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NASA NTRS1980

Dynamic behavior of a beam drag-force anemometer

A cantilevered beam with strain gages attached to the fixed ends and the minimax technique were used in an experiment conducted to determine the dynamic behavior of a drag-force anemometer in high frequency, unsteady flow. In steady flow the output of the anemometer is proportional to stream velocity head and flow angle. Fluid mechanics suggests that, in unsteady flow, the output would also be proportional to the rate of change of fluid velocity. It was determined that effects due to the rate of change of fluid velocity are negligible for the probe geometry and frequencies involved.

Fralick, G. C.↗

NASA NTRS1995

Optical characterization of the oceanic unicellular cyanobacterium Synechococcus grown under a day-night cycle in natural irradiance

The optical properties of the ocenanic cyanobacterium Synechococcus (clone WH8103) were examined in a nutrient-replete laboratory culture grown under a day-night cycle in natural irradiance. Measurements of the spectral absorption and beam attenuation coefficients, the size distribution of cells in suspension, and microscopic analysis of samples were made at intervals of 2-4 hours for 2 days. These measurements were used to calculate the optical properties at the level of a single 'mean' cell representative of the acutal population, specifically, the optical cross sections for spectral absorption bar-(sigma(sub a)), scattering bar-sigma(sub b))(lambda), and attentuation bar-(sigma(sub c))(lambda). In addition, concurrent determinations of chlorophyll a and particulate organic carbon allowed calculation of the Chl a- and C-specific optical coefficients. The refractive index of cells was derived from the observed data using a theory of light absorption and scattering by homogeneous spheres. Low irradiance because of cloudy skies resulted in slow division rates of cells in the culture. The percentage of dividing cells was unusually high (greater than 30%) throughout the experiment. The optical cross sections varied greatly over a day-night cycle, with a minimum near dawn or midmorning and maximum near dusk. During daylight hours, bar-(sigma(sub b)) and bar-(sigma(sub c)) can increase more than twofold and bar-(sigma(sub a) by as much as 45%. The real part of the refractive index n increaed during the day; changes in n had equal or greater effect than the varying size distribution on changes in bar-(sigma(sub c)) and bar-(sigma(sub b)). The contribution of changes in n to the increase of bar-(sigma(sub c))(660) during daylight hours was 65.7% and 45.1% on day 1 and 2, respectively. During the dark period, when bar-(sigma(sub c))(660) decreased by a factor of 2.9, the effect of decreasing n was dominant (86.3%). With the exception of a few hours during the second light period, the imaginary part of the refractive index n' showed little variation over a day-night cycle, and bar-(sigma(sub a)) was largely controlled by variations in cell size. The real part of the refractive index at lambda = 660 nm was correlated with the intracellular C concentration and the imaginary part at lambda = 678 nm with the intracellular Chl a concentration. The C-specfic attenuation coefficient showed significant diel variability, which has implications for the estimation of oceanic primary production from measurements of diel variability in beam attenuation. This study provides strong evidence that diel variability is an important component of the optical characterization of marine phytoplankton.

Stramski, Dariusz↗

NASA NTRS1997

Kinetics, Ca2+ dependence, and biophysical properties of integrin-mediated mechanical modulation of transmitter release from frog motor nerve terminals

Neurotransmitter release from frog motor nerve terminals is strongly modulated by change in muscle length. Over the physiological range, there is an approximately 10% increase in spontaneous and evoked release per 1% muscle stretch. Because many muscle fibers do not receive suprathreshold synaptic inputs at rest length, this stretch-induced enhancement of release constitutes a strong peripheral amplifier of the spinal stretch reflex. The stretch modulation of release is inhibited by peptides that block integrin binding of natural ligands. The modulation varies linearly with length, with a delay of no more than approximately 1-2 msec and is maintained constant at the new length. Moreover, the stretch modulation persists in a zero Ca2+ Ringer and, hence, is not dependent on Ca2+ influx through stretch activated channels. Eliminating transmembrane Ca2+ gradients and buffering intraterminal Ca2+ to approximately normal resting levels does not eliminate the modulation, suggesting that it is not the result of release of Ca2+ from internal stores. Finally, changes in temperature have no detectable effect on the kinetics of stretch-induced changes in endplate potential (EPP) amplitude or miniature EPP (mEPP) frequency. We conclude, therefore, that stretch does not act via second messenger pathways or a chemical modification of molecules involved in the release pathway. Instead, there is direct mechanical modulation of release. We postulate that tension on integrins in the presynaptic membrane is transduced mechanically into changes in the position or conformation of one or more molecules involved in neurotransmitter release, altering sensitivity to Ca2+ or the equilibrium for a critical reaction leading to vesicle fusion.

Non-NASA Center↗

NASA NTRS2021

Sacramento Urban Development: Quantifying and Mapping Urban Heat to Support Urban Planning Initiatives in Sacramento, California

The combined effects of increasing urbanization and climate change have exacerbated the urban heat island (UHI) effect and heat-related risks for city dwellers. Vulnerability to heat-related illnesses is further compounded by risk factors such as demographics, socioeconomic status, and pre-existing health conditions. The City of Sacramento, as California’s fastest growing city in terms of population, is particularly invested in combatting the UHI effect. The team collaborated with the City of Sacramento and urban planning firm, Dyett and Bhatia, on three main goals: assessing urban heat at the neighborhood scale; identifying priority areas for cooling interventions; and assessing heat risk to the population. This project utilized NASA Earth observation products to identify hotspots within the community areas of Sacramento and create maps of urban heat, the heat-mitigation index, and heat risk of the study period from 2016-2020. The Surface Reflectance product were used from Landsat 8 Operational Land Imager (OLI) and Thermal Infrared Sensor (TIRS) and ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS) thermal infrared sensor. Additionally, the Integrated Valuation of Ecosystem Services and Tradeoffs (InVEST) Urban cooling model was used to assess the impact of increased tree canopy scenarios. Urban hotspots were identified in central Sacramento and along major transportation corridors such as Stockton Boulevard, while highest risk areas were identified in the community areas of Fruitridge/Broadway and North Sacramento. This project identified these high-opportunity areas for heat mitigation to inform the City of Sacramento's General Plan. This will inform the partners’ plans to reduce citizen risk by addressing urban heat islands.

Karina Alvarez↗

NASA NTRS2014

Quantification of In-flight Physical Changes: Anthropometry and Neutral Body Posture

Currently, NASA does not have sufficient in-flight anthropometric data gathered to assess the impact of physical body shape and size changes on suit sizing. For developing future planetary and reduced gravity suits, NASA needs to quantify the impacts of microgravity on anthropometry, body posture, and neutral body postures (NBP) to ensure optimal crew performance, fit, and comfort. To obtain these impacts, anthropometric data, circumference, length, height, breadth, and depth for body segments (i.e. chest, waist, bicep, thigh, calf) from astronauts for pre, in-, and postflight conditions needs to be collected. Once this data has been collected, a comparison between pre, in-, and postflight anthropometric values will be analyzed, yielding microgravity factors. The NBP will be used to determined body posture (joint angle) changes between subjects throughout the duration of a mission. Data collection, starting with Increments 37/38, is still in progress with the completion of 3 out of 12 subjects. NASA suit engineers and NASA's Extravehicular Activity (EVA) Project Office have identified that suit fit in microgravity could become an issue. It has been noted that crewmembers often need to adjust their suit sizing once they are in orbit. This adjustment could be due to microgravity effects on anthropometry and postural changes, and is necessary to ensure optimal crew performance, fit, and comfort in space. To date, the only data collected to determine the effects of microgravity on physical human changes have been during Skylab, STS-57, and a recent HRP study on seated height changes due to spinal elongation (Spinal Elongation, Master Task List [MTL] #221). The Skylab and the STS-57 studies found that there is a distinct neutral body posture (NBP) based on photographs. The still photographs showed that there is a distinguishable posture with the arms raised and the shoulder abducted; and, in addition, the knees were flexed with noticeable hip flexion and the foot plantar flexed [1,2]. This is the one standard set of body joint angles for a NBP in microgravity. A recent simulated microgravity NBP study [3] has shown an individual variability and inconsistencies in defining NBP. This variation may be influenced by spinal growth, the type of suit fit, and other potential anthropometry factors such as spinal curvature, age, and gender. The variation aspect of this essential data is required for all kinds of space device designs (e.g. suits, habitat, mobility aids, etc.). The method proposed considers the dynamic nature of body movement and will use a measurement technique to continually monitor posture and develop a probability likelihood of the natural posture and how the NBP postures are affected by anthropometry. Additionally, Skylab studies found that crewmembers experienced a stature growth of up to 3%. The data included 3 crewmembers that showed that there is a bi-phasic stature growth once the crew enters into weightlessness. However, the Spinal Elongation study identified that the crewmembers could experience about a 6% growth in seated height and a 3% stature growth, when exposed to microgravity. The results prove that not all anthropometric measurements have the same microgravity percent growth factor. For EVA and suit engineers to properly update the sizing protocol for microgravity, they need additional anthropometric data from space missions. Hence, this study is aimed to gather additional in-flight anthropometric measurements, such as length, depth, breadth, and circumference, to determine the changes to body shape and size due to microgravity effects. It is anticipated that by recording the potential changes to body shape and size, a better suit sizing protocol will be developed for ISS and other space missions. In essence, this study will help NASA quantify the impacts of microgravity on anthropometry to ensure optimal crew performance, fit, and comfort. This study will use simplistic data collection techniques, 3D laser scanning, digital still, and video data, and perform photogrammetric analyses to determine the changes that occur to the body shape, size, and NBP when exposed to a microgravity environment.

Young, K. S.↗

NASA NTRS2016

Quantification of ln-Flight Physical Changes: Anthropometry and Neutral Body Posture

Currently, NASA does not have sufficient in-flight anthropometric data to assess the impact of changes in body shape and size. For developing future planetary and reduced-gravity suits, NASA needs to quantify the impacts of microgravity on anthropometry and body posture to ensure optimal crew performance, fit, and comfort. To obtain data on these changes, circumference, length, height, breadth, and depth for body segments (chest, waist, bicep, thigh, calf) from astronauts for preflight, in-flight, and post-flight conditions needs to be collected. Once these data have been collected, pre-flight, in-flight, and post-flight anthropometric values will be compared, yielding microgravity factors. The neutral body posture (NBP) will also be measured, to determine body posture (joint angle) changes between subjects throughout the duration of a mission. Data collection, starting with Increments 37/38, is still in progress but has been completed for 6 out of 9 subjects. NASA suit engineers and NASA's Extravehicular Activity (EVA) Project Office have identified that suit fit in microgravity could become an issue. It has been noted that crewmembers often need to adjust their suit sizing once they are in orbit. This adjustment could be due to microgravity effects on anthropometry and postural changes, and is necessary to ensure optimal crew performance, fit, and comfort in space. To date, the only data collected to determine the effects of microgravity on physical human changes were collected during Skylab 4, the Apollo-Soyuz Test Project (ASTP), Space Shuttle mission STS-57, and a recent HRP study on seated height changes due to spinal elongation (Spinal Elongation, Master Task List [MTL] #221). The Skylab 4, ASTP, and the STS-57 studies found that, according to photographs, a distinct NBP exists. The still photographs showed a distinguishable posture with the arms raised and the shoulders abducted; in addition, the knees are flexed, with noticeable hip flexion, and the foot is plantar flexed [1,2]. This combination is considered to be the standard set of body joint angles for an NBP in microgravity. A recent simulated microgravity NBP study [3] showed individual variability and inconsistencies in defining NBP. This variation may be influenced by spinal growth, and other potential anthropometry factors such as spinal curvature, age, and gender. Data on the variation of this posture data is required for all kinds of space device designs (such as suits, habitat, and mobility aids). The method proposed in this study considers the dynamic nature of body movement and will use a measurement technique to continually monitor posture and develop a probability likelihood of the neutral posture and how the NBP postures are affected by anthropometry. Additionally, Skylab studies found that crewmembers experienced a stature growth of up to 3 percent. The data included 3 crewmembers and showed that a biphasic stature growth occurs once the crewmember enters into weightlessness. However, the HRP Spinal Elongation study showed that crewmembers could experience about a 6 percent growth in seated height and a 3 percent stature growth, when exposed to microgravity. The results of that study prove that not all anthropometric measurements have the same microgravity percent growth factor. For EVA and suit engineers to properly update the sizing protocol for microgravity, they need additional anthropometric data from space missions. Hence, this study is aimed at gathering additional in-flight anthropometric measurements, such as length, depth, breadth, and circumference, to determine the changes to body shape and size caused by microgravity effects. It is anticipated that by recording the potential changes to body shape and size, NASA will develop a better suit sizing protocol for the International Space Station and other space missions. In essence, this study will help NASA quantify the impacts of microgravity on anthropometry to ensure optimal crew performance, fit, and comfort. This study will use standard anthropometry data collection techniques, 3D laser scanning, digital still photography, and video data, and perform photogrammetric analyses to determine the changes that occur to the body shape and size, and to NBP, when the human body is exposed to a microgravity environment.

Young, K. S.↗

NASA NTRS2001

Characterizing the Spatial and Temporal Distribution of Aerosol Optical Thickness Over the Atlantic Basin Utilizing GOES-8 Multispectral Data

In recent years, modeling and analysis efforts have suggested that the direct and indirect radiative effects of both anthropogenic and natural aerosols play a major role in the radiative balance of the earth and are an important factor in climate change calculations. The direct effects of aerosols on radiation and indirect effects on cloud properties are not well understood at this time. In order to improve the characterization of aerosols within climate models it is important to accurately parameterize aerosol forcing mechanisms at the local, regional, and global scales. This includes gaining information on the spatial and temporal distribution of aerosols, transport regimes and mechanisms, aerosol optical thickness, and size distributions. Although there is an expanding global network of ground measurements of aerosol optical thickness and size distribution at specific locations, satellite data must be utilized to characterize the spatial and temporal extent of aerosols and transport regimes on regional and global scales. This study was part of a collaborative effort to characterize aerosol radiative forcing over the Atlantic basin associated with the following three major aerosol components in this region: urban/sulfate, Saharan dust, and biomass burning. In-situ ground measurements obtained by a network of sun photometers during the Smoke Clouds and Radiation Experiment in Brazil (SCAR-B) and the Tropospheric Aerosol Radiative Forcing Observational Experiment (TARFOX) were utilized to develop, calibrate, and validate a Geostationary Operational Environmental Satellite (GOES)-8 aerosol optical thickness (AOT) product. Regional implementation of the GOES-8 AOT product was used to augment point source measurements to gain a better understanding of the spatial and temporal distributions of Atlantic basin aerosols during SCAR-B and TARFOX.

Fox, Robert↗

NASA NTRS2005

Preliminary Investigation of Ice Shape Sensitivity to Parameter Variations

A parameter sensitivity study was conducted at the NASA Glenn Research Center's Icing Research Tunnel (IRT) using a 36 in. chord (0.91 m) NACA-0012 airfoil. The objective of this preliminary work was to investigate the feasibility of using ice shape feature changes to define requirements for the simulation and measurement of SLD icing conditions. It was desired to identify the minimum change (threshold) in a parameter value, which yielded an observable change in the ice shape. Liquid Water Content (LWC), drop size distribution (MVD), and tunnel static temperature were varied about a nominal value, and the effects of these parameter changes on the resulting ice shapes were documented. The resulting differences in ice shapes were compared on the basis of qualitative and quantitative criteria (e.g., mass, ice horn thickness, ice horn angle, icing limits, and iced area). This paper will provide a description of the experimental method, present selected experimental results, and conclude with an evaluation of these results, followed by a discussion of recommendations for future research.

Miller, Dean R.↗

NASA NTRS2010

Changes in the TRMM Version 7 Space/Time Averaged Level 3 Data Products Based on GPROF TMI Swath-Based Precipitation Retrievals

TRMM has three level 3 (space/time averaged) data products that aggregate level 2 TRMM Microwave Imager (TMI) GPROF precipitation retrievals. These three products are TRMM 3A12, which is a monthly accumulation of 2A12 the GPROF swath retrieval product; TRMM 3B31, which is a monthly accumulation of 2A12 and 2B31 the combined retrieval product that uses both Precipitation Radar (PR) and TMI data; and 3G68 and its variants, which provide hourly retrievals for TMI, PR and combined. The 3G68 products are packaged as daily files but provide hourly information at 0.5 deg x 0.5 deg resolution globally, 0.25 deg x 0.25 deg globally, or 0.1 deg x 0.1 deg over Africa, Australia and South America. This paper will present early information of the changes in the v7 TMI GPROF level 2 retrievals that have an impact on the level 3 accumulations. This paper provides an analysis of the effect the 2A12 GPROF changes have on 3G68 products. In addition, it provides a comparison between the TRMM level 3 products that use the TMI GPROF swath retrievals.

Stocker, Erich↗

NASA NTRS1975

Optimization of duct acoustic liners of finite length

Lining design procedures generally ignore the effects of discontinuous impedance changes on reflection and modal redistribution of incident energy. The present study involves identification of the mechanisms of optimal suppression by segmented liners, including impedance discontinuity effects. The mathematical model involves rectangular ducts in the absence of mean flow. Segmented acoustic fields are represented by duct eigenfunction expansions, and mode matching is used to ensure continuity of the total field. Extensive parameter studies were used to identify attenuation mechanisms and to define preliminary liner configurations. These are used as starting values in conjugate-gradient optimization studies. Optimal segmented liners are presented and it is shown that, if the sound source is sufficiently well-defined, conventional infinite duct optimum attenuation rates can be improved upon by taking advantage of wall impedance discontinuities. Finally, follow-on work which will involve experimental verification and extension to the case with mean flow in the duct is described.

Beckemeyer, R. J.↗

NASA NTRS2011

Numerical Implementation of a Multiple-ISV Thermodynamically-Based Work Potential Theory for Modeling Progressive Damage and Failure in Fiber-Reinforced Laminates

A thermodynamically-based work potential theory for modeling progressive damage and failure in fiber-reinforced laminates is presented. The current, multiple-internal state variable (ISV) formulation, enhanced Schapery theory (EST), utilizes separate ISVs for modeling the effects of damage and failure. Damage is considered to be the effect of any structural changes in a material that manifest as pre-peak non-linearity in the stress versus strain response. Conversely, failure is taken to be the effect of the evolution of any mechanisms that results in post-peak strain softening. It is assumed that matrix microdamage is the dominant damage mechanism in continuous fiber-reinforced polymer matrix laminates, and its evolution is controlled with a single ISV. Three additional ISVs are introduced to account for failure due to mode I transverse cracking, mode II transverse cracking, and mode I axial failure. Typically, failure evolution (i.e., post-peak strain softening) results in pathologically mesh dependent solutions within a finite element method (FEM) setting. Therefore, consistent character element lengths are introduced into the formulation of the evolution of the three failure ISVs. Using the stationarity of the total work potential with respect to each ISV, a set of thermodynamically consistent evolution equations for the ISVs is derived. The theory is implemented into commercial FEM software. Objectivity of total energy dissipated during the failure process, with regards to refinements in the FEM mesh, is demonstrated. The model is also verified against experimental results from two laminated, T800/3900-2 panels containing a central notch and different fiber-orientation stacking sequences. Global load versus displacement, global load versus local strain gage data, and macroscopic failure paths obtained from the models are compared to the experiments.

Pineda, Evan J.↗

NASA NTRS2012

A Thermodynamically-Based Mesh Objective Work Potential Theory for Predicting Intralaminar Progressive Damage and Failure in Fiber-Reinforced Laminates

Pineda, Evan J.↗

NASA NTRS2017

Chapter 15: Potential Surprises: Compound Extremes and Tipping Elements

The Earth system is made up of many components that interact in complex ways across a broad range of temporal and spatial scales. As a result of these interactions the behavior of the system cannot be predicted by looking at individual components in isolation. Negative feedbacks, or self-stabilizing cycles, within and between components of the Earth system can dampen changes (Ch. 2: Physical Drivers of Climate Change). However, their stabilizing effects render such feedbacks of less concern from a risk perspective than positive feedbacks, or self-reinforcing cycles. Positive feedbacks magnify both natural and anthropogenic changes. Some Earth system components, such as arctic sea ice and the polar ice sheets, may exhibit thresholds beyond which these self-reinforcing cycles can drive the component, or the entire system, into a radically different state. Although the probabilities of these state shifts may be difficult to assess, their consequences could be high, potentially exceeding anything anticipated by climate model projections for the coming century.

Kopp, R. E.↗

NASA NTRS1979

Prediction of ion drift effects on spacecraft floating potentials

The plasma environment of high altitude spacecraft was observed to involve ion drift velocities which sometimes become comparable to ion mean thermal speeds. Such drifts may cause an electrically isolated spacecraft surface to float at a substantially increased negative potential if it is simultaneously shaded and downstream relative to the drift direction. The results showed that: (1) the ion speed ratio at which drift effects become important (i.e. change the floating potential by at least 10 percent) can be as low as 0.1, and may be decreased if the ambient electrons are non-Maxwellian; (2) the effects of ion speed ratio increase with increasing ion-to-electron temperature ratio; and (3) negative floating potentials for drifting Maxwellian ion velocity distributions with speed ratio unity are typically about twice as large as the corresponding potentials for nondrifting conditions.

Chang, J. S.↗

NASA NTRS1987

Cockpit Resource Management (CRM) for part 91 and 135 operations

Every flight is characterized by constant change. It is the way each individual crew responds to that change that determines how effectively they will be able to manage their flight deck. The concepts of Flight Deck Management (FDM) is presented. The principles dealt with are applicable to every flight, and the occurrence of change in the conduct of every flight is given. Nothing remains as it is initially perceived. It is then shown how SimuFlite accomplishes training in these concepts. Finally the challenges which are faced as an industry to make FDM more effective are discussed.

Krey, Neil C.↗

NASA NTRS1994

A general circulation model study of the climatic effect of observed stratospheric ozone depletion between 1980 and 1990

The total ozone mapping spectrometer (TOMS) and stratospheric aerosol and gas experiment (SAGE) measurements show a significant reduction in the stratospheric ozone over the middle and high latitudes of both hemispheres between the years 1979 and 1991 (WMO, 1992). This change in ozone will effect both the solar and longwave radiation with climate implications. However, recent studies (Ramaswamy et al., 1992; WMO, 1992) indicate that the net effect depends not only on latitudes and seasons, but also on the response of the lower stratospheric temperature. In this study we use a general circulation model (GCM) to calculate the climatic effect due to stratospheric ozone depletion and compare the effect with that due to observed increases of trace gases CO2, CH4, N2O, and CFC's for the period 1980-1990. In the simulations, we use the observed changes in ozone derived from the TOMS data. The GCM used is a version of the NCAR community climate model referenced in Wang et al. (1991). For the present study we run the model in perpetual January and perpetual July modes in which the incoming solar radiation and climatological sea surface temperatures are held constant.

Dudek, Michael P.↗

NASA NTRS2020

Role of emission controls in reducing the 2050 climate change penalty for PM2.5 in China

Previous studies demonstrated that global warming can lead to deteriorated air quality even when anthropogenic emissions were kept constant, which has been called a climate change penalty on air quality. It is expected that anthropogenic emissions will decrease significantly in the future considering the aggressive emission control actions in China. However, the dependence of climate change penalty on the choice of emission scenario is still uncertain. To fill this gap, we conducted multiple independent model simulations to investigate the response of PM2.5 to future (2050) climate warming (RCP8.5) in China but with different emission scenarios, including the constant 2015 emissions, the 2050 CLE emissions (based on Current Legislation), and the 2050 MTFR emissions (based on Maximum Technically Feasible Reduction). For each set of emissions, we estimate climate change penalty as the difference in PM2.5 between a pair of simulations with either 2015 or 2050 meteorology. Under 2015 emissions, we find a PM2.5 climate change penalty of 1.43 μg m−3 in Eastern China, leading to an additional 35,000 PM2.5-related premature deaths [95% confidence interval (CI), 21,000-40,000] by 2050. However, the PM2.5 climate change penalty weakens to 0.24 μg m−3 with strict anthropogenic emission controls under the 2050 MTFR emissions, which decreases the associated PM2.5-related deaths to 17,000. The smaller MTFR climate change penalty contributes 14% of the total PM2.5 decrease when both emissions and meteorology are changed from 2015 to 2050, and 24% of total health benefits associated with this PM2.5 decrease in Eastern China. This finding suggests that controlling anthropogenic emissions can effectively reduce the climate change penalty on PM2.5 and its associated premature deaths, even though a climate change penalty still occurs even under MTFR. Strengthened controls on anthropogenic emissions are key to attaining air quality targets and protecting human health in the context of future global climate change.

Emission controls↗

NASA NTRS1991

Comparison of force and tactile feedback for grasp force control in telemanipulation

The comparative efficacy of using direct force feedback or a simple vibrotactile display to convey changes in the intensity of remote grasp force relayed from a robotic end effector is examined. The findings show that a simple vibrotactile cue, in the absence of direct force feedback, is effective in signaling abrupt changes in remote grasp force regardless of magnitude, and when changes in force are not too slow or protracted in nature (i.e., ramp time less than 2 s). In cases where the operator must dynamically tract and respond to slow but large variations in grasp force, the comparatively crude vibrotactile display would prove helpful; but would not be as effective as that of a direct contact force display. Immediate applications and utility of current generation and near-term prototype tactile displays are discussed.

Wiker, Steven F.↗