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Adaptive Modeling Language (AML) is the underlying language of an object-oriented, multidisciplinary, knowledge-based engineering framework. AML offers an advanced modeling paradigm with an open architecture, enabling the automation of the entire product development cycle, integrating product configuration, design, analysis, visualization, production planning, inspection, and cost estimation.
During exploration-class missions, sensorimotor disturbances may lead to disruption in the ability to ambulate and perform functional tasks during the initial introduction to a novel gravitational environment following a landing on a planetary surface. The overall goal of our current project is to develop a sensorimotor adaptability training program to facilitate rapid adaptation to these environments. We have developed a unique training system comprised of a treadmill placed on a motion-base facing a virtual visual scene. It provides an unstable walking surface combined with incongruent visual flow designed to enhance sensorimotor adaptability. Greater metabolic cost incurred during balance instability means more physical work is required during adaptation to new environments possibly affecting crewmembers? ability to perform mission critical tasks during early surface operations on planetary expeditions. The goal of this study was to characterize adaptation to a discordant sensory challenge across a number of performance modalities including locomotor stability, multi-tasking ability and metabolic cost. METHODS: Subjects (n=15) walked (4.0 km/h) on a treadmill for an 8 -minute baseline walking period followed by 20-minutes of walking (4.0 km/h) with support surface motion (0.3 Hz, sinusoidal lateral motion, peak amplitude 25.4 cm) provided by the treadmill/motion-base system. Stride frequency and auditory reaction time were collected as measures of locomotor stability and multi-tasking ability, respectively. Metabolic data (VO2) were collected via a portable metabolic gas analysis system. RESULTS: At the onset of lateral support surface motion, subj ects walking on our treadmill showed an increase in stride frequency and auditory reaction time indicating initial balance and multi-tasking disturbances. During the 20-minute adaptation period, balance control and multi-tasking performance improved. Similarly, throughout the 20-minute adaptation period, VO2 gradually decreased following an initial increase after the onset of support surface motion. DISCUSSION: Resu lts confirmed that walking in discordant conditions not only compromises locomotor stability and the ability to multi-task, but comes at a quantifiable metabolic cost. Importantly, like locomotor stability and multi-tasking ability, metabolic expenditure while walking in discordant sensory conditions improved during adaptation. This confirms that sensorimotor adaptability training can benefit multiple performance parameters central to the successful completion of critical mission tasks.
Psyche is a NASA Discovery mission intent on solving mysteries surrounding early planetary formation. The mission spacecraft will journey to (16) Psyche: a metallic asteroid believed to be the exposed core of an early planetesimal. Despite the unique nature of the target asteroid and the mission’s novel science goals, a significant portion of the project’s science planning needs may be met through the use of legacy tools. In particular, the adoption of the Jet Propulsion Laboratory’s (JPL) Science Opportunity Analyzer (SOA) promises to satisfy mission requirements with minimal development effort. Originally developed as a multi-mission science planning tool, SOA can design and visualize observations, perform geometric flight rule checking, model physical phenomena, and much more. The software has been used by the mission since its proposal phase and is expected to continue providing valuable capabilities throughout operations.
Moon Tycoon Version 2 (V2) enables and encourages in-situ resource utilization (ISRU) technology developers, principal investigators (PI), and managers across the agency to design and visualize various Lunar operations and missions with a high degree of photorealism. Users are completely immersed in the emulated Moon environment, enabling them to gain new knowledge as they explore the Lunar surface. Moon Tycoon V2 will soon be released to the NASA Software Catalog for public distribution, which will allow external partners, academia, and other interested parties from the public domain to take part.
A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.
Specification and [visual] modelling languages are expected to combine strong abstraction mechanisms with rigour, scalability, and parsimony. LePUS3 is a visual, object-oriented design description language axiomatized in a decidable subset of the first-order predicate logic. We demonstrate how LePUS3 is used to formally specify a structural design pattern and prove ( verify ) whether any JavaTM 1.4 program satisfies that specification. We also show how LePUS3 specifications (charts) are composed and how they are verified fully automatically in the Two-Tier Programming Toolkit.
Future expeditions will enable exploration and study of the planetary surfaces of the Moon and Mars by performing extravehicular activity (EVA) operations. Present-day International Space Station (ISS) EVA operations require an intricate choreography of crew, space suits, tools, systems, and flight teams to plan, train, and execute with limited advanced informatics. In this paper, the Joint Augmented Reality Visual Informatics System (Joint AR) project team at NASA Johnson Space Center (JSC) characterizes the design space for developing a modular augmented reality (AR) device for a spacesuit form factor that can support crew decision-making for EVA. The Joint AR product was defined via trade studies and market analysis of previous EVA display efforts, various AR components such as optics, commercial AR systems, light engines, data interfaces, and graphics engine software. This paper outlines the defining architectural design decisions, including safety criticality considerations, interfaces, and computer architectures. The outcomes of these studies result in a prototype design which is defined here as the Joint AR product. This work aims to enable a community-wide discussion toward realizing necessary suit-compatible AR features and capabilities for future missions.
Future expeditions will enable exploration and study of the planetary surfaces of the Moon and Mars by performing extravehicular activity (EVA) operations. Present-day International Space Station (ISS) EVA operations require an intricate choreography of crew, space suits, tools, systems, and flight teams to plan, train, and execute with limited advanced informatics. In this paper, the Joint Augmented Reality Visual Informatics System (Joint AR) project team at NASA Johnson Space Center (JSC) characterizes the design space for developing a modular augmented reality (AR) device for a spacesuit form factor that can support crew decision-making for EVA. The Joint AR product was defined via trade studies and market analysis of previous EVA display efforts, various AR components such as optics, commercial AR systems, light engines, data interfaces, and graphics engine software. This paper outlines the defining architectural design decisions, including safety criticality considerations, interfaces, and computer architectures. The outcomes of these studies result in a prototype design which is defined here as the Joint AR product. This work aims to enable a community-wide discussion toward realizing necessary suit-compatible AR features and capabilities for future missions.
We have developed a combined feature based and shape based visual tracking system designed to enable a planetary rover to visually track and servo to specific points chosen by a user with centimeter precision. The feature based tracker uses invariant feature detection and matching across a stereo pair, as well as matching pairs before and after robot movement in order to compute an incremental 6-DOF motion at each tracker update. This tracking method is subject to drift over time, which can be compensated by the shape based method. The shape based tracking method consists of 3D model registration, which recovers 6-DOF motion given sufficient shape and proper initialization. By integrating complementary algorithms, the combined tracker leverages the efficiency and robustness of feature based methods with the precision and accuracy of model registration. In this paper, we present the algorithms and their integration into a combined visual tracking system.
Complicated mission design problems require innovative computational solutions. As spacecraft depart from a proposed Gateway in a Near Rectilinear Halo Orbit (NRHO), recontact analysis is required to avoid risk of collision and ensure safe operations. Escape dynamics from NRHOs are governed by multiple gravitational bodies, yielding a trajectory design space that is exhaustively large. This paper summarizes the recontact analysis for departure from the NRHO and describes how the Deep Space Trajectory Explorer (DSTE) trajectory design software incorporates high performance cloud computing to compute and visualize the orbit design space. Recent focus on exploration missions to cislunar space has kindled accelerated interest in multibody orbit solutions. Trajectory analysis in the presence of multiple gravity fields is complex, and innovative computational tools are needed to simplify complicated design spaces, to generate large quantities of data quickly, and to visualize the output for user accessibility. The Gateway mission is a prime example. The Gateway1 is proposed as a human outpost in deep space. The current baseline orbit for the Gateway is a Near Rectilinear Halo Orbit (NRHO) near the Moon.2 The NRHO exists in a regime that experiences the gravitational effects of the Earth and the Moon simultaneously, complicating orbit analysis. The mission design process benefits greatly from updated computational tools for multibody missions like the Gateway. As an example, consider the problem of assessing the risk of collision in an NRHO. As a staging location to missions to the lunar surface and beyond the Earth-Moon system, the Gateway will experience spacecraft and other objects regularly arriving and departing. Departing objects potentially include spent logistics modules, visiting crew vehicles, debris objects, wastewater particles, and cubesats. Each departure is governed by the dynamics of the Gateway orbit and the surrounding dynamical environment. Over time, any unmaintained object in such an orbit eventually departs due to the small instabilities associated with the NRHOs. A separation maneuver speeds the departure from the NRHO, but the effects of the maneuver on the spacecraft behavior depend on the location, magnitude, and direction of the burn. Escape dynamics from the NRHO with regard to these maneuver options open up an enormous potential trajectory design space where subtle changes in input can produce dramatically large changes in the results. Any departing object must avoid recontacting the Gateway as it leaves the lunar vicinity, and a recontact analysis thus involves a significant number of computations and extensive output data. To explore the dynamics of this extensive design space, the Deep Space Trajectory Explorer3 (DSTE) trajectory design software incorporates new High Performance Computing (HPC) services and novel interactive visualizations. This paper details the HPC and cloud infrastructure techniques that are implemented in the DSTE, applying the new capabilities to analysis of recontact risk with the Gateway in NRHO. NEAR RECTILINEAR HALO ORBITS The Gateway is planned to fly in a lunar NRHO as its baseline orbit. The NRHO families of orbits are subsets of the larger halo families, which originate from planar orbits near the L1 and L2 libration points; the Earth-Moon L2 halo family appears in Figure 1. Each halo orbit is perfectly periodic in the Circular Restricted 3-Body Problem (CR3BP) and becomes a quasi-periodic orbit in a higher fidelity ephemeris force model. The NRHOs are defined as those members of the halo family with bounded stability properties;2 they pass near the Moon at perilune and are nearly polar. Families exist with apolunes located both above the lunar north pole and above the lunar south pole; the Gateway is planned to reside in a southern L2 NRHO in a 9:2 resonance with the lunar synodic period. The 9:2 NRHO is characterized by a period of about 6.5 days, a perilune radius of about 3,500 km, and an apolune radius of about 71,000 km; it is strongly affected by the gravity of both the Earth and the Moon simultaneously. This NRHO offers extended communications with assets on the south pole of the Moon,4 as well as low-cost orbit maintenance and attitude control,5 favorable eclipse avoidance properties,6 and inexpensive transfers from Earth and to other destinations.5,7 The NRHO portion of the southern L2 halo family is highlighted in black in Figure 1, and the 9:2 NRHO appears in blue.
Visual motion and other visual cues are used by tower controllers to provide important support for their control tasks at and near airports. These cues are particularly important for anticipated separation. Some of them, which we call visual features, have been identified from structured interviews and discussions with 24 active air traffic controllers or supervisors. The visual information that these features provide has been analyzed with respect to possible ways it could be presented at a remote tower that does not allow a direct view of the airport. Two types of remote towers are possible. One could be based on a plan-view, map-like computer-generated display of the airport and its immediate surroundings. An alternative would present a composite perspective view of the airport and its surroundings, possibly provided by an array of radially mounted cameras positioned at the airport in lieu of a tower. An initial more detailed analyses of one of the specific landing cues identified by the controllers, landing deceleration, is provided as a basis for evaluating how controllers might detect and use it. Understanding other such cues will help identify the information that may be degraded or lost in a remote or virtual tower not located at the airport. Some initial suggestions how some of the lost visual information may be presented in displays are mentioned. Many of the cues considered involve visual motion, though some important static cues are also discussed.
This paper describes the development of an interactive proximity operations planning system that allows on-site planning of fuel-efficient multiburn maneuvers in a potential multispacecraft environment. Although this display system most directly assists planning by providing visual feedback to aid visualization of the trajectories and constraints, its most significant features include: (1) the use of an 'inverse dynamics' algorithm that removes control nonlinearities facing the operator, and (2) a trajectory planning technique that separates, through a 'geometric spreadsheet', the normally coupled complex problems of planning orbital maneuvers and allows solution by an iterative sequence of simple independent actions. The visual feedback of trajectory shapes and operational constraints, provided by user-transparent and continuously active background computations, allows the operator to make fast, iterative design changes that rapidly converge to fuel-efficient solutions. The planning tool provides an example of operator-assisted optimization of nonlinear cost functions.
Abstract DNA construction, while a prerequisite to many biological endeavors, is often a time-consuming distraction from an individual’s primary research objectives. We envisioned that with the right software infrastructure and cultural mindset, a single person could execute in parallel the batched DNA construction tasks of an entire research institute, at scales realizing efficiency gains through process and laboratory automation. In pursuit of this vision, we developed the Design, Implementation, and Verification Automation (DIVA) software platform. DIVA’s web interface enables researchers to design DNA constructs (using visual biological computer-aided design tools and biological parts repositories), submit designs for construction to dedicated staff, and track DNA construction as it progresses. DIVA supports the dedicated staff through the DNA construction process and records both successful and unsuccessful attempts toward improving the overall process. The platform is publicly available at public-diva.jbei.org and its open-source code through github.com/JBEI/DIVA.
The use of an optical flow visualization device for studying convection flow patterns was investigated. The investigation considered use of a shadowgraph, schlieren and other means for visualizing the flow. A laboratory model was set up to provide data on the proper optics and photography procedures to best visualize the flow. A preliminary design of a flow visualization system is provided as a result of the study. Recommendations are given for a flight test program utilizing the flow visualization apparatus.
Recent experiments which addressed Space Station remote manipulation tasks found that tactile force feedback (reflecting forces and torques encountered at the end-effector through the manipulator hand controller) does not improve performance significantly. Subjective response from astronaut and non-astronaut test subjects indicated that force information, provided visually, could be useful. No research exists which specifically investigates methods of presenting force-torque information visually. This experiment was designed to evaluate seven different visual force-torque displays which were found in an informal telephone survey. The displays were prototyped in the HyperCard programming environment. In a within-subjects experiment, 14 subjects nullified forces and torques presented statically, using response buttons located at the bottom of the screen. Dependent measures included questionnaire data, errors, and response time. Subjective data generally demonstrate that subjects rated variations of pseudo-perspective displays consistently better than bar graph and digital displays. Subjects commented that the bar graph and digital displays could be used, but were not compatible with using hand controllers. Quantitative data show similar trends to the subjective data, except that the bar graph and digital displays both provided good performance, perhaps do to the mapping of response buttons to display elements. Results indicate that for this set of displays, the pseudo-perspective displays generally represent a more intuitive format for presenting force-torque information.
Significant accomplishments in the following areas are presented: (1) enhancements to the visualization of 5-D data sets (VIS-5D); (2) development of the visualization of global images (VIS-GI) application; (3) design of the Visualization for Algorithm Development (VIS-AD) System; and (4) numerical modeling applications. The focus of current research and future research plans is presented and the following topics are addressed: (1) further enhancements to VIS-5D; (2) generalization and enhancement of the VIS-GI application; (3) the implementation of the VIS-AD System; and (4) plans for modeling applications.