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At least 1,315 records · Page 73
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Human-Robot Interaction in High Vulnerability Domains

Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

workload↗
NASA NTRS2013

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

robotics↗
NASA NTRS1993

Extracting heading and temporal range from optic flow: Human performance issues

Pilots are able to extract information about their vehicle motion and environmental structure from dynamic transformations in the out-the-window scene. In this presentation, we focus on the information in the optic flow which specifies vehicle heading and distance to objects in the environment, scaled to a temporal metric. In particular, we are concerned with modeling how the human operators extract the necessary information, and what factors impact their ability to utilize the critical information. In general, the psychophysical data suggest that the human visual system is fairly robust to degradations in the visual display, e.g., reduced contrast and resolution or restricted field of view. However, extraneous motion flow, i.e., introduced by sensor rotation, greatly compromises human performance. The implications of these models and data for enhanced/synthetic vision systems are discussed.

Kaiser, Mary K.↗
NASA NTRS1972

Effects of the space flight environment on man's immune system. II - Lymphocyte counts and reactivity.

The present studies were undertaken to assess the effects of the environment of space flights on the cellular division of the human immune system. Peripheral blood absolute lymphocyte counts were determined at various preflight and postflight intervals for the 21 crewmen of Apollo Missions 7-13. Mean lymphocyte numbers tended to exhibit a delayed significant but fluctuating increase shortly after recovery, although a variety of responses was seen in individual astronauts. The in vitro reactivity of lymphocytes, reflected by RNA and DNA synthesis rates by unstimulated and PHA-stimulated lymphocytes tissue-cultured preflight and postflight from the same participants, was found to remain within previously established normal ranges. These results indicate that functional integrity of cellular immune potential as reflected by in vitro techniques is maintained during this spaceflight experience.

Fischer, G. L.↗
NASA NTRSDate not supplied

Artemis I: Test Flight Buys Down Risk for Humanity's Return to the Moon

The Artemis program successfully demonstrated its foundational deep space human transportation system during the Artemis I test flight in late 2022. This bold mission put the Artemis program on a course to accomplish increasingly complex missions to return humans to the Moon and to prepare for Mars and other destinations. The Artemis I uncrewed mission tested the Space Launch System (SLS) rocket and the Orion spacecraft using the ground processing, launch and recovery services provided by the Exploration Ground Systems (EGS) program at the Kennedy Space Center (KSC). The Artemis team accomplished key mission priorities that deliberately bought down risk for upcoming crewed missions as part of a build-up flight test strategy. The Artemis I mission priorities were 1) demonstrate Orion heatshield at lunar re-entry conditions; 2) operate systems in flight environment; and 3) retrieve the spacecraft. The successful performance and demonstration of these primary mission objectives from lift-off thru orbital insertion, translunar injection, outbound transit towards the Moon, entry into lunar orbit, coast in the lunar Distant Retrograde Orbit (DRO), exit from lunar orbit, transit back to Earth, atmospheric re-entry, descent, splashdown and recovery successfully showed that NASA has a foundational deep space transportation capability in place for human class missions. In addition to the primary mission objectives, a set of scientific payloads, approved Flight Test Objectives (FTOs) and Development Flight Test Objectives (DFTOs) were incorporated into the nominal mission plan and were designated as secondary, or priority 4, and were considered “bonus objectives” in terms of crewed flight risk buydown. During the mission, the team found itself in a position where it was comfortable achieving even more content than originally planned. As a result, DFTOs were added during the mission to further buy down risk to later crewed test flights. This paper presents an overview of the Artemis I test flight, including mission priorities and key test objectives, the launch campaign and as-flown mission profile, test objectives accomplished over the course of the 25.5- day mission, and implications to the crewed Artemis II and later test flight missions.

Artemis↗
NASA NTRS1994

Cerebral versus systemic hemodynamics during graded orthostatic stress in humans

BACKGROUND: Orthostatic syncope is usually attributed to cerebral hypoperfusion secondary to systemic hemodynamic collapse. Recent research in patients with neurocardiogenic syncope has suggested that cerebral vasoconstriction may occur during orthostatic hypotension, compromising cerebral autoregulation and possibly contributing to the loss of consciousness. However, the regulation of cerebral blood flow (CBF) in such patients may be quite different from that of healthy individuals, particularly when assessed during the rapidly changing hemodynamic conditions associated with neurocardiogenic syncope. To be able to interpret the pathophysiological significance of these observations, a clear understanding of the normal responses of the cerebral circulation to orthostatic stress must be obtained, particularly in the context of the known changes in systemic and regional distributions of blood flow and vascular resistance during orthostasis. Therefore, the specific aim of this study was to examine the changes that occur in the cerebral circulation during graded reductions in central blood volume in the absence of systemic hypotension in healthy humans. We hypothesized that cerebral vasoconstriction would occur and CBF would decrease due to activation of the sympathetic nervous system. We further hypothesized, however, that the magnitude of this change would be small compared with changes in systemic or skeletal muscle vascular resistance in healthy subjects with intact autoregulation and would be unlikely to cause syncope without concomitant hypotension. METHODS AND RESULTS: To test this hypothesis, we studied 13 healthy men (age, 27 +/- 7 years) during progressive lower body negative pressure (LBNP). We measured systemic flow (Qc is cardiac output; C2H2 rebreathing), regional forearm flow (FBF; venous occlusion plethysmography), and blood pressure (BP; Finapres) and calculated systemic (SVR) and forearm (FVR) vascular resistances. Changes in brain blood flow were estimated from changes in the blood flow velocity in the middle cerebral artery (VMCA) using transcranial Doppler. Pulsatility (systolic minus diastolic/mean velocity) normalized for systemic arterial pressure pulsatility was used as an index of distal cerebral vascular resistance. End-tidal PACO2 was closely monitored during LBNP. From rest to maximal LBNP before the onset of symptoms or systemic hypotension, Qc and FBF decreased by 29.9% and 34.4%, respectively. VMCA decreased less, by 15.5% consistent with a smaller decrease in CBF. Similarly, SVR and FVR increased by 62.8% and 69.8%, respectively, whereas pulsatility increased by 17.2%, suggestive of a mild degree of small-vessel cerebral vasoconstriction. Seven of 13 subjects had presyncope during LBNP, all associated with a sudden drop in BP (29 +/- 9%). By comparison, hyperventilation alone caused greater changes in VMCA (42 +/- 2%) and pulsatility but never caused presyncope. In a separate group of 3 subjects, superimposition of hyperventilation during highlevel LBNP caused a further decrease in VMCA (31 +/- 7%) but no change in BP or level of consciousness. CONCLUSIONS: We conclude that cerebral vasoconstriction occurs in healthy humans during graded reductions in central blood volume caused by LBNP. However, the magnitude of this response is small compared with changes in SVR or FVR during LBNP or other stimuli known to induce cerebral vasoconstriction (hypocapnia). We speculate that this degree of cerebral vasoconstriction is not by itself sufficient to cause syncope during orthostatic stress. However, it may exacerbate the decrease in CBF associated with hypotension if hemodynamic instability develops.

NASA Discipline Cardiopulmonary↗
NASA NTRS2016

Design Considerations for Spacecraft Operations During Uncrewed Dormant Phases of Human Exploration Missions

NASA is transforming human spaceflight. The Agency is shifting from an exploration-based program with human activities in low Earth orbit (LEO) and targeted robotic missions in deep space to a more sustainable and integrated pioneering approach. However, pioneering space involves daunting technical challenges of transportation, maintaining health, and enabling crew productivity for long durations in remote, hostile, and alien environments. Subject matter experts from NASA's Human Exploration and Operations Mission Directorate (HEOMD) are currently studying a human exploration campaign that involves deployment of assets for planetary exploration. This study, called the Evolvable Mars Campaign (EMC) study, explores options with solar electric propulsion as a central component of the transportation architecture. This particular in-space transportation option often results in long duration transit to destinations. The EMC study is also investigating deployed human rated systems like landers, habitats, rovers, power systems and ISRU system to the surface of Mars, which also will involve long dormant periods when these systems are staged on the surface. In order to enable the EMC architecture, campaign and element design leads along with system and capability development experts from HEOMD's System Maturation Team (SMT) have identified additional capabilities, systems and operation modes that will sustain these systems especially during these dormant phases of the mission. Dormancy is defined by the absence of crew and relative inactivity of the systems. For EMC missions, dormant periods could range from several months to several years. Two aspects of uncrewed dormant operations are considered herein: (1) the vehicle systems that are placed in a dormant state and (2) the autonomous vehicle systems and robotic capabilities that monitor, maintain, and repair the vehicle and systems. This paper describes the mission stages of dormancy operations, phases of dormant operations, and critical system capabilities that are needed for dormant operations. This paper will compare dormancy operations of past robotic missions to identify lessons that can be applied to planned human exploration missions. Finally, this paper will also identify future work and analysis planned to assess system performance metrics and integrated system operations.

Williams-Byrd, Julie↗
NASA NTRS1991

Army-NASA aircrew/aircraft integration program: Phase 4 A(3)I Man-Machine Integration Design and Analysis System (MIDAS) software detailed design document

The Man-Machine Integration Design and Analysis System (MIDAS) is an integrated suite of software components that constitutes a prototype workstation to aid designers in applying human factors principles to the design of complex human-machine systems. MIDAS is intended to be used at the very early stages of conceptual design to provide an environment wherein designers can use computational representations of the crew station and operator, instead of hardware simulators and man-in-the-loop studies, to discover problems and ask 'what if' questions regarding the projected mission, equipment, and environment. This document is the Software Product Specification for MIDAS. Introductory descriptions of the processing requirements, hardware/software environment, structure, I/O, and control are given in the main body of the document for the overall MIDAS system, with detailed discussion of the individual modules included in Annexes A-J.

Banda, Carolyn↗
NASA NTRS1993

MARIKA - A model revision system using qualitative analysis of simulations

This paper describes portions of a novel system called MARIKA (Model Analysis and Revision of Implicit Key Assumptions) to automatically revise a model of the normal human orientation system. The revision is based on analysis of discrepancies between experimental results and computer simulations. The discrepancies are calculated from qualitative analysis of quantitative simulations. The experimental and simulated time series are first discretized in time segments. Each segment is then approximated by linear combinations of simple shapes. The domain theory and knowledge are represented as a constraint network. Incompatibilities detected during constraint propagation within the network yield both parameter and structural model alterations. Interestingly, MARIKA diagnosed a data set from the Massachusetts Eye and Ear Infirmary Vestibular Laboratory as abnormal though the data was tagged as normal. Published results from other laboratories confirmed the finding. These encouraging results could lead to a useful clinical vestibular tool and to a scientific discovery system for space vestibular adaptation.

Groleau, Nicolas↗
NASA NTRS2011

Making Human Spaceflight Practical and Affordable: Spacecraft Designs and their Degree of Operability

As we push toward new and diverse space transportation capabilities, reduction in operations cost becomes increasingly important. Achieving affordable and safe human spaceflight capabilities will be the mark of success for new programs and new providers. The ability to perceive the operational implications of design decisions is crucial in developing safe yet cost competitive space transportation systems. Any human spaceflight program - government or commercial - must make countless decisions either to implement spacecraft system capabilities or adopt operational constraints or workarounds to account for the lack of such spacecraft capabilities. These decisions can benefit from the collective experience that NASA has accumulated in building and operating crewed spacecraft over the last five decades. This paper reviews NASA s history in developing and operating human rated spacecraft, reviewing the key aspects of spacecraft design and their resultant impacts on operations phase complexity and cost. Specific examples from current and past programs - including the Space Shuttle and International Space Station - are provided to illustrate design traits that either increase or increase cost and complexity associated with spacecraft operations. These examples address factors such as overall design performance margins, levels of redundancy, degree of automated failure response, type and quantity of command and telemetry interfaces, and the definition of reference scenarios for analysis and test. Each example - from early program requirements, design implementation and resulting real-time operations experience - to tell the end-to-end "story" Based on these experiences, specific techniques are recommended to enable earlier and more effective assessment of operations concerns during the design process. A formal method for the assessment of spacecraft operability is defined and results of such operability assessments for recent spacecraft designs are provided. Recent experience in applying these techniques to Orion spacecraft development is reviewed to highlight the direct benefits of early operational assessment and collaborative development efforts.

Crocker, Alan R.↗
NASA NTRS2016

Risk Interfaces to Support Integrated Systems Analysis and Development

Objectives for systems analysis capability: Develop integrated understanding of how a complex human physiological-socio-technical mission system behaves in spaceflight. Why? Support development of integrated solutions that prevent unwanted outcomes (Implementable approaches to minimize mission resources(mass, power, crew time, etc.)); Support development of tools for autonomy (need for exploration) (Assess and maintain resilience -individuals, teams, integrated system). Output of this exercise: -Representation of interfaces based on Human System Risk Board (HSRB) Risk Summary information and simple status based on Human Research Roadmap; Consolidated HSRB information applied to support communication; Point-of-Departure for HRP Element planning; Ability to track and communicate status of collaborations. 4

Mindock, Jennifer↗
NASA NTRS2005

A Systems Study to Determine the Attractiveness of Solar System Bodies and Sites for Eventual Human Exploration

A pre-phase A idea-generation team at the Jet Propulsion Laboratory (JPL), has conducted a study to rank all locations in the solar system based on attractiveness for human exploration. The process used to perform the study was composed of the following primary steps: determination of criteria (including value, cost, and risk criteria) upon which to rate sites in the solar system; weighting of the criteria based upon importance to eventual human exploration; selection of sites to consider and assignment of team members to the task of advocating the benefits of particular sites; rating the sites in both the short- and longterm based on team member presentations and team discussions; compilation of a score based on criteria weights and individual ratings. Finally a comparison of the total scores of different sites was completed to determine a ranking of all the bodies and sites in the solar system. Sensitivity analysis was also performed to determine how weightings affect the rankings.

human exploration↗
NASA NTRS1988

Pilot factors guidelines for the operational inspection of navigation systems

A computerized human engineered inspection technique is developed for use by FAA inspectors in evaluating the pilot factors aspects of aircraft navigation systems. The short title for this project is Nav Handbook. A menu-driven checklist, computer program and data base (Human Factors Design Criteria) were developed and merged to form a self-contained, portable, human factors inspection checklist tool for use in a laboratory or field setting. The automated checklist is tailored for general aviation navigation systems and can be expanded for use with other aircraft systems, transports or military aircraft. The Nav Handbook inspection concept was demonstrated using a lap-top computer and an Omega/VLF CDU. The program generates standardized inspection reports. Automated checklists for LORAN/C and R NAV were also developed. A Nav Handbook User's Guide is included.

Sadler, J. F.↗
NASA NTRS2011

Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

SunSpiral, Vytas↗
NASA NTRS2014

Magnetospheric MultiScale (MMS) System Manager

The Magnetospheric MultiScale (MMS) mission is an ambitious NASA space science mission in which 4 spacecraft are flown in tight formation about a highly elliptical orbit. Each spacecraft has multiple instruments that measure particle and field compositions in the Earths magnetosphere. By controlling the members relative motion, MMS can distinguish temporal and spatial fluctuations in a way that a single spacecraft cannot.To achieve this control, 2 sets of four maneuvers, distributed evenly across the spacecraft must be performed approximately every 14 days. Performing a single maneuver on an individual spacecraft is usually labor intensive and the complexity becomes clearly increases with four. As a result, the MMS flight dynamics team turned to the System Manager to put the routine or error-prone under machine control freeing the analysts for activities that require human judgment.The System Manager is an expert system that is capable of handling operations activities associated with performing MMS maneuvers. As an expert system, it can work off a known schedule, launching jobs based on a one-time occurrence or on a set reoccurring schedule. It is also able to detect situational changes and use event-driven programming to change schedules, adapt activities, or call for help.

Ground System Expert Automation↗