given that “just-in-time” (JIT) training is an operational expectation for the Human Landing System (HLS) program, all participants will perform late inflight JIT training for each manual crew override task in which they will participate. Crew proficiency will be captured inflight during JIT training that will be implemented on a laptop with hand controllers to allow the crewmember to practice the landing task procedures like the approach implemented for JIT training with Shuttle landing and ISS telerobotic tasks. COUNTERMEASURE UPDATES The lunar lander simulation has been implemented onto a two-laptop display system where subjects select from alternative landing points, based upon avoiding hazards that the on-board system identifies during the landing. The subject makes inputs using a rotational hand controller (i.e., joystick) and a translational hand controller, which are processed by simulated vehicle dynamics to update the vehicle attitude and rate of descent. Subjects will utilize a combination of flight, situation, and status displays to monitor the state of the simulated vehicle. The simulation exports tilt and translation movements to a 6DOF motion base synced to visual movements and provides representative vestibular cues to the subject while performing the task inside an enclosed cabin featuring a simulated lunar out-the-window view and a heads-down lander cockpit view. RELEVANCE This project will deliver an operational demonstration of crew override capability following spaceflight and identify potential deficits that may require remediation. Comparison of individual vestibular and cognitive changes with crew override performance will help better characterize the manual control risks associated with sensorimotor alterations. The inclusion of “just-in-time” on-board training will ensure we are characterizing changes in override proficiency with this expected countermeasure in place. ACKNOWLEDGEMENTS: The authors acknowledge contributions from Draper, HLS Joint Test Panel, Crew HLS Interfaces for Piloting Working Group, and Dynamic Skills Trainer (DST) Lab toward the development of the lunar landing simulation. This project is funded by the Human Health Countermeasures Element.

Austin M Bollinger↗

NASA NTRS1989

Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed

Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Charles, Steve↗

NASA NTRS1994

NASA Johnson Space Center Life Sciences Data System

The Life Sciences Project Division (LSPD) at JSC, which manages human life sciences flight experiments for the NASA Life Sciences Division, augmented its Life Sciences Data System (LSDS) in support of the Spacelab Life Sciences-2 (SLS-2) mission, October 1993. The LSDS is a portable ground system supporting Shuttle, Spacelab, and Mir based life sciences experiments. The LSDS supports acquisition, processing, display, and storage of real-time experiment telemetry in a workstation environment. The system may acquire digital or analog data, storing the data in experiment packet format. Data packets from any acquisition source are archived and meta-parameters are derived through the application of mathematical and logical operators. Parameters may be displayed in text and/or graphical form, or output to analog devices. Experiment data packets may be retransmitted through the network interface and database applications may be developed to support virtually any data packet format. The user interface provides menu- and icon-driven program control and the LSDS system can be integrated with other workstations to perform a variety of functions. The generic capabilities, adaptability, and ease of use make the LSDS a cost-effective solution to many experiment data processing requirements. The same system is used for experiment systems functional and integration tests, flight crew training sessions and mission simulations. In addition, the system has provided the infrastructure for the development of the JSC Life Sciences Data Archive System scheduled for completion in December 1994.

Rahman, Hasan↗

NASA NTRS2006

Mission Control Technologies: A New Way of Designing and Evolving Mission Systems

Current mission operations systems are built as a collection of monolithic software applications. Each application serves the needs of a specific user base associated with a discipline or functional role. Built to accomplish specific tasks, each application embodies specialized functional knowledge and has its own data storage, data models, programmatic interfaces, user interfaces, and customized business logic. In effect, each application creates its own walled-off environment. While individual applications are sometimes reused across multiple missions, it is expensive and time consuming to maintain these systems, and both costly and risky to upgrade them in the light of new requirements or modify them for new purposes. It is even more expensive to achieve new integrated activities across a set of monolithic applications. These problems impact the lifecycle cost (especially design, development, testing, training, maintenance, and integration) of each new mission operations system. They also inhibit system innovation and evolution. This in turn hinders NASA's ability to adopt new operations paradigms, including increasingly automated space systems, such as autonomous rovers, autonomous onboard crew systems, and integrated control of human and robotic missions. Hence, in order to achieve NASA's vision affordably and reliably, we need to consider and mature new ways to build mission control systems that overcome the problems inherent in systems of monolithic applications. The keys to the solution are modularity and interoperability. Modularity will increase extensibility (evolution), reusability, and maintainability. Interoperability will enable composition of larger systems out of smaller parts, and enable the construction of new integrated activities that tie together, at a deep level, the capabilities of many of the components. Modularity and interoperability together contribute to flexibility. The Mission Control Technologies (MCT) Project, a collaboration of multiple NASA Centers, led by NASA Ames Research Center, is building a framework to enable software to be assembled from flexible collections of components and services.

Trimble, Jay↗

NASA NTRS2009

Exploration Life Support Technology Development for Lunar Missions

Exploration Life Support (ELS) is one of NASA's Exploration Technology Development Projects. ELS plans, coordinates and implements the development of new life support technologies for human exploration missions as outlined in NASA's Vision for Space Exploration. ELS technology development currently supports three major projects of the Constellation Program - the Orion Crew Exploration Vehicle (CEV), the Altair Lunar Lander and Lunar Surface Systems. ELS content includes Air Revitalization Systems (ARS), Water Recovery Systems (WRS), Waste Management Systems (WMS), Habitation Engineering, Systems Integration, Modeling and Analysis (SIMA), and Validation and Testing. The primary goal of the ELS project is to provide different technology options to Constellation which fill gaps or provide substantial improvements over the state-of-the-art in life support systems. Since the Constellation missions are so challenging, mass, power, and volume must be reduced from Space Shuttle and Space Station technologies. Systems engineering analysis also optimizes the overall architecture by considering all interfaces with the life support system and potential for reduction or reuse of resources. For long duration missions, technologies which aid in closure of air and water loops with increased reliability are essential as well as techniques to minimize or deal with waste. The ELS project utilizes in-house efforts at five NASA centers, aerospace industry contracts, Small Business Innovative Research contracts and other means to develop advanced life support technologies. Testing, analysis and reduced gravity flight experiments are also conducted at the NASA field centers. This paper gives a current status of technologies under development by ELS and relates them to the Constellation customers who will eventually use them.

Ewert, Michael K.↗

NASA NTRS2017

Understanding the International Space Station Crew Perspective following Long-Duration Missions through Data Analytics & Visualization of Crew Feedback

The International Space Station (ISS) first became a home and research laboratory for NASA and International Partner crewmembers over 16 years ago. Each ISS mission lasts approximately 6 months and consists of three to six crewmembers. After returning to Earth, most crewmembers participate in an extensive series of 30+ debriefs intended to further understand life onboard ISS and allow crews to reflect on their experiences. Examples of debrief data collected include ISS crew feedback about sleep, dining, payload science, scheduling and time planning, health & safety, and maintenance. The Flight Crew Integration (FCI) Operational Habitability (OpsHab) team, based at Johnson Space Center (JSC), is a small group of Human Factors engineers and one stenographer that has worked collaboratively with the NASA Astronaut office and ISS Program to collect, maintain, disseminate and analyze this data. The database provides an exceptional and unique resource for understanding the "crew perspective" on long duration space missions. Data is formatted and categorized to allow for ease of search, reporting, and ultimately trending, in order to understand lessons learned, recurring issues and efficiencies gained over time. Recently, the FCI OpsHab team began collaborating with the NASA JSC Knowledge Management team to provide analytical analysis and visualization of these over 75,000 crew comments in order to better ascertain the crew's perspective on long duration spaceflight and gain insight on changes over time. In this initial phase of study, a text mining framework was used to cluster similar comments and develop measures of similarity useful for identifying relevant topics affecting crew health or performance, locating similar comments when a particular issue or item of operational interest is identified, and providing search capabilities to identify information pertinent to future spaceflight systems and processes for things like procedure development and training. In addition, the comments were scored for sentiment using a polarity scoring algorithm to identify both positive and negative comments for particular groups and clusters, allowing the team to make analytically informed decisions regarding future hardware and operating procedures. The use of polarity scoring with time series analysis was used to provide insight into how crew health and habitability is changing throughout various spaceflight increments or the station lifecycle as a whole. Finally, a visualization framework was developed to address the needs of the end users to search for and analyze comments by user, category or mission. This paper will discuss how the use of an analytical framework in conjunction with the current human interface, improved the understanding of crew perspective and shortened the time for analysis allowing for more informed decisions and rapid development of improvements. These methods are significantly optimizing the way that this valuable data can be assessed and applied to current and future spaceflight design and development. This collaboration allows the FCI OpsHab team to effectively analyze and share data in a more automated and timely fashion. Trends are no longer derived manually and can be illustrated effectively and accurately with these evolving techniques to an ever growing group of human spaceflight end users.

Bryant, Cody↗

DOE OSTI2023

Cancer-associated somatic mutations in human phosphofructokinase-1 reveal a critical electrostatic interaction for allosteric regulation of enzyme activity

Metabolic reprogramming, including increased glucose uptake and lactic acid excretion, is a hallmark of cancer. The glycolytic ‘gatekeeper’ enzyme phosphofructokinase-1 (PFK1), which catalyzes the step committing glucose to breakdown, is dysregulated in cancers. While altered PFK1 activity and expression in tumors have been demonstrated, little is known about the effects of cancer-associated somatic mutations. Somatic mutations in PFK1 inform our understanding of allosteric regulation by identifying key amino acid residues involved in the regulation of enzyme activity. Here, we characterized mutations disrupting an evolutionarily conserved salt bridge between aspartic acid and arginine in human platelet (PFKP) and liver (PFKL) isoforms. Using purified recombinant proteins, we showed that disruption of the Asp–Arg pair in two PFK1 isoforms decreased enzyme activity and altered allosteric regulation. We determined the crystal structure of PFK1 to 3.6 Å resolution and used molecular dynamic simulations to understand molecular mechanisms of altered allosteric regulation. We showed that PFKP-D564N had a decreased total system energy and changes in the electrostatic surface potential of the effector site. Cells expressing PFKP-D564N demonstrated a decreased rate of glycolysis, while their ability to induce glycolytic flux under conditions of low cellular energy was enhanced compared with cells expressing wild-type PFKP. Taken together, these results suggest that mutations in Arg–Asp pair at the interface of the catalytic-regulatory domains stabilizes the t-state and presents novel mechanistic insight for therapeutic development in cancer.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2017

Cytotoxic protein from the mushroom Coprinus comatus possesses a unique mode for glycan binding and specificity

Glycans possess significant chemical diversity; glycan binding proteins (GBPs) recognize specific glycans to translate their structures to functions in various physiological and pathological processes. Therefore, the discovery and characterization of novel GBPs and characterization of glycan–GBP interactions are significant to provide potential targets for therapeutic intervention of many diseases. Here, we report the biochemical, functional, and structural characterization of a 130-amino-acid protein, Y3, from the mushroom Coprinus comatus . Biochemical studies of recombinant Y3 from a yeast expression system demonstrated the protein is a unique GBP. Additionally, we show that Y3 exhibits selective and potent cytotoxicity toward human T-cell leukemia Jurkat cells compared with a panel of cancer cell lines via inducing caspase-dependent apoptosis. Screening of a glycan array demonstrated GalNAcβ1–4(Fucα1–3)GlcNAc (LDNF) as a specific Y3-binding ligand. Here, to provide a structural basis for function, the crystal structure was solved to a resolution of 1.2 Å, revealing a single-domain αβα-sandwich motif. Two monomers were dimerized to form a large 10-stranded, antiparallel β-sheet flanked by α-helices on each side, representing a unique oligomerization mode among GBPs. A large glycan binding pocket extends into the dimeric interface, and docking of LDNF identified key residues for glycan interactions. Disruption of residues predicted to be involved in LDNF/Y3 interactions resulted in the significant loss of binding to Jurkat T-cells and severely impaired their cytotoxicity. Collectively, these results demonstrate Y3 to be a GBP with selective cytotoxicity toward human T-cell leukemia cells and indicate its potential use in cancer diagnosis and treatment.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS2002

On Abstractions and Simplifications in the Design of Human-Automation Interfaces

This report addresses the design of human-automation interaction from a formal perspective that focuses on the information content of the interface, rather than the design of the graphical user interface. It also addresses the issue of the information provided to the user (e.g., user-manuals, training material, and all other resources). In this report, we propose a formal procedure for generating interfaces and user-manuals. The procedure is guided by two criteria: First, the interface must be correct, that is, with the given interface the user will be able to perform the specified tasks correctly. Second, the interface should be succinct. The report discusses the underlying concepts and the formal methods for this approach. Two examples are used to illustrate the procedure. The algorithm for constructing interfaces can be automated, and a preliminary software system for its implementation has been developed.

Heymann, Michael↗

NASA NTRS2006

Crew Launch Vehicle (CLV) Avionics and Software Integration Overview

On January 14, 2004, the President of the United States announced a new plan to explore space and extend a human presence across our solar system. The National Aeronautics and Space Administration (NASA) established the Exploration Systems Mission Directorate (ESMD) to develop and field a Constellation Architecture that will bring the Space Exploration vision to fruition. The Constellation Architecture includes a human-rated Crew Launch Vehicle (CLV) segment, managed by the Marshall Space Flight Center (MSFC), comprised of the First Stage (FS), Upper Stage (US), and Upper Stage Engine (USE) elements. The CLV s purpose is to provide safe and reliable crew and cargo transportation into Low Earth Orbit (LEO), as well as insertion into trans-lunar trajectories. The architecture's Spacecraft segment includes, among other elements, the Crew Exploration Vehicle (CEV), managed by the Johnson Space Flight Center (JSC), which is launched atop the CLV. MSFC is also responsible for CLV and CEV stack integration. This paper provides an overview of the Avionics and Software integration approach (which includes the Integrated System Health Management (ISHM) functions), both within the CLV, and across the CEV interface; it addresses the requirements to be met, logistics of meeting those requirements, and the roles of the various groups. The Avionics Integration and Vehicle Systems Test (ANST) Office was established at the MSFC with system engineering responsibilities for defining and developing the integrated CLV Avionics and Software system. The AIVST Office has defined two Groups, the Avionics and Software Integration Group (AVSIG), and the Integrated System Simulation and Test Integration Group (ISSTIG), and four Panels which will direct trade studies and analyses to ensure the CLV avionics and software meet CLV system and CEV interface requirements. The four panels are: 1) Avionics Integration Panel (AIP), 2) Software Integration Panel, 3) EEE Panel, and 4) Systems Simulation and Test Panel. Membership on the groups and panels includes the MSFC representatives from the requisite engineering disciplines, the First Stage, the Upper Stage, the Upper Stage Engine projects, and key personnel from other NASA centers. The four panels will take the results of trade studies and analyses and develop documentation in support of Design Analysis Cycle Reviews and ultimately the System Requirements Review.

Monell, Donald W.↗

NASA NTRSDate not supplied

TPSAS-NF1676L-14834-DND

A recent spin-off from flight deck adaptive automation research at NASA Langley Research Center is a biocybernetic invention referred to informally as MindShift. When using the MindShift technology, a person is able to play off-the-shelf Nintendo Wii games enhanced with biofeedback, which is used to improve self-regulation of physiological functioning. Therefore, the user experiences the challenge of regulating their physiological responses during gameplay in addition to the intended challenges presented in the video game. The research projects being conducted under the supervision of Dr. Alan Pope and Chad Stephens at NASA Langley Research Center examine the effects of interacting with the MindShift invention technology on subjects' self-regulation of heart rate and brainwave activity, performance in the games, performance on cognitive tasks, and subjective experience of effort (i.e., workload). The MindShift invention's effects are being compared to the effects of interacting with the games without the MindShift technology and to the effects of interacting with commercial-off-the-shelf (COTS) brain-computer interface (BCI) technology, specifically the Mattel Mind Flex and the Uncle Milton Star Wars Force Trainer. A 32-channel electroencephalograph system is used to record subjects' brainwave and electrocardiographic activity. The potential for biofeedback game system applications is wide-ranging - from a more engaging form of clinical biofeedback training to a new challenge for avid gamers. Consequently, research needs to be conducted to fully understand the effects that these new games have on a person's physiological and psychological functioning. Biocybernetic technology like MindShift developed from the idea that operators of critical systems such as aerospace systems could hone their stress management and attention skills in biofeedback-augmented leisure activities while off-the-job in order to positively affect their on-the-job performance. This human performance enhancement technology is applicable to skill training on manually controlled critical tasks, such as unmanned aerial vehicle teleoperation, thus enabling the training of cognitive skills to be concurrent with manual skills. Furthermore, this type of technology can apply to medical and clinical uses of biofeedback by serving as an additional form of clinical biofeedback training that may be particularly useful for those with ADHD.

Brittany N Neilson↗

NASA NTRSDate not supplied

The Repair Maintenance and Fabrication Facility in the Common Habitat Architecture

The Common Habitat Architecture seeks to increase the habitability of long-duration human spaceflight systems. A key aspect of this is vehicle survivability. Missions beyond low Earth orbit need onboard capabilities for Repair, Maintenance, And Fabrication (RMAF) to overcome potential contingency scenarios. Strategies employed in historic human spaceflight such as redundancy management, reliability, sparing, orbital replacement units, and aborts may be insufficient by themselves. Based on subject matter input, a list of 53 critical failures defining a set of incidents that can render a key spacecraft subsystem inoperable were generated. A subsequent analysis found that a robust in-space RMAF system capable of performing 14 key functions can potentially repair a subsystem plagued by any of these failures. An ancillary benefit is this capability may provide psychological benefits to the crew, by enabling greater self-sufficiency in earth-independent problem solving. A basic RMAF facility has been defined for the Common Habitat, consisting of five workstations. A work bench and computer workstation provide a multipurpose horizontal work surface, computing interface, and tools storage. A CNC machining center provides a subtractive manufacturing capability for metals and plastics. A multi-material 3D printing facility provides additive manufacturing capabilities for plastic, metals, and printed electronics. A welding facility is used for joining metal components where a higher strength is needed than can be achieved with fasteners or adhesives. A glovebox facility is used to perform work that is too hazardous for any of the other workstations. This may include hardware brought in from outside the spacecraft that could potentially contaminate the cabin environment. Forward work includes considering the accommodation of additional manufacturing processes not modeled in the current system, assessing the ability of systems to operate in partial gravity and microgravity environments, incorporation of the system into the Common Habitat Computer Aided Design (CAD) model, bottoms-up mass estimating, and a crew time analysis.

Habitat↗

DOE OSTI2019

An Investigational Platform of the Human Brain for Understanding Complex Neural Function

In this project we focused on developing an experimental model of the human central nervous system that more accurately mirrors the function and physiology of the human brain. This in vitro brain-on-a-chip can provide critical insight into human brain function in response to chemical exposure and disease. To develop a more accurate experimental model, we evaluated and optimized key elements designed to more accurately recapitulate neuron function. We demonstrated that neuronal function was more robust when neurons were cultured with other neuronal cells as well as complex extracellular matrix molecules. We also designed a novel threedimensional multi-electrode array (3DMEA) that provides an unprecedented ability to noninvasively monitor and record neuronal function in 3D in a reproducible manner. We also optimized an experimental model of the blood-brain barrier, providing an important tool for understanding how this interface regulates the exchange of molecules from the blood to the brain. Underpinning all of these experimental efforts were novel data analytics and modeling approaches. The successful completion of this project has positioned LLNL to use our novel tools and expertise to understand human brain function in the context of the Lab’s national security mission.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1991

Development of a Common User Interface for the Launch Decision Support System

The Launch Decision Support System (LDSS) is software to be used by the NASA Test Director (NTD) in the firing room during countdown. This software is designed to assist the NTD with time management, that is, when to resume from a hold condition. This software will assist the NTD in making and evaluating alternate plans and will keep him advised of the existing situation. As such, the interface to this software must be designed to provide the maximum amount of information in the clearest fashion and in a timely manner. This research involves applying user interface guidelines to a mature prototype of LDSS and developing displays that will enable the users to easily and efficiently obtain information from the LDSS displays. This research also extends previous work on organizing and prioritizing human-computer interaction knowledge.

Scholtz, Jean C.↗

NASA NTRS2004

A Software Architecture for Semiautonomous Robot Control

A software architecture has been developed to increase the safety and effectiveness with which tasks are performed by robots that are capable of functioning autonomously but sometimes are operated under control by humans. The control system of such a robot designed according to a prior software architecture has no way of taking account of how the environment has changed or what parts of a task were performed during an interval of control by a human, so that errors can occur (and, hence, safety and effectiveness jeopardized) when the human relinquishes control. The present architecture incorporates the control, task-planning, and sensor-based-monitoring features of typical prior autonomous-robot software architectures, plus features for updating information on the environment and planning of tasks during control by a human operator in order to enable the robot to track the actions taken by the operator and to be ready to resume autonomous operation with minimal error. The present architecture also provides a user interface that presents, to the operator, a variety of information on the internal state of the robot and the status of the task.

Kortenkamp, David↗

NASA NTRS2012

Using Arm and Hand Gestures to Command Robots during Stealth Operations

Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-of-freedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.

stealth operations↗

DOE OSTI2018

Compliant and stretchable thermoelectric coils for energy harvesting in miniature flexible devices

With accelerating trends in miniaturization of semiconductor devices, techniques for energy harvesting become increasingly important, especially in wearable technologies and sensors for the internet of things. Although thermoelectric systems have many attractive attributes in this context, maintaining large temperature differences across the device terminals and achieving low–thermal impedance interfaces to the surrounding environment become increasingly difficult to achieve as the characteristic dimensions decrease. Here, we propose and demonstrate an architectural solution to this problem, where thin-film active materials integrate into compliant, open three-dimensional (3D) forms. This approach not only enables efficient thermal impedance matching but also multiplies the heat flow through the harvester, thereby increasing the efficiencies for power conversion. Interconnected arrays of 3D thermoelectric coils built using microscale ribbons of monocrystalline silicon as the active material demonstrate these concepts. Quantitative measurements and simulations establish the basic operating principles and the key design features. The results suggest a scalable strategy for deploying hard thermoelectric thin-film materials in harvesters that can integrate effectively with soft materials systems, including those of the human body.

42 ENGINEERING↗