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NASA NTRS1992

Bandwidth and SIMDUCE as simulator fidelity criteria

The potential application of two concepts from the new Handling Qualities Specification for Military Rotorcraft was discussed. The first concept is bandwidth, a measure of the dynamic response to control. The second is a qualitative technique developed for assessing the visual cue environment the pilot has in bad weather and at night. Simulated Day Usable Cue Environment (SIMDUCE) applies this concept to assessing the day cuing fidelity in the simulator.

Key, David↗

NASA NTRS1990

Space motion sickness monitoring experiment - Spacelab 1

A detailed firsthand report on symptoms and signs of space motion sickness and fluid shift observed by four specially trained crewmembers during Shuttle/Spacelab 1, launched on November 28, 1983 is presented. Results show that three crewmen experienced persistent overall discomfort and vomited repeatedly. Symptom pattern was generally similar to that seen in the individuals preflight, except that prodromalnausea was brief or absent in some cases. Symptoms were clearly modulated by head movement, were exacerbated by unfamiliar visual cues, and could be reduced by physical restraint providing contact cues around the body. The results support the view that space sickness is a form of motion sickness.

Oman, Charles M.↗

NASA NTRS1994

The use of a tactile interface to convey position and motion perceptions

Under normal terrestrial conditions, perception of position and motion is determined by central nervous system integration of concordant and redundant information from multiple sensory channels (somatosensory, vestibular, visual), which collectively yield vertical perceptions. In the acceleration environment experienced by the pilots, the somatosensory and vestibular sensors frequently present false information concerning the direction of gravity. When presented with conflicting sensory information, it is normal for pilots to experience episodes of disorientation. We have developed a tactile interface that obtains vertical roll and pitch information from a gyro-stabilized attitude indicator and maps this information in a one-to-one correspondence onto the torso of the body using a matrix of vibrotactors. This enables the pilot to continuously maintain an awareness of aircraft attitude without reference to visual cues, utilizing a sensory channel that normally operates at the subconscious level. Although initially developed to improve pilot spatial awareness, this device has obvious applications to 1) simulation and training, 2) nonvisual tracking of targets, which can reduce the need for pilots to make head movements in the high-G environment of aerial combat, and 3) orientation in environments with minimal somatosensory cues (e.g., underwater) or gravitational cues (e.g., space).

Rupert, A. H.↗

NASA NTRS1997

Neurolab - A Space Shuttle Mission Dedicated to Neuroscience Research

Session JA5 includes short reports concerning: (1) NASA/NIH Neurolab Collaborations; (2) Neurolab Mission: An Example of International Cooperation; (3) Neurolab: An Overview of the Planned Scientific Investigations; (4) EDEN: A Payload for NEUROLAB, dedicated to Neuro Vestibular Research; (5) Neurolab Experiments on the Role of Visual Cues in Microgravity Spatial Orientation; and (6) The Role of Space in the Exploration of the Mammalian Vestibular System.

Source record↗

NASA NTRS2000

[Research Award providing funds for a tracking video camera]

The award provided funds for a tracking video camera. The camera has been installed and the system calibrated. It has enabled us to follow in real time the tracks of individual wood ants (Formica rufa) within a 3m square arena as they navigate singly in-doors guided by visual cues. To date we have been using the system on two projects. The first is an analysis of the navigational strategies that ants use when guided by an extended landmark (a low wall) to a feeding site. After a brief training period, ants are able to keep a defined distance and angle from the wall, using their memory of the wall's height on the retina as a controlling parameter. By training with walls of one height and length and testing with walls of different heights and lengths, we can show that ants adjust their distance from the wall so as to keep the wall at the height that they learned during training. Thus, their distance from the base of a tall wall is further than it is from the training wall, and the distance is shorter when the wall is low. The stopping point of the trajectory is defined precisely by the angle that the far end of the wall makes with the trajectory. Thus, ants walk further if the wall is extended in length and not so far if the wall is shortened. These experiments represent the first case in which the controlling parameters of an extended trajectory can be defined with some certainty. It raises many questions for future research that we are now pursuing.

Collett, Thomas↗

NASA NTRS1999

ISS Operations for the Special Purpose Dexterous Manipulator (SPDM) Experiences from the Robotic Systems Evaluation Laboratory (RSEL)

The International Space Station (ISS) will present a new era of telerobotic operations on-orbit. Operating the Special Purpose Dexterous Manipulator (SPDM) in its tasks of maintaining the multitude of Space Station Orbital Replaceable Units (ORUs) creates numerous operational considerations not seen in the existing Shuttle Remote Manipulator System (SRMS) or the future Space Station Remote Manipulator System (SSRMS). The differences between the large arms and the dexterous arm greatly affect the interconnection of man, robot, and task. This paper presents some of the issues arising from this new breed of on-orbit robotics as garnered from over three years of ORU testing experience within the Robotic Systems Evaluation Laboratory (RSEL) at NASA Johnson Space Center. The effects of new robotic features on operations, the issues surrounding targets and visual cues, the differences in operating with Force Moment Accommodation (FMA), the effects of changes in task complexity and scale, the lack of supporting flight information, and the changes in procedures required by the dexterous task will be discussed.

Spinler, Anthony B.↗

NASA NTRS2000

Stress Counter-Response Training Via Physiological Self-Regulation During Flight Simulation

This study provided the first evaluation of a new training concept and technology aimed at training pilots to maintain physiological equilibrium during circumstances in an airplane cockpit. Thirty healthy subjects (16 males and 14 females) between the ages of 18 and 35 were randomized into two study groups, A and B. Subjects participated individually in a sequence of four study sessions. In the first visit, subjects were taught to operate a desktop fighter jet flight simulation program. In the three sessions that followed, subjects in group A were trained to minimize their autonomic deviation from baseline values while operating the desktop flight simulation. This was done by making their skin conductance and hand temperature deviations from baseline impair the functionality of the aircraft controls. Subjects also received auditory and visual cues about their autonomic deviation, and were instructed to keep these within pre-set limits to retain full control of the aircraft. Subjects in group B were subjected to periods of impaired aircraft functionality independent of their physiologic activity, and thus served as a control group. No statistically significant group differences were found in the flight performance scores from the three training sessions, and post-training flight performance scores of the two groups were not different. We conclude that this study did not provide clear support for this training methodology in optimizing pilot performance. However, a number of shortcomings in the current status of this training methodology may account for the lack of demonstrable training benefit to the experimental group. Suggested future modifications for research on this training methodology include: Limiting the amount of instrument impairment resulting from physiological deviations; conducting a greater number of physiological training sessions per subject; using pre-post training performance tests which invoke a greater amount of stress in subjects; and developing a more detailed performance scoring system.

Palsson, Olafur S.↗

NASA NTRS2006

Modeling and Testing of Docking and Berthing Mechanisms

The Contact Dynamics Simulation Laboratory (CDSL) of the Marshall Space Flight Center provides for refined hardware-in-the-loop real-time simulation of docking and berthing mechanisms and associated control systems. This facility is employed to verify the performance of docking/berthing mechanisms during Earth-orbit operations, determine the capture envelope of dockingherthing devices, measure contact loads at vehicle interfaces, and evaluate visual cues for man-in-the-loop operations. The CDSL has developed test verified analytical models of such systems as the ISS Common Berthing Mechanism and HST Three Point Docking Mechanism. This paper will describe the modeling and test techniques employed at the CDSL and present results from recent programs.

Hall, D. P.↗

NASA NTRS2007

Development and Assessment of a Novel Training Package for Basic Maneuvering Tasks on a Flight Simulator Using Self Instruction Methods and Above Real Time Training (ARTT)

One result of the relatively recent advances in computing technology has been the decreasing cost of computers and increasing computational power. This has allowed high fidelity airplane simulations to be run on personal computers (PC). Thus, simulators are now used routinely by pilots to substitute real flight hours for simulated flight hours for training for an aircraft type rating thereby reducing the cost of flight training. However, FAA regulations require that such substitution training must be supervised by Certified Flight Instructors (CFI). If the CFI presence could be reduced or eliminated for certain tasks this would mean a further cost savings to the pilot. This would require that the flight simulator have a certain level of 'intelligence' in order to provide feedback on pilot performance similar to that of a CFI. The 'intelligent' flight simulator would have at least the capability to use data gathered from the flight to create a measure for the performance of the student pilot. Also, to fully utilize the advances in computational power, the simulator would be capable of interacting with the student pilot using the best possible training interventions. This thesis reports on the two studies conducted at Tuskegee University investigating the effects of interventions on the learning of two flight maneuvers on a flight simulator and the robustness and accuracy of calculated performance indices as compared to CFI evaluations of performance. The intent of these studies is to take a step in the direction of creating an 'intelligent' flight simulator. The first study deals with the comparisons of novice pilot performance trained at different levels of above real-time to execute a level S-turn. The second study examined the effect of out-of-the-window (OTW) visual cues in the form of hoops on the performance of novice pilots learning to fly a landing approach on the flight simulator. The reliability/robustness of the computed performance metrics was assessed by comparing them with the evaluations of the landing approach maneuver by a number of CFIs.

Ali, Syed Firasat↗

NASA NTRS2007

An Evaluation of Training Interventions and Computed Scoring Techniques for Grading a Level Turn Task and a Straight In Landing Approach on a PC-Based Flight Simulator

One result of the relatively recent advances in computing technology has been the decreasing cost of computers and increasing computational power. This has allowed high fidelity airplane simulations to be run on personal computers (PC). Thus, simulators are now used routinely by pilots to substitute real flight hours for simulated flight hours for training for an aircraft type rating thereby reducing the cost of flight training. However, FAA regulations require that such substitution training must be supervised by Certified Flight Instructors (CFI). If the CFI presence could be reduced or eliminated for certain tasks this would mean a further cost savings to the pilot. This would require that the flight simulator have a certain level of 'intelligence' in order to provide feedback on pilot perfolmance similar to that of a CFI. The 'intelligent' flight sinlulator would have at least the capability to use data gathered from the flight to create a measure for the performance of the student pilot. Also, to fully utilize the advances in computational power, the sinlulator would be capable of interacting with the student pilot using the best possible training interventions. This thesis reposts on the two studies conducted at Tuskegee University investigating the effects of interventions on the learning of two flight maneuvers on a flight sinlulator and the robustness and accuracy of calculated perfornlance indices as compared to CFI evaluations of performance. The intent of these studies is to take a step in the direction of creating an 'intelligent' flight simulator. The first study deals with the comparisons of novice pilot performance trained at different levels of above real-time to execute a level S-turn. The second study examined the effect of out-of-the-window (OTW) visual cues in the form of hoops on the performance of novice pilots learning to fly a landing approach on the flight simulator. The reliability/robustness of the computed performance metrics was assessed by comparing them with the evaluations of the landing approach maneuver by a number of CFIs.

Heath, Bruce E.↗

NASA NTRS2008

Synthetic Vision for Lunar and Planetary Landing Vehicles

The Crew Vehicle Interface (CVI) group of the Integrated Intelligent Flight Deck Technologies (IIFDT) has done extensive research in the area of Synthetic Vision (SV), and has shown that SV technology can substantially enhance flight crew situation awareness, reduce pilot workload, promote flight path control precision and improve aviation safety. SV technology is being extended to evaluate its utility for lunar and planetary exploration vehicles. SV may hold significant potential for many lunar and planetary missions since the SV presentation provides a computer-generated view of the terrain and other significant environment characteristics independent of the outside visibility conditions, window locations, or vehicle attributes. SV allows unconstrained control of the computer-generated scene lighting, terrain coloring, and virtual camera angles which may provide invaluable visual cues to pilots/astronauts and in addition, important vehicle state information may be conformally displayed on the view such as forward and down velocities, altitude, and fuel remaining to enhance trajectory control and vehicle system status. This paper discusses preliminary SV concepts for tactical and strategic displays for a lunar landing vehicle. The technical challenges and potential solutions to SV applications for the lunar landing mission are explored, including the requirements for high resolution terrain lunar maps and an accurate position and orientation of the vehicle that is essential in providing lunar Synthetic Vision System (SVS) cockpit displays. The paper also discusses the technical challenge of creating an accurate synthetic terrain portrayal using an ellipsoid lunar digital elevation model which eliminates projection errors and can be efficiently rendered in real-time.

Williams, Steven P.↗

NASA NTRS2008

Synthetic Vision Displays for Planetary and Lunar Lander Vehicles

Aviation research has demonstrated that Synthetic Vision (SV) technology can substantially enhance situation awareness, reduce pilot workload, improve aviation safety, and promote flight path control precision. SV, and related flight deck technologies are currently being extended for application in planetary exploration vehicles. SV, in particular, holds significant potential for many planetary missions since the SV presentation provides a computer-generated view for the flight crew of the terrain and other significant environmental characteristics independent of the outside visibility conditions, window locations, or vehicle attributes. SV allows unconstrained control of the computer-generated scene lighting, terrain coloring, and virtual camera angles which may provide invaluable visual cues to pilots/astronauts, not available from other vision technologies. In addition, important vehicle state information may be conformally displayed on the view such as forward and down velocities, altitude, and fuel remaining to enhance trajectory control and vehicle system status. The paper accompanies a conference demonstration that introduced a prototype NASA Synthetic Vision system for lunar lander spacecraft. The paper will describe technical challenges and potential solutions to SV applications for the lunar landing mission, including the requirements for high-resolution lunar terrain maps, accurate positioning and orientation, and lunar cockpit display concepts to support projected mission challenges.

Arthur, Jarvis J., III↗

NASA NTRS2008

Adjustable-Viewing-Angle Endoscopic Tool for Skull Base and Brain Surgery

The term Multi-Angle and Rear Viewing Endoscopic tooL (MARVEL) denotes an auxiliary endoscope, now undergoing development, that a surgeon would use in conjunction with a conventional endoscope to obtain additional perspective. The role of the MARVEL in endoscopic brain surgery would be similar to the role of a mouth mirror in dentistry. Such a tool is potentially useful for in-situ planetary geology applications for the close-up imaging of unexposed rock surfaces in cracks or those not in the direct line of sight. A conventional endoscope provides mostly a frontal view that is, a view along its longitudinal axis and, hence, along a straight line extending from an opening through which it is inserted. The MARVEL could be inserted through the same opening as that of the conventional endoscope, but could be adjusted to provide a view from almost any desired angle. The MARVEL camera image would be displayed, on the same monitor as that of the conventional endoscopic image, as an inset within the conventional endoscopic image. For example, while viewing a tumor from the front in the conventional endoscopic image, the surgeon could simultaneously view the tumor from the side or the rear in the MARVEL image, and could thereby gain additional visual cues that would aid in precise three-dimensional positioning of surgical tools to excise the tumor. Indeed, a side or rear view through the MARVEL could be essential in a case in which the object of surgical interest was not visible from the front. The conceptual design of the MARVEL exploits the surgeon s familiarity with endoscopic surgical tools. The MARVEL would include a miniature electronic camera and miniature radio transmitter mounted on the tip of a surgical tool derived from an endo-scissor (see figure). The inclusion of the radio transmitter would eliminate the need for wires, which could interfere with manipulation of this and other surgical tools. The handgrip of the tool would be connected to a linkage similar to that of an endo-scissor, but the linkage would be configured to enable adjustment of the camera angle instead of actuation of a scissor blade. It is envisioned that thicknesses of the tool shaft and the camera would be less than 4 mm, so that the camera-tipped tool could be swiftly inserted and withdrawn through a dime-size opening. Electronic cameras having dimensions of the order of millimeters are already commercially available, but their designs are not optimized for use in endoscopic brain surgery. The variety of potential endoscopic, thoracoscopic, and laparoscopic applications can be expected to increase as further development of electronic cameras yields further miniaturization and improvements in imaging performance.

Bae, Youngsam↗

NASA NTRS2009

Developments to Increase the Performance, Operational Versatility and Automation of a Lunar Surface Manipulation System

The objective of this paper is to describe and summarize the results of the development efforts for the Lunar Surface Manipulation System (LSMS) with respect to increasing the performance, operational versatility, and automation. Three primary areas of development are covered, including; the expansion of the operational envelope and versatility of the current LSMS test-bed, the design of a second generation LSMS, and the development of automation and remote control capability. The first generation LSMS, which has been designed, built, and tested both in lab and field settings, is shown to have increased range of motion and operational versatility. Features such as fork lift mode, side grappling of payloads, digging and positioning of lunar regolith, and a variety of special end effectors are described. LSMS operational viability depends on bei nagble to reposition its base from an initial position on the lander to a mobility chassis or fixed locations around the lunar outpost. Preliminary concepts are presented for the second generation LSMS design, which will perform this self-offload capability. Incorporating design improvements, the second generation will have longer reach and three times the payload capability, yet it will have approximately equivalent mass to the first generation. Lastly, this paper covers improvements being made to the control system of the LSMS test-bed, which is currently operated using joint velocity control with visual cues. These improvements include joint angle sensors, inverse kinematics, and automated controls.

Dorsey, John T.↗

NASA NTRS2010

An Investigation of Large Tilt-Rotor Short-Term Attitude Response Handling Qualities Requirements in Hover

A piloted simulation investigation was conducted using the NASA Ames Vertical Motion Simulator to study the impact of pitch, roll and yaw attitude bandwidth and phase delay on handling qualities of large tilt-rotor aircraft. Multiple bandwidth and phase delay pairs were investigated for each axis. The simulation also investigated the effect that the pilot offset from the center of gravity has on handling qualities. While pilot offset does not change the dynamics of the vehicle, it does affect the proprioceptive and visual cues and it can have an impact on handling qualities. The experiment concentrated on two primary evaluation tasks: a precision hover task and a simple hover pedal turn. Six pilots flew over 1400 data runs with evaluation comments and objective performance data recorded. The paper will describe the experiment design and methodology, discuss the results of the experiment and summarize the findings.

Malcipa, Carlos↗

NASA NTRS2009

Elevating Baseline Activation Does Not Facilitate Reading of Unattended Words

Previous studies have disagreed the extent to which people extract meaning from words presented outside the focus of spatial attention. The present study, examined a possible explanation for such discrepancies, inspired by attenuation theory: unattended words can be read more automatically when they have a high baseline level of activation (e.g., due to frequent repetition or due to being expected in a given context). We presented a brief prime word in lowercase, followed by a target word in uppercase. Participants indicated whether the target word belonged to a particular category (e.g., "sport"). When we drew attention to the prime word using a visual cue, the prime produced substantial priming effects on target responses (i.e., faster responses when the prime and target words were identical or from the same category than when they belonged to different categories). When prime words were not attended, however, they produced no priming effects. This finding replicated even when there were only 4 words, each repeated 160 times during the experiment. Even with a very high baseline level of activation, it appears that very little word processing is possible without spatial attention.

Mei-Ching Lien↗

NASA NTRS2004

Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration

Concepts are being investigated for exploratory missions to Mars based on Bioinspired Engineering of Exploration Systems (BEES), which is a guiding principle of this effort to develop biomorphic explorers. The novelty lies in the use of a robust telecom architecture for mission data return, utilizing multiple local relays (including the lander itself as a local relay and the explorers in the dual role of a local relay) to enable ranges ~10 to 1,000 km and downlink of color imagery. As illustrated in Figure 1, multiple microflyers that can be both surface or aerially launched are envisioned in shepherding, metamorphic, and imaging roles. These microflyers imbibe key bio-inspired principles in their flight control, navigation, and visual search operations. Honey-bee inspired algorithms utilizing visual cues to perform autonomous navigation operations such as terrain following will be utilized. The instrument suite will consist of a panoramic imager and polarization imager specifically optimized to detect ice and water. For microflyers, particularly at small sizes, bio-inspired solutions appear to offer better alternate solutions than conventional engineered approaches. This investigation addresses a wide range of interrelated issues, including desired scientific data, sizes, rates, and communication ranges that can be accomplished in alternative mission scenarios. The mission illustrated in Figure 1 offers the most robust telecom architecture and the longest range for exploration with two landers being available as main local relays in addition to an ephemeral aerial probe local relay. The shepherding or metamorphic plane are in their dual role as local relays and image data collection/storage nodes. Appropriate placement of the landing site for the scout lander with respect to the main mission lander can allow coverage of extremely large ranges and enable exhaustive survey of the area of interest. In particular, this mission could help with the path planning and risk mitigation in the traverse of the long-distance surface explorer/rover. The basic requirements of design and operation of BEES to implement the scenarios are discussed. Terrestrial applications of such concepts include distributed aerial/surface measurements of meteorological events, i.e., storm watch, seismic monitoring, reconnaissance, biological chemical sensing, search and rescue, surveillance, autonomous security/ protection agents, and/or delivery and lateral distribution of agents (sensors, surface/subsurface crawlers, clean-up agents). Figure 2 illustrates an Earth demonstration that is in development, and its implementation will illustrate the value of these biomorphic mission concepts.

Thakoor, Sarita↗

NASA NTRS2003

Oxygen-Partial-Pressure Sensor for Aircraft Oxygen Mask

A device that generates an alarm when the partial pressure of oxygen decreases to less than a preset level has been developed to help prevent hypoxia in a pilot or other crewmember of a military or other high-performance aircraft. Loss of oxygen partial pressure can be caused by poor fit of the mask or failure of a hose or other component of an oxygen distribution system. The deleterious physical and mental effects of hypoxia cause the loss of a military aircraft and crew every few years. The device is installed in the crewmember s oxygen mask and is powered via communication wiring already present in all such oxygen masks. The device (see figure) includes an electrochemical sensor, the output potential of which is proportional to the partial pressure of oxygen. The output of the sensor is amplified and fed to the input of a comparator circuit. A reference potential that corresponds to the amplified sensor output at the alarm oxygen-partial-pressure level is fed to the second input of the comparator. When the sensed partial pressure of oxygen falls below the minimum acceptable level, the output of the comparator goes from the low state (a few millivolts) to the high state (near the supply potential, which is typically 6.8 V for microphone power). The switching of the comparator output to the high state triggers a tactile alarm in the form of a vibration in the mask, generated by a small 1.3-Vdc pager motor spinning an eccentric mass at a rate between 8,000 and 10,000 rpm. The sensation of the mask vibrating against the crewmember s nose is very effective at alerting the crewmember, who may already be groggy from hypoxia and is immersed in an environment that is saturated with visual cues and sounds. Indeed, the sensation is one of rudeness, but such rudeness could be what is needed to stimulate the crewmember to take corrective action in a life-threatening situation.

Kelly, Mark↗