In our second year of work, we have made significant progress in Aims 1 and 2 and are preparing for Aim 3. We have analyzed a set of candidate Altair landing trajectories using a physiologically-based model of human spatial orientation and concluded that there is a likely risk of pilot perceptions differing from actual vehicle state. Since the first year, we have analyzed the candidate trajectories by incorporating the visual out-the-window-view portion of the physiologically-based model. Despite including visual cues, there is still a likely risk of pilot perceptions of orientation differing from that of the actual vehicle. Beyond the automatic candidate trajectories, landing point redesignation and manual control maneuvers have been analyzed. These vehicle maneuvers, which occur just prior to landing and while the pilot is actively in control, were also seen to likely create misperceptions in orientation. Within the model, we studied the effects of dust blowback, which was seen to have an impact if it occurs at higher altitudes or if vehicle maneuvers are made late in the landing. An experiment in conjunction with Dr. Bilimoria's work on handling qualities at NASA Ames Research Center was conducted. The study used the large motion base simulator, the Vertical Motion Simulator (VMS) to study human perceptions of orientation during lunar landing-like vehicle motions. This experiment studied both perceptions of vehicle roll and pitch angle as well as vehicle horizontal velocity. The study included test cases of vestibular only (blindfolded), visual out the window of a simulated lunar landscape, and visual on the display instruments. In Aim 2, we have developed an experimental testbed for lunar landing final approach and terminal descent in the Draper fixed-base simulator. This testbed simulation is being used to test novel display prototypes including an energy contour display, which provides the pilot information on which areas on the lunar surface are achievable given the remaining amount of fuel. In addition to the novel displays, a complete primary flight display (PFD) has been developed for simulation purposes. An experiment using these displays to land on the lunar surface is being carried out in the Draper simulator. Flight and landing performance, situation awareness, and pilot workload are being evaluated. In preparation for Aim 3, the Draper and MIT group has provided the NASA Johnson Space Center portion of the team with prototype displays for use in an experiment in the JSC Tilt-Translation Sled (TTS). Regarding Aim 4 experiments, which are not scheduled until Years 3-4, the dust simulation in the US Army 6-DOF helicopter simulation has been modified to account for the properties of lunar dust blowback.

For the third year, we may continue our work in Aim 1 by performing a follow-on experiment in the Ames VMS or other motion-based simulator to further confirm and validate the physiologically-based model and the misperceptions seen during landing trajectories. In Aim 2, we will complete the experiment on the novel display prototype. Also we will refine this display prototype and continue development on others. The focus of Year 3 will be on the manual control experiment as described in the proposal to take place at NASA Johnson Space Center in the TTS. Further efforts will be made in preparation for the Year 4 work in the Army 6-DOF motion simulator. Other non-space examples of context-specific dual adaptation will be examined as well.

Progress for Aim 2: An experimental testbed for piloted lunar landing experiments has been developed in Draper's fixed base simulator. The simulator allows for different displays, control modes, and vehicle dynamics to be tested using human pilots interacting with the simulator through joystick hand controllers. The prototype control modes and primary flight displays that were implemented in MATLAB/Simulink for initial evaluation have been expanded upon and implemented in the Draper simulator. In addition to primary flight displays, novel display concepts have been developed. In particular a fuel-contour display, which provides the pilot information on achievable landing areas given the current fuel level, has been developed and implemented in the simulator for experimentation. Human subject experiments are just beginning focusing on pilot performance, situational awareness, and workload.

Progress for Aim 3: The protocol for the Aim 3 experiment at Johnson Space Center (JSC) using the Tilt-Translation Sled (TTS) has been reviewed and approved by the JSC-IRB. We have worked towards integrating the display prototypes developed at Draper into the experimental protocol. The TTS has been modified to suit the Aim 3 experiment described in the proposal by adding a visual display fixed to the subject's chair.

Progress for Aim 4: The US Army Aeromedical Research Lab has led an effort to augment the dust blowback simulation currently in the 6-DOF helicopter simulator. The dust blowback characteristics have been modified from those that occur during helicopter landing to those that are expected during lunar landings with regolith blowback. Dr. Estrada has also provided subject matter expertise on aeromedical/physiological issues, hover flight techniques, cockpit displays, and situational awareness.

Aviation, Space, and Environmental Medicine. 2010 Mar;81(3):327. , Mar-2010

2010 NASA Human Research Program Investigators' Workshop, Abstract Book, February 2010. , Feb-2010

60th International Astronautical Congress, Abstract Book, October 2009. , Oct-2009

IEEE AC paper, 2010. http://dx.doi.org/10.1109/AERO.2010.5447026 , Mar-2010

In our first year of work, we have made significant progress in Aims 1 and 2. We have analyzed a set of candidate Altair landing trajectories using a physiologically-based model of human spatial orientation and concluded that there is a likely risk of pilot perceptions differing from actual vehicle state. The analysis does not yet account for how visual information from cockpit displays (e.g., an attitude indicator) or outside views (e.g., the horizon) contribute or counteract this misperception. We have also extensively reviewed the reports from the Apollo landings for descriptions of situations where environmental conditions contributed to a loss of spatial awareness and geographical disorientation. We have also made connections with a group at the NASA-Ames Research Center who are conducting a study of the handling qualities of the lunar lander with the goal of sharing relevant research results. In Aim 2, we have completed a review of the relevant literature on helicopter and vertical take-off/landing (VTOL) control modes and primary flight displays. This included a visit to the Sikorsky Aircraft Co in CT to discuss their work on the DARPA Sandblaster project, which is developing displays for helicopter landing in brownout/whiteout conditions. Following this review, we have begun developing the first set of prototype cockpit displays and controls for the Draper lab simulator. These displays are focused on the final hover and descent tasks, providing information on lander attitude, fuel usage and geographical awareness. The first displays have also been tested in a simple MATLAB/Simulink environment and will soon be ready to integrate into the full simulation. The team visited the NASA Johnson Space Center to review Dr. Wood's Tilt-Translation Sled (TTS) and discuss the integration of the Draper hardware and software into the TTS. The hardware and software interfaces have been determined and we are now in the process of finalizing the equipment to achieve some commonality between Draper and JSC simulations. The Aim 3 experiment protocol will be ready for submission to the JSC Institutional Review Board by the end of May. The groundwork for the Aim 4 experiments, which are not scheduled until Years 3-4, is being started as the US Army will be modifying their 6-DOF helicopter simulation to allow changes in the dust simulation. This will enable us to alter dust properties to match those of lunar regolith.

For the second year, we will continue our work in Aim 1 examining the effects of lighting and dust on spatial orientation and manual control during landing. For Aim 2, we will finish the development of a set of prototype cockpit displays for the Draper simulator. Experiments using these displays to land on the lunar surface will be carried out in the Draper simulator. Flight and landing performance, situation awareness and pilot workload will be evaluated. We will update the landing trajectory analysis and display experiments as more information about the flight dynamics of the actual Altair vehicle are released. In the summer of 2009, after JSC-IRB approval, we will complete the installation of the Draper hardware and software into the JSC Tilt-Translation Sled. Once complete, we will begin a pilot experiment to verify that tilt-translation illusions can be generated with the system. The main experiment examining the effect of sensory discord on landing performance will be carried out as described in the proposal. We anticipate that work on the US Army Aerospace Research Lab simulator will begin and be completed in Year 2.

We have extracted relevant parameters from candidate trajectories within the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project tradespace. These parameters were used as inputs to the Observer Model, which is a physiologically based model of spatial orientation to estimate perceived orientation of the astronaut within the lunar landing vehicle from the initiation of the braking burn to descent from lunar orbit all the way through touchdown on the surface of the moon. The Apollo landings as well as target landing points for future lunar missions have been extensively reviewed for instances and environmental conditions that may lead to issues surrounding terrain awareness and geographic disorientation. Dr. Oman visited the NASA-Ames VMS in January to discuss the handling qualities project led by Dr. Karl Bilimoria. The discussions and simulator session indicate that augmentation will be needed for the lander.

Progress for Aim 2:

The three graduate student RAs have been badged and given offices at the Draper Labs. Relevant literature on helicopter and vertical take-off and land (VTOL) control modes as well was primary flight and situation awareness displays were reviewed. This included a visit to Sikorsky Aircraft in Stratford, CT to discuss the displays developed for the DARPA Sandblaster Project. This review, combined with recommendations in appropriate MIL-STD and SAE ARP documents were used to generate designs for lunar lander control modes and to define the information requirements for flight displays.

Prototype control modes and primary flight displays have been implemented in MATLAB/Simulink for initial evaluation. These control modes receive inputs from a joystick connected to the computer and the resulting flight dynamics drive elements of the flight displays. Representative dynamics of the Altair lander were used for analysis based on the LDAC-1 vehicle parameters, which are implemented in the Draper cockpit simulator and can be flown manually.

Progress for Aim 3:

Dr. Wood hosted a team visit at JSC in February to view the TTS facilities. Two manual control tasks are being integrated and the real-time LabView software interface has been modified to used shared variables to enable the Draper landing displays and manual control task to be performed on the sled. The protocol for the Aim 3 experiments is being prepared and will be submitted to the JSC-IRB by the end of May 2009.

Progress for Aim 4:

Dr. Estrada was able to secure a solicitation from the US Army to make modifications to their helicopter simulation which will enable us to manipulate the dust characteristics for the Aim 4 experiments, which will occur in Years 3-4. The costs of the change will be assumed entirely by the US Army Helicopter Project Office. Dr. Estrada has also provided subject matter expertise on aeromedical/physiological issues, hover flight techniques, cockpit displays, and situational awareness.

Aviat Space Env Med. 2009 Mar;80(3):230. , Mar-2009

60th International Astronautical Congress, Abstract Book, October 2009. , Oct-2009

Specific Aims

1. Examine the nature of anticipated sensorimotor difficulties (e.g., spatial disorientation, limits on terrain perception) as they affect the transition from automatic to manual control.

2. Develop and evaluate advanced display countermeasures for enhancing situation and terrain awareness and for overcoming performance limitations caused by reduced visibility associated with lunar lighting, terrain reflectivity and the absence of atmosphere utilizing Draper Laboratory's fixed-base lunar lander cockpit simulator for full human-in-the-loop evaluation.

3. Evaluate the effectiveness of the cockpit displays during human-in-the-loop manual control in the NASA Johnson Space Center Tilt-Translation Sled during "critical" and "hover" tasks testing the tilt-translation and tilt-gain illusions of altered acceleration sensitivity as it applies to lunar gravity following a period of weightlessness.

4. Perform a series of evaluations of the displays using the U.S. Army Aeromedical Research Laboratory's six-degree-of-freedom helicopter simulator as a lunar landing analog for replicating lunar lighting and the various parameters associated with dust "brownout" conditions.