ALBERT

Description: Chemical and cellular parameters were measured in human subjects before and after exposure to a decompression schedule involving 8 h of oxygen prebreathing. The exposure was designed to simulate space-flight extravehicular activity (EVA) for 6 h. Several statistically significant changes in blood parameters were observed following the exposure: increases in calcium, magnesium, osmolality, low-density lipoprotein cholesterol, monocytes, and prothrombin time, and decreases in chloride, creatine phosphokinase and eosinophils. The changes, however, were small in magnitude and blood factor levels remained within normal clinical ranges. Thus, the decompression profile used in this study is not likely to result in blood changes that would pose a threat to astronauts during EVA.

Description: No abstract available

Description: No abstract available

Description: Non-immune SJL (H-2s) spleen cells were fused with non-secreting, non-antigen presenting (H-2d) Balb/c 653-myeloma cells and the hybridomas were cloned by two limiting dilutions. The resulting hybrid B-cell clones were tested for their antigen presentation capability to SJL T-cell lines that were specific for either lysozyme or myoglobin. In proliferative assays, 53% of the antigen presenting B-cell clones presented both myoglobin and lysozyme (general presenters) while the other 47% presented specifically either myoglobin or lysozyme (specific presenters). The ability to selectively present either myoglobin or lysozyme indicates that antigen presentation at the clonal level can be specific or non-specific depending on the particular B-cell clone.

Description: Recently, we reported the preparation and antigen-presenting properties of hybridoma B-cell clones obtained after fusing non-secreting, non-antigen presenting Balb/c 653-myeloma cells with non-immune SJL spleen cells. It was found that antigen presentation at the clonal level can be specific or non-specific, depending on the particular B-cell clone. In the present work, one specific and one general presenter B-cell clones were tested for their epitope presentation ability to SJL T-cells that were specific to lysozyme or myoglobin. B-cell clone A1G12, a general presenter which presented both lysozyme and myoglobin to their respective T-cell lines, was found to present all five myoglobin epitopes while clone A1L16, a lysozyme specific presenter presented only one of the three epitopes of lysozyme. The latter reveals a hitherto unknown submolecular specificity (to a given epitope within a protein) for antigen presenting cells at the clonal level. Therefore, the specificity of T-cell recognition does not only derive from the T-cell but may also be dependent on the epitope specificity of the antigen-presenting B-cell.

Description: The morphological and physiological effects of 4 weeks of high-frequency electrical stimulation (1 h/day, 5 days/week) on cast-immobilized rabbit hindlimbs were investigated in the tibialis anterior muscle and peroneal nerve. In 2 out of 6 animals, high-frequency stimulation with immobilization caused muscle fiber death, internalization of muscle fiber nuclei, connective tissue proliferation, inflammatory response, altered fiber size distribution and variable staining intensities. The fast-twitch fibers were predominantly affected. Two of six peripheral nerves subjected to immobilization and stimulation showed severe damage. Tetanic forces were significantly reduced in the affected muscles. Therefore, the immobilization and high-frequency stimulation may be detrimental to myoneural structure and function and, thus, this combination of therapies should be applied conservatively.

Description: Several recent studies have shown performance decrements with increasing display size when background texture elements are present in a same-different feature discrimination task--a result that challenges the traditional notion that the identities of simple visual features are processed in parallel, preattentively. Four experiments are reported that explore the implications of these results. Experiment 1 replicates the recent studies but limits the generalizability of the results to small target numbers. Experiments 2 and 3 show that the observed performance decrements are not due to a serial or even limited-capacity, parallel process. Experiment 4 suggests that decision factors idiosyncratic to the use of texture elements in a same-different task are responsible for the effect. It is concluded that the identification of simple visual features proceeds in parallel, with unlimited capacity (i.e., preattentively).

Description: Future space missions of long duration may require that autologous leukocytes be stored in flight for infusion to restore normal immune competence in crewmembers. Peripheral blood mononuclear cells (PBMNCs), as leukocyte concentrates in autologous plasma and 2% dextrose, were stored in the microgravity conditions provided by the U.S. Space Shuttle Columbia (Mission 61-C). Activity of PBMNC after space flight was compared with that from a series of preflight ground control experiments, which demonstrated in culture a progressive daily loss in mitogen-stimulated protein synthesis at 24 h and thymidine uptake at 72 h after storage for 7 d at 4 degrees C. Post-storage viabilities were at least 90% as determined by trypan dye exclusion. A progressive reduction in the percentage of PBMNC expressing cell-surface phenotype markers, which was similar for monocytes, B cells, and T-cell subsets, also occurred after storage. The ability of PBMNC, stored for 8 d in Columbia's middeck, to become activated and proliferate in vitro was similar to that of cells that remained in identical flight lockers on the ground as 1-G controls, thus indicating that PBMNCs were not adversely affected by storage under microgravity conditions.

Description: We present a technique for introducing broad-band respiratory perturbations so that the response characteristics of the autonomic nervous system can be determined noninvasively over a wide range of physiologically relevant frequencies. A subject's respiratory bandwidth was broadened by breathing on cue to a sequence of audible tones spaced by Poisson intervals. The transfer function between the respiratory input and the resulting instantaneous heart rate was then computed using spectral analysis techniques. Results using this method are comparable to those found using traditional techniques, but are obtained with an economy of data collection.

Description: Each of 12 subjects set a binocularly viewed target to apparent eye level; the target was projected on the rear wall of an open box, the floor of which was horizontal or pitched up and down at angles of 7.5 degrees and 15 degrees. Settings of the target were systematically biased by 60% of the pitch angle when the interior of the box was illuminated, but by only 5% when the interior of the box was darkened. Within-subjects variability of the settings was less under illuminated viewing conditions than in the dark, but was independent of box pitch angle. In a second experiment, 11 subjects were tested with an illuminated pitched box, yielding biases of 53% and 49% for binocular and monocular viewing conditions, respectively. The results are discussed in terms of individual and interactive effects of optical, gravitational, and extraretinal eye-position information in determining judgements of eye level.

Description: A physical map for the chromosome of the thermophilic archaebacterium Thermococcus celer Vu13 has been constructed. Thirty-four restriction endonucleases were tested for their ability to generate large restriction fragments from the chromosome of T. celer. Of these, the enzymes NheI, SpeI, and XbaI yielded the fewest fragments when analyzed by pulsed-field electrophoresis. NheI and SpeI each gave 5 fragments, while XbaI gave 12. The size of the T. celer chromosome was determined from the sum of the apparent sizes of restriction fragments derived from single and double digests by using these enzymes and was found to be 1,890 +/- 27 kilobase pairs. Partial and complete digests allowed the order of all but three small (less than 15 kilobase pairs) fragments to be deduced. These three fragments were assigned positions by using hybridization probes derived from these restriction fragments. The positions of the other fragments were confirmed by using hybridization probes derived in the same manner. The positions of the 5S, 16S, and 23S rRNA genes as well as the 7S RNA gene were located on this map by using cloned portions of these genes as hybridization probes. The 5S rRNA gene was localized 48 to 196 kilobases from the 5' end of the 16S gene. The 7S RNA gene was localized 190 to 504 kilobases from the 3' end of the 23S gene. These analyses demonstrated that the chromosome of T. celer is a single, circular DNA molecule. This is the first such demonstration of the structure of an archaebacterial chromosome.

Description: Tobacco (Nicotiana tabacum L., cv. 'Coker 319') plants were grown for 28 days in flowing nutrient culture containing either 1.0 mM NO3- or 1.0 mM NH4+ as the nitrogen source in a complete nutrient solution. Acidities of the solutions were controlled at pH 6.0 or 4.0 for each nitrogen source. Plants were sampled at intervals of 6 to 8 days for determination of dry matter and nitrogen accumulation. Specific rates of NO3- or NH4+ uptake (rate of uptake per unit root mass) were calculated from these data. Net photosynthetic rates per unit leaf area were measured on attached leaves by infrared gas analysis. When NO3- [correction of NO-] was the sole nitrogen source, root growth and nitrogen uptake rate were unaffected by pH of the solution, and photosynthetic activity of leaves and accumulation of dry matter and nitrogen in the whole plant were similar. When NH4+ was the nitrogen source, photosynthetic rate of leaves and accumulation of dry matter and nitrogen in the whole plant were not statistically different from NO3(-) -fed plants when acidity of the solution was controlled at pH 6.0. When acidity for NH4(+) -fed plants was increased to pH 4.0, however, specific rate of NH4+ uptake decreased by about 50% within the first 6 days of treatment. The effect of acidity on root function was associated with a decreased rate of accumulation of nitrogen in shoots that was accompanied by a rapid cessation of leaf development between days 6 and 13. The decline in leaf growth rate of NH4(+) -fed plants at pH 4.0 was followed by reductions in photosynthetic rate per unit leaf area. These responses of NH4(+) -fed plants to increased root-zone acidity are characteristic of the sequence of responses that occur during onset of nitrogen stress.

Description: Studies on the diurnal variations of nitrate reductase (NR) activity during the life cycle of synchronized Chlorella sorokiniana cells grown with a 7:5 light-dark cycle showed that the NADH:NR activity, as well as the NR partial activities NADH:cytochrome c reductase and reduced methyl viologen:NR, closely paralleled the appearance and disappearance of NR protein as shown by sodium dodecyl sulfate gel electrophoresis and immunoblots. Results of pulse-labeling experiments with [35S]methionine further confirmed that diurnal variations of the enzyme activities can be entirely accounted for by the concomitant synthesis and degradation of the NR protein.

Description: The high performance liquid chromatographic (HPLC) method of Flores and Galston (1982 Plant Physiol 69: 701) for the separation and quantitation of benzoylated polyamines in plant tissues has been widely adopted by other workers. However, due to previously unrecognized problems associated with the derivatization of agmatine, this important intermediate in plant polyamine metabolism cannot be quantitated using this method. Also, two polyamines, putrescine and diaminopropane, also are not well resolved using this method. A simple modification of the original HPLC procedure greatly improves the separation and quantitation of these amines, and further allows the simulation analysis of phenethylamine and tyramine, which are major monoamine constituents of tobacco and other plant tissues. We have used this modified HPLC method to characterize amine titers in suspension cultured carrot (Daucas carota L.) cells and tobacco (Nicotiana tabacum L.) leaf tissues.

Description: Hemerocallis plantlets maintained in vitro for extended periods of time in tightly closed culture vessels frequently show a phenotype, albeit on a miniaturized scale, typical of more mature, field-grown plants. The positive relationship of elevated ethylene in the headspace of such vessels to the phase shift from juvenile to mature form is established. Rigorous restriction in air exchange with the external environment by means of silicone grease seals hastens the phase change and improves uniformity of response. Although some plantlets may take longer to accumulate enough ethylene in sealed jars to undergo change, added ethylene and ethylene-releasing agents promote it. Ethylene adsorbants (e.g. mercuric perchlorate) block the shift of juvenile to mature form. Critical ambient ethylene level for the shift is ca 1 microliter l-1. Levels up to 1000 microliters l-1 do not hasten the response but are not toxic. The phase change is fully reversible when air exchange permits ethylene to drop below 1 microliter l-1. At least 1 microliter l-1 ethylene is required to sustain the mature phenotype. The ethylene synthesis inhibitor aminoethoxyvinylglycine (AVG) prevents the phase change, while the ethylene biosynthesis intermediate 1-aminocyclopropanecarboxylic acid (ACC) improves it. KOH, as a CO2 absorbent, does not prevent the phase change. Histology sections demonstrate subtle changes in the form of shoot tips of plantlets undergoing phase change.

Description: Published evidence suggests a role for dopaminergic (DA) brain pathways in feeding-associated behaviors. Using the novel technique of brain microdialysis of striatal extracellular fluid (ECF) as an index of DA release, Church et al. described increases in levels of DA when animals had limited access to pellets, but not with free access. Dopamine release from the nucleus accumbens did increase with free access to pellets post starvation or after food reward. We used permanently implanted microdialysis probes to measure ECF levels of DA, DOPAC, HVA, and large neutral amino acids (LNAA) for up to 72 hours after implantation among rats experiencing different dietary regimens.

Description: We show the equivalence of semi-classical solutions to optical model coupled-channel equations derived from Watson's form of the nucleus-nucleus multiple-scattering series to the Glauber multiple-scattering series. A second-order solution to the semi-classical coupled-channel elastic amplitude is shown to be nearly equivalent to a second-order optical-phase-shift approximation to the Glauber amplitude if the densities of all nuclear excited states are approximated by the ground-state density. Using the Jastrow method to model the two-body density we find an average excited-state density to be of negligible importance in the double-scattering region of alpha-alpha scattering.

Description: The compartment syndrome is defined as a condition in which high pressure within a closed fascial space (muscle compartment) reduces capillary blood perfusion below the level necessary for tissue viability'. This condition occurs in acute and chronic (exertional) forms, and may be secondary to a variety of causes. The end-result of an extended period of elevated intramuscular pressure may be the development of irreversible tissue injury and Volkmann's contracture. The goal of treatment of the compartment syndrome is the reduction of intracompartmental pressure thus facilitating reperfusion of ischaemic tissue and this goal may be achieved by decompressive fasciotomy. Controversy exists regarding the critical pressure-time thresholds for surgical decompression and the optimal diagnostic methods of measuring intracompartmental pressures. This paper will update and review some current knowledge regarding the pathophysiology, aetiology, diagnosis, and treatment of the acute compartment syndrome.

Description: Phytochrome-mediated germination of fern spores of Dryopteris paleacea Sw. was initiated by a saturating red-light (R) irradiation after 20 h of imbibition. For its realization external Ca2+ was required, with a threshold at a submicromolar concentration, and an optimum was reached around 10(-4) M. At concentrations 〉 or = 10(-1) M only a reduced response was obtained, based probably on an unspecific osmotic or ionic effect. The germination response was inhibited by La3+, an antagonist of Ca2+. From these results it is concluded that Ca2+ influx from the medium into the spores may be an important event in phytochrome-mediated germination. In the absence of Ca2+ the R-stimulated system remained capable of responding to Ca2+, added as late as 40 h after R. Moreover, Ca2+ was effective even if added after the active form of phytochrome, Pfr, had been abolished by far-red (FR) 24 h after R. Thus, the primary effect of Pfr, that initiates the transduction chain, does not require calcium. "Coupling" of Pfr to subsequent dark reactions has been investigated by R-FR irradiations with various dark intervals. The resulting "escape kinetics" were characterized by a lag phase (6 h) and half-maximal escape from FR reversibility (19 h). These kinetics were not significantly changed by the presence or absence of calcium. Thus, direct interaction of Pfr and calcium is not a step in the transduction chain initiated by the active form of phytochrome.

Description: Plasmodesmata linking the root cap and root in primary roots Zea mays are restricted to approx. 400 protodermal cells bordering approx. 110000 microns2 of the calyptrogen of the root cap. This area is less than 10% of the cross-sectional area of the root-tip at the cap junction. Therefore, gravitropic effectors moving from the root cap to the root can move symplastically only through a relatively small area in the centre of the root. Decapped roots are non-responsive to gravity. However, decapped roots whose caps are replaced immediately after decapping are strongly graviresponsive. Thus, gravicurvature occurs only when the root cap contacts the root, and symplastic continuity between the cap and root is not required for gravicurvature. Completely removing mucilage from the root tip renders the root non-responsive to gravity. Taken together, these data suggest that gravitropic effectors move apoplastically through mucilage from the cap to the root.

Description: The authors provide an overview of papers presented at a workshop on Biomedical and Space-Related Research with Heavy Ions at the BEVALAC at Lawrence Berkeley Laboratory. Goals of the meeting were to determine the critical experiments using heavy ions as probes in radiation physics, radiation chemistry, macromolecular and cellular biology, evolution science, basic neurophysiology, and medical therapies; how beam lines and facilities at Lawrence Berkeley Laboratory can be improved for these experiments; and implications in priorities and funding for national policy. Workshop topics included physics and facilities, cellular and molecular biology, tissue radiobiology, and the future of heavy ion research.

Description: A chloroplast type of fructose-1,6-bisphosphatase, a central regulatory enzyme of photosynthetic carbon metabolism, has been partially purified from Chlamydomonas reinhardtii. Unlike its counterpart from spinach chloroplasts, the algal FBPase showed a strict requirement for a dithiol reductant irrespective of Mg2+ concentration. The enzymes from the two sources resembled each other immunologically, in subunit molecular mass and response to pH. In the presence of dithiothreitol, the pH optimum for both the algal and spinach enzymes shifted from 8.5 to a more physiologic value of 8.0 as the Mg2+ concentration was increased from 1 to 16 mM. At 1 mM Mg2+, a concentration estimated to be close to physiological, the Chlamydomonas FBPase was active only in the presence of reduced thioredoxin and was most active with Chlamydomonas thioredoxin f. Under these conditions, the enzyme showed a pH optimum of 8.0. The data suggest that the Chlamydomonas enzyme resembles its spinach counterpart in most respects, but it has a stricter requirement for reduction and less strict reductant specificity. A comparison of the properties of the FBPases from Chlamydomonas and spinach will be helpful for elucidating the mechanism of the reductive activation of this enzyme.

Description: Green alga Scenedesmus obliquus was studied as one of the potential sources of macronutrients in a space habitat. Algal protein concentrate (70.5% protein) was incorporated into a variety of food products such as bran muffins, fettuccine (spinach noodle imitation) and chocolate chip cookies. Food products containing 20 to 40% of incorporated algal proteins were considered. In the sensory analysis the greenish color of the bran muffins and cookies was not found to be objectional. The mild spinachy flavor (algae flavor) was less detectable in chocolate chip cookies than in bran muffins. The color and taste of the algae noodles were found to be pleasant and compared well with commercially available spinach noodles. Commercially available spray-dried Spirulina algae was also incorporated so the products can be compared with those containing Scenedesmus obliquus concentrate. Food products containing commercial algae had a dark green color and a "burnt after taste" and were less acceptable to the panelists.

Description: Excised zygotic embryos, mericarps ("seeds") and hypocotyls of seedlings of cultivated carrot Daucus carota cv. Scarlet Nantes were evaluated for their ability to generate somatic embryos on a semisolid hormone-free nutrient medium. Neither intact zygotic embryos nor hypocotyls ever produced somatic embryos. However, mericarps and broken zygotic embryos were excellent sources for somatic embryo production (response levels as high as 86%). Somatic embryo formation was highest from cotyledons, but was also observed on isolated hypocotyls and root tips of mature zygotic embryos. On media containing unreduced nitrogen, somatic embryo formation led to the generation of vigorous cultures comprised entirely of somatic embryos at various stages of development which in turn proliferated still other somatic embryos. However, a medium was devised which when 1-5 mM NH4+ was the sole nitrogen source, led only to a proliferation of globular proembryos. Sustained subculturing of these proembryos at 2-3 week intervals enabled establishment of highly uniform cultures in which no further development into more mature stages of embryonic development occurred. These have been maintained, without decline, as morphogenetically competent proembryonic globules for over ten months. A basal medium containing from 1-5 mM NH4+ as the sole nitrogen source appears not to be inductive to somatic proembryo formation. Instead, such a medium is best thought of as permissive to the expression of embryogenically determined cells within zygotic embryos. By excising and breaking or wounding zygotic embryos, constituent cells are probably released from positional or chemical restraints and thus are able to express their innate embryogenic potential. Once a proembryonic culture is established, this medium containing 1-5 mM NH4+ as the sole nitrogen source provides a nonpermissive environment to the development and growth of later embryonic stages, but it does allow the continued formation and multiplication of globular somatic proembryos. The sequence of events leading from excised broken zygotic embryos to the formation of somatic embryos and the maintenance of somatic proembryos are demonstrated by scanning electron microscopy and histological preparations. Germination levels from intact zygotic embryos on media with varying levels and ratios of unreduced vs. reduced inorganic nitrogen were determined as well and provided baseline or control data on the type of response obtained from nonwounded material.

Description: The main biological processes presently considered for applications in space laboratories are: (i) bioseparation, (ii) cell cultivation and (iii) cell electrofusion. All three technologies were discussed by experts in the field at the 1988-COSPAR Meeting in Helsinki.

Description: The effect of salinity stress on metabolic heat output of barley (Hordeum vulgare L.) root tips was measured by isothermal microcalorimetry. Several varieties differing in tolerance to salinity were compared and differences quantified. Two levels of inhibition by increasing salt were found. Following the transition from the initial rate of the first level, inhibition remained at about 50% with further increases in salt concentration up to 150 millimolar. The concentration of salt required to inhibit to this level was cultivar dependent. At highter concentrations (〉150 millimolar) of salt, metabolism was further decreased. This decrease was not cultivar dependent. The decreased rate of metabolic heat output at the first transition could be correlated with decreases in uptake of NO3-, NH4+, and Pi that occurred as the salt concentration was increased. The high degree of dependence of the inhibition of metabolic heat output on NaCl concentration points to a highly cooperative reaction responsible for the general inhibition of metabolism and nutrient uptake. The time required to attain the first level of salt inhibition is less than 20 minutes. Inhibition of root tips was not reversible by washing with salt free solutions. In addition to revealing these features of salt inhibition, isothermal microcalorimetry is a promising method for convenient and rapid determination of varietal differences in response to increasing salinity.

Description: Endogenous calcium (Ca) accumulates along the lower side of the elongating zone of horizontally oriented roots of Zea mays cv. Yellow Dent. This accumulation of Ca correlates positively with the onset of gravicurvature, and occurs in the cytoplasm, cell walls and mucilage of epidermal cells. Corresponding changes in endogenous Ca do not occur in cortical cells of the elongating zone of intact roots. These results indicate that the calcium asymmetries associated with root gravicurvature occur in the outermost layers of the root.

Description: Lipophilic pigments were examined in microbial mat communities dominated by cyanobacteria in the intertidal zone and by diatoms in the subtidal and sublittoral zones of Hamelin Pool, Shark Bay, Western Australia. These microbial mats have evolutionary significance because of their similarity to lithfied stromatolites from the Proterozoic and Early Paleozoic eras. Fucoxanthin, diatoxanthin, diadinoxanthin, beta-carotene, and chlorophylls a and c characterized the diatom mats, whereas cyanobacterial mats contained myxoxanthophyll, zeaxanthin, echinenone, beta-carotene, chlorophyll a and, in some cases, sheath pigment. The presence of bacteriochlorophyll a within the mats suggest a close association of photosynthetic bacteria with diatoms and cyanobacteria. The high carotenoids : chlorophyll a ratios (0.84-2.44 wt/wt) in the diatom mats suggest that carotenoids served a photoprotective function in this high light environment. By contrast, cyanobacterial sheath pigment may have largely supplanted the photoprotective role of carotenoids in the intertidal mats.

Description: The history of the Controlled Ecological Life Support System program, initiated by NASA in the late 1970s to explore the use of bioregenerative methods of life support, is reviewed. The project focused on examining the process involved in converting inorganic minerals and gases into life support materials using sunlight as the primary energy source. The research, planning, and technological development required by the CELSS program and conducted at NASA field centers, at various universities, and by commercial organizations are reviewed. Research activities at universities have focused upon exploring methods of reducing the size of the system, reducing system power requirements, understanding issues that are associated with its long-term stability, and identifying new technologies that might be useful in improving its efficiency. Research activities at Ames research center have focused on the use of common duckweed as a high biomass-producing plant, which is high in protein and on waste processing.

Description: The bioregenerative life support systems research at Johnson Space Center focuses on the use of lunar regolith as a plant growth medium. Current dissolution experiments are being conducted to ascertain the response of lunar regolith to various solvents and weathering environments. The transformation of lunar minerals into minerals such as zeolites which would be more conducive to plant growth is also investigated. A study is currently underway to examine the ability of zeolite/apatite mixtures to provide N, P, and K through dissolution and ion exchange. The development and characterization of simulated lunar regolith for preliminary experimentation are also discussed. The life support systems technology used on the Mercury, Gemini, Apollo, and Shuttle missions is reviewed and current research on regenerative life support systems technology for potential use in Space Station Freedom is discussed.

Description: The CELSS Breadboard Project is described, noting that it was initiated to study aspects of a CELSS for long-term space missions. Topics for extensive investigation included air and water regeneration, engineering control, and food production. The many options available for growing food crops in commercial plant growth chambers were investigated and the best of this information was translated to the Biomass Production Chamber (BPC). The chamber contains 20 sq m of crop growing area under 96 400 W HPS lamps; sixteen 0.25 sq m plant growth trays used on each of four growing shelves for a total of 64 trays; and one 256-L nutrient solution reservoir with the appropriate continuous-flow, thin-film plumbing for each shelf. A heating, ventilating, and air-conditioning system maintains atmospheric conditions and serves to distribute oxygen and carbon dioxide and maintain pressure at 12 mm of water. The control and monitoring subsystem, which uses a programmable logic controller, manages the BPC subsystems.

Description: Advantages and disadvantages of synthetic soils are discussed. It is pointed out that synthetic soils may provide the proper physical and chemical properties necessary to maximize plant growth, such as a toxic-free composition and cation exchange capacities. The importance of nutrient retention, aeration, moisture retention, and mechanical support as qualities for synthetic soils are stressed. Zeoponics, or the cultivation of plants in zeolite substrates that both contain essential plant-growth cations on their exchange sites and have minor amounts of mineral phases and/or anion-exchange resins that supply essential plant growth ions, is discussed. It is suggested that synthetic zeolites at lunar bases could provide adsorption media for separation of various gases, act as catalysts and as molecular sieves, and serve as cation exchangers in sewage-effluent treatment, radioactive-waste disposal, and pollution control. A flow chart of a potential zeoponics system illustrates this process.

Description: Three objectives are stated for activities at a proposed manned lunar base. One objective is scientific investigation of the moon and its environment and the application of special properties of the moon to research problems. Another objective would be to produce the capability of using the materials of the moon for beneficial purposes throughout the earth-moon system. The third objective is to conduct research and development leading to a self-sufficient and self-supporting lunar base, the first extraterrestrial human colony. The potential benefits to earth deriving from these moon-based activities, such as technology development and realization, as well as growing industrialization of near-earth space, are addressed.

Description: The evolutionary approach to space development is discussed in the framework of three overall strategies encompassing four case studies. The first strategy, human expeditions, places emphasis on highly visible, near-term manned missions to Mars or to one of the two moons of Mars. These expeditions are similar in scope and objectives to the Apollo program, with infrastructure development only conducted to the degree necessary to support one or two short-duration trips. Two such expeditionary scenarios, one to Phobus and the other to the Mars surface, are discussed. The second strategy involves the construction of science outposts, and emphasizes scientific exploration as well as investigation of technologies and operations needed for permanent habitation. A third strategy, evolutionary expansion, would explore and settle the inner solar system in a series of steps, with continued development of technologies, experience, and infrastructure.

Description: This paper investigates the efficiency of low- and high-atomic number materials used as protective shields against biologically effective radiation in doses equivalent to those expected in low-earth-orbit and interplanetary manned missions. Results are presented on calculations for single-material shields from polyethylene, water, Be, Al, Fe, and Ta and multilayer shelds made from the combinations of any two or any three of these materials, for both LEO and interplanetary conditions. It is shown that, whereas for protons and Galactic cosmic rays the ordering of shield materials has a negligible effect, for electrons and secondary bremsstrahlung, both the order and the composition are important parameters. It was found that low-atomic-number materials are most effective shields against protons and galactic cosmic rays, and are most effective in decreasing bremsstrahlung production, while high-atomic-number shields are the best attenuators of both primary electrons (if the dose is dominated by primary electrons) and secondary bremsstrahlung (if this is produced).

Description: NASA research on the functioning of biological systems in space and the resulting improvement in space suits and life-support systems is discussed. The centrifuge facility which will provide the major elements of a life science research facility for Spacelab and Space Station Freedom is described, and the Vestibular Research Facility for studying motion sickness in space is examined. The aluminum AX-5 space suit and the Controlled Ecological Life-Support System are described, and biomedical sensors for studying bone mass changes in space are discussed. Studies on the use of exercise to control tissue-fluid shifts in space are described.

Description: Logistic difficulties associated with the Space Station Freedom are discussed. Proposed ground and on-orbit operations and procedures for supplying the Station are described. The transfer operations of supplies to the modules, the use of expendable launch vehicles for supplying the Station, and the use of EVA suits for assembling and servicing are considered. Ground support activities for resupplying and maintaining the spacecraft are examined.

Description: A technique is described to estimate the area-to-mass ratio of debris fragments using orbital fragments obtained by radar. The area-to-mass ratio of about 2600 fragments arising from the breakup of 24 artificial satellites was determined; an analysis of the data on about 200 objects with known mass, size, and shape has been made, and a calibration of the observed radar cross-section (RCS) to the effective area of these objects has provided a method to estimate the effective area of debris fragments. From the knowledge of the effective area and the estimated area-to-mass ratio, the mass and area distribution of each of the known breakup has been obtained. As a function of time, the orbital elements can be used to invert any propagation algorithm to yield the area-to-mass ratio of an orbiting object.

Description: Plans for the Comet Rendezvous Asteroid Flyby (CRAF) mission are discussed. The CRAF spacecraft and mission configurations are illustrated and the scientific studies planned for the mission are listed. The scientific benefits of the study of comets and asteroids are reviewed and the characteristics of Comet Kopff are outlined. In addition, the structure, propulsion, attitude and articulation control, radio frequency and antenna, power and pyro, command, and data storage subsystems are described.

Description: Preliminary results from Voyager's encounter with Neptune are reviewed. The major events of the encounter are listed and the data on the atmosphere, magnetosphere, and ring-arc region of Neptune are discussed. The communications and photographical techniques used in the mission are examined. In addition, a search for Neptune satellites is considered.

Description: The NASA Space Shuttle Earth Observations Office conducts astronaut training in earth observations, provides orbital documentation for acquisition of data and catalogs, and analyzes the astronaut handheld photography upon the return of Space Shuttle missions. This paper provides backgrounds on these functions and outlines the data constraints, organization, formats, and modes of access within the public domain.

Description: The old concept of using the wake of a spacecraft to obtain an ultrahigh vacuum is revisited. A wakeshield can be configured so that a surface of interest does not subtend any walls that could become contaminated, thus it should be possible to achieve a contamination-free, ultrahigh vacuum capability with infinite pumping speed even in the presence of high heat loads and moderate gas loads. This papar analyzes the conceptual design for a Space Ultravacuum Research Facility (SURF), both in a shuttle-attached mode and as a free flyer. It is shown that even in the shuttle-attached mode, it should be possible to obtain vacuum levels equivalent to 10 to the -9th to 10 to the -10th Torr with O and N2 as the primary constituents. As a free flyer the SURF will be limited primarily by the gas load from the process being performed. For chemical beam epitaxy it is shown that equivalent vacuum levels of 10 to the -14th Torr should be possible at 300 km.

Description: Rendezvous missions to earth-crossing asteroids are of interest to NASA, for scientific purposes as well as for technological applications and ecological implications. To provide a comprehensive data base for planners of such missions, a mission opportunity map (MOM) has been created for eight relatively easy-to-access asteroids. A MOM presents such mission data as launch dates, flight times, and launch and postlaunch delta V requirements for all useful mission opportunities. The merits of a MOM are: (1) searches for all useful mission oportunities are completed in the process of generating a MOM, and (2) a MOM provides a clear view of good and bad opportunities, the extent of performance variations, and the repeatability of the missions.

Description: To attain the fundamental goals of cometary exploration, rendezvous and sample return missions are necessary. This paper investigates various trajectory options and provides a comprehensive set of mission opportunities available for launches in the 1990s. The modes of explorations considered are rendezvous and flybys with atomized-sample-return missions. For each type of exploration, the paper describes various classes and modes of trajectories available, their inherent characteristics, and the techniques of identifying useful trajectories. The energy requirement associated with these missions and the performance possibilities are provided.

Description: An extensive investigation of the ways to rendezvous with diverse groups of asteroids residing between 2.0 and 5.0 AU is made, and the extent of achievable missions using the STS upper-stage launch vehicles (IUS 2-Stage/Star-48 or NASA Centaur) is examined. With judicious use of earth, Mars, and Jupiter gravity assists, rendezvous with some asteroids in all regions of space is possible. It is also shown that the STS upper stages are capable of carrying out missions beyond a single rendezvous, namely with several flybys and/or multiple rendezvous.

Description: Preliminary analysis results have been obtained for tests conducted to ascertain whether a distinctive fragmentation 'signature' allows discrimination between launch vehicle upper stage destructions due to hypervelocity particle impacts and internal explosions. An account is presently given of factors controlling the damage pattern created by hypervelocity impacts, and an evaluation is made of the applicability of the simulation results obtained to actual upper stage destruction characterization.

Description: In this paper, mission orbit considerations are addressed for using the Space Shuttle as a telescope platform for observing man-made orbital debris. Computer modeling of various electrooptical systems predicts that such a space-borne system will be able to detect particles as small as 1-mm diameter. The research is meant to support the development of debris- collision warning sensors through the acquisition of spatial distribution and spectral characteristics for debris and testing of detector combinations on a shuttle-borne telescopic experiment. The technique can also be applied to low-earth-orbit-debris environment monitoring systems. It is shown how the choice of mission orbit, season of launch, and time of day of launch may be employed to provide extended periods of favorable observing conditions.

Description: The microspacecraft is defined as a fully functional spacecraft whose mass is on the order of 10 kg or less. The results of a recent microspacecraft workshop are reviewed. The workshop concluded that microspacecraft are feasible and can be enabling for missions that require multiple simultaneous measurements displaced in position or very high mission delta-VSDIO-s. The paper includes discussions of science objectives and instruments as well as potential missions. Potential missions include a very close approach to the sun, determining the origin of gamma ray bursters and a search for gravity waves. Technology for microspacecraft is coming from the 'Lightsat' or small satellite community and developments sponsored by the SDIO. Concepts for microspacecraft power and telecommunications subsystems developed at the JPL are presented. Due to their small size, microspacecraft can be launched by traditional chemical rockets and also unconventional launchers such as electromagnetic launchers.

Description: The operation and evaluation of a bioreactor designed for high intensity oxygen transfer in a microgravity environment is described. The reactor itself consists of a zero headspace liquid phase separated from the air supply by a long length of silicone rubber tubing through which the oxygen diffuses in and the carbon dioxide diffuses out. Mass transfer studies show that the oxygen is film diffusion controlled both externally and internally to the tubing and not by diffusion across the tube walls. Methods of upgrading the design to eliminate these resistances are proposed. Cell growth was obtained in the fermenter using Saccharomyces cerevisiae showing that this concept is capable of sustaining cell growth in the terrestrial simulation.

Description: A mixture of ammonium hydroxide with acetic acid and a slurry of human feces, urine, and wipes were used as CELSS model wastes to be wet-oxidized at temperatures from 250 to 500 C, i.e. below and above the critical point of water (374 C and 218 kg/sq cm or 21.4 MPa). The effects of oxidation temperature ( 250-500 C) and residence time (0-120 mn) on carbon and nitrogen and on metal corrosion from the reactor material were studied. Almost all of the organic matter in the model wastes was oxidized in the temperature range from 400 to 500 C, above the critical conditions for water. In contrast, only a small portion of the organic matter was oxidized at subcritical conditions. A substantial amount of nitrogen remained in solution in the form of ammonia at temperatures ranging from 350 to 450 C suggesting that, around 400 C, organic carbon is completely oxidized and most of the nitrogen is retained in solution. The Hastelloy C-276 alloy reactor corroded during subcritical and supercritical water oxidation.

Description: The production rate and solid content of waste streams found in a life support system for a space habitat (in which plants are grown for food) are discussed. Two recycling scenarios, derived from qualitative considerations as opposed to quantitative mass and energy balances, tradeoff studies, etc., are presented; they reflect differing emphases on and responses to the waste stream formation rates and their composition, as well as indicate the required products from waste treatment that are needed in a life support system. The data presented demonstrate the magnitude of the challenge to developing a life support system for a space habitat requiring a high degree of closure.

Description: Research and technology development issues centering on the recycling of materials within a bioregenerative life support system are reviewed. The importance of recovering waste materials for subsequent use is emphasized. Such material reclamation will substantially decrease the energy penalty paid for bioregenerative life support systems, and can potentially decrease the size of the system and its power demands by a significant amount. Reclamation of fixed nitrogen and the sugars in cellulosic materials is discussed.

Description: The photosynthesis and productivity of Lemna gibba is analyzed for CELSS based plant growth. Net photosynthesis of Lemna gibba is determined as a function of incident photosynthetic photon flux (PPF), with the light coming from above, below, or from both directions. Light from below is about 75 percent as effective as from above when the stand is sparse, but much less so with dense stands. High rates of photosynthesis are measured at 750 micromol / sq m per sec PPF and 1500 micromol/ mol CO2 at densities up to 660 g fresh weight (FW)/ sq m with young cultures. The analysis includes diagrams illustrating the net photosynthesis response to bilateral lighting of a sparse stand of low assimilate Lemna gibba; the effect of stand density on the net photosynthesis response to bilateral lighting of high assimilate Lemna gibba; the net photosynthesis response to ambient CO2 of sparse stands of Lemna gibba; and the time course of net photosynthesis and respiration per unit chamber and per unit dry weight of Lemna gibba.

Description: The paper presents launch vehicle and upper-stage options for application to lunar and interplanetary microspacecraft missions. Particular attention is given to the capabilities of Piggyback, small launch vehicles, and large launch vehicles. It is noted that Piggyback options on the Shuttle and expendable launch vehicles enable near-term earth-orbital missions and the potential for lunar and planetary missions if an electric-propulsion upper-stage is developed. Launch systems like the Space Shuttle could be used to launch large members of microspacecraft in 'constellation deployment' and 'shotgun' class missions to a variety of solar-system targets such as the sun, asteroids, comets, the moon, Mars, and Saturn.

Description: The general configuration, development schedule, and capabilities of the NASA International Space Station are reviewed, with an emphasis on the possibilities for long-term measurements of high-energy cosmic and secondary radiation from the main Station spacecraft, coorbiting or polar-orbit platforms, or Station-supported GEO satellites. Also outlined are the organizational structure and the application procedures to be followed by potential users of the Station facilities. Diagrams and drawings are provided.

Description: Plans for space-science experiments on the International Space Station (ISS) are reviewed, with a focus on biological and medical research with implications for manned missions to the moon and planets (in a scenario culminating in the establishment of a space colony by about the year 2018). Both applied biomedical research (determining the limits of human endurance in space and developing CELSS technology to extend them) and basic research (on the physiological response of plants and animals to the space environment) are discussed, and particular attention is given to the design and deployment schedule for the ISS biomedical hardware modules (Life Sciences Module, Centrifuge Module, and Variable-Gravity Research Facility). Also included are diagrams; drawings; photographs; and tables listing the individual experiments, their objectives, and the hardware required.

Description: NASA has instituted a plan for the definition of activities and resources required over the coming decade for the deepening of current understanding of anthropogenic orbital debris, and its effects on future mission operations. This understanding will be the basis of policy definition and policy implementation efforts. The most immediate requirement is the definition of the debris environment, with emphasis on data for debris sizes smaller than 4 cm. Systems-damage criteria and hypervelocity-impact theory will then be used to define the hazard to specific spacecraft.

Description: The albedo of upper-stage breakup debris is proposed as an accurate discriminator among the various possible causes of breakup, which encompass residual fuel explosions and hypervelocity particle impacts. The fragments from an impact are covered with a thin layer of soot deposited from the destruction of polymeric circuit boards, while pressure vessel explosion fragments can be expected to remain soot-free. Albedo also facilitates the interpretation of small-debris optical telescope measurements.

Description: Several activities are performed related to the definition and creation of telerobotic systems. The effort and investment required to create architectures for these complex systems can be enormous; however, the magnitude of process can be reduced if structured design techniques are applied. A number of informal methodologies supporting certain aspects of the design process are available. More recently, prototypes of integrated tools supporting all phases of system design from requirements analysis to code generation and hardware layout have begun to appear. Activities related to system architecture of telerobots are described, including current activities which are designed to provide a methodology for the comparison and quantitative analysis of alternative system architectures.

Description: Two types of precedence relationship representations for mechanical assembly sequences are presented: precedence relationships between the establishment of one connection between two parts and the establishment of another connection, and precedence relationships between the establishment of one connection and states of the assembly process. Precedence relationship representations have the advantage of being very compact. The problem with these representations was how to guarantee their correctness and completeness. Two theorems are presented each of which leads to the generation of one type of precedence relationship representation guaranteeing its correctness and completeness for a class of assemblies.

Description: The analysis and development of a manipulator redundant in structure and sensor devices controlled by a distributed multiprocessor architecture are discussed. The goal has been the realization of a modular structure of the manipulator with evident aspects of flexibility and transportability. The distributed control structure, thanks to his modularity and flexibility could be integrated in the future into an operative structure aimed to space telerobotics. The architecture is applied to the 6 DOF manipulator Gilberto.

Description: The control of a multifingered hand slave in order to accurately exert arbitrary forces and impart small movements to a grasped object is, at present, a knotty problem in teleoperation. Although a number of articulated robotic hands have been proposed in the recent past for dexterous manipulation in autonomous robots, the possible use of such hands as slaves in teleoperated manipulation is hindered by the present lack of sensors in those hands, and (even if those sensors were available) by the inherent difficulty of transmitting to the master operator the complex sensations elicited by such sensors at the slave level. An analysis of different problems related to sensor-based telemanipulation is presented. The general sensory systems requirements for dexterous slave manipulators are pointed out and the description of a practical sensory system set-up for the developed robotic system is presented. The problem of feeding back to the human master operator stimuli that can be interpreted by his central nervous system as originated during real dexterous manipulation is then considered. Finally, some preliminary work aimed at developing an instrumented glove designed purposely for commanding the master operation and incorporating Kevlar tendons and tension sensors, is discussed.

Description: Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.

Description: After a brief tutorial on the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) functional architecture, the approach to its implementation is shown. First, interfaces must be defined which are capable of supporting the known algorithms. This is illustrated by considering the interfaces required for the SERVO level of the NASREM functional architecture. After interface definition, the specific computer architecture for the implementation must be determined. This choice is obviously technology dependent. An example illustrating one possible mapping of the NASREM functional architecture to a particular set of computers which implements it is shown. The result of choosing the NASREM functional architecture is that it provides a technology independent paradigm which can be mapped into a technology dependent implementation capable of evolving with technology in the laboratory and in space.

Description: Much of the technology planned for use in NASA's Flight Telerobotic Servicer (FTS) and the Demonstration Test Flight (DTF) is relatively new and untested. To provide the answers needed to design safe, reliable, and fully functional robotics for flight, NASA/GSFC is developing a robotics technology testbed for research of issues such as zero-g robot control, dual arm teleoperation, simulations, and hierarchical control using a high level programming language. The testbed will be used to investigate these high risk technologies required for the FTS and DTF projects. The robotics technology testbed is centered around the dual arm teleoperation of a pair of 7 degree-of-freedom (DOF) manipulators, each with their own 6-DOF mini-master hand controllers. Several levels of safety are implemented using the control processor, a separate watchdog computer, and other low level features. High speed input/output ports allow the control processor to interface to a simulation workstation: all or part of the testbed hardware can be used in real time dynamic simulation of the testbed operations, allowing a quick and safe means for testing new control strategies. The NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) hierarchical control scheme, is being used as the reference standard for system design. All software developed for the testbed, excluding some of simulation workstation software, is being developed in Ada. The testbed is being developed in phases. The first phase, which is nearing completion, and highlights future developments is described.

Description: A study was conducted to develop a preliminary definition of the Flight Telerobotic Servicer (FTS) that could be used to understand the operational concepts and scenarios for the FTS. Called the Tinman, this design concept was also used to begin the process of establishing resources and interfaces for the FTS on Space Station Freedom, the National Space Transportation System shuttle orbiter, and the Orbital Maneuvering vehicle. Starting with an analysis of the requirements and task capabilities as stated in the Phase B study requirements document, the study identified eight major design drivers for the FTS. Each of these design drivers and their impacts on the Tinman design concept are described. Next, the planning that is currently underway for providing resources for the FTS on Space Station Freedom is discussed, including up to 2000 W of peak power, up to four color video channels, and command and data rates up to 500 kbps between the telerobot and the control station. Finally, an example is presented to show how the Tinman design concept was used to analyze task scenarios and explore the operational capabilities of the FTS. A structured methodology using a standard terminology consistent with the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) was developed for this analysis.

Description: Key to an efficient accomplishment of space station servicing operations is the development of a scenario where the presence of man in space is well integrated with the capability of teleoperated and automatic robot system outside the stations. Results focusing on mission requirements, trajectory sequences, propulsion subsystem features, and manipulative kit characteristics relevant to proximity servicing during a Man Tended Free Flyers Robotic Mission (MTFF-RM) are illustrated.

Description: An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

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.

Description: An adaptive control algorithm is proposed for a class of nonlinear systems, such as robotic manipulators, which is capable of improving its performance in repetitive motions. When the task is repeated, the error between the desired trajectory and that of the system is guaranteed to decrease. The design is based on the combination of a direct adaptive control and a learning process. This method does not require any knowledge of the dynamic parameters of the system.

Description: The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Description: The Flight Telerobotic Servicer (FTS) is being developed by the Goddard Space Flight Center (GSFC) for performing a variety of assembly, servicing, inspection and maintenance tasks on the Space Station. The Project Office at GSFC has tasked the Engineering Directorate to assemble a robotics research and development program which will support the FTS project. The activities center around support for the Development Test Flight (DTF) on the Space Shuttle and investigations of operational problems associated with the FTS on Space Station Freedom. For the DTF, areas such as control algorithms, safety systems, and end-effectors will be developed. For FTS operations, the emphasis will be to develop a dual-arm bi-lateral force-reflecting teleoperator and use it as an FTS Operational Simulator (FTSOS). The simulator will be used to investigate operational techniques, camera configurations, operator interfacing, orbital replacement unit (ORU) designs, end-effector designs, and training techniques. After a series of test activities, reports will be generated for input to the DTF and FTS designs.

Description: The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.

Description: The manipulator design discussed here results from the examination of some of the reasons why redundancy is necessary in general purpose manipulation systems. A spherical joint design actuated in-parallel, having the many advantages of parallel actuation, is described. In addition, the benefits of using redundant actuators are discussed and illustrated in the design by the elimination of loci of singularities from the usable workspace with the addition of only one actuator. Finally, what is known by the authors about space robotics requirements is summarized and the relevance of the proposed design matched against these requirements. The design problems outlined here are viewed as much from the mechanical engineering aspect as from concerns arising from the control and the programming of manipulators.

Description: The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

Description: The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

Description: The approach for arriving at design guidelines for assembly by robots in outerspace is illustrated. The use of robots in a zero gravity environment necessitates that extra factors over and above normal design guidelines be taken into account. Besides, many of the guidelines for assembly by robots on earth do not apply in space. However, considering the axioms for normal design and assembly as one set, guidelines for design and robotic assembly as another, and guidelines for design and assembly in space as the third set, unions and intersections of these sets can generate guidelines for two or more of these conditions taken together - say design and manual assembly in space. Therein lies the potential to develop expert systems in the future, which would use an exhaustive database and similar guidelines to arrive at those required by a superposition of these conditions.

Description: Most robotic systems today are designed one at a time, at a high cost of time and money. This wasteful approach has been necessary because the industry has not established a foundation for the continued evolution of intelligent machines. The next generation of robots will have to be generic, versatile machines capable of absorbing new technology rapidly and economically. This approach is demonstrated in the success of the personal computer, which can be upgraded or expanded with new software and hardware at virtually every level. Modularity is perceived as a major opportunity to reduce the 6 to 7 year design cycle time now required for new robotic manipulators, greatly increasing the breadth and speed of diffusion of robotic systems in manufacturing. Modularity and its crucial role in the next generation of intelligent machines are the focus of interest. The main advantages that modularity provides are examined; types of modules needed to create a generic robot are discussed. Structural modules designed by the robotics group at the University of Texas at Austin are examined to demonstrate the advantages of modular design.

Description: An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several telemanipulation tasks. Experiments were conducted with varying frame rates and subtended visual angles, with and without force feedback.

Description: Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Description: A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Description: A frequent complaint in the computer oriented trade journals is that current hardware technology is progressing so quickly that software developers cannot keep up. A example of this phenomenon can be seen in the field of microcomputer graphics. To exploit the advantages of new mechanisms of information storage and retrieval, new approaches must be made towards incorporating existing programs as well as developing entirely new applications. A particular area of need is the correlation of discrete image elements to textural information. The interactive digital video (IDV) interface embodies a new concept in software design which addresses these needs. The IDV interface is a patented device and language independent process for identifying image features on a digital video display and which allows a number of different processes to be keyed to that identification. Its capabilities include the correlation of discrete image elements to relevant text information and the correlation of these image features to other images as well as to program control mechanisms. Sophisticated interrelationships can be set up between images, text, and program control mechanisms.

Description: Medical illustration is a field of visual communication with a long history. Traditional medical illustrations are static, 2-D, printed images; highly realistic depictions of the gross morphology of anatomical structures. Today medicine requires the visualization of structures and processes that have never before been seen. Complex 3-D spatial relationships require interpretation from 2-D diagnostic imagery. Pictures that move in real time have become clinical and research tools for physicians. Medical illustrators are involved with the development of interactive visual displays for three different, but not discrete, functions: as educational materials, as clinical and research tools, and as data bases of standard imagery used to produce visuals. The production of interactive displays in the medical arts is examined.

Description: One of the most remarkable perceptual properties of common experience is that the perceived shapes of known objects are constant despite movements about them which transform their projections on the retina. This perceptual ability is one aspect of shape constancy (Thouless, 1931; Metzger, 1953; Borresen and Lichte, 1962). It requires that the viewer be able to sense and discount his or her relative position and orientation with respect to a viewed object. This discounting of relative position may be derived directly from the ranging information provided from stereopsis, from motion parallax, from vestibularly sensed rotation and translation, or from corollary information associated with voluntary movement. It is argued that: (1) errors in exocentric judgements of the azimuth of a target generated on an electronic perspective display are not viewpoint-independent, but are influenced by the specific geometry of their perspective projection; (2) elimination of binocular conflict by replacing electronic displays with actual scenes eliminates a previously reported equidistance tendency in azimuth error, but the viewpoint dependence remains; (3) the pattern of exocentrically judged azimuth error in real scenes viewed with a viewing direction depressed 22 deg and rotated + or - 22 deg with respect to a reference direction could not be explained by overestimation of the depression angle, i.e., a slant overestimation.

Description: Pictorial displays whose primary purpose is to convey accurate information about the 3-D spatial layout of an environment are discussed. How and how well, pictures can convey such information is discussed. It is suggested that picture perception is not best approached as a unitary, indivisible process. Rather, it is a complex process depending on multiple, partially redundant, interacting sources of visual information for both the real surface of the picture and the virtual space beyond. Each picture must be assessed for the particular information that it makes available. This will determine how accurately the virtual space represented by the picture is seen, as well as how it is distorted when seen from the wrong viewpoint.

Description: Systematic errors in perception and memory present a challenge to theories of perception and memory and to applied psychologists interested in overcoming them as well. A number of systematic errors in memory for maps and graphs are reviewed, and they are accounted for by an analysis of the perceptual processing presumed to occur in comprehension of maps and graphs. Visual stimuli, like verbal stimuli, are organized in comprehension and memory. For visual stimuli, the organization is a consequence of perceptual processing, which is bottom-up or data-driven in its earlier stages, but top-down and affected by conceptual knowledge later on. Segregation of figure from ground is an early process, and figure recognition later; for both, symmetry is a rapidly detected and ecologically valid cue. Once isolated, figures are organized relative to one another and relative to a frame of reference. Both perceptual (e.g., salience) and conceptual factors (e.g., significance) seem likely to affect selection of a reference frame. Consistent with the analysis, subjects perceived and remembered curves in graphs and rivers in maps as more symmetric than they actually were. Symmetry, useful for detecting and recognizing figures, distorts map and graph figures alike. Top-down processes also seem to operate in that calling attention to the symmetry vs. asymmetry of a slightly asymmetric curve yielded memory errors in the direction of the description. Conceptual frame of reference effects were demonstrated in memory for lines embedded in graphs. In earlier work, the orientation of map figures was distorted in memory toward horizontal or vertical. In recent work, graph lines, but not map lines, were remembered as closer to an imaginary 45 deg line than they had been. Reference frames are determined by both perceptual and conceptual factors, leading to selection of the canonical axes as a reference frame in maps, but selection of the imaginary 45 deg as a reference frame in graphs.

Description: The status of motion as a minimal information source for perceiving the environmental properties of surface segregation, three-dimensional (3-D) form, displacement, and dynamics is discussed. The selection of these particular properties was motivated by a desire to present research on perceiving properties that span the range of dimensional complexity.

Description: The classical notion of how things are seen is that perception is passive, that the eyes are windows, and in floods reality. Physiological work of the 19th century cast doubt on this view that perception is passive acceptance of reality. Perception is not at the present time a popular topic for philosophers. This must be partly because scientific accounts of perception have now gone a long way away from appearances. They depend on physiological and psycho-physical experiments which require technical investigation and do not fall within traditional concepts of philosophy. Theories of visual perception are examined, both from a physical and psycho-physical standpoint.

Description: Recent development in video technology, such as the liquid crystal displays and shutters, have made it feasible to incorporate stereoscopic depth into the 3-D representations on 2-D displays. However, depth has already been vividly portrayed in video displays without stereopsis using the classical artists' depth cues described by Helmholtz (1866) and the dynamic depth cues described in detail by Ittleson (1952). Successful static depth cues include overlap, size, linear perspective, texture gradients, and shading. Effective dynamic cues include looming (Regan and Beverly, 1979) and motion parallax (Rogers and Graham, 1982). Stereoscopic depth is superior to the monocular distance cues under certain circumstances. It is most useful at portraying depth intervals as small as 5 to 10 arc secs. For this reason it is extremely useful in user-video interactions such as telepresence. Objects can be manipulated in 3-D space, for example, while a person who controls the operations views a virtual image of the manipulated object on a remote 2-D video display. Stereopsis also provides structure and form information in camouflaged surfaces such as tree foliage. Motion parallax also reveals form; however, without other monocular cues such as overlap, motion parallax can yield an ambiguous perception. For example, a turning sphere, portrayed as solid by parallax can appear to rotate either leftward or rightward. However, only one direction of rotation is perceived when stereo-depth is included. If the scene is static, then stereopsis is the principal cue for revealing the camouflaged surface structure. Finally, dynamic stereopsis provides information about the direction of motion in depth (Regan and Beverly, 1979). Clearly there are many spatial constraints, including spatial frequency content, retinal eccentricity, exposure duration, target spacing, and disparity gradient, which - when properly adjusted - can greatly enhance stereodepth in video displays.

Description: Observers frequently underestimate the in-depth slant of rectangles under reduction conditions. This also occurs for slanted rectangles depicted on a flat display medium. Perrone (1982) provides a model for judged slant based upon properties of the 2-D trapezoidal projection of the rectangle. Two important parameters of this model are the angle of convergence of the sides of the trapezoid and the projected length of the trapezoid. This model was tested using a range of stimulus rectangles and found that the model failed to predict some of the major trends in the data. However, when the projected width of the base of the trapezoid projection was used in the model, instead of the projected length, excellent agreement between the theoretical and obtained slant judgements resulted. The good fit between the experimental data and the new model predictions indicates that perceived slant estimates are highly correlated with specifiable features in the stimulus display.

Description: Limited cue, open-loop tasks in which a human observer indicates distances or relations among distances are discussed. By open-loop tasks, it is meant tasks in which the observer gets no feedback as to the accuracy of the responses. What happens when cues are added and when the loop is closed are considered. The implications of this research for the effectiveness of visual displays is discussed. Errors in visual distance tasks do not necessarily mean that the percept is in error. The error could arise in transformations that intervene between the percept and the response. It is argued that the percept is in error. It is also argued that there exist post-perceptual transformations that may contribute to the error or be modified by feedback to correct for the error.

Description: An interactive, graphical proximity operations planning system was developed which allows on-site design of efficient, complex, multiburn maneuvers in the dynamic multispacecraft environment about the space station. Maneuvering takes place in, as well as out of, the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of relative orbital motion trajectories and complex operational constraints, which are both time varying and highly dependent on the mission scenario. This difficulty is greatly overcome by visualizing the relative trajectories and the relative constraints in an easily interpretable, graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of the space station and co-orbiting spacecraft on the background of the station's orbital plane. The operator has control over two modes of operation: (1) a viewing system mode, which enables him or her to explore the spatial situation about the space station and thus choose and frame in on areas of interest; and (2) a trajectory design mode, which allows the interactive editing of a series of way-points and maneuvering burns to obtain a trajectory which complies with all operational constraints. Through a graphical interactive process, the operator will continue to modify the trajectory design until all operational constraints are met. The effectiveness of this display format in complex trajectory design is presently being evaluated in an ongoing experimental program.

Description: Experiences raise a number of concerns for future spatial-display developers. While the promise of spatial displays is great, the cost of their development will be correspondingly large. The knowledge and skills which must be coordinated to ensure successful results is unprecedent. From the viewpoint of the designer, basic knowledge of how human beings perceive and process complex displays appears fragmented and largely unquantified. Methodologies for display development require prototyping and testing with subject pilots for even small changes. Useful characterizations of the range of differences between individual users is nonexistent or at best poorly understood. The nature, significance, and frequency of interpretation errors associated with complex integrated displays is unexplored and undocumented territory. Graphic displays have intuitive appeal and can achieve face validity much more readily than earlier symbolic displays. The risk of misleading the pilot is correspondingly greater. Thus while some in the research community are developing the tools and techniques necessary for effective spatial-display development, potential users must be educated about the issues so that informed choices can be made. The scope of the task facing all is great. The task is challenging and the potential for meaningful contributions at all levels is high indeed.

Description: In each of two studies, subjects were exposed to a continuously changing prismatic displacement with a mean value of 19 prism diopters (variable displacement) and to a fixed 19-diopter displacement (fixed displacement). In Experiment 1, significant adaptation (post-pre shifts in hand-eye coordination) was found for fixed, but not for variable, displacement. Experiment 2 demonstrated that adaptation was obtained for variable displacement, but it was very fragile and is lost if the measures of adaptation are preceded by even a very brief exposure of the hand to normal or near-normal vision. Contrary to the results of some previous studies, an increase in within-S dispersion was not found of target pointing responses as a result of exposure to variable displacement.

Description: Displays are now being used extensively throughout the society. More and more time is spent watching television, movies, computer screens, etc. Furthermore, in an increasing number of cases, the observer interacts with the display and plays the role of operator as well as observer. To a large extent, the normal behavior in the normal environment can also be thought of in these same terms. Taking liberties with Shakespeare, it might be said, all the world's a display and all the individuals in it are operators in and on the display. Within this general context of interactive display systems, a discussion is began with a conceptual overview of a particular class of such systems, namely, teleoperator systems. The notion is considered of telepresence and the factors that limit telepresence, including decorrelation between the: (1) motor output of the teleoperator as sensed directly via the kinesthetic/tactual system, and (2) the motor output of the teleoperator as sensed indirectly via feedback from the slave robot, i.e., via a visual display of the motor actions of the slave robot. Finally, the deleterious effect of time delay (a particular decorrelation) on sensory-motor adaptation (an important phenomenon related to telepresence) is examined.

Description: The user interface of a computer system is a visual display that provides information about the status of operations on data within the computer and control options to the user that enable adjustments to these operations. From the very beginning of computer technology the user interface was a spatial display, although its spatial features were not necessarily complex or explicitly recognized by the users. All text and nonverbal signs appeared in a virtual space generally thought of as a single flat plane of symbols. Current technology of high performance workstations permits any element of the display to appear as dynamic, multicolor, 3-D signs in a virtual 3-D space. The complexity of appearance and the user's interaction with the display provide significant challenges to the graphic designer of current and future user interfaces. In particular, spatial depiction provides many opportunities for effective communication of objects, structures, processes, navigation, selection, and manipulation. Issues are presented that are relevant to the graphic designer seeking to optimize the user interface's spatial attributes for effective visual communication.

Description: For better or worse, virtual imaging displays are with us in the form of narrow-angle combining-glass presentations, head-up displays (HUD), and head-mounted projections of wide-angle sensor-generated or computer-animated imagery (HMD). All military and civil aviation services and a large number of aerospace companies are involved in one way or another in a frantic competition to develop the best virtual imaging display system. The success or failure of major weapon systems hangs in the balance, and billions of dollars in potential business are at stake. Because of the degree to which national defense is committed to the perfection of virtual imaging displays, a brief consideration of their status, an investigation and analysis of their problems, and a search for realistic alternatives are long overdue.

Description: Spatial displays, and a constraint that they do not place on the use of spatial instruments are discussed. Much of the work done in visual perception by psychologists and by computer scientists has concerned displays that show the motion of rigid objects. Typically, if one assumes that objects are rigid, one can then proceed to understand how the constant shape of the object can be perceived (or computed) as it moves through space. The author maintains that photographs and cinema are visual displays that are also powerful forms of art. Their efficacy, in part, stems from the fact that, although viewpoint is constrained when composing them, it is not nearly so constrained when viewing them. It is obvious, according to the author, that human visual systems did not evolve to watch movies or look at photographs. Thus, what photographs and movies present must be allowed in the rule-governed system under which vision evolved. Machine-vision algorithms, to be applicable to human vision, should show the same types of tolerance.

Description: Converging evidence from several sources indicates that two distinct representations of visual space mediate perception and visually guided behavior, respectively. The two maps of visual space follow different rules; spatial values in either one can be biased without affecting the other. Ordinarily the two maps give equivalent responses because both are veridically in register with the world; special techniques are required to pull them apart. One such technique is saccadic suppression: small target displacements during saccadic eye movements are not preceived, though the displacements can change eye movements or pointing to the target. A second way to separate cognitive and motor-oriented maps is with induced motion: a slowly moving frame will make a fixed target appear to drift in the opposite direction, while motor behavior toward the target is unchanged. The same result occurs with stroboscopic induced motion, where the frame jump abruptly and the target seems to jump in the opposite direction. A third method of separating cognitive and motor maps, requiring no motion of target, background or eye, is the Roelofs effect: a target surrounded by an off-center rectangular frame will appear to be off-center in the direction opposite the frame. Again the effect influences perception, but in half of the subjects it does not influence pointing to the target. This experience also reveals more characteristics of the maps and their interactions with one another, the motor map apparently has little or no memory, and must be fed from the biased cognitive map if an enforced delay occurs between stimulus presentation and motor response. In designing spatial displays, the results mean that what you see isn't necessarily what you get. Displays must be designed with either perception or visually guided behavior in mind.