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NASA NTRS2010

Multi-Sensor Mud Detection

Robust mud detection is a critical perception requirement for Unmanned Ground Vehicle (UGV) autonomous offroad navigation. A military UGV stuck in a mud body during a mission may have to be sacrificed or rescued, both of which are unattractive options. There are several characteristics of mud that may be detectable with appropriate UGV-mounted sensors. For example, mud only occurs on the ground surface, is cooler than surrounding dry soil during the daytime under nominal weather conditions, is generally darker than surrounding dry soil in visible imagery, and is highly polarized. However, none of these cues are definitive on their own. Dry soil also occurs on the ground surface, shadows, snow, ice, and water can also be cooler than surrounding dry soil, shadows are also darker than surrounding dry soil in visible imagery, and cars, water, and some vegetation are also highly polarized. Shadows, snow, ice, water, cars, and vegetation can all be disambiguated from mud by using a suite of sensors that span multiple bands in the electromagnetic spectrum. Because there are military operations when it is imperative for UGV's to operate without emitting strong, detectable electromagnetic signals, passive sensors are desirable. JPL has developed a daytime mud detection capability using multiple passive imaging sensors. Cues for mud from multiple passive imaging sensors are fused into a single mud detection image using a rule base, and the resultant mud detection is localized in a terrain map using range data generated from a stereo pair of color cameras.

Rankin, Arturo L.↗
NASA NTRS2009

Determination and application of location and angular orientation of a pill transmitter within a body

A mobile pill transmitter system that moves through or adjacent to one or more organs in an animal's body and that provides signals from which the pill's present location and/or present angular orientation can be determined. The system also provides signals from which the present roll angle of the pill, about a selected axis, can be determined. When the location coordinates and the roll angle of the pill are within selected ranges, an aperture on the pill container releases a selected chemical into or onto the body. Optionally, the pill as it moves also provides a sequence of visually perceptible images; the times for image formation may correspond to times at which the pill transmitter system location or image satisfies one or at least four different criteria.

Schipper, John F.↗
NASA NTRS2010

Cognitive Modeling of Video Game Player User Experience

This paper argues for the use of cognitive modeling to gain a detailed and dynamic look into user experience during game play. Applying cognitive models to game play data can help researchers understand a player's attentional focus, memory status, learning state, and decision strategies (among other things) as these cognitive processes occurred throughout game play. This is a stark contrast to the common approach of trying to assess the long-term impact of games on cognitive functioning after game play has ended. We describe what cognitive models are, what they can be used for and how game researchers could benefit by adopting these methods. We also provide details of a single model - based on decision field theory - that has been successfUlly applied to data sets from memory, perception, and decision making experiments, and has recently found application in real world scenarios. We examine possibilities for applying this model to game-play data.

Bohil, Corey J.↗
NASA NTRS2009

Mars Global Geologic Mapping: About Half Way Done

We are in the third year of a five-year effort to map the geology of Mars using mainly Mars Global Surveyor, Mars Express, and Mars Odyssey imaging and altimetry datasets. Previously, we have reported on details of project management, mapping datasets (local and regional), initial and anticipated mapping approaches, and tactics of map unit delineation and description [1-2]. For example, we have seen how the multiple types and huge quantity of image data as well as more accurate and detailed altimetry data now available allow for broader and deeper geologic perspectives, based largely on improved landform perception, characterization, and analysis. Here, we describe mapping and unit delineation results thus far, a new unit identified in the northern plains, and remaining steps to complete the map.

Tanaka, K. L.↗
NASA NTRS2010

Improving Realism in Reduced Gravity Simulators

Since man was first determined to walk on the moon, simulating the lunar environment became a priority. Providing an accurate reduced gravity environment is crucial for astronaut training and hardware testing. This presentation will follow the development of reduced gravity simulators to a final comparison of environments between the currently used systems. During the Apollo program era, multiple systems were built and tested, with several NASA centers having their own unique device. These systems ranged from marionette-like suspension devices where the subject laid on his side, to pneumatically driven offloading harnesses, to parabolic flights. However, only token comparisons, if any, were made between systems. Parabolic flight allows the entire body to fall at the same rate, giving an excellent simulation of reduced gravity as far as the biomechanics and physical perceptions are concerned. While the effects are accurate, there is limited workspace, limited time, and high cost associated with these tests. With all mechanical offload systems only the parts of the body that are actively offloaded feel any reduced gravity effects. The rest of the body still feels the full effect of gravity. The Partial Gravity System (Pogo) is the current ground-based offload system used to training and testing at the NASA Johnson Space Center. The Pogo is a pneumatic type system that allows for offloaded motion in the z-axis and free movement in the x-axis, but has limited motion in the y-axis. The pneumatic system itself is limited by cylinder stroke length and response time. The Active Response Gravity Offload System (ARGOS) is a next generation groundbased offload system, currently in development, that is based on modern robotic manufacturing lines. This system is projected to provide more z-axis travel and full freedom in both the x and y-axes. Current characterization tests are underway to determine how the ground-based offloading systems perform, how they compare to parabolic flights, and which of the systems is preferable for specific uses. These tests were conducted with six degree of freedom robots and manual inputs. Initial results show a definitive difference in abilities of the two offload systems.

Cowley, Matthew↗
NASA NTRS2010

Aeromechanics and Aeroacoustics Predictions of the Boeing-SMART Rotor Using Coupled-CFD/CSD Analyses

This paper will highlight helicopter aeromechanics and aeroacoustics prediction capabilities developed by Georgia Institute of Technology, the Pennsylvania State University, and Northern Arizona University under the Helicopter Quieting Program (HQP) sponsored by the Tactical Technology Office of the Defense Advanced Research Projects Agency (DARPA). First initiated in 2004, the goal of the HQP was to develop high fidelity, state-of-the-art computational tools for designing advanced helicopter rotors with reduced acoustic perceptibility and enhanced performance. A critical step towards achieving this objective is the development of rotorcraft prediction codes capable of assessing a wide range of helicopter configurations and operations for future rotorcraft designs. This includes novel next-generation rotor systems that incorporate innovative passive and/or active elements to meet future challenging military performance and survivability goals.

Bain, Jeremy↗
NASA NTRS2010

A Heuristic Model of Consciousness with Applications to the Development of Science and Society

A working model of consciousness is fundamental to understanding of the interactions of the observer in science. This paper examines contemporary understanding of consciousness. A heuristic model of consciousness is suggested that is consistent with psycophysics measurements of bandwidth of consciousness relative to unconscious perception. While the self reference nature of consciousness confers a survival benefit by assuring the all points of view regarding a problem are experienced in sufficiently large population, conscious bandwidth is constrained by design to avoid chaotic behavior. The multiple hypotheses provided by conscious reflection enable the rapid progression of science and technology. The questions of free will and the problem of attention are discussed in relation to the model. Finally the combination of rapid technology growth with the assurance of many unpredictable points of view is considered in respect to contemporary constraints to the development of society.

Curreri, Peter A.↗
NASA NTRS2004

Primate Anatomy, Kinematics, and Principles for Humanoid Design

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Ambrose, Robert O.↗
NASA NTRS2003

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Ambrose, Robert↗
NASA NTRS2003

Human-Robot Control Strategies for the NASA/DARPA Robonaut

The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system, Robonaut, is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires, grasping handrails to move along space station mockups, and mating connectors. More recently, developments in autonomous control and perception for Robonaut have enabled dexterous, real-time man-machine interaction. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. A versatile, vision-based algorithm for matching range silhouettes is used for monitoring human activity as well as estimating tool pose.

Diftler, M. A.↗
NASA NTRS2009

Virtual Planetary Analysis Environment for Remote Science

All of the data for NASA's current planetary missions and most data for field experiments are collected via orbiting spacecraft, aircraft, and robotic explorers. Mission scientists are unable to employ traditional field methods when operating remotely. We have developed a virtual exploration tool for remote sites with data analysis capabilities that extend human perception quantitatively and qualitatively. Scientists and mission engineers can use it to explore a realistic representation of a remote site. It also provides software tools to "touch" and "measure" remote sites with an immediacy that boosts scientific productivity and is essential for mission operations.

Keely, Leslie↗
NASA NTRS2010

Reliability Demonstration Approach for Advanced Stirling Radioisotope Generator

Developed for future space missions as a high-efficiency power system, the Advanced Stirling Radioisotope Generator (ASRG) has a design life requirement of 14 yr in space following a potential storage of 3 yr after fueling. In general, the demonstration of long-life dynamic systems remains difficult in part due to the perception that the wearout of moving parts cannot be minimized, and associated failures are unpredictable. This paper shows a combination of systematic analytical methods, extensive experience gained from technology development, and well-planned tests can be used to ensure a high level reliability of ASRG. With this approach, all potential risks from each life phase of the system are evaluated and the mitigation adequately addressed. This paper also provides a summary of important test results obtained to date for ASRG and the planned effort for system-level extended operation.

Ha, CHuong↗
NASA NTRS2010

Ultra-Wideband Angle-of-Arrival Tracking Systems

Systems that measure the angles of arrival of ultra-wideband (UWB) radio signals and perform triangulation by use of those angles in order to locate the sources of those signals are undergoing development. These systems were originally intended for use in tracking UWB-transmitter-equipped astronauts and mobile robots on the surfaces of remote planets during early stages of exploration, before satellite-based navigation systems become operational. On Earth, these systems could be adapted to such uses as tracking UWB-transmitter-equipped firefighters inside buildings or in outdoor wildfire areas obscured by smoke. The same characteristics that have made UWB radio advantageous for fine resolution ranging, covert communication, and ground-penetrating radar applications in military and law-enforcement settings also contribute to its attractiveness for the present tracking applications. In particular, the waveform shape and the short duration of UWB pulses make it possible to attain the high temporal resolution (of the order of picoseconds) needed to measure angles of arrival with sufficient precision, and the low power spectral density of UWB pulses enables UWB radio communication systems to operate in proximity to other radio communication systems with little or no perceptible mutual interference.

Arndt, G. Dickey↗
NASA NTRS2010

Application of a Modified Universal Design Survey for Evaluation of Ares 1 Ground Crew Worksites

Operability is a driving requirement for NASA's Ares 1 launch vehicle. Launch site ground operations include several operator tasks to prepare the vehicle for launch or to perform maintenance. Ensuring that components requiring operator interaction at the launch site are designed for optimal human use is a high priority for operability. To support design evaluation, the Ares 1 Upper Stage (US) element Human Factors Engineering (HFE) group developed a survey based on the Universal Design approach. Universal Design is a process to create products that can be used effectively by as many people as possible. Universal Design per se is not a priority for Ares 1 because launch vehicle processing is a specialized skill and not akin to a consumer product that should be used by all people of all abilities. However, applying principles of Universal Design will increase the probability of an error free and efficient design which is a priority for Ares 1. The Design Quality Evaluation Survey centers on the following seven principles: (1) Equitable use, (2) Flexibility in use, (3) Simple and intuitive use, (4) Perceptible information, (5) Tolerance for error, (6) Low physical effort, (7) Size and space for approach and use. Each principle is associated with multiple evaluation criteria which were rated with the degree to which the statement is true. All statements are phrased in the utmost positive, or the design goal so that the degree to which judgments tend toward "completely agree" directly reflects the degree to which the design is good. The Design Quality Evaluation Survey was employed for several US analyses. The tool was found to be most useful for comparative judgments as opposed to an assessment of a single design option. It provided a useful piece of additional data when assessing possible operator interfaces or worksites for operability

Blume, Jennifer L.↗
NASA NTRS2003

Toxicological Assessment of the International Space Station Atmosphere with Emphasis on Metox Canister Regeneration

Space-faring crews must have safe breathing air throughout their missions to ensure adequate performance and good health. Toxicological assessment of air quality depends on the standards that define acceptable air quality, measurements of pollutant levels during the flight, and reports from the crew on their in-flight perceptions of air quality. Air samples returned from ISS on flights 8A, UF2, 9A, and 11A were analyzed for trace pollutants. On average, the air during this period of operations was safe for human respiration. However, about 3 hours into the regeneration of 2 Metox canisters in the U.S. airlock on 20 February 2002 the crew reported an intolerable odor that caused them to stop the regeneration, take refuge in the Russian segment, and scrub air in the U.S. segment for 30 hours. Analytical data from grab samples taken during the incident showed that the pollutants released were characteristic of nominal air pollutants, but were present in much higher concentrations. The odors reported by the crew were due to relatively high concentrations of n-butanol, and possibly other pollutants in the mixture. Later data taken during regeneration of Metox canisters that had not been subject to long-term flows showed minimal effects on air quality. Long-term trending data suggest that a disruption in atmospheric mixing between the Service Module and the U.S. Laboratory has occurred and that formaldehyde concentrations are gradually increasing in the U.S. Laboratory. Trending data also show that the releases of octafluoropropane (OFP) have subsided.

James, John T.↗
NASA NTRS2011

Exoplanets, Exo-Solar Life, and Human Significance

With the recent detection of over 500 extrasolar planets, the existence of "other worlds", perhaps even other Earths, is no longer in the realm of science fiction. The study of exoplanets rapidly moved from an activity on the fringe of astronomy to one of the highest priorities of the world's astronomical programs. Actual images of extrasolar planets were revealed over the past two years for the first time. NASA's Hubble Space Telescope is already characterizing the atmospheres of Jupiter-like planets, in other systems. And the recent launch of the NASA Kepler space telescope is enabling the first statistical assessment of how common solar systems like our own really are. As we begin to characterize these "other worlds" and assess their habitability, the question of the significance and uniqueness of life on Earth will impact our society as never before. I will provide a comprehensive overview of the techniques and status of exoplanet detection, followed by reflections as to the societal impact of finding out that Earths are common, or rare. Will finding other potentially habitable planets create another "Copernican Revolution"? Will perceptions of the significance of life on Earth change when we find other Earth-like planets? I will discuss the plans of the scientific community for future telescopes that will be abe to survey our solar neighborhood for Earth-like planets, study their atmospheres, and search for biological signs of life.

Wiseman, Jennifer↗
NASA NTRS2004

Communicating Medical Needs to Non-Medical Managers

Differences in communication styles and languages between groups often lead to miscommunication, confusion, and/or frustration. Engineers, computer specialists, clinicians, and managers often utilize the English language in very different ways, with different groups using the same words to represent different concepts ("complaint" is a typical example). In addition, medical issues are often perceived as "off-nominal" and not "primary mission tasks" by managers, which can cause them to assign lower priorities to medical training time and resources. Knowledge bases differ due to variations in training and skill sets, and the goals (both immediate and long-term) of the communicators may also vary, with managers being primarily concerned with overall mission objectives, while clinicians focus on individual or group health issues. Furthermore, true communication is only possible when clinicians possess a deep understanding of mission requirements as well as the ability to communicate medical requirements on a priority basis using risk assessment, added value, and cost benefit analysis. These understandable differences may contribute to difficulties in expressing concerns and ideas in an efficient manner, particularly in projects, such as the space program or many military operations, where these varied groups must collaborate, and where the final decisions must be made by fully informed mission commanders. Methods: Three scenario-based approaches were developed utilizing decision trees and problem based learning, to help define and integrate these concepts. Results: Use of these techniques by NASA and military personnel will be presented. Discussion: To enhance communication, particularly of medical needs, one must identify the concerns and motivating factors for the other groups; for example, members of management may focus on financial concerns, a desire for risk mitigation, public perceptions, mission objectives, etc. Training clinicians to frame issues in these terms may lead to better understanding of the medical concerns by other groups.

Bacal, Kira↗
NASA NTRS2002

STARDUST and Interplanetary Dust Particles - Big Science from Small Samples

Comets are primitive bodies that are widely believed to be a reservoir of preserved interstellar and circumstellar grains, and molecular cloud materials (organics). Direct samples of cometary dust along with interstellar grains will be returned by the STARDUST Mission in 2006. Analyses of interplanetary dust particles (IDPs) and analogue materials in the laboratory provide constraints and serve as "ground truth" for evaluating various hypotheses on the nature of comets and interstellar grains. Anhydrous IDPs are the most primitive remnants of the primordial Solar System, and are our only known samples of comets. These cometary lDPs are rich in preserved interstellar organic compounds II]. In addition, abundant interstellar silicates have recently been discovered in cluster lDPs [2]. In some of these IDPs, the presolar silicate abundance reaches 1 wt %, exceeding the total presolar grain abundance in meteorites by three orders of magnitude, where presolar silicates are still notably absent. The results to date support the idea that comets are rich in presolar materials, but are at odds with the common perception that they are 'pristine aggregates of interstellar grains'. These results underscore the scientific importance of sample return missions to comets. The technology for the analysis of micrometer-sized samples is well advanced. The newest generation of ion probe instruments allow for isotopic analyses at the submicrometer level. The nature of the organic matter is analyzed using Infrared and soft X-ray spectroscopy techniques on synchrotron-based instruments, also at the micrometer-scale and smaller. Electron microscopy and spectroscopy provide details on the mineralogy and chemistry of constituent grains in !DPs at nearly the atomic scale. Novel sample preparation techniques have been developed such that all of these measurements can now be made on the same 10 micrometer diameter particle. Returned comet samples captured in aerogel will pose new challenges in sample analysis, but should provide a major leap in our understanding of the fundamental building blocks of our Solar System.

Keller, L. P.↗