Assessing the Impact of Auditory Peripheral Displays for UAV Operators

A future implementation of unmanned aerial vehicle (UAV) operations is having a single operator control multiple UAVs. The research presented here explores possible avenues of enhancing audio cues of UAV interfaces for this futuristic control of multiple UAVs by a single operator. This project specifically evaluates the value of continuous and discrete audio cues as indicators of course deviations or late arrivals to targets for UAV missions. It also looks at the value of the audio cues in single and multiple UAV scenarios. To this end, an experiment was carried out on the Multiple Autonomous Unmanned Vehicle Experimental (MAUVE) test bed developed in the Humans and Automation Laboratory at the Massachusetts Institute of Technology with 44 military participants. Specifically, two continuous audio alerts were mapped to two human supervisory tasks within MAUVE. One of the continuous audio alerts, an oscillating course deviation alert was mapped to UAV course deviations which occurred over a continual scale. The other continuous audio alert tested was a modulated late arrival alert which alerted the operator when a UAV was going to be late to a target. In this case the continuous audio was mapped to a discrete event in that the UAV was either on time or late to a target. The audio was continuous in that it was continually on and alerting the participant to the current state of the UAV. It either was playing a tone indicating the UAV was on time to a target or playing a tone indicating the UAV was late to a target. These continuous alerts were tested against more traditional single beep alerts which acted as discrete alerts. The beeps were discrete in that when they were used for monitoring course deviations a single beep was played when the UAV got to specific threshold off of the course or for late arrivals a single beep was played when the UAV became late. The results show that the use of the continuous audio alerts enhances a single operator’s performance in monitoring single and multiple semi-autonomous vehicles. However, the results also emphasize the necessity to properly integrate the continuous audio with the other auditory alarms and visual representations in a display, as it is possible for discrete audio alerts to be lost in aural saliency of continuous audio, leaving operators reliant on the visual aspects of the display.Prepared for Charles River Analytics, Inc

Assessing the Impact of Haptic Peripheral Displays for UAV Operators

Objectives: A pilot study was conducted to investigate the effectiveness of continuous haptic peripheral displays in supporting multiple UAV supervisory control. Background: Previous research shows that continuous auditory peripheral displays can enhance operator performance in monitoring events that are continuous in nature, such as monitoring how well UAVs stay on their pre-planned courses. This research also shows that auditory alerts can be masked by other auditory information. Command and control operations are generally performed in noisy environments with multiple auditory alerts presented to the operators. In order to avoid this masking problem, another potentially useful sensory channel for providing redundant information to UAV operators is the haptic channel. Method: A pilot experiment was conducted with 13 participants, using a simulated multiple UAV supervisory control task. All participants completed two haptic feedback conditions (continuous and threshold), where they received alerts based on UAV course deviations and late arrivals to targets. Results: Threshold haptic feedback was found to be more effective for late target arrivals, whereas continuous haptic feedback resulted in faster reactions to course deviations. Conclusions: Continuous haptic feedback appears to be more appropriate for monitoring events that are continuous in nature (i.e., how well a UAV keeps its course). In contrast, threshold haptic feedback appears to better support response to discrete events (i.e., late target arrivals). Future research: Because this is a pilot study, more research is needed to validate these preliminary findings. A direct comparison between auditory and haptic feedback is also needed to provide better insights into the potential benefits of multi-modal peripheral displays in command and control of multiple UAVs.Prepared for Charles River Analytics, Inc

The early X-ray afterglows of optically bright and dark Gamma-Ray Bursts

A systematical study on the early X-ray afterglows of both optically bright and dark gamma-ray bursts (B-GRBs and D-GRBs) observed by Swift has been presented. Our sample includes 25 GRBs. Among them 13 are B-GRBs and 12 are D-GRBs. Our results show that the distributions of the X-ray afterglow fluxes ($F_{X}$), the gamma-ray fluxes ($S_{\gamma}$), and the ratio ($R_{\gamma, X}$) for both the D-GRBs and B-GRBs are similar. The differences of these distributions for the two kinds of GRBs should be statistical fluctuation. These results indicate that the progenitors of the two kinds of GRBs are the same population. Their total energy explosions are comparable. The suppression of the optical emissions from D-GRBs should results from circumburst but not their central engine.Comment: 10 pages, 3 figures, 1 table; accepted by ChJA

Discovery of the accretion-powered millisecond pulsar SWIFT J1756.9-2508 with a low-mass companion

We report on the discovery by the Swift Gamma-Ray Burst Explorer of the eighth known transient accretion-powered millisecond pulsar, SWIFT J1756.9-2508, as part of routine observations with the Swift Burst Alert Telescope hard X-ray transient monitor. The pulsar was subsequently observed by both the X-Ray Telescope on Swift and the Rossi X-Ray Timing Explorer Proportional Counter Array. It has a spin frequency of 182 Hz (5.5 ms) and an orbital period of 54.7 minutes. The minimum companion mass is between 0.0067 and 0.0086 solar masses, depending on the mass of the neutron star, and the upper limit on the mass is 0.030 solar masses (95% confidence level). Such a low mass is inconsistent with brown dwarf models, and comparison with white dwarf models suggests that the companion is a He-dominated donor whose thermal cooling has been at least modestly slowed by irradiation from the accretion flux. No X-ray bursts, dips, eclipses or quasi-periodic oscillations were detected. The current outburst lasted approximately 13 days and no earlier outbursts were found in archival data.Comment: 13 pages, 2 figures, accepted by Astrophysical Journal Letter

Sustaining Educational Reforms in Introductory Physics

While it is well known which curricular practices can improve student performance on measures of conceptual understanding, the sustaining of these practices and the role of faculty members in implementing these practices are less well understood. We present a study of the hand-off of Tutorials in Introductory Physics from initial adopters to other instructors at the University of Colorado, including traditional faculty not involved in physics education research. The study examines the impact of implementation of Tutorials on student conceptual learning across eight first-semester, and seven second-semester courses, for fifteen faculty over twelve semesters, and includes roughly 4000 students. It is possible to demonstrate consistently high, and statistically indistinguishable, student learning gains for different faculty members; however, such results are not the norm, and appear to rely on a variety of factors. Student performance varies by faculty background - faculty involved in, or informed by physics education research, consistently post higher student learning gains than less-informed faculty. Student performance in these courses also varies by curricula used - all semesters in which the research-based Tutorials and Learning Assistants are used have higher student learning gains than those semesters that rely on non-research based materials and do not employ Learning Assistants.Comment: 21 pages, 4 figures, and other essential inf

Confirmation of the \eps -- \eiso (Amati) relation from the X-ray flash XRF 050416A observed by Swift/BAT

We report Swift Burst Alert Telescope (BAT) observations of the X-ray Flash (XRF) XRF 050416A. The fluence ratio between the 15-25 keV and 25-50 keV energy bands of this event is 1.5, thus making it the softest gamma-ray burst (GRB) observed by BAT so far. The spectrum is well fitted by the Band function with E^{\rm obs}_{\rm peak} of 15.0_{-2.7}^{+2.3} keV. Assuming the redshift of the host galaxy (z = 0.6535), the isotropic-equivalent radiated energy E_{\rm iso} and the peak energy at the GRB rest frame (E^{\rm src}_{\rm peak}) of XRF 050416A are not only consistent with the correlation found by Amati et al. and extended to XRFs by Sakamoto et al., but also fill-in the gap of this relation around the 30 - 80 keV range of E^{\rm src}_{\rm peak}. This result tightens the validity of the E^{\rm src}_{\rm peak} - E_{\rm iso} relation from XRFs to GRBs. We also find that the jet break time estimated using the empirical relation between E^{\rm src}_{\rm peak} and the collimation corrected energy E_{\gamma} is inconsistent with the afterglow observation by Swift X-ray Telescope. This could be due to the extra external shock emission overlaid around the jet break time or to the non existence of a jet break feature for XRF, which might be a further challenging for GRB jet emission, models and XRF/GRB unification scenarios.Comment: 16 pages, 4 figures; accepted for publication in ApJ

The First Swift BAT Gamma-Ray Burst Catalog

We present the first Swift Burst Alert Telescope (BAT) catalog of gamma-ray bursts (GRBs), which contains bursts detected by the BAT between 2004 December 19 and 2007 June 16. This catalog (hereafter BAT1 catalog) contains burst trigger time, location, 90% error radius, duration, fluence, peak flux, and time averaged spectral parameters for each of 237 GRBs, as measured by the BAT. The BAT-determined position reported here is within 1.75' of the Swift X-ray Telescope (XRT)-determined position for 90% of these GRBs. The BAT T_90 and T_50 durations peak at 80 and 20 seconds, respectively. From the fluence-fluence correlation, we conclude that about 60% of the observed peak energies, Epeak, of BAT GRBs could be less than 100 keV. We confirm that GRB fluence to hardness and GRB peak flux to hardness are correlated for BAT bursts in analogous ways to previous missions' results. The correlation between the photon index in a simple power-law model and Epeak is also confirmed. We also report the current status for the on-orbit BAT calibrations based on observations of the Crab Nebula.Comment: 63 pages, 23 figures, Accepted in ApJS, Corrected for the BAT ground position, the image significance, and the error radius of GRB 051105, Five machine-readable tables are available at http://swift.gsfc.nasa.gov/docs/swift/results/bat1_catalog