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NASA NTRS2014

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Sandor, Aniko↗

NASA NTRS1986

Space Telescope precision pointing control system

The Hubble Space Telescope has the most stringent pointing requirements imposed on any spacecraft to date. The overall HST stability shall not exceed 0.007 arc-seconds rms. The Pointing Control System utilizes fine guidance sensors and rate gyros for attitude reference and rate information. Control torques are provided by reaction wheels. A digital computer collects the sensor data, performs the control law computations, and sends torque commands to the reaction wheels. To attain this precision pointing, improvements were made to the rate gyros to lower their noise characteristics and to the reaction wheels to reduce their emitted vibration levels. The control system design was validated in a test sequence which progressed from model verification tests on an air-bearing to operations-oriented, closed loop testing on the assembled vehicle. A test system is described which allowed the simultaneous production of test case command loads for the flight computer and plots of predicted profiles to assist in test data analysis. Workarounds were required during system test to accommodate gyro biases and noise introduced into the closed loop system. Testing and analysis indicate that the HST will provide the capability to meet the requirements for precision pointing.

Beals, G. A.↗

NASA NTRS1993

A Prototype System for Ground Control Space Telerobotics

A telerobotics system is described which provides supervised autonomous control capability for time-delayed ground-remote control applications. The system includes a local site operator interface for interactive task description and a remote site task execution system. Interactive stereo graphics overlay on video is provided at the local site to update the remote environmental model. The remote site system is capable of nominal task execution as well as monitoring and reflex action. Execution utilizes multiple control modules which execute based upon command parameterization.

robotics autonomous control telerobotics manipulat↗

NASA NTRS1997

Simulation of a Controlled Airfoil with Jets

Numerical simulations of a two-dimensional airfoil, controlled by an applied moment in pitch and an airfoil controlled by jets, were investigated. These simulations couple the Reynolds-averaged Navier-Stokes equations and Euler's equations of rigid body motion, with an active control system. Controllers for both systems were designed to track altitude commands and were evaluated by simulating a closed-loop altitude step response using the coupled system. The airfoil controlled by a pitching moment used an optimal state feedback controller. A closed-loop simulation, of the airfoil with an applied moment, showed that the trajectories compared very well with quasi-steady aerodynamic theory, providing a measure of validation. The airfoil with jets used a controller designed by robust control methods. A linear plant model for this system was identified using open-loop data generated by the nonlinear coupled system. A closed-loop simulation of the airfoil with jets, showed good tracking of an altitude command. This simulation also showed oscillations in the control input as a result of dynamics not accounted for in the control design. This research work demonstrates how computational fluid dynamics, coupled with rigid body dynamics, and a control law can be used to prototype control systems in problematic nonlinear flight regimes.

Allan, Brian G.↗

DOE OSTI2018

Teaching Computational Reproducibility for Neuroimaging

We describe a project-based introduction to reproducible and collaborative neuroimaging analysis. Traditional teaching on neuroimaging usually consists of a series of lectures that emphasize the big picture rather than the foundations on which the techniques are based. The lectures are often paired with practical workshops in which students run imaging analyses using the graphical interface of specific neuroimaging software packages. Our experience suggests that this combination leaves the student with a superficial understanding of the underlying ideas, and an informal, inefficient, and inaccurate approach to analysis. To address these problems, we based our course around a substantial open-ended group project. This allowed us to teach: (a) computational tools to ensure computationally reproducible work, such as the Unix command line, structured code, version control, automated testing, and code review and (b) a clear understanding of the statistical techniques used for a basic analysis of a single run in an MR scanner. The emphasis we put on the group project showed the importance of standard computational tools for accuracy, efficiency, and collaboration. The projects were broadly successful in engaging students in working reproducibly on real scientific questions. We propose that a course on this model should be the foundation for future programs in neuroimaging. We believe it will also serve as a model for teaching efficient and reproducible research in other fields of computational science.

60 APPLIED LIFE SCIENCES↗

NASA NTRS1972

Shuttle/Agena study. Annex B: Catalog of existing flight equipment

The Agena space tug design was based on the requirements of representative reference missions, the use of existing hardware, and the experience gained from more than 300 Agena flights. To provide a convenient reference for understanding the Agena tug design selection or for evaluating alternative concepts, this catalog of existing flight equipment was prepared. Equipment descriptions are grouped by Agena subsystem, as follows: spaceframe; propulsion; electrical; guidance and flight controls; and telemetry, tracking, and command. These systems, most of which have been flight qualified on prior Agena programs, permit specialized mission requirements to be satisfied without sacrificing cost or reliability.

Source record↗

NASA NTRS1971

A gamma ray monitor for the OSO-7 spacecraft

A 3 in. x 3 in. NaI(Tl) gamma ray (0.3 to 10 MeV) spectrometer with a CsI(Na) charged particle and anti-Compton shield has been developed for the Orbiting Solar Observatory (OSO-7) which was launched September 30, 1971. The instrument, designed for a rotating wheel compartment, utilizes a 377 channel quadratic PHA with accumulation times of 3, 1, or 0.5 minutes. Quick look and calibration data obtained via a direct data link to a minicomputer allows near real time monitoring and control of the experiment. Various commands changing the operating mode can be executed. The functions which can be commanded include: rotation of the quadrants in which data is collected by 90 deg; gain adjustment of the central detector over a 6:1 range; manual or automatic sequencing of calibrations; variations of accumulation times by telemetering selected channels; and selection of reference directions. A small X-ray detector covering the range 7.5 to 120 keV is also included.

Higbie, P. R.↗

NASA NTRS1973

Inexpensive programmable computer clock

Clock's computer interface accepts pulses from computer (computer commands) and translates them into control signals for clock, and vice versa. Clock is preset by computer to a fixed number of time pulses, and then started. After fixed number of time pulses has occured, clock reads pulse (via interface) to computer and stops.

Vrancik, J. E.↗

NASA NTRS1973

Environmental control system transducer development study

A failure evaluation of the transducers used in the environmental control systems of the Apollo command service module, lunar module, and portable life support system is presented in matrix form for several generic categories of transducers to enable identification of chronic failure modes. Transducer vendors were contacted and asked to supply detailed information. The evaluation data generated for each category of transducer were compiled and published in failure design evaluation reports. The evaluation reports also present a review of the failure and design data for the transducers and suggest both design criteria to improve reliability of the transducers and, where necessary, design concepts for required redesign of the transducers. Remedial designs were implemented on a family of pressure transducers and on the oxygen flow transducer. The design concepts were subjected to analysis, breadboard fabrication, and verification testing.

Brudnicki, M. J.↗

NASA NTRS1973

Mariner Mars 1971 battery design, test, and flight performance

The design, integration, fabrication, test results, and flight performance of the battery system for the Mariner Mars spacecraft launched in May 1971 are presented. The battery consists of 26 20-Ah hermetically sealed nickel-cadmium cells housed in a machined magnesium chassis. The battery package weighs 29.5 kg and is unique in that the chassis also serves as part of the spacecraft structure. Active thermal control is accomplished by louvers mounted to the battery baseplate. Battery charge is accomplished by C/10 and C/30 constant current chargers. The switch from the high-rate to low-rate charge is automatic, based on terminal voltage. Additional control is possible by ground command or onboard computer. The performance data from the flight battery is compared to the data from various battery tests in the laboratory. Flight battery data was predictable based on ground test data.

Bogner, R. S.↗

NASA NTRS1973

Apollo LM guidance computer software for the final lunar descent.

In all manned lunar landings to date, the lunar module Commander has taken partial manual control of the spacecraft during the final stage of the descent, below roughly 500 ft altitude. This report describes programs developed at the Charles Stark Draper Laboratory, MIT, for use in the LM's guidance computer during the final descent. At this time computational demands on the on-board computer are at a maximum, and particularly close interaction with the crew is necessary. The emphasis is on the design of the computer software rather than on justification of the particular guidance algorithms employed. After the computer and the mission have been introduced, the current configuration of the final landing programs and an advanced version developed experimentally by the author are described.

Eyles, D.↗

NASA NTRS1973

Terminal guidance system

A terminal guidance system is described including a heading command subsystem and a glide-slope command subsystem which develop command signals for use in guiding an aircraft or other vehicle into a preselected heading and/or altitude at a terminal point. The heading command subsystem is responsive to certain input data and continuously develops command signals for use in directing the aircraft from a remote location to a terminal point so that upon arrival it has a preselected terminal heading. The glide-slope command subsystem is responsive to certain other input data and continuously develops command signals for use in controlling the rate of descent of the aircraft so that it will have a preselected altitude and glide-slope upon arrival at the terminal.

Gee, S. W.↗

NASA NTRS1974

The standardized functional support sectional for the Small Astronomy Satellite (SAS)

The standardized functional support section for the improved Small Astronomy Satellite (SAS) spacecraft, which can be used virtually without change for a wide variety of experimental packages and missions, is described. This functional support section makes the spacecraft remarkably flexible for a small satellite. Able to point its thrust axis to any direction in space, it can also spin or slow its outer body rotation to zero for star- or earth-locked pointing of side-viewing experiments. It features a reprogrammable telemetry system, a delayed command system, and an improved control system. Experiments can be built independently and attached to the SAS spacecraft just prior to final acceptance testing and launch. The spacecraft subsystems are described in detail. Included are a summary of the spacecraft characteristics, special design considerations, project reliability requirements, and environmental test conditions. It is intended that this new functional support section afford virtual off-the-shelf availability of the SAS spacecraft to independently built experiments, thus providing quick response time and minimum cost in meeting a wide variety of experimenter needs.

Townsend, M. R.↗

NASA NTRS1975

Program verification document for the ASTP flight program

The various segments of the Apollo Soyuz Test Project (ASTP) flight program were verified. This included checks on the following: general verification, reference systems and transformations, launch preparations, boost navigation and guidance, orbital navigation and guidance, time bases, discretes, and interrupts, launch vehicle attitude control, switch selector processing, digital command system, real time telemetry and data compression, and algorithms.

Source record↗

NASA NTRS1974

A stabilized large-aperture far-infrared telescope gondola

Description of a recently developed balloon-borne 1-m far-infrared telescope designed to carry out astronomical observations and to map radiation from selected areas of the sky. The telescope optical system consists of a conventional Cassegrain arrangement with an f/2 aluminum primary mirror, spherically figured, which feeds a pyrex secondary mirror to produce an f/13.8 beam at the focal plane with a scale of 15.2 arc sec/mm. Three focal planes are provided. The infrared detectors consist of an array of four gallium-doped germanium bolometers fitted within a two-liter helium dewar. An altitude-azimuth mount design is used for attitude control, with the pointing objectives being achieved in two steps. The azimuth control system is capable of operation in a position mode, in which the sensing element is a servo-driven null magnetometer always pointed north, and in an inertial mode, in which the gyro is uncaged and becomes the azimuth reference. The elevation system also operates in both position and inertial modes. An auxiliary position control, powered by an independent battery and controlled by a separate tone command system, is provided in case of a primary system difficulty.

Hazen, N. L.↗

NASA NTRS1976

Air-bearing spin facility for measuring energy dissipation

The air-bearing spin facility was developed to determine experimentally the effect of energy dissipation upon the motion of spinning spacecraft. The facility consists of an air-bearing spin table, a telemetry system, a command system, and a ground control station. The air-bearing spin table was designed to operate in a vacuum chamber. Tests were run on spacecraft components such as fuel tanks, nutation dampers, reaction wheels, and active nutation damper systems. Each of these items affected the attitude of a spinning spacecraft. An experimental approach to determine these effects was required because the dissipation of these components could not be adequately analyzed. The results of these experiments have been used, with excellent results, to predict spacecraft motion.

Peterson, R. L.↗

NASA NTRS1979

Automatic in-orbit assembly of large space structures

The automated assembly of a large number of components required for the on-orbit erection of large tetrahedral space platforms is described. The assembly machine is a huge jig in which a multitude of mechanisms must operated continuously in the thermo vacuum environment of space and under the control of computers programmed to command every step of each motion. The concepts are presented to determine the most reliable solution. Continuous operation of mechanisms in space presents many unresolved problems, with regard to lubrication of unprotected devices, such as chain drives, which must maintain reasonable positioning tolerances.

Jacquemin, G. G.↗

NASA NTRS1979

Flight test experience with an adaptive control system using a maximum likelihood parameter estimation technique

The flight test performance of an adaptive control system for the F-8 DFBW aircraft is summarized. The adaptive system is based on explicit identification of surface effectiveness parameters which are used for gain scheduling in a command augmentation system. Performance of this control law under various design parameter variations is presented. These include variations in test signal level, sample rate, and identification channel structure. Flight performance closely matches analysis and simulation predictions from previous references.

Hartmann, G.↗