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Certainty grids for mobile robots

A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

Moravec, H. P.↗

Architecture and Functionality of the Advanced Life Support On-Line Project Information System

An ongoing effort is underway at NASA Ames Research Center (ARC) to develop an On-line Project Information System (OPIS) for the Advanced Life Support (ALS) Program. The objective of this three-year project is to develop, test, revise and deploy OPIS to enhance the quality of decision-making metrics and attainment of Program goals through improved knowledge sharing. OPIS will centrally locate detailed project information solicited from investigators on an annual basis and make it readily accessible by the ALS Community via a Web-accessible interface. The data will be stored in an object-oriented relational database (created in MySQL) located on a secure server at NASA ARC. OPE will simultaneously serve several functions, including being an research and technology development (R&TD) status information hub that can potentially serve as the primary annual reporting mechanism for ALS-funded projects. Using OPIS, ALS managers and element leads will be able to carry out informed R&TD investment decisions, and allow analysts to perform accurate systems evaluations. Additionally, the range and specificity of information solicited will serve to educate technology developers of programmatic needs. OPIS will collect comprehensive information from all ALS projects as well as highly detailed information specific to technology development in each ALS area (Waste, Water, Air, Biomass, Food, Thermal, Controls and Systems Analysis). Because the scope of needed information can vary dramatically between areas, element-specific technology information is being compiled with the aid of multiple specialized working groups. This paper presents the current development status in terms of the architecture and functionality of OPIS. Possible implementation approaches for OPIS are also discussed.

Hogan, John A.↗

Omnidirectional Inter-Satellite Optical Communicator (ISOC)

The objective of the Omnidirectional Inter-Satellite Optical Communicator (ISOC) project is to design a compact, lightweight,and energy efficient communicator module for use between satellites in space. This module will achieve continuous optical communication, with simultaneous data transmission and reception, at up to1 gigabit per second (Gbits) data rates for small spacecraft separated by up to 200 kilometers (kms). To achieve this goal,a data communicator with full spherical coverage field of view (FOV) needs to be designed. The proposed ISOC is a dodecahedron geometric array of chipscale, microelectromechanical systems (MEMS) based gimbal-less scanning mirrors that provide adjustable beam pointing and spherical FOV coverage for uninterrupted data transmission between several small spacecraft at arbitrary relative positions. This design eliminates known pointing issues and hence allows accurate direction of arrival calculations.Moreover, the proposed approach will enable data relaying between multiple satellites, and enable relative navigation control.

Inter-small satellite communication↗

Oculometric Analysis of Saccadic Compensation for Visual Motion Processing Impairment due to Alcohol and Sleep Disruption

The Visuomotor Control Laboratory at Ames Research Center has developed a 5-minute ocular tracking test that computes 21 largely independent metrics of visuomotor performance, reflecting neural signal processing along a number of distinct pathways through cortex, brainstem, and cerebellum. Human sensorimotor performance is resilient to the challenges and stressors of many operational environments, in part, because overall performance is achieved through multiple parallel systems. Our multidimensional oculometrics allow us to examine impacts on these sub-components separately. To illustrate this, we contrasted the effects of two mild neural stressors, acute sleep-deprivation and low-dose alcohol. We have previously shown that, in both cases, oculometric analysis is a highly sensitive indicator of impairment. Here we quantified not only the observed impact on the performance of one sub-system, smooth pursuit, which uses high-level cortical processing of visual motion to track a moving object, but also the observed (partial) compensation by an evolutionarily older mid-brain and brainstem subsystem, saccades, which generates jumps in eye position to catch up with the target when smooth pursuit is inadequate. Specifically, we examined the dose-response (effect size vs. dose size) of the ground lost (pursuit deficit) and the ground recouped (saccadic compensation) across three separate studies – acute low-dose alcohol administration (16 subjects), acute sleep loss (12 subjects), and acute sleep loss with caffeine intervention (9 subjects). We computed the dose-response slopes using linear regression. The figure below shows that, in the case of acute sleep deprivation, the resulting slopes for ground lost and ground recouped (mean ± SE across subjects) were significantly different (paired t-test, t(11) = 5.17, p < 0.001), indicating poor saccadic compensation. However, when sleep loss was coupled with caffeine ingestion, ground lost was decreased and ground recouped increased such that the slopes were no longer different (t(8) = -0.05, p = 0.965). With alcohol, the two slopes were large albeit not significantly different (t(15) = 0.96, p = 0.351), indicating significant pursuit impairment but effective saccadic compensation. Our findings show that sleep deprivation and alcohol affect oculomotor performance differently. Low-dose alcohol effects appear predominantly cortical, with effective brainstem compensation. Sleep loss and circadian disruption however appears to affect both cortical and brainstem pathways with caffeine providing an effective countermeasure to both effects. Beyond the mere detection of impairment, our oculometric assessment allows us to characterize the nature of the deficit, to provide insight into the neural substrate, and to assess the effectiveness of countermeasures.

pursuit↗

Facilitating Ionic and Electronic Conduction in Radical Polymers through Controlled Assembly

The major objectives, research performed, and significant results associated with this effort agree with the originally proposed work. That is, we have made significant advances in terms of both the experimental and computational thrusts of this effort, and these key results have allowed for us to have significant impact in the materials chemistry community. As is usual, this has led to even greater tangible product generation in the final year of the work relative to the first two years. Importantly, we have observed that the materials created under this effort have promising electronic and ionic conductivity properties along these lines, and we have developed the initial structure-property-performance relationships that offer future promise for these open-shell materials in advanced energy applications. One metric that represents this success is the number of publications that appear in notable journals regarding the work performed. Additionally, the team has been invited to present at many conferences of leading societies and at top academic institutions due to the work associated with this award. Finally, we anticipate that this will be of interest to multiple communities in the materials chemistry realm, and they will have broader impact into related technologies as well.

36 MATERIALS SCIENCE↗

High Performance EVA Glove Collaboration: Glove Injury Data Mining Effort

Human hands play a significant role during Extravehicular Activity (EVA) missions and Neutral Buoyancy Lab (NBL) training events, as they are needed for translating and performing tasks in the weightless environment. Because of this high frequency usage, hand and arm related injuries are known to occur during EVA and EVA training in the NBL. The primary objectives of this investigation were to: 1) document all known EVA glove related injuries and circumstances of these incidents, 2) determine likely risk factors, and 3) recommend interventions where possible that could be implemented in the current and future glove designs. METHODS: The investigation focused on the discomforts and injuries of U.S. crewmembers who had worn the pressurized Extravehicular Mobility Unit (EMU) spacesuit and experienced 4000 Series or Phase VI glove related incidents during 1981 to 2010 for either EVA ground training or in-orbit flight. We conducted an observational retrospective case-control investigation using 1) a literature review of known injuries, 2) data mining of crew injury, glove sizing, and hand anthropometry databases, 3) descriptive statistical analyses, and finally 4) statistical risk correlation and predictor analyses to better understand injury prevalence and potential causation. Specific predictor statistical analyses included use of principal component analyses (PCA), multiple logistic regression, and survival analyses (Cox proportional hazards regression). Results of these analyses were computed risk variables in the forms of odds ratios (likelihood of an injury occurring given the magnitude of a risk variable) and hazard ratios (likelihood of time to injury occurrence). Due to the exploratory nature of this investigation, we selected predictor variables significant at p≤0.15. RESULTS: Through 2010, there have been a total of 330 NASA crewmembers, from which 96 crewmembers performed 322 EVAs during 1981-2010, resulting in 50 crewmembers being injured inflight and 44 injured during 11,704 ground EVA training events. Of the 196 glove related injury incidents, 106 related to EVA and 90 to EVA training. Over these 196 incidents, 277 total injuries (126 flight; 151 training) were reported and were then grouped into 23 types of injuries. Of EVA flight injuries, 65% were commonly reported to the hand (in general), metacarpophalangeal (MCP) joint, and finger (not including thumb) with fatigue, abrasion, and paresthesia being the most common injury types (44% of total flight injuries). Training injuries totaled to more than 70% being distributed to the fingernail, MCP joint, and finger crotch with 88% of the specific injuries listed as pain, erythema, and onycholysis. Of these training injuries, when reporting pain or erythema, the most common location was the index finger, but when reporting onycholysis, it was the middle finger. Predictor variables specific to increased risk of onycholysis included: female sex (OR=2.622), older age (OR=1.065), increased duration in hours of the flight or training event (OR=1.570), middle finger length differences in inches between the finger and the EVA glove (OR=7.709), and use of the Phase VI glove (OR=8.535). Differentiation between training and flight and injury reporting during 2002-2004 were significant control variables. For likelihood of time to first onycholysis injury, there was a 24% reduction in rate of reporting for each year increase in age. Also, more experienced crewmembers, based on number of EVA flight or training events completed, were less likely to report an onycholysis injury (3% less for every event). Longer duration events also found reporting rates to occur 2.37 times faster for every hour of length. Crewmembers with larger hand size reported onycholysis 23% faster than those with smaller hand size. Finally, for every 1/10th of an inch increase in difference between the middle finger length and the glove, the rate of reporting increased by 60%. DISCUSSION: One key finding was that the Series 4000 glove had a lower injury risk than the Phase VI, which provides a platform for further evaluation. General interventions that reduce hand overexertion and repetitive use exposure through tool development, procedural changes and shorter exposures may be one mitigation path, but due to the way the training event times were reported, we cannot provide a guideline for a specific event duration change. When the finger length was different from the glove length, the risk of injury increased indicating that the use of larger finger take-ups could be contributing to injury and therefore may not be recommended. Prior to this investigation, there was one previous investigation indicating hand anthropometry may be related to onycholysis. We found different hand anthropometry variables indicated by this investigation as compared to the prior, specifically differences in middle finger length compared to glove finger length, which point more towards a sizing issue than a specific anthropometry issue. Additionally, although this investigation has identified sizing as an issue, the force and environmental-related variables of the EVA glove that could also cause injury were not accounted for.

Reid, C. R.↗

Semantic Interoperability to Enable Smart, Grid-Interactive Efficient Buildings

Achieving a widespread transition to grid-interactive, efficient buildings (GEBs) depends critically on there being sufficient interoperability among connected building systems. While many critical elements already exist at the technical interoperability level (TCP/IP, BACnet, etc.), a lack of interoperability in the semantic level hinders streamlined integration of interdependent applications. Semantics refers to expressing information about “things” in a way that can be consistently understood by applications. Key components of formalized semantics include identifying what a “thing” is (its “type”), defining general information about that “thing” (its characteristics or properties), and defining the appropriate relationships of that “thing” to other “things” (its function or role in a larger system). Although this might seem initially trivial, the success of smart building applications is highly dependent on maintaining consistent notions of the “things” being self-descriptive. Without semantic interoperability, it is technically difficult, labor-intensive, and cost-prohibitive to enable three key objectives of GEBs: optimizing performance, identifying faults, and delivering grid services. Industry, academia, and standards bodies have invested effort in developing information models to facilitate semantic interoperability, however, they have not been widely adopted across the U.S. commercial building portfolio. This paper will present a pathway to drive semantic interoperability through a three-pronged approach to be led by the DOE Building Technologies Office in partnership with NIST and multiple national laboratories comprising: 1) industry engagement and coordination across existing efforts; 2) a semantic interoperability standard that empowers building owners to identify and require interoperable attributes when procuring equipment and applications; 3) tools to assist in implementation and a test framework that can verify compliance of products with semantic interoperability specifications. This strategic approach is designed to accelerate the timeline for adoption of semantic interoperability standards. The intent is to reduce soft costs associated with implementing advanced controls, fault detection and diagnostics, and other smart building technologies as a necessary step in achieving an energy efficient smart grid future.

semantic interoperability, Semantic modeling, inte↗

Semantic Interoperability to Enable Smart, Grid-Interactive Efficient Buildings

Achieving a widespread transition to grid-interactive, efficient buildings (GEBs) depends critically on there being sufficient interoperability among connected building systems. While many critical elements already exist at the technical interoperability level (TCP/IP, BACnet, etc.), a lack of interoperability in the semantic level hinders streamlined integration of interdependent applications. Semantics refers to expressing information about “things” in a way that can be consistently understood by applications. Key components of formalized semantics include identifying what a “thing” is (its “type”), defining general information about that “thing” (its characteristics or properties), and defining the appropriate relationships of that “thing” to other “things” (its function or role in a larger system). Although this might seem initially trivial, the success of smart building applications is highly dependent on maintaining consistent self-descriptive notions of the “things”. Without semantic interoperability, it is technically difficult, labor-intensive, and cost-prohibitive to enable three key objectives of GEBs: optimizing performance, automatically identifying and diagnosing faults, and delivering grid services. Industry, academia, and standards bodies have invested effort in developing information models to facilitate semantic interoperability, however, they have not been widely adopted across the U.S. commercial building portfolio. This paper will present a pathway to drive semantic interoperability through a three-pronged approach to be led by the DOE Building Technologies Office in partnership with NIST and multiple national laboratories comprising: 1) industry engagement and coordination across existing efforts; 2) a semantic interoperability standard that empowers building owners to identify and require interoperable attributes when procuring equipment and applications; 3) tools to assist in implementation and a test framework to verify compliance of products with semantic interoperability specifications. This approach is designed to accelerate the timeline for adoption of semantic interoperability specifications. The intent is to reduce soft costs associated with implementing advanced controls, fault detection and diagnostics, and other smart building technologies and use cases as a necessary step in achieving an energy efficient smart grid future.

Bergmann, Harry↗

Machine Learning for Prediction of Thermodynamic Descriptors

Our objective is to apply machine learning (ML) algorithms for the prediction of molecular catalysis descriptors from geometric properties derived from experimental crystallographic databases. Catalysis is often considered a “low-data” discipline that is poorly suited for ML methods. An exception is the extensive structural information that is available for molecular catalysts through the Cambridge Structural Database (CSD), which contains atomically precise molecular structures from X-ray diffraction analysis for >600K metal complexes. As a proof-of-principle, we targeted the prediction of hydricity, a thermodynamic property that provides understanding and control of catalytic hydride transfer. We built a training set composed of ~100 molecular complexes with a known hydricity and structural information from the CSD. This data set was converted into a machine-readable format using the smooth overlap of atomic positions (SOAP) representation and further labeled with simple electronic descriptors for the metal centers. Multiple different neural networks were trained on this data set, and the accuracy of the hydricity predictions ranged from < 2 kcal/mol to 20 kcal/mol. The accuracy of each model was highly sensitive to which compounds were in the train versus test set, underscoring the challenges associated with small and chemically diverse data sets. Finally, to further augment the data set, we attempted to experimentally measure several new hydricity values, however these experiments were unsuccessful due to undesired chemical reactivity of the selected complexes.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Rolling maneuver load alleviation using active controls

Rolling Maneuver Load Alleviation (RMLA) was demonstrated on the Active Flexible Wing (AFW) wind tunnel model in the LaRC Transonic Dynamics Tunnel. The design objective was to develop a systematic approach for developing active control laws to alleviate wing incremental loads during roll maneuvers. Using linear load models for the AFW wind-tunnel model which were based on experimental measurements, two RMLA control laws were developed based on a single-degree-of-freedom roll model. The RMLA control laws utilized actuation of outboard control surface pairs to counteract incremental loads generated during rolling maneuvers and roll performance. To evaluate the RMLA control laws, roll maneuvers were performed in the wind tunnel at dynamic pressures of 150, 200, and 250 psf and Mach numbers of .33, .38, and .44, respectively. Loads obtained during these maneuvers were compared to baseline maneuver loads. For both RMLA controllers, the incremental torsion moments were reduced by up to 60 percent at all dynamic pressures and performance times. Results for bending moment load reductions during roll maneuvers varied. In addition, in a multiple function test, RMLA and flutter suppression system control laws were operated simultaneously during roll maneuvers at dynamic pressures 11 percent above the open-loop flutter dynamic pressure.

Woods-Vedeler, Jessica A.↗

The Synthesis of Optimum Homing Missile Guidance Systems with Statistical Inputs

An analytical approach is presented which is applicable to the optimization of homing navigation guidance systems which are forced to operate in the presence of radar noise. The two primary objectives are to establish theoretical minimum miss distance performance and a method of synthesizing the optimum control system. The factors considered are: (1) target evasive maneuver, (2) radar glint noise, (3) missile maneuverability, and (4) the inherent time-varying character of the kinematics. Two aspects of the problem are considered. In the first, consideration is given only to minimization of the miss distance. The solution given cannot be achieved in practice because the required accelerations are too large. In the second, results are extended to the practical case where the limited acceleration capabilities of the missile are considered by placing a realistic restriction on the mean-square acceleration so that system operation is confined to the linear range. Although the exact analytical solution of the latter problem does not appear feasible, approximate solutions utilizing time-varying control systems can be found. One of these solutions - a range multiplication type control system - is studied in detail. It is shown that the minimum obtainable miss distance with a realistic restriction on acceleration is close to the absolute minimum for unlimited missile maneuverability. Furthermore, it is shown that there is an equivalence in performance between the homing and beam-rider type guidance systems. Consideration is given to the effect of changes in target acceleration, noise magnitude, and missile acceleration on the minimum miss distance.

Stewart, Elwood C.↗

The Nucleus of Comet 9P-Tempel 1: Shape and Geology from Two Flybys

The nucleus of comet Tempel 1 has been investigated at close range during two spacecraft missions separated by one comet orbit of the Sun, 5 1/2 years. The combined imaging covers 70% of the surface of this object which has a mean radius of 2.83 +/- 0.1 km. The surface can be divided into two terrain types: rough, pitted terrain and smoother regions of varying local topography. The rough surface has round depressions from resolution limits (10 m/pixel) up to 1 km across, spanning forms from crisp steep-walled pits, to subtle albedo rings, to topographic rings, with all ranges of morphologic gradation. Three gravitationally low regions of the comet have smoother terrain, parts of which appear to be deposits from minimally modified flows, with other parts likely to be heavily eroded portions of multiple layer piles. Changes observed between the two missions are primarily due to backwasting of scarps bounding one of these probable flow deposits. This style of erosion is also suggested by remnant mesa forms in other areas of smoother terrain. The two distinct terrains suggest either an evolutionary change in processes, topographically- controlled processes, or a continuing interaction of erosion and deposition.

geological↗

Semantic Interoperability to Enable Smart, Grid-Interactive Efficient Buildings

Achieving a widespread transition to grid-interactive, efficient buildings (GEBs) depends critically on there being sufficient interoperability among connected building systems. While many critical elements already exist at the technical interoperability level (TCP/IP, BACnet, etc.), a lack of interoperability in the semantic level hinders streamlined integration of interdependent applications. Semantics refers to expressing information about “things” in a way that can be consistently understood by applications. Key components of formalized semantics include identifying what a “thing” is (its “type”), defining general information about that “thing” (its characteristics or properties), and defining the appropriate relationships of that “thing” to other “things” (its function or role in a larger system). Although this might seem initially trivial, the success of smart building applications is highly dependent on maintaining consistent self-descriptive notions of the “things”. Without semantic interoperability, it is technically difficult, labor-intensive, and cost-prohibitive to enable three key objectives of GEBs: optimizing performance, automatically identifying and diagnosing faults, and delivering grid services. Industry, academia, and standards bodies have invested effort in developing information models to facilitate semantic interoperability, however, they have not been widely adopted across the U.S. commercial building portfolio. This paper will present a pathway to drive semantic interoperability through a three-pronged approach to be led by the DOE Building Technologies Office in partnership with NIST and multiple national laboratories comprising: 1) industry engagement and coordination across existing efforts; 2) a semantic interoperability standard that empowers building owners to identify and require interoperable attributes when procuring equipment and applications; 3) tools to assist in implementation and a test framework to verify compliance of products with semantic interoperability specifications. This approach is designed to accelerate the timeline for adoption of semantic interoperability specifications. The intent is to reduce soft costs associated with implementing advanced controls, fault detection and diagnostics, and other smart building technologies and use cases as a necessary step in achieving an energy efficient smart grid future.

30 DIRECT ENERGY CONVERSION↗

High Energy Micron Scale Pixel Hybrid Detector

The objective of this technology development project has been to fabricate and characterize a new X-ray area image sensor innovation designed for high efficiency detection and imaging of hard X-rays (>20 KeV) with micron scale pixel resolution. A key technology component consists of a monolithic hybrid X-ray detector built by layering an amorphous Selenium X-ray photoconductor film directly deposited on a small pitch (7.8μm) CMOS active pixel readout array. A specific goal of this work is to provide a new detector tool to researchers working with synchrotron light sources, to extend the depth of exploration into nanoscale structures, and do so cost effectively. Early generation X-ray imaging detector tools fail to provide adequate resolving power and efficiency at high energies and our innovation provides a solution. A majority of proposed phase I tasks were completed. Those tasks included, in collaboration with KA Imaging, successful fabrication of specified a-Se layers on a 1Mpixel CMOS readout array to create the direct hybrid X-ray imaging array, packaging of the imaging array, assembly of electronics into a shielded detector box, loading user interface software for camera control and image capture, and performing initial (no X-ray) detector evaluation at Farrier Microengineering facilities. After initial tests, extensive testing using the X-ray beam line 1-BM source at Argonne National Laboratory Advanced Photon Source(ANL-APS) was performed. Imaging performance studies were conducted at multiple X-ray beam energies. Studies included X-ray response vs. X-ray energy, vs. applied detector field strength (HV), response linearity vs. integration time, MTF vs. beam energy, image lag measurements, and micron scale resolution pattern target imaging. This high energy micron scale X-ray detection technology is a first of a kind to be evaluated at the ANL-APS and is supported by Dr. Antonino Miceli, head of the detector physics group. Accomplishments include the first successful demonstration of a 1Mpix amorphous Selenium on CMOS readout direct hybrid X-ray imaging detector at a DOE sponsored National Laboratory. Modeled performance predictions were confirmed, proving micron scale resolution as well as an order of magnitude increase in conversion efficiency over conventional scintillator detector performance. A discovery of evidence of propagation-based phase contrast edge enhancement was unplanned and will be exploited in future experiments. This phase 1 technology demonstration verifies the efficacy of proposed high energy micron scale pixel X-ray hybrid a-Se imaging array products. The new detector products will cost effectively replace early generation detector technologies that currently fail to address increasing demand for tools to study nano structures and physical processes at high X-ray energies above 20keV. For example, current systems for transmission X-ray microscopy have low efficiency and available large pixel (~55µm) direct detectors do not offer sufficient resolution for Bragg fringe imaging at high energies. This detector innovation will solve these inadequacies. The new detector technology will compete in a $50M scientific X-ray detector market, growing at 6%, and will benefit Microtomography(µCT), X-ray diffractometry (XRD), Coherent Diffraction Imaging (CDI) applications. One application specified by Dr. Miceli at ANL is the 3D reconstruction of compact crystals at high energies requires small pixel high efficiency X-ray detectors. Farrier Microengineering, working with colleagues at KA Imaging and the University of Waterloo, successfully achieved the critical objectives of the Phase I proposal. We have proven the technical feasibility of this innovation by building and successfully testing a 1Mpixel a-Se/CMOS hybrid direct X-ray imaging array. Our commercialization roadmap of detector products will be implemented during a phase II project. We will demonstrate a migration of the technology to larger detector array sizes, improved temporal performance with detector layer engineering, and improved environmental and operational stability. Manufacturability and cost effectiveness are key objectives and product designs will leverage current state of the art CMOS wafer fabrication quality and volume manufacturing economics.

36 MATERIALS SCIENCE↗

Utilizing Gaps and Key Performance Parameters to Inform NASA Environmental Control and Life Support and Human Health and Performance Capability Technology Decisions

Human spaceflight is a complex endeavor requiring multiple capabilities for transportation, crew health, scientific goals, and safe return to Earth. The difference between spaceflight proven capabilities and those needed for future exploration architectures is defined as a capability gap. Capability gaps are not technology specific. Each capability gap is approachable with a wide array of technologies that have unique benefits and challenges. Determining what a capability’s relevant and distinguishing key performance parameters (KPPs) are for a mission is critical. Mass, power, and volume are always constrained and important, but defining these in a way normalized by performance is challenging. Additionally, KPP definition for reliability, dormancy, and integration needs are very important and still evolving. This paper provides the approach of the Environmental Control and Life Support – Crew Health and Performance (ECLSS-CHP) System Capability Leadership Team (SCLT) has used to define gaps and KPPs in support of the NASA’s Capabilities Integration Team data call objectives. The nine ECLSS-CHP capability areas are decomposed to capabilities with ~76 gaps and supported with KPPs. Rather than defining very detailed gaps, ECLSS-CHP defines high-level gaps to be technology agnostic. Within a gap, detailed KPPs are defined to both compare technologies and measure progress within a technology over time. Ideally, KPPs are clearly defined, widely communicated both internally and externally, and provide a common nomenclature to describe the state of the art and the degree of improvement required for exploration missions. KPPs help define when the gap is closed, and the core mission objectives can be accomplished. Further technology improvements to enhance the capability, as measured by improved KPPs, must then be weighed against investments in open capability gaps that prevent NASA from achieving its exploration missions. It is uncommon that a technology maturation to improve all the relevant KPPs simultaneously but using KPPs is a critical technology investment decision making component. In addition to traditional technology selections, KPPs are informing how investments in ground testing prior to and in parallel with ISS technology demonstrations are required to improve reliability KPPs. The collection of all major technology activities within a capability area are captured on technology roadmaps to communicate how diverse program activities are coordinated to close gaps and infuse into exploration mission needs. A selection of ECLSS-CHP gaps and KPPs and their formulation, current state, and how they inform capability roadmap planning are discussed.

Life Support↗

Determining Desirable Cursor Control Device Characteristics for NASA Exploration Missions

The Crew Exploration Vehicle (CEV) that will travel to the moon and Mars, and all future Exploration vehicles and habitats will be highly computerized, necessitating an accurate method of interaction with the computers. The design of a cursor control device will have to take into consideration g-forces, vibration, gloved operations, and the specific types of tasks to be performed. The study described here is being undertaken to begin identifying characteristics of cursor control devices that will work well for the unique Exploration mission environments. The objective of the study is not to identify a particular device, but to begin identifying design characteristics that are usable and desirable for space missions. Most cursor control devices have strengths and weaknesses; they are more appropriate for some tasks and less suitable for others. The purpose of this study is to collect some initial usability data on a large number of commercially available and proprietary cursor control devices. A software test battery was developed for this purpose. Once data has been collected using these low-level, basic point/click/drag tasks, higher fidelity, scenario-driven evaluations will be conducted with a reduced set of devices. The standard tasks used for testing cursor control devices are based on a model of human movement known as Fitts law. Fitts law predicts that the time to acquire a target is logarithmically related to the distance over the target size. To gather data for analysis with this law, fundamental, low-level tasks are used such as dragging or pointing at various targets of different sizes from various distances. The first four core tasks for the study were based on the ISO 9241-9:(2000) document from the International Organization for Standardization that contains the requirements for non-keyboard input devices. These include two pointing tasks, one dragging and one tracking task. The fifth task from ISO 9241-9, the circular tracking task was not used because it is a movement that is not applicable to most of the applications used on aviation displays. Additionally, we opted to add a multi-size and multi-distance pointing task, and two ecologically more valid tasks which included text selection, and interaction with drop down menus, sliders, and checkboxes. The Visual Basic test battery tracks the task and trial numbers, measures the pointing, tracking or dragging time, as well as the number and types of errors. The testing session includes a practice set for each input device, then the randomized 7 tasks, and finally a questionnaire about the device. This is repeated for all the devices tested within a session. The experiment is a within-subjects design, with participants returning for multiple sessions to test additional devices. The input devices will be compared based on objective performance data from the tasks, as well as subjective feedback and ratings on the questionnaire.

Aniko Sandor↗

Virtual Reality for Shoot/No-Shoot Decision Training in Law Enforcement: A Literature Review and Research Agenda

Virtual reality (VR) can materially improve “shoot / no-shoot” (SNS) training by giving officers realistic, repeatable practice making high-stakes decisions under pressure. Traditional tools—live-fire ranges and video simulators—build basics, but they cannot adapt to each officer in real time or fully mirror the complexity of the field. VR closes that gap by creating immersive scenarios that are safer, more flexible, easier to scale across units, and able to capture objective performance data. SNS decisions are not just about marksmanship; they rely on perception, judgment, memory, and the ability to hold fire when a threat is uncertain. Effective training therefore needs realism, decision complexity, and branching outcomes that reflect the true consequences of choices. These elements strengthen recognition of hostile intent while reducing false positives and building the self-control required in ambiguous situations. VR brings specific advantages: dynamic environments, full-body interaction, and the ability to measure performance with precision—enabling targeted feedback and better transfer of learning to the street. At the same time, responsible deployment must address scenario quality (credible environments and behaviors), lawful decision models, and user wellbeing (appropriate stress levels, comfort, and safety). Sandia’s VIPER Lab is positioned to lead this work. The team combines human-performance science, AI/ML, and VR/AR development with a deep equipment bench (e.g., omnidirectional treadmill, eye-tracking, haptics, multiple HMDs). This ecosystem supports building and validating next-generation SNS training that is immersive, measurable, and trustworthy. Bottom line: Investment in VR-enabled SNS training that blends evidence-based design with careful validation and legal safeguards is expected to pay off in safer, more consistent decision-making and improved community trust, delivered through training that is practical to deploy at scale.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

Science Capabilities of the Common Habitat

The Common Habitat is the primary habitable element in a conceptual architecture feasibility study for long-duration space exploration with an eight-person crew size. On lunar or planetary surfaces, the Common Habitat forms the core of a Surface Base Camp. In microgravity, the Common Habitat is the core of the Deep Space Exploration Vehicle (DSEV), an in-space transportation spacecraft. The Common Habitat employs a horizontal orientation that is divided internally into a lower deck, mid deck, and upper deck, roughly separating outfitting into individual, work, and group functions. On a planetary surface, the habitat is incorporated into a base camp, located near the south pole in the case of the Moon. The Mars base camp is currently location agnostic. Each base camp is divided into habitation, landing, resource production, and power zones. In microgravity, the habitat is incorporated into the Deep Space Exploration Vehicle, a vessel capable of transporting the crew within the inner solar system. In addition to crew and teleoperated control of external science assets, the Common Habitat employs a suite of life and physical science laboratory systems to enable it to support science investigations across a variety of destination environments, primarily featuring the Moon and Mars, along with the intervening interplanetary space. Other potential destinations include Near Earth Asteroids and Venus and Earth orbits. Located in the aft starboard section of the Common Habitat mid deck, the life science laboratory supports primarily biology and human research. In its baseline configuration, the laboratory includes horizontal work surfaces, freezers, multiple gloveboxes, sample transfer/exposure capability, large instruments, and reconfigurable ISPR-compatible payload bays. The Medical Care Facility and exercise facility can also support life science research. In the aft port section of the mid deck, the physical science laboratory supports physics, chemistry, materials science, geology, and remote sensing (including astrophysics, heliophysics, Earth science, planetary science, and meteorology). It provides a baseline of similar ISPR-compatible payload bays and adds additional freezers, including those for cryogenic sample storage, a remote sensing workstation, more gloveboxes, also with sample transfer/exposure, combustion chambers, fluid mechanics chambers, and a gas chromatograph. It leverages the Command & Control Center for teleoperations of mobile science assets. Both laboratories are highly modular, with the ability to swap out both payloads and instruments on an as-needed basis. The integrated science outfitting of the Common Habitat positions its crew to contribute to all of NASA’s Moon to Mars science objectives and extend human understanding into the inner solar system.

Lunar Suface↗