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Ellis, S. R.

Publications and source records attributed to Ellis, S. R..

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Collision in space

On June 25, 1997, the Russian supply spacecraft Progress 234 collided with the Mir space station, rupturing Mir's pressure hull, throwing it into an uncontrolled attitude drift, and nearly forcing evacuation of the station. Like many high-profile accidents, this collision was the consequence of a chain of events leading to the final piloting errors that were its immediate cause. The discussion in this article does not resolve the relative contributions of the actions and decisions in this chain. Neither does it suggest corrective measures, many of which are straightforward and have already been implemented by the National Aeronautics and Space Administration (NASA) and the Russian Space Agency. Rather, its purpose is to identify the human factors that played a pervasive role in the incident. Workplace stress, fatigue, and sleep deprivation were identified by NASA as contributory factors in the Mir-Progress collision (Culbertson, 1997; NASA, forthcoming), but other contributing factors, such as requiring crew to perform difficult tasks for which their training is not current, could potentially become important factors in future situations.

Mir Project↗
NASA NTRS1998

Sensor Spatial Distortion, Visual Latency, and Update Rate Effects on 3D Tracking in Virtual Environments

Several common defects that we have sought to minimize in immersing virtual environments are: static sensor spatial distortion, visual latency, and low update rates. Human performance within our environments during large amplitude 3D tracking was assessed by objective and subjective methods in the presence and absence of these defects. Results show that 1) removal of our relatively small spatial sensor distortion had minor effects on the tracking activity, 2) an Adapted Cooper-Harper controllability scale proved the most sensitive subjective indicator of the degradation of dynamic fidelity caused by increasing latency and decreasing frame rates, and 3) performance, as measured by normalized RMS tracking error or subjective impressions, was more markedly influenced by changing visual latency than by update rate.

Ellis, S. R.↗
NASA NTRS1996

The human power amplifier technology at the University of California, Berkeley

A human's ability to perform physical tasks is limited by physical strength, not by intelligence. We define "extenders" as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. Our research objective is to determine the ground rules for the design and control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders. The design of extenders is different from the design of conventional robots because the extender interfaces with the human on a physical level. Two sets of force sensors measure the forces imposed on the extender by the human and by the environment (i.e., the load). The extender's compliances in response to such contact forces were designed by selecting appropriate force compensators. This paper gives a summary of some of the selected research efforts related to Extender Technology, carried out during 1980s. The references, at the end of this article, give detailed description of the research efforts.

NASA Discipline Space Human Factors↗
NASA NTRS1995

Dynamics and control of instrumented harmonic drives

Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method's limitations.

NASA Discipline Space Human Factors↗
NASA NTRS1991

Nature and origins of virtual environments - A bibliographical essay

Virtual environments presented via head-mounted, computer-driven displays provide a new media for communication. They may be analyzed by considering: (1) what may be meant by an environment; (2) what is meant by the process of virtualization; and (3) some aspects of human performance that constrain environmental design. Their origins are traced from previous work in vehicle simulation and multimedia research. Pointers are provided to key technical references, in the dispersed, archival literature, that are relevant to the development and evaluation of virtual-environment interface systems.

Ellis, S. R.↗
NASA NTRS1986

The emergence of Zipf's law - Spontaneous encoding optimization by users of a command language

The distribution of commands issued by experienced users of a computer operating system allowing command customization tends to conform to Zipf's law. This result documents the emergence of a statistical property of natural language as users master an artificial language. Analysis of Zipf's law by Mandelbrot and Cherry shows that its emergence in the computer interaction of experienced users may be interpreted as evidence that these users optimize their encoding of commands. Accordingly, the extent to which users of a command language exhibit Zipf's law can provide a metric of the naturalness and efficiency with which that language is used.

Ellis, S. R.↗
NASA NTRS1986

Virtual space and 2-dimensional effects in perspective displays

When interpreting three dimensional spatial relationships presented on a two dimensional display surface, the viewer is required to mentally reconstruct the original information. This reconstruction is influenced by both the perspective geometry of the displayed image and the viewer's eye position relative to the display. In a study which manipulated these variables, subjects judged the azimuth direction of a target object relative to a reference object fixed in the center of a perspective display. The results support a previously developed model which predicted that the azimuth judgement error would be a sinusoidal function of stimulus azimuth. The amplitude of this function was correctly predicted to be systematically modulated by both the perspective geometry of the image and the viewer's eye position relative to the screen. Interaction of the two components of the model, the virtual space effect and the 3D-to-2D projection effect, predicted the relative amplitudes of the sinusoidal azimuth error functions for the various conditions of the experiment. Mean azimuth judgements in some directions differed by as much as 25 degrees as a result of different combinations of eye position and image geometry. The results illustrate the need to consider the effects of perspective geometry when designing spatial information instruments, and show the model to be a reliable predictor of average performance.

Mcgreevy, M. W.↗
NASA NTRS1984

Influence of a perspective cockpit traffic display format on pilot avoidance maneuvers

Perspective projections of cockpit displays of traffic information (CDTI) on CRTs to present vertical separation information to airline pilots were examined. The perspective projection was compared with plan view projections of the same air traffic situations. Comparison of the pilots' avoidance maneuvers made when using the perspective display with those made while using more the conventional plan view display showed that pilots maneuvered somewhat earlier with perspective displays. With the perspective display, they maneuvered more frequently in the vertical dimension. The bias to maneuver horizontally probably reflected the poorer presentation of vertical separation on previously used plan view traffic displays. The avoidance decisions made by pilots using both perspective and plan view displays shows fewer unsuccessful maneuvers and fewer maneuvers producing spacing violations with the perspective format.

Ellis, S. R.↗
NASA NTRS1984

Direction Judgement Errors in Perspective Displays

Spatial information transfer characteristics of perspective situation displays were investigated by having eight subjects judge the directions of displayed targets relative to a fixed position in the center of computer generated perspective scenes. Their errors in judging azimuth angles varied sinusoidally with the azimuth of the targets. Errors alternated between clockwise and counterclock wise from one direction quadrant to the next. As the perspective geometry was varied between telephoto lens and wide angle lens views, the direction of error gradually reversed in all quadrants. The results can be explained by systematic differences between the three-dimensional stimulus angles and the perspective projections of those angles onto the display screen.

Mcgreevy, M. W.↗
NASA NTRS1984

Perceived threat and avoidance maneuvers in response to cockpit traffic displays

Airline pilots rated their perception of the danger of an air-to-air collision based on cockpit displays of traffic information while they monitored simulated departures. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with lowor moderate-collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threat situations, pilots turned toward the intruder only at chance levels. Intruders coming from positions in front of the pilot's ship were more frequently avoided by turns toward than when intruders approached laterally or from behind. Some of the implications of the pilot's turning-toward tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

Smith, J. D.↗
NASA NTRS1983

Influence of a perspective cockpit traffic display format on pilot avoidance maneuvers

The perspective projections of cockpit displays of traffic information on CRTs as a means of presenting vertical separation information to airline pilots were experimentally studied. Identical sets of traffic encounters were viewed by pilots either using a plan-view or perspective traffic display which presented identical separation information. The pilots maneuvered somewhat earlier with perspective displays and maneuvered more frequency in the vertical dimension. Another feature of the maneuver pattern was the absence of a tendency to turn toward an intruding aircraft. The previously observed bias toward horizontal maneuver is probably not based on the procedural reasons often given, but probably reflects the poorer presentation of vertical separation on previously used traffic displays.

Ellis, S. R.↗
NASA NTRS1983

Potential interactions of collision avoidance advisories and cockpit displays of traffic information

Future aircraft cockpits may be equipped with both collision avoidance systems and cockpit traffic situation displays. This paper summarizes a series of experiments investigating a pilot's ability to make a variety of traffic related decisions with a traffic display. Some of the key findings were: Pilots were not able to accurately judge the future position of an aircraft unless the display contained predictor symbols. Pilots' subjective judgements of threat were inversely proportional to time to closest approach but generally were not sensitive to small changes of other parameters of the encounter. When pilots were asked to make avoidance maneuvers based solely on the traffic display, they began their maneuvers well before a CAS advisory would have been triggered. Provided sufficient time was available, pilots preferred horizontal avoidance maneuvers.

Palmer, E.↗
NASA NTRS1982

Avoidance maneuevers selected while viewing cockpit traffic displays

Ten airline pilots rates the collision danger of air traffic presented on cockpit displays of traffic information while they monitored simulated departures from Denver. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with low or moderate collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threst situations pilots turned toward the intruder only at chance levels. Intruders coming from positions in front of the pilot's own ship were more frequently avoided by turns toward than when intruders approached laterally or from behind. Some of the implications of the pilots' turning-toward tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

Smith, J. D.↗
NASA NTRS1982

Threat perception while viewing single intruder conflicts on a cockpit display of traffic information

Subjective estimates of the threat posed by a single intruder aircraft were determined by showing pilots photographs of a cockpit display of traffic information. The time the intruder was away from the point of minimum separation was found to be the major determinant of the perception of threat. When asked to choose a maneuver to reduce the conflict, pilots selected maneuvers with a bias toward those that would have kept the intruders in sight had they been visible out the cockpit window.

Ellis, S. R.↗
NASA NTRS1982

Effect of perceived threat on avoidance maneuvers selected while viewing cockpit traffic displays

Ten airline pilots rated the collision danger of air traffic presented on cockpit displays of traffic information (CDTI) while they monitored simulated departures from Denver. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with low or moderate perceived collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threat situations pilots turned toward the intruder only at chance levels. Some of the implications of the pilots' turning-towards tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

Smith, J. D.↗
NASA NTRS1982

Contingency in visual scanning of cockpit traffic displays

A statistical method to identify reliable, repetitive scanning patterns in the positions of visual fixations has been developed and applied to data from 8 airline pilots who monitored cockpit displays of traffic information (CDTI). Their fixational transition patterns between points of interest on the display showed deterministic, statistical dependencies generally associated with symbols predicting future aircraft position. These dependencies constitute deviations from stratified random sampling of the visual information on the display, confirm the importance of future aircraft position information for the use of CDTI, and provide objective support for the existence of 'scanpaths' in visual fixation patterns.

Ellis, S. R.↗
NASA NTRS1981

Pilot scanning patterns while viewing cockpit displays of traffic information

Scanning eye movements of airline pilots were recorded while they judged air traffic situations displayed on cockpit displays of traffic information (CDTI). The observed 1st order transition patterns between points of interest on the display showed reliable deviation from those patterns predicted by the assumption of statistical independence. However, both patterns of transitions correlated quite well with each other. Accordingly, the assumption of independence provided a surprisingly good model of the results. Nevertheless, the deviation between the observed patterns of transition and that based on the assumption of independence was for all subjects in the direction of increased determinism. Thus, the results provide objective evidence consistent with the existence of "scanpaths" in the data.

Ellis, S. R.↗