ALBERT

Description: Manned space flight can be viewed as an interaction of three general elements: the human crewmember, spacecraft systems, and the environment. While the human crewmember is a crucial element in the system, certain physiological, psychological, environ- mental and spacecraft systems factors can compromise human performance in space. These factors include atmospheric pressure, physiology, uncertainties associated with space radiation, the potential for exposure to toxic materials in the closed environment, and spacecraft habitability. Health protection in space, for current and future missions, relies on a philosophy of risk reduction, which in the space program is achieved in four ways-through health maintenance, health care, design criteria, an selection and training. Emphasis is place upon prevention, through selection criteria and careful screening. Spacecraft health care systems must be absolutely reliable, and they will be automated and computerized to the maximum extent possible, but still designed with the human crewmember's capabilities in mind. The autonomy and technological sophistication of future missions will require a greater emphasis on high-level interaction between the human operator and automated systems, with effective allocation of tasks between humans and machines. Performance in space will include complex tasks during extravehicular activity (EVA) and on planetary surfaces, and knowledge of crewmembers' capability and limitations during such operations will be critical to mission success. Psychological support will become increasingly important on space missions, as crews spend long periods in remote and potentially hazardous environments. The success of future missions will depend on both individual psychological health and group cohesion and productivity, particularly as crew profiles become more heterogeneous. Thus, further human factors are needed in the area of small-group dynamics and performance.

Description: The evolution of NASA's planning for planetary rovers (that is robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that was developed to achieve the desired capabilities is reviewed. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. Robotic vehicles and their associated control systems, developed in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission, are described. Goals suggested at the time for such a MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions are presented. Some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible are described.

Description: NASA's effort to provide a completely enclosed life support system that offers food and recycled air, water, and waste for long-duration space travel or settlements is explained.

Description: In identifying the rotordynamic coefficients of a high-Reynolds-number hydrostatic bearing, fluid-flow induced forces present a unique problem, in that they provide an unmeasureable and uncontrollable excitation to the bearing. An analysis method is developed that effectively eliminates the effects of fluid-flow induced excitation on the estimation of the bearing rotordynamic coefficients, by using power spectral densities. In addition to the theoretical development, the method is verified experimentally by single-frequency testing, and repeatability tests. Results obtained for a bearing are the twelve rotordynamic coefficients (stiffness, damping, and inertia coefficients) as functions of eccentricity ratio, speed, and supply pressure.

Description: The design of the EVA glove is examined, emphasizing the development of a more flexible metacarpophalangeal (MCP) joint for the EVA glove. The analysis of the EVA glove MCP joint is reviewed and the glove design process is recapitulated. Experimental tests of the glove are summarized.

Description: The CIRSSE two-finger gripper is designed to be used with a 6-axis wrist-mounted force-torque sensor as part of an experimental testbed for cooperative robotic manipulation. The gripper system consists of a dedicated controller and a pneumatic powered gripper that is servoed in position or grasping force. The gripper also has a between fingertip light beam sensor. The major features of this new design are: high grasping force to weight ratio (25::1) and compactness (14 cm base-fingertip, 0.8 kilograms); low cost dedicated slave controller; and simple host-controller communications protocol to minimize command interpretation delay. Shared software functions between the host and the controller processor permit the host to select servo mode, servo gain-parameter values, and calibration offsets. Hidden primitive self-test, calibration and servo confidence functions are included.

Description: A human-factors study is conducted of problems due to vibrations during the use of a helmet-mounted display (HMD) in tracking tasks whose major factors are target motion and head vibration. A method is proposed for improving aiming accuracy in such tracking tasks on the basis of (1) head-motion measurement and (2) the shifting of the reticle in the HMD in ways that inhibit much of the involuntary apparent motion of the reticle, relative to the target, and the nonvoluntary motion of the teleoperated device. The HMD inherently furnishes the visual feedback required by this scheme.

Description: Standard operating procedures are drafted and provided to flightcrews to dictate the manner in which tasks are carried out. Failure to conform to Standard Operating Procedures (SOP) is frequently listed as the cause of violations, incidents, and accidents. However, procedures are often designed piecemeal, rather than being based on a sound philosophy of operations and policies that follow from such a philosophy. A framework of philosophy, policies, and procedures is proposed.

Description: The concern of NASA's Exercise Countermeasures Project (ECP) is to ensure crew physical effectiveness for flight- or mission-related tasks, and encompasses postflight as well as preflight and inflight exercise components. Attention is given to the implementation of ECP via the Space Shuttle Orbiter's treadmill, rower, cycle ergometer, and lower body negative pressure apparatus.

Description: In 1985, NASA instituted a research program in telerobotics to develop and provide the technology for applications of telerobotics to the United States space program. The authors describe the goals, organizing framework, and content of that endeavor. They review the actual tasks which comprise the content of the program which has evolved significantly in terms of its content, goals, and approach. The lessons learned in that time comprise the organizing framework of the current program. This organizing framework is described.