S-E-&-14-P,-.1-/ DORIAN 

BIF-107-25023-68 

COPY NO. 1 OF 2 

24 OCTOBER 1968 

PAGES: 2 4 

AEROSPACE 

POINTING AND TRACKING SIMULATOR 

W. K. CLARKSON 

HANDLE VIA BYEMAN [ 

CONTROL SYSTEM I 

ONLY 

/ DORIAN 

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RELEASE 1 JU 9(11-C- 
NRO APPROVED FOR 

RELEASE 1 JI.11 Y 2015 

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BIF-107-25023-68 

PAGE 2 

MOL MANNED TRACKING DATA SOURCES 

o TRACKING STUDY LITERATURE 

MOSTLY RANDOM ZERO MEAN RATE ERRORS - NOT APPLICABLE 

o MAN-MODEL EQUATIONS 

IGNORE DUAL TASKS, ADAPTIVE BEHAVIOR - FALSE CONCLUSIONS 

o EXISTING SIMULATOR STUDIES 

SIMULATOR NOT MAN-LIMITED; INCORRECT CONFIGURATIONS 

(E. G. , LMSC) 

o GE INTERIM SIMULATION - 1966 

CRUDE PART TASK SIMULATORS, MOSTLY INCONCLUSIVE RESULTS 

DUE TO FLUID STATE OF BASELINE AND SIMULATION LIMITATIONS. 

o ENGINEERING DEVELOPMENT SIMULATOR (EDS) - 1968 

COMPLETED SEVERAL SUCCESSFUL PART TASK SIMULATIONS, 

CONTROL/DISPLAY CONFIGURATION STUDIES, ETC. USING HYBRID 

COMPUTATION, STIMULUS MATERIAL 

o MISSION DEVELOPMENT SIMULATOR (MDS) - 1969 

COMPLETE PAYLOAD SIMULATION 

o MISSION MODULE SIMULATION EQUIPMENT/LAB MODULE SIMULATION 

EQUIPMENT (MMSE/LMSE) 

INTEGRATED PAYLOAD/ VEHICLE SIMULATION, TRAINER 

o AEROSPACE POINTING AND TRACKING SIMULATOR - 1967- 

/ SUPPORT MANNED MOL POINTING AND TRACKING EFFORTS 

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PURPOSES OF AEROSPACE SIMULATOR 

o SERVE AS AN AID TO CONTRACTOR TD 

"CALIBRATE TECHNICAL INTUITION" 

ANTICIPATE OPERATIONAL AND SIMULATOR DESIGN PROBLEMS 

VERIFY CONTRACTOR CONCLUSIONS AND SIMULATION RESULTS 

o PERFORM PRELIMINARY NON-BASELINE AND LOW PRIORITY MISSION STUDIES 

PLANETARY TRACKING STUDY 

o COMPLEMENT/SUPPLEMENT CONTRACTOR STUDIES 

STICK TRANSFER FUNCTION STUDY 

o DEMONSTRATION TOOL FOR AIR FORCE, PROGRAM OFFICE AND 

CONTRACTORS 

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CAPABILITIES 

o PERSONNEL 

ELECTROMECHANICAL DEPARTMENT (SYSTEMS INTEGRATION 

SECTION, G8t C LAB) 

MOL BIOAS TR ONAUTICS 

HYBRID COMPUTATION CENTER 

MOL FLIGHT CREW (SUBJECTS, CONSULTANTS) 

CONTROL SYSTEMS DEPARTMENT (CONSULTANTS) 

0 EQUIPMENT 

ANALOG COMPUTER (INITIALLY EAI 24D, NOW AD4) 

CONTROL STICK (FROM GE) 

CRT WITH OPTICS AND RETICLES 

MAGNIFICATION CONTROLLERS (BUILT BY Ggz C LAB) 

AUXILIARY SIMULATION EQUIPMENT (NOISE GENERATOR, 

RECORDER, ETC. ) 

DATA REDUCTION - PROGRAMMA 101, MCC OPEN SHOP, AND ASCOL 

HYBRID EXPANSION CAPABILITY 

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ADVANTAGES RELATIVE TO CONTRACTOR FACILITIES 

o CONVENIENCE 

PROXIMITY TO AEROSPACE 

AVAILABILITY OF FLIGHT CREW 

TWO-THREE MAN OPERATION, INCLUDING SUBJECT 

o AVAILABILITY

MINIMAL SCHEDULING CONSTRAINTS AND "DOWN TIME" 

o FLEXIBILITY 

MINIMUM NUMBER OF ELECTROMECHANICAL PARTS 

FAST TURNAROUND TIME 

ANALOG COMPUTER PROGRAM EASILY CHANGED 

HYBRID CAPABILITY AVAILABLE 

o FIDELITY 

TARGET POSITION AND RATE BEHAVIOR HIGHLY REALISTIC 

MINIMAL SIMULATOR PECULIAR ERROR 

o COST 

NO CAPITAL EXPENDITURE 

MINIMAL OPERATING COST 

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BIF-107-25023-68 

PAGE 6 

SIMULATION TASKS 

EMD PO CREW 

o PROBLEM FORMULATION X X X 

o MODELING X 

TOTAL TASK DEFINITION 

ERROR SOURCE IDENTIFICATION AND SCALING 

REQUIRED SIMULATION HARDWARE IDENTIFIED 

AND OBTAINED 

o INITIAL PARAMETER MINIMIZATION X 

INITIAL SIMULATION SETUP, CHECKOUT, 

AND OPTIMIZATION 

EVALUATION OF BASIC CONCEPTS AND 

REASONABLE PARAMETER RANGES 

o PILOT STUDIES X X X 

TWO CREWMEN, EXTENSIVELY TRAINED, 

AS SUBJECTS 

FURTHER PARAMETER AND CONCEPT 

MINIMIZATION 

FINALIZE EXPERIMENT PARAMETER & PROCEDURES 

o FORMAL STUDIES X X X 

/ SIX CREWMEN, FORMAL PRACTICE AND DATA RUNS 

o DEMONSTRATION TO OTHERS AS APPROPRIATE X 

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PAGE 7 

PLANETARY TRACKING SIMULATION STUDY 

iil-ror-Z— / DORIAN 
ASE LY 2015 

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BIF-107-25023-68 

PAGE 8 

PROBLEM STATEMENT 

o DESIRE TO IMPROVE ON EARTH-BASED PLANETARY PHOTOGRAPHY (ftl. SEC 

RESOLUTION) USING MOL SYSTEM 

o FEASIBILITY STUDY NECESSARY TO DETERMINE WHETHER MOL CREWMEN CAN 

TRACK PLANETS ACCURATELY ENOUGH TO OBTAIN BETTER RESOLUTION 

PERTINENT PLANET CHARACTERISTICS 

PLANET APPARENT EOUATO 

ANGULAR DIAMETER 

EXPOSURE 

) TIMJJ SEC) 

APPARENT DIAMETER 

AT 1000X DEGREES 

ILERCURY 5-13 (7.2) 0. 0034 2. 0 

VENUS 10-64 (24) 0.00116 6.7 

EARTH MMI■ • 0.004 

MARS 3. 5-25 0.0209 7.0 

JUPITER 31-50 0.089 14 

SATURN 1540 0.295 5.7 

URANUS 3.4-4.2 1.176 1.2 

NEPTUNE 2.2-2.4 2.28 0. 67 

PLUTO 0.4-0.6 13.3 0. 17 

PROCEDURES 

o EACH CREW MEMBER TRACKED AND "PHOTOGRAPHED" EACH PLANET 15 

TIMES AT 1000 POWER 

o PEAK-TO-PEAK,VARIATIONS IN TARGET POSITION DURING EXPOSURE TIME 

WERE OBTAINED FROM RECORDED DATA 

o MAN'S PERFORMANCE WAS COMBINED WITH THE PERFORMANCE OF OTHER 

COMPONENTS (OPTICS, FILM, ETC.) TO OBTAIN OVERALL SYSTEM PERFORMANCE 

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RELE 
Noise 

(Bea ring) 

3 

e.rvo 

ynami 

Recorder Time 

Control Circle 

Generator 

SE LY 2015 

/ DORIAN 

BIF-107-25023-68 

PAGE 9 

SIMULATION BLOCK DIAGRAM 

rrror

e 

Servo 

3 

Stick 

Transfe 

Function. 

3, 4 

ibration 

( 

r 

I Man 

2 

Thumb 

Switch 

6 7 8 9 

5 

CRT ,._J 

1. MOL FLIGHT CREW (6 MEMBERS) 

2. GE INTERIM EXPERIMENT SIMULATION STICK (PENCIL-TYPE, NON RETURN TO ZERO, 

45° CONE) 

3. E. A. I. 24D ANALOG COMPUTER 

4. SINE WAVE GENERATOR 

S. H-P OSCILLOSCOPE (LOW PERSISTENCE) 

6. THUMB SWITCH (BUILT BY G&C LABORATORY) 

7. C. M. C. DUAL PRESET COUNTER/TIMER 

8. BRUSH 8 CHANNEL RECORDER 

9. CIRCLE GENERATOR (AUDIO OSCILLATOR AND LAG NETWORK, BUILT BY G&C LABORATORY) 

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RELE 
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RELEASE 1 JULY 2015 

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BIF-107-25023-68 

PAGE 10 

IN PLACE OF THIS PAGE, AN UNCLASSIFIED 

DIAGRAM OF THE HYBRID COMPUTATION 

CENTER WILL BE SHOWN. 

CECREIT / DORIAN 
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BIF-107-25023-68 

PAGE 11 

SYSTEM RESOLUTION - COMPARISON WITH GROUND-BASED CAPABILITY 

CONCLUSION 

PLANETARY PHOTOGRAPHY FROM THE MOL VEHICLE CAN SIGNIFICANTLY IMPROVE 

KNOWLEDGE OF SURFACE FEATURES OF THE PLANETS 

NEAR PLANETS NOW.INCLUDED AS POTENTIAL STR.. TARGETS tio 

/ DORIAN 

PLANET TsHoTo 

RES. 

iLP/M14) 

MERCURY 120 

VENUS '120 

MARS 106 

JUPITER 64 

-SATURN 59 

URANUS 56 

NEPTUNE 54 

PLUTO 32 

GROUND-BASED 

SURFACE 7TTATIZE— 

RES. RES. 

(MI) (MI), 

0. 13 52 400 

0. 13 39 300 

0. 15 35 230 

0. 25 440 1800 

0.27 980 3600 

0. 28 2200 7800 

0.29 3400 12000 

0.50 8200 Mb MO MI 

MOL 

ANGULAR 

(Mt 

NRO APPROVED FOR 

RELEASE 1 JUJ v '405 
NRO APPROVED FOR 

RELEASE 1 JU 2ft1 g 

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BIF-107-25023-68 

PAGE 12 

STICK TRANSFER FUNCTION (STF) STUDY 

CECIL= / DORIAN 
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RELEASE 1J 2016 

CECRET / DORIAN 

BIF-107-25023-68 

PAGE 13 

BACKGROUND 

o DEFINITION OF BASELINE STF (LINE OF SIGHT ANGLE/STICK 

DEFLECTION) REQUIRED FOR SOFTWARE DEVELOPMENT AND 

OTHER MISSION EXPERIMENTS. 

o ORIGINAL GE BASELINE STF BELIEVED UNACCEPTABLE FOR 

HIGH PRECISION, TIME CRITICAL TASK (RATE PLUS ACCELERATION 

- DERIVED FROM MAN MODEL). 

o ORIGINAL EDS FIDELITY INSUFFICIENT TO PERFORM THIS 

EXPERIMENT IN A TIMELY MANNER. 

o AEROSPACE AGREED (FALL 1967) TO DEFINE AND OPTIMIZE A 

PRELIMINARY STF FOR MO AND ATS IN A REALISTIC TIMELINE 

ENVIRONMENT. 

o FOLLOWING AEROSPACE STUDIES, GE AGREED TO VALIDATE RESULTS 

ON A MODIFIED EDS WHICH WOULD INCORPORATE REALISTIC SCENE 

AND DIGITAL ENVIRONMENT. 

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BIF-107-25023-68 

PAGE 14 

EXPERIMENT DESIGN 

o CONTROLS 

30 DEGREES HALF-ANGLE-CONE STICK - MODIFIED BY G& C LAB 

FOUR POSITION MAGNIFICATION CONTROL I - BUILT BY G&C LAB 

DUAL RANGE ATS ZOOM CONTROLLER - BUILT BY G&C LAB 

o DISPLAY 

CRT - SQUARE TARGET WITH SIZE PROPORTIONALTO MAGNIFICATION 

o TASK 

MO - RATE NULL DURING TIMED TARGET RUN 

ATS - CENTER AND RATE NULL 

o ERROR SOURCES 

ALTITUDE AND MIRROR RATE MEASUREMENT ERROR 

(COS2E EFFECT IN RATE) MO AND ATS 

SERVO RATE BIAS (CONSTANT RATE) MO AND ATS 

BEARING NOISE (LOW FREQUENCY RANDOM RATE) MO AND ATS 

INITIAL POSITION ERROR - ATS ONLY 

O SCORING 

MO - TIME TO RATE NULL (<17p, r/SEC), STEADY STATE NULLING AVERAGE 

ATS - TIME TO CENTER (< — 200 FT), STEADY STATE NULLING AVERAGE 

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BIF-107-25023-68 

PAGE 15 

CREATION OF NEW STF TYPE 

o PROBLEMS 

LOW GAIN RATE-ONLY STF GOOD FOR STEADY STATE RATE NULLING 

BUT LACKS AUTHORITY TO CATCH LARGE INITIAL CONDITIONS (RATE BIASES) 

HIGH GAIN RATE - ONLY STF IS NOISY AND JUMPY DURING STEADY STATE 

RATE NULLING 

ADDING ACCELERATION TO LOW GAIN RATE DEGRADES TIME TO RATE 

NULL AND STEADY STATE PERFORMANCE, AND REQUIRES UNNATURAL 

STICK MOTION 

o OBJECTIVE 

CREATE A STICK TRANSFER FUNCTION TYPE WHOSE CHARACTERISTICS 

WILL CHANGE WITH THE TASK BEING PERFORMED 

A STF THAT CAN QUICKLY NULL A RATE "BIAS" IS NEEDED - I. E. , A 

NON-LINEAR STF 

o SOLUTION 

ADD HIGH GAIN ACCELERATION TERM TO LOW GAIN RATE TERM WHEN 

SUBJECT "RUNS OUT OF STICK" 

ACCELERATION TERM IS REMOVED WHEN STICK MOVES OFF END STOP, 

THUS CREATING A NEW OPERATING RANGE 

A RATE = ACCELERATION • At WITH At UNDER CONTROL OF CREWMAN 

o SIMILAR PROBLEM OCCURS WHEN RAPID CENTERING REQUIRED ON ATS WHERE 

A POSITION BIAS IS NEEDED 

o SOLUTION IS TO ADD HIGH GAIN RATE TERM TO LOW GAIN RATE TERM FOR 

EXTREME STICK DEFLECTIONS 

APOSITION = RATE • At 

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RELEASE 1 JU 01 

A 

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PAGE 16 

3 a 

/ 

H 

111 

1.5a 

0 

3a 

STICK DEFLECTION STICK DEFLECTION 

TYPICAL RATE WITH END-STOP TYPICAL RATE WITH END-STOP 

RATE STF ACCELERATION STF 

SECRET / DORIAN 
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BIF-107-25023-68 

PAGE 17 

MO STICK TRANSFER FUNCTION STUDY 

$ o STF FORM TO BE OPTIMIZED - K + 2 3 1 ( d- 29° ) 

o INITIAL PARAMETER MINIMIZATION AND PILOT STUDY (TWO CREW) 

K1 = 0 ; OTHERWISE VERY JUMPY RESPONSE AND FINGER NOISE 

K2 0 ; OTHERWISE OSCILLATORY RESPONSE, INSTABILITY 

EITHER K3 OR K4 = 0 ; HAVING BOTH TERMS WORSE THAN EITHER 

ALONE 

GAINS OPTIMIZED FOR REMAINING STF CANDIDATES - 

K2 K2 K3 K2 

, + , 

K4 

( d 290) 

K

2 

' S 

0.5 K2 0.25K

2 ' S 

0.5 K2 

—2- 

K2 

--So FORMAL STUDY CANDIDATES: + + 0. ( d - 29° ) 

S2 S 

WHERE VALUE OF R2 DEPENDS ON INITIAL CONDITION ASSUMPTIONS 

AND DESIRED OPERATING MODE 

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PAGE 18 

FORMAL M 0 STICK TRANSFER FUNCTION 

STUDY CONCLUSIONS (SIX CREW) 

o RATE WITH END STOP ACCELERATION STF HAS BEST OVERALL 

CAPABILITY AND FLEXIBILITY 

BEST RATE NULLING PERFORMANCE (<5 pr /SEC) 

TIME TO RATE NULL IS VERY GOOD (= 2 SEC) 

PREFERRED BY MOST SUBJECTS 

RANDOM NOISE INTERACTION MINIMIZED 

HAS BEST TIME VERSUS RATE NULLING PERFORMANCE 

TRADEOFF FLEXIBILITY 

MOST EFFECTIVE PERFORMANCE AGAINST WIDE RANGE 

OF INITIAL CONDITIONS 

o RATE ONLY STF CLOSE IN PERFORMANCE BUT SIGNIFICANTLY 

LESS FLEXIBLE 

o RATE PLUS ACCELERATION STF POOREST 

SECRET / DORIAN 
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CECI1ET / DORIAN 

BIF-107-25023-68 

PAGE 19 

ATS STICK TRANSFER FUNCTION STUDY 

o STF CANDIDATES FOR PILOT STUDY 

RATE ONLY - GOOD, BUT HAS SIGNIFICANT FINGER NOISE 

AND SOMEWHAT OVERSENSITIVE 

RATE PLUS ACCELERATION - POOR 

RATE WITH END-STOP ACCELERATION - GOOD, BUT NOT 

OPTIMUM FOR CENTERING 

RATE WITH END-STOP RATE - BEST OVERALL PERFORMANCE 

AND FLEXIBILITY 

o PILOT STUDY CONCLUSIONS 

RATE WITH END-STOP RATE RECOMMENDED AS NEW BASELINE 

ATS STF 

K2 K5 ( + II (c1 - 29°) ) ; 2 s 5 s 3 

K2 

FINAL K2, K5 VALUES OR SPECIFIC RATIO NOT RECOMMENDED 

UNTIL FURTHER OPERATIONAL CONCEPTS DEFINED 

WHEN WILL CENTERING BE PERFORMED (HOW OFTEN) 

CENTERING TIME VERSUS ACCURACY TRADEOFF 

ACTIVITY DETECTION/CENTERING PROCEDURES 

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GE VALIDATION STUDIES 

0 MO 

VERIFIED ALL ASPECTS OF AEROSPACE STUDY 

RATE WITH END STOP ACCELERATION STF 

ADOPTED AS MO BASELINE 

0 ATS 

GE VALIDATED RATE WITH END STOP RATE STF 

PERFORMANCE IN DIGITAL/STIMULUS 

ENVIRONMENT 

RATE WITH END STOP RATE STF ADOPTED AS 

ATS BASELINE 

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BIF-107--25023-68 

PAGE 21 

MISCONCEPTIONS RESOLVED USING AEROSPACE SIMULATOR 

MISCONCEPTION FACT 

o STF GAIN SHOULD BE INVERSELY 

PROPORTIONAL TO MAGNIFICATION 

o REAL, NOT APPARENT, RATES DETERMINE 

TASK; UNDESIRABLE SIDE EFFECTS 

o STICK OUTPUT COUNTER SHOULD BE 

AUTOMATICALLY REZEROED AFTER EACH 

RUN 

o MANUAL REZEROING NATURAL; 

UNDESIRABLE SIDE EFFECTS 

o LEAD (ACCELERATION) SHOULD BE 

ADDED TO ANY STF OPTIMIZED ON AN 

ANALOG SIMULATOR TO COMPENSATE FOR 

DIGITAL PROCESSING LAGS 

o ADDING LEAD DETRACTS FROM NATURAL 

STICK/SCENE RELATIONSHIPS 

o MAN REQUIRES STICK EXTRAPOLATION TO 

MINIMIZE EFFECTS OF TEN TIMES/SEC 

SAMPLING 

o SAMPLING AT TEN TIMES/SECOND HAS 

INSIGNIFICANT EFFECT. EXTRAPOLATION 

TECHNIQUES ARE PREDICTIVE AND TEND 

TO CREATE UNNATURAL SCENE MOTION 

o SIMULATOR LOW RATE PERFORMANCE 

SHOULD BE SPECIFIED BASED ON MAN'S 

STATIC VISUAL RESOLUTION THROUGH 

THE OPTICS 

o CREW CAN DETECT MUCH SMALLER MOTIONS 

( <1 MIN) THAN CALCULATIONS BASED 

ON STIMULUS AND OPTICAL QUALITY 

WOULD IMPLY 

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BIF-107-25023-68 

PAGE 22 

MISCONCEPTIONS RESOLVED USING AEROSPACE SIMULATOR 

(CONTINUED) 

MISCONCEPTION FACT 

o DIGITAL SCORING IS ADEQUATE FOR o ON LINE ANALOG SCORING IS NEEDED FOR 

EXPERIMENTAL PURPOSES CREW TECHNIQUE OPTIMIZATION, 

DETECTION OF CREW FATIGUE, CREW 

MOTIVATION (AND SIMULATOR DEBUGGING) 

o MOTOR SKILL EXPERIMENTS SHOULD o BEST DATA OBTAINED BY USING AVAILABLE 

INCLUDE ALL CREW MEMBERS TO GET TIME TO TRAIN A FEW (2-6) HIGHLY 

MOST RELIABLE DATA MOTIVATED CREWMEN AS FAR DOWN THE 

LEARNING CURVE AS POSSIBLE 

o MAN CAN NULL MOST OF THE BEARING o MAN CANNOT NULL BEARING NOISE; 

NOISE ATTEMPT TO DO SO DEGRADES OVERALL 

RATE NULLING PERFORMANCE 

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PAGE 23 

AEROSPACE SIMULATOR IMPACT 

o STF VALIDATION STUDY FORCED FIRST EDS HIGH 

FIDELITY CALIBRATION 

o EDS MODIFICATION BASED ON AEROSPACE SIMULATOR DESIGN 

o MDS DYNAMIC FIDELITY REQUIREMENTS BASED ON 

SIMULATION EXPERIENCE 

MDS CALIBRATION AND TEST PROCEDURES BASED 

ON AEROSPACE SIMULATIONS 

o SOFTWARE DEVELOPMENT VERSUS HIGH FIDELITY MOTOR 

SKILL EXPERIMENT BETTER BALANCED IN SIMULATOR 

DESIGNS 

o CREW PARTICIPATION IN CONTRACTOR EXPERIMENTS 

ENHANCED BY EXPERIENCE ON ALL ELECTRONIC 

SIMULATOR 

o AEROSPACE PARTICIPATION IN CONTRACTOR EXPERIMENT 

PLANNING ENHANCED 

SECRET / DORIAN 
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BIF-107-25023-68 

PAGE 24 

FUTURE SIMULATOR EFFORTS 

0 

o REFINEMENT OF ATS STF AND OPERATIONAL MODES 

o RESOLUTION OF OTHER MAN-MACHINE TRACKING QUESTIONS AS 

THEY ARISE 

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