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NASA NTRS2004

Parallel Performance Characterization of Columbia

Using a collection of benchmark problems of increasing levels of realism and computational effort, we will characterize the strengths and limitations of the 10,240 processor Columbia system to deliver supercomputing value to application scientists. Scientists need to be able to determine if and how they can utilize Columbia to carry extreme workloads, either in terms of ultra-large applications that cannot be run otherwise (capability), or in terms of very large ensembles of medium-scale applications to populate response matrices (capacity). We select existing application benchmarks that scale from a small number of processors to the entire machine, and that highlight different issues in running supercomputing-calss applicaions, such as the various types of memory access, file I/O, inter- and intra-node communications and parallelization paradigms. http://www.nas.nasa.gov/Software/NPB/

Biswas, Rupak↗
NASA NTRS2005

Influence of Nucleation Mechanisms on the Radiative Properties of Deep Convective Clouds and Subvisible Cirrus in CRYSTAL/FACE

During the past few years we have conducted work on several different topics, as reflected by our publications. As one of the Co-Project scientists for The Cirrus Regional Study of Tropical Anvils and Cirrus Layers - Florida Area Cirrus Experiment (CRYSTAL FACE) we worked to help design the mission and then conduct it in the field. Another major activity during the past two years has been to pull together various groups to formulate plans for follow on missions to CRYSTAL FACE. We organized a workshop at the University of Colorado during the summer of 2003 to assess the best locations for future missions. Working with a group of about 10 scientists from around the country we prepared a science-planning document (Tropical Composition, Cloud and Climate Coupling Experiment (TC(sup 4)) that outlined the rationale, locations, strategy to accomplish the goals, and possible payloads for a set of three tropical missions. We also prepared background materials for various NRAs being prepared at NASA Headquarters for missions in Costa Rica, Darwin and Guam. In conjunction with the group at NASA Ames we have helped build a new numerical model for deep convection and have applied that model to simulate the CRYSTAL data. Our goal in particular has been to better understand how convection distributes water vapor isotopes. CRYSTAL observations of water isotopes are very different from those suggested by previous workers who assumed the isotopes would obey Rayleigh fractionation. The water isotope study has several implications. First it is a check on the realism of the deep convection model. Second, the isotopes are a measure of the precipitation removal in the atmosphere. Hence they provide a constraint on a parameter that is difficult to otherwise measure. Finally it has been suggested that isotopes may be the key to unraveling the water transport into the stratosphere and upper troposphere. Such transport is critical both for the radiation balance and for stratospheric chemistry. Ours is the first model that is able to treat this transport. Our initial results have just been submitted to Geophys. Res. Lett (Smith et al., 2005). Essentially we are able to explain the vertical profiles of isotopes in the tropical tropopause transition layer. We are also able to account for stratospheric humidity and isotope abundances with this model. We have also been heavily involved in trying to improve our understanding of nitric acid condensation on ice. Gao et al (2004) have shown that water supersaturations above ice occur when the atmosphere is supersaturated with respect to nitric acid trihydrate. As one of the co-authors of that work, we suggested the mechanism that may explain why this is occurring. Essentially, ice does not like to grow near unit supersaturation, but does so because the water molecules can find sites on the ice surface to attach themselves to before they fly off the ice surface. This phenomena was well known in the 1960s when it was a source of debate about whether condensation and evaporation coefficients for ice would be the same. Evaporation does not require any molecular orientation, while condensation does, so it was possible that the coefficients would differ. They don't differ because the water molecules rapidly move across the surface and find places to attach. Nitric acid may be occupying these preferred sites and therefore the water molecules can't find a desirable place to attach. We anticipate that this research will be the subject of laboratory work during the coming few years. Another possibility that has been suggested is that cubic ice is forming in clouds. We have measured the vapor pressure of cubic ice, and plan to publish that result in the next few months. We have also been working on additional aspects of the condensation of nitric acid on ice. With Y. Kondo we studied the condensation of NOy on ice using the SOLVE data. Gamblin et al. have continued this work. The CRYSTAL NOy and HNO, groups have shown th their data can be fit using standard Langmuir isotherms as suggested in some, but not all, laboratory studies. We have found in the SOLVE data set that this is not the case. Moreover some laboratory studies show there are important kinetic effects that may be occurring in the atmosphere limiting the transfer of nitric acid to the ice. The SOLVE data seem consistent with these studies. We are currently re-analyzing the CRYSTAL data to look for these kinetic effects. There are a number of implications of these studies. One of the more interesting is that the nitric acid coating on ice can be used as a cloud clock to determine how long the cloud parcel has been in existence. We have also been involved with several laboratory studies. We have worked to improve the database on ice optical constants, which are critical for remote sensing. We have also studied the ways in which ice nucleates on clays. We suspect now that the standard theories used for depositional ice nucleation are completely incorrect. Further work will be needed to develop a new theory.

Toon, Owen B.↗
NASA NTRS2005

Research on Subjective Response to Simulated Sonic Booms at NASA Langley Research Center

Over the past 15 years, NASA Langley Research Center has conducted many tests investigating subjective response to simulated sonic booms. Most tests have used the Sonic Boom Booth, an airtight concrete booth fitted with loudspeakers that play synthesized sonic booms pre-processed to compensate for the response of the booth/loudspeaker system. Tests using the Booth have included investigations of shaped booms, booms with simulated ground reflections, recorded booms, outdoor and indoor booms, booms with differing loudness for bow and tail shocks, and comparisons of aircraft flyover recordings with sonic booms. Another study used loudspeakers placed inside people s houses, so that they could experience the booms while in their own homes. This study investigated the reactions of people to different numbers of booms heard within a 24-hour period. The most recent Booth test used predicted boom shapes from candidate low-boom aircraft. At present, a test to compare the Booth with boom simulators constructed by Gulfstream Aerospace Corporation and Lockheed Martin Aeronautics Company is underway. The Lockheed simulator is an airtight booth similar to the Langley booth; the Gulfstream booth uses a traveling wave method to create the booms. Comparison of "realism" as well as loudness and other descriptors is to be studied.

Sullivan, Brenda M.↗
NASA NTRS2005

Models for Water Isotopes Constrained with Data from Crystal Face

During the year covered by this proposal we conducted work on several different topics, as reflected by our publications listed below. One major activity was to work with a group of about 10 scientists from around the country to prepare a science-planning document (Tropical Composition, Cloud and Climate Coupling Experiment (TC4)) that outlined the rationale, locations, strategy to accomplish the goals, and possible payloads for a set of three tropical missions. We also prepared background materials for various NRAs being prepared at NASA Headquarters for missions in Costa Rica, Darwin and Guam. Unfortunately budgetary constraints prevented these missions from moving forward. In conjunction with the group NASA Ames we built a new numerical model for deep convection and have applied that model to simulate the CRYSTAL isotope data. Our goal in particular has been to better understanding how convection distributes water vapor isotopes. CRYSTAL observations of water isotopes are very different from those suggested by previous workers who assumed the isotopes would obey Rayleigh fractionation. The water isotope study has several implications. First it is a check on the realism of the deep convection model. Second, the isotopes are a measure of the precipitation removal in the atmosphere. Hence they provide a constraint on a parameter that is difficult to otherwise measure. Finally it has been suggested that isotopes may be the key to unraveling the water transport into the stratosphere and upper troposphere. Such transport is critical both for the radiation balance and for stratospheric chemistry. Ours is the first model that is able to treat this transport. Our initial results are now in press in Geophys. Res. Lett. Essentially we are able to explain the vertical profiles of isotopes in the tropical tropopause transition layer. We are also able to account for stratospheric humidity ana isotope abundances with this model. The data suggest that isotopes do not provide a clear constraint on the mechanism by which water enters the stratosphere- whether by convection, or by slow ascent. Our work is relevant for the water isotope comparison experiments recently done by NASA. We are conducting numerical experiments related to this project to help understand that data.

Toon, Owen B.↗
NASA NTRS2005

Building the Case for SNAP: Creation of Multi-Band, Simulated Images With Shapelets

Dark energy has simultaneously been the most elusive and most important phenomenon in the shaping of the universe. A case for a proposed space-telescope called SNAP (SuperNova Acceleration Probe) is being built, a crucial component of which is image simulations. One method for this is "Shapelets," developed at Caltech. Shapelets form an orthonormal basis and are uniquely able to represent realistic space images and create new images based on real ones. Previously, simulations were created using the Hubble Deep Field (HDF) as a basis Set in one band. In this project, image simulations are created.using the 4 bands of the Hubble Ultra Deep Field (UDF) as a basis set. This provides a better basis for simulations because (1) the survey is deeper, (2) they have a higher resolution, and (3) this is a step closer to simulating the 9 bands of SNAP. Image simulations are achieved by detecting sources in the UDF, decomposing them into shapelets, tweaking their parameters in realistic ways, and recomposing them into new images. Morphological tests were also run to verify the realism of the simulations. They have a wide variety of uses, including the ability to create weak gravitational lensing simulations.

Ferry, Matthew A.↗
NASA NTRS2004

Interplanetary navigation using a continental baseline large antenna arrays

Navigation is a key component of interplanetary missions and must continue to be precise with the changing landscape of antenna design. Improvements for the Deep Space Network (DSN) may include the use of antenna arrays to simulate the power of a larger single antenna at much lower operating and construction costs. Therefore, it is necessary to test the performance of arrayed antennas from a navigational point-of-view. This initial investigation focuses on the performance of arrayed antennas from a navigational point-of-view. This initial investigation focuses on the performance of delta one-way range measurements using a shorter baseline with more data collection then current systems use. With all other parameter equal, the longer the baseline, the better the accuracy for navigation making the number of data packets very important. This trade study compares baseline distances ranging from 1 to 1000km with an in use baseline, looking at a due east baseline, a due north baseline at 45 degrees East of North. The precision of the baseline systems can be found through a simulated created for this purpose using the Jet Propulsion Lab based Monte navigation and mission design tool. The simulation combines the delta one-way range measurements with two-range and two-way Doppler measurements and puts the measurements through a Kalman filter to determine an orbit solution. Noise is added along with initial errors to give the simulation realism. This study is an important step towards the assessment of the utility of arrays for navigational purposes. The preliminary results have showed a decrease in reliability as the baseline is shortened but the larger continental baselines show comparable results t that of the current Goldstone to Canberra.

very long baseline interferometry (VLBI)↗
NASA NTRS2004

Evaluating the Credibility of Transport Processes in Simulations of Ozone Recovery using the Global Modeling Initiative Three-dimensional Model

The Global Modeling Initiative (GMI) has integrated two 36-year simulations of an ozone recovery scenario with an offline chemistry and tra nsport model using two different meteorological inputs. Physically ba sed diagnostics, derived from satellite and aircraft data sets, are d escribed and then used to evaluate the realism of temperature and transport processes in the simulations. Processes evaluated include barri er formation in the subtropics and polar regions, and extratropical w ave-driven transport. Some diagnostics are especially relevant to sim ulation of lower stratospheric ozone, but most are applicable to any stratospheric simulation. The global temperature evaluation, which is relevant to gas phase chemical reactions, showed that both sets of me teorological fields have near climatological values at all latitudes and seasons at 30 hPa and below. Both simulations showed weakness in upper stratospheric wave driving. The simulation using input from a g eneral circulation model (GMI(GCM)) showed a very good residual circulation in the tropics and Northern Hemisphere. The simulation with inp ut from a data assimilation system (GMI(DAS)) performed better in the midlatitudes than it did at high latitudes. Neither simulation forms a realistic barrier at the vortex edge, leading to uncertainty in the fate of ozone-depleted vortex air. Overall, tracer transport in the offline GML(GCM) has greater fidelity throughout the stratosphere tha n it does in the GMI(DAS)

Strahan, Susan E.↗
NASA NTRS2007

Seasonal Correlations of SST, Water Vapor, and Convective Activity in Tropical Oceans: A New Hyperspectral Data Set for Climate Model Testing

The analysis of the response of the Earth Climate System to the seasonal changes of solar forcing in the tropical oceans using four years of the Atmospheric Infrared Sounder (AIRS) and Advanced Microwave Sounding Unit (AMSU) data between 2002 and 2006 gives new insight into amplitude and phase relationships between surface and tropospheric temperatures, humidity, and convective activity. The intensity of the convective activity is measured by counting deep convective clouds. The peaks of convective activity, temperature in the mid-troposphere, and water vapor in the 0 - 30 N and 0 - 30 S tropical ocean zonal means occur about two months after solstice, all leading the peak of the sea surface temperature by several weeks. Phase is key to the evaluation of feedback. The evaluation of climate models in terms of zonal and annual means and annual mean deviations from zonal means can now be supplemented by evaluating the phase of key atmospheric and surface parameters relative to solstice. The ability of climate models to reproduce the statistical flavor of the observed amplitudes and relative phases for broad zonal means should lead to increased confidence in the realism of their water vapor and cloud feedback algorithms. AIRS and AMSU were launched into a 705 km altitude polar sun-synchronous orbit on the EOS Aqua spacecraft on May 4, 2002, and have been in routine data gathering mode since September 2002.

Atmospheric Infrared Sounder↗
NASA NTRS2008

Role of Gravity Waves in Determining Cirrus Cloud Properties

Cirrus clouds are important in the Earth's radiation budget. They typically exhibit variable physical properties within a given cloud system and from system to system. Ambient vertical motion is a key factor in determining the cloud properties in most cases. The obvious exception is convectively generated cirrus (anvils), but even in this case, the subsequent cloud evolution is strongly influenced by the ambient vertical motion field. It is well know that gravity waves are ubiquitous in the atmosphere and occur over a wide range of scales and amplitudes. Moreover, researchers have found that inclusion of statistical account of gravity wave effects can markedly improve the realism of simulations of persisting large-scale cirrus cloud features. Here, we use a 1 -dimensional (z) cirrus cloud model, to systematically examine the effects of gravity waves on cirrus cloud properties. The model includes a detailed representation of cloud microphysical processes (bin microphysics and aerosols) and is run at relatively fine vertical resolution so as to adequately resolve nucleation events, and over an extended time span so as to incorporate the passage of multiple gravity waves. The prescribed gravity waves "propagate" at 15 m s (sup -1), with wavelengths from 5 to 100 km, amplitudes range up to 1 m s (sup -1)'. Despite the fact that the net gravity wave vertical motion forcing is zero, it will be shown that the bulk cloud properties, e.g., vertically-integrated ice water path, can differ quite significantly from simulations without gravity waves and that the effects do depend on the wave characteristics. We conclude that account of gravity wave effects is important if large-scale models are to generate realistic cirrus cloud property climatology (statistics).

OCStarr, David↗
NASA NTRS2008

The Mock LISA Data Challenge Round 3: New and Improved Sources

The Mock LISA Data Challenges are a program to demonstrate and encourage the development of data-analysis capabilities for LISA. Each round of challenges consists of several data sets containing simulated instrument noise and gravitational waves from sources of undisclosed parameters. Participants are asked to analyze the data sets and report the maximum information they can infer about the source parameters. The challenges are being released in rounds of increasing complexity and realism. Challenge 3. currently in progress, brings new source classes, now including cosmic-string cusps and primordial stochastic backgrounds, and more realistic signal models for supermassive black-hole inspirals and galactic double white dwarf binaries.

Baker, John↗
NASA NTRS2007

Seasonal Correlations of SST, Water Vapor, and Convective Activity in Tropical Oceans: A New Hyperspectral Data Set for Climate Model Testing

The analysis of the response of the Earth Climate System to the seasonal changes of solar forcing in the tropical oceans using four years of the Atmospheric Infrared Sounder (AIRS) and Advanced Microwave Sounding Unit (AMSU) data between 2002 and 2006 gives new insight into amplitude and phase relationships between surface and tropospheric temperatures, humidity, and convective activity. The intensity of the convective activity is measured by counting deep convective clouds. The peaks of convective activity, temperature in the mid-troposphere, and water vapor in the 0-30 N and 0-30 S tropical ocean zonal means occur about two months after solstice, all leading the peak of the sea surface temperature by several weeks. Phase is key to the evaluation of feedback. The evaluation of climate models in terms of zonal and annual means and annual mean deviations from zonal means can now be supplemented by evaluating the phase of key atmospheric and surface parameters relative to solstice. The ability of climate models to reproduce the statistical flavor of the observed amplitudes and relative phases for broad zonal means should lead to increased confidence in the realism of their water vapor and cloud feedback algorithms. AIRS and AMSU were launched into a 705 km altitude polar sun-synchronous orbit on the EOS Aqua spacecraft on May 4, 2002, and have been in routine data gathering mode since September 2002.

Atmospheric Infrared Sounder (AIRS)↗
NASA NTRS2009

Quantifying Parameter Sensitivity, Interaction and Transferability in Hydrologically Enhanced Versions of Noah-LSM over Transition Zones

We use sensitivity analysis to identify the parameters that are most responsible for shaping land surface model (LSM) simulations and to understand the complex interactions in three versions of the Noah LSM: the standard version (STD), a version enhanced with a simple groundwater module (GW), and version augmented by a dynamic phenology module (DV). We use warm season, high-frequency, near-surface states and turbulent fluxes collected over nine sites in the US Southern Great Plains. We quantify changes in the pattern of sensitive parameters, the amount and nature of the interaction between parameters, and the covariance structure of the distribution of behavioral parameter sets. Using Sobol s total and first-order sensitivity indexes, we show that very few parameters directly control the variance of the model output. Significant parameter interaction occurs so that not only the optimal parameter values differ between models, but the relationships between parameters change. GW decreases parameter interaction and appears to improve model realism, especially at wetter sites. DV increases parameter interaction and decreases identifiability, implying it is overparameterized and/or underconstrained. A case study at a wet site shows GW has two functional modes: one that mimics STD and a second in which GW improves model function by decoupling direct evaporation and baseflow. Unsupervised classification of the posterior distributions of behavioral parameter sets cannot group similar sites based solely on soil or vegetation type, helping to explain why transferability between sites and models is not straightforward. This evidence suggests a priori assignment of parameters should also consider climatic differences.

Rosero, Enrique↗
NASA NTRS2009

Climatological Features of the Upper Troposphere and Stratosphere in the GEOS-5 "MERRA" Analyses (1979-2008)

The realism of various aspects of the upper troposphere and stratosphere in the "Modern Era Retrospective-analysis for Research and Applications" (MERRA) dataset will be examined. The MERRA reanalysis extends from 1979 until the present, using the Goddard Earth Observing System, Version 5 (GEOS-5) data assimilation system. The model and analysis have a half-degree spatial resolution with 72 layers that are constrained by observations between the Earth's surface and the stratopause. A comprehensive, time-evolving suite of meteorological observations (e.g., in-situ temperature, moisture, wind and pressure measurements and space-based infrared and microwave radiances) is assimilated. Results show realistic depiction of dominant features, such as the quasi-biennial oscillation, jet structures (including interannual variaficns) and tropopause characteristics, as validated using independent observations and system statistics. Challenges for such reanalyses include the stability to transitions in the observing system, such as the replacement of MSU/SSU by the AMSU-A data in the middle atmosphere. The paper will discuss the use of satellite radiances and examine impacts of satellite drifts and instrument changes on the analyses.

Pawson, S.↗
NASA NTRS2010

Lunar Surface Operations with Dual Rovers

Lunar Electric Rovers (LER) are currently being developed that are substantially more capable than the Apollo vehicle (LRN ,"). Unlike the LRV, the new LERs provide a pressurized cabin that serves as short-sleeve environment for the crew of two, including sleeping accommodations and other provisions that allow for long tern stays, possibly up to 60 days, on the hear surface, without the need to replenish consumables from some outside source, such as a lander or outpost. As a consequence, significantly larger regions may be explored in the future and traverse distances may be measured in a few hundred kilometers (1, 2). However, crew safety remains an overriding concern, and methods other than "walk back", the major operational constraint of all Apollo traverses, must be implemented to assure -at any time- the safe return of the crew to the lander or outpost. This then causes current Constellation plans to envision long-tern traverses to be conducted with 2 LERs exclusively, each carrying a crew of two: in case one rover fails, the other will rescue the stranded crew and return all 4 astronauts in a single LER to base camp. Recent Desert Research and Technology Studies (DRATS) analog field tests simulated a continuous 14 day traverse (3), covering some 135 km, and included a rescue operation that transferred the crew and diverse consumables from one LER to another these successful tests add substantial realism to the development of long-term, dual rover operations. The simultaneous utilization of 2 LERs is of course totally unlike Apollo and raises interesting issues regarding science productivity and mission operations, the thrust of this note.

Horz, Friedrich↗
NASA NTRS2010

Route Generation for a Synthetic Character (BOT) Using a Partial or Incomplete Knowledge Route Generation Algorithm in UT2004 Virtual Environment

This paper presents a new Route Generation Algorithm that accurately and realistically represents human route planning and navigation for Military Operations in Urban Terrain (MOUT). The accuracy of this algorithm in representing human behavior is measured using the Unreal Tournament(Trademark) 2004 (UT2004) Game Engine to provide the simulation environment in which the differences between the routes taken by the human player and those of a Synthetic Agent (BOT) executing the A-star algorithm and the new Route Generation Algorithm can be compared. The new Route Generation Algorithm computes the BOT route based on partial or incomplete knowledge received from the UT2004 game engine during game play. To allow BOT navigation to occur continuously throughout the game play with incomplete knowledge of the terrain, a spatial network model of the UT2004 MOUT terrain is captured and stored in an Oracle 11 9 Spatial Data Object (SOO). The SOO allows a partial data query to be executed to generate continuous route updates based on the terrain knowledge, and stored dynamic BOT, Player and environmental parameters returned by the query. The partial data query permits the dynamic adjustment of the planned routes by the Route Generation Algorithm based on the current state of the environment during a simulation. The dynamic nature of this algorithm more accurately allows the BOT to mimic the routes taken by the human executing under the same conditions thereby improving the realism of the BOT in a MOUT simulation environment.

Hanold, Gregg T.↗
NASA NTRS2010

Flight Team Development in Support of LCROSS - A Class D Mission

The LCROSS (Lunar Crater Observation and Sensing Satellite) project presented a number of challenges to the preparation for mission operations. A class D mission under NASA s risk tolerance scale, LCROSS was governed by a $79 million cost cap and a 29 month schedule from "authority to proceed" to flight readiness. LCROSS was NASA Ames Research Center s flagship mission in its return to spacecraft flight operations after many years of pursuing other strategic goals. As such, ARC needed to restore and update its mission support infrastructure, and in parallel, the LCROSS project had to newly define operational practices and to select and train a flight team combining experienced operators and staff from other arenas of ARC research. This paper describes the LCROSS flight team development process, which deeply involved team members in spacecraft and ground system design, implementation and test; leveraged collaborations with strategic partners; and conducted extensive testing and rehearsals that scaled in realism and complexity in coordination with ground system and spacecraft development. As a testament to the approach, LCROSS successfully met its full mission objectives, despite many in-flight challenges, with its impact on the lunar south pole on October 9, 2009.

Tompkins, Paul D.↗
NASA NTRS2010

Using MERRA Gridded Innovations for Quantifying Uncertainties in Analysis Fields and Diagnosing Observing System Inhomogeneities

MERRA is a NASA reanalysis for the satellite era using a major new version of the Goddard Earth Observing System Data Assimilation System Version 5 (GEOS-5). The project focuses on historical analyses of the hydrological cycle on a broad range of weather and climate time scales and places the NASA EOS suite of observations in a climate context. The characterization of uncertainty in reanalysis fields is a commonly requested feature by users of such data. While intercomparison with reference data sets is common practice for ascertaining the realism of the datasets, such studies typically are restricted to long term climatological statistics and seldom provide state dependent measures of the uncertainties involved. In principle, variational data assimilation algorithms have the ability of producing error estimates for the analysis variables (typically surface pressure, winds, temperature, moisture and ozone) consistent with the assumed background and observation error statistics. However, these "perceived error estimates" are expensive to obtain and are limited by the somewhat simplistic errors assumed in the algorithm. The observation minus forecast residuals (innovations) by-product of any assimilation system constitutes a powerful tool for estimating the systematic and random errors in the analysis fields. Unfortunately, such data is usually not readily available with reanalysis products, often requiring the tedious decoding of large datasets and not so-user friendly file formats. With MERRA we have introduced a gridded version of the observations/innovations used in the assimilation process, using the same grid and data formats as the regular datasets. Such dataset empowers the user with the ability of conveniently performing observing system related analysis and error estimates. The scope of this dataset will be briefly described. We will present a systematic analysis of MERRA innovation time series for the conventional observing system, including maximum-likelihood estimates of background and observation errors, as well as global bias estimates. Starting with the joint PDF of innovations and analysis increments at observation locations we propose a technique for diagnosing bias among the observing systems, and document how these contextual biases have evolved during the satellite era covered by MERRA.

da Silva, Arlindo↗
NASA NTRS2009

Latency and User Performance in Virtual Environments and Augmented Reality

System rendering latency has been recognized by senior researchers, such as Professor Fredrick Brooks of UNC (Turing Award 1999), as a major factor limiting the realism and utility of head-referenced displays systems. Latency has been shown to reduce the user's sense of immersion within a virtual environment, disturb user interaction with virtual objects, and to contribute to motion sickness during some simulation tasks. Latency, however, is not just an issue for external display systems since finite nerve conduction rates and variation in transduction times in the human body's sensors also pose problems for latency management within the nervous system. Some of the phenomena arising from the brain's handling of sensory asynchrony due to latency will be discussed as a prelude to consideration of the effects of latency in interactive displays. The causes and consequences of the erroneous movement that appears in displays due to latency will be illustrated with examples of the user performance impact provided by several experiments. These experiments will review the generality of user sensitivity to latency when users judge either object or environment stability. Hardware and signal processing countermeasures will also be discussed. In particular the tuning of a simple extrapolative predictive filter not using a dynamic movement model will be presented. Results show that it is possible to adjust this filter so that the appearance of some latencies may be hidden without the introduction of perceptual artifacts such as overshoot. Several examples of the effects of user performance will be illustrated by three-dimensional tracking and tracing tasks executed in virtual environments. These experiments demonstrate classic phenomena known from work on manual control and show the need for very responsive systems if they are indented to support precise manipulation. The practical benefits of removing interfering latencies from interactive systems will be emphasized with some classic final examples from surgical telerobotics, and human-computer interaction.

Ellis, Stephen R.↗