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At least 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Experimental evaluation of the concept of supevisory manipulation

A computer-controlled teleoperator system which is based on task-referenced sensor-aided control has been developed to study supervisory manipulation. This system, called SUPERMAN, is capable of performing complicated tasks in real-time by utilizing the operator for high-level functions related to the unpredictable portions of a task, while the subordinate machine performs the more well-defined subtasks under human supervison. To determine whether supervisory control schemes such as these offer any advantage over manual control under real-time conditions, a number of experiments involving both simple and complicated tasks were performed. Six representative tasks were chosen for the study: (1) obtaining a tool from a rack, (2) returning the tool to the rack, (3) removing a nut, (4) placing samples in a storage bin, (5) opening and closing a valve, and (6) digging with a shovel. The experiments were performed under simulated conditions using four forms of manual control (i.e., switch rate, joystick rate, master-slave position control, and master-slave with force feedback), as well as supervisory control. Through these experiments the effectiveness and quality of control were evaluated on the basis of the time required to complete each portion of the task and the type and number of errors which occurred.

Brooks, T. L.↗
NASA NTRS1982

Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 1: Executive Summary

Potential applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and to their related ground support functions are explored. The specific tasks which will be required by future space projects are identified. ARAMIS options which are candidates for those space project tasks and the relative merits of these options are defined and evaluated. Promising applications of ARAMIS and specific areas for further research are identified. The ARAMIS options defined and researched by the study group span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

Miller, R. H.↗
NASA NTRS1981

Robots and manipulators

Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.

Heer, E.↗
NASA NTRS1980

Control system analysis and synthesis for a six degree-of-freedom universal Force-Reflecting Hand Controller

A six degree-of-freedom joystick with feedback motors, called the Force-Reflecting Hand Controller (FRHC) is used as control input for the human operator in a teleoperator system. The geometric and dynamic properties of the FRHC are entirely different from those of the manipulator being controlled. The paper discusses the analysis and synthesis of the control loop between the FRHC and the robot arm and examines the necessary position and force transformations. The controller is implemented through a dedicated minicomputer.

Handlykken, M.↗
NASA NTRS1982

Manned space platforms, payloads and tending

A concept has been developed for providing for a permanent manned presence in space for science, applications, and technology plus growth potential to support major future operational missions. An initial crew of two to four is accommodated along with installations for interior, exterior and tended payloads. Tended payloads support includes servicing of remote free-flying spacecraft, basing of reusable orbital transfer vehicles and basing of teleoperator-mounted payloads for near-station excursions. Candidate payloads, plus configuration, flight operation, subsystem and ground logistics aspects are described, as are Shuttle interactions.

Runge, F. C.↗
NASA NTRS1982

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Application of ARAMIS capabilities to space project functional elements

Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities and their related ground support functions are studied, so that informed decisions can be made on which aspects of ARAMIS to develop. The specific tasks which will be required by future space project tasks are identified and the relative merits of these options are evaluated. The ARAMIS options defined and researched span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

Miller, R. H.↗
NASA NTRS1982

Satellite services system overview

The benefits of a satellite services system and the basic needs of the Space Transportation System to have improved satellite service capability are identified. Specific required servicing equipment are discussed in terms of their technology development status and their operative functions. Concepts include maneuverable television systems, extravehicular maneuvering unit, orbiter exterior lighting, satellite holding and positioning aid, fluid transfer equipment, end effectors for the remote manipulator system, teleoperator maneuvering system, and hand and power tools.

Rysavy, G.↗
NASA NTRS1982

Remote orbital servicing system concept

Increased applications of automation technology identified as necessary for NASA to carry out its missions within the constraints of future funding and available physical resources are described. A concept for a Remote Orbital Servicing System (ROSS) based on present teleoperator and robotics technology is presented. A single servicer design compatible with three specified spacecraft, capable of performing service to the same extent as manned extravehicular activity, controlled from a ground control station, and using currently available technology is conceptualized.

Meintel, A. J.↗
NASA NTRS1982

Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Supplement, Appendix 4.3: Candidate ARAMIS Capabilities

Potential applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and to their related ground support functions, in the years 1985-2000, so that NASA may make informed decisions on which aspects of ARAMIS to develop. The study first identifies the specific tasks which will be required by future space projects. It then defines ARAMIS options which are candidates for those space project tasks, and evaluates the relative merits of these options. Finally, the study identifies promising applications of ARAMIS, and recommends specific areas for further research. The ARAMIS options defined and researched by the study group span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

Miller, R. H.↗
NASA NTRS1982

Technology assessment of advanced automation for space missions

Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology.

Source record↗
NASA NTRS1983

Space station needs, attributes, and architectural options study

The top level, time-phased total space program support system architecture is described including progress from the use of ground-based space shuttle, teleoperator system, extended duration orbiter, and multimission spacecraft, to an initial 4-man crew station at 29 deg inclination in 1991, to a growth station with an 8-man crew with capabilities for OTV high energy orbit payload placement and servicing, assembly, and construction of mission payloads in 1994. System Z, proposed for Earth observation missions in high inclination orbit, can be accommodated in 1993 using a space station derivative platform. Mission definition, system architecture, and benefits are discussed.

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NASA NTRS1983

Bringing AI up to the space challenge

The state of the art in automated systems for working in environments hostile to humans is assessed, together with the technological advancements necessary to meet NASA goals. Since completely automated operations are not possible with the current level of artificial intelligence (AI), the operator must have access to remote television access and interactive computerized controls. A proximal system exists when the teleoperated mechanism is close enough so that negligible time passes between operator and servocontrolled activation and feedback. An additional constraint is the complexity of the signal. Further development areas have been identified as limiting the necessary communication, compensating for technical limitations of communication with remote systems, such as bandwidth, error rate, and equipment response time, and to build-in fault tolerance, self-diagnosis, and self-maintenance capabilities. An AI expert system is being developed at JPL to provide an expert knowledge base and a decision-making capability. It is suggested that only thorough questioning of mission and spacecraft experts, as well as searching the large volume of project documentations, will provide the necessary data for establishing an expert data base for AI implementation.

Heer, E.↗
NASA NTRS1983

The Development of a Digital Processing System for Accurate Range Determinations

The development of an accurate close range (from 0.0 meters to 30.0 meters) radar system for Teleoperator Maneuvering Systems (TMS) is discussed. The system under investigation is a digital processor that converts incoming signals from the radar system into their related frequency spectra. Identification will be attempted by correlating spectral characteristics with accurate range determinataions. The system will utilize an analog to digital converter for sampling and converting the signal from the radar system into 16-bit digital words (two bytes) for RAM storage, data manipulations, and computations. To remove unwanted frequency components the data will be retrieved from RAM and digitally filtered using large scale integration (LSI) circuits. Filtering will be performed by a biquadratic routine within the chip which carries out the required filter algorithm. For conversion to a frequency spectrum the filtered data will be processed by a Fast Fourier Transform chip. Analysis and identification of spectral characteristics for accurate range determinations will be made by microcomputer computations.

Pujol, A., Jr.↗
NASA NTRS1984

Human capabilities

In conclusion, habitability is more than just life support and there is a substantial technology application void. Habitability needs both visibility and responsibility in the space station program to ensure the optimum use of man in space. In the area of work technology, IVA and EVA teleoperators and robotics should be considered as tools and not competitors. A generic work station is a contemporary of the early space stations. Flexibility of a future space station requires this.

Augerson, W.↗
NASA NTRS1983

Overview of NASA space station activities

The architecture, functions, and human activities on-board a space station are discussed. A manned presence is regarded as essential for innovative actions and successful exploitation of weightless conditions. The station itself could be a cluster of modules for habitation, power, operations, docking, experimentation, and storage. Additionally, the station could provide an interface for free-flying platforms and teleoperated satellite services, as well as a base for establishing space-based manufacturing facilities. NASA has projected timelines that include initial development funding in 1987, full capabilities before the year 2000, and initial costs for minimum capabilities of $7.5-9 billion. Architecture, mission requirements, trade-offs, and concepts are currently being defined as a prelude to systems development. Attention is being given to participation by both the DoD and other governments, and to defining the capabilities of the station, including habitability, closed-loop life-support system, the scope of science application and data transfer, and the power requirements.

Tilton, E. L., III↗
NASA NTRS1983

The role of man in space

The roles played by astronauts in space missions are discussed using illustrations from the Spacelab and STS experience, and the implications for the proposed space station are considered. Man's ability to perform successfully for relatively long periods in space is demonstrated, and capabilities in manipulation, EVA, equipment repair and compensation for equipment failure, earth observation, astronomy of sun and stars, and laboratory experimentation are characterized and illustrated with photographs. Space station activities planned include repairs (like that of the Solar Maximum Satellite), maintenance (of the Space Telescope), and construction and involve the use of a manned maneuvering unit, a teleoperator maneuvering system, and/or a manned or unmanned OTV.

Lousma, J. R.↗
NASA NTRS1983

Man's role in a remote orbital servicing system

The Remote Orbital Servicing System (ROSS), a focal point for NASA research in automation and robotics, is discussed in terms of the role of man in such a system. In the supervisory control mode, the ROSS operator inputs high-level goals to a strategic (nonreal-time) planner which then passes the plan or series of actions to a tactical (real-time) planner which executes the plan. Using directed control, man makes more specific commands to perform strategic planning with or without the use of the automated strategic planner. Shared computer/manual control will require a multifunction interactive display. At the teleoperator control level, a hand controller is used to command the ROSS manipulator and end effectors.

Pennington, J. E.↗
NASA NTRS1984

Space Systems Technology Conference, Costa Mesa, CA, June 5-7, 1984, Technical Papers

Space station technology is considered along with a shuttle tethered satellite system development program, the development of advanced orbital maintenance/servicing techniques for EVA applications, human systems interfaces for space stations, materials and structures for space applications, progress in space nuclear reactor power systems technology development with the aid of the SP-100 Program, and the design of reliable power systems for communications satellites. Attention is given to problems and concepts of space station guidance and control, spacecraft data management hardware state-of-the-art, progressive autonomy, and automation in teleoperation from a man-machine interface viewpoint. A space exploration outlook is provided, and the space power systems of the early 21st century are discussed.

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