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All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Dynamic task allocation for a man-machine symbiotic system

This report presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This report addresses a symbiotic system containing two symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. It is proposed that an automated task allocator use knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate task recommendations for the man and the machine. The presentation of the methodology includes discussions concerning the interaction of the knowledge areas, the flow of control, the necessary communication links, and the replanning of the task allocation. Examples of task allocation are presented to illustrate the results of this methodolgy.

Parker, L. E.↗
NASA NTRS1989

Determining robot actions for tasks requiring sensor interaction

The performance of non-trivial tasks by a mobile robot has been a long term objective of robotic research. One of the major stumbling blocks to this goal is the conversion of the high-level planning goals and commands into the actuator and sensor processing controls. In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the robot's actuators. Most non-trivial tasks require the robot to interact with its environment; thus necessitating coordination of sensor processing and actuator control to accomplish the task. The main contention is that the transformation from the high level description of the task to the primitive actions should be performed primarily at execution time, when knowledge about the environment can be obtained through sensors. It is proposed to produce the detailed plan of primitive actions by using a collection of low-level planning components that contain domain specific knowledge and knowledge about the available sensors, actuators, and sensor/actuator processing. This collection will perform signal and control processing as well as serve as a control interface between an actual mobile robot and a high-level planning system. Previous research has shown the usefulness of high-level planning systems to plan the coordination of activities such to achieve a goal, but none have been fully applied to actual mobile robots due to the complexity of interacting with sensors and actuators. This control interface is currently being implemented on a LABMATE mobile robot connected to a SUN workstation and will be developed such to enable the LABMATE to perform non-trivial, sensor-intensive tasks as specified by a planning system.

Budenske, John↗
NASA NTRS1993

Task Analysis of Shuttle Entry and Landing Activities

The Task Analysis of Shuttle Entry and Landing (E/L) Activities documents all tasks required to land the Orbiter following an STS mission. In addition to analysis of tasks performed, task conditions are described, including estimated time for completion, altitude, relative velocity, normal and lateral acceleration, location of controls operated or monitored, and level of g's experienced. This analysis precedes further investigations into potential effects of zero g on piloting capabilities for landing the Orbiter following long-duration missions. This includes, but is not limited to, researching the effects of extended duration missions on piloting capabilities. Four primary constraints of the analysis must be clarified: (1) the analysis depicts E/L in a static manner--the actual process is dynamic; (2) the task analysis was limited to a paper analysis, since it was not feasible to conduct research in the actual setting (i.e., observing or filming duration an actual E/L); (3) the tasks included are those required for E/L during nominal, daylight conditions; and (4) certain E/L tasks will vary according to the flying style of each commander.

Holland, Albert W.↗
NASA NTRS1993

Performance under dichoptic versus binocular viewing conditions - Effects of attention and task requirements

Three experiments investigated subjects' ability to allocate attention and cope with task requirements under dichoptic versus binocular viewing conditions. Experiments 1 and 2 employed a target detection task in compound and noncompound stimuli, and Experiment 3 employed a relative-proximity judgment task. The tasks were performed in a focused attention condition in which subjects had to attend to the stimulus presented to one eye or field (under dichoptic and binocular viewing conditions, respectively) while ignoring the stimulus presented to the other eye or field, and in a divided attention condition in which subjects had to attend to the stimuli presented to both eyes or fields. Subjects' performance was affected by the interaction of attention conditions with task requirements, but it was generally the same under dichoptic and binocular viewing conditions. The more dependent the task was on finer discrimination, the more performance was impaired by divided attention. These results suggest that at least with discrete tasks and relatively short exposure durations, performance when each eye is presented with a separate stimulus is the same as when the entire field of stimulation is viewed by both eyes.

Kimchi, Ruth↗
NASA NTRS2001

Application of Physiological Self-Regulation and Adaptive Task Allocation Techniques for Controlling Operator Hazardous States of Awareness

Prinzel, Hadley, Freeman, and Mikulka found that adaptive task allocation significantly enhanced performance only when used at the endpoints of the task workload continuum (i.e., very low or high workload), but that the technique degraded performance if invoked during other levels of task demand. These researchers suggested that other techniques should be used in conjunction with adaptive automation to help minimize the onset of hazardous states of awareness (HSA) and keep the operator 'in-the-loop.' The paper reports on such a technique that uses psychophysiological self-regulation to modulate the level of task engagement. Eighteen participants were assigned to three groups (self-regulation, false feedback, and control) and performed a compensatory tracking task that was cycled between three levels of task difficulty on the basis of the electroencephalogram (EEG) record. Those participants who had received self-regulation training performed significantly better and reported lower NASA-TLX scores than participants in the false feedback and control groups. Furthermore, the false feedback and control groups had significantly more task allocations resulting in return-to-manual performance decrements and higher EEG difference scores. Theoretical and practical implications of these results for adaptive automation are discussed.

Prinzel, Lawrence J., III↗
NASA NTRS1996

Expectancy and Repetition in Task Preparation

We studied the mechanisms of task preparation using a design that pitted task expectancy against task repetition. In one experiment, two simple cognitive tasks were presented in a predictable sequence containing both repetitions and non-repetitions. The typical task sequence was AABBAABB. Occasional violations of this sequence allowed us to measure the effects of valid versus invalid expectancy. With this design, we were able to study the effects of task expectancy, task repetition, and interaction.

Ruthruff, E.↗
NASA NTRS2010

Spaceflight-Induced Cardiovascular Changes and Recovery During NASA's Functional Task Test

Microgravity-induced physiological changes could impair a crewmember s performance upon return to a gravity environment. The Functional Task Test (FTT) is designed to correlate these physiological changes to performance in mission-critical tasks. The Recovery from Fall/Stand Test (RFST) simulates one such task, measuring the ability to recover from a prone position and the cardiovascular response to orthostasis. The purpose of this study was to evaluate spaceflight-induced cardiovascular changes during the FTT. METHODS: Five astronauts participated in the FTT before 10-15 day missions, on landing day (R+0), and one (R+1), six (R+6) and thirty (R+30) days after landing. The RFST consisted of a 2-minute prone rest followed by a 3-minute stand during which heart rate (HR, Holter) and continuous blood pressure (BP, Finometer) were measured. Spectral heart rate variability (HRV) was calculated during the RFST to approximate autonomic function. Statistical analysis was performed with two-factor repeated measures ANOVA. RESULTS: During RFST, HR was higher on R+0 than preflight (p<0.004). This increase in HR persisted on R+1 and R+6 during the stand portion of RFST (p<0.026). BP was well-regulated on all test days. Parasympathetic activity was diminished on R+0 (p=0.035). Sympathovagal balance tended to be affected by spaceflight (main effect, p=0.072), appearing to be slightly elevated during postflight RFST except on R+30. Additionally, analysis of HR during the functional tasks yielded a higher HR on R+0 than preflight during 8 of 11 tasks analyzed, where all tasks had HR return to preflight values by R+30 (p<0.05). CONCLUSION: Spaceflight causes an increase in HR, decrease in parasympathetic activity, and increase in sympathovagal balance, which we confirmed during RFST. These spaceflight-induced changes seen in the RFST, along with the increased postflight HR in most functional tasks, can be used to assess functional performance after short-duration spaceflight.

Arzeno, N. M.↗
NASA NTRS2011

NEEMO 14: Evaluation of Human Performance for Rover, Cargo Lander, Crew Lander, and Exploration Tasks in Simulated Partial Gravity

The ultimate success of future human space exploration missions is dependent on the ability to perform extravehicular activity (EVA) tasks effectively, efficiently, and safely, whether those tasks represent a nominal mode of operation or a contingency capability. To optimize EVA systems for the best human performance, it is critical to study the effects of varying key factors such as suit center of gravity (CG), suit mass, and gravity level. During the 2-week NASA Extreme Environment Mission Operations (NEEMO) 14 mission, four crewmembers performed a series of EVA tasks under different simulated EVA suit configurations and used full-scale mockups of a Space Exploration Vehicle (SEV) rover and lander. NEEMO is an underwater spaceflight analog that allows a true mission-like operational environment and uses buoyancy effects and added weight to simulate different gravity levels. Quantitative and qualitative data collected during NEEMO 14, as well as from spacesuit tests in parabolic flight and with overhead suspension, are being used to directly inform ongoing hardware and operations concept development of the SEV, exploration EVA systems, and future EVA suits. OBJECTIVE: To compare human performance across different weight and CG configurations. METHODS: Four subjects were weighed out to simulate reduced gravity and wore either a specially designed rig to allow adjustment of CG or a PLSS mockup. Subjects completed tasks including level ambulation, incline/decline ambulation, standing from the kneeling and prone position, picking up objects, shoveling, ladder climbing, incapacitated crewmember handling, and small and large payload transfer. Subjective compensation, exertion, task acceptability, and duration data as well as photo and video were collected. RESULTS: There appear to be interactions between CG, weight, and task. CGs nearest the subject s natural CG are the most predictable in terms of acceptable performance across tasks. Future research should focus on understanding the interactions between CG, mass, and subject differences.

Chappell, Steven P.↗
NASA NTRS2011

Functional Task Test: 3. Skeletal Muscle Performance Adaptations to Space Flight

The functional task test is a multi-disciplinary study investigating how space-flight induced changes to physiological systems impacts functional task performance. Impairment of neuromuscular function would be expected to negatively affect functional performance of crewmembers following exposure to microgravity. This presentation reports the results for muscle performance testing in crewmembers. Functional task performance will be presented in the abstract "Functional Task Test 1: sensory motor adaptations associated with postflight alternations in astronaut functional task performance." METHODS: Muscle performance measures were obtained in crewmembers before and after short-duration space flight aboard the Space Shuttle and long-duration International Space Station (ISS) missions. The battery of muscle performance tests included leg press and bench press measures of isometric force, isotonic power and total work. Knee extension was used for the measurement of central activation and maximal isometric force. Upper and lower body force steadiness control were measured on the bench press and knee extension machine, respectively. Tests were implemented 60 and 30 days before launch, on landing day (Shuttle crew only), and 6, 10 and 30 days after landing. Seven Space Shuttle crew and four ISS crew have completed the muscle performance testing to date. RESULTS: Preliminary results for Space Shuttle crew reveal significant reductions in the leg press performance metrics of maximal isometric force, power and total work on R+0 (p<0.05). Bench press total work was also significantly impaired, although maximal isometric force and power were not significantly affected. No changes were noted for measurements of central activation or force steadiness. Results for ISS crew were not analyzed due to the current small sample size. DISCUSSION: Significant reductions in lower body muscle performance metrics were observed in returning Shuttle crew and these adaptations are likely contributors to impaired functional tasks that are ambulatory in nature (See abstract Functional Task Test: 1). Interestingly, no significant changes in central activation capacity were detected. Therefore, impairments in muscle function in response to short-duration space flight are likely myocellular rather than neuromotor in nature.

Ryder, Jeffrey W.↗
NASA NTRS2015

NASA's Functional Task Test: Providing Information for an Integrated Countermeasure System

Exposure to the microgravity conditions of spaceflight causes astronauts to experience alterations in multiple physiological systems. These physiological changes include sensorimotor disturbances, cardiovascular deconditioning, and loss of muscle mass and strength. Some or all of these changes might affect the ability of crewmembers to perform critical mission tasks immediately after landing on a planetary surface. The goals of the Functional Task Test (FTT) study were to determine the effects of spaceflight on functional tests that are representative of critical exploration mission tasks and to identify the key physiological factors that contribute to decrements in performance. The FTT was comprised of seven functional tests and a corresponding set of interdisciplinary physiological measures targeting the sensorimotor, cardiovascular and muscular changes associated with exposure to spaceflight. Both Shuttle and ISS crewmembers participated in this study. Additionally, we conducted a supporting study using the FTT protocol on subjects before and after 70 days of 6 head-down bed rest. The bed rest analog allowed us to investigate the impact of body unloading in isolation on both functional tasks and on the underlying physiological factors that lead to decrements in performance, and then to compare them with the results obtained in our spaceflight study. Spaceflight data were collected on three sessions before flight, on landing day (Shuttle only) and 1, 6 and 30 days after landing. Bed rest subjects were tested three times before bed rest and immediately after getting up from bed rest as well as 1, 6, and 12 days after reambulation. We have shown that for Shuttle, ISS and bed rest subjects, functional tasks requiring a greater demand for dynamic control of postural equilibrium (i.e. fall recovery, seat egress/obstacle avoidance during walking, object translation, jump down) showed the greatest decrement in performance. Functional tests with reduced requirements for postural stability (i.e. hatch opening, ladder climb, manual manipulation of objects and tool use) showed little reduction in performance. These changes in functional performance were paralleled by similar decrements in sensorimotor tests designed to specifically assess postural equilibrium and dynamic gait control. Bed rest subjects experienced similar deficits both in functional tests with balance challenges and in sensorimotor tests designed to evaluate postural and gait control as spaceflight subjects indicating that body support unloading experienced during spaceflight plays a central role in post-flight alteration of functional task performance. To determine how differences in body-support loading experienced during in-flight treadmill exercise affect postflight functional performance, the loading history for each subject during in-flight treadmill (T2) exercise was correlated with postflight measures of performance. ISS crewmembers who walked on the treadmill with higher pull-down loads had enhanced post-flight performance on tests requiring mobility. Taken together the spaceflight and bed rest data point to the importance of supplementing inflight exercise countermeasures with balance and sensorimotor adaptability training. These data also support the notion that inflight treadmill exercise performed with higher body loading provides sensorimotor benefits leading to improved performance on functional tasks that require dynamic postural stability and mobility.

Bloomberg, J. J.↗
NASA NTRS2016

Method and Apparatus for Performance Optimization Through Physical Perturbation of Task Elements

The invention is an apparatus and method of biofeedback training for attaining a physiological state optimally consistent with the successful performance of a task, wherein the probability of successfully completing the task is made is inversely proportional to a physiological difference value, computed as the absolute value of the difference between at least one physiological signal optimally consistent with the successful performance of the task and at least one corresponding measured physiological signal of a trainee performing the task. The probability of successfully completing the task is made inversely proportional to the physiological difference value by making one or more measurable physical attributes of the environment in which the task is performed, and upon which completion of the task depends, vary in inverse proportion to the physiological difference value.

Prinzel, Lawrence J., III↗
NASA NTRS2017

Brain Activations for Vestibular Stimulation and Dual Tasking Change with Spaceflight

Previous studies have documented the effects of spaceflight on human physiology and behavior, including muscle mass, cardiovascular function, gait, balance, manual motor control, and cognitive performance. An understanding of spaceflight-related changes provides important information about human adaptive plasticity and facilitates future space travel. In the current study, we evaluated how brain activations associated with vestibular stimulation and dual tasking change as a function of spaceflight. Five crewmembers were included in this study. The durations of their spaceflight missions ranged from 3 months to 7 months. All of them completed at least two preflight assessments and at least one postflight assessment. The preflight sessions occurred, on average, about 198 days and 51 days before launch; the first postflight sessions were scheduled 5 days after return. Functional MRI was acquired during vestibular stimulation and dual tasking, at each session. Vestibular stimulation was administered via skull taps delivered by a pneumatic tactile pulse system placed over the lateral cheekbones. The magnitude of brain activations for vestibular stimulation increased with spaceflight relative to the preflight levels, in frontal areas and the precuneus. In addition, longer flight duration was associated with greater preflight-to-postflight increases in vestibular activation in frontal regions. Functional MRI for finger tapping was acquired during both single-task (finger tapping only) and dual-task (simultaneously performing finger tapping and a secondary counting task) conditions. Preflight-to-post-spaceflight decreases in brain activations for dual tasking were observed in the right postcentral cortex. An association between flight duration and amplitude of flight-related change in activations for dual tasking was observed in the parietal cortex. The spaceflight-related increase in vestibular brain activations suggests that after a long-term spaceflight, more neural resources are required to process vestibular input.

Yuan, Peng↗
NASA NTRS2015

The Role of Individual Differences in Executive Attentional Networks and Switching Choices in Multi-Task Management

Individual differences in cognitive processing relate to critical performance differences in real-world environments. Task switching is required for many of them and especially for task management during overload. Research exploring individual differences related to switching behavior (both frequency, and adherence to optimal switch times) is, however, sparse. We examined these relationships here, using the attentional network task to index executive control, and an ongoing tracking task (within a larger suite of concurrent task demands) to examine switching behavior. The results failed to support a general relationship between executive control and frequency in a complex, heterogeneous multi-task environment. However, higher executive control participants more successfully exploited optimal switching times, highlighting the varying role of individual differences in task management, when choice is unconstrained.

Gutzwiller, Robert S.↗
NASA NTRSDate not supplied

Sensorimotor Predictors: Examining the Relationship Between Measures of Post-Landing Sensorimotor Functional Task Performance

Spaceflight drives adaptive changes in healthy individuals appropriate for sensorimotor function in a microgravity environment. These changes are maladaptive for return to Earth's gravity. The inter-individual variability of sensorimotor decrements is striking, although poorly understood. The goal of this study is to identify a set of behavioral, neuroimaging and genetic measures that can be used to predict early post-flight performance on sensorimotor functional tasks. To date, we have recruited fifteen astronauts who returned from the International Space Station on Soyuz and participated in sensorimotor field tests and/or posturography within one day following long-duration spaceflight. We are specifically utilizing a combination of three quantitative post-flight functional task outcomes(relative to pre-flight baselines): tandem walk, recovery from fall and dynamic posturography, along with a subjective self-rating of post-flight decrements and recovery. The recovery from fall is performed with eyes open on a stable support, allowing the use of vestibular, visual and proprioceptive feedback for task performance. In contrast, the dynamic posturography measures are performed with eyes closed on asway-referenced unstable support, requiring reliance on vestibular feedback for task performance. Tandem walk is performed on a stable surface with eyes open and eyes closed. Fourteen of the 15 subjects performed the field tests. These were nominally performed during three timepoints on the first postflight day, while posturography was performed only once during the third time point after direct return to JSC. More than 20% were unable to complete the initial field testing in the medical tent, while all participants completed testing during the third time point at JSC. As expected, there was considerable variability among all performance outcome measures, with more variability post-flight relative to preflight. Given the variability in all post-flight outcomes, we have been examining the relationships in performance across tasks. While there is a strong association within tests obtained at different landing daytime points, our preliminary findings suggest that by R+24 hrs performance on one post-flight test does not necessarily correlate with performance on other post-flight tests. This underscores the importance of a comprehensive post-flight test battery including different types of tasks with varying sensory feedback. We expect that further examining specific behavioral, neuroimaging and genetic sensorimotor biomarkers with post-flight functional task performance will improve both our understanding of the individual variability and our strategy to optimize sensorimotor countermeasures.

S J Wood↗
NASA NTRSDate not supplied

Sensorimotor Predictors: Examining the Relationship Between Measures of Post-Landing Sensorimotor Functional Task Performance

Spaceflight drives adaptive changes in healthy individuals appropriate for sensorimotor function in a microgravity environment. These changes are maladaptive for return to Earth's gravity. The inter-individual variability of sensorimotor decrements is striking, although poorly understood. The goal of this study is to identify a set of behavioral, neuroimaging and genetic measures that can be used to predict early post-flight performance on sensorimotor functional tasks. To date, we have recruited fifteen astronauts who returned from the International Space Station on Soyuz and participated in sensorimotor field tests and/or posturography within one day following long-duration spaceflight. We are specifically utilizing a combination of three quantitative post-flight functional task outcomes(relative to pre-flight baselines): tandem walk, recovery from fall and dynamic posturography, along with a subjective self-rating of post-flight decrements and recovery. The recovery from fall is performed with eyes open on a stable support, allowing the use of vestibular, visual and proprioceptive feedback for task performance. In contrast, the dynamic posturography measures are performed with eyes closed on asway-referenced unstable support, requiring reliance on vestibular feedback for task performance. Tandem walk is performed on a stable surface with eyes open and eyes closed. Fourteen of the 15 subjects performed the field tests. These were nominally performed during three timepoints on the first post flight day, while posturography was performed only once during the third time point after direct return to JSC. More than 20% were unable to complete the initial field testing in the medical tent, while all participants completed testing during the third time point at JSC. As expected, there was considerable variability among all performance outcome measures, with more variability post-flight relative to preflight. Given the variability in all post-flight outcomes, we have been examining the relationships in performance across tasks. While there is a strong association with in tests obtained at different landing daytime points, our preliminary findings suggest that by R+24 hrs performance on one post-flight test does not necessarily correlate with performance on other post-flight tests. This underscores the importance of a comprehensive post-flight test battery including different types of tasks with varying sensory feedback. We expect that further examining specific behavioral, neuroimaging and genetic sensorimotor biomarkers with post-flight functional task performance will improve both our understanding of the individual variability and our strategy to optimize sensorimotor countermeasures.

Yiri De Dios↗
NASA NTRSDate not supplied

LLMs and GenAI Tools to Depict Contributions of Human Systems to Spaceflight Tasks Execution

Recent advancements in Artificial Intelligence and Machine Learning (AI/ML) technologies, particularly Large Language Models (LLMs) capable of sophisticated syntax analysis, offer substantial potential in automating complex processes, thereby saving time and human resources. This study explores the development of an LLM-driven model designed to analyze and categorize a diverse set of Mars mission tasks into 18 predefined Human System Task Categories (HSTCs) based on their textual descriptions. As part of developing the Crew Health and Performance – Probabilistic Risk Assessment (CHP-PRA projects Performance Risk Model (PRisM) proof-of-concept, we established a framework to project performance scores from small-scale tests onto a preliminary list of Mars tasks. The foundation of our model was a comprehensive spreadsheet populated by NASA experts and clinicians, which detailed each Mars task alongside binary indicators of HSTC involvement. This dataset enabled the initial application of supervised ML, training and testing on existing HSTC labels. The HSTCs were originally defined from a medical system perspective, focusing on task impairments due to deteriorated human health. To expand our model's scope to include categories impacting performance, we face the challenge of generating binary labels (0 or 1) for new categories without pre-existing data. We address this by employing Generative AI (GenAI) software to determine whether a given task involved a new category by asking, "Does task A involve using category B?" We validate our approach by comparing the GenAI's binary classifications with the expert-provided labels for existing HSTCs. Notably, we utilize Ollama [4], a locally hosted GenAI tool that does not require cloud access, thus safeguarding NASA's proprietary data from unauthorized exposure. This study demonstrates the feasibility of leveraging cutting-edge AI tools to advance research, paving the way for automation and rapid decision-making in space exploration.

Mona Matar↗
NASA NTRSDate not supplied

Performance Risk Model Validation with Operationally Relevant Tasks

Human Research Program aims to develop methods to support astronauts’ health and productivity during spaceflight. The Crew Health and Performance Probabilistic Risk Assessment (CHP-PRA) team uses powerful computational methods to predict mission risk in both domains: medical and performance. Here, we show how CHP-PRA uses the Performance Risk Model (PRisM) to quantify the performance risk and show an application of the model on operationally relevant tasks. There are various metrics adopted across performance researchers that PRisM can accommodate. For data analysis, interpretation, and integration, we use a method of unifying data from multiple sources by converting each to a single metric. We consult subject matter experts prior to integrating the converted data into PRisM. The method we use is inspired by the Cooper-Harper rating scale [1]. Using this unified metric, we can easily combine data from various tests and lab groups. We explain our conversion method in detail and show how it pertains to the process of testing and validation of PRisM on operational tasks. We conducted an initial validation in collaboration with the Behavioral Health and Performance (BHP) lab. We test PRisM using data on their operationally relevant task ROBoT-r, a track-and-capture task for grappling incoming resupply vehicles [2]. Several other labs at NASA Johnson Space Center worked together to design 7 Functional Task Tests (FTTs) in pursuit of simulating the tasks required after landing on a planetary surface and after return to Earth [3]. Here we use the results from both ROBoT-r and the 7 FTTs and compare their experiment data to PRisM’s computational output to demonstrate how PRisM can support operations by predicting crew performance on future missions.

performance modeling↗
NASA NTRS1977

Multi-attribute subjective evaluations of manual tracking tasks vs. objective performance of the human operator

A computational method to deal with the multidimensional nature of tracking and/or monitoring tasks is developed. Operator centered variables, including the operator's perception of the task, are considered. Matrix ratings are defined based on multidimensional scaling techniques and multivariate analysis. The method consists of two distinct steps: (1) to determine the mathematical space of subjective judgements of a certain individual (or group of evaluators) for a given set of tasks and experimental conditionings; and (2) to relate this space with respect to both the task variables and the objective performance criteria used. Results for a variety of second-order trackings with smoothed noise-driven inputs indicate that: (1) many of the internally perceived task variables form a nonorthogonal set; and (2) the structure of the subjective space varies among groups of individuals according to the degree of familiarity they have with such tasks.

Siapkaras, A.↗