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Comparison of Display Modality and Human-in-the-Loop Presence for On-Orbit Inspection of Spacecraft

Weiss, Hannah and Liu, Andrew and Byon, Amos and Blossom, Jonathan and Stirling, Leia (2021) Comparison of Display Modality and Human-in-the-Loop Presence for On-Orbit Inspection of Spacecraft. Human Factors: The Journal of the Human Factors and Ergonomics Society . ISSN 0018-7208. doi:10.1177/00187208211042782. (In Press)

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Objective: To investigate the impact of interface display modalities and human-in-the-loop presence on the awareness, workload, performance, and user strategies of humans interacting with teleoperated robotic systems while conducting inspection tasks onboard spacecraft. Background: Due to recent advancements in robotic technology, free-flying teleoperated robot inspectors are a viable alternative to extravehicular activity inspection operations. Teleoperation depends on the user’s situation awareness; consequently, a key to successful operations is practical bi-directional communication between human and robot agents. Method: Participants (n = 19) performed telerobotic inspection of a virtual spacecraft during two degrees of temporal communication, a Synchronous Inspection task and an Asynchronous Inspection task. Participants executed the two tasks while using three distinct visual displays (2D, 3D, AR) and accompanying control systems. Results: Anomaly detection performance was better during Synchronous Inspection than the Asynchronous Inspection of previously captured imagery. Users’ detection accuracy reduced when given interactive exocentric 3D viewpoints to accompany the egocentric robot view. The results provide evidence that 3D projections, either demonstrated on a 2D interface or augmented reality hologram, do not affect the mean clearance violation time (local guidance performance), even though the subjects perceived a benefit. Conclusion: In the current implementation, the addition of augmented reality to a classical egocentric robot view for exterior inspection of spacecraft is unnecessary, as its margin of performance enhancement is limited in comparison. Application: Results are presented to inform future human–robot interfaces to support crew autonomy for deep space missions.

Item Type:Article
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URLURL TypeDescription
Weiss, Hannah0000-0002-2504-2763
Stirling, Leia0000-0002-0119-1617
Additional Information:The author(s) of this article are U.S. government employees and created the article within the scope of their employment. As a work of the U.S. federal government, the content of the article is in the public domain. First Published September 24, 2021. This study was supported by the National Aeronautics and Space Administration (NASA) Human Research Program Award 80NSSC20K0409.
Funding AgencyGrant Number
Subject Keywords:teleoperation, interface evaluation, assistive technologies, situation awareness, augmented reality
Record Number:CaltechAUTHORS:20211129-204629314
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Official Citation:Weiss, H., Liu, A., Byon, A., Blossom, J., & Stirling, L. (2021). Comparison of Display Modality and Human-in-the-Loop Presence for On-Orbit Inspection of Spacecraft. Human Factors.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:112070
Deposited By: Tony Diaz
Deposited On:29 Nov 2021 21:32
Last Modified:29 Nov 2021 21:32

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