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At least 631 records · Page 35
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Control of a Serpentine Robot for Inspection Tasks

This paper presents a simple and robust kinematic control scheme for the JPL serpentine robot system. The proposed strategy is developed using the dampened-least-squares/configuration control methodology, and permits the considerable dexterity of the JPL serpentine robot to be effectively utilized for maneuvering in the congested and uncertain workspaces often encountered in inspection tasks. Computer simulation results are given for the 20 degree-of-freedom (DOF) manipulator system obtained by mounting the twelve DOF serpentine robot at the end-effector of an eight DOF Robotics Research arm/lathe-bed system. These simulations demonstrate that the proposed approach provides an effective method of controlling this complex system.

robotics simulations kinematic control serpentine ↗
NASA NTRSDate not supplied

The Influence of Self-Reported Distractions on the Psychomotor Vigilance Task (PVT) in Laboratory and Field Environments

Introduction: The Psychomotor Vigilance Task (PVT) is a measure of vigilant attention that is commonly used in laboratory environments to assess the neurobehavioral impact of sleep loss and circadian misalignment. The PVT has been increasing in popularity for use in field environments; however, the potential for distraction is higher in the field compared to the lab. It is unclear how distractions experienced by individuals taking the PVT in the real world may influence reaction time metrics. We investigated the influence of self-reported distraction on PVT outcomes across laboratory and field environments. Methods: We examined PVT data from five studies including short (n=36 participants, 3799 PVTs) and long-haul (n=75 participants, 3283 PVTs) airline personnel, control center personnel (n=5 participants, 96 PVTs), and healthy individuals who participated in a study involving at-home and laboratory assessments (n=12 participants, 486 and 310 PVTs). Individuals in all of the studies were asked to complete the five-minute NASA PVT at least three times daily. Participants were asked to indicate the number of distractions they experienced immediately after each PVT. Mean PVT reaction time (RT) and number of distractions were computed for each study and overall. Results: Participants reported more distractions in field environments compared to the lab (short-haul=1.29 +/- 1.48, long-haul=0.66 +/- 1.07, control-center=1.20 +/- 1.37, at-home=0.86 +/- 1.36, laboratory=0.46 +/- 1.07) Across all studies, we found that PVT RT slowed as self-reported distractions increased (all studies combined: 0 distractions=PVT RT 274.4ms; 1=284.6ms; 2=302.9ms; 3=321.2ms; >4=409.3ms). These findings were similar for healthy participants completing PVTs at home (0 distractions=287.1ms; 1=309.9ms; 2=328.3ms; 3=369.8ms; >4=385.1ms) but were less consistent during in-lab assessments (0 distractions=278.7ms; 1=316.2ms; 2=396.2ms; 3=370.4ms; >4=354.4ms). These findings were similar for other PVT outcomes. Conclusion: Participants reported more distractions in field environments compared to the laboratory. Our findings suggest that the number of distractions that individuals report experiencing while taking a PVT increases the reaction time registered by the device. Researchers should collect information about distractions during the PVT and should be aware that distractions may influence the recorded PVT reaction time.

behavior↗
NASA NTRSDate not supplied

Analysis and Evaluation of NASA's MK40B Six-Component Task Balance

The MK40B balance is NASA's newest balance of Task design. Its load range was optimized for use in the NASA Ames 11-ft Transonic Wind Tunnel. The balance was calibrated in 2019 in Calspan's Automatic Balance Calibration System. The data analysis was performed at the Ames Balance Calibration Laboratory. First, bi-directional characteristics of the six gage outputs of the balance were assessed by applying a semi-empirical test to the calibration data. These tests indicated that four of the six gages have bi-directional characteristics. Therefore, the use of absolute value terms in the regression models of the calibration data is justified. Then, the machine calibration data was analyzed using both the Non-Iterative and the Iterative Method. Analysis results for the two methods were compared using the percent contributions, the calibration load residuals, the primary sensitivities, and the principle linear terms. These results confirmed that the two methods describe bi-directional characteristics of the balance gages correctly. In addition, it was concluded that the load prediction accuracies of the two methods are the same for all practical purposes.

wind tunnel balance↗
NASA NTRSDate not supplied

Scenario-Based Task Design for Airline Pilot Anticipatory Behaviors: Asynchronous Assessment of Complex Cognitive Skills

Airline pilots must anticipate potential threats to passenger safety and efficient flight. Such anticipation needs to occur at both the system and individual levels, yet no formal training for these anticipatory behaviors currently exists. The emerging field of resilience engineering provides a framework to explore this problem. Given the complex nature of this problem, the assessment portion of the project constituted a challenge. Simulator time is expensive as simulators are costly to run, and they are extremely limited in number. Also, by the nature of their work, pilots as a group are hard to connect with in person; thus, asynchronous methods were adopted. Further, to ensure that authentic pilot behaviors were observed, task-based scenarios were used rather than focus group or interview protocols. This session explores the design of asynchronous learning and a measure for assessing pilot anticipatory behaviors outside of a simulator to help design learning opportunities for pilots. The scenario-based and active assessment items will be discussed in detail, and demonstrations of these items will be shared. These items constitute the bulk of the challenge for this work. At the time of this writing, data is being collected to assess the effectiveness of the interactive training module and validate the measures. This data will be analyzed and presented as part of the session. This will include any linkages between the scenario-based and traditional assessment items.

task design↗
NASA NTRS1965

The task manager

Management principles and objectives for data systems task manager

DATA PROCESSING↗