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At least 127 records · Page 7

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NASA NTRS1988

An intelligent multi-media human-computer dialogue system

Sophisticated computer systems are being developed to assist in the human decision-making process for very complex tasks performed under stressful conditions. The human-computer interface is a critical factor in these systems. The human-computer interface should be simple and natural to use, require a minimal learning period, assist the user in accomplishing his task(s) with a minimum of distraction, present output in a form that best conveys information to the user, and reduce cognitive load for the user. In pursuit of this ideal, the Intelligent Multi-Media Interfaces project is devoted to the development of interface technology that integrates speech, natural language text, graphics, and pointing gestures for human-computer dialogues. The objective of the project is to develop interface technology that uses the media/modalities intelligently in a flexible, context-sensitive, and highly integrated manner modelled after the manner in which humans converse in simultaneous coordinated multiple modalities. As part of the project, a knowledge-based interface system, called CUBRICON (CUBRC Intelligent CONversationalist) is being developed as a research prototype. The application domain being used to drive the research is that of military tactical air control.

Neal, J. G.↗

NASA NTRS1988

Knowledge-based graphical interfaces for presenting technical information

Designing effective presentations of technical information is extremely difficult and time-consuming. Moreover, the combination of increasing task complexity and declining job skills makes the need for high-quality technical presentations especially urgent. We believe that this need can ultimately be met through the development of knowledge-based graphical interfaces that can design and present technical information. Since much material is most naturally communicated through pictures, our work has stressed the importance of well-designed graphics, concentrating on generating pictures and laying out displays containing them. We describe APEX, a testbed picture generation system that creates sequences of pictures that depict the performance of simple actions in a world of 3D objects. Our system supports rules for determining automatically the objects to be shown in a picture, the style and level of detail with which they should be rendered, the method by which the action itself should be indicated, and the picture's camera specification. We then describe work on GRIDS, an experimental display layout system that addresses some of the problems in designing displays containing these pictures, determining the position and size of the material to be presented.

Feiner, Steven↗

NASA NTRS1989

A decomposition-based design optimization method with applications

A two-level design optimization metholology is described. A progress report of its application to Printed Wiring Board (PWB) assembly examples is given. The design of PWB assemblies is a complex task which is generally conducted as a sequential process. Individual PWBs are usually designed first, followed by the composition of the PWBs into an assembly. As a result, optimizing design considerations such as assembly reliability cannot be accomplished. This study showed that a two-level decomposition method can be employed to optimize for reliability at both the PWB- and the assembly-level in a coupled manner. The two-level decomposition method also resolved the mixed-integer nonlinear programming nature of the problem rather easily.

Azarm, Shapour↗

NASA NTRS1989

The organization of perception and action in complex control skills

An attempt was made to describe the perceptual, cognitive, and action processes that account for highly skilled human performance in complex task environments. In order to study such a performance in a controlled setting, a laboratory task was constructed and three experiments were performed using human subjects. A general framework was developed for describing the organization of perceptual, cognitive, and action process.

Miller, Richard A.↗

NASA NTRS1987

A virtual manipulator model for space robotic systems

Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems.

Dubowsky, S.↗

NASA NTRS1988

Space Station Freedom operations planning

This paper addresses the development of new planning methodologies which will evolve to serve the Space Station Freedom program; these planning processes will focus on the complex task of effectively managing the resources provided by the Space Station Freedom and will be made available to the diverse international community of space station users in support of their ongoing investigative activities.

Smith, Kevin J.↗

NASA NTRS1990

United States planetary rover status: 1989

A spectrum of concepts for planetary rovers and rover missions, is covered. Rovers studied range from tiny micro rovers to large and highly automated vehicles capable of traveling hundreds of kilometers and performing complex tasks. Rover concepts are addressed both for the Moon and Mars, including a Lunar/Mars common rover capable of supporting either program with relatively small modifications. Mission requirements considered include both Science and Human Exploration. Studies include a range of autonomy in rovers, from interactive teleoperated systems to those requiring and onboard System Executive making very high level decisions. Both high and low technology rover options are addressed. Subsystems are described for a representative selection of these rovers, including: Mobility, Sample Acquisition, Science, Vehicle Control, Thermal Control, Local Navigation, Computation and Communications. System descriptions of rover concepts include diagrams, technology levels, system characteristics, and performance measurement in terms of distance covered, samples collected, and area surveyed for specific representative missions. Rover development schedules and costs are addressed for Lunar and Mars exploration initiatives.

Pivirotto, Donna L. S.↗

NASA NTRS1990

Monitoring and control of spacecraft systems using procedural reasoning

Research concerned with automating the monitoring and control of spacecraft systems is discussed. In particular, the application of SRI's Procedural Reasoning System (PRS) to the handling of malfunctions in the Reaction Control System (RCS) of NASA's Space Shuttle is examined. Unlike traditional monitoring and control systems, PRS is able to reason about and perform complex tasks in a very flexible and robust manner, somewhat in the manner of a human assistant. Using various RCS malfunctions as examples (including sensor faults, leaking components, multiple alarms, and regulator and jet failures), it is shown how PRS manages to combine both goal-directed reasoning and the ability to react rapidly to unanticipated changes in its environment. In conclusion, some important issues in the design of PRS are reviewed and future enhancements are indicated.

Georgeff, Michael P.↗

NASA NTRS1989

Portable Dextrous Force Feedback Master for robot telemanipulation (PDMFF)

A major drawback of open loop masters is a lack of force feedback, limiting their ability to perform complex tasks such as assembly and repair. Researchers present a simple dextrous force feedback master for computer assisted telemanipulation. The device is compact, portable and can be held in the operator hand, without the need for a special joystick or console. The system is capable of both position feed forward and force feedback, using electronic position sensors and a pneumatic micro-actuator. The level of forces exercised by the pneumatic actuator is such that near rigidity may be attained. Experimental results showing good system linearity and small time lag are given.

Burdea, Grigore C.↗

NASA NTRS1988

NASA telerobot testbed development and core technology demonstration

In 1985, NASA initiated a major program of technology development and demonstration for robotics applications to space servicing, assembly, repair, and remote exploration. A ground-based telerobot testbed at the Jet Propulsion Laboratory has been the focal point within this program. Designed to prove technology concepts for supervised automation of increasingly unstructured and complex tasks, the testbed has reached an initial stage of integration. Several significant testbed experiments have been performed, including visual tracking and grapple of a satellite, dual-arm spatial coordination and manipulator control, force-reflecting teleoperations, and simulated task planning for a satellite servicing scenario. The current NASA plans for continuing testbed development and demonstration are also described.

Schenker, Paul S.↗

NASA NTRS1990

The kinematics and dynamics of space manipulators - The virtual manipulator approach

Future robotic manipulator systems will be required to perform complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coupling between the manipulators and its spacecraft. This dynamic coupling also makes it difficult to analyze these systems. This paper introduces a new analytical modeling method for space manipulators called the Virtual Manipulator (VM), which has a fixed based in inertial space at a point called a Virtual Ground. The kinematics and dynamics of the manipulator, spacecraft, and payload can be described relatively easily in terms of the VM. With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.

Vafa, Z.↗

NASA NTRS1990

Transfer orbit stage mechanisms thermal vacuum test

A systems level mechanisms test was conducted on the Orbital Sciences Corp.'s Transfer Orbit Stage (TOS). The TOS is a unique partially reusable transfer vehicle which will boost a satellite into its operational orbit from the Space Shuttle's cargo bay. The mechanical cradle and tilt assemblies will return to earth with the Space Shuttle while the Solid Rocket Motor (SRM) and avionics package are expended. A mechanisms test was performed on the forward cradle and aft tilting assemblies of the TOS under thermal vacuum conditions. Actuating these assemblies under a 1 g environment and thermal vacuum conditions proved to be a complex task. Pneumatic test fixturing was used to lift the forward cradle, and tilt the SRM, and avionics package. Clinometers, linear voltage displacement transducers, and load cells were used in the thermal vacuum chamber to measure the performance and characteristics of the TOS mechanism assembly. Incorporation of the instrumentation and pneumatic system into the test setup was not routine since pneumatic actuation of flight hardware had not been previously performed in the facility. The methods used are presented along with the problems experienced during the design, setup and test phases.

Oleary, Scott T.↗

NASA NTRS1991

The real-time control of planetary rovers through behavior modification

It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

Miller, David P.↗

NASA NTRS1990

Real-time reasoning - The monitoring and control of spacecraft systems

Research concerned with automating the monitoring and control of spacecraft systems is discussed. In particular, the application the Procedural Reasoning System (PRS) to the handling of malfunctions in the Reaction Control System (RCS) of NASAs space shuttle is studied. Unlike traditional monitoring and control systems, PRS is able to reason about and perform complex tasks in a very flexible and robust manner, somewhat in the manner of a human assistant. Using various RCS malfunctions as examples (including sensor faults, leaking components, multiple alarms, and regulator and jet failures), it is shown how PRS manages to combine both goal-directed reasoning and the ability to react rapidly to unanticipated changes in its environment. Some important issues in the design of PRS are reviewed, and future enhancements are indicated.

Georgeff, Michael P.↗

NASA NTRS1991

An analysis of Space Shuttle countdown activities: Preliminaries to a computational model of the NASA Test Director

Before all systems are go just prior to the launch of a space shuttle, thousands of operations and tests have been performed to ensure that all shuttle and support subsystems are operational and ready for launch. These steps, which range from activating the orbiter's flight computers to removing the launch pad from the itinerary of the NASA tour buses, are carried out by launch team members at various locations and with highly specialized fields of expertise. The liability for coordinating these diverse activities rests with the NASA Test Director (NTD) at NASA-Kennedy. The behavior is being studied of the NTD with the goal of building a detailed computational model of that behavior; the results of that analysis to date are given. The NTD's performance is described in detail, as a team member who must coordinate a complex task through efficient audio communication, as well as an individual taking notes and consulting manuals. A model of the routine cognitive skill used by the NTD to follow the launch countdown procedure manual was implemented using the Soar cognitive architecture. Several examples are given of how such a model could aid in evaluating proposed computer support systems.

John, Bonnie E.↗

NASA NTRS1991

Lessons learned in the development of the Hubble Space Telescope software

The lessons learned in the development of the Hubble Space Telescope software are described. Those aspects of the development that were successful are discussed. Areas which in retrospective analysis could have been more efficient are identified. It is concluded that few hardware oriented project managers understand or are comfortable with software technology. Most managers overestimate the size and magnitude of the complex tasks assigned.

Harrington, Michael↗

NASA NTRS1992

An intelligent decomposition approach for efficient design of non-hierarchic systems

The design process associated with large engineering systems requires an initial decomposition of the complex systems into subsystem modules which are coupled through transference of output data. The implementation of such a decomposition approach assumes the ability exists to determine what subsystems and interactions exist and what order of execution will be imposed during the analysis process. Unfortunately, this is quite often an extremely complex task which may be beyond human ability to efficiently achieve. Further, in optimizing such a coupled system, it is essential to be able to determine which interactions figure prominently enough to significantly affect the accuracy of the optimal solution. The ability to determine 'weak' versus 'strong' coupling strengths would aid the designer in deciding which couplings could be permanently removed from consideration or which could be temporarily suspended so as to achieve computational savings with minimal loss in solution accuracy. An approach that uses normalized sensitivities to quantify coupling strengths is presented. The approach is applied to a coupled system composed of analysis equations for verification purposes.

Bloebaum, Christina L.↗

NASA NTRS1992

A process for prototyping onboard payload displays for Space Station Freedom

Significant advances have been made in the area of Human-Computer Interface design. However, there is no well-defined process for going from user interface requirements to user interface design. Developing and designing a clear and consistent user interface for medium to large scale systems is a very challenging and complex task. The task becomes increasingly difficult when there is very little guidance and procedures on how the development process should flow from one stage to the next. Without a specific sequence of development steps each design becomes difficult to repeat, to evaluate, to improve, and to articulate to others. This research contributes a process which identifies the phases of development and products produced as a result of each phase for a rapid prototyping process to be used to develop requirements for the onboard payload displays for Space Station Freedom. The functional components of a dynamic prototyping environment in which this process can be carried out is also discussed. Some of the central questions which are answered here include: How does one go from specifications to an actual prototype? How is a prototype evaluated? How is usability defined and thus measured? How do we use the information from evaluation in redesign of an interface? and Are there techniques which allow for convergence on a design?

Moore, Loretta A.↗