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All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Internship in Augmented and Virtual Reality - Rapid Model Import Tool

The integration of virtual and augmented reality, sometimes called mixed reality, is an emerging technology which will likely skyrocket overnight much in the way smartphones did a decade ago. Kennedy Space Center's Augmented and Virtual Reality (AVR) Lab is developing a Rapid Model Import Tool (RMIT) to create a quick and efficient way to bring NASA's complex engineering 3D models into virtual and augmented environments. The long-term objective is to create a tool that will ultimately benefit KSC engineers. Its various uses within NASA can potentially span from astronaut training, to marketing, to public outreach, to name a few. Unity is a prolific cross-platform game engine that allows users to build high quality 2D and 3D games for desktop, mobile, web, and game console platforms. It is perhaps also the most widely used software for virtual reality game development. At the AVR lab, we are looking at alternative uses of Unity to build tools for NASA engineers to perform design, development, testing, and training on spacecraft, rocket delivery systems, ground support equipment, and facilities at KSC. As an intern for the RMIT project, I am charged with the task of performing research on Unity-compatible file types to develop an efficient, affordable, preservative process to bring models from CATIA 3D engineering software into the Unity environment. With a tool called the NASA Enterprise Visualization Application (NEVA), developed by the Boeing Design Visualization group at KSC, we are able to easily convert CATIA's design models to. DAE (also known as COLLADA) and .OBJ file formats. I first reduce the polygon count of the model within CATIA itself, make any necessary tweaks to reduce the model further, and then export using NEVA. The .OBJ or. DAE files that I am left with are then converted by another intern to a Unity-compatible file format using a custom Python script. I have generated extensive documentation of this process in a NEVA User Guide. By the end of this semester, we will have built a solid framework for RMIT based on a thorough understanding of virtual reality specifications and file requirements, allowing future software development teams to go forward with development on the custom tool.

Leap Motion↗
NASA NTRS2012

Exploring Earth and the Solar System: Educational Outreach Through NASA's Space Place, SciJinks, and Climate Kids Websites

NASA's Space Place team publishes engaging content and creates an effective environment to inspire a young audience to dare mighty things. NASA uses the Space Place, Climate Kids, and SciJinks websites to cultivate interest among elementary-school-aged children in both science and technology. During my summer internship at Jet Propulsion Laboratory I used Adobe Flash and ActionScript 3 to develop content for the Space Place, Climate Kids, and SciJinks sites. In addition, I was involved in the development process for ongoing and new projects during my internship. My involvement allowed me to follow a project from concept to design, implementation, and release. I personally worked on three projects this summer, two of which are currently in deployment. The first is a scrambled letter-tile guessing game titled Solar System Scramble. The second, Butterfrog Mix-Up, is a rotating-tile puzzle game. The third project is a unfinished prototype for a maze game.

video games↗
NASA NTRS1974

Remote sensing in Michigan for land resource management: Waterfowl habitat management at Pointe Mouillee

For many years the Pointe Mouillee State Game Area, located on the Lake Erie shoreline just south of Detroit, has been a prime waterfowl habitat. The usefulness of the site for this purpose has been impaired because of the gradual deterioration of the marshland and severe flooding and storms during the spring of 1973. Also, it has been proposed that a dredge spoils area be located in or near the marsh. To aid the future management of a diked refuge area of 148 hectares within the State Game Area, a detailed vegetation inventory was prepared by photointerpretation and a generalized vegetation inventory was obtained by processing multispectral scanner imagery. Also, an analysis was conducted to determine the magnitude of past losses of marshland and the possibilities of replacing this lost habitat. The analysis indicated that large additions to waterfowl habitat could be provided by changes in management of vegetation in existing sections of the State Game Area, through acquisition and conversion of adjacent land by the Michigan Department of Natural Resources, and by the proposed construction of a barrier dike offshore of Pointe Mouillee. Altogether, the various measures considered in this report could affect a total area of nearly 13 sq. km.

Sellman, A. N.↗
NASA NTRS1991

A robust momentum management and attitude control system for the space station

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very assurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Speyer, J. L.↗
NASA NTRS1992

Robust momentum management and attitude control system for the Space Station

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very accurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Rhee, Ihnseok↗
NASA NTRS1993

Robust neighboring extremal guidance for the advanced launch system

With the availability of modern flight computers, realtime neighboring extremal guidance seems feasible. To overcome sensitivity to unknown system parameters and environmental uncertainties, a robust neighboring extremal guidance scheme is proposed. About the optimal trajectory, the accessory problem in the calculus of variations is formed, generating a quadratic cost criterion in the perturbed states and controls. By formulating a disturbance attenuation problem based upon the second variation cost criterion, a differential game is formulated. The game theoretic cost criterion is minimized with respect to the perturbed control but maximized with respect to the unknown parameters in the linearized dynamics. The resulting differential game problem gives rise to a two-point boundary-value problem solved using the sweep method. The sweep method solution provides a linear robust neighboring extremal guidance scheme that is applied to the Advanced Launch System.

Bain, John↗
NASA NTRS1994

Semigroup approximation and robust stabilization of distributed parameter systems

Theoretical results that enable rigorous statements of convergence and exponential stability of Galerkin approximations of LQR controls for infinite dimensional, or distributed parameter, systems have proliferated over the past ten years. In addition, extensive progress has been made over the same time period in the derivation of robust control design strategies for finite dimensional systems. However, the study of the convergence of robust finite dimensional controllers to robust controllers for infinite dimensional systems remains an active area of research. We consider a class of soft-constrained differential games evolving in a Hilbert space. Under certain conditions, a saddle point control can be given in feedback form in terms of a solution to a Riccati equation. By considering a related LQR problem, we can show a convergence result for finite dimensional approximations of this differential game. This yields a computational algorithm for the feedback gain that can be derived from similar strategies employed in infinite dimensional LQR control design problems. The approach described in this paper also inherits the additional properties of stability robustness common to game theoretic methods in finite dimensional analysis. These theoretical convergence and stability results are verified in several numerical experiments.

Kurdila, A. J.↗
NASA NTRS2000

Optimal Reward Functions in Distributed Reinforcement Learning

We consider the design of multi-agent systems so as to optimize an overall world utility function when (1) those systems lack centralized communication and control, and (2) each agents runs a distinct Reinforcement Learning (RL) algorithm. A crucial issue in such design problems is to initialize/update each agent's private utility function, so as to induce best possible world utility. Traditional 'team game' solutions to this problem sidestep this issue and simply assign to each agent the world utility as its private utility function. In previous work we used the 'Collective Intelligence' framework to derive a better choice of private utility functions, one that results in world utility performance up to orders of magnitude superior to that ensuing from use of the team game utility. In this paper we extend these results. We derive the general class of private utility functions that both are easy for the individual agents to learn and that, if learned well, result in high world utility. We demonstrate experimentally that using these new utility functions can result in significantly improved performance over that of our previously proposed utility, over and above that previous utility's superiority to the conventional team game utility.

Wolpert, David H.↗
NASA NTRS2004

Finding Bounded Rational Equilibria: Iterative Focusing - Part 1

A long-running difficulty with conventional game theory has been how to modify it to accommodate the bounded rationality characterizing all real-world players. A recurring issue in statistical physics is how best to approximate joint probability distributions with decoupled (and therefore far more tractable) distributions. It has recently been shown that the same information theoretic mathematical structure, known as Probability Collectives (PC) underlies both issues. This relationship between statistical physics and game theory allows techniques and insights from the one field to be applied to the other. In particular, PC provides a formal model-independent definition of the degree of rationality of a player and of bounded rationality equilibria. This pair of papers extends previous work on PC by introducing new computational approaches to effectively find bounded rationality equilibria of common-interest (team) games.

Wolpert, David H.↗
NASA NTRS2004

Finding Bounded Rational Equilibria: Alternative Lagrangians and Uncountable Move Spaces - Part 2

A long-running difficulty with conventional game theory has been how to modify it to accommodate the bounded rationality characterizing all real-world players. A recurring issue in statistical physics is how best to approximate joint probability distributions with decoupled (and therefore far more tractable) distributions. It has recently been shown that the same information theoretic mathematical structure, known as Probability Collectives (PC) underlies both issues. This relationship between statistical physics and game theory allows techniques and insights &om the one field to be applied to the other. In particular, PC provides a formal model-independent definition of the degree of rationality of a player and of bounded rationality equilibria. This pair of papers extends previous work on PC by introducing new computational approaches to effectively find bounded rationality equilibria of common-interest (team) games.

Wolpert, David H.↗
NASA NTRS2008

Presence Personalization and Persistence: A New Approach to Building Archives to Support Collaborative Research

We discuss approaches to building archives that support the way most science is done. Today research is done in formal teams and informal groups. However our on-line services are designed to work with a single user. We have begun prototyping a new approach to building archives in which support for collaborative research is built in from the start. We organize the discussion along three elements that we believe to be necessary for effective support: We must enable user presence in the archive environment; users must be able to interact. Users must be able to personalize the environment, adding data and capabilities useful to themselves and their team. These changes must be persistent: subsequent sessions must be able to build upon previous sessions. In building the archive we see the large multi-player interactive games as a paradigm of how this approach can work. These three 'P's are essential in gaming as well and we shall use insights from the gaming world and virtual reality systems like Second Life in our prototype.

McGlynn, Thomas A.↗
NASA NTRS2010

The Application of Modeling and Simulation to the Behavioral Deficit of Autism

This abstract describes a research effort to apply technological advances in virtual reality simulation and computer-based games to create behavioral modification programs for individuals with Autism Spectrum Disorder (ASD). The research investigates virtual social skills training within a 3D game environment to diminish the impact of ASD social impairments and to increase learning capacity for optimal intellectual capability. Individuals with autism will encounter prototypical social contexts via computer interface and will interact with 3D avatars with predefined roles within a game-like environment. Incremental learning objectives will combine to form a collaborative social environment. A secondary goal of the effort is to begin the research and development of virtual reality exercises aimed at triggering the release of neurotransmitters to promote critical aspects of synaptic maturation at an early age to change the course of the disease.

Anton, John J.↗
NASA NTRS2012

Zero-Fidelity Simulation: Engaging Team Coordination without Physical, Functional, or Psychological Re-Creation

Team coordination is essential across domains, enabling efficiency and safety. As technology improves, our temptation is to simulate with ever-higher fidelity, by making simulators re-create reality through their physical interfaces, functionality, and by making participants believe they are undertaking the simulated task. However, high-fidelity simulations often miss salient human-human work practices. We introduce the concept of zero-fidelity simulation (ZFS), a move away from literal high-fidelity mimesis of the concrete environment. ZFS alternatively models cooperation and communication as the basis of simulation. The ZFS Team Coordination Game (TeC) is developed from observation of fire emergency response work practice. We identify ways in which team members are mutually dependent on one another for information, and use these as the basis for the ZFS game design. The design creates a need for cooperation by restricting individual activity and requiring communication. The present research analyzes the design of interdependence in the validated ZFS TeC game. We successfully simulate interdependence between roles in emergency response without simulating the concrete environment.

Toups, Zachary O.↗
NASA NTRS2014

Life Cycle Analysis of Dedicated Nano-Launch Technologies

Recent technology advancements have enabled the development of small cheap satellites that can perform useful functions in the space environment. Currently, the only low cost option for getting these payloads into orbit is through ride share programs - small satellites awaiting the launch of a larger satellite, and then riding along on the same launcher. As a result, these small satellite customers await primary payload launches and a backlog exists. An alternative option would be dedicated nano-launch systems built and operated to provide more flexible launch services, higher availability, and affordable prices. The potential customer base that would drive requirements or support a business case includes commercial, academia, civil government and defense. Further, NASA technology investments could enable these alternative game changing options. With this context, in 2013 the Game Changing Development (GCD) program funded a NASA team to investigate the feasibility of dedicated nano-satellite launch systems with a recurring cost of less than $2 million per launch for a 5 kg payload to low Earth orbit. The team products would include potential concepts, technologies and factors for enabling the ambitious cost goal, exploring the nature of the goal itself, and informing the GCD program technology investment decision making process. This paper provides an overview of the life cycle analysis effort that was conducted in 2013 by an inter-center NASA team. This effort included the development of reference nano-launch system concepts, developing analysis processes and models, establishing a basis for cost estimates (development, manufacturing and launch) suitable to the scale of the systems, and especially, understanding the relationship of potential game changing technologies to life cycle costs, as well as other factors, such as flights per year.

nanolaunch↗
NASA NTRS2014

Life Cycle Analysis of Dedicated Nano-Launch Technologies

Recent technology advancements have enabled the development of small cheap satellites that can perform useful functions in the space environment. Currently, the only low cost option for getting these payloads into orbit is through ride share programs. As a result, these launch opportunities await primary payload launches and a backlog exists. An alternative option would be dedicated nano-launch systems built and operated to provide more flexible launch services, higher availability, and affordable prices. The potential customer base that would drive requirements or support a business case includes commercial, academia, civil government and defense. Further, NASA technology investments could enable these alternative game changing options.With this context, in 2013 the Game Changing Development (GCD) program funded a NASA team to investigate the feasibility of dedicated nano-satellite launch systems with a recurring cost of less than $2 million per launch for a 5 kg payload to low Earth orbit. The team products would include potential concepts, technologies and factors for enabling the ambitious cost goal, exploring the nature of the goal itself, and informing the GCD program technology investment decision making process. This paper provides an overview of the life cycle analysis effort that was conducted in 2013 by an inter-center NASA team. This effort included the development of reference nano-launch system concepts, developing analysis processes and models, establishing a basis for cost estimates (development, manufacturing and launch) suitable to the scale of the systems, and especially, understanding the relationship of potential game changing technologies to life cycle costs, as well as other factors, such as flights per year.

modeling↗
NASA NTRSDate not supplied

Interactive Mars: A Direct-Experience Mission

As NASA prepares to explore Mars, we describe an innovative architecture that could be based on public-private partnerships to offset the costs of such a mission, while demonstrating many of the key technologies—propulsion, communications, autonomy, and landing systems—that will be needed for future human exploration. We propose that NASA could use this capability to deliver dozens of small rovers to several sites on Mars to enable the creation of interactive games that would be operated commercially and sponsored privately. NASA would get a reduced cost to demonstrate a portion of the infrastructure needed for human exploration, and the private sector would get access to a new market and sponsorship opportunities for a broadly popular activity. In addition, our proposed architecture could enable a new, intuitive means for scientists to interpret data and conduct ground operations. This proposal is to broadly develop the overall concept, while focusing on the design of the novel communications system, developing requirements for the software architecture needed to control the rovers and implement gaming, and developing gaming concepts.

Carolyn R. Mercer↗
NASA NTRS1977

Estimation of weapon-radius versus maneuverability trade-off for air-to-air combat

A chase in a horizontal plane between a pursuer with a large capture radius and a more maneuverable evading vehicle is examined with constant-speed vehicle models. An approximation to the 'sidestepping' maneuver of the Homicidal Chauffeur Game is modified to account for the effect of evader turning rate, and an estimate of capture radius required is so obtained which agrees remarkably well with Cockayne's point-capture result. The maneuver assumes central importance for barrier surfaces appearing in the Game of Two Cars. Results are given for required weapon capture-radius in terms of the maneuverability of the two vehicles. Some calculations of capture radius are presented.

Kelley, H. J.↗
NASA NTRS1982

Barriers and dispersal surfaces in minimum-time interception

Minimum time interception of a target moving in a horizontal plane is analyzed as a one-player differential game. Dispersal points and points on the barrier are located for a class of pursuit evasion and interception problems. These points are determined by constructing cross sections of the isochrones and hence obtaining the barrier, dispersal, and control level surfaces. The game solution maps the controls as a function of the state within the capture region.

Rajan, N.↗