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All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

HRP Chief Scientist's Office: Conducting Research to Enable Deep Space Exploration

The HRP Chief Scientist's Office sets the scientific agenda for the Human Research Program. As NASA plans for deep space exploration, HRP is conducting research to ensure the health of astronauts, and optimize human performance during extended duration missions. To accomplish this research, HRP solicits for proposals within the U.S., collaborates with agencies both domestically and abroad, and makes optimal use of ISS resources in support of human research. This session will expand on these topics and provide an opportunity for questions and discussion with the HRP Chief Scientist. Presentations in this session will include: NRA solicitations - process improvements and focus for future solicitations, Multilateral Human Research Panel for Exploration - future directions (MHRPE 2.0), Extramural liaisons - National Science Foundation (NSF) and Department of Defense (DOD), Standardized Measures for spaceflight, Ground-based Analogs - international collaborations, and International data sharing.

Charles, J. B.↗
NASA NTRS2012

Best Practices for the Application of Functional Near Infrared Spectroscopy to Operator State Sensing

Functional Near Infrared Spectroscopy (fNIRS) is an emerging neuronal measurement technique with many advantages for application in operational and training contexts. Instrumentation and protocol improvements, however, are required to obtain useful signals and produce expeditiously self-applicable, comfortable and unobtrusive headgear. Approaches for improving the validity and reliability of fNIRS data for the purpose of sensing the mental state of commercial aircraft operators are identified, and an exemplary system design for attentional state monitoring is outlined. Intelligent flight decks of the future can be responsive to state changes to optimally support human performance. Thus, the identification of cognitive performance decrement, such as lapses in operator attention, may be used to predict and avoid error-prone states. We propose that attentional performance may be monitored with fNIRS through the quantification of hemodynamic activations in cortical regions which are part of functionally-connected attention and resting state networks. Activations in these regions have been shown to correlate with behavioral performance and task engagement. These regions lie beneath superficial tissue in head regions beyond the forehead. Headgear development is key to reliably and robustly accessing locations beyond the hair line to measure functionally-connected networks across the whole head. Human subject trials using both fNIRS and functional Magnetic Resonance Imaging (fMRI) will be used to test this system. Data processing employs Support Vector Machines for state classification based on the fNIRS signals. If accurate state classification is achieved based on sensed activation patterns, fNIRS will be shown to be useful for monitoring attentional performance.

Harrivel, Angela R.↗
NASA NTRS2013

Effects of Varying Gravity Levels on fNIRS Headgear Performance and Signal Recovery

This paper reviews the effects of varying gravitational levels on functional Near-Infrared Spectroscopy (fNIRS) headgear. The fNIRS systems quantify neural activations in the cortex by measuring hemoglobin concentration changes via optical intensity. Such activation measurement allows for the detection of cognitive state, which can be important for emotional stability, human performance and vigilance optimization, and the detection of hazardous operator state. The technique depends on coupling between the fNIRS probe and users skin. Such coupling may be highly susceptible to motion if probe-containing headgear designs are not adequately tested. The lack of reliable and self-applicable headgear robust to the influence of motion artifact currently inhibits its operational use in aerospace environments. Both NASAs Aviation Safety and Human Research Programs are interested in this technology as a method of monitoring cognitive state of pilots and crew.

fNIRS↗
NASA NTRS2000

National Space Biomedical Research Institute Annual Report

This report summarizes the activities of the National Space Biomedical Research Institute (NSBRI) during FY 2000. The NSBRI is responsible for the development of countermeasures against the deleterious effects of long-duration space flight and performs fundamental and applied space biomedical research directed towards this specific goal. Its mission is to lead a world-class, national effort in integrated, critical path space biomedical research that supports NASA's Human Exploration and Development of Space (HEDS) Strategic Plan by focusing on the enabling of long-term human presence in, development of, and exploration of space. This is accomplished by: designing, testing and validating effective countermeasures to address the biological and environmental impediments to long-term human space flight; defining the molecular, cellular, organ-level, integrated responses and mechanistic relationships that ultimately determine these impediments, where such activity fosters the development of novel countermeasures; establishing biomedical support technologies to maximize human performance in space, reduce biomedical hazards to an acceptable level, and deliver quality medical care; transferring and disseminating the biomedical advances in knowledge and technology acquired through living and working in space to the general benefit of mankind, including the treatment of patients suffering from gravity- and radiation-related conditions on Earth; and ensuring open involvement of the scientific community, industry and the public at large in the Institute's activities and fostering a robust collaboration with NASA, particularly through NASA's Lyndon B. Johnson Space Center. Attachment:Appendices (A,B,C,D,E,F,G,H,I,J,K,L,M,N,O, and P.).

Source record↗
DOE OSTI2015

A Research Roadmap for Computation-Based Human Reliability Analysis

The United States (U.S.) Department of Energy (DOE) is sponsoring research through the Light Water Reactor Sustainability (LWRS) program to extend the life of the currently operating fleet of commercial nuclear power plants. The Risk Informed Safety Margin Characterization (RISMC) research pathway within LWRS looks at ways to maintain and improve the safety margins of these plants. The RISMC pathway includes significant developments in the area of thermalhydraulics code modeling and the development of tools to facilitate dynamic probabilistic risk assessment (PRA). PRA is primarily concerned with the risk of hardware systems at the plant; yet, hardware reliability is often secondary in overall risk significance to human errors that can trigger or compound undesirable events at the plant. This report highlights ongoing efforts to develop a computation-based approach to human reliability analysis (HRA). This computation-based approach differs from existing static and dynamic HRA approaches in that it: (i) interfaces with a dynamic computation engine that includes a full scope plant model, and (ii) interfaces with a PRA software toolset. The computation-based HRA approach presented in this report is called the Human Unimodels for Nuclear Technology to Enhance Reliability (HUNTER) and incorporates in a hybrid fashion elements of existing HRA methods to interface with new computational tools developed under the RISMC pathway. The goal of this research effort is to model human performance more accurately than existing approaches, thereby minimizing modeling uncertainty found in current plant risk models.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
NASA NTRS2006

Human Factors Engineering as a System in the Vision for Exploration

In order to accomplish NASA's Vision for Exploration, while assuring crew safety and productivity, human performance issues must be well integrated into system design from mission conception. To that end, a two-year Technology Development Project (TDP) was funded by NASA Headquarters to develop a systematic method for including the human as a system in NASA's Vision for Exploration. The specific goals of this project are to review current Human Systems Integration (HSI) standards (i.e., industry, military, NASA) and tailor them to selected NASA Exploration activities. Once the methods are proven in the selected domains, a plan will be developed to expand the effort to a wider scope of Exploration activities. The methods will be documented for inclusion in NASA-specific documents (such as the Human Systems Integration Standards, NASA-STD-3000) to be used in future space systems. The current project builds on a previous TDP dealing with Human Factors Engineering processes. That project identified the key phases of the current NASA design lifecycle, and outlined the recommended HFE activities that should be incorporated at each phase. The project also resulted in a prototype of a webbased HFE process tool that could be used to support an ideal HFE development process at NASA. This will help to augment the limited human factors resources available by providing a web-based tool that explains the importance of human factors, teaches a recommended process, and then provides the instructions, templates and examples to carry out the process steps. The HFE activities identified by the previous TDP are being tested in situ for the current effort through support to a specific NASA Exploration activity. Currently, HFE personnel are working with systems engineering personnel to identify HSI impacts for lunar exploration by facilitating the generation of system-level Concepts of Operations (ConOps). For example, medical operations scenarios have been generated for lunar habitation in order to identify HSI requirements for the lunar communications architecture. Throughout these ConOps exercises, HFE personnel are testing various tools and methodologies that have been identified in the literature. A key part of the effort is the identification of optimal processes, methods, and tools for these early development phase activities, such as ConOps, requirements development, and early conceptual design. An overview of the activities completed thus far, as well as the tools and methods investigated will be presented.

Mihriban Whitmore↗
NASA NTRS2015

An Approach for Performance Based Glove Mobility Requirements

The Space Suit Assembly (SSA) Development Team at NASA Johnson Space Center has invested heavily in the advancement of rear‐entry planetary exploration suit design but largely deferred development of extravehicular activity (EVA) glove designs, and accepted the risk of using the current flight gloves, Phase VI, for exploration missions. However, as design reference missions mature, the risks of using heritage hardware have highlighted the need for developing robust new glove technologies. To address the technology gap, the NASA Space Technology Mission Directorate's Game‐Changing Development Program provided start‐up funding for the High Performance EVA Glove (HPEG) Element as part of the Next Generation Life Support (NGLS) Project in the fall of 2013. The overarching goal of the HPEG Element is to develop a robust glove design that increases human performance during EVA and creates pathway for implementation of emergent technologies, with specific aims of increasing pressurized mobility to 60% of barehanded capability, increasing the durability in on‐pristine environments, and decreasing the potential of gloves to cause injury during use. The HPEG Element focused initial efforts on developing quantifiable and repeatable methodologies for assessing glove performance with respect to mobility, injury potential, thermal conductivity, and abrasion resistance. The team used these methodologies to establish requirements against which emerging technologies and glove designs can be assessed at both the component and assembly levels. The mobility performance testing methodology was an early focus for the HPEG team as it stems from collaborations between the SSA Development team and the JSC Anthropometry and Biomechanics Facility (ABF) that began investigating new methods for suited mobility and fit early in the Constellation Program. The combined HPEG and ABF team used lessons learned from the previous efforts as well as additional reviews of methodologies in physical and occupational therapy arenas to develop a protocol that assesses gloved range of motion, strength, dexterity, tactility, and fit in comparative quantitative terms and also provides qualitative insight to direct hardware design iterations. The protocol was evaluated using five experienced test subjects wearing the EMU pressurized to 4.3psid with three different glove configurations. The results of the testing are presented to illustrate where the protocol is and is not valid for benchmark comparisons. The process for requirements development based upon the results is also presented along with suggested performance values for the High Performance EVA Gloves to be procured in fiscal year 2015.

Aitchison, Lindsay↗
NASA NTRS2016

An Approach for Performance Based Glove Mobility Requirements

The Space Suit Assembly (SSA) Development Team at NASA Johnson Space Center has invested heavily in the advancement of rear-entry planetary exploration suit design but largely deferred development of extravehicular activity (EVA) glove designs, and accepted the risk of using the current flight gloves, Phase VI, for exploration missions. However, as design reference missions mature, the risks of using heritage hardware have highlighted the need for developing robust new glove technologies. To address the technology gap, the NASA Space Technology Mission Directorate's Game-Changing Development Program provided start-up funding for the High Performance EVA Glove (HPEG) Element as part of the Next Generation Life Support (NGLS) Project in the fall of 2013. The overarching goal of the HPEG Element is to develop a robust glove design that increases human performance during EVA and creates pathway for implementation of emergent technologies, with specific aims of increasing pressurized mobility to 60% of barehanded capability, increasing the durability in on-pristine environments, and decreasing the potential of gloves to cause injury during use. The HPEG Element focused initial efforts on developing quantifiable and repeatable methodologies for assessing glove performance with respect to mobility, injury potential, thermal conductivity, and abrasion resistance. The team used these methodologies to establish requirements against which emerging technologies and glove designs can be assessed at both the component and assembly levels. The mobility performance testing methodology was an early focus for the HPEG team as it stems from collaborations between the SSA Development team and the JSC Anthropometry and Biomechanics Facility (ABF) that began investigating new methods for suited mobility and fit early in the Constellation Program. The combined HPEG and ABF team used lessons learned from the previous efforts as well as additional reviews of methodologies in physical and occupational therapy arenas to develop a protocol that assesses gloved range of motion, strength, dexterity, tactility, and fit in comparative quantitative terms and also provides qualitative insight to direct hardware design iterations. The protocol was evaluated using five experienced test subjects wearing the EMU pressurized to 4.3psid with three different glove configurations. The results of the testing are presented to illustrate where the protocol is and is not valid for benchmark comparisons. The process for requirements development based upon the results is also presented along with suggested performance values for the High Performance EVA Gloves currently in development.

Aitchison, Lindsay↗
DOE OSTI2022

PWR loading pattern optimization with reinforcement learning

The core loading pattern optimization problem belongs to the class of combinatorial optimization problem and has been studied since the dawn of commercial nuclear energy industry. It is characterized by multiple objectives and constraints, with a very high number of candidate patterns, which makes it impossible to solve explicitly. Stochastic optimization methodologies including Genetic Algorithms and Simulated Annealing are used by different nuclear utilities and vendors to perform fuel cycle reload design. Nevertheless, hand-designed solutions continue to be the prevalent method in the industry. To improve the state-of-the-art core reload patterns, we aim to create a method as scalable as possible, that agrees with the designer's goal of performance and safety. To help in this task Deep Reinforcement Learning (DRL), in particular Proximal Policy Optimization is leveraged. DRL has recently experienced a strong impetus from its successes applied to games, sometimes even reaching 'super-human' performances. This paper lays out the foundation of this method and proposes to study the behavior of several hyper-parameters that influence the DRL algorithm. The algorithm is highly dependent on multiple factors such as an exploration/exploitation trade-off that manifests through different parameters such as the number of loading patterns seen and the number of samples collected before a policy update, but also the shape of the objective function derived for the core design. Experimental results also demonstrate the effectiveness of the method in finding high-quality solutions from scratch within a reasonable amount of time. (authors)

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
NASA NTRS1991

Portable computers as companions in space

The paper describes a Space Shuttle Program payload that uses a Macintosh portable computer to gather human performance data for a cursor control device experiment and to test prototype software applications for the Space Station Freedom (SSF). The payload is the first phase of a NASA research and development project to operationally test human-computer interface requirements and crew support applications for an advanced portable computer for the SSF.

Microgravity↗
NASA NTRS2019

SCREAM: Space-based Cognitive Reliability Error Analysis Method

Given both ground-based performance shaping factors (PSFs) collected by the U.S. Nuclear Regulatory Commission (USNRC) and potential space-based PSFs collected by JSC's HH&P, this year's task is to determine how to combine them for future human reliability analysis (HRA) of space missions. All HRA to date for space missions have been based on ground data (i.e. 1-G environment). There is no space-based HRA approach. The target of this project to produce a "first of its kind" HRA approach for space missions. As humans go beyond Earth orbit and missions become longer, human performance and reliability is expected to degrade. The questions become by how much, when, and what, leading to defining the overall effect on crew risk. Knowing this information earlier rather than later will help us mitigate this risk by vehicle design, crew training, and operational workarounds.

Boyer, Roger L.↗
NASA NTRSDate not supplied

Viability of Small Dimension Crew Quarters for Surface Habitation

During early planning for the Artemis program’s sustained phase of lunar activity, NASA planners have been held to work towards a NASA reference lunar lander concept. With this activity taking place prior to the awarding of a lander contract, NASA planners cannot assume which of several potential landers will be available. This has limited habitation team engineers to a 12-metric ton mass limit for the reference concept of the lunar Surface Habitat. Consequently, minimal approaches have been applied to many habitat systems and it is important to determine acceptable volume for crew quarters. A number of both NASA and non-NASA surface habitat concepts have proposed relatively small crew quarters due to this constraint. Consequently, there is a need to collect objective test data to confirm or refute the validity of small crew quarters. NASA-STD-3001 is looked to for guidance in its many standards but offers little to no help. While prior versions called for private habitation, the current version – Revision B – calls for “individual privacy” to “accommodate social retreat.” Proposed Revision C modifications change the language slightly to “accommodate sleep and social retreat.” This is not enough guidance to determine the size of a crew quarters or even its capabilities. Unfortunately, only a small number of US spacecraft have included crew quarters, primarily the International Space Station and the Skylab Space Station. The space shuttle orbiter sometimes flew a set of private bunks that some might consider a crew quarters. All of these are dramatically smaller than US standards for minimum jail cells. The first opportunity for NASA to test a small crew quarters in a surface habitat application has been created through the Exploration Atmospheres test series, which is evaluating human performance under reduced cabin pressures. The test is converting the 20-Foot Vacuum Chamber at Johnson Space Center into a habitat, with the lower level outfitted as an EVA test area and the upper two levels for human habitation. The test will place eight people (six test subjects and two technicians) inside the chamber for eleven days. All eight will sleep in private quarters during the test. Volume limitations in the chamber forced extremely small crew quarters, measuring approximately 2 meters in length, 0.85 meters in height, and 0.9 meters in width. The test cabin pressure of 8.2 psi and elevated oxygen also introduces significant material limitations, limiting outfitting options. Nonetheless, the crew quarters design requirements were to accommodate visual separation, auditory separation, olfactory separation, tactile separation, air flow control, lighting control, single person personal computing, physical work surface access, sleep accommodations, non-sleep rest/relaxation, meditation, stretching, two-person meetings, snacking, changing clothes, viewing appearance, video communication, and audio communication. This paper will detail the acceptability of the crew quarters as measured in the October 2021 Exploration Atmosphere test. Based on this data, the viability of the type of crew quarters used in the 20 Foot Chamber will be assessed. Design recommendations for a 30-60-day Surface Habitat crew quarters will be provided, along with recommendations for future testing.

Crew Quarters↗
DOE OSTI2017

An overview of the IEEE human factors standard development activities - 2017 - 230

Since 1980 the Institute of Electrical and Electronics Engineers (IEEE) has supported development of human factors (HF) standards. Within IEEE, Subcommittee 5 (SC5) of the Nuclear Power Engineering Committee develops and maintains HF standards applicable to nuclear facilities. These standards are structured in a hierarchical fashion. The top-level standard defines the HF tasks required to support the integration of human performance into the design process. Five lower tier documents expand upon the upper tier standard. Presently, two new HF standards projects are underway; one to provide HF guidance for the validation of the system interface design and integrated systems operation and another for designing and developing computer-based displays for monitoring and control of nuclear facilities. In addition to producing and maintaining HF standards, SC5 is also involved in outreach activities, including sponsorship of a series of conferences on human factors and nuclear power plants. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS1990

Ames vision group research overview

A major goal of the reseach group is to develop mathematical and computational models of early human vision. These models are valuable in the prediction of human performance, in the design of visual coding schemes and displays, and in robotic vision. To date researchers have models of retinal sampling, spatial processing in visual cortex, contrast sensitivity, and motion processing. Based on their models of early human vision, researchers developed several schemes for efficient coding and compression of monochrome and color images. These are pyramid schemes that decompose the image into features that vary in location, size, orientation, and phase. To determine the perceptual fidelity of these codes, researchers developed novel human testing methods that have received considerable attention in the research community. Researchers constructed models of human visual motion processing based on physiological and psychophysical data, and have tested these models through simulation and human experiments. They also explored the application of these biological algorithms to applications in automated guidance of rotorcraft and autonomous landing of spacecraft. Researchers developed networks for inhomogeneous image sampling, for pyramid coding of images, for automatic geometrical correction of disordered samples, and for removal of motion artifacts from unstable cameras.

Watson, Andrew B.↗
NASA NTRS1999

Principal Investigator-in-a-Box

Human performance in orbit is currently limited by several factors beyond the intrinsic awkwardness of motor control in weightlessness. Cognitive functioning can be affected by such factors as cumulative sleep loss, stress and the psychological effects of long-duration small-group isolation. When an astronaut operates a scientific experiment, the performance decrement associated with such factors can lead to lost or poor quality data and even the total loss of a scientific objective, at great cost to the sponsors and to the dismay of the Principal Investigator. In long-duration flights, as anticipated on the International Space Station and on any planetary exploration, the experimental model is further complicated by long delays between training and experiment, and the large number of experiments each crew member must perform. Although no documented studies have been published on the subject, astronauts report that an unusually large number of simple errors are made in space. Whether a result of the effects of microgravity, accumulated fatigue, stress or other factors, this pattern of increased error supports the need for a computerized decision-making aid for astronauts performing experiments. Artificial intelligence and expert systems might serve as powerful tools for assisting experiments in space. Those conducting space experiments typically need assistance exactly when the planned checklist does not apply. Expert systems, which use bits of human knowledge and human methods to respond appropriately to unusual situations, have a flexibility that is highly desirable in circumstances where an invariably predictable course of action/response does not exist. Frequently the human expert on the ground is unavailable, lacking the latest information, or not consulted by the astronaut conducting the experiment. In response to these issues, we have developed "Principal Investigator-in-a-Box," or [PI], to capture the reasoning process of the real expert, the Principal Investigator, and combine that with real-time data available in space in order to advise the astronaut about how to proceed in real time. [PI] advises the astronaut during the progress of an experiment in much the same way a real Principal Investigator might do while looking over the astronaut's shoulder. In its original application, [PI] mimicked several of the tasks of the Principal Investigator, including data quality monitoring, troubleshooting, prescheduling, protocol management and "interesting data" detection. The proposed research focuses on the efficacy of this technique as applied to the data quality monitoring and troubleshooting aspects of [PI].

Young, Laurence R.↗
NASA NTRSDate not supplied

Extravehicular Activity on the Lunar Surface: Mapping Mitigation Risk Consequence for Crew Needing Assistance or Rescue

Extravehicular activity (EVA) on the lunar surface presents unique risks to crew with possibility for injury. Without appropriate assistance or rescue capability, inability to nominally ambulate and return to a lander, especially during early Artemis missions, could have catastrophic consequences. Mapping likelihood and consequence safety risk associated with identified injury scenarios establishes a baseline from which to assess potential mitigation solutions to ensure crew health and safety. Causes leading to the need for incapacitated crew rescue (ICR) during EVA on the lunar surface were previously identified and classified using an ICR/Acute Injury scenario spectrum. Severe scenarios are those when the affected astronaut requires either partial or full continuous assistance from the rescuer. Evaluation of these continual reliance conditions included calculating event probabilities (likelihoods) associated with an early Artemis mission and mapping them to established Exploration System Directorate (ESD) probability thresholds; safety consequences were analyzed and correlated to defined ESD personnel safety categories. These resulting likelihood and consequence values served as a baseline for assessing risk reduction of three mitigation capabilities: crew assistance (rescuer crew) only, walking assist devices, and a wheeled transport device. Of the twenty-five continual reliance conditions, ten were evaluated as “catastrophic” (Level 5, loss of life) during EVA on the lunar surface with probabilities ranging from moderate to very low during an early Artemis mission. Crew assistance only and walking assist devices showed similar potential for risk reduction, with four of the ten causes decreasing to Level 4. A wheeled transport device further increased risk reduction with six of the ten conditions decreasing to Level 4. Given the catastrophic consequence of several identified conditions, assessments should be performed to determine the feasibility of mitigation capabilities. It is currently unknown whether a rescuer astronaut could effectively provide continuous assistance to enable both crew to return safely to the lander from the standpoint of both suit geometry and human performance. Although resulting in an increase in resources, providing a wheeled transport provides the highest risk reduction potential, and walking assist devices may have prevention as well as mitigation benefits.

lunar surface↗
DOE OSTI2021

Using Qualified On-Site Nuclear Power Plant Simulators in Human Factors Validations of Control Room Upgrades

Existing commercial nuclear power plants (NPPs) are valuable assets in the infrastructure portfolio of the United States (U.S.) because they safely and reliably generate about 1/5th of all the electricity used. The instrumentation and control (I&C) systems in commercial NPPs are the ‘eyes and ears' of the operator, allowing operators to maintain situation awareness, thereby allowing the plant to operate safely and efficiently for all phases of operation. Because the I&C systems in NPPs are still mostly based on analog technologies, which are reliable but not especially cost-effective, upgrading the existing I&C in com-mercial NPPs to new digital I&C is very important. Furthermore, simulators and simulation are critical human factors engineering tools for this I&C modernization work. NPP control room simulators are essential test beds to simulate normal, abnormal, and emergency operations that allow human factors researchers to safely and realistically evaluate early design phase prototypes of the upgraded digital I&C, and validate final as-built digital I&C systems that have been modernized deployed in NPPs. This paper describes research performed using qualified on-site NPP simulators to perform human factors validations of digital I&C control room upgrades.

99 GENERAL AND MISCELLANEOUS↗
NASA NTRS2003

An Effective Division of Labor Between Human and Robotic Agents Performing a Cooperative Assembly Task

NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These so-called extra-vehicular activities (EVAs) are risky, expensive and complex. Work is underway to develop a robotic astronaut's assistant that can help reduce human EVA time and workload by delivering human-like dexterous manipulation capabilities to any EVA worksite. An experiment is conducted to evaluate human-robot teaming strategies in the context of a simplified EVA assembly task in which Robonaut, a collaborative effort with the Defense Advanced Research Projects Agency (DARPA), an anthropomorphic robot works side-by-side with a human subject. Team performance is studied in an effort to identify the strengths and weaknesses of each teaming configuration and to recommend an appropriate division of labor. A shared control approach is developed to take advantage of the complementary strengths of the human teleoperator and robot, even in the presence of significant time delay.

Rehnmark, Fredrik↗