NASA Technical Reports Server (NTRS) 19940029513: Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), volume 1

505 Pages·25.4 MB·English

by  NASA Technical Reports Server (NTRS)

NASA Conference Publication 3240
_ Space Technology Interdependency Group
Seventh Annual
Workshop on
Space Operations
Applications
and Research
(SOAR '93)
Volume I
$ 0 A R 9 3
Proceedings of a workshop held in
Houston, Texas
August 3-5, 1993
N94-34019
(NASA-CP-3240-VoI-I) SEVENTH
--THRU--
ANNUAL WORKSHOP ON SPACE OPERATIONS
N94-34062
APPLICATIONS AND RESEARCH (SOAR
Unclas
1993), VOLUME i (NASA. Johnson
Space Center) 477 p
HI/99 0000580
Il
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NASA Conference Publication 3240
Seventh Annual
Workshop on
Space Operations
Applications
and Research
(SOAR '93)
Volume I
Kumar Krishen, Editor
NASA Lyndon B. Johnson Space Center
Houston, Texas
Proceedings of a workshop sponsored by the
National Aeronautics and Space Administration
Washington, D.C., and the U.S. Air Force, Washington, D.C.,
and held in
Houston, Texas
August 3-5, 1993
National Aeronauticsand
Space Administration

CONTENTS
INTRODUCTION
WELCOME / OPENING ADDRESSES
PLENARY SESSION HIGHLIGHTS
PANEL DISCUSSION HIGHLIGHTS
KEYNOTE ADDRESSES
SECTION I: ROBOTICS AND TELEPRESENCE
Session Rh NAVIGATION, MACHINE PERCEPTION, AND EXPLORATION
Session Chair:. Dr. Brian Wilcox
Microrover Research at JPL ...................................................
Design of the MESUR/Pathfinder Microrover ...................................
Air Force Construction Automation/Robotics ...................................
Lunar Exploration Rover Program Developments ...............................
Session R2: ROBOTICS AND TELEPRESENCE RESEARCH CHALLENGES:
PANEL PRESENTATIONS
Session Chair: Capt. Paul Whalen
Robotics and Telepresence (R&T) technology Challenges
Panelists:
Dr. Chuck Weisbin, NASA/JPL (In-Space Robotics Challenges)
Mr. Chuck Shoemaker, U.S. Army (Major Technology Challenges for
DOD UGVprogram)
Dr. Harold Hawkins, U.S. Navy
Maj. Michael Leahy, Jr., USAF (Depot Telerobotics: The Challenges)
Mr. Joe Herndon, US. Dept. of Energy (Robotics and Telepresence
Research Challenges)
Mr. Charlie Price, NASA/JSC (Space Robotics and Telepresence
Research Challenges)
Robotics &Telepresence Research Challenges: Panel Presentation ............... 13
Major Technology Challenges for DoD UGV program 1993-2000 .................. 16
.°o
111
P'Rte_DINel lieGE Bt.ANK NOT FILIMF..L_
Depot Telerobotics: The Challenges ............................................ 22
Robotics and Telepresence Research Challenges - A Department
24
of Energy Perspective .....................................................
Space Robotics and Telepresence Research Challenges ........................... 32
Session R3: ROBOTICS AND TELEPRESENCE RESEARCH CHALLENGES:
PANEL DISCUSSION
Session Chair:. CapL Paul Whalen
Panel Discussion on Robotics and Telepresence (R&T)
39
Technology Challenges .....................................................
Session R4: REMOTE INTERACTION WITH SYNTHETIC ENVIRONMENTS
Session Chair:. Dr. Harold Hawkins
Shared Virtual Environments for Aerospace Training ........................... 49
Surgery Applications of Virtual Reality ........................................ 50
A Study of Navigation in Virtual Space ........................................ 51
RoboLab and Virtual Environments ........................................... 61
Session R5: REMOTE INTERACTION WITH PHYSICAL SYSTEMS
Session Chair:. Mr. Joe Herndon
Development and Demonstration ofa Telerobotic Excavation System ............. 69
A Teleoperated System for Remote Site Characterization ........................ 75
Vehicle Development of Lunar/Mars Exploration ................................ 85
Controlling Telerobots with Video Data and Compensating for Time-Delayed
86
Video Using Omniview ..................................................
TM
Session R6: MANIPULATORS AND END EFFECTORS
Session Chair:. Mr. Charlie Price
DexterousEnd EffectorFlightDemonstration .................................. 95
103
UnderseaApplicationsofDexterousRobotics ...................................
RoboticTechnologiesoftheFlightTeleroboticServicer(FTS)Including
112
FaultTolerance ..........................................................
121
EVA-SCRAM Operations .....................................................
iv
Hardware Interface for Isolation ofVibrations in Flexible Manipulators--
Development and Applications ............................................. 130
Session R7: ROBOTIC OPERATIONS: SPACE TERRESTRIAL
Session Chair:. Mr. Charles Shoemaker
Ground Vehicle Control at NIST: from Teleoperation to Autonomy ............... 137
Intelligent Vehicle Control: Opportunities for Terrestrial-
Space System Integration ................................................. 143
The Servicing Aid Tool: A Teleoperated Robotics System for
Space Applications ....................................................... 144
Robotic Vehicle Mobility and Task Performance - A Flexible Control Modality
for Manned Systems ...................................................... 156
SECTION II: AUTOMATION AND INTELLIGENT SYSTEMS
Session Ah ARTIFICIAL INTELLIGENCE I
Session Chair:. Dr. Peter Friedland
Artificial Intelligence at AFOSR .............................................. 157
The Stanford How Things Work Project ........................................ 167
Acting to Gain Information: Real-time Reasoning Meets
Real-time Perception ..................................................... 177
From Conditional Oughts to Qualitative Decision Theory ........................ 178
Finding Accurate Frontiers: A Knowledge-Intensive Approach
to Relational Learning .................................................... 187
Reinforcement Learning in Scheduling ......................................... 194
Constraint-Based Integration ofPlanning and Scheduling for Space-Based
Observatory Management ................................................. 200
Session A2: ARTIFICIAL INTELLIGENCE lI
Session Chair:. Dr. Abe Waksman
Learning procedures from interactive natural language instructions .............. 207
Fuzzy Logic, Neural Networks, and Soft Computing ............................. 217
HybridKnowledge Systems ........._.........................................218
Two Frameworks forIntegratingKnowledge inInduction ........................ 226
Discoveringoperatingmodes intelemetrydatafrom theShuttleReaction
ControlSystem ..........................................................2.34
Self-CalibratinMgodelsforDynamic MonitoringandDiagnosis .................. 245
Session A3: ARTIFICIAL INTELLIGENCE III
Session Chair:. Dr. Peter Friedland
Filtering as aReasoning-Control Strategy:
An Experimental Assessment ............................................. 253
Translation Between Representation Languages ................................ 261
A Machine-Learning Apprentice for the Completion of Repetitive Forms .......... 268
Automated Knowledge-Base Refinement ....................................... 276
Improving the Explanation Capabilities of Advisory Systems ..................... 284
Recursive Heuristic Classification ............................................. 301
Session A4: ARTIFICIAL INTELLIGENCE IV
Session Chair:. Dr. Abe Waksman
AgentOrientedProgramming ................................................3.03
PIintheSky: The AstronautScienceAdvisoronSLS-2 .......................... 304
EngineeringDesignKnowledge RecyclinginNear-Real-Time .................... 313
A Toolboxand aRecordforScientifiMcodelDevelopment ........................ 321
SECTION III: HUMAN FACTORS
Session HI: GROUND OPERATIONS TEAMS
Session Chair: Dr. Kris_ Bruno
HFE Safety Reviews of Advanced Nuclear Power Plant Control Rooms ............ 329
Using Task Analysis to Understand the Data System Operations Team ............ 337
The Virtual Mission Operations Center ........................................ 345
vi
MissionOperations and Command Assurance: Flight Operations
Quality Improvements .................................................... 356
Session H2: ENHANCED ENVIRONMENTS
Session Chair:. Maj. Gerald Gleason
Call sign intelligibility improvement using a spatial auditory display ............. 363
Laboratory and In-Flight Experiments to Evaluate 3-D Audio
Display Technology ....................................................... 371
Fusion Interfaces for Tactile Environments: An Application of Virtual
Reality Technology ....................................................... 378
Virtual Reality as a Human Factors Design Analysis Tool: Macro-Ergonomic
Application Validation and Assessment of the Space Station Freedom
Payload Control Area ..................................................... 388
A Rapid Algorithm for Realistic Human Reaching and Its Use in a Virtual
Reality System ........................................................... 389
Session H3:
PSYCHOPHYSIOLOGY, PERFORMANCE, AND
TRAINING TOOLS
Session Chair: Dr. James Whitely
Autogenic-Feedback Training Improves Pilot Performance During
Emergency Flying Conditions
.......... •..... ..... ....... ....... .... ...... 395
Implementing Bright Light Treatment for MSFC Payload
Operations Shiftworkers
........ * ...... °° ......... *'° .... ° ..... ".° .... o... 404
Flight Controller Alertness and Performance During MOD
Shiftwork Operations ..................................................... 405
Automating the Training Development Process for Mission Flight Operations ..... 417
Session H4: MODELING IN SUPPORT OF OPERATIONS
AND ANTHROPOMETRY
Session Chair:. Ms. Barbara Woolford
Application of Statistical Process Control and Process Capability Analysis
Procedures in Orbiter Processing Activities at the
Kennedy Space Center .................................................... 427
Task Network Models in the Prediction of Workload Imposed byExtravehicular
Activities During the Hubble Space Telescope Servicing Mission .............. 432
A Human Factors Evaluation Using Tools for Automated
Knowledge Engineering .................................................. 437
vii
An OverviewofSpaceShuttleAnthropometry andBiomechanicsResearch
442
withEmphasis onSTS/Mir Recumbent SeatSystem Design ..................
447
AnthropometricAccommodation inUSAF Cockpits .............................
Session H5: BEING THERE: PROTOTYPE AND SIMULATION
FOR DESIGN
Session Chair: Dr. Jane Malin
End EffectorMonitoringSystem: An IllustrateCdaseof
461
OperationalPrototyping ..................................................
468
The PLAID GraphicsAnalysisImpacton theSpaceProgram .....................
Human FactorsInvolvementinBringingthePower ofAI toa
475
HeterogeneousUserPopulation............................................
A ComparisonofPaperand Computer ProceduresinaShuttle
483
FlightEnvironment ......................................................
SECTION IV: LIFE SUPPORT
Session Lh SPACE PHYSIOLOGY
Session Chair:. Ms. Susan Fortney
493
Gravity,The ThirdDimension ofLifeSupportinSpace ..........................
The U.S.Navy/Canadian DCIEM ResearchInitiativoenPressure
494
BreathingPhysiology.....................................................
ResponsetoGraded Lower Body NegativePressure(LBNP)
495
AfterSpaceFlight ........................................................
Dual-CycleErgometry asan ExerciseModalityDuringPrebreathe
496
with100% Oxygen ........................................................
ExercisewithPrebreatheAppears toIncreaseProtectionfrom
497
DecompressionSickness ..................................................
OrthostaticResponsestoDietarySodium RestrictioDnuringHeat Acclimation .... 501
Session L2: MEDICAL OPERATIONS
Session Chair:. Lt. Col. Roger Bisson
509
Telemedicine, Virtual Reality, and Surgery .....................................
522
Total Hydrocarbon Analysis by Ion Mobility Spectrometry .......................
viii