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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

Project Review: Teleoperation and Time Delays

We plan to study the invariance in the shift in control strategy from continuous control to move-and-wait as a function of latency and control difficulty. To do so we have developed a theoretically understood way of introducing measurable levels of control difficulty using misalignment between display and control axes . We now use this understanding to study the interaction of control difficulty and system latency. We have conducted an experiment to calibrate our imposition of control difficulty using more representative control rotations. We use these levels of difficulty to directly study the interaction of control difficulty with latency. Results suggest a way to generalize latency requirements across control difficulties that should aid establishment of standards for managing latency in teleoperation.

Adelstein, Bernard D.↗
NASA NTRS2012

Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

asteroid missions↗
NASA NTRS2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Hebert, Paul↗
NASA NTRSDate not supplied

A Virtual Reality Planning Environment for High-Risk, High-Latency Teleoperation

Teleoperation of robots in space is challenging due to high latency and limited workspace visibility. Previously, the Interactive Planning and Supervised Execution (IPSE) and Augmented Virtuality systems were developed to reduce failure risk. These tools were visualized on a 3D da Vinci surgical console and operated using the da Vinci manipulators or visualized on conventional monitors and operated with a keyboard and mouse. Experimental studies indicated operator preference for the latter. In this work, we develop a 3D virtual reality (VR) interface for IPSE, implemented on a Meta Quest 2 head-mounted display (HMD), and evaluate it against the prior 2D, keyboard-and-mouse-based interface. The results demonstrate improved operator load with the 3D VR interface, with no decrease in task performance, while also providing cost and portability benefits compared to the conventional 2D interface.

Will Pryor↗
NASA NTRS1995

Teleoperators

Explore the source record for details and available documents.

Teleoperators↗
NASA NTRS1973

Conceptual design study for a teleoperator visual system, phase 2

An analysis of the concept for the hybrid stereo-monoscopic television visual system is reported. The visual concept is described along with the following subsystems: illumination, deployment/articulation, telecommunications, visual displays, and the controls and display station.

Grant, C.↗
NASA NTRS1973

Dynamic passivation of a spinning and tumbling satellite using free-flying teleoperators.

A satellite will generally have some initial angular motion. Before the satellite can be retrieved, it will be necessary to null its angular rates. A method is presented for nulling the simultaneous angular rates for cylindrical and near-cylindrical satellites. It is assumed that there are no external torques acting on the satellite initially. A model is being fabricated to verify the analysis. The analysis shows that it is feasible to null the spin and tumble rates for cylindrical and near-cylindrical satellites with an arm attached to a remote manipulator unit.

Faile, G. C.↗
NASA NTRS1973

A survey study of teleoperators, robotics, and remote systems technology.

Survey of the current status and major R&D needs of remote systems technology in the medical, mining, and oceanographic areas of application. The review is limited to the most important teleoperator/robotic subsystems, including actuators, sensors, control and communication devices.

Alexander, A. D., III↗
NASA NTRS1975

Earth orbital teleoperator visual system evaluation program

Empirical tests of range estimation accuracy and resolution, via television, under monoptic and steroptic viewing conditions are discussed. Test data are used to derive man machine interface requirements and make design decisions for an orbital remote manipulator system. Remote manipulator system visual tasks are given and the effects of system parameters of these tasks are evaluated.

Shields, N. L., Jr.↗
NASA NTRS1974

Optical range and range rate estimation for teleoperator systems

Range and range rate are crucial parameters which must be available to the operator during remote controlled orbital docking operations. A method was developed for the estimation of both these parameters using an aided television system. An experiment was performed to determine the human operator's capability to measure displayed image size using a fixed reticle or movable cursor as the television aid. The movable cursor was found to yield mean image size estimation errors on the order of 2.3 per cent of the correct value. This error rate was significantly lower than that for the fixed reticle. Performance using the movable cursor was found to be less sensitive to signal-to-noise ratio variation than was that for the fixed reticle. The mean image size estimation errors for the movable cursor correspond to an error of approximately 2.25 per cent in range suggesting that the system has some merit. Determining the accuracy of range rate estimation using a rate controlled cursor will require further experimentation.

Shields, N. L., Jr.↗