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NASA NTRS1931

Effect of stabilizing forces on turbulence

The appearance of expressed discontinuity layers in the free atmosphere, where a warm air mass flows over a cold mass without perceptible intermingling forms the basis of the present report. In these experiments an air stream is to be blown between a water-cooled and a vapor-heated plate. According to what preceded it is anticipated that the exchange will be enhanced. Because these experiments had to be made at relatively low air speeds so as to let the lifting forces become effective, it first required a study of the test methods, and so we have not yet proceeded beyond the preliminary tests on the most suitable hot-wire connections and thermocouples for recording speed and temperature.

PRANDTL L↗
NASA NTRS1993

Acting to gain information

This report is concerned with agents that act to gain information. In previous work, we developed agent models combining qualitative modeling with real-time control. That work, however, focused primarily on actions that affect physical states of the environment. The current study extends that work by explicitly considering problems of active information-gathering and by exploring specialized aspects of information-gathering in computational perception, learning, and language. In our theoretical investigations, we analyzed agents into their perceptual and action components and identified these with elements of a state-machine model of control. The mathematical properties of each was developed in isolation and interactions were then studied. We considered the complexity dimension and the uncertainty dimension and related these to intelligent-agent design issues. We also explored active information gathering in visual processing. Working within the active vision paradigm, we developed a concept of 'minimal meaningful measurements' suitable for demand-driven vision. We then developed and tested an architecture for ongoing recognition and interpretation of visual information. In the area of information gathering through learning, we explored techniques for coping with combinatorial complexity. We also explored information gathering through explicit linguistic action by considering the nature of conversational rules, coordination, and situated communication behavior.

Rosenchein, Stanley J.↗
NASA NTRS1993

Piloting Vertical Flight Aircraft: A Conference on Flying Qualities and Human Factors

This document contains papers from a specialists' meeting entitled "Piloting Vertical Flight Aircraft. A Conference on Flying Qualities and Human Factors." The conference was co-sponsored by the American Helicopter Society--San Francisco Bay Chapter, and the NASA Ames Research Center. It was held January 20-22, 1993 at the Sheraton Hotel Fisherman's Wharf, San Francisco, California. Vertical flight aircraft, including helicopters and a variety of Vertical Takeoff and Landing (VTOL) concepts, place unique requirements on human perception, control, and performance for the conduct of their design missions. The intent of this conference was to examine, for these vehicles, advances in: (1) design of flight control systems for ADS-33C standards; (2) assessment of human factors influences of cockpit displays and operational procedures; (3) development of VTOL design and operational criteria; and (4) development of theoretical methods or models for predicting pilot-vehicle performance and mission suitability. Recognizing that human capabilities and limitations form an integral aspect of the operations for these classes of vehicles, a secondary goal of the conference was to provide an initial venue for enhanced interaction between human factors and handling qualities specialists.

Helicopter↗
NASA NTRS1993

Visual cueing considerations in Nap-of-the-Earth helicopter flight head-slaved helmet-mounted displays

The pilot's ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays, commonly used in Apache and Cobra helicopter night operations, originates from a relatively narrow field-of-view Forward Looking Infrared Radiation Camera, gimbal-mounted at the nose of the aircraft and slaved to the pilot's line-of-sight, in order to obtain a wide-angle field-of-regard. Pilots have encountered considerable difficulties in controlling the aircraft by these devices. Experimental simulator results presented here indicate that part of these difficulties can be attributed to head/camera slaving system phase lags and errors. In the presence of voluntary head rotation, these slaving system imperfections are shown to impair the Control-Oriented Visual Field Information vital in vehicular control, such as the perception of the anticipated flight path or the vehicle yaw rate. Since, in the presence of slaving system imperfections, the pilot will tend to minimize head rotation, the full wide-angle field-of-regard of the line-of-sight slaved Helmet-Mounted Display, is not always fully utilized.

Grunwald, Arthur J.↗
NASA NTRS1993

Visualization techniques to aid in the analysis of multi-spectral astrophysical data sets

The goal of this project was to support the scientific analysis of multi-spectral astrophysical data by means of scientific visualization. Scientific visualization offers its greatest value if it is not used as a method separate or alternative to other data analysis methods but rather in addition to these methods. Together with quantitative analysis of data, such as offered by statistical analysis, image or signal processing, visualization attempts to explore all information inherent in astrophysical data in the most effective way. Data visualization is one aspect of data analysis. Our taxonomy as developed in Section 2 includes identification and access to existing information, preprocessing and quantitative analysis of data, visual representation and the user interface as major components to the software environment of astrophysical data analysis. In pursuing our goal to provide methods and tools for scientific visualization of multi-spectral astrophysical data, we therefore looked at scientific data analysis as one whole process, adding visualization tools to an already existing environment and integrating the various components that define a scientific data analysis environment. As long as the software development process of each component is separate from all other components, users of data analysis software are constantly interrupted in their scientific work in order to convert from one data format to another, or to move from one storage medium to another, or to switch from one user interface to another. We also took an in-depth look at scientific visualization and its underlying concepts, current visualization systems, their contributions, and their shortcomings. The role of data visualization is to stimulate mental processes different from quantitative data analysis, such as the perception of spatial relationships or the discovery of patterns or anomalies while browsing through large data sets. Visualization often leads to an intuitive understanding of the meaning of data values and their relationships by sacrificing accuracy in interpreting the data values. In order to be accurate in the interpretation, data values need to be measured, computed on, and compared to theoretical or empirical models (quantitative analysis). If visualization software hampers quantitative analysis (which happens with some commercial visualization products), its use is greatly diminished for astrophysical data analysis. The software system STAR (Scientific Toolkit for Astrophysical Research) was developed as a prototype during the course of the project to better understand the pragmatic concerns raised in the project. STAR led to a better understanding on the importance of collaboration between astrophysicists and computer scientists.

Brugel, Edward W.↗
NASA NTRS1993

Identifying and responding to customer needs at the Kennedy Space Center

The Patient Questionnaire Program at the Kennedy Space Center (KSC) has been in place for several years. It has helped to identify customer perceptions and needs. The questionnaire is presented and the survey results are discussed with respect to total quality management.

Ferguson, E. B.↗
NASA NTRS1993

Microgravity research in plant biological systems: Realizing the potential of molecular biology

The sole all-pervasive feature of the environment that has helped shape, through evolution, all life on Earth is gravity. The near weightlessness of the Space Station Freedom space environment allows gravitational effects to be essentially uncoupled, thus providing an unprecedented opportunity to manipulate, systematically dissect, study, and exploit the role of gravity in the growth and development of all life forms. New and exciting opportunities are now available to utilize molecular biological and biochemical approaches to study the effects of microgravity on living organisms. By careful experimentation, we can determine how gravity perception occurs, how the resulting signals are produced and transduced, and how or if tissue-specific differences in gene expression occur. Microgravity research can provide unique new approaches to further our basic understanding of development and metabolic processes of cells and organisms, and to further the application of this new knowledge for the betterment of humankind.

Lewis, Norman G.↗
NASA NTRS1993

Overview of research in progress at the Center of Excellence

The Center of Excellence (COE) was created nine years ago to facilitate active collaboration between the scientists at Ames Research Center and the Stanford Psychology Department. Significant interchange of ideas and personnel continues between Stanford and participating groups at NASA-Ames; the COE serves its function well. This progress report is organized into sections divided by project. Each section contains a list of investigators, a background statement, progress report, and a proposal for work during the coming year. The projects are: Algorithms for development and calibration of visual systems, Visually optimized image compression, Evaluation of advanced piloting displays, Spectral representations of color, Perception of motion in man and machine, Automation and decision making, and Motion information used for navigation and control.

Wandell, Brian A.↗
NASA NTRS1993

A model for the evolution of CO2 on Mars

There are several lines of evidence that suggest early Mars was warmer and wetter than it is at present. Perhaps the most convincing of these are the valley networks and degraded craters that characterize much of the ancient terrains. In both cases, fluvial activity associated with liquid water is believed to be involved. Thus, Mars appears to have had a warmer climate early in its history than it does today. How much warmer is not clear, but a common perception has been that global mean surface temperatures must have been near freezing - almost 55 K warmer than at present. The most plausible way to increase surface temperatures is through the greenhouse effect, and the most plausible greenhouse gas is CO2. Pollack et al. estimate that in the presence of the faint young Sun, the early Martian atmosphere would have to contain almost 5 bar of CO2 to raise the mean surface temperature up to the freezing level; only 1 bar would be required if the fluvial features were formed near the calculations now appear to be wrong since Kasting showed that CO2 will condense in the atmosphere at these pressures and that this greatly reduces the greenhouse effect of a pure CO2 atmosphere. He suggested that alternative greenhouse gases such as CH4 or NH3, are required. The early Mars dilemma is approached from a slightly different point of view. In particular, a model for the evolution of CO2 on Mars that draws upon published processes that affect such evolution was constructed. Thus, the model accounts for the variation of solar luminosity with time, the greenhouse effect, regolith uptake, polar cap formation, escape, and weathering.

Haberle, R. M.↗
NASA NTRS1992

Visualizing the universe, part 2

It is now possible to create animated views of the universe that are realistic, physically relevant, and breathtaking. To demonstrate the point, we describe our efforts to navigate the CfA redshift survey. For our project, we selected several CCD images of spiral and elliptical galaxies, and placed them at their observed positions in redshift space. We demonstrate how, by choreographing aesthetically pleasing trajectories, we are able to develop our own and the viewer's intuition about the large-scale structures found in the CfA redshift survey. We show for instance that three-dimensional motion enhances significantly our perception of voids and sheets in the distribution of galaxies. Such sophistication happily has become possible with the 'coming of age' of observational cosmology, as data have grown to drive the field.

Falco, Emilio E.↗
NASA NTRS1993

Rack Insertion End Effector (RIEE) automation

NASA is developing a mechanism to manipulate and insert Racks into the Space Station Logistic modules. The mechanism consists of the following: a base with three motorized degrees of freedom, a 3 section motorized boom that goes from 15 to 44 feet in length, and a Rack Insertion End Effector (RIEE) with 5 hand wheels for precise alignment. The robotics section was tasked with the automation of the RIEE unit. In this report, for the automation of the RIEE unit, application of the Perceptics Vision System was conceptually developed to determine the position and orientation of the RIEE relative to the logistic module, and a MathCad program is written to display the needed displacements for precise alignment and final insertion of the Rack. The uniqueness of this report is that the whole report is in fact a MathCad program including text, derivations, and executable equations with example inputs and outputs.

Malladi, Narasimha↗
NASA NTRS1993

Automated system function allocation and display format: Task information processing requirements

An important consideration when designing the interface to an intelligent system concerns function allocation between the system and the user. The display of information could be held constant, or 'fixed', leaving the user with the task of searching through all of the available information, integrating it, and classifying the data into a known system state. On the other hand, the system, based on its own intelligent diagnosis, could display only relevant information in order to reduce the user's search set. The user would still be left the task of perceiving and integrating the data and classifying it into the appropriate system state. Finally, the system could display the patterns of data. In this scenario, the task of integrating the data is carried out by the system, and the user's information processing load is reduced, leaving only the tasks of perception and classification of the patterns of data. Humans are especially adept at this form of display processing. Although others have examined the relative effectiveness of alphanumeric and graphical display formats, it is interesting to reexamine this issue together with the function allocation problem. Currently, Johnson Space Center is the test site for an intelligent Thermal Control System (TCS), TEXSYS, being tested for use with Space Station Freedom. Expert TCS engineers, as well as novices, were asked to classify several displays of TEXSYS data into various system states (including nominal and anomalous states). Three different display formats were used: fixed, subset, and graphical. The hypothesis tested was that the graphical displays would provide for fewer errors and faster classification times by both experts and novices, regardless of the kind of system state represented within the display. The subset displays were hypothesized to be the second most effective display format/function allocation condition, based on the fact that the search set is reduced in these displays. Both the subset and the graphic display conditions were hypothesized to be processed more efficiently than the fixed display conditions.

Czerwinski, Mary P.↗
NASA NTRS1993

Transfer of perceptual adaptation to space sickness: What enhances an individual's ability to adapt?

The objectives of this project were to explore systematically the determiners of transfer of perceptual adaptation as these principles might apply to the space adaptation syndrome. The perceptual experience of an astronaut exposed to the altered gravitational forces involved in spaceflight shares much with that of the subject exposed in laboratory experiments to optically induced visual rearrangement with tilt and dynamic motion illusions such as vection; and experiences and symptoms reported by the trainee who is exposed to the compellingly realistic visual imagery of flight simulators and virtual reality systems. In both of these cases the observer is confronted with a variety of inter- and intrasensory conflicts that initially disrupt perception, as well as behavior, and also produce symptoms of motion sickness.

Source record↗
NASA NTRS1994

Design of a walking robot

Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

Whittaker, William↗
NASA NTRS1993

Investigation of hand capabilities under a variety of performance conditions and an attempt to explain performance differences

Human capabilities such as dexterity, manipulability, and tactile perception are unique and render the hands as a very versatile, effective and a multipurpose tool. This is especially true for environments such as the EVA environment. However, with the use of the protective EVA gloves, there is much evidence to suggest that human performance decreases. In order to determine the nature and cause of this performance decrement, several performance tests were run which studied the effects of gloves on strength, tactile feedback, and range of motion. Tactile sensitivity was measured as a function of grip strength, and the results are discussed. Equipment which was developed to measure finger range of motion along with corresponding finger strength values is discussed. The results of these studies have useful implications for improved glove design.

Bishu, Ram R.↗
NASA NTRS1992

The design of a long-range megatransport aircraft

Aircraft manufacturers are examining the market and feasibility of long-range passenger aircraft carrying more than 600 passengers. These aircraft would carry travelers at reduced cost and, at the same time, reduce congestion around major airports. The design of a large, long-range transport involves broad issues such as: the integration of airport terminal facilities; passenger loading and unloading; trade-offs between aircraft size and the cost to reconfigure these existing facilities; and, defeating the 'square-cube' law. Thirteen Purdue design teams generated RFP's that defined passenger capability and range, based upon team perception of market needs and infrastructure constraints. Turbofan engines were designed by each group to power these aircraft. The design problem and the variety of solutions developed are reviewed.

Weisshaar, Terrence A.↗
NASA NTRS1993

Robotics handbook. Version 1: For the interested party and professional

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

Source record↗
NASA NTRS1993

Visualization techniques to aid in the analysis of multispectral astrophysical data sets

The goal of this project was to support the scientific analysis of multi-spectral astrophysical data by means of scientific visualization. Scientific visualization offers its greatest value if it is not used as a method separate or alternative to other data analysis methods but rather in addition to these methods. Together with quantitative analysis of data, such as offered by statistical analysis, image or signal processing, visualization attempts to explore all information inherent in astrophysical data in the most effective way. Data visualization is one aspect of data analysis. Our taxonomy as developed in Section 2 includes identification and access to existing information, preprocessing and quantitative analysis of data, visual representation and the user interface as major components to the software environment of astrophysical data analysis. In pursuing our goal to provide methods and tools for scientific visualization of multi-spectral astrophysical data, we therefore looked at scientific data analysis as one whole process, adding visualization tools to an already existing environment and integrating the various components that define a scientific data analysis environment. As long as the software development process of each component is separate from all other components, users of data analysis software are constantly interrupted in their scientific work in order to convert from one data format to another, or to move from one storage medium to another, or to switch from one user interface to another. We also took an in-depth look at scientific visualization and its underlying concepts, current visualization systems, their contributions and their shortcomings. The role of data visualization is to stimulate mental processes different from quantitative data analysis, such as the perception of spatial relationships or the discovery of patterns or anomalies while browsing through large data sets. Visualization often leads to an intuitive understanding of the meaning of data values and their relationships by sacrificing accuracy in interpreting the data values. In order to be accurate in the interpretation, data values need to be measured, computed on, and compared to theoretical or empirical models (quantitative analysis). If visualization software hampers quantitative analysis (which happens with some commercial visualization products), its use is greatly diminished for astrophysical data analysis. The software system STAR (Scientific Toolkit for Astrophysical Research) was developed as a prototype during the course of the project to better understand the pragmatic concerns raised in the project. STAR led to a better understanding on the importance of collaboration between astrophysicists and computer scientists. Twenty-one examples of the use of visualization for astrophysical data are included with this report. Sixteen publications related to efforts performed during or initiated through work on this project are listed at the end of this report.

Brugel, E. W.↗