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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Multiscale Flow for robust and optimal cosmological analysis

We propose Multiscale Flow, a generative Normalizing Flow that creates samples and models the field-level likelihood of two-dimensional cosmological data such as weak lensing. Multiscale Flow uses hierarchical decomposition of cosmological fields via a wavelet basis and then models different wavelet components separately as Normalizing Flows. The log-likelihood of the original cosmological field can be recovered by summing over the log-likelihood of each wavelet term. This decomposition allows us to separate the information from different scales and identify distribution shifts in the data such as unknown scale-dependent systematics. The resulting likelihood analysis can not only identify these types of systematics, but can also be made optimal, in the sense that the Multiscale Flow can learn the full likelihood at the field without any dimensionality reduction. We apply Multiscale Flow to weak lensing mock datasets for cosmological inference and show that it significantly outperforms traditional summary statistics such as power spectrum and peak counts, as well as machine learning–based summary statistics such as scattering transform and convolutional neural networks. We further show that Multiscale Flow is able to identify distribution shifts not in the training data such as baryonic effects. Finally, we demonstrate that Multiscale Flow can be used to generate realistic samples of weak lensing data.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1976

Joint aircraft loading/structure response statistics of time to service crack initiation

A reliability analysis for predicting the statistical distribution of time to fatigue crack initiation for aircraft structures in service is presented. The present analysis utilizes the statistical data of the specimen fatigue tests, the full-scale structure tests, and the statistical dispersion of aircraft service loads. The statistical distribution of the time to fatigue crack initiation of the full-scale structure under laboratory loading spectrum is assumed to be Weibull. The service loads for gust turbulences are modeled as Poisson processes for transport-type aircraft, while the maneuver loads are modeled as compound Poisson processes for fighter and training aircraft. It is found that the statistical distribution of time to fatigue crack initiation for aircraft structures in service is not Weibull and that the prediction on the basis of the Weibull distribution is unconservative, in particular in the early service time.

Yang, J.-N.↗
NASA NTRS2005

Support for the Harvard University Water Vapor and Total Water Instruments for the 2004 NASA WB57 Middle Latitude Cirrus Experiment

In order to improve our understanding of the role clouds play in the climate system, NASA is investing considerable effort in characterizing clouds with instruments ranging from passive remote sensors on board the EOS platforms, to the forthcoming active remote sensors on Cloudsat and Calipso. These missions, when taken together, have the capacity to advance our understanding of the coupling between various components of the hydrologic cycle and the atmospheric circulation, and hold the additional potential of leading to significant improvements in the characterization of cloud feedbacks in global models. This is especially true considering that several of these platforms will be flown in an identical orbit within several minutes of one another-a constellation of satellites known as the A-Train. The algorithms that are being implemented and developed to convert these new data streams from radiance and reflectivity measurements into geophysical parameters invariably rely on some set of simplifymg assumptions and empirical constants. Uncertainties in these relationships lead to poorly understood random and systematic errors in the retrieved properties. This lack of understanding introduces ambiguity in interpreting the data and in using the global data sets for their intended purposes. In light of this, a series of flights with the W57F was proposed to address certain specific issues related to the basic properties of mid latitude cirrus clouds: the NASA WE357 Middle Latitude Cirrus Experiment ("MidCiX"). The science questions addressed are: 1) Can cloud property retrieval algorithms developed for A-Train active and passive remote sensing measurements accurately characterize the microphysical properties of synoptic and convectively generated cirrus cloud systems? 2) What are the relationships between the cirrus particle mass, projected area, and particle size spectrum in various genre of cirrus clouds? 3) Does the present compliment of state of the art in situ cloud probes provide the level of precision and accuracy needed to develop and validate algorithms and to contribute to our understanding of the characteristics and microphysical processes operating in cirrus clouds?

Anderson, James G.↗
DOE OSTI2025

Using Neural Networks to Identify Mixture Components in Hyperspectral Reflectance Data

Neural networks have been employed to identify materials of interest from hyperspectral data (generally imagery) based on their unique spectral signatures. This approach assumes that there is a single material that is standing out from the rest of the spectrum to be identified. However, pixels often contain more than one material, or a material of interest may itself be a mixture of multiple materials. Neural networks are only as good as the data used to train them, and it takes a great deal of work in the laboratory to identify, make, and measure all potential mixtures of interest. Thus, researchers often calculate synthetic spectra using algorithms with varying degrees of fidelity to the physics that govern the interactions between light and multiple materials. In this work, we have (1) adapted a neural network designed to identify mixture components from Raman spectroscopy to work with visible to near‐infrared reflectance data and (2) tested three common mixture algorithms to determine the most accurate and least computationally expensive method to build synthetic training datasets. With our initial test dataset, we have achieved accuracies of > 90% and found that the synthetic training dataset produced using the Hapke mixture model provides the best results.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2021

Machine learning and algebraic approaches towards complete matter spectra in 4d F-theory

Motivated by engineering vector-like (Higgs) pairs in the spectrum of 4d F-theory compactifications, we combine machine learning and algebraic geometry techniques to analyze line bundle cohomologies on families of holomorphic curves. To quantify jumps of these cohomologies, we first generate 1.8 million pairs of line bundles and curves embedded in dP 3 , for which we compute the cohomologies. A white-box machine learning approach trained on this data provides intuition for jumps due to curve splittings, which we use to construct additional vector-like Higgs-pairs in an F-Theory toy model. We also find that, in order to explain quantitatively the full dataset, further tools from algebraic geometry, in particular Brill-Noether theory, are required. Using these ingredients, we introduce a diagrammatic way to express cohomology jumps across the parameter space of each family of matter curves, which reflects a stratification of the F-theory complex structure moduli space in terms of the vector-like spectrum. Furthermore, these insights provide an algorithmically efficient way to estimate the possible cohomology dimensions across the entire parameter space.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2025

Robust Spectral Anomaly Detection in EELS Spectral Images via 3D Convolutional Variational Autoencoders

Abstract A 3D Convolutional Variational Autoencoder (3D‐CVAE) is introduced for automated anomaly detection in electron energy‐loss spectroscopy spectrum imaging (EELS‐SI) data. This approach leverages the full 3D structure of EELS‐SI data to detect subtle spectral anomalies while preserving both spatial and spectral correlations across the datacube. By employing cross‐entropy loss and training on bulk spectra, the model learns to reconstruct bulk features characteristic of the defect‐free material. In exploring methods for anomaly detection, both the 3D‐CVAE approach and principal component analysis (PCA) are evaluated, testing their performance using FeL‐edge ΔEpeak shifts designed to simulate material defects. These results show that 3D‐CVAE achieves superior anomaly detection and maintains consistent performance across various shift magnitudes. The method demonstrates clear bimodal separation between bulk and anomalous spectra, enabling reliable classification. Further analysis verifies that lower‐dimensional representations are robust to anomalies in the data. While performance advantages over PCA diminish with decreasing anomaly concentration, our method maintains high reconstruction quality even in challenging, noise‐dominated spectral regions. This approach provides a robust framework for unsupervised automated detection of spectral anomalies in EELS‐SI data, particularly valuable for analyzing complex material systems.

Chemistry↗
DOE OSTI2024

Real-time tracking of structural evolution in 2D MXenes using theory-enhanced machine learning

In situ Electron Energy Loss Spectroscopy (EELS) combined with Transmission Electron Microscopy (TEM) has traditionally been pivotal for understanding how material processing choices affect local structure and composition. However, the ability to monitor and respond to ultrafast transient changes, now achievable with EELS and TEM, necessitates innovative analytical frameworks. Here, we introduce a machine learning (ML) framework tailored for the real-time assessment and characterization of in operando EELS Spectrum Images (EELS-SI). We focus on 2D MXenes as the sample material system, specifically targeting the understanding and control of their atomic-scale structural transformations that critically influence their electronic and optical properties. This approach requires fewer labeled training data points than typical deep learning classification methods. By integrating computationally generated structures of MXenes and experimental datasets into a unified latent space using Variational Autoencoders (VAE) in a unique training method, our framework accurately predicts structural evolutions at latencies pertinent to closed-loop processing within the TEM. This study presents a critical advancement in enabling automated, on-the-fly synthesis and characterization, significantly enhancing capabilities for materials discovery and the precision engineering of functional materials at the atomic scale.

47 OTHER INSTRUMENTATION↗
NASA NTRS1994

Classification of asteroid spectra using a neural network

The 52-color asteroid survey (Bell et al., 1988) together with the 8-color asteroid survey (Zellner et al., 1985) provide a data set of asteroid spectra spanning 0.3-2.5 micrometers. An artificial neural network clusters these asteroid spectra based on their similarity to each other. We have also trained the neural network with a categorization learning output layer in a supervised mode to associate the established clusters with taxonomic classes. Results of our classification agree with Tholen's classification based on the 8-color data alone. When extending the spectral range using the 52-color survey data, we find that some modification of the Tholen classes is indicated to produce a cleaner, self-consistent set of taxonomic classes. After supervised training using our modified classes, the network correctly classifies both the training examples, and additional spectra into the correct class with an average of 90% accuracy. Our classification supports the separation of the K class from the S class, as suggested by Bell et al. (1987), based on the near-infrared spectrum. We define two end-member subclasses which seem to have compositional significance within the S class: the So class, which is olivine-rich and red, and the Sp class, which is pyroxene-rich and less red. The remaining S-class asteroids have intermediate compositions of both olivine and pyroxene and moderately red continua. The network clustering suggests some additional structure within the E-, M-, and P-class asteroids, even in the absence of albedo information, which is the only discriminant between these in the Tholen classification. New relationships are seen between the C class and related G, B, and F classes. However, in both cases, the number of spectra is too small to interpret or determine the significance of these separations.

Howell, E. S.↗
NASA NTRS2016

Influence of Stationary Crossflow Modulation on Secondary Instability

A likely scenario for swept wing transition on subsonic aircraft with natural laminar flow involves the breakdown of stationary crossflow vortices via high frequency secondary instability. A majority of the prior research on this secondary instability has focused on crossflow vortices with a single dominant spanwise wavelength. This paper investigates the effects of the spanwise modulation of stationary crossflow vortices at a specified wavelength by a subharmonic stationary mode. Secondary instability of the modulated crossflow pattern is studied using planar, partial-differential-equation based eigenvalue analysis. Computations reveal that weak modulation by the first subharmonic of the input stationary mode leads to mode splitting that is particularly obvious for Y-type secondary modes that are driven by the wall-normal shear of the basic state. Thus, for each Y mode corresponding to the fundamental wavelength of results in unmodulated train of crossflow vortices, the modulated flow supports a pair of secondary modes with somewhat different amplification rates. The mode splitting phenomenon suggests that a more complex stationary modulation such as that induced by natural surface roughness would yield a considerably richer spectrum of secondary instability modes. Even modest levels of subharmonic modulation are shown to have a strong effect on the overall amplification of secondary disturbances, particularly the Z-modes driven by the spanwise shear of the basic state. Preliminary computations related to the nonlinear breakdown of these secondary disturbances provide interesting insights into the process of crossflow transition in the presence of the first subharmonic of the dominant stationary vortex.

Vortex structure↗
NASA NTRS2019

Next-Generation Optical Sensing Technologies for Exploring Ocean Worlds - NASA FluidCam, MiDAR, and NeMO-Net

We highlight three emerging NASA optical technologies that enhance our ability to remotely sense, analyze, and explore ocean worlds–FluidCam and fluid lensing, MiDAR, and NeMO-Net. Fluid lensing is the first remote sensing technology capable of imaging through ocean waves without distortions in 3D at sub-cm resolutions. Fluid lensing and the purpose-built FluidCam CubeSat instruments have been used to provide refraction-corrected 3D multispectral imagery of shallow marine systems from unmanned aerial vehicles (UAVs). Results from repeat 2013 and 2016 airborne fluid lensing campaigns over coral reefs in American Samoa present a promising new tool for monitoring fine-scale ecological dynamics in shallow aquatic systems tens of square kilometers in area. MiDAR is a recently-patented active multispectral remote sensing and optical communications instrument which evolved from FluidCam. MiDAR is being tested on UAVs and autonomous underwater vehicles (AUVs) to remotely sense living and non-living structures in light-limited and analog planetary science environments. MiDAR illuminates targets with high-intensity narrowband structured optical radiation to measure an object’s spectral reflectance while simultaneously transmitting data. MiDAR is capable of remotely sensing reflectance at fine spatial and temporal scales, with a signal-to-noise ratio 10-10(exp 3) times higher than passive airborne and spaceborne remote sensing systems, enabling high-framerate multispectral sensing across the ultraviolet, visible, and near-infrared spectrum. Preliminary results from a 2018 mission to Guam show encouraging applications of MiDAR to imaging coral from airborne and underwater platforms whilst transmitting data across the air-water interface. Finally, we share NeMO-Net, the Neural Multi-Modal Observation & Training Network for Global Coral Reef Assessment. NeMO-Net is a machine learning technology under development that exploits high-resolution data from FluidCam and MiDAR for augmentation of low-resolution airborne and satellite remote sensing. NeMO-Net is intended to harmonize the growing diversity of 2D and 3D remote sensing with in situ data into a single open-source platform for assessing shallow marine ecosystems globally using active learning for citizen-science based training. Preliminary results from four-class Q17 coral classification have an accuracy of 94.4%. Together, these maturing technologies present promising scalable, practical, and cost-efficient innovations that address current observational and technological challenges in optical sensing of marine systems.

Ved Chirayath↗
DOE OSTI2023

Deducing neutron star equation of state from telescope spectra with machine-learning-derived likelihoods

The interiors of neutron stars reach densities and temperatures beyond the limits of terrestrial experiments, providing vital laboratories for probing nuclear physics. While the star's interior is not directly observable, its pressure and density determine the star's macroscopic structure which affects the spectra observed in telescopes. The relationship between the observations and the internal state is complex and partially intractable, presenting difficulties for inference. Previous work has focused on the regression from stellar spectra of parameters describing the internal state. We demonstrate a calculation of the full likelihood of the internal state parameters given observations, accomplished by replacing intractable elements with machine learning models trained on samples of simulated stars. Our machine-learning-derived likelihood allows us to perform maximum a posteriori estimation of the parameters of interest, as well as full scans. We demonstrate the technique by inferring stellar mass and radius from an individual stellar spectrum, as well as equation of state parameters from a set of spectra. Our results are more precise than pure regression models, reducing the width of the parameter residuals by 11.8% in the most realistic scenario. The neural networks will be released as a tool for fast simulation of neutron star properties and observed spectra.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2002

Evidence of an Intrinsic Intraseasonal Oscillation over Tropical South America During Austral Summer

The intraseasonal variation (ISV) in the 30-60 day band, also known as Madden-Julian oscillation (MJO), has been studied for decades. Madden and Julian showed that the oscillation originated from the western Indian Ocean, propagated eastward, got enhanced over the maritime continent and weakened after passing over the dateline. Composite studies showed evidences of a signal in upper and lower level zonal wind propagating around the globe during an oscillation. Theoretical studies pointed out that the interaction with the warm ocean surface and the coupling with the convective and radiative processes in the atmosphere could manifest the oscillation, which propagates eastward via mutual feedbacks between the wave motions and the cumulus heating. Over tropical South America, no independent 30-60 day oscillation has been reported so far, despite that Amazon is the most distinct tropical convection center over the western hemisphere and the fluxes from its surface of tropical rainforests are close to that from the warm tropical ocean. Liebmann et al. showed a distinct spectral peak of 40-50 day oscillation in outgoing longwave radiation (OLR) over tropical South America and considered that was manifested by the MJO propagation. Nogues-Paegle et al. (2000) focused on a dipole pattern of the OLR anomaly with centers of action over the South Atlantic Convergence Zone (SACZ) and the subtropical plain. They used the regional 10-90 day filtered data and demonstrated this pattern could be represented by the fifth mode of the rotated empirical orthogonal function. Its principal component was further analyzed using the singular spectrum analysis. Their result showed two oscillatory modes with periods of 36-40 days and 22-28 days, of which the former was related to the MJO influence and the latter linked to the remote forcing over southwest of Australia, which produced a wave train propagating southeastward, rounding the southern tip of South America and returning back toward the northeast. The 22-28 day mode has distinct impact on SACZ, responsible for the regional seesaw pattern of alternating dry and wet conditions. In this study we will focus on the 30-60-day spectral band and investigate whether the independent oscillation source over tropical South America is existed. First, we will show the seasonal dependence of the tropical South American ISV in Section 3. Then, the leading principal modes of 30-60 day bandpass filtered 850-hPa velocity potential (VP850) will be computed to distinguish the stationary ISV over tropical South America (SISA) from the propagating MJO in the austral summertime in Section 4. The importance of SISA in representing the regional ISV over South America will be discussed. In Section 5, we will demonstrate the mass oscillation regime of SISA, which is well separated from that of MJO by the Andes, and the convective coupling with rainfall. The dynamical response of SISA and the impact on the South American summer monsoon (SASM) will be presented. Finally, we will give the concluding remarks.

Zhou, Jiayu↗
DOE OSTI2022

Network Models of Active Degradation Mechanisms and Pathways for Service Life Prediction of Indoor and Outdoor PV Modules

ct: PV service lifetime prediction (SLP) enables accurate calculation of levelized cost of energy (LCOE), which is crucial to rationalizing PV investment and installation. However, SLP is challeging since PV reliability in the field is affected by many combined factors, including various environmental stresses and module quality. In order to map out the active degradation mechanisms and pathways that best resemble real world conditions, we introduce the framework of a study protocol and use network models fitted to data, to enable analysis and SLP of complex PV systems with multiple active degradation mechanisms. The study protocol is the experimental design, including module variants and different exposure conditions, selection of evaluation methods, time-series data acquisition and training of network models to these data. We present SLP of minimodules in the lab and PV systems in the field. For lab SLP, minimodules with 8 variants based on manufacturer, architecture, and encapsulation were prepared and aged in modified damp heat with or without full spectrum light exposure. Stepwise I-V and Suns-Voc data acquisition tracks changes in electrical properties including Rs,IV, Isc,IV, Vmp,PIV providing insights into power loss of minimodules. Network structural equation modeling (netSEM) was utilized to construct degradation pathway models that identify active degradation mechanisms and predict power loss over time. For field SLP, datastreams of Pmp values and I-V curve datastreams of two types of modules installed in three distinctly different Köppen-Geiger climate zones for 9 years were acquired. With power loss modes corresponding to uniform current loss (ΔPIsc), recombination (ΔPVoc), series resistance (ΔPRs), and current mismatch (ΔPImis) determined, the performance loss rates (PLR) were determined using PVplr. We show how to establish a study protocol framework to ensure appropriate parametric variations and valid data collection from the variants of your complex systems. Then the data-driven netSEM model fitting provides a comprehensive mapping of multiple active degradation mechanisms, and accurate service life prediction.

network model, degradation, photovoltaic, solar↗
DOE OSTI2026

Lyman-$α$ forest holography: 3D predictions from 1D measurements

Cosmological analyses of Lyman-$α$ forest clustering rely on either one-dimensional correlations along individual sightlines or three-dimensional correlations between different sightlines. Because these observables probe the matter distribution on very different scales, they have traditionally been analyzed independently. In this work, we bridge this gap using ForestFlow, an emulator trained on a suite of cosmological hydrodynamical simulations that provides a unified description of Lyman-$α$ forest clustering from linear to nonlinear scales. This framework enables us to determine the range of three-dimensional clustering models compatible with the DESI one-dimensional flux power spectrum ($P_{\rm 1D}$). The resulting predictions successfully reproduce the large-scale clustering measured by the DESI BAO analysis and provide physically motivated priors on nonlinear clustering that are used in a companion paper presenting the full-shape analysis of the DESI DR2 Lyman-$α$ forest. We validate our methodology using the large-volume, high-resolution hydrodynamical simulation ACCEL-2, demonstrating excellent agreement across the full range of scales considered. Finally, we combine constraints from the $P_{\rm 1D}$ and BAO analyses on the parameter combinations $b_δσ_8$ and $b_ηf σ_8$, finding that the two probes provide comparable constraining power while exhibiting complementary parameter degeneracies. Our results establish a direct connection between one- and three-dimensional Lyman-$α$ forest measurements through ForestFlow, an approach we term Lyman-$α$ holography by analogy with the reconstruction of higher-dimensional structure from lower-dimensional information.

Chaves-Montero, J. [Barcelona, IFAE] (ORCID:000000↗
DOE OSTI2023

Scaling Automatic Vector Data Alignment to Satellite Imagery

Given the tremendous volume of accessible Earth Observation (EO) data, there is a need to develop scalable Geospatial Artificial Intelligence (GeoAI) solutions for time-sensitive applications. Scalability in this context refers to rapidly processing large-scale EO data using high performance computing resources. Accurate mapping of the built environment from remote sensing (RS) imagery has been one of the crucial components in GeoAI workflows for a wide spectrum of humanitarian applications. Derived vector data of built environment is often leveraged for disaster preparedness and response activities. However, factors such as differences in ortho-rectification, atmospheric conditions and human error, results in spatial misalignment between vector data and the timely available RS imagery. Model training for downstream tasks such as object detection, change analysis, etc., is negatively impacted due to such spatial misalignment. Although there has been progress towards automatic alignment of vector data, the lack of scalability remains an open research challenge. This paper proposes to leverage parallel computing to optimize an automatic vector data alignment workflow. It further employs CPU-level multi-core parallelism for improving the performance of the workflow for scalable built environment mapping. We report observations and discuss findings from the preliminary experiments performed on the Summit Supercomputer.

Potnis, Abhishek↗
DOE OSTI2022

SDSS-IV MaStar: Data-driven Parameter Derivation for the MaStar Stellar Library

The Mapping Nearby Galaxies at Apache Point Observatory (MaNGA) Stellar Library (MaStar) is a large collection of high-quality empirical stellar spectra designed to cover all spectral types and ideal for use in the stellar population analysis of galaxies observed in the MaNGA survey. The library contains 59,266 spectra of 24,130 unique stars with spectral resolution R ~ 1800 and covering a wavelength range of 3622–10,354 Å. In this work, we derive five physical parameters for each spectrum in the library: effective temperature (T eff ), surface gravity ($\mathrm{log} g$), metallicity ([Fe/H]), microturbulent velocity ($\mathrm{log}({v}_{\mathrm{micro}})$), and alpha-element abundance ([α/Fe]). These parameters are derived with a flexible data-driven algorithm that uses a neural network model. We train a neural network using the subset of 1675 MaStar targets that have also been observed in the Apache Point Observatory Galactic Evolution Experiment (APOGEE), adopting the independently-derived APOGEE Stellar Parameter and Chemical Abundance Pipeline parameters for this reference set. For the regions of parameter space not well represented by the APOGEE training set (7000 ≤ T ≤ 30,000 K), we supplement with theoretical model spectra. We present our derived parameters along with an analysis of the uncertainties and comparisons to other analyses from the literature.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1987

P-31 Magnetic Resonance Spectroscopy (MRS) of limb muscles during bedrest with exercise countermeasures

Nineteen volunteers in bed with head down tilt (-6 deg) for 1 month and doing or not exercise training while in bed (lido or ergometer) had their limb muscle studied by magnetic resonance spectroscopy. A protocol of repetitive exercise in the magnet was set and a wooden probe designed to support the limb and to allow exercise. Spectra were recorded continuously during the protocol. In each spectrum, inorganic phosphate, phosphocreatin, adenosin triphosphate, and pH were measured. All the subjects were studied before, after bedrest, and 6 weeks later. After 1 month, the lido group show no changes in the spectra of their leg muscles while the group doing no exercise or ergometer do. For the arms, a loss of muscle function is only seen in the group doing no exercise.

Berry, P.↗
NASA NTRS1991

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering more than 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, Blake↗