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NASA NTRS1992

The use of automation and robotic systems to establish and maintain lunar base operations

Robotic systems provide a means of performing many of the operations required to establish and maintain a lunar base. They form a synergistic system when properly used in concert with human activities. This paper discusses the various areas where robotics and automation may be used to enhance lunar base operations. Robots are particularly well suited for surface operations (exterior to the base habitat modules) because they can be designed to operate in the extreme temperatures and vacuum conditions of the Moon (or Mars). In this environment, the capabilities of semi-autonomous robots would surpass that of humans in all but the most complex tasks. Robotic surface operations include such activities as long range geological and mineralogical surveys with sample return, materials movement in and around the base, construction of radiation barriers around habitats, transfer of materials over large distances, and construction of outposts. Most of the above operations could be performed with minor modifications to a single basic robotic rover. Within the lunar base habitats there are a few areas where robotic operations would be preferable to human operations. Such areas include routine inspections for leakage in the habitat and its systems, underground transfer of materials between habitats, and replacement of consumables. In these and many other activities, robotic systems will greatly enhance lunar base operations. The robotic systems described in this paper are based on what is realistically achievable with relatively near term technology. A lunar base can be built and maintained if we are willing.

Petrosky, Lyman J.↗

NASA NTRS1993

Ground operation of robotics on Space Station Freedom

This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

Wojcik, Z. Alex↗

NASA NTRS1993

Representing operations procedures using temporal dependency networks

DSN Link Monitor & Control (LMC) operations consist primarily of executing procedures to configure, calibrate, test, and operate a communications link between an interplanetary spacecraft and its mission control center. Currently the LMC operators are responsible for integrating procedures into an end-to-end series of steps. The research presented in this paper is investigating new ways of specifying operations procedures that incorporate the insight of operations, engineering, and science personnel to improve mission operations. The paper describes the rationale for using Temporal Dependency Networks (TDN's) to represent the procedures, a description of how the data is acquired, and the knowledge engineering effort required to represent operations procedures. Results of operational tests of this concept, as implemented in the LMC Operator Assistant Prototype (LMCOA), are also presented.

Fayyad, Kristina E.↗

NASA NTRS1994

A distributed planning concept for Space Station payload operations

The complex and diverse nature of the payload operations to be performed on the Space Station requires a robust and flexible planning approach. The planning approach for Space Station payload operations must support the phased development of the Space Station, as well as the geographically distributed users of the Space Station. To date, the planning approach for manned operations in space has been one of centralized planning to the n-th degree of detail. This approach, while valid for short duration flights, incurs high operations costs and is not conducive to long duration Space Station operations. The Space Station payload operations planning concept must reduce operations costs, accommodate phased station development, support distributed users, and provide flexibility. One way to meet these objectives is to distribute the planning functions across a hierarchy of payload planning organizations based on their particular needs and expertise. This paper presents a planning concept which satisfies all phases of the development of the Space Station (manned Shuttle flights, unmanned Station operations, and permanent manned operations), and the migration from centralized to distributed planning functions. Identified in this paper are the payload planning functions which can be distributed and the process by which these functions are performed.

Hagopian, Jeff↗

NASA NTRS1994

EDOS operations concept and development approach

The Earth Observing System (EOS) Data and Operations System (EDOS) is being developed by the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) for the capture, level zero processing, distribution, and backup archiving of high speed telemetry data received from EOS spacecraft. All data received will conform to the Consultative Committee for Space Data Standards (CCSDS) recommendations. The major EDOS goals are to: (1) minimize EOS program costs to implement and operate EDOS; (2) respond effectively to EOS growth requirements; and (3) maintain compatibility with existing and enhanced versions of NASA institutional systems required to support EOS spacecraft. In order to meet these goals, the following objectives have been defined for EDOS: (1) standardize EDOS interfaces to maximize utility for future requirements; (2) emphasize life-cycle cost (LCC) considerations (rather than procurement costs) in making design decisions and meeting reliability, maintainability, availability (RMA) and upgradability requirements; (3) implement data-driven operations to the maximum extent possible to minimize staffing requirements and to maximize system responsiveness; (4) provide a system capable of simultaneously supporting multiple spacecraft, each in different phases of their life-cycles; (5) provide for technology insertion features to accommodate growth and future LCC reductions during the operations phase; and (6) provide a system that is sufficiently robust to accommodate incremental performance upgrades while supporting operations. Operations concept working group meetings were facilitated to help develop the EDOS operations concept. This provided a cohesive concept that met with approval of responsible personnel from the start. This approach not only speeded up the development process by reducing review cycles, it also provided a medium for generating good ideas that were immediately molded into feasible concepts. The operations concept was then used as a basis for the EDOS specification. When it was felt that concept elements did not support detailed requirements, the facilitator process was used to resolve discrepancies or to add new concept elements to support the specification. This method provided an ongoing revisal of the operations concept and prevented large revisions at the end of the requirement analysis phase of system development.

Knoble, G.↗

NASA NTRS1996

Feasibility Study of a Rotorcraft Health and Usage Monitoring System (HUMS): Results of Operator's Evaluation

The objective was to evaluate the feasibility of a state-of-the-art health and usage monitoring system (HUMS) to provide monitoring of critical mechanical systems on the helicopter, including motors, drive train, engines, and life-limited components. The implementation of HUMS and cost integration with current maintenance procedures was assessed from the operator's viewpoint in order to achieve expected benefits from these systems, such as enhanced safety, reduced maintenance cost, and increased availability. An operational HUMS that was installed and operated under an independent flight trial program was used as a basis for this study. The HUMS equipment and software were commercially available. Based on the results of the feasibility study, the HUMS used in the flight trial program generally demonstrated a high level of reliability in monitoring the rotor system, engines, drive train, and life-limited components. The system acted as a sentinel to warn of impending failures. A worn tail rotor pitch bearing was detected by HUMS, which had the capability for self testing to diagnose system and sensor faults. Examples of potential payback to the operator with HUMS were identified, including reduced insurance cost through enhanced safety, lower operating costs derived from maintenance credits, increased aircraft availability, and improved operating efficiency. The interfacing of HUMS with current operational procedures was assessed to require only minimal revisions to the operator's maintenance manuals. Finally the success in realizing the potential benefits from HUMS technology was found to depend on the operator, helicopter manufacturer, regulator (FAA), and HUMS supplier working together.

Romero, Raylund↗

NASA NTRS1996

Integrating International Space Station payload operations

The payload operations support for the International Space Station (ISS) payload is reported on, describing payload activity planning, payload operations control, payload data management and overall operations integration. The operations concept employed is based on the distribution of the payload operations responsibility between the researchers and ISS partners. The long duration nature of the ISS mission dictates the geographical distribution of the payload operations activities between the different national centers. The coordination and integration of these operations will be assured by NASA's Payload Operations Integration Center (POIC). The prime objective of the POIC is the achievement of unified operations through communication and collaboration.

Noneman, Steven R.↗

NASA NTRS1998

Reusable Rocket Engine Operability Modeling and Analysis

This paper describes the methodology, model, input data, and analysis results of a reusable launch vehicle engine operability study conducted with the goal of supporting design from an operations perspective. Paralleling performance analyses in schedule and method, this requires the use of metrics in a validated operations model useful for design, sensitivity, and trade studies. Operations analysis in this view is one of several design functions. An operations concept was developed given an engine concept and the predicted operations and maintenance processes incorporated into simulation models. Historical operations data at a level of detail suitable to model objectives were collected, analyzed, and formatted for use with the models, the simulations were run, and results collected and presented. The input data used included scheduled and unscheduled timeline and resource information collected into a Space Transportation System (STS) Space Shuttle Main Engine (SSME) historical launch operations database. Results reflect upon the importance not only of reliable hardware but upon operations and corrective maintenance process improvements.

Christenson, R. L.↗

NASA NTRS1999

Overview of Loop Heat Pipe Operation

Loop heat pipes (LHP's) are two-phase heat transfer devices that utilize the evaporation and condensation of a working fluid to transfer heat, and the capillary forces developed in the porous wicks to circulate the fluid. The LHP was first developed in the former Soviet Union in the early 1980s, about the same time that the capillary pumped loop (CPL) was developed in the United States. The LHP is known for its high pumping capability and robust operation mainly due to the use of fine-pored metal wicks and an integral evaporator/hydro-accumulator design. The LHP technology is rapidly gaining acceptance in aerospace community. It is the baseline design for thermal control of several spacecraft, including NASA's GLAS and Chemistry, ESA's ATLID, CNES' STENTOR, RKA's OBZOR, and several commercial satellites. Numerous LHP papers have been published since the mid-1980's. Most papers presented test results and discussions on certain specific aspects of the LHP operation. LHP's and CPL's show many similarities in their operating principles and performance characteristics. However, they also display significant differences in many aspects of their operation. Some of the LHP behaviors may seem strange or mysterious, even to experienced CPL practitioners. The main purpose of this paper is to present a systematic description of the operating principles and thermal-hydraulic behaviors of LHP'S. LHP operating principles will be given first, followed by a description of the thermal-hydraulics involved in LHP operation. Operating characteristics and important parameters affecting the LHP operation will then be described in detail. Peculiar behaviors of the LHP, including temperature hysteresis and temperature overshoot during start-up, will be explained. For simplicity, most discussions will focus upon LHP's with a single evaporator and a single condenser, but devices with multiple evaporators and condensers will also be discussed. Similarities and differences between LHP's and CPL's will be addressed throughout the paper whenever appropriate.

Ku, Jentung↗

NASA NTRS2000

Spacecraft Autonomy and Automation: A Comparative Analysis of Strategies for Cost Effective Mission Operations

The evolution of satellite operations over the last 40 years has drastically changed. October 4, 1957 (during the cold war) the Soviet Union launched the world's first spacecraft into orbit. The Sputnik satellite orbited Earth for three months and catapulted the United States into a race for dominance in space. A year after Sputnik, President Dwight Eisenhower formed the National Space and Aeronautics Administration (NASA). With a team of scientists and engineers, NASA successfully launched Explorer 1, the first US satellite to orbit Earth. During these early years, massive amounts of ground support equipment and operators were required to successfully operate spacecraft vehicles. Today, budget reductions and technological advances have forced new approaches to spacecraft operations. These approaches require increasingly complex, on board spacecraft systems, that enable autonomous operations, resulting in more cost-effective mission operations. NASA's Goddard Space Flight Center, considered world class in satellite development and operations, has developed and operated over 200 satellites during its 40 years of existence. NASA Goddard is adopting several new millennium initiatives that lower operational costs through the spacecraft autonomy and automation. This paper examines NASA's approach to spacecraft autonomy and ground system automation through a comparative analysis of satellite missions for Hubble Space Telescope-HST, Near Earth Asteroid Rendezvous-NEAR, and Solar Heliospheric Observatory-SoHO, with emphasis on cost reduction methods, risk analysis and anomalies and strategies employed for mitigating risk.

Wright, Nathaniel, Jr.↗

NASA NTRS2000

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an electrorheological fluid (ERF) based haptic device.

Mavroidis, Constantinos↗

NASA NTRS1995

Task Analytic Models to Guide Analysis and Design: Use of the Operator Function Model to Represent Pilot-Autoflight System Mode Problems

Task-analytic models structure essential information about operator interaction with complex systems, in this case pilot interaction with the autoflight system. Such models serve two purposes: (1) they allow researchers and practitioners to understand pilots' actions; and (2) they provide a compact, computational representation needed to design 'intelligent' aids, e.g., displays, assistants, and training systems. This paper demonstrates the use of the operator function model to trace the process of mode engagements while a pilot is controlling an aircraft via the, autoflight system. The operator function model is a normative and nondeterministic model of how a well-trained, well-motivated operator manages multiple concurrent activities for effective real-time control. For each function, the model links the pilot's actions with the required information. Using the operator function model, this paper describes several mode engagement scenarios. These scenarios were observed and documented during a field study that focused on mode engagements and mode transitions during normal line operations. Data including time, ATC clearances, altitude, system states, and active modes and sub-modes, engagement of modes, were recorded during sixty-six flights. Using these data, seven prototypical mode engagement scenarios were extracted. One scenario details the decision of the crew to disengage a fully automatic mode in favor of a semi-automatic mode, and the consequences of this action. Another describes a mode error involving updating aircraft speed following the engagement of a speed submode. Other scenarios detail mode confusion at various phases of the flight. This analysis uses the operator function model to identify three aspects of mode engagement: (1) the progress of pilot-aircraft-autoflight system interaction; (2) control/display information required to perform mode management activities; and (3) the potential cause(s) of mode confusion. The goal of this paper is twofold: (1) to demonstrate the use of the operator functio model methodology to describe pilot-system interaction while engaging modes And monitoring the system, and (2) to initiate a discussion of how task-analytic models might inform design processes. While the operator function model is only one type of task-analytic representation, the hypothesis of this paper is that some type of task analytic structure is a prerequisite for the design of effective human-automation interaction.

Degani, Asaf↗

NASA NTRS1990

Operations Modeling for SSF Evolution

The operations required to support the on-orbit Space Station Freedom activities planned or being studied will be complex. Operational capability to perform tasks will be dependent on many factors such as manpower availability, logistics, other tasks being worked and Space Station configuration. This effort uses information available about these and other factors to perform operations analysis for given missions and determine the feasibility of target configuration concepts to support those missions. Studies have been conducted to determine processing requirements for a number of potential evolutionary missions on the Space Station Freedom. These studies have identified the need for growth of the Space Station in various ways. Some of the studies have dealt with the operational needs for the particular mission that they are concerned with, but none have looked at the total evolutionary operations requirement. In order to pursue the subject of overall on-orbit operations to any appreciable level of detail, data bases of operational on-orbit tasks need to be compiled, and an analysis tool is needed to assist the analyst. A number of existing operations tools have been reviewed, and none have been found to satisfactorily perform the functions needed to analyze integrated operations requirements for the evolutionary Space Station Freedom. However, during the tool review, some existing applications were found to provide subsets of the required functionality, and these are being considered for incorporation into the analysis tool.

Ganoe, George G.↗

NASA NTRS2004

Spaceflight Operations Services Grid Prototype

NASA over the years has developed many types of technologies and conducted various types of science resulting in numerous variations of operations, data and applications. For example, operations range from deep space projects managed by JPL, Saturn and Shuttle operations managed from JSC and KSC, ISS science operations managed from MSFC and numerous low earth orbit satellites managed from GSFC that are varied and intrinsically different but require many of the same types of services to fulfill their missions. Also, large data sets (databases) of Shuttle flight data, solar system projects and earth observing data exist which because of their varied and sometimes outdated technologies are not and have not been fully examined for additional information and knowledge. Many of the applications/systems supporting operational services e.g. voice, video, telemetry and commanding, are outdated and obsolete. The vast amounts of data are located in various formats, at various locations and range over many years. The ability to conduct unified space operations, access disparate data sets and to develop systems and services that can provide operational services does not currently exist in any useful form. In addition, adding new services to existing operations is generally expensive and with the current budget constraints not feasible on any broad level of implementation. To understand these services a discussion of each one follows. The Spaceflight User-based Services are those services required to conduct space flight operations. Grid Services are those Grid services that will be used to overcome, through middleware software, some or all the problems that currently exists. In addition, Network Services will be discussed briefly. Network Services are crucial to any type of remedy and are evolving adequately to support any technology currently in development.

Bradford, Robert N.↗

NASA NTRS2002

ACTS Operations Extended Through a University-Based Consortium

The Advanced Communications Technology Satellite (ACTS) program was slated for decommissioning in October 2000. With plans in place to move the spacecraft to an orbital graveyard and then shut the system down, NASA was challenged to consider the feasibility of extending operations for education and research purposes provided that an academic organization would be willing to cover operations costs. This was determined to be viable, and in the fall of 2000, NASA announced that it would consider extending operations. On March 19, 2001, NASA, the Ohio Board of Regents, and the Ohio University signed a Space Act Agreement to continue ACTS operations for 2 more years with options to extend operations up to a total of 4 years. To accomplish this, the Ohio University has formed a university-based consortium, the Ohio Consortium for Advanced Communications Technology (OCACT), and acts as the managing member. The Ohio University is responsible for the full reimbursement of NASA's operations costs, and does this through consortium membership. NASA retains the operating license of the spacecraft and has two contractors supporting spacecraft and master control station operations. This flexible arrangement between NASA and academia allows the education community to access a large communications satellite for learning about spacecraft operations and to use the system's transponders for communications applications. It also allows other organizations, such as commercial companies, to become consortium members and use the ACTS wideband Ka-band (30/20 GHz) payload. From the consortium members, six areas of interest have been identified.

Bauer, Robert A.↗

NASA NTRS2005

Long-duration Operation of 2-micron Coherent Doppler Lidar in Space

The reliability and lifetime of laser remote sensing systems that can operate autonomously over a sufficiently long period are mainly constrained by the laser diode arrays (LDAs) used for pumping their laser transmitters. The lifetime of a 2-micron coherent lidar operating in space is particularly of concern in lieu of required pump pulse duration of Thulium and Holmium solid state lasers (approx. 1msec) that are considerably longer than those of more widely used 1-micron lasers (< 0.2 msec). A factor of 5 to 10 times longer pulse duration can easily translate to over an order of magnitude shorter lifetime for a typical commercially available high-power 2-D array. Therefore, it is imperative to address the lifetime and reliability of LDAs for pumping 2-micron lasers by exploring all the potential options that significantly prolong their life meeting the required operational lifetime of space-based coherent Doppler lidars. The leading causes of sudden failure and premature degradation of LDAs are intrinsic semiconductor defects, optical facet breakdown resulting from excessive localized heating, and thermo-mechanical stresses due to the extreme thermal cycling of the laser active regions1-2. Long pulse operation grossly amplifies the impact of these failure/degradation causes, particularly the thermo-mechanical stresses due to pulse-to-pulse thermal cycling. Therefore, several experimental setups have been developed to investigate each of the failure mechanisms and causes of premature degradation in order to evaluate various package designs, define the best operating parameters, and to guide the technology advancement, leading to highly reliable and very long lifetime LDAs5. Several areas of improvement in the packaging and fabrication process of laser diodes have already been identified and efforts towards implementing these improvements are well underway. These efforts include the use of advanced high thermal conductivity materials for packaging of laser diode arrays and new fabrication techniques for mechanically attaching laser diode bars and submounts. But even using the existing LDAs, it may be possible to increase the lifetime by careful selection of the package type, number of bars per package and their pitch, operational temperature, and operating parameters such repetition rate, pulsewidth, and applied current. Obviously, the LDA specification and operational parameters will involve a system level trade analysis to ensure that the lidar instrument meets its performance objectives. One goal of this work is to enable such trade analysis by evaluating LDAs from different suppliers in different package types and quantifying their performance as a function of their operational parameters.

Amzajerdian, Farzin↗

NASA NTRS2006

Fault Management Techniques in Human Spaceflight Operations

This paper discusses human spaceflight fault management operations. Fault detection and response capabilities available in current US human spaceflight programs Space Shuttle and International Space Station are described while emphasizing system design impacts on operational techniques and constraints. Preflight and inflight processes along with products used to anticipate, mitigate and respond to failures are introduced. Examples of operational products used to support failure responses are presented. Possible improvements in the state of the art, as well as prioritization and success criteria for their implementation are proposed. This paper describes how the architecture of a command and control system impacts operations in areas such as the required fault response times, automated vs. manual fault responses, use of workarounds, etc. The architecture includes the use of redundancy at the system and software function level, software capabilities, use of intelligent or autonomous systems, number and severity of software defects, etc. This in turn drives which Caution and Warning (C&W) events should be annunciated, C&W event classification, operator display designs, crew training, flight control team training, and procedure development. Other factors impacting operations are the complexity of a system, skills needed to understand and operate a system, and the use of commonality vs. optimized solutions for software and responses. Fault detection, annunciation, safing responses, and recovery capabilities are explored using real examples to uncover underlying philosophies and constraints. These factors directly impact operations in that the crew and flight control team need to understand what happened, why it happened, what the system is doing, and what, if any, corrective actions they need to perform. If a fault results in multiple C&W events, or if several faults occur simultaneously, the root cause(s) of the fault(s), as well as their vehicle-wide impacts, must be determined in order to maintain situational awareness. This allows both automated and manual recovery operations to focus on the real cause of the fault(s). An appropriate balance must be struck between correcting the root cause failure and addressing the impacts of that fault on other vehicle components. Lastly, this paper presents a strategy for using lessons learned to improve the software, displays, and procedures in addition to determining what is a candidate for automation. Enabling technologies and techniques are identified to promote system evolution from one that requires manual fault responses to one that uses automation and autonomy where they are most effective. These considerations include the value in correcting software defects in a timely manner, automation of repetitive tasks, making time critical responses autonomous, etc. The paper recommends the appropriate use of intelligent systems to determine the root causes of faults and correctly identify separate unrelated faults.

O'Hagan, Brian↗

NASA NTRS2009

Simulation Evaluation of Equivalent Vision Technologies for Aerospace Operations

A fixed-based simulation experiment was conducted in NASA Langley Research Center s Integration Flight Deck simulator to investigate enabling technologies for equivalent visual operations (EVO) in the emerging Next Generation Air Transportation System operating environment. EVO implies the capability to achieve or even improve on the safety of current-day Visual Flight Rules (VFR) operations, maintain the operational tempos of VFR, and perhaps even retain VFR procedures - all independent of the actual weather and visibility conditions. Twenty-four air transport-rated pilots evaluated the use of Synthetic/Enhanced Vision Systems (S/EVS) and eXternal Vision Systems (XVS) technologies as enabling technologies for future all-weather operations. The experimental objectives were to determine the feasibility of XVS/SVS/EVS to provide for all weather (visibility) landing capability without the need (or ability) for a visual approach segment and to determine the interaction of XVS/EVS and peripheral vision cues for terminal area and surface operations. Another key element of the testing investigated the pilot's awareness and reaction to non-normal events (i.e., failure conditions) that were unexpectedly introduced into the experiment. These non-normal runs served as critical determinants in the underlying safety of all-weather operations. Experimental data from this test are cast into performance-based approach and landing standards which might establish a basis for future all-weather landing operations. Glideslope tracking performance appears to have improved with the elimination of the approach visual segment. This improvement can most likely be attributed to the fact that the pilots didn't have to simultaneously perform glideslope corrections and find required visual landing references in order to continue a landing. Lateral tracking performance was excellent regardless of the display concept being evaluated or whether or not there were peripheral cues in the side window. Although workload ratings were significantly less when peripheral cues were present compared to when there were none, these differences appear to be operationally inconsequential. Larger display concepts tested in this experiment showed significant situation awareness (SA) improvements and workload reductions compared to smaller display concepts. With a fixed display size, a color display was more influential in SA and workload ratings than a collimated display.

Kramer, Lynda J.↗