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  • MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT  (24)
  • Human capital formation
  • 1
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    A university teaching simulation facility (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate, and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the HO can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics; 30 p
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  • 2
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    The 3D model control of image processing (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Telerobotics studies remote control of distant robots by a human operator using supervisory or direct control. Even if the robot manipulators has vision or other senses, problems arise involving control, communications, and delay. The communication delays that may be expected with telerobots working in space stations while being controlled from an Earth lab have led to a number of experiments attempting to circumvent the problem. This delay in communication is a main motivating factor in moving from well understood instantaneous hands-on manual control to less well understood supervisory control; the ultimate step would be the realization of a fully autonomous robot. The 3-D model control plays a crucial role in resolving many conflicting image processing problems that are inherent in resolving in the bottom-up approach of most current machine vision processes. The 3-D model control approach is also capable of providing the necessary visual feedback information for both the control algorithms and for the human operator.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3; p 213-222
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  • 3
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    Instrumentation and robotic image processing using top-down model control (1990)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: A top-down image processing scheme is described. A three-dimensional model of a robotic working environment, with robot manipulators, workpieces, cameras, and on-the-scene visual enhancements is employed to control and direct the image processing, so that rapid, robust algorithms act in an efficient manner to continually update the model. Only the model parameters are communicated, so that savings in bandwidth are achieved. This image compression by modeling is especially important for control of space telerobotics. The background for this scheme lies in an hypothesis of human vision put forward by the senior author and colleagues almost 20 years ago - the Scanpath Theory. Evidence was obtained that repetitive sequences of saccadic eye movements, the scanpath, acted as the checking phase of visual pattern recognition. Further evidence was obtained that the scanpaths were apparently generated by a cognitive model and not directly by the visual image. This top-down theory of human vision was generalized in some sense to the frame in artificial intelligence. Another source of the concept arose from bioengineering instrumentation for measuring the pupil and eye movements with infrared video cameras and special-purpose hardware.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Ames Research Center, Vision Science and Technology at NASA: Results of a Workshop; p 49
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  • 4
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    New Uses for Sensitivity Analysis: How Different Movement Tasks Effect Limb Model Parameter Sensitivity (1984)
    In:  CASI
    Details
    Publication Date: 2016-06-07
    Description: Original results for a newly developed eight-order nonlinear limb antagonistic muscle model of elbow flexion and extension are presented. A wider variety of sensitivity analysis techniques are used and a systematic protocol is established that shows how the different methods can be used efficiently to complement one another for maximum insight into model sensitivity. It is explicitly shown how the sensitivity of output behaviors to model parameters is a function of the controller input sequence, i.e., of the movement task. When the task is changed (for instance, from an input sequence that results in the usual fast movement task to a slower movement that may also involve external loading, etc.) the set of parameters with high sensitivity will in general also change. Such task-specific use of sensitivity analysis techniques identifies the set of parameters most important for a given task, and even suggests task-specific model reduction possibilities.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Ames Research Center 20th Ann. Conf. on Manual Control, Vol. 1; p 671-698
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  • 5
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    A helmet mounted display to adapt the telerobotic environment to human vision (1990)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: A Helmet Mounted Display system has been developed. It provides the capability to display stereo images with the viewpoint tied to subjects' head orientation. The type of display might be useful in a telerobotic environment provided the correct operating parameters are known. The effects of update frequency were tested using a 3D tracking task. The effects of blur were tested using both tracking and pick-and-place tasks. For both, researchers found that operator performance can be degraded if the correct parameters are not used. Researchers are also using the display to explore the use of head movements as part of gaze as subjects search their visual field for target objects.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Lyndon B. Johnson Space Center, Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989); p 477-481
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  • 6
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    Telerobotics - Problems and research needs (1988)
    In:  Other Sources
    Details
    Publication Date: 2011-08-19
    Description: With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of 'telepresence' that may be useful for prolonged tasks. Using top-down three-dimensional model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview mode to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Transactions on Aerospace and Electronic Systems (ISSN 0018-9251); 24; 542-551
    Format: text
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  • 7
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    Three dimensional tracking with misalignment between display and control axes (1992)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: Human operators confronted with misaligned display and control frames of reference performed three dimensional, pursuit tracking in virtual environment and virtual space simulations. Analysis of the components of the tracking errors in the perspective displays presenting virtual space showed that components of the error due to visual motor misalignment may be linearly separated from those associated with the mismatch between display and control coordinate systems. Tracking performance improved with several hours practice despite previous reports that such improvement did not take place.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Johnson Space Center, 5th Annual Workshop on Space Operations Applications and Research (SOAR 1991), Volume 2; p 569-574
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  • 8
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    Visual enhancements in pick-and-place tasks: Human operators controlling a simulated cylindrical manipulator (1989)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A teleoperation simulator was constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Ames Research Center, Spatial Displays and Spatial Instruments; 25 p
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  • 9
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    Benefits of detailed models of muscle activation and mechanics (1981)
    In:  CASI
    Details
    Publication Date: 2016-06-07
    Description: Recent biophysical and physiological studies identified some of the detailed mechanisms involved in excitation-contraction coupling, muscle contraction, and deactivation. Mathematical models incorporating these mechanisms allow independent estimates of key parameters, direct interplay between basic muscle research and the study of motor control, and realistic model behaviors, some of which are not accessible to previous, simpler, models. The existence of previously unmodeled behaviors has important implications for strategies of motor control and identification of neural signals. New developments in the analysis of differential equations make the more detailed models feasible for simulation in realistic experimental situations.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL Proc. of the 17th Ann. Conf. on Manual Control; p 546-556
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  • 10
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    Pilot scanning patterns while viewing cockpit displays of traffic information (1981)
    In:  CASI
    Details
    Publication Date: 2016-06-07
    Description: Scanning eye movements of airline pilots were recorded while they judged air traffic situations displayed on cockpit displays of traffic information (CDTI). The observed 1st order transition patterns between points of interest on the display showed reliable deviation from those patterns predicted by the assumption of statistical independence. However, both patterns of transitions correlated quite well with each other. Accordingly, the assumption of independence provided a surprisingly good model of the results. Nevertheless, the deviation between the observed patterns of transition and that based on the assumption of independence was for all subjects in the direction of increased determinism. Thus, the results provide objective evidence consistent with the existence of "scanpaths" in the data.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL Proc. of the 17th Ann. Conf. on Manual Control; p 517-524
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