ALBERT

Description: The development of a virtual environment simulation system integrating a 3D acoustic audio model with an immersive 3D visual scene is discussed. The system complements the acoustic model and is specified to: allow the listener to freely move about the space, a room of manipulable size, shape, and audio character, while interactively relocating the sound sources; reinforce the listener's feeling of telepresence in the acoustical environment with visual and proprioceptive sensations; enhance the audio with the graphic and interactive components, rather than overwhelm or reduce it; and serve as a research testbed and technology transfer demonstration. The hardware/software design of two demonstration systems, one installed and one portable, are discussed through the development of four iterative configurations.

Description: The paper describes three exercise devices, developed at the NASA-Ames Research Center, for maintaining musculoskeletal and cardiovascular fitness in astronauts during extended space flights. These devices represent the following exercise concepts: (1) exercise against LBNP, (2) instrumented dynamic interlimb resistance, and (3) multiple resistive exercise. The three devices complement each other to provide the aerobic and strength training exercises for different situations. All three devices permit eccentric, concentric, and isometric contractions for a variety of exercises.

Description: In such real-time interactive computer environments as those used for virtual environments and simulators, system lag dramatically affects system usability. Attention is presently given to two types of lag: (1) transmission lag time, which is the difference between the moving of a sensing device and that device's motion on a graphic display, and (2) position lag, which is the difference between the actual position of a tracker in motion and the displayed position of a tracker at the same time. A method for measuring these types of lag using a video technique was developed for the NASA-Ames Virtual Interactive Environment Workstation. The position lag can be understood in terms of the transmission lag, so that optimizing a system for small transmission lag will also optimize for small position lag.

Description: Essential for fitness on Earth, resistive exercise is even more important for astronauts, who must maintain muscle and bone strength in the absence of gravity. To meet this need, designers and scientists at NASA Ames Research Center, Life Science Division, have worked to develop more effective exercise devices for long-duration exposure to microgravity. One of these concepts is the Inter-Limb Resistance Device which allows the subject to exercise one limb directly against another, strengthening muscle groups in the arms, legs, and back. It features a modular harness with an inelastic cable and instrumented pulley. Forces similar to other high resistance exercise equipment are generated. Sensors in the pulley measure force and velocity for performance feedback display and data acquisition. This free-floating apparatus avoids vibration of sensitive experiments on board spacecraft. Compact with low mass, this hardware is also well suited for a 'safe haven' from radiation on board Space Station Freedom, and may prove useful in confined environments on Earth, such as Antarctic stations, submarines, and other underwater habitats. Potential spin-offs of this technology include products for personal strengthening and cardiovascular conditioning, rehabilitation of hospital patients, fitness exercise for the disabled, and retraining after sports injuries.

Description: As manned exploration of space continues, analytical evaluation of human strength characteristics is critical. These extraterrestrial environments will spawn issues of human performance which will impact the designs of tools, work spaces, and space vehicles. Computer modeling is an effective method of correlating human biomechanical and anthropometric data with models of space structures and human work spaces. The aim of this study is to provide biomechanical data from isolated joints to be utilized in a computer modeling system for calculating torque resulting from any upper extremity motions: in this study, the ratchet wrench push-pull operation (a typical extravehicular activity task). Established here are mathematical relationships used to calculate maximum torque production of isolated upper extremity joints. These relationships are a function of joint angle and joint velocity.

Description: This presentation describes recent developments in the implementation of a virtual environment workstation in the Aerospace Human Factors Research Division of NASA's Ames Research Center. Introductory discussions are presented on the primary research objectives and applications of the system and on the system's current hardware and software configuration. Principle attention is then focused on unique issues and problems encountered in the workstation's development with emphasis on its ability to meet original design specifications for computational graphics performance and for associated human factors requirements necessary to provide compelling sense of presence and efficient interaction in the virtual environment.

Description: The present conference discusses topics in the fields of stereoscopic displays' user interfaces, three-dimensional (TD) visualization, novel TD displays, and applications of stereoscopic displays. Attention is given to TD cockpit displays, novel computational control techniques for stereo TD displays, characterization of higher-dimensional presentation techniques, volume visualization on a stereoscopic display, and stereoscopic displays for terrain-data base visualization. Also discussed are the experimental design of cyberspaces, a volumetric environment for interactive design of three-dimensional objects, videotape recording of TD TV images, remote manipulator tasks rendered possible by stereo TV, TD endoscopy based on alternating-frame technology, and advancements in computer-generated barrier-strip autostereography.

Description: Future space shuttle missions presented by NASA might require the shuttle to rendezvous with the Russian space station Mir for the purpose of transporting astronauts back to earth. Due to the atrophied state of these astronauts, a special seating system must be designed for their transportation. The main functions of this seating system are to support and restrain the astronauts during normal reentry flight and to dampen some of the loading that might occur in a crash situation. Through research, the design team developed many concept variants for these functional requirements. By evaluating each variant, the concepts were eliminated until the four most attractive designs remained. The team used a decision matrix to determine the best concept to carry through embodiment. This concept involved using struts for support during reentry flight and a spring damper/shock absorber system to dampen crash landing loads. The embodiment design process consisted of defining the layout of each of the main functional components, specifically, the seat structure and the strut structure. Through the use of MCS/pal two, the design was refined until it could handle all required loads and dampen to the forces specified. The auxiliary function carriers were then considered. Following the design of these components, the complete final layout could be determined. It is concluded that the final design meets all specifications outlined in the conceptual design. The main advantages of this design are its low weight, simplicity, and large amount of function sharing between different components. The disassembly of this design could potentially present a problem because of time and size constraints involved. Overall, this design meets or exceeds all functional requirements.

Description: Active Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).