Teleoperator applications in the manned space program
Free flight remote controlled teleoperator system applications in manned orbital space station/space shuttle program
Interian, A.↗
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Tactile preception studies related to teleoperator systems
Experimental tests to measure short term memory characteristics of visual and tactile perception related to teleoperator systems
Bliss, J. C.↗
Tactile perception studies related to teleoperator systems Final report, 20 Jun. 1970 - 20 Jun. 1971
Computer assisted teleoperator control system for making comparative performance evaluations of tactile perception
Bliss, J. C.↗
Human factors applications in teleoperator design and operation
Book on human factors application in teleoperator design and operation covering aerospace environments, transportation, remote control, sensors and actuator subsystems
Corliss, W. R.↗
Man, teleoperators, and robots - An optimum team for space exploration
Man-teleoperator-robot teams for space exploration facilities construction and operation, discussing lunar programs
Johnsen, E. G.↗
The astronaut-teleoperator team for space operations
Astronaut teleoperators use for space operations cost reduction and future experiments productivity increase
Johnsen, E. G.↗
Shuttle free-flying teleoperator system experiment definition. Volume 1: Executive summary
The applicability and utility of a free-flying teleoperator system were evaluated to support future earth orbital missions, specific emphasis on the early missions of the space shuttle. In-flight experiments and tests were specified, which will provide sufficient experience and data applicable to the development of future operational systems. The difinition of a useful early experimental system is presented, which will be checked out and used with early shuttle missions.
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A computer assisted teleoperator control station with tactile feedback
A computer-assisted teleoperator control system for making comparative performance evaluations is described. A local and a remote control station, each with decision-making capability, communicate with each other through a simulated time delay. Supervisory control at three increasingly automatic levels is possible. The highest level of programmed control is facilitated through the ARM language which was developed to permit easily readable program manuscripts to be written and assembled into programs of motions by novice programmers. Experimental results show the advantage of this form of supervisory control with both direct and delayed (3 sec) manipulation tasks. In addition, two systems to measure and reproduce force distributions have been designed. One system reproduces contact on the external surfaces of the remote hand using 21 airjet simulators. Another system reproduces the shape of the contact between object and jaws using 288 piezoelectric (bimorph) stimulators.
Hill, J. W.↗
Conceptual design study for a teleoperator visual system, phase 1
Results are reported for work performed during the first phase of the conceptual design study for a teleoperator visual system. This phase consists of four tasks: General requirements, concept development, subsystem requirements and analysis, and concept evaluation.
Adams, D.↗
Design of a terminal pointer hand controller for teleoperator applications
The design is described of a hand controller intended to achieve the highest possible compatibility with the hand of the human operator in a teleoperator system. Concepts drawings and model development are discussed along with the development of a prototype, and the mathematical control laws.
Saenger, E. L.↗
Evaluation of human operator visual performance capability for teleoperator missions.
Investigation of the human operator visual performance demands of teleoperator system applications to earth-orbital missions involving visual system requirements for satellite retrieval and satellite servicing functions. The first phase of an experimental program implementing this investigation is described in terms of the overall test apparatus and procedures used, the specific tests performed, and the test results obtained.
Huggins, C. T.↗
Configuration and design study of manipulator systems applicable to the free flying teleoperator. Volume 1: Executive summary
A preliminary design of a manipulator system, applicable to a free flying teleoperator spacecraft operating in conjunction with the shuttle or tug, is presented. A new control technique is proposed for application to the manipulator system. This technique, a range/azimuth/elevation rate-rate mode, was selected based upon the results of man-in-the-loop simulations. Several areas are identified in which additional emphasis must be placed prior to the development of the manipulator system. The study results in a manipulator system which will provide an effective method for servicing, maintaining, and repairing satellites to increase their useful life.
Tewell, J. R.↗
Configuration and design study of manipulator systems applicable to the freeflying teleoperator. Volume 2: Preliminary design
The preliminary design of a remotely controlled teleoperator for space application is reported that depends on man for control inputs and extends operation of the space shuttle.
Tewell, J. R.↗
Earth orbital teleoperator manipulator system evaluation program
The performance of an orbital teleoperator system which includes small dextrous servicing manipulators to be used in satellite servicing was examined. System/operator performance testing was implemented and the results of a fine positioning control test using two different manipulator systems varying widely in manipulator configuration and control systems are presented. Fine position control is viewed as representing a fundamental requirement placed on manipulator control. The relationship of position control to more complex tasks which directly represent on-orbit servicing operations are also presented.
Kirkpatrick, M., III↗
A manipulator system designed for Free-Flying Teleoperator Spacecraft
A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spacecraft operating in conjunction with the Shuttle or Tug, is presented. The manipulator arm incorporates two 4-ft segments to the wrist with actuators located at the shoulder, elbow, and wrist. The wrist provides three degrees-of-freedom through pitch, yaw and continuous roll joints. An interchangeable end effector provides multiple task performance and satellite worksite versatility. A tip force of 10 lbs and a torque of 15 ft-lbs is provided. Man-in-the-loop simulations, using both unilateral and bilateral control techniques, were conducted. Based upon the simulation, a new, but relatively simple, control technique was proposed for the manipulator system.
Tewell, J. R.↗
Free-flying teleoperator for space missions
The design of a free-flying teleoperator (FFTO) intended to assist the Space Shuttle in performing its various missions is discussed, where FFTO is to be carried into earth orbit and returned to earth by the Shuttle. The FFTO system is described as to configuration, major subsystems, and mechanization concept. The kinematics of the manipulator and methods of sedating a satellite are discussed. Satellite equations of motion are provided, and cases of zero tumbling rate and non-zero tumbling rate are examined. Cases for which use of FFTO is compulsory are indicated, and the FFTO contributions to the Shuttle missions are analyzed.
Hung, J. C.↗
Earth orbital teleoperator mobility system evaluation program
The proximity translation and final docking of the space teleoperator evaluation vehicle (STEV) with large mass and small mass satellites was studied. Operations that may be performed by the STEV during the shuttle experiments are approximated.
Brye, R. G.↗
NASA develops teleoperator retrieval system
The teleoperator retrieval system vehicle was designed to reboost and/or deorbit the Skylab; however, usefulness in survey, stabilization, retrieval and delivery was examined. Thrusters, designed for cold gas propulsion, were adapted to hydrazine propulsion. Design specifications and cost analysis are given.
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