ALBERT

Description: The low-g fluids management group with the Center for Space Construction is engaged in active research on the following topics: gauging; venting; controlling contamination; sloshing; transfer; acquisition; and two-phase flow. Our basic understanding of each of these topics at present is inadequate to design space structures optimally. A brief report is presented on each topic showing the present status, recent accomplishings by our group and our plans for future research. Reports are presented in graphic and outline form.

Description: Experimental and theoretical studies have been conducted to determine critical parameters at the onset of nonlinear counterflow in He II below the lambda point of He-4. Critical temperature differences have been measured in porous media for zero net mass flow and for Darcy permeabilities in the order of magnitude range from 10 to the -10th to 10 to the -8th sq cm. The normalized critical temperature gradients, which covered the liquid temperature range of 1.5 K to the lambda temperature, are found to vary with T proportional to the ratio of the superfluid density to the normal fluid density. This liquid temperature dependence appears to be consistent with duct data which are limited at low temperature by a Reynolds number criterion.

Description: An analysis is made based upon the concept that the velocity fluctuations, and therefore, the Reynolds stresses, driven by the instability of the original flow grow until a new stable state is approached. The Reynolds stresses incorporated into the Orr-Sommerfeld equation are coupled with the main flow such that all the imaginary parts of the complex eigenvalues vanish, i.e., the original instability is eliminated. Using this stabilization principle, it is possible to find the Reynolds stresses as well as the mean velocity for plane Poiseuille flow with the Reynolds number slightly higher than the critical.

Description: The behavior of the reverse flow ceiling jet against the ventilation flow from 0.58 to 0.87 m/s was investigated in a 1/3 scale model of a wide body aircraft interior. For all tests, strong reverse-flow ceiling jets of hot gases were detected well upstream of the fire. Both thicknesses of the reverse-flow ceiling jet and the smoke layer increased with the fire-crossflow parameter. The thickness of the smoke layer where the smoke flows along the main flow below the reverse-flow ceiling jet was almost twice that of the reverse-flow ceiling jet. Detailed spatial and time-varying temperatures of the gas in the test section were measured, and velocity profiles were also measured using a temperature compensated hot film.

Description: Certain theoretical studies of boundary-layer transition are described, based on high Reynolds numbers and with attention drawn to the various nonlinear interactions and scales present. The article concentrates in particular on theories for which the mean-flow profile is completely altered from its original state. Two- and three-dimensional flow theory and conjectures on turbulent-boundary-layer structures are included. Specific recent findings noted, and in qualitative agreement with experiments, are: nonlinear finite-time break-ups in unsteady interactive boundary layers; strong vortex/wave interactions; and prediction of turbulent boundary-layer displacement- and stress sublayer-thicknesses.

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: Nonequilibrium phenomena in hypersonic flows are examined on the basis of theoretical models and selected experimental data, in an introduction intended for second-year graduate students of aerospace engineering. Chapters are devoted to the physical nature of gas atoms and molecules, transitions of internal states, the formulation of the master equation of aerothermodynamics, the conservation equations, chemical reactions in CFD, the behavior of air flows in nonequilibrium, experimental aspects of nonequilibrium flow, a review of experimental results, and gas-solid interaction. Diagrams, graphs, and tables of numerical data are provided.

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: This paper presents the application of a class of multi-grid methods to the solution of the Navier-Stokes equations for two-dimensional laminar flow problems. The methods consists of combining the full approximation scheme-full multi-grid technique (FAS-FMG) with point-, line- or plane-relaxation routines for solving the Navier-Stokes equations in primitive variables. The performance of the multi-grid methods is compared to those of several single-grid methods. The results show that much faster convergence can be procured through the use of the multi-grid approach than through the various suggestions for improving single-grid methods. The importance of the choice of relaxation scheme for the multi-grid method is illustrated.

Description: Rapid distortion theory is applied to study distortion of homogeneous turbulence subject to two different axisymmetric strain modes: the axisymmetric contraction (AC, nozzle-type flow), and the axisymmetric expansion (AE, diffuser-type flow). The paper explores the differences in effects of the two axisymmetric strain modes on the anisotropy of correlations and structures of turbulence; examines the effect of dilatation on the distortion of turbulence; and provides a theoretical background for turbulence model development. It is found that velocity and vorticity fluctuations are enhanced more efficiently by contraction than by expansion; contraction produces much higher anisotropy in velocity and vorticity than expansion; root-mean-square pressure is slightly reduced during contraction, whereas it increases rapidly during expansion; and vortical structures of rodlike shape develop in a contraction flow, while disklike structures develop in an expansion flow. A simple model that reflects the dependence of turbulence evolution on structural parameters such as the Reynolds-stress anisotropy and total strain is proposed, and is shown to outperform all other models for all cases examined, regardless of the mean strain rate.

Description: The introduction of transverse velocity fluctuations into a separated shear layer on an airfoil at high angles of attack is presently demonstrated to be an effective separation-control technique. Airfoil aerodynamic characteristics, including poststall lift and drag as well as maximum lift coefficient and stall angle, all exhibited improvements controlled forcing at 20 deg angle of attack led to an increased spreading of the mean velocity profile, together with increased turbulence activity; separation moved from the leading edge to about 80 percent of chord.

Description: Numerical studies of turbulent flow in an axisymmetric 45-deg-expansion combustor and bifurcated diffuser are presented. The Navier-Stokes equations incorporating a k-epsilon model were solved in a nonorthogonal curvilinear coordinate system. A zonal-grid method, where the flow field was divided into several subsections, was developed. This approach permitted different computational schemes to be used in the various zones. In addition, grid generation was made a more simple task. Boundary overlap and interpolating techniques were used, and an adjustment of the flow variables was required to assure conservation of mass flux. Three finite-differencing methods (hybrid, quadratic upwind, and skew upwind) were used to represent the convection terms. Results were compared with existing experimental data. In general, good agreement between predicted and measured values was obtained.

Description: A numerical procedure in which the Navier-Stokes equations are discretized using tightly coupled discretizations of pressure derivatives and continuity equations is used here to extend the range of known terminal velocities of gaseous bubbles in liquids well beyond that in previous investigations. Computations performed for Reynolds numbers up to 2000 and Marangoni numbers up to 1000 show only a modest variation of the scaled bubble velocity between 0.16 and 0.5. The bubble velocity is influenced more by the Marangoni number than by the Reynolds number.

Description: A numerical analysis is performed on thermocapillary buoyancy convection induced by phase change in a liquid droplet. A finite-difference code is developed using an alternating-direction implicit (ADI) scheme. The intercoupling relation between thermocapillary force, buoyancy force, fluid property, heat transfer, and phase change, along with their effects on the induced flow patterns, are disclosed. The flow is classified into three types: thermocapillary, buoyancy, and combined convection. Among the three mechanisms, the combined convection simulates the experimental observations quite well, and the basic mechanism of the observed convection inside evaporating sessile drops is thus identified. It is disclosed that evaporation initiates unstable convection, while condensation always brings about a stable density distribution which eventually damps out all fluid disturbances. Another numerical model is presented to study the effect of boundary recession due to evaporation, and the 'peeling-off' effect (the removal of the surface layer of fluid by evaporation) is shown to be relevant.

Description: Two-dimensional solidification influenced by anisotropic heat conduction has been considered. The interfacial energy balance was derived to account for the heat transfer in one direction (x or y) depending on the temperature gradient in both the x and y directions. A parametric study was made to determine the effects of the Stefan number, aspect ratio, initial superheat, and thermal conductivity ratios on the solidification rate. Because of the imposed boundary conditions, the interface became skewed and sometimes was not a straight line between the interface position at the upper and lower adiabatic walls (spatially nonlinear along the height). This skewness depends on the thermal conductivity ratio k(yy)/k(yx). The nonlinearity of the interface is influenced by the solidification rate, aspect ratio, and k(yy/k(yx).

Description: A multiple-time-scale turbulence model of a single point closure and a simplified split-spectrum method is presented. In the model, the effect of the ratio of the production rate to the dissipation rate on eddy viscosity is modeled by use of the multiple-time-scales and a variable partitioning of the turbulent kinetic energy spectrum. The concept of a variable partitioning of the turbulent kinetic energy spectrum and the rest of the model details are based on the previously reported algebraic stress turbulence model. Example problems considered include: a fully developed channel flow, a plane jet exhausting into a moving stream, a wall jet flow, and a weakly coupled wake-boundary layer interaction flow. The computational results compared favorably with those obtained by using the algebraic stress turbulence model as well as experimental data. The present turbulence model, as well as the algebraic stress turbulence model, yielded significantly improved computational results for the complex turbulent boundary layer flows, such as the wall jet flow and the wake boundary layer interaction flow, compared with available computational results obtained by using the standard kappa-epsilon turbulence model.

Description: The emission from a gray radiating medium is analyzed for transient cooling in surroundings at a low temperature. The medium is rectangular with no variations in the direction normal to the cross section. The integral equation for the transient temperature distribution is solved numerically using a two-dimensional Gaussian integration subroutine. The emissive ability for a rectangle at uniform temperature is compared with that for transient cooling where the temperature distribution of the region has reached a fully developed shape, as shown by a separation of variables solution. The two solutions provide the upper and lower bounds for the emittance of a rectangle during transient cooling. The emittances for various aspect ratios are presented as a function of the mean length of the rectangle and are compared with results for a plane layer and a cylinder.

Description: Calculations for n-decane drops evaporating in a spherical cluster surrounded by unvitiated ambient air at atmospheric pressure were performed using two previously proposed cluster models. Both cluster models predict that turbulent transport effects are more important in the case of small clusters. This is due to the smaller volume to surface ratio and thus to the greater transport of hot unvitiated gas to the drops in order to promote evaporation. The results obtained are compared with those of two turbulent models for each one of the 'trapping factors' and similarity models.

Description: The effects of critical layer nonlinearity are considered on spatially growing oblique instability waves on nominally two-dimensional shear layers between parallel streams. The analysis shows that three-dimensional effects cause nonlinearity to occur at much smaller amplitudes than it does in two-dimensional flows. The nonlinear instability wave amplitude is determined by an integro-differential equation with cubic type nonlinearity. The numerical solutions to this equation are worked out and discussed in some detail. The numerical solutions always end in a singularity at a finite downstream distance.

Description: The effects of critical-layer nonlinearity on spatially growing oblique instability waves on compressible shear layers between two parallel streams are considered. The analysis shows that mean temperature nonuniformities cause nonlinearity to occur at much smaller amplitudes than it does when the flow is isothermal. The nonlinear instability wave growth rate effects are described by an integrodifferential equation which bears some resemblance to the Landau equation, in that it involves a cubic-type nonlinearity. The numerical solutions to this equation are worked out and discussed in some detail. Inviscid solutions always end in a singularity at a finite downstream distance, but viscosity can eliminate this singularity for certain parameter ranges.

Description: Flow characteristics in the vicinity of the flap of a single-slotted airfoil are presented and analyzed. The flow remained attached over the model surfaces, except in the vicinity of the flap trailing edge where a small region of boundary-layer separation extended over the aft 7 percent of flap chord. The airfoil configuration was tested at a Mach number of 0.09 and a chord Reynolds number of 1.8 x 10 to the 6th in the NASA Ames Research Center 7- by 10-Foot Wind Tunnel. The flow was complicated by the presence of a strong, initially inviscid, jet, emanating from the slot between airfoil and flap, and a gradual merging of the main airfoil wake and flap suction-side boundary layer.

Description: A simulation is performed of a passive scalar field convected by a rapidly fluctuating velocity field whose correlation time approaches zero. By using a code proposed in a previous study (Chasnov et al., 1988), the turbulence spectrum of the passive temperature field in the conductive subrange is determined. A theoretical model is proposed which explains the result obtained by representing the transfer of scalar variance by an eddy conductivity, whose correlation time is limited by the correlation time of the velocity field.

Description: Long's self-similar vortex is known to have two solutions for each supercritical value of the flow force. Each of those solutions is shown to have a double structure if the flow force is large. The inertial instabilities of one of those large-flow-force limit solutions are investigated, showing that they are related to the instabilities of the Bickley jet in one regime. However, the swirl in the vortex becomes important for long waves, very strongly modifying the sinuous and varicose, Bickley modes. The asymptotic results obtained agree well with the numerical solutions for the sinuous mode, but not for the varicose mode, the difficulty in the latter case being apparently due to mode jumping.

Description: Numerical techniques are developed to solve the Navier-Stokes equations for unsteady incompressible flow. The extension of the finite-difference Galerkin (FDG) method of Stephens et al. (1984) to the continuous-time case in two or three space dimensions is explained, and the numerical implementation of the method is discussed with particular attention to the staggered-MAC-grid primitive-variable discretization, the application of discrete mass balance to avoid problems inherent in FDG schemes, the direct interpretation of the FDG expansion variables as a discrete streamfunction, and a mass-balance approach to two-dimensional problems with throughflow or obstacles. Numerical results are presented graphically for the evolution of asymptotic steady flow in a driven cavity at Reynolds number 400, 1000, or 3200; good agreement with published experimental data is demonstrated, with accurate predictions of secondary-vortex formation from wall bubble recirculations at Reynolds number 1000.

Description: Flow-field measurements of unsteady turbulent flow downstream of a rotating spoked-wheel wake generator were performed in a short-duration light-piston tunnel, and the instantaneous-velocity data were phase averaged based on a signal synchronized with the bar-passing frequency. Mean axial velocities were found to agree well with those obtained from measurements behind a stationary cylinder and to be independent of both Reynolds and bar-passing Strouhal numbers. Reynolds stresses were found to be consistent with related cylinder-wake measurements, but were significantly higher than corresponding measurements obtained in large-scale research turbomachines. Phase-averaged triple velocity correlations were calculated from the digital velocity records, revealing the sign and the magnitude of skewness in the velocity probability density distributions for the two components.

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 bifurcation diagram corresponding to the Eckhaus stability curve has been constructed for the one-dimensional Swift-Hohenberg equation in a finite domain. Finite-amplitude solutions with particular spatial wavelength recover linear stability, as predicted by the Eckhaus curve, after a sequence of secondary bifurcations from the branch of solutions with this wavelength. No connectivity between the primary-solution branches is admissible if the stability predicted by this bifurcation diagram is to correspond to the prediction of the Eckhaus analysis. The Eckhaus curve does not exist if nonlinear couplings destroy this pattern. This is demonstrated by analysis of a coupled pair of Swift-Hohenberg equations.

Description: The effects of asymmetry in furnace temperature profile and pulling velocity on the crystal interface shape are demonstrated while neglecting the latent heat of solidification. It is seen that the furnace temperature profile may be varied in order to influence the shape of the melt-crystal interface. An exact thermal analysis is then performed on the Bridgman technique by including the latent heat of solidification as a source term. The exact temperature field required for yielding a flat melt-crystal interface is obtained. The earlier observation regarding the influence of furnace temperature profile on the interface shape is confirmed and a criterion for achieving a flat interface is obtained. Various furnace temperature profiles are selected and their corresponding melt-crystal interface results are presented.

Description: The transonic aspect of helicopter flow analysis is addressed. The equations of motion and their implementations are examined, and the computation of real rotor flows is considered. Nonlifting rotor flows, high-speed hover, high advance ratio lifting rotor flows, and strong blade/vortex interaction computations are discussed.

Description: Some of the basic finite-difference schemes that can be used to solve the nonlinear equations that describe unsteady inviscid and viscous transonic flow are reviewed. Numerical schemes for solving the unsteady Euler and Navier-Stokes, boundary-layer, and nonlinear potential equations are described. Emphasis is given to the elementary ideas used in constructing various numerical procedures, not specific details of any one procedure.

Description: Transient cooling by radiation is analyzed for a cylindrical region filled with axially flowing streams of drops that are becoming solidified. This is of interest for the dissipation of waste heat from orbiting power system in space. The drops absorb, emit, and scatter radiation, and the surroundings are at a lower uniform temperature. The radiative properties are assumed gray, and the scattering is isotropic. The radiating region is a two-phase mixture that remains at the melting temperature of the drops. Its temperature uniformity maintains a high emissive power as energy is lost. This is an advantage over a sensible heat radiator in which the temperature decreases, thereby reducing the emissive power. The results provide the axial length that remains two-phase and the fraction of energy dissipated within this length in which the emissive power has not decreased because of sensible cooling. It is also shown how the radial distribution of the axial velocity of the drops can be modified to increase this energy fraction.

Description: A number of successful applications of a spectral collocation method extended by a multi-domain patching technique are shown. The multi-domain technique can be used to improve resolution for problems with widely disparate scales, and to reduce the ill-conditioning of the spectral operators for problems in which a large number of points are required for distributed resolution. A new nonreflecting outflow boundary treatment for unsteady transition-to-turbulence simulations is also presented, which relies on the multi-domain technique. The role of multi-domain in improving the efficiency of such calculations is discussed.

Description: Spectral element methods are high-order weighted residual techniques based on spectral expansions of variables and geometry for the Navier-Stokes (NS) and transport equations. Here, practical aspects of these methods and their efficient implementation are examined, and several examples of flows in truly complex geometries are presented. The spectral element discretization for NS equations is introduced, and the convergence of the method is addressed. An efficient data management scheme is discussed in the context of parallel processing computations. The method is validated by comparing the spectral element solutions with the exact eigensolutions for the Orr-Sommerfeld equations in two and three dimensions. Computer-aided flow visualizations are presented for an impulsive flow past a sharp edge wedge. Three-dimensional states of channel flow disrupted by an array of cylindrical eddy promoters are studied, and the results of a direct simulation of the turbulent flow in a plane channel are presented.

Description: A description of the Axial Flow Turbine Research Facility (AFTRF) being built at the Turbomachinery Laboratory of the Pennsylvania State University is presented. The purpose of the research to be performed in this facility is to obtain a better understanding of the rotor/stator interaction, three dimensional viscous flow field in nozzle and rotor blade passages, spanwise mixing and losses in these blade rows, transport of wake through rotor passage, and unsteady aerodynamics and heat transfer of rotor blade row. The experimental results will directly feed and support the analytical and the computational tool development. This large scale low speed facility is heavily instrumented with pressure and temperature probes and has provision for flow visualization and laser Doppler anemometer measurement. The facility design permits extensive use of the high frequency response instrumentation on the stationary vanes and more importantly on the rotating blades. Furthermore it facilitates detailed nozzle wake, rotor wake, and boundary layer surveys. The large size of the rig also has the advantage of operating at Reynolds numbers representative of the engine environment.

Description: A quasi-three-dimensional analysis has been developed for unsteady rotor-stator interaction in turbomachinery. The analysis solves the unsteady Euler or thin-layer Navier-Stokes equations in a body-fitted coordinate system. It accounts for the effects of rotation, radius change, and stress-surface thickness. The Baldwin-Lomax eddy-viscosity model is used for turbulent flows. The equations are integrated in time using an explicit four-stage Runge-Kutta scheme with a constant time step. Implicit residual smoothing is used to increase the stability limit of the time-accurate computations. The scheme is described, and stability and accuracy analyses are given.

Description: A 3-D model was developed for simulating multistage turbomachinery flows using supercomputers. This average passage flow model described the time averaged flow field within a typical passage of a bladed wheel within a multistage configuration. To date, a number of inviscid simulations were executed to assess the resolution capabilities of the model. Recently, the viscous terms associated with the average passage model were incorporated into the inviscid computer code along with an algebraic turbulence model. A simulation of a stage-and-one-half, low speed turbine was executed. The results of this simulation, including a comparison with experimental data, is discussed.

Description: The flight testing conducted over the past 10 years in the NASA laminar-flow control (LFC) will be reviewed. The LFC program was directed towards the most challenging technology application, the high supersonic speed transport. To place these recent experiences in perspective, earlier important flight tests will first be reviewed to recall the lessons learned at that time.

Description: Although most of the laminar flow airfoils recently developed at the NASA Langley Research Center were intended for general aviation applications, low-drag airfoils were designed for transonic speeds and wind tunnel performance tested. The objective was to extend the technology of laminar flow to higher Mach and Reynolds numbers and to swept leading edge wings representative of transport aircraft to achieve lower drag and significantly improved operation costs. This research involves stabilizing the laminar boundary layer through geometric shaping (Natural Laminar Flow, NLF) and active control involving the removal of a portion of the laminar boundary layer (Laminar-Flow Control, LFC), either through discrete slots or perforated surface. Results show that extensive regions of laminar flow with large reductions in skin friction drag can be maintained through the application of passive NLF boundary-layer control technologies to unswept transonic wings. At even greater extent of laminar flow and reduction in the total drag level can be obtained on a swept supercritical airfoil with active boundary layer-control.

Description: Aerodynamic forces and moments for a slender wing-body configuration are summarized from an investigation in the Langley National Transonic Facility (NTF). The results include both longitudinal and lateral-directional aerodynamic properties as well as slideslip derivatives. Results were selected to emphasize Reynolds number effects at a transonic speed although some lower speed results are also presented for context. The data indicate nominal Reynolds number effects on the longitudinal aerodynamic coefficients and more pronounced effects for the lateral-directional aerodynamic coefficients. The Reynolds number sensitivities for the lateral-directional coefficients were limited to high angles of attack.

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: 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.