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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

An advanced teleoperator control system - Design and evaluation

The design goal of an advanced teleoperator control system is twofold: 1) to allow the operator's manual control to be robust to system nonlinearities such as time delays and operator's control errors, and 2) to support the high performance of teleoperation while reducing the operator's control burden by providing the master and slave arms with desirable dynamic properties and by allowing the slave arm to automatically perform such control tasks as compliance and force control in the form of task sharing. The authors present a novel teleoperator control system achieving the above design goal by taking the following into consideration: the human dynamics involved in generating control command based on visual and forced feedback is modeled and incorporated into the controller design and evaluation; the dynamic characteristics of slave and master arms are actively modified in such a way as to implement the desirable dynamic characteristics; and the force feedback is redefined in terms of the combination of opposition and force discrepancies in order to establish the required man/machine dynamic coordination under shared control. The proposed control system with human dynamics in the control loop is simulated and compared with a number of conventional methods in the presence of human control errors and time delays.

Lee, Sukhan↗
NASA NTRS1994

Design of teleoperation system with a force-reflecting real-time simulator

We developed a force-reflecting teleoperation system that uses a real-time graphic simulator. This system eliminates the effects of communication time delays in remote robot manipulation. The simulator provides the operator with predictive display and feedback of computed contact forces through a six-degree of freedom (6-DOF) master arm on a real-time basis. With this system, peg-in-hole tasks involving round-trip communication time delays of up to a few seconds were performed at three support levels: a real image alone, a predictive display with a real image, and a real-time graphic simulator with computed-contact-force reflection and a predictive display. The experimental results indicate the best teleoperation efficiency was achieved by using the force-reflecting simulator with two images. The shortest work time, lowest sensor maximum, and a 100 percent success rate were obtained. These results demonstrate the effectiveness of simulated-force-reflecting teleoperation efficiency.

Hirata, Mitsunori↗
NASA NTRS2004

Robot Behavior Acquisition Superposition and Composting of Behaviors Learned through Teleoperation

Superposition of a small set of behaviors, learned via teleoperation, can lead to robust completion of a simple articulated reach-and-grasp task. Results support the hypothesis that a set of learned behaviors can be combined to generate new behaviors of a similar type. This supports the hypothesis that a robot can learn to interact purposefully with its environment through a developmental acquisition of sensory-motor coordination. Teleoperation bootstraps the process by enabling the robot to observe its own sensory responses to actions that lead to specific outcomes. A reach-and-grasp task, learned by an articulated robot through a small number of teleoperated trials, can be performed autonomously with success in the face of significant variations in the environment and perturbations of the goal. Superpositioning was performed using the Verbs and Adverbs algorithm that was developed originally for the graphical animation of articulated characters. Work was performed on Robonaut at NASA-JSC.

Peters, Richard Alan, II↗
NASA NTRS2004

Special Purpose Crew Restraints for Teleoperation

With permanent human presence onboard the International Space Station (ISS), and long duration space missions being planned for the moon and Mars, humans will be living and working in microgravity over increasingly long periods of time. In addition to weightlessness, the confined nature of a spacecraft environment results in ergonomic challenges such as limited visibility, and access to the activity area. These challenges can result in prolonged periods of unnatural postures for the crew, ultimately causing pain, injury, and loss of productivity. Determining the right set of human factors requirements and providing an ergonomically designed environment is crucial to mission success. While a number of general purpose restraints have been used on ISS (handrails, foot loops), experience has shown that these general purpose restraints may not be optimal, or even acceptable for some tasks that have unique requirements. For example, some onboard activities require extreme stability (e.g., glovebox microsurgery), and others involve the use of arm, torso and foot movements in order to perform the task (e-g. robotic teleoperation); standard restraint systems will not work in these situations. The Usability Testing and Analysis Facility (WAF) at the NASA Johnson Space Center began evaluations of crew restraints for these special situations by looking at NASAs Robonaut. Developed by the Robot Systems Technology Branch, Robonaut is a humanoid robot that can be remotely operated through a tetepresence control system by an operator. It was designed to perform work in hazardous environments (e.g., Extra Vehicular Activities). A Robonaut restraint was designed, modeled for the population, and ultimately tested onboard the KC-135 microgravity aircraft. While in microgravity, participants were asked to get in and out of the restraint from different locations, perform maximum reach exercises, and finally to teleoperate Robonaut while in the restraint. The sessions were videotaped, and participants completed a questionnaire at the end of each flight day. Results from this evaluation are being used to develop the human factors design requirements for teleoperation tasks in microgravity.

Whitmore, Mihriban↗
NASA NTRS1997

Issues on Internet-Based Teleoperation

This paper describes experiments of Internet modeling and of Internet-based teleoperation aimed at developing suitable control laws to overcome the variable time-delay and the data losses typical of Internet communication. The effects of packet delay jitter and losses on teleoperation performance are demonstrated using a 2-dof force feedback master.

Internet real-time communication↗
NASA NTRSDate not supplied

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

In-Space Servicing, Assembly, and Manufacturing has the potential to enable larger-scale and longer-lived infrastructure projects in space. Servicing in particular has the potential to vastly increase the usable lifetimes of satellites, both newly launched and existing. However, some of these servicing tasks require delicate manipulation and, to apply to existing satellites, need to be able to operate on structures that were not designed for servicing and, in some cases, where the exact shape of the structure is not known in advance. For this reason, human-in-the-loop ground-based teleoperation is the only option for some missions. Ground-based teleoperation presents its own difficulties. In addition to the challenge of performing delicate operations in constrained spaces, communication with the servicing platform is subject to a variable time delay on the order of 2-7 seconds, and the only visual feedback comes from camera views with limited situational awareness and viewing angles.

Teleoperation↗
NASA NTRS1972

Teleoperator systems for manned space missions

The development of remote mechanical systems to augment man's capabilities in our manned space effort is considered. A teleoperator system extends man's innate intelligence and sensory capabilities to distant hostile and hazardous environments through a manipulator-equipped spacecraft and an RF link. Examined are space teleoperator system applications in the space station/space shuttle program, which is where the most immediate need exists and the potential return is greatest.

Interian, A.↗
NASA NTRS1972

Teleoperator technology and system development, volume 1

A two phase approach was undertaken to: (1) evaluate the performance of a general-purpose anthropomorphic manipulator with various controllers and display arrangements, (2) identify basic technical limitations of existing teleoperator designs, and associated controls and displays, and (3) identify, through experimentation, the effects that controls and displays have on the performance of an anthropomorphic manipulator. In Phase 1 the NASA-furnished manipulators, controls and displays were integrated with the remote maneuvering unit; in Phase 2 experiments were defined and performed to assess the utility of teleoperators for 6 typical space inspection, maintenance and repair tasks.

Source record↗
NASA NTRS1972

Teleoperator system man-machine interface requirements for satellite retrieval and satellite servicing. Volume 1: Requirements

Requirements were determined analytically for the man machine interface for a teleoperator system performing on-orbit satellite retrieval and servicing. Requirements are basically of two types; mission/system requirements, and design requirements or design criteria. Two types of teleoperator systems were considered: a free flying vehicle, and a shuttle attached manipulator. No attempt was made to evaluate the relative effectiveness or efficiency of the two system concepts. The methodology used entailed an application of the Essex Man-Systems analysis technique as well as a complete familiarization with relevant work being performed at government agencies and by private industry.

Malone, T. B.↗
NASA NTRS1972

Shuttle free-flying teleoperator system experiment definition. Volume 3: program development requirements

The planning data are presented for subsequent phases of free-flying teleoperator program (FFTO) and includes costs, schedules and supporting research and technology activities required to implement the free-flying teleoperator system and associated flight equipment. The purpose of the data presented is to provide NASA with the information needed to continue development of the FFTO and integrate it into the space shuttle program. The planning data describes three major program phases consisting of activities and events scheduled to effect integrated design, development, fabrication and operation of an FFTO system. Phase A, Concept Generation, represents a study effort directed toward generating and evaluating a number of feasible FFTO experiment system concepts. Phase B, Definition, will include preliminary design and supporting analysis of the FFTO, the shuttle based equipment and ground support equipment. Phase C/D, Design, Development and Operations will include detail design of the operational FFTO, its integration into the space shuttle, hardware fabrication and testing, delivery of flight hardware and support of flight operations. Emphasis is placed on the planning for Phases A and B since these studies will be implemented early in the development cycle. Phase C/D planning is more general and subject to refinement during the definition phase.

Source record↗
NASA NTRS1973

Teleoperators and EVA for Shuttle missions

Review of the methods currently being contemplated for enabling the Space Shuttle to perform the Shuttle and payload support missions. Two general approaches to carrying out such activity are discussed - namely, the use of teleoperators and astronaut extravehicular activity (EVA). Detailed descriptions are given of an attached manipulator system (AMS) and a free-flying teleoperator (FFTO), noting the applications, capabilities, and limitations of each. The primary technology development areas for the AMS are in the areas of stabilization, structure, and manual control, while the technology areas of primary concern in the case of the FFTO include the manipulator-grappler system, the control system, the video system, and the mobility system. Four modes of EVA that are possible for the Shuttle are cited, noting the unlikelihood of direct applicability of EVA to payload deployment and retrieval and its feasibility for payload servicing and experiment support.

Malone, T. B.↗
NASA NTRS1986

Duty cycle testing and performance evaluation of the SM-229 teleoperator

The first known experimental studies and analyses of teleoperator performance for specific duty cycles are discussed. The results are presented in two distinct areas as position usage patterns, and as three-dimensional power grids. The position usage patterns are a valuable means to assess the available motion range. The power grids are a unique concept for evaluating joint performance. Final conclusions contain recommendations to upgrade the teleoperator for optimum performance.

Stoughton, Robert S.↗
NASA NTRS1987

Manipulator arm design for the Extravehicular Teleoperator Assist Robot (ETAR): Applications on the space station

The preliminary conceptual design of a new teleoperator robot manipulator system for space station maintenance missions has been completed. The system consists of a unique pair of arms that is part of a master-slave, force-reflecting servomanipulator. This design allows greater dexterity and greater volume coverage than that available in current designs and concepts. The teleoperator manipulator is specifically designed for space applications and is a valuable extension of the current state-of-the-art earthbound manipulators marketed today. The manipulator and its potential application on the space station are described.

Clarke, Margaret M.↗
NASA NTRS1987

Space truss assembly using teleoperated manipulators

Teleoperator experiments were conducted which have demonstrated that a realistic, complex task, typical of those accomplished on-orbit by EVA astronauts, can be done in a smooth, timely manner with manipulators remotely controlled by humans. The real concerns were: (1) do manipulators have sufficient dexterity for these tasks, (2) can sufficient information from the remote site be provided to permit adequate teleoperator control, (3) can reasonable times relative to EVA times be achieved, (4) can the task be completed without frequent and/or damaging impacts among the task components and the manipulators? Positive answers were found to all of these concerns. Tasks times, operator fatigue, and smoothness of operation could be improved by designing the task components and the manipulators for greater compatibility. The data recorded supplements a data base of performance metrics for the same task done in the water immersion training facility as well as space flight and provides management with an objective basis for deciding how and where to apply manipulators in space.

Hankins, Walter W., III↗
NASA NTRS1987

Adaptive force-position control for teleoperated manipulators

An adaptive controller with self-tuning can be designed for teleoperated robotic manipulators by determining a time-series model for the function of the teleoperator. Specifically, the position and force exerted by the operator are modelled for determining the derived values for the trajectory of the end-effector of the manipulator. Thus, the adaptive controller can be designed by following the steps which have previously been presented for the controller design of the gross motion.

Koivo, A. J.↗
NASA NTRS1988

Telepresence for touch and proprioception in teleoperator systems

The control and operation of mechanical manipulators by a human and the use of sensory tactile and force feedback is reviewed. The terms telepresence, teleproprioception, and teletouch are defined and relevant technologies that have or could have been applied to teleoperation are discussed. An ideal method of tactile sensory feedback for teleoperators that is based upon reproduction of the object's contour is discussed, and its practicality considered. Previously developed components that could be used to build a system incorporating sensory tactile and force feedback are presented.

Hagner, David G.↗
NASA NTRS1989

Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

Lee, Thomas S.↗