ALBERT

Description: The Single-Mode Projection Filter (SPF) is a newly developed algorithm for eigensystem parameter identification from both analytical results and test data. The SPF is formulated with a single mode only and practical for parallel processing implementation. Explicit formulations of SPF are derived for the multi-input multi-output (MIMO) system by using the orthogonal matrices of the controllability and observability matrices in the general sense. The modal parameters of SPF are initially obtained from an analytical model in modal space. The experimental data are then processed through SPF to update its modal parameters and to minimize a cost function defined by the norm of an error matrix. The updated modal parameters represent the characteristics of the test data. A two-dimensional global minimum optimization algorithm is developed and applied for the filter update by using the interval analysis method. The SPF is developed based on a single-mode subsystem and identifies only one modal frequency and one modal damping within a specified region. For an n-modes structure, n SPF can be implemented for parallel processing to reduce the computational burden. The SPF is applied to analyze the simulated data for the MAST beam structure. The estimated modal parameters are comparable to those from the Eigensystem Realization Algorithm (ERA) and repeated modal frequencies are identified. The modal analysis of the Spacecraft Control Laboratory Experiment (SCOLE) data is also performed by using the ERA and the Maximum Likelihood Estimate (MLE). The result shows that the first five modal frequencies are very close from ERA and MLE. However, there are slight disparities in the damping rates and the computational burdens are quite different among these two algorithms.

Description: The initial tasks addressed by the Prairie View A&M University team were the conceptual design of a breathable-air manufacturing system, a means of drilling for underground water, and a method for storing water for future use. Subsequently, the design objective of the team for the 1987-1988 academic year was the conceptual design of an integrated system for the supply of quality water for biological consumption, farming, residential and industrial use. The source of water for these applications is assumed to be artesian or subsurface. The first step of the project was to establish design criteria and major assumptions. The second step of the effort was to generate a block diagram of the expected treatment system and assign tasks to individual students. The list of processes for water purification and wastewater treatment given above suggests that there will be a need for on-site chemicals manufacturing for ion-exchange regeneration and disinfection. The third step of the project was to establish a basis for the design capacity of the system. A total need of 10,000 gal/day was assumed to be required. It was also assumed that 30,000 gallon raw-water intake volume is needed to produce the desired effluent volume.

Description: This report summarizes the design and construction of the Mars oxygen demonstration project. The basic hardware required to produce oxygen from simulated Mars atmosphere has been assembled and tested. Some design problems still remain with the sample collection and storage system. In addition, design and development of computer data acquisition and control instrumentation is continuing.

Description: p/n InP homojunction solar cells with a modified contacting scheme have been fabricated from wafers grown by liquid phase epitaxy. A p(+)-In(0.53)Ga(0.47)As contacting layer is incorporated in the cell structure to reduce contact resistance and to eliminaate surface spiking problems at the front surface. The highest conversion efficiency (total area) obtained under AM0 illumination is 15.0 percent. The corresponding open-circuit voltage, short-circuit current density, and fill factor for the best cell are 0.866 V, 29.3 mA/sq cm, and 81.0 percent, respectively.

Description: Evidence is that tunneling via states in the forbidden gap is the dominant source of excess current in the dark current-voltage (I-V) characteristics of high-efficiency DMCVD grown Al(x)Ga(1-x)As/GaAs(x is equal to or greater than 0.85) solar cells. The dark forward and reverse I-V measurements were made on several solar cells, for the first time, at temperatures between 193 and 301 K. Low-voltage reverse-bias I-V data of a number of cells give a thermal activation energy for excess current of 0.026 + or - 0.005 eV, which corresponds to the carbon impurity in GaAs. However, other energy levels between 0.02 eV and 0.04 eV were observed in some cells which may correspond to impurity levels introduced by Cu, Si, Ge, or Cd. The forward-bias excess current is mainly due to carrier tunneling between localized levels created in the space-charge layer by impurities such as carbon, which are incorporated during the solar cell growth process. A model is suggested to explain the results.

Description: Second-order effects in metal-oxide-semiconductor field-effect transistors (MOSFETs) are important for devices with dimensions of 2 microns or less. The short and narrow channel effects and drain-induced barrier lowering primarily affect threshold voltage, but formulas for drain current must also take these effects into account. In addition, the drain current is sensitive to channel length modulation due to pinch-off or velocity saturation and is diminished by electron mobility degradation due to normal and lateral electric fields in the channel. A model of a MOSFET including these considerations and emphasizing charge conservation is discussed.

Description: A feed network comprised of a combination of coplanar waveguide and slot transmission line is described for use in an array module of four microstrip elements. Examples of the module incorporating such networks are presented as well as experimentally obtained impedance and radiation characteristics.

Description: Samples of epitaxial GaAs grown on (100) Si substrates using molecular beam epitaxy were annealed at four different temperatures, from 800 to 950 C. Following annealing, the samples were analyzed using secondary ion mass spectrometry. Depth profiles of Ga, As, and Si reveal optimum conditions for annealing, and place a lower limit on a damage threshold for GaAs/Si substrates.

Description: A new class of cascade high-efficiency photovoltaics designed for space-based applications is proposed. The design improves upper subcell performance and avoids electrical and optical losses associated with an intercell ohmic contact. Multijunction upper subcells reduce bulk recombination of photogenerated minority carriers by decreasing the average collection distance, yielding improved spectral response and radiation tolerance. A three-terminal design is employed which circumvents the need for a monolithic intercell contact and, thus, the losses associated with such a contact. Problems related to array interconnection of three-terminal devices may be solved by creating a two-terminal cell from complementary pairs (n-p-n and p-n-p) of three-terminal cells. Simulations of lattice-matched AlGaAs-GaAs and lattice-mismatched AlGaAs-InGaAs cascade cells show that one-sun AM0 efficiencies in excess of 26 and 28 percent, respectively, are possible.

Description: The control and operation of mechanical manipulators by a human and the use of sensory tactile and force feedback is reviewed. The terms telepresence, teleproprioception, and teletouch are defined and relevant technologies that have or could have been applied to teleoperation are discussed. An ideal method of tactile sensory feedback for teleoperators that is based upon reproduction of the object's contour is discussed, and its practicality considered. Previously developed components that could be used to build a system incorporating sensory tactile and force feedback are presented.

Description: The use of yeasts in controlled ecological life support systems (CELSS) for microbial food regeneration in space required the accurate and reproducible analysis of intracellular carbohydrate and protein levels. The reproducible analysis of glycogen was a key element in estimating overall content of edibles in candidate yeast strains. Typical analytical methods for estimating glycogen in Saccharomyces were not found to be entirely aplicable to other candidate strains. Rigorous cell lysis coupled with acid/base fractionation followed by specific enzymatic glycogen analyses were required to obtain accurate results in two strains of Candida. A profile of edible fractions of these strains was then determined. The suitability of yeasts as food sources in CELSS food production processes is discussed.

Description: A class of codes called finite-state (FS) codes is defined and investigated. The codes, which generalize both block and convolutional codes, are defined by their encoders, which are finite-state machines with parallel inputs and outputs. A family of upper bounds on the free distance of a given FS code is derived. A general construction for FS codes is given, and it is shown that in many cases the FS codes constructed in this way have a free distance that is the largest possible. Catastrophic error propagation (CEP) for FS codes is also discussed. It is found that to avoid CEP one must solve the graph-theoretic problem of finding a uniquely decodable edge labeling of the state diagram.

Description: In order to provide watt-level CW output power throughout the millimeter and submillimeter wave region, thousands of solid-state diodes have been monolithically integrated using a metal grid to produce a highly efficient frequency multiplier. Devices considered include GaAs Schottky diodes, thin MOS diodes, and GaAs Barrier-Intrinsic-N(+)diodes. The performance of the present compact low-cost device has been theoretically and experimentally validated.

Description: A 256K DRAM has been used to study the lateral transport of charge (electron-hole pairs) induced by direct ionization from heavy-ion tracks in an IC. The qualitative charge transport has been simulated using a two-dimensional numerical code in cylindrical coordinates. The experimental bit-map data clearly show the manifestation of lateral charge transport in the creation of adjacent multiple-bit errors from a single heavy-ion track. The heavy-ion data further demonstrate the occurrence of multiple-bit errors from single ion tracks with sufficient stopping power. The qualitative numerical simulation results suggest that electric-field-funnel-aided (drift) collection accounts for single error generated by an ion passing through a charge-collecting junction, while multiple errors from a single ion track are due to lateral diffusion of ion-generated charge.

Description: An extensive analytical and experimental study SEU in an advanced silicon bipolar process was made. The modeling used process and device parameters to model the SEU charge, collection, and circuit response derived from a special version of PISCES in cylindrical coordinates and SPICE, respectively. Data are reported for test cells of various sizes.

Description: An addressable matrix of 16 n- and 16 p-MOSFETs was designed to extract the dc MOSFET parameters for all dc gate bias conditions before and after irradiation. The matrix contains four sets of MOSFETs, each with four different geometries that can be biased independently. Thus the worst-case bias scenarios can be determined. The MOSFET matrix was fabricated at a silicon foundry using a radiation-soft CMOS p-well LOCOS process. Co-60 irradiation results for the n-MOSFETs showed a threshold-voltage shift of -3 mV/krad(Si), whereas the p-MOSFETs showed a shift of 21 mV/krad(Si). The worst-case threshold-voltage shift occurred for the n-MOSFETs, with a gate bias of 5 V during the anneal. For the p-MOSFETs, biasing did not affect the shift in the threshold voltage. A parasitic MOSFET dominated the leakage of the n-MOSFET biased with 5 V on the gate during irradiation. Co-60 test results for other parameters are also presented.

Description: Experimental measurements are reported of the degradation effects of high-energy particles (heavy Br ions and electrons) and Co-60 gamma-rays on the current gain of minimum-geometry bipolar transistors made from an advanced process. The data clearly illustrate the total-ionizing-dose vs particle-fluence behavior of this bipolar transistor produced by an advanced process. In particular, bulk damage from Co-60 gamma rays in bipolar transistors (base transport factor degradation) and surface damage in bipolar transistors from ionizing radiation (emitter-efficiency degradation) have been observed. The true equivalence between various types of radiation for this process technology has been determined on the basis of damage from the log K1 intercepts.

Description: Approaches used to control electrostatic discharge (ESD) at the JPL are discussed. ESD control problems generally occur in the following: (1) wrist straps; (2) outer garments that preclude the generation of static charge; and (3) materials, items, techniques, or processes permitting the development of a static charge. Consideration is given to the cleaning of antistatic materials, outside contracts, vapor degreasing, and electrostatically charged electrical cables.

Description: Focal properties, electron trajectory calculations, and geometries are given for two electron 'gun' lens systems that have a variety of applications in, for example, electron-neutral and electron-ion scattering experiments. One nine-lens system utilizes only electrostatic confinement and is capable of focusing electrons onto a fixed target with extremely small divergence angles, over a range of final energies 1-790 eV. The second gun lens system is a simpler three-lens system suitable for use in a uniform, solenoidal magnetic field. While the focusing properties of such a magnetically confined lens systenm are simpler to deal with, the system does illustrate features of electron extraction and Brillouin flow that have not been suitably emphasized in the literature.

Description: This paper presents a derivation of an exact closed-form expression of the integral chord-length distribution for the calculation of single-event upsets (SEUs) in an electronic memory cell, caused by cosmic rays. Results computed for two rectangular parallelepipeds using this exact expression are compared with those computed with Bradford's (1979) semiexact expression of C(x). It is found that the values of C(x) are identical for x equal or smaller than b but are vastly different for x greater than b. Moreover, while C(x) of Bradford gives reasonably accurate values of SEU rate for certain sets of computational parameters, it gives values more than 10 times larger than the correct values for other sets of parameters.

Description: This paper describes recent research advances made in the development of radiation-hardened piezoelectric quartz oscillators, hydrogen masers, and superconducting oscillators, with emphasis placed on the principles involved in the operation of these oscillators and the factors affecting the operation. Particular attention is given to the radiation-susceptibility studies of quartz-crystal resonators, the hydrogen-maser relaxation process and noise sources, and low-phase-noise superconducting oscillators. Diagrams of these devices and performance graphs are included.

Description: A novel contact regrowth technique for the formation of extremely low nonalloyed ohmic contacts is reported. The successful demonstration of this technique is reported on an InGaAs/InAlAs hot-electron transistor device. For the investigated InGaAs-based structure, the regrown contacting scheme reported includes an In(0.53)Ga(0.47)As layer, an InAs/GaAs strained-layer superlattice, and an InAs cap, all heavily doped n type with Si. A very low specific contact resistance of 1.8 x 10 to the -7th ohm sq cm to the base layer is obtained. The higher current densities achieved in the transistor characteristics are in close agreement with calculations, and a contact model is presented explaining the poor results of conventional nonalloyed contacts.

Description: A tunable solid state laser system, chromium-activated forsterite (Cr3+: Mg2SiO4), which has the potential for tunability from 850-1400 nm, is introduced. The characteristics of the host crystal are examined. Laser experiments and measurements are presented, including the observation of pulsed laser action at room temperature. The possibilities of the system are also considered.

Description: A new very large scale integration (VLSI) design of a pipeline Reed-Solomon decoder is presented. The transform decoding technique used in a previous article is replaced by a time domain algorithm through a detailed comparison of their VLSI implementations. A new architecture that implements the time domain algorithm permits efficient pipeline processing with reduced circuitry. Erasure correction capability is also incorporated with little additional complexity. By using multiplexing technique, a new implementation of Euclid's algorithm maintains the throughput rate with less circuitry. Such improvements result in both enhanced capability and significant reduction in silicon area.

Description: The use of liquid and gas phase sulfur pretreatment of the surface of InP as a way to form a near-ideal passivated surface prior to chemical vapor deposition of SiO2 was investigated. Results of high-frequency and quasi-static capacitance-voltage measurements, as well as enhancement mode insulated gate field-effect transistor (FET) transductance and drain current stability studies, all support the efficacy of this approach for metal-insulator-semiconductor application of this semiconductor. In particular, surface state values in the range of 10 to the 10th to a few 10 to the 11th/sq cm per eV and enhancement mode FET drain current drifts of less than 5 percent over a 12 h test period were measured.

Description: Extended measurements and theory on the recently developed monolithic wavelength demultiplexer consisting of voltage-tunable superlattice p-i-n photodetectors in a waveguide configuration are discussed. It is shown that the device is able to demultiplex and detect two optical signals with a wavelength separation of 20 nm directly into different electrical channels at a data rate of 1 Gb/s and with a crosstalk attenuation varying between 20 and 28 dB, depending on the polarization. The minimum acceptable crosstalk attenuation at a data rate of 100 Mb/s is determined to be 10 dB. The feasibility of using the device as a polarization angle sensor for linearly polarized light is also demonstrated. A theory for the emission of photogenerated carriers out of the quantum wells is included, since this is potentially a speed limiting mechanism in these detectors. It is shown that a theory of thermally assisted tunneling by polar optical phonon interaction is able to predict emission times consistent with the observed temporal response.

Description: This letter presents a method for calculating the even and odd mode impedances of broadside coupled cylindrical stiplines using the conformal mapping technique. Closed form expressions are presented for calculating the even and odd mode characteristic impedances. The data for even and odd mode impedances are presented. The analysis can also be extended to warped broadside coupled striplines.

Description: A time-efficient simulation technique was developed for modeling the energy deposition by incident protons in modern integrated circuits. To avoid the excessive computer time required by many proton-effects simulators, a stochastic method was chosen to model the various physical effects responsible for energy deposition by incident protons. Using probability density functions to describe the nuclear reactions responsible for most proton-induced memory upsets, the simulator determines the probability of a proton hit depositing the energy necessary for circuit destabilization. This factor is combined with various circuit parameters to determine the expected error-rate in a given proton environment. An analysis of transient or dose-rate effects is also performed. A comparison to experimental energy-disposition data proves the simulator to be quite accurate for predicting the expected number of events in certain integrated circuits.

Description: Barrier height enhancement of an InP-based p(+)n-Ga(0.47)In(0.53)As Schottky diode grown by MBE has been demonstrated for infra-red photodetector applications. A barrier height of 0.35 eV for n-Ga(0.47)In(0.53)As Schottky barrier diodes, was increased to the effective barrier height of 0.55 eV, with a p(+)-Ga(0.47)In(0.53)As surface layer of 30 nm thick. The results show a reverse leakage current density of 0.0015 A/sq cm and a junction capacitance of 0.3 pF, which are comparable to those of p-Ga(0.47)In(0.53)As Schottky-barrier diodes at a reverse bias voltage of 5 V.

Description: Al(0.3)Ga(0.7)As/Al(0.05)Ga(0.95)As double-heterostructure light-emitting diodes (LEDs) were successfully grown for the first time by liquid phase epitaxy on a GaAs-coated Si substrate that was prepared by a sequential process of migration-enhanced epitaxy and molecular beam epitaxy. The edge-emitting LEDs had diode ideality factors of 1.54 at a forward-biased voltage higher than 0.9 V and external quantum efficiencies of 0.0033 W/A per facet. This efficiency is 50 times higher than the previously reported value, and is on the same order as that of AlGaAs homojunction LEDs fabricated on the GaAs substrates by liquid phase epitaxy.

Description: Employing a structure consisting of n(+)-InAs/InGaAs and InAs/GaAs strained-layer superlattices (SLSs) grown by molecular beam epitaxy on GaAs films, nonalloyed contact resistances less than 8.5 x 10 to the -8th ohm sq cm have been obtained. Self-consistent simulations show that these extremely small nonalloyed contact resistances are due to the suppression of the depletion depth in the GaAs channel and tunneling through the SLS layer. Similar structures on InGaAs channels have led to nonalloyed specific contact resistances of about 1.5 x 10 to the -8th ohm sq cm. These results represent the smallest figures reported for these important material systems.

Description: A method of analysis for coupled cylindrical striplines filled with multilayered dielectrics is presented that uses a variational technique in the space domain. Coupled-mode analysis is presented for the case of a pair of coupled circular arc strips arbitrarily located between cylindrical ground planes filled with multilayered dielectrics. An even- and odd-mode approach is used for the analysis of shielded cylindrically curved edge-coupled pairs of broad-side parallel strips (broad-side, edge-coupled cylindrical striplines). The effect of environmental changes on an otherwise planar structure is also studied by extending the present analysis to cylindrically warped coupled striplines.

Description: Two factors which limit the complexity of GaAs MESFET VLSI circuits are considered. Power dissipation sets an upper complexity limit for a given logic circuit implementation and thermal design. Uniformity of device characteristics and the circuit configuration determines the electrical functional yield. Projection of VLSI complexity based on these factors indicates that logic chips of 15,000 gates are feasible with the most promising static circuits if a maximum power dissipation of 5 W per chip is assumed. While lower power per gate and therefore more gates per chip can be obtained by using a popular E/D FET circuit, yields are shown to be small when practical device parameter tolerances are applied. Further improvements in materials, devices, and circuits wil be needed to extend circuit complexity to the range currently dominated by silicon.

Description: The stability, capacity, and design of a nonlinear continuous neural network are analyzed. Sufficient conditions for existence and asymptotic stability of the network's equilibria are reduced to a set of piecewise-linear inequality relations that can be solved by a feedforward binary network, or by methods such as Fourier elimination. The stability and capacity of the network is characterized by the post synaptic firing rate function. An N-neuron network with sigmoidal firing function is shown to have up to 3N equilibrium points. This offers a higher capacity than the (0.1-0.2)N obtained in the binary Hopfield network. Moreover, it is shown that by a proper selection of the postsynaptic firing rate function, one can significantly extend the capacity storage of the network.

Description: The 10-micron intersubband absorption in quantum wells made of the silicon-based system, Si/Si(1-x)Ge(x), has been calculated. The necessary details of the effective-mass anisotropy are included in the present analysis. It is found that it is readily possible to achieve an absorption constant of order of 10,000/cm in Si quantum wells with current doping technology. For 110-line and 111-line growth directions, a further advantage of Si quantum wells is pointed out, namely, an allowed absorption at normal incidence due to the anisotropic effective mass in Si.

Description: Columnar, porous, magnetron-sputtered molybdenum and tungsten films show optimum performance as alkali metal thermoelectric converter electrodes at thicknesses less than 1.0 micron when used with molybdenum or nickel current collector grids. Power densities of 0.40 W/sq cm for 0.5-micron molybdenum films at 1200 K and 0.35 W/sq cm for 0.5-micron tungsten films at 1180 K were obtained at electrode maturity after 40-90 h. Sheet resistances of magnetron sputter deposited films on sodium beta-double-prime-alumina solid electrolyte (BASE) substrates were found to increase very steeply as thickness is decreased below about 0.3-double-prime 0.4-micron. The ac impedance data for these electrodes have been interpreted in terms of contributions from the bulk BASE and the porous electrode/BASE interface. Voltage profiles of operating electrodes show that the total electrode area, of electrodes with thickness less than 2.0 microns, is not utilized efficiently unless a fairly fine (about 1 x 1 mm) current collector grid is employed.

Description: A major problem in high-precision teleoperation is the high-resolution presentation of depth information. Stereo television has so far proved to be only a partial solution, due to an inherent trade-off among depth resolution, depth distortion and the alignment of the stereo image pair. Converged cameras can guarantee image alignment but suffer significant depth distortion when configured for high depth resolution. Moving the stereo camera rig to scan the work space further distorts depth. The 'dynamic' (camera-motion induced) depth distortion problem was solved by Diner and Von Sydow (1987), who have quantified the 'static' (camera-configuration induced) depth distortion. In this paper, a stereo image presentation technique which yields aligned images, high depth resolution and low depth distortion is demonstrated, thus solving the trade-off problem.

Description: Thick films of YBa2Cu3O(7-x) have been deposited on highly polished alumina, magnesia spinel, nickel aluminum titanate (Ni-Al-Ti), and barium tetratitanate (Ba-Ti) substrates by the screen printing technique. Properties of the films were found to be highly sensitive to the choice of the substrate material. The film on Ba-Ti turned green after firing, due to a reaction with the substrate and were insulating. A film on Ni-Al-Ti had a Tc (onset) of about 95 K and lost 90 percent of its resistance by about 75 K. However, even at 4 K it was not fully superconducting, possibly due to a reaction between the film and the substrate and interdiffusion of the reaction products. The film on alumina had Tc (onset) of about 96 K, Tc (zero) of about 66 K, and Delta Tc of about 10 K. The best film was obtained on spinel and had Tc (onset) of about 94 K, zero resistance at 81 K, and a transition width of about 7 K.

Description: A new model is presented which permits the prediction of the resonant frequencies created by antipodal finline waveguide to microstrip transitions. The transition is modeled as a tapered transmission line in series with an infinite set of coupled resonant circuits. The resonant circuits are modeled as simple microwave resonant cavities of which the resonant frequencies are easily determined. The model is developed and the resonant frequencies determined for several different transitions. Experimental results are given to confirm the models.

Description: The performance is reported of a field emission array characterized for the purpose of replacing the filament in a trapped ion frequency standard. This dark electron emitter eliminates the need for the interference filter currently used in the trapped ion standard. While reducing the filament's unwanted light, this filter causes a significant reduction in the signal. The magnetic field associated with the filament is also eliminated, thus potentially improving the present stability of the trapped ion standard. The operation of the filament in the present system is described, as well as the associated concerns. The cathode considered for the filament's replacement is then described along with the experimental system. Experimental results, observations, and conclusions are presented.

Description: ARGES (Atmospheric Revitalization Group Expert System) is a demonstration prototype expert system for fault management for the Solid Amine, Water Desorbed (SAWD) CO2 removal assembly, associated with the Environmental Control and Life Support (ECLS) System. ARGES monitors and reduces data in real time from either the SAWD controller or a simulation of the SAWD assembly. It can detect gradual degradations or predict failures. This allows graceful shutdown and scheduled maintenance, which reduces crew maintenance overhead. Status and fault information is presented in a user interface that simulates what would be seen by a crewperson. The user interface employs animated color graphics and an object oriented approach to provide detailed status information, fault identification, and explanation of reasoning in a rapidly assimulated manner. In addition, ARGES recommends possible courses of action for predicted and actual faults. ARGES is seen as a forerunner of AI-based fault management systems for manned space systems.

Description: The frequency and intensity of thunderstorms around the Kennedy Space Center (KSC) has affected scheduled launch, landing, and other ground operations for many years. In order to protect against and provide safe working facilities, KSC has performed and hosted several studies on lightning phenomena. For the reasons mentioned above, KSC has established the Atmospheric Science Field Laboratory (ASFL). At these facilities KSC launches wire-towing rockets into thunderstorms to trigger natural lightning to the launch site. A program named Rocket Triggered Lightning Program (RTLP) is being conducted at the ASFL. This report calls for two of the experiments conducted in the summer 1988 Rocket Triggered Lightning Program. One experiment suspended an electric field mill over the launching areas from a balloon about 500 meters high to measure the space charges over the launching area. The other was to connect a waveform recorder to a nearby distribution power line to record currents and voltages wave forms induced by natural and triggered lightning.

Description: The graphical intelligence and assistance capabilities of a human-computer interface for the Test, Control, and Monitor System at Kennedy Space Center are explored. The report focuses on how a particular commercial off-the-shelf graphical software package, Data Views, can be used to produce tools that build widgets such as menus, text panels, graphs, icons, windows, and ultimately complete interfaces for monitoring data from an application; controlling an application by providing input data to it; and testing an application by both monitoring and controlling it. A complete set of tools for building interfaces is described in a manual for the TCMS toolkit. Simple tools create primitive widgets such as lines, rectangles and text strings. Intermediate level tools create pictographs from primitive widgets, and connect processes to either text strings or pictographs. Other tools create input objects; Data Views supports output objects directly, thus output objects are not considered. Finally, a set of utilities for executing, monitoring use, editing, and displaying the content of interfaces is included in the toolkit.

Description: Work in progrss on an expert system which restructures and tunes control systems online in real-time is presented. The expert system coordinates the different methods involved in redesigning and implementing the control strategies due to plant changes.

Description: The quantity and complexity of on-orbit assets will increase significantly over the next decade. Maintaining and servicing these costly assets represent a difficult challenge. Three general methods are proposed to maintain equipment while it is still in orbit: an extravehicular activity (EVA) crew can perform the task in an unpressurized maintenance area outside any space vehicle; an intravehicular activity (IVA) crew can perform the maintenance in a shirt sleeve environment, perhaps at a special maintenance work station in a space vehicle; or a telerobotic manipulator can perform the maintenance in an unpressurized maintenance area at a distance from the crew (who may be EVA, IVA, or on the ground). However, crew EVA may not always be possible; the crew may have other demands on their time that take precedence. In addition, the orbit of the tasks themselves may be impossible for crew entry. Also crew IVA may not always be possible as option for equipment maintenance. For example, the equipment may be too large to fit through the vehicle airlock. Therefore, in some circumstances, the third option, telerobotic manipulation, may be the only feasible option. Telerobotic manipulation has, therefore, an important role for on-orbit maintenance. It is not only used for the reasons outlined above, but also used in some cases as backup to the EVA crew in an orbit that they can reach.

Description: The use of a speaker-dependent connected word recognition system to control an Air Traffic Control (ATC) demonstration workstation is described, also the work that went into developing that speech system. The workstation with speech recognition was demonstrated live at an Air Traffic Controller's Association convention in 1987. The purpose of the demonstration workstation is discussed, with the development of the speech interface highlighted. Included are: a brief description of the speech hardware and software, and overview of the speech driven workstation functions, a description of the speech vocabulary/grammer, and details that the enrollment and training procedures used in preparing the controllers for the demonstrations. Although no quantitative results are available, the potential benefits of using voice as an interface to this type of workstation are discussed and limitations of current speech technology and areas where more work is required are highlighted.

Description: Machine vision allows a non-contact means of determining the three-dimensional shape of objects in the environment, enabling the control of contact forces when manipulation by a telerobot or traversal by a vehicle is desired. Telerobotic manipulation in Earth orbit requires a system that can recognize known objects in spite of harsh lighting conditions and highly specular or absorptive surfaces. Planetary surface traversal requires a system that can recognize the surface shape and properties of an unknown and arbitrary terrain. Research on these two rather disparate types of vision systems is described.

Description: Problems in image understanding involve a wide variety of data (e.g., image arrays, edge maps, 3-D shape models) and processes or algorithms (e.g., convolution, feature extraction, rendering). The underlying structure of an Image Understanding Workstation designed to support mulitple levels and types of representations for both data and processes is described, also the user-interface. The Image Understanding Workstation consists of two parts: the Image Understanding (IU) Framework, and the user-interface. The IU Framework is the set of data and process representations. It includes multiple levels of representation for data such as images (2-D), sketches (2-D), surfaces (2 1/2 D), and models (3-D). The representation scheme for processes characterizes their inputs, outputs, and parameters. Data and processes may reside on different classes of machines. The user-interface to the IU Workstation gives the user convenient access for creating, manipulating, transforming, and displaying image data. The user-interface follows the structure of the IU Framework and gives the user control over multiple types of data and processes. Both the IU Framework and user-interface are implemented on a LISP machine.

Description: A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis.

Description: Modeling of cross-guide couplers based on the theory of equivalent electric and magnetic dipoles of an aperture is described. Additional correction factors due to nonzero wall thickness and large aperture are also included in this analysis. Comparisons of the measured and calculated results are presented for cross-guide couplers with circular or cross-shaped coupling apertures. A cross-guide coupler was designed as a component of the C-band feed to support the Phobos mission.

Description: The operator control station of a telerobot system has unique functional and human factors requirements. It has to satisfy the needs of a truly interactive and user-friendly complex system, a telerobot system being a hybrid between a teleoperated and an autonomous system. These functional, hardware and software requirements are discussed, with explicit reference to the design objectives and constraints of the JPL/NASA Telerobot Demonstrator System.

Description: Modular manipulator designs have long been considered for use as research tools, and as the basis for easily modified industrial manipulators. In these manipulators the links and joints are discrete and modular components that can be assembled into a desired manipulator configuration. As hardware advances have made actual modular manipulators practical, various capabilities of such manipulators have gained interest. Particularly desirable is the ability to rapidly reconfigure such a manipulator, in order to custom tailor it to specific tasks. The reconfiguration greatly enhances the capability of a given amount of manipulator hardware. The development of a prototype modular manipulator is discussed as well as the implementation of a configuration independent manipulator kinematics algorithm used for path planning in the prototype.

Description: The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

Description: People interact with the processes and products of contemporary technology. Individuals are affected by these in various ways and individuals shape them. Such interactions come under the label 'human factors'. To expand the understanding of those to whom the term is relatively unfamiliar, its domain includes both an applied science and applications of knowledge. It means both research and development, with implications of research both for basic science and for development. It encompasses not only design and testing but also training and personnel requirements, even though some unwisely try to split these apart both by name and institutionally. The territory includes more than performance at work, though concentration on that aspect, epitomized in the derivation of the term ergonomics, has overshadowed human factors interest in interactions between technology and the home, health, safety, consumers, children and later life, the handicapped, sports and recreation education, and travel. Two aspects of technology considered most significant for work performance, systems and automation, and several approaches to these, are discussed.

Description: Operation of a telerobot is compromised if a time delay of more than a few hundred milliseconds exists between the operator and remote manipulator. However, the most economically attractive way to perform telerobotic functions such as assembly, maintenance, and repair in Earth orbit is via geosynchronous relay satellites to a ground-based operator. This induces loop delays from one-half to two seconds, depending on how many relays are involved. Such large delays makes direct master-slave, force-reflecting teleoperated systems infeasible. Research at JPL on a useful telerobot that operates with such time delays is described.

Description: NASA has just completed an in-house Phase B Study (one of three studies) for the preliminary definition of a teleoperated robotic device that will be used on the National Space Transportation System (NSTS) and the Space Station to assist the astronauts in the performance of assembly, maintenance, servicing, and inspection tasks. This device, the Flight Telerobotic Servicer (FTS), will become a permanent element on the Space Station. Although it is primarily a teleoperated device, the FTS is being designed to grow and evolve to higher states of autonomy. Eventually, it will be capable of working from the Orbital Maneuvering Vehicle (OMV) to service free-flying spacecraft at great distances from the Space Station. A version of the FTS could also be resident on the large space platforms that are part of the Space Station Program.

Description: A prototype 8.4 GHz (X-band) high electron mobility transistor (HEMT) amplifier/closed cycle refrigerator system was installed in the Deep Space Station 13 feedcone in August 1987. The amplifier is cryogenically cooled to a physical temperature of 12 K and provides 31 K antenna noise temperature (zenith) and 35 dB of gain at a frequency of 8.2 to 8.6 GHz. Antenna system noise temperature is less than 50 K from 7.2 to 9.4 MHz. The low noise HEMT amplifier system is intended for use as a radio astronomy or space communications receiver front end.

Description: The space station environmental control and life support system (ECLSS) and internal thermal control system (ITCS) are outlined. The ECLSS is composed of six subsystem groups: the temperature humidity control, the atmosphere control and supply, the air revitalization, water reclamation and management, fecal waste management, and the fire detection and suppression subsystems. The ITCS consists of all WP01 elements of passive and active thermal measures. The ECLSS and ITCS provide services for the permanently orbiting pressurized modules as well as the pressurized and unpressurized logistics carriers. All internal cooling of the permanent orbital elements are provided via internal active fluid loops within the elements utilizing water as the transport media. Cabin and equipment cooling are provided by forced air flow and coldplate heat sinks. An active cooling loop is provided in the laboratory module to accommodate experiments and other payloads. Coatings and insulation are used in conjunction with the active components to passively limit heat losses/gains. The most challenging ECLSS new technology issues relate to oxygen and water recovery. Closure of the oxygen loop requires the use of regenerative CO2 removal and concentration techniques, CO2 reduction to convert the CO2 to water with a waste by-product, and the electrolysis of water to produce breathing oxygen for water recovery.

Description: In 1977, the Protoflight Manipulator Arm (PFMA) was designed and built. It is one of two space qualified manipulators. A new conceptual design for the next generation manipulator of space applications is presented. The next generation manipulator and the PFMA are described in detail. Their differences could have a major influence on the construction, testing, and performance of a space arm. Assessed in detail are these technologies and their effect on the design. Servicing is an important goal of robotics in space. Parameters such as environment, type of task, time sequence, and dexterity will affect the arm and its ability to accomplish its mission. Requirements such as these are important considerations in the design of the next generation space arm.

Description: In 1984 Congress authorized NASA to begin the Space Station Program, and requested that 10 percent of program funds be spent in implementing automation and robotics (A and R) on the Space Station. In response to that request, Boeing established several Independent Research and Development (IR and D) projects to explore possible uses for A and R on the Space Station. One of those projects, and automated materials processing experiment, is discussed. The project uses a teleoperated robot to demonstrate telescience applied to a Chemical Vapor Transport materials processing experiment.

Description: Space systems are difficult to maintain on orbit. The difficulty arises from the limited ability and availability of the astronaut work force in the hazardous space environment. Remote robotic manipulation can free the astronaut from the hazardous working environment while also increasing the work force. However, remote robotic servicing is not without its own set of problems and limitations, such as communication time delay and unstructured worksites. Tests and test equipment are described which are designed to increase the understanding of the remote servicing problems and to allow development of potential solutions. A half scale satellite mockup was developed for evaluating and improving upon the design of replaceable subsystems, such as batteries and electronic boxes. A servicer system, that includes a six degree of freedom PUMA 560 robot and interchangeable end effectors (tools), was developed to aid in driving out servicer design requirements. The results include the time delay impact on servicing timelines and requirements for the servicer system.

Description: The sensory processing system for the NASA/NBS Standard Reference Model (NASREM) for telerobotic control is described. This control system architecture was adopted by NASA of the Flight Telerobotic Servicer. The control system is hierarchically designed and consists of three parallel systems: task decomposition, world modeling, and sensory processing. The Sensory Processing System is examined, and in particular the image processing hardware and software used to extract features at low levels of sensory processing for tasks representative of those envisioned for the Space Station such as assembly and maintenance are described.

Description: Ground controlled teleoperations are expected to be used to augment Space Station manned extravehicular activities (EVA) and Intravehicular activities (IVA). However, ground controlled teleoperations will encounter communications time delays of from 3 to 8 secs. Time delays greater than 1 sec have been shown to be detrimental to safe and efficient teleoperations. Therefore, concepts must be developed to overcome the hazards and limitations of time delays when performing teleoperations using robots. The concept for robot motion primitives incorporate force/torque and tactile sensor feedback to implement the degree of autonomy required for interactive, ground controlled telerobotics. Several primitives are studied that augment human initiated actions by providing rapid response interaction with the physical environment of a telerobot. These primitives are detailed. They constitute a level of intelligent sensing and reaction required to augment human actions through autonomous interaction with the physical environment.

Description: A microgravity whole body shower (WBS) and waste water recovery systems (WWRS) were evaluated in three separate closed loop tests. Following a protocol similar to that anticipated for the U.S. Space Station, test subjects showered in a prototype whole body shower. The WWRS processes evaluated during the test series were phase change and reverse osmosis (RO). A preprototype Thermoelectric Integrated Hollow Fiber Membrane Evaporation Subsystem phase change process was used for the initial test with chemical pretreatment of the shower water waste input. The second and third tests concentrated on RO technologies. The second test evaluated a dynamic RO membrane consisting of zirconium oxide polyacrylic acid (ZOPA) membranes deposited on the interior diameter of 316L porous stainless steel tubes while the final test employed a thin semipermeable RO membrane deposited on the interior surface of polysulfone hollow fibers. All reclaimed water was post-treated for purity using ion exchange and granular activated carbon beds immediately followed by microbial control treatment using both heat and iodine. The test hardware, controls exercised for whole body showering, types of soaps evaluated, shower subject response to reclaimed water showering, and shower water collection and chemical pretreatment (if required) for microbial control are described. The WWRS recovered water performance and the effectiveness of the reclaimed water post-treatment techniques used for maintaining water purity and microorganism control are compared. Results on chemical and microbial impurity content of the water samples obtained from various locations in the shower water reuse system are summarized.

Description: The Personnel Occupied Woven Envelope Robot (POWER) provides an alternative to extravehicular activity (EVA) of space suited astronauts and/or use of long slender manipulator arms such as are used in the Shuttle Remote Manipulator System. POWER provides the capability for a shirt sleeved astronaut to perform such work by entering a control pod through air locks at both ends of an inflated flexible bellows (access tunnel). The exoskeleton of the tunnel is a series of six degrees of freedom (Six-DOF) articulated links compressible to 1/6 of their fully extended length. The operator can maneuver the control pod to almost any location within about 50 m of the base attachment to the space station. POWER can be envisioned as a series of hollow Six-DOF manipulator segments or arms wherein each arm grasps the shoulder of the next arm. Inside the hollow arms ia a bellow-type access tunnel. The control pod is the fist of the series of linked hollow arms. The fingers of the fist are conventional manipulator arms under direct visual control of the nearby operator in the pod. The applications and progress to date of the POWER system is given.

Description: A data collection system installed on the 400 kilowatt X-band transmitter of the Goldstone Solar System Radar is described. The data collection system is built around the off-the-shelf IEEE 488 instrumentation, linked with fiber optics, controlled by an inexpensive computer, and uses software written in the Ada language. The speed and accuracy of the system is discussed, along with programming techniques used for both data collection and reduction.

Description: An Automatic Frequency Control (AFC) loop based on an Extended Kalman Filter (EKF) is introduced and analyzed in detail. The scheme involves an EKF which operates on a modified set of data in order to track the frequency of the incoming signal. The algorithm can also be viewed as a modification to the well known cross-product AFC loop. A low carrier-to-noise ratio (CNR), high-dynamic environment is used to test the algorithm and the probability of loss-of-lock is assessed via computer simulations. The scheme is best suited for scenarios in which the frequency error variance can be compromised to achieve a very low operating CNR threshold. This technique can easily be incorporated in the Advanced Receiver (ARX), requiring minimum software modifications.

Description: Recent developments in the analysis of various waveguide components and feedhorns using Modal Analysis (Mode Matching Method) are summarized. A brief description of the theory is presented, and the important features of the method are pointed out. Specific examples in circular, rectangular, and coaxial waveguides are included, with comparisons between the theory and experimental measurements. Extensions to the methods are described.

Description: The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

Description: The capability for a single operator to simultaneously control complex remote multi degree of freedom robotic arms and associated dextrous end effectors is being developed. An optimal solution within the realm of current technology, can be achieved by recognizing that: (1) machines/computer systems are more effective than humans when the task is routine and specified, and (2) humans process complex data sets and deal with the unpredictable better than machines. These observations lead naturally to a philosophy in which the human's role becomes a higher level function associated with planning, teaching, initiating, monitoring, and intervening when the machine gets into trouble, while the machine performs the codifiable tasks with deliberate efficiency. This concept forms the basis for the integration of man and telerobotics, i.e., robotics with the operator in the control loop. The concept of integration of the human in the loop and maximizing the feed-forward and feed-back data flow is referred to as telepresence.

Description: Automatic Detection of Electric Power Troubles (A DEPT) is an expert system that integrates knowledge from three different suppliers to offer an advanced fault-detection system. It is designed for two modes of operation: real time fault isolation and simulated modeling. Real time fault isolation of components is accomplished on a power system breadboard through the Fault Isolation Expert System (FIES II) interface with a rule system developed in-house. Faults are quickly detected and displayed and the rules and chain of reasoning optionally provided on a laser printer. This system consists of a simulated space station power module using direct-current power supplies for solar arrays on three power buses. For tests of the system's ablilty to locate faults inserted via switches, loads are configured by an INTEL microcomputer and the Symbolics artificial intelligence development system. As these loads are resistive in nature, Ohm's Law is used as the basis for rules by which faults are located. The three-bus system can correct faults automatically where there is a surplus of power available on any of the three buses. Techniques developed and used can be applied readily to other control systems requiring rapid intelligent decisions. Simulated modeling, used for theoretical studies, is implemented using a modified version of Kennedy Space Center's KATE (Knowledge-Based Automatic Test Equipment), FIES II windowing, and an ADEPT knowledge base.

Description: To support evolution of domain expertise, and its representation in an expert system knowledge base, a user-friendly rule base editor is mandatory. The Nickel Cadmium Battery Expert System (NICBES), a prototype of an expert system for the Hubble Space Telescope power storage management system, does not provide such an editor. In the following, a description of a Simple Interactive Rule Base Editor (SIRE) for NICBES is described. The SIRE provides a consistent internal representation of the NICBES knowledge base. It supports knowledge presentation and provides a user-friendly and code language independent medium for rule addition and modification. The SIRE is integrated with NICBES via an interface module. This module provides translation of the internal representation to Prolog-type rules (Horn clauses), latter rule assertion, and a simple mechanism for rule selection for its Prolog inference engine.

Description: Understanding about a dexterous robot hand's motion ranges is important to the precision grasping and precision manipulation. A planar robot hand is studied for object orientation, including ranges of motion, measures with respect to the palm, position reaching of a point in the grasped object, and rotation of the object about the reference point. The rotational dexterity index and dexterity chart are introduced and an analysis procedure is developed for calculating these quantities. A design procedure for determining the hand kinematic parameters based on a desired partial or complete dexterity chart is also developed. These procedures have been tested in detail for a planar robot hand with two 2- or 3-link fingers. The derived results are shown to be useful to performance evaluation, kinematic parameter design, and grasping motion planning for a planar robot hand.

Description: Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Description: A microprocessor-based controller has been developed that continuously monitors and adjusts the gripping force applied by a special two-finger gripper. This computerized force sensing gripper system enables the endeffector gripping action to be independently detected and corrected. The gripping force applied to a manipulated object is real-time monitored for problem situations, situations which can occur during both planned and errant robot arm manipulation. When unspecified force conditions occur at the gripper, the gripping force controller initiates specific reactions to cause dynamic corrections to the continuously variable gripping action. The force controller for this intelligent gripper has been interfaced to the controller of an industrial robot. The gripper and robot controllers communicate to accomplish the successful completion of normal gripper operations as well as unexpected hazardous situations. An example of an unexpected gripping condition would be the sudden deformation of the object being manipulated by the robot. The capabilities of the interfaced gripper-robot system to apply workstation safety measures (e.g., stop the robot) when these unexpected gripping effects occur have been assessed.

Description: The microgravity of the space environment has profound effects on humans and, consequently, on the design requirements for subsystems and components with which humans interact. There are changes in the anthropometry, vision, the perception of orientation, posture, and the ways in which we exert energy. The design requirements for proper human engineering must reflect each of the changes that results, and this is especially true in the exercise of control over remote and teleoperated systems where the operator is removed from any direct sense of control. The National Aeronautics and Space Administration has recently completed the first NASA-wide human factors standard for microgravity. The Man-Systems Integration Standard, NASA-STD-3000, contains considerable information on the appropriate design criteria for microgravity, and there is information that is useful in the design for teleoperated systems. There is not, however, a dedicated collection of data which pertains directly to the special cases of remote and robotic operations. The design considerations for human-system interaction in the control of remote systems in space are discussed, with brief details on the information to be found in the NASA-STD-3000, and arguments for a dedicated section within the Standard which deals with robotic, teleoperated and remote systems and the design requirements for effective human control of these systems in the space environment, and from the space environment.

Description: A major application of isoperformance is as a trade-off methodology of the three major drivers of system design; equipment, training variables, and user characteristics. The flexibility of isoperformance allows each of these three components to be nearly any rational variation. For example, aptitude may be military Armed Forces Qualification Testing (AFQT) categories, cutoff scores within a selection procedure, or simply dichotomizing high and low scorers (pass/fail). Equipment may be new versus old, 'smart' versus dumb, high versus low resolution, etc. Training may be short versus long or varieties of media types (lecture versus CAI/CBI versus self-paced workbooks). In its final computerized form isoperformance lets the user set an operational level of performance (e.g., a jet pilot in a simulated emergency must take prescribed corrective action and clear the plane in several seconds, pilot astronauts will check out all shuttle flight systems within 30 minutes, or Mission Specialists must handle sucdessfully a required number of job elements). At this point the computer program guides the user through any requested trade-offs of the three components while maintaining the specified operational level of performance through isoperformance curves. A demonstration of the computer program is currently available.

Description: Measures of pilot situation awareness (SA) are needed in order to know whether new concepts in display design help pilots keep track of rapidly changing tactical situations. In order to measure SA, a theory of situation assessment is needed. Such a theory is summarized, encompassing both a definition of SA and a model of situation assessment. SA is defined as the pilot's knowledge about a zone of interest at a given level of abstraction. Pilots develop this knowledge by sampling data from the environment and matching the sampled data to knowledge structures stored in long-term memory. Matched knowledge structures then provide the pilot's assessment of the situation and serve to guide his attention. A number of cognitive biases that result from the knowledge matching process are discussed, as are implications for partial report measures of situation awareness.

Description: The ultimate goal of research efforts directed at underload, boredom, or complacency in high-technology work environments is to detect conditions or states of the operator that can be demonstrated to lead to performance degradation, and then to intervene in the environment to restore acceptable system performance. Physiological measures may provide indices of changes in condition or state of the operator that may be of value in high-technology work environments. The focus of the present study was on the use of physiological measures in the assessment of operator condition or state in a task underload scenario. A fault acknowledgement task characterized by simple repetitive responses with minimal novelty, complexity, and uncertainty was employed to place subjects in a task underload situation. Physiological measures (electrocardiogram (ECG), electroencephalogram (EEG), and pupil diameter) were monitored during task performance over a one-hour test session for 12 subjects. Each of the physiological measures exhibited changes over the test session indicative of decrements in subject arousal level. While high correlations between physiological measures were found across subjects, individual differences between subjects support the use of profiling techniques to establish baselines unique to each subject.

Description: For many years, the emphasis has been placed on the performance of the aircraft, rather than on those who fly the aircraft. This is largely due to the relative safety of flying. Just in the last few years there have been several major accidents that have shown that flying is not quite as safe as it was thought to be. Sixty-five percent of these accidents are a result of pilot performance decrements, and so it is obvious that there is a need to reduce that figure. A study has been mandated to evaluate the performance of pilots. This includes workload, circadium rhythms, jet lag, and any other factors which might affect a pilot's performance in the cockpit. The purpose of this study is to find out when and why the decrement in a pilot's performance occur and how to remedy the situation.

Description: A brief overview is presented of the space station concept. Living conditions in space, space station design, and space logistics are briefly examined.

Description: The development of optimized photoconductor arrays suitable for far infrared space astronomical applications are described. Although the primary impetus is the production of a 16 by 16 element Ge:Ga demonstration array for SIRTF, the extension of this technology to Large Deployable Reflector (LDR) is considered. The optimization of Ge:Ga and Ge:Be photoconductor materials is discussed. In collaboration with Lawrence Berkeley Laboratory, measurements of FIR photoconductors with quantum efficiencies greater than 20 percent at 100 micrometers, and dark currents below 300 electrons/s are presented. Integrating J-FET amplifier technology is discussed. The current generation of integrating amplifiers has a demonstrated read noise of less than 20 electrons for an integration time of 100 s. The design is shown for a stackable 16 x n Ge:Ga array that utilizes a 16-channel monolithic version of the J-FET integrator. A part of the design is the use of a thin, thermally insulating substrate that allows the electronics to operate at the optimum temperature of 50 K while maintaining thermal and optical isolation from the detectors at 2 K. The power dissipation for the array is less than 16 mW. The array design may particularly be applicable to high resolution imaging spectrometers for LDR.

Description: Resonant tunneling through double-barrier heterostructures has attracted increasing interest recently, largely because of the fast charge transport it provides. In addition, the negative differential resistance regions that exist in the current-voltage (I-V) curve (peak-to-valley ratios of 3.5:1 at room temperature, and nearly 10:1 at 77 K, were measured) suggest that high-speed devices based on the character of the I-V curve should be possible. For example, the negative differential resistance region is capable of providing the gain necessary for high-frequency oscillations. In the laboratory attempts were made to increase the frequency and power of these oscillators and to demonstrate several different high-frequency devices.

Description: A head-mounted, wide-angle, stereoscopic display system controlled by operator position, voice and gesture is under development for use as a multipurpose interface environment. Initial applications of the system are in telerobotics, data-management and human factors research. System configuration and research directions are described.

Description: A command, control, and communications (C3) environment is described which will be applied to the evaluation of performance of aircrews, particularly in situations in which they are subjected to chemical defense protection drugs and antihistamines.

Description: The large number of integrated dependent measures available on a command, control, and communications (C3) generic workstation under development are described. In this system, embedded communications tasks will manipulate workload to assess the effects of performance-enhancing drugs (sleep aids and decongestants), work/rest cycles, biocybernetics, and decision support systems on performance. Task performance accuracy and latency will be event coded for correlation with other measures of voice stress and physiological functioning. Sessions will be videotaped to score non-verbal communications. Physiological recordings include spectral analysis of EEG, ECG, vagal tone, and EOG. Subjective measurements include SWAT, fatigue, POMS and specialized self-report scales. The system will be used primarily to evaluate the effects on performance of drugs, work/rest cycles, and biocybernetic concepts. Performance assessment algorithms will also be developed, including those used with small teams. This system provides a tool for integrating and synchronizing behavioral and psychophysiological measures in a complex decision-making environment.

Description: Research has been underway for several years to develop valid and reliable measures and predictors of workload as a function of operator state, task requirements, and system resources. Although the initial focus of this research was on aeronautics, the underlying principles and methodologies are equally applicable to space, and provide a set of tools that NASA and its contractors can use to evaluate design alternatives from the perspective of the astronauts. Objectives and approach of the research program are described, as well as the resources used in conducting research and the conceptual framework around which the program evolved. Next, standardized tasks are described, in addition to predictive models and assessment techniques and their application to the space program. Finally, some of the operational applications of these tasks and measures are reviewed.

Description: The results are presented of a study to identify specific criteria regarding space station extravehicular activity system (EVAS) hardware requirements. Key EVA design issues include maintainability, technology readiness, LSS volume vs. EVA time available, suit pressure/cabin pressure relationship and productivity effects, crew autonomy, integration of EVA as a program resource, and standardization of task interfaces. A variety of DOD EVA systems issues were taken into consideration. Recommendations include: (1) crew limitations, not hardware limitations; (2) capability to perform all of 15 generic missions; (3) 90 days on-orbit maintainability with 50 percent duty cycle as minimum; and (4) use by payload sponsors of JSC document 10615A plus a Generic Tool Kit and Specialized Tool Kit description. EVA baseline design requirements and criteria, including requirements of various subsystems, are outlined. Space station/EVA system interface requirements and EVA accommodations are discussed in the areas of atmosphere composition and pressure, communications, data management, logistics, safe haven, SS exterior and interior requirements, and SS airlock.

Description: The results of a random vibration test screening (RVSS) study of the determination of the upper and lower vibration limits on printed wiring assemblies (PWA) are summarized. The study results are intended to serve as a guide for engineers and designers who make decisions on PWA features that need to withstand the stresses of dynamic testing and screening. The maximum allowable PWA deflection, G levels, and PSD levels are compared to the expected or actual levels to determine if deleterious effects will occur.

Description: As the potential of civil and military helicopters has increased, more complex and demanding missions in increasingly hostile environments have been required. Users, designers, and manufacturers have an urgent need for information about human behavior and function to create systems that take advantage of human capabilities, without overloading them. Because there is a large gap between what is known about human behavior and the information needed to predict pilot workload and performance in the complex missions projected for pilots of advanced helicopters, Army and NASA scientists are actively engaged in Human Factors Research at Ames. The research ranges from laboratory experiments to computational modeling, simulation evaluation, and inflight testing. Information obtained in highly controlled but simpler environments generates predictions which can be tested in more realistic situations. These results are used, in turn, to refine theoretical models, provide the focus for subsequent research, and ensure operational relevance, while maintaining predictive advantages. The advantages and disadvantages of each type of research are described along with examples of experimental results.

Description: Helicopter flight is among the most demanding of all human-machine integrations. The inherent manual control complexities of rotorcraft are made even more challenging by the small margin for error created in certain operations, such as nap-of-the-Earth (NOE) flight, by the proximity of the terrain. Accident data recount numerous examples of unintended conflict between helicopters and terrain and attest to the perceptual and control difficulties associated with low altitude flight tasks. Ames Research Center, in cooperation with the U.S. Army Aeroflightdynamics Directorate, has initiated an ambitious research program aimed at increasing safety margins for both civilian and military rotorcraft operations. The program is broad, fundamental, and focused on the development of scientific understandings and technological countermeasures. Research being conducted in several areas is reviewed: workload assessment, prediction, and measure validation; development of advanced displays and effective pilot/automation interfaces; identification of visual cues necessary for low-level, low-visibility flight and modeling of visual flight-path control; and pilot training.

Description: Radiation spectra have been obtained in order to calculate the frequency bandwidth and polarization of three microwave noise sources. Results were obtained in the 1-10-mm wavelength region using a lamellar grating Fourier transform spectrometer and a helium-cooled bolometer detector. A secondary transmission region was found to have an input current as well as a polarization dependence, despite the directional output of the waveguide antenna.

Description: Data for the 9450 I3L bipolar microprocessor and the 80C86 CMOS/epi (vintage 1985) microprocessor are presented, showing single-event soft errors for the full MIL-SPEC temperature range of -55 to 125 C. These data show for the first time that the soft-error cross sections continue to decrease with decreasing temperature at subzero temperatures. The temperature dependence of the two parts, however, is very different.

Description: The goal of this research is to explore and prove out robust concepts for telerobotic support of space servicing, assembly, maintenance, and telescience tasks. This goal is being addressed through a program of coordinated work in artificial intelligence, robotics, and human factors. The general research objective is the fusion of robot sensing and manipulation, teleoperation, and human and machine cognitive skills into an effective architecture for supervised task automation. NASA is evaluating results of this research program in a ground laboratory telerobot testbed under development at JPL. The testbed development activity includes integrated technology demonstrations. The demonstrations will show telerobot capabilities to perform tasks of increasing complexity, and duration in increasingly unstructured environments. The first such demonstration is the ground-based grappling, dockling, and servicing of a satellite taskboard.

Description: AlGaAs/GaAs solar cells with an approximately 0.5-micron-thick Al(0.85)Ga(0.15)As window layer were irradiated using normal and isotropic incident protons having energies between 50 and 500 keV with fluence up to 1 x 10 to the 12th protons/sq cm. The irradiated cells were annealed at temperatures between 150 and 300 C in nitrogen ambient. The annealing results reveal that significant recovery in spectral response at longer wavelengths occurred. However, the short-wavelength spectral response showed negligible annealing, irrespective of the irradiation energy and annealing conditions. This indicates that the damage produced near the AlGaAs/GaAs interface and the space-charge region anneals differently than damage produced in the bulk. This is explained by using a model in which the as-grown dislocations interact with irradiation-induced point defects to produce thermally stable defects.

Description: The state-of-the-art helicopter and its pilot are examined using the tools of human-factors analysis. The significant role of human error in helicopter accidents is discussed; the history of human-factors research on helicopters is briefly traced; the typical flight tasks are described; and the noise, vibration, and temperature conditions typical of modern military helicopters are characterized. Also considered are helicopter controls, cockpit instruments and displays, and the impact of cockpit design on pilot workload. Particular attention is given to possible advanced-technology improvements, such as control stabilization and augmentation, FBW and fly-by-light systems, multifunction displays, night-vision goggles, pilot night-vision systems, night-vision displays with superimposed symbols, target acquisition and designation systems, and aural displays. Diagrams, drawings, and photographs are provided.

Description: Presented are lumped equivalent circuit models for several coplaar waveguide discontinuities such as an open circuit, a series gap, and a symmetric step, and their element values as a function of the discontinuity physical dimensions. The model element values are de-embedded from measured S parameters. The frequency dependence of the effective dielectric constant is measured and compared to computed values.

Description: The report provides approximations for estimating the capacitance and the ratio of electric field strength to potential for a certain class of electrode geometries. The geometry consists of an electrode near a grounded plane, with the electrode being a surface of revolution about the perpendicular to the plane. Some examples which show the accuracy of the capacitance estimate and the accuracy of the estimate of electric field over potential can be found in the appendix. When it is possible to estimate the potential of the electrode, knowing the ratio of electric field to potential will help to determine if an electrostatic discharge is likely to occur. Knowing the capacitance will help to determine the strength of the discharge (the energy released by it) if it does occur. A brief discussion of discharge mechanisms is given. The medium between the electrode and the grounded plane may be a neutral gas, a vacuum, or an unchanged homogeneous isotropic dielectric.

Description: Current design practices are described and future trends in spacecraft electronics which are likely to alter traditional approaches are discussed. A summary of radiation effects and radiation tolerance requirements typically levied on spacecraft designs is provided. Methods of dealing with radiation and testability issues are considered.