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NASA NTRS2016

Moving NASA Beyond Low Earth Orbit: Future Human-Automation-Robotic Integration Challenges

This presentation will provide an overview of current human spaceflight operations. It will also describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. Additionally, there are many implications regarding advanced automation and robotics, and this presentation will outline future human-automation-robotic integration challenges.

human-robotic↗

NASA NTRS2016

Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration

Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.

human-robotic↗

NASA NTRS2016

Human-Robot Interaction in High Vulnerability Domains

Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

workload↗

NASA NTRS2016

Anthropomorphic Robot Design and User Interaction Associated with Motion

Though in its original concept a robot was conceived to have some human-like shape, most robots now in use have specific industrial purposes and do not closely resemble humans. Nevertheless, robots that resemble human form in some way have continued to be introduced. They are called anthropomorphic robots. The fact that the user interface to all robots is now highly mediated means that the form of the user interface is not necessarily connected to the robots form, human or otherwise. Consequently, the unique way the design of anthropomorphic robots affects their user interaction is through their general appearance and the way they move. These robots human-like appearance acts as a kind of generalized predictor that gives its operators, and those with whom they may directly work, the expectation that they will behave to some extent like a human. This expectation is especially prominent for interactions with social robots, which are built to enhance it. Often interaction with them may be mainly cognitive because they are not necessarily kinematically intricate enough for complex physical interaction. Their body movement, for example, may be limited to simple wheeled locomotion. An anthropomorphic robot with human form, however, can be kinematically complex and designed, for example, to reproduce the details of human limb, torso, and head movement. Because of the mediated nature of robot control, there remains in general no necessary connection between the specific form of user interface and the anthropomorphic form of the robot. But their anthropomorphic kinematics and dynamics imply that the impact of their design shows up in the way the robot moves. The central finding of this report is that the control of this motion is a basic design element through which the anthropomorphic form can affect user interaction. In particular, designers of anthropomorphic robots can take advantage of the inherent human-like movement to 1) improve the users direct manual control over robot limbs and body positions, 2) improve users ability to detect anomalous robot behavior which could signal malfunction, and 3) enable users to be better able to infer the intent of robot movement. These three benefits of anthropomorphic design are inherent implications of the anthropomorphic form but they need to be recognized by designers as part of anthropomorphic design and explicitly enhanced to maximize their beneficial impact. Examples of such enhancements are provided in this report. If implemented, these benefits of anthropomorphic design can help reduce the risk of Inadequate Design of Human and Automation Robotic Integration (HARI) associated with the HARI-01 gap by providing efficient and dexterous operator control over robots and by improving operator ability to detect malfunctions and understand the intention of robot movement.

automation/robotic integration↗

NASA NTRS2016

Evaluation of Human and AutomationRobotics Integration Needs for Future Human Exploration Missions

NASA employs Design Reference Missions (DRMs) to define potential architectures for future human exploration missions to deep space, the Moon, and Mars. While DRMs to these destinations share some components, each mission has different needs. This paper focuses on the human and automation/robotic integration needs for these future missions, evaluating them with respect to NASA research gaps in the area of space human factors engineering. The outcomes of our assessment is a human and automation/robotic (HAR) task list for each of the four DRMs that we reviewed (i.e., Deep Space Sortie, Lunar Visit/Habitation, Deep Space Habitation, and Planetary), a list of common critical HAR factors that drive HAR design.

design reference missions↗

NASA NTRS2017

Future Exploration Missions' Tasks Associated with the Risk of Inadequate Design of Human and Automation/Robotic Integration

NASA's Human Research Program (HRP) funds research efforts aimed at mitigating various human health and performance risks, including the Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI). As such, within HRP, the Human Factors and Behavioral Performance (HFBP) Element tasked an evaluation of future HARI needs in order to scope and focus the HARI risk research plan. The objective was to provide a systematic understanding of the critical factors associated with effective HARI that will be necessary to achieve the future mission goals for near- and deep-space exploration. Future mission goals are specified by NASA Design Reference Missions (DRMs) that are pertinent to the HRP. The outcome of this evaluation is a set of NASA-relevant HARI tasks, factors, and interactions required for exploration-class missions.

space operations↗

NASA NTRS2020

Deep Space Human-Systems Research Recommendations for Future Human-Automation/Robotic Integration

Appropriate integration between automation and robotics systems and their human operators is essential for future space exploration. The Human Factors and Behavioral Performance Element of NASA’s Human Research Program requires a systematic understanding of the critical human-automation/robotic (HAR) integration, or HARI, design challenges for future space exploration. This document reports the results of a systematic assessment of the spaceflight-relevant HARI technologies and research topics addressing critical gaps in spaceflight-relevant HARI knowledge, and prioritizes research required for successful human performance and HAR integration. We reviewed relevant literature across the past ten years and interviewed ten subject matter experts to investigate the current state of HARI technology, challenges facing development, the state of HARI research across a wide range of fields, and opportunities for advancing the state of the art through directed research. This information was used to identify relevant HARI technologies and research topics, as well as factors to assess relative priority of HARI technologies. We worked with NASA stakeholders to weight the factors relevant to assessing HARI specific technologies. A multi-dimensional trade analysis was performed to objectively score HARI research topics and specific technologies to recommended investment priorities for NASA.

human-automation interaction↗

NASA NTRS2011

Evidence Report, Risk of Inadequate Design of Human and Automation/Robotic Integration

The success of future exploration missions depends, even more than today, on effective integration of humans and technology (automation and robotics). This will not emerge by chance, but by design. Both crew and ground personnel will need to do more demanding tasks in more difficult conditions, amplifying the costs of poor design and the benefits of good design. This report has looked at the importance of good design and the risks from poor design from several perspectives: 1) If the relevant functions needed for a mission are not identified, then designs of technology and its use by humans are unlikely to be effective: critical functions will be missing and irrelevant functions will mislead or drain attention. 2) If functions are not distributed effectively among the (multiple) participating humans and automation/robotic systems, later design choices can do little to repair this: additional unnecessary coordination work may be introduced, workload may be redistributed to create problems, limited human attentional resources may be wasted, and the capabilities of both humans and technology underused. 3) If the design does not promote accurate understanding of the capabilities of the technology, the operators will not use the technology effectively: the system may be switched off in conditions where it would be effective, or used for tasks or in contexts where its effectiveness may be very limited. 4) If an ineffective interaction design is implemented and put into use, a wide range of problems can ensue. Many involve lack of transparency into the system: operators may be unable or find it very difficult to determine a) the current state and changes of state of the automation or robot, b) the current state and changes in state of the system being controlled or acted on, and c) what actions by human or by system had what effects. 5) If the human interfaces for operation and control of robotic agents are not designed to accommodate the unique points of view and operating environments of both the human and the robotic agent, then effective human-robot coordination cannot be achieved.

Zumbado, Jennifer Rochlis↗

NASA NTRS2018

Human-Automation Allocations for Current Robotic Space Operations: Space Station Remote Manipulator System

NASA’s Human Research Program’s Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) delineates the uncertainty surrounding crew work with automation and robotics in spaceflight. HARI is concerned with detrimental effects of ineffective user interfaces, system designs and/or functional task allocation on crew performance, potentially compromising mission success and safety. This risk arises because of limited experience with complex automation and robotics in spaceflight. One key knowledge gap within the HARI risk is related to function allocation.

Chang, Mai Lee↗

NASA NTRS1991

On the role of exchange of power and information signals in control and stability of the human-robot interaction

A human's ability to perform physical tasks is limited, not only by his intelligence, but by his physical strength. If, in an appropriate environment, a machine's mechanical power is closely integrated with a human arm's mechanical power under the control of the human intellect, the resulting system will be superior to a loosely integrated combination of a human and a fully automated robot. Therefore, we must develop a fundamental solution to the problem of 'extending' human mechanical power. The work presented here defines 'extenders' as a class of robot manipulators worn by humans to increase human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The aim is to determine the fundamental building blocks of an intelligent controller, a controller which allows interaction between humans and a broad class of computer-controlled machines via simultaneous exchange of both power and information signals. The prevalent trend in automation has been to physically separate the human from the machine so the human must always send information signals via an intermediary device (e.g., joystick, pushbutton, light switch). Extenders, however are perfect examples of self-powered machines that are built and controlled for the optimal exchange of power and information signals with humans. The human wearing the extender is in physical contact with the machine, so power transfer is unavoidable and information signals from the human help to control the machine. Commands are transferred to the extender via the contact forces and the EMG signals between the wearer and the extender. The extender augments human motor ability without accepting any explicit commands: it accepts the EMG signals and the contact force between the person's arm and the extender, and the extender 'translates' them into a desired position. In this unique configuration, mechanical power transfer between the human and the extender occurs because the human is pushing against the extender. The extender transfers to the human's hand, in feedback fashion, a scaled-down version of the actual external load which the extender is manipulating. This natural feedback force on the human's hand allows him to 'feel' a modified version of the external forces on the extender. The information signals from the human (e.g., EMG signals) to the computer reflect human cognitive ability, and the power transfer between the human and the machine (e.g., physical interaction) reflects human physical ability. Thus the information transfer to the machine augments cognitive ability, and the power transfer augments motor ability. These two actions are coupled through the human cognitive/motor dynamic behavior. The goal is to derive the control rules for a class of computer-controlled machines that augment human physical and cognitive abilities in certain manipulative tasks.

Kazerooni, H.↗

NASA NTRS1989

Human machine interaction via the transfer of power and information signals

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Kazerooni, H.↗

NASA NTRS2018

Human-Automation Allocations for Current Robotic Space Operations

Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

robotic allocation↗

NASA NTRS2006

Mission Control Technologies: A New Way of Designing and Evolving Mission Systems

Current mission operations systems are built as a collection of monolithic software applications. Each application serves the needs of a specific user base associated with a discipline or functional role. Built to accomplish specific tasks, each application embodies specialized functional knowledge and has its own data storage, data models, programmatic interfaces, user interfaces, and customized business logic. In effect, each application creates its own walled-off environment. While individual applications are sometimes reused across multiple missions, it is expensive and time consuming to maintain these systems, and both costly and risky to upgrade them in the light of new requirements or modify them for new purposes. It is even more expensive to achieve new integrated activities across a set of monolithic applications. These problems impact the lifecycle cost (especially design, development, testing, training, maintenance, and integration) of each new mission operations system. They also inhibit system innovation and evolution. This in turn hinders NASA's ability to adopt new operations paradigms, including increasingly automated space systems, such as autonomous rovers, autonomous onboard crew systems, and integrated control of human and robotic missions. Hence, in order to achieve NASA's vision affordably and reliably, we need to consider and mature new ways to build mission control systems that overcome the problems inherent in systems of monolithic applications. The keys to the solution are modularity and interoperability. Modularity will increase extensibility (evolution), reusability, and maintainability. Interoperability will enable composition of larger systems out of smaller parts, and enable the construction of new integrated activities that tie together, at a deep level, the capabilities of many of the components. Modularity and interoperability together contribute to flexibility. The Mission Control Technologies (MCT) Project, a collaboration of multiple NASA Centers, led by NASA Ames Research Center, is building a framework to enable software to be assembled from flexible collections of components and services.

Trimble, Jay↗

NASA NTRS2001

Workshop on Science and the Human Exploration of Mars

The exploration of Mars will be a multi-decadal activity. Currently, a scientific program is underway, sponsored by NASA's Office of Space Science in the United States, in collaboration with international partners France, Italy, and the European Space Agency. Plans exist for the continuation of this robotic program through the first automated return of Martian samples in 2014. Mars is also a prime long-term objective for human exploration, and within NASA, efforts are being made to provide the best integration of the robotic program and future human exploration missions. From the perspective of human exploration missions, it is important to understand the scientific objectives of human missions, in order to design the appropriate systems, tools, and operational capabilities to maximize science on those missions. In addition, data from the robotic missions can provide critical environmental data - surface morphology, materials composition, evaluations of potential toxicity of surface materials, radiation, electrical and other physical properties of the Martian environment, and assessments of the probability that humans would encounter Martian life forms. Understanding of the data needs can lead to the definition of experiments that can be done in the near-term that will make the design of human missions more effective. This workshop was convened to begin a dialog between the scientific community that is central to the robotic exploration mission program and a set of experts in systems and technologies that are critical to human exploration missions. The charge to the workshop was to develop an understanding of the types of scientific exploration that would be best suited to the human exploration missions and the capabilities and limitations of human explorers in undertaking science on those missions.

Duke, M. B.↗

DOE OSTI2026

High-throughput methods leveraging robotics and computer vision for the development of therapeutic phage cocktails

We present the high-throughput automated screening techniques that are being used to develop bacteriophage-based therapeutic products currently under investigation in human clinical trials to combat urinary tract infections. By integrating modern liquid handling robotics, standardized phenotypic assays, and computer vision-based enumeration, we established a platform capable of reproducibly screening large collections of phages against clinically derived bacterial strain panels. This approach enabled systematic assessment of phage-bacteria interactions at scale, facilitating the identification and optimization of phage cocktails with broad in vitro activity. Although bacteriophage therapy has long been investigated as a strategy for treating bacterial infections, few frameworks exist for developing phage combinations in a reproducible and scalable manner. The methods outlined here address this gap and aim to support the broader development of therapeutic assets available to combat antibiotic resistance.

Penke, Taylor J. R. [Locus Biosciences, Morrisvill↗

NASA NTRS1984

A system-level approach to automation research

Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

Harrison, F. W.↗

NASA NTRS1993

An operator interface design for a telerobotic inspection system

The operator interface has recently emerged as an important element for efficient and safe interactions between human operators and telerobotics. Advances in graphical user interface and graphics technologies enable us to produce very efficient operator interface designs. This paper describes an efficient graphical operator interface design newly developed for remote surface inspection at NASA-JPL. The interface, designed so that remote surface inspection can be performed by a single operator with an integrated robot control and image inspection capability, supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

Kim, Won S.↗

NASA NTRS1993

A Graphical Operator Interface for a Telerobotic Inspection System

Operator interface has recently emerged as an important element for efficient and safe operatorinteractions with the telerobotic system. Recent advances in graphical user interface (GUI) andgraphics/video merging technologies enable development of more efficient, flexible operatorinterfaces. This paper describes an advanced graphical operator interface newly developed for aremote surface inspection system at Jet Propulsion Laboratory. The interface has been designed sothat remote surface inspection can be performed by a single operator with an integrated robot controland image inspection capability. It supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

Kim, W. S.↗