Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

NASA Astrophysics Data System (ADS)

Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

2017-08-01

Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

Telepresence for touch and proprioception in teleoperator systems

NASA Technical Reports Server (NTRS)

Hagner, David G.; Webster, John G.

1988-01-01

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.

Test and training simulator for ground-based teleoperated in-orbit servicing

NASA Technical Reports Server (NTRS)

Schaefer, Bernd E.

1989-01-01

For the Post-IOC(In-Orbit Construction)-Phase of COLUMBUS it is intended to use robotic devices for the routine operations of ground-based teleoperated In-Orbit Servicing. A hardware simulator for verification of the relevant in-orbit operations technologies, the Servicing Test Facility, is necessary which mainly will support the Flight Control Center for the Manned Space-Laboratories for operational specific tasks like system simulation, training of teleoperators, parallel operation simultaneously to actual in-orbit activities and for the verification of the ground operations segment for telerobotics. The present status of definition for the facility functional and operational concept is described.

A novel control architecture for physiological tremor compensation in teleoperated systems.

PubMed

Ghorbanian, A; Zareinejad, M; Rezaei, S M; Sheikhzadeh, H; Baghestan, K

2013-09-01

Telesurgery delivers surgical care to a 'remote' patient by means of robotic manipulators. When accurate positioning of the surgeon's tool is required, as in microsurgery, physiological tremor causes unwanted imprecision during a surgical operation. Accurate estimation/compensation of physiological tremor in teleoperation systems has been shown to improve performance during telesurgery. A new control architecture is proposed for estimation and compensation of physiological tremor in the presence of communication time delays. This control architecture guarantees stability with satisfactory transparency. In addition, the proposed method can be used for applications that require modifications in transmitted signals through communication channels. Stability of the bilateral tremor-compensated teleoperation is preserved by extending the bilateral teleoperation to the equivalent trilateral Dual-master/Single-slave teleoperation. The bandlimited multiple Fourier linear combiner (BMFLC) algorithm is employed for real-time estimation of the operator's physiological tremor. Two kinds of stability analysis are employed. In the model-base controller, Llewellyn's Criterion is used to analyze the teleoperation absolute stability. In the second method, a nonmodel-based controller is proposed and the stability of the time-delayed teleoperated system is proved by employing a Lyapunov function. Experimental results are presented to validate the effectiveness of the new control architecture. The tremorous motion is measured by accelerometer to be compensated in real time. In addition, a Needle-Insertion setup is proposed as a slave robot for the application of brachytherapy, in which the needle penetrates in the desired position. The slave performs the desired task in two classes of environments (free motion of the slave and in the soft tissue). Experiments show that the proposed control architecture effectively compensates the user's tremorous motion and the slave follows only the master's voluntary motion in a stable manner. Copyright © 2012 John Wiley & Sons, Ltd.

Teleoperator Maneuvering System (TMS) benefits assessment study. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

1983-01-01

Teleoperator Maneuvering System (TMS) versus integral spacecraft propulsion, spacecraft maintenance, cost benefits, launch prices, integral propulsion length penalties, remote maintenance versus EVA, potential weight reduction benefits, basing mode, mission models and payload requirements, and program profitability are discussed.

Real-time cartesian force feedback control of a teleoperated robot

NASA Technical Reports Server (NTRS)

Campbell, Perry

1989-01-01

Active cartesian force control of a teleoperated robot is investigated. An economical microcomputer based control method was tested. Limitations are discussed and methods of performance improvement suggested. To demonstrate the performance of this technique, a preliminary test was performed with success. A general purpose bilateral force reflecting hand controller is currently being constructed based on this control method.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1991-01-01

A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction.

PubMed

Li, Changsheng; Wang, Tianmiao; Hu, Lei; Zhang, Lihai; Du, Hailong; Zhao, Lu; Wang, Lifeng; Tang, Peifu

2015-09-01

Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation. © IMechE 2015.

Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery.

PubMed

Seung, Sungmin; Choi, Hongseok; Jang, Jongseong; Kim, Young Soo; Park, Jong-Oh; Park, Sukho; Ko, Seong Young

2017-01-01

This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.

Framework for teleoperated microassembly systems

NASA Astrophysics Data System (ADS)

Reinhart, Gunther; Anton, Oliver; Ehrenstrasser, Michael; Patron, Christian; Petzold, Bernd

2002-02-01

Manual assembly of minute parts is currently done using simple devices such as tweezers or magnifying glasses. The operator therefore requires a great deal of concentration for successful assembly. Teleoperated micro-assembly systems are a promising method for overcoming the scaling barrier. However, most of today's telepresence systems are based on proprietary and one-of-a-kind solutions. Frameworks which supply the basic functions of a telepresence system, e.g. to establish flexible communication links that depend on bandwidth requirements or to synchronize distributed components, are not currently available. Large amounts of time and money have to be invested in order to create task-specific teleoperated micro-assembly systems from scratch. For this reason, an object-oriented framework for telepresence systems that is based on CORBA as a common middleware was developed at the Institute for Machine Tools and Industrial Management (iwb). The framework is based on a distributed architectural concept and is realized in C++. External hardware components such as haptic, video or sensor devices are coupled to the system by means of defined software interfaces. In this case, the special requirements of teleoperation systems have to be considered, e.g. dynamic parameter settings for sensors during operation. Consequently, an architectural concept based on logical sensors has been developed to achieve maximum flexibility and to enable a task-oriented integration of hardware components.

Human operator performance of remotely controlled tasks: Teleoperator research conducted at NASA's George C. Marshal Space Flight Center

NASA Technical Reports Server (NTRS)

Shields, N., Jr.; Piccione, F.; Kirkpatrick, M., III; Malone, T. B.

1982-01-01

The capabilities within the teleoperator laboratories to perform remote and teleoperated investigations for a wide variety of applications are described. Three major teleoperator issues are addressed: the human operator, the remote control and effecting subsystems, and the human/machine system performance results for specific teleoperated tasks.

Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.

PubMed

Ehrampoosh, Shervin; Dave, Mohit; Kia, Michael A; Rablau, Corneliu; Zadeh, Mehrdad H

2013-01-01

This paper presents an enhanced haptic-enabled master-slave teleoperation system which can be used to provide force feedback to surgeons in minimally invasive surgery (MIS). One of the research goals was to develop a combined-control architecture framework that included both direct force reflection (DFR) and position-error-based (PEB) control strategies. To achieve this goal, it was essential to measure accurately the direct contact forces between deformable bodies and a robotic tool tip. To measure the forces at a surgical tool tip and enhance the performance of the teleoperation system, an optical force sensor was designed, prototyped, and added to a robot manipulator. The enhanced teleoperation architecture was formulated by developing mathematical models for the optical force sensor, the extended slave robot manipulator, and the combined-control strategy. Human factor studies were also conducted to (a) examine experimentally the performance of the enhanced teleoperation system with the optical force sensor, and (b) study human haptic perception during the identification of remote object deformability. The first experiment was carried out to discriminate deformability of objects when human subjects were in direct contact with deformable objects by means of a laparoscopic tool. The control parameters were then tuned based on the results of this experiment using a gain-scheduling method. The second experiment was conducted to study the effectiveness of the force feedback provided through the enhanced teleoperation system. The results show that the force feedback increased the ability of subjects to correctly identify materials of different deformable types. In addition, the virtual force feedback provided by the teleoperation system comes close to the real force feedback experienced in direct MIS. The experimental results provide design guidelines for choosing and validating the control architecture and the optical force sensor.

Consolidated fuel reprossing program: The implications of force reflection for teleoperation in space

NASA Technical Reports Server (NTRS)

Draper, John V.; Herndon, Joseph N.; Moore, Wendy E.

1987-01-01

Previous research on teleoperator force feedback is reviewed and results of a testing program which assessed the impact of force reflection on teleoperator task performance are reported. Force relection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force relection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space based teleoperator systems. The discussion described the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection.

Advanced control techniques for teleoperation in earth orbit

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Brooks, T. L.

1980-01-01

Emerging teleoperation tasks in space invite advancements in teleoperator control technology. This paper briefly summarizes the generic issues related to earth orbital applications of teleoperators, and describes teleoperator control technology development work including visual and non-visual sensors and displays, kinesthetic feedback and computer-aided controls. Performance experiments were carried out using sensor and computer aided controls with promising results which are briefly summarized.

Modular architecture for robotics and teleoperation

DOEpatents

Anderson, Robert J.

1996-12-03

Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

Typical teleoperator time delay profiles, phase 2. [remotely controlled manipulator arms

NASA Technical Reports Server (NTRS)

Wetherington, R. D.; Walsh, J. R.

1974-01-01

The results of the second phase of a study on time delays in communications systems applicable to the teleoperator program are presented. Estimates of the maximum time delays that will be encountered and presents time delay profiles are given for (1) ground control to teleoperator in low earth orbit, (2) ground control to teleoperator in geosynchronous orbit, and (3) low earth orbit control to teleoperator in low earth orbit.

Human factor roles in design of teleoperator systems

NASA Technical Reports Server (NTRS)

Janow, C.; Malone, T. B.

1973-01-01

Teleoperator systems are considered, giving attention to types of teleoperators, a manned space vehicle attached manipulator, a free-flying teleoperator, a surface exploration roving vehicle, the human factors role in total system design, the manipulator system, the sensor system, the communication system, the control system, and the mobility system. The role of human factors in the development of teleoperator systems is also discussed, taking into account visual systems, an operator control station, and the manipulators.

A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation

PubMed Central

Torres, Luis G.; Kuntz, Alan; Gilbert, Hunter B.; Swaney, Philip J.; Hendrick, Richard J.; Webster, Robert J.; Alterovitz, Ron

2015-01-01

Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot’s shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot’s tip. However, the robot’s unintuitive kinematics makes it difficult for a human user to manually ensure obstacle avoidance along the entire tentacle-like shape of the robot’s shaft. We present a motion planning approach for concentric tube robot teleoperation that enables the robot to interactively maneuver its tip to points selected by a user while automatically avoiding obstacles along its shaft. We achieve automatic collision avoidance by precomputing a roadmap of collision-free robot configurations based on a description of the anatomical obstacles, which are attainable via volumetric medical imaging. We also mitigate the effects of kinematic modeling error in reaching the goal positions by adjusting motions based on robot tip position sensing. We evaluate our motion planner on a teleoperated concentric tube robot and demonstrate its obstacle avoidance and accuracy in environments with tubular obstacles. PMID:26413381

A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation.

PubMed

Torres, Luis G; Kuntz, Alan; Gilbert, Hunter B; Swaney, Philip J; Hendrick, Richard J; Webster, Robert J; Alterovitz, Ron

2015-05-01

Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot's tip. However, the robot's unintuitive kinematics makes it difficult for a human user to manually ensure obstacle avoidance along the entire tentacle-like shape of the robot's shaft. We present a motion planning approach for concentric tube robot teleoperation that enables the robot to interactively maneuver its tip to points selected by a user while automatically avoiding obstacles along its shaft. We achieve automatic collision avoidance by precomputing a roadmap of collision-free robot configurations based on a description of the anatomical obstacles, which are attainable via volumetric medical imaging. We also mitigate the effects of kinematic modeling error in reaching the goal positions by adjusting motions based on robot tip position sensing. We evaluate our motion planner on a teleoperated concentric tube robot and demonstrate its obstacle avoidance and accuracy in environments with tubular obstacles.

A control method for bilateral teleoperating systems

NASA Astrophysics Data System (ADS)

Strassberg, Yesayahu

1992-01-01

The thesis focuses on control of bilateral master-slave teleoperators. The bilateral control issue of teleoperators is studied and a new scheme that overcomes basic unsolved problems is proposed. A performance measure, based on the multiport modeling method, is introduced in order to evaluate and understand the limitations of earlier published bilateral control laws. Based on the study evaluating the different methods, the objective of the thesis is stated. The proposed control law is then introduced, its ideal performance is demonstrated, and conditions for stability and robustness are derived. It is shown that stability, desired performance, and robustness can be obtained under the assumption that the deviation of the model from the actual system satisfies certain norm inequalities and the measurement uncertainties are bounded. The proposed scheme is validated by numerical simulation. The simulated system is based on the configuration of the RAL (Robotics and Automation Laboratory) telerobot. From the simulation results it is shown that good tracking performance can be obtained. In order to verify the performance of the proposed scheme when applied to a real hardware system, an experimental setup of a three degree of freedom master-slave teleoperator (i.e. three degree of freedom master and three degree of freedom slave robot) was built. Three basic experiments were conducted to verify the performance of the proposed control scheme. The first experiment verified the master control law and its contribution to the robustness and performance of the entire system. The second experiment demonstrated the actual performance of the system while performing a free motion teleoperating task. From the experimental results, it is shown that the control law has good performance and is robust to uncertainties in the models of the master and slave.

A performance analysis method for distributed real-time robotic systems: A case study of remote teleoperation

NASA Technical Reports Server (NTRS)

Lefebvre, D. R.; Sanderson, A. C.

1994-01-01

Robot coordination and control systems for remote teleoperation applications are by necessity implemented on distributed computers. Modeling and performance analysis of these distributed robotic systems is difficult, but important for economic system design. Performance analysis methods originally developed for conventional distributed computer systems are often unsatisfactory for evaluating real-time systems. The paper introduces a formal model of distributed robotic control systems; and a performance analysis method, based on scheduling theory, which can handle concurrent hard-real-time response specifications. Use of the method is illustrated by a case of remote teleoperation which assesses the effect of communication delays and the allocation of robot control functions on control system hardware requirements.

Some criteria for teleoperators and virtual environments from experiences with vehicle/operator simulation

NASA Technical Reports Server (NTRS)

Jex, Henry R.

1991-01-01

A review is given of a wide range of simulations in which operator steering control of a vehicle is involved and the dominant-clues, closed-loop bandwidth, measured operator effective time-delay, and ratio of bandwidth-to-inverse delay are summarized. A correlation of kinetosis with dynamic scene field-of-view is shown. The use of moving base simulators to improve the validity of locomotion teleoperations is discussed. some rules-of-thumb for good 'feel-system' simulation, such as for control manipulanda are given. Finally, simulation tests of teleoperators and virtual environments should include three types of measures: system performance, operator (or robot) 'behavior', and mental workload evaluations.

Tele-Operated Lunar Rover Navigation Using Lidar

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan;

Operational experience and design recommendations for teleoperated flight hardware

NASA Technical Reports Server (NTRS)

Burgess, T. W.; Kuban, D. P.; Hankins, W. W.; Mixon, R. W.

1988-01-01

Teleoperation (remote manipulation) will someday supplement/minimize astronaut extravehicular activity in space to perform such tasks as satellite servicing and repair, and space station construction and servicing. This technology is being investigated by NASA with teleoperation of two space-related tasks having been demonstrated at the Oak Ridge National Lab. The teleoperator experiments are discussed and the results of these experiments are summarized. The related equipment design recommendations are also presented. In addition, a general discussion of equipment design for teleoperation is also presented.

Robotic system for retractable teleoperated arm within enclosed shell with capability of operating within a confined space

DOEpatents

Randolph, John David; Lloyd, Peter Downes; Love, Lonnie Joe; Kwon, Dong Soo; Blank, James Allen; Davis, Hurley Thomas

2001-01-01

An apparatus for performing a task in a confined space having an access port. The apparatus comprise: a confinement box securable to the access port of the confined space; a shell extending from the confinement box; a teleoperated arm movable between a retracted position, in which the teleoperated arm is disposed within the shell, and a deployed position, in which the teleoperated arm extends through the access port and into the confined space to perform the task; and a control system for commanding the teleoperated arm. The arm links and joint connectors of the teleoperated arm assembly are the conduits for the process

NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anthony L. Crawford

MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedommore » during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the traditional linear scaling techniques used by other systems. Key Words: Teleoperation, Robotic Hand, Robotic Force Scaling« less

Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

NASA Technical Reports Server (NTRS)

1985-01-01

The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1990-01-01

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Teleoperator and robotics system analysis

NASA Technical Reports Server (NTRS)

Teoh, William

1987-01-01

The Orbital Maneuvering Vehicle (OMV) was designed to operate as a remotely controlled space teleoperator. The design and implementation of OMM (a mathematical model of the OMV) are discussed. The State Vector Transformation Module (SVX), an interface between the OMV simulation model and the mobile base (TOM-B) of the flat floor simulation system is described. A summary of testing procedures and conclusions are presented together with the test data obtained.

A dual-user teleoperation system with Online Authority Adjustment for haptic training.

PubMed

Fei Liu; Leleve, Arnaud; Eberard, Damien; Redarce, Tanneguy

2015-08-01

This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA): the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.

Teleoperation with large time delay using a prevision system

NASA Astrophysics Data System (ADS)

Bergamasco, Massimo; De Paolis, Lucio; Ciancio, Stefano; Pinna, Sebastiano

1997-12-01

In teleoperation technology various techniques have been proposed in order to alleviate the effects of time delayed communication and to avoid the instability of the system. This paper describes a different approach to robotic teleoperation with large-time delay and a teleoperation system, based on teleprogramming paradigm, has been developed with the intent to improve the slave autonomy and to decrease the amount of information exchanged between master and slave system. The goal concept, specific of AI, has been used. In order to minimize the total task completion time has been introduced a prevision system, called Merlino, able to know in advance the slave's choices taking into account both the operator's actions and the information about the remote environment. The prevision system allows, in case of environment changes, to understand if the slave can solve the goal. Otherwise, Merlino is able to signal a 'fail situation.' Some experiments have been carried out by means of an advanced human-machine interface with force feedback, designed at PERCRO Laboratory of Scuola Superiore S. Anna, which gives a better sensation of presence in the remote environment.

Man-machine interface issues in space telerobotics: A JPL research and development program

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1987-01-01

Technology issues related to the use of robots as man-extension or telerobot systems in space are discussed and exemplified. General considerations are presentd on control and information problems in space teleoperation and on the characteristics of Earth orbital teleoperation. The JPL R and D work in the area of man-machine interface devices and techniques for sensing and computer-based control is briefly summarized. The thrust of this R and D effort is to render space teleoperation efficient and safe through the use of devices and techniques which will permit integrated and task-level (intelligent) two-way control communication between human operator and telerobot machine in Earth orbit. Specific control and information display devices and techniques are discussed and exemplified with development results obtained at JPL in recent years.

Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

PubMed

Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

2008-01-01

This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

Surface electromyogram for the control of anthropomorphic teleoperator fingers.

PubMed

Gupta, V; Reddy, N P

1996-01-01

Growing importance of telesurgery has led to the need for the development of synergistic control of anthropomorphic teleoperators. Synergistic systems can be developed using direct biological control. The purpose of this study was to develop techniques for direct biocontrol of anthropomorphic teleoperators using surface electromyogram (EMG). A computer model of a two finger teleoperator was developed and controlled using surface EMG from the flexor digitorum superficialis during flexion-extension of the index finger. The results of the study revealed a linear relationship between the RMS EMG and the flexion-extension of the finger model. Therefore, surface EMG can be used as a direct biocontrol for teleoperators and in VR applications.

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

NASA Technical Reports Server (NTRS)

Lee, Thomas S.

1989-01-01

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.

Interset: A natural language interface for teleoperated robotic assembly of the EASE space structure

NASA Technical Reports Server (NTRS)

Boorsma, Daniel K.

1989-01-01

A teleoperated robot was used to assemble the Experimental Assembly of Structures in Extra-vehicular activity (EASE) space structure under neutral buoyancy conditions, simulating a telerobot performing structural assembly in the zero gravity of space. This previous work used a manually controlled teleoperator as a test bed for system performance evaluations. From these results several Artificial Intelligence options were proposed. One of these was further developed into a real time assembly planner. The interface for this system is effective in assembling EASE structures using windowed graphics and a set of networked menus. As the problem space becomes more complex and hence the set of control options increases, a natural language interface may prove to be beneficial to supplement the menu based control strategy. This strategy can be beneficial in situations such as: describing the local environment, maintaining a data base of task event histories, modifying a plan or a heuristic dynamically, summarizing a task in English, or operating in a novel situation.

A design framework for teleoperators with kinesthetic feedback

NASA Technical Reports Server (NTRS)

Hannaford, Blake

1989-01-01

The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performace and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with th ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture.

Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery.

PubMed

Mattos, Leonardo S; Caldwell, Darwin G

2012-01-01

This paper describes a new intraoperative planning system created to improve precision and safety in teleoperated laser microsurgeries. It addresses major safety issues related to real-time control of a surgical laser during teleoperated procedures, which are related to the reliability and robustness of the telecommunication channels. Here, a safe solution is presented, consisting in a new planning system architecture that maintains the flexibility and benefits of real-time teleoperation and keeps the surgeon in control of all surgical actions. The developed system is based on our virtual scalpel system for robot-assisted laser microsurgery, and allows the intuitive use of stylus to create surgical plans directly over live video of the surgical field. In this case, surgical plans are defined as graphic objects overlaid on the live video, which can be easily modified or replaced as needed, and which are transmitted to the main surgical system controller for subsequent safe execution. In the process of improving safety, this new planning system also resulted in improved laser aiming precision and improved capability for higher quality laser procedures, both due to the new surgical plan execution module, which allows very fast and precise laser aiming control. Experimental results presented herein show that, in addition to the safety improvements, the new planning system resulted in a 48% improvement in laser aiming precision when compared to the previous virtual scalpel system.

EVALUATING ROBOT TECHNOLOGIES AS TOOLS TO EXPLORE RADIOLOGICAL AND OTHER HAZARDOUS ENVIRONMENTS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Curtis W. Nielsen; David I. Gertman; David J. Bruemmer

2008-03-01

There is a general consensus that robots could be beneficial in performing tasks within hazardous radiological environments. Most control of robots in hazardous environments involves master-slave or teleoperation relationships between the human and the robot. While teleoperation-based solutions keep humans out of harms way, they also change the training requirements to accomplish a task. In this paper we present a research methodology that allowed scientists at Idaho National Laboratory to identify, develop, and prove a semi-autonomous robot solution for search and characterization tasks within a hazardous environment. Two experiments are summarized that validated the use of semi-autonomy and show thatmore » robot autonomy can help mitigate some of the performance differences between operators who have different levels of robot experience, and can improve performance over teleoperated systems.« less

Teleoperated systems for nuclear reactors: Inspection and maintenance

NASA Technical Reports Server (NTRS)

Dorokhov, V. P.; Dorokhov, D. V.; Eperin, A. P.

1994-01-01

The present paper describes author's work in the field of teleoperated equipment for inspection and maintenance of the RBML technological channels and graphite laying, emergency operations. New technological and design solutions of teleoperated robotic systems developed for Leningradsky Power Plant are discussed.

Human/computer control of undersea teleoperators

NASA Technical Reports Server (NTRS)

Sheridan, T. B.; Verplank, W. L.; Brooks, T. L.

1978-01-01

The potential of supervisory controlled teleoperators for accomplishment of manipulation and sensory tasks in deep ocean environments is discussed. Teleoperators and supervisory control are defined, the current problems of human divers are reviewed, and some assertions are made about why supervisory control has potential use to replace and extend human diver capabilities. The relative roles of man and computer and the variables involved in man-computer interaction are next discussed. Finally, a detailed description of a supervisory controlled teleoperator system, SUPERMAN, is presented.

Design and Construction of a Modular Lunar Base

NASA Astrophysics Data System (ADS)

Grandl, Dipl. Ing Werner

DESIGN and CONSTRUCTION of a MODULAR LUNAR BASE Purpose: The Lunar Base Design Study is a concept for the return of humans from 2020 to the end of the century. Structure: The proposed lunar station is built of 6 cylindrical modules, each one 17 m long and 6 m in diameter. Each module is made of aluminium sheets and trapezoidal aluminium sheeting and has a weight (on earth) of approx.10.2 tonnes, including the interior equipment and furnishing. The outer wall of the cylinders is built as a double-shell system, stiffened by radial bulkheads. 8 astronauts or scientists can live and work in the station, using the modules as follows: -1 Central Living Module -2 Living Quater Modules, with private rooms for each person -1 Laboratory Module for scientific research and engineering -1 Airlock Module, containing outdoor equipment, space suits, etc. -1 Energy Plant Module, carrying solar panels a small nuclear reactor and antennas for communication. Shielding: To protect the astronauts micrometeorites and radiation, the caves between the two shells of the outer wall are filled with a 0.6 m thick layer or regolith in situ by a small teleoperated digger vehicle. Using lunar material for shielding the payload for launching can be minimized. Launch and Transport: For launching a modified ARIANE 5 launcher or similar US, Russian, Chinese or Indian rockets can be used. For the flight from Earth Orbit to Lunar Orbit a "Space-Tug", which is deployed in Earth Orbit, can be used. To land the modules on the lunar surface a "Teleoperated Rocket Crane" has been developed by the author. This vehicle will be assembled in lunar orbit and is built as a structural framework, carrying rocket engines, fuel tanks and teleoperated crawlers to move the modules on the lunar surface. To establish this basic stage of the Lunar Base 11 launches are necessary: -1 Lunar Orbiter, a small manned spaceship (3 astronauts) -1 Manned Lander and docking module for the orbiter -1 Teleoperated Rocket Crane -6 Lunar Base Modules -1 machinery, teleoperated digger and excavator vehicle, etc. -1 scientific equipment, Lunar Rover, etc. Future: Due to its modular design the LUNAR BASE can be enlarged in stages, finally becom-ing an "urban structure" for dozens of astronauts, scientists and even tourists, always using similar launchers and machinery with current technoloy. Werner Grandl

Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

PubMed

Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

2017-12-01

To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

Smith predictor-based robot control for ultrasound-guided teleoperated beating-heart surgery.

PubMed

Bowthorpe, Meaghan; Tavakoli, Mahdi; Becher, Harald; Howe, Robert

2014-01-01

Performing surgery on fast-moving heart structures while the heart is freely beating is next to impossible. Nevertheless, the ability to do this would greatly benefit patients. By controlling a teleoperated robot to continuously follow the heart's motion, the heart can be made to appear stationary. The surgeon will then be able to operate on a seemingly stationary heart when in reality it is freely beating. The heart's motion is measured from ultrasound images and thus involves a non-negligible delay due to image acquisition and processing, estimated to be 150 ms that, if not compensated for, can cause the teleoperated robot's end-effector (i.e., the surgical tool) to collide with and puncture the heart. This research proposes the use of a Smith predictor to compensate for this time delay in calculating the reference position for the teleoperated robot. The results suggest that heart motion tracking is improved as the introduction of the Smith predictor significantly decreases the mean absolute error, which is the error in making the distance between the robot's end-effector and the heart follow the surgeon's motion, and the mean integrated square error.

The system integration and verification testing of an orbital maneuvering vehicle for an air bearing floor

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Martin, M. F.; Paulukaitis, K. R.; Haslam, J. W., Jr.; Henderson, D. E.

1986-01-01

The teleoperator and Robotics Evaluation Facility (TOREF) is composed of a 4,000 square foot precision air bearing floor, the Teleoperator Motion Base, the Target Motion and Support Simulator, the mock-ups of the Hubble Space Telescope, Multi-mission Modular Spacecraft, and the Orbital Maneuvering Vehicle (OMV). The TOREF and its general capabilities to support the OMV and other remote system simulations; the facility operating procedures and requirements; and the results of generic OMV investigations are summarized.

Integration of a sensor based multiple robot environment for space applications: The Johnson Space Center Teleoperator Branch Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hwang, James; Campbell, Perry; Ross, Mike; Price, Charles R.; Barron, Don

1989-01-01

An integrated operating environment was designed to incorporate three general purpose robots, sensors, and end effectors, including Force/Torque Sensors, Tactile Array sensors, Tactile force sensors, and Force-sensing grippers. The design and implementation of: (1) the teleoperation of a general purpose PUMA robot; (2) an integrated sensor hardware/software system; (3) the force-sensing gripper control; (4) the host computer system for dual Robotic Research arms; and (5) the Ethernet integration are described.

Design of an autonomous teleoperated cargo transporting vehicle for lunar base operations

NASA Technical Reports Server (NTRS)

Holt, James; Lao, Tom; Monali, Nkoy

1989-01-01

At the turn of the century NASA plans to begin construction of a lunar base. The base will likely consist of developed areas (i.e., habitation, laboratory, landing and launching sites, power plant) separated from each other due to safety considerations. The Self-Repositioning Track Vehicle (SRTV) was designed to transport cargo between these base facilities. The SRTV operates by using two robotic arms to raise and position segments of track upon which the vehicle travels. The SRTV utilizes the semiautonomous mobility (SAM) method of teleoperation; actuator-controlled interlocking track sections; two robotic arms each with five degrees of freedom; and these materials: titanium for structural members and aluminum for shell members, with the possible use of light-weight, high-strength composites.

Space teleoperations technology for Space Station evolution

NASA Technical Reports Server (NTRS)

Reuter, Gerald J.

1990-01-01

Viewgraphs on space teleoperations technology for space station evolution are presented. Topics covered include: shuttle remote manipulator system; mobile servicing center functions; mobile servicing center technology; flight telerobotic servicer-telerobot; flight telerobotic servicer technology; technologies required for space station assembly; teleoperation applications; and technology needs for space station evolution.

Human operator performance of remotely controlled tasks: Teleoperator research conducted at NASA's George C. Marshall Space Flight Center. Executive summary

NASA Technical Reports Server (NTRS)

Shields, N., Jr.; Piccione, F.; Kirkpatrick, M., III; Malone, T. B.

1982-01-01

The combination of human and machine capabilities into an integrated engineering system which is complex and interactive interdisciplinary undertaking is discussed. Human controlled remote systems referred to as teleoperators, are reviewed. The human factors requirements for remotely manned systems are identified. The data were developed in three principal teleoperator laboratories and the visual, manipulator and mobility laboratories are described. Three major sections are identified: (1) remote system components, (2) human operator considerations; and (3) teleoperator system simulation and concept verification.

Architectural study of the design and operation of advanced force feedback manual controllers

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Kim, Whee-Kuk

1990-01-01

A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof concepts is presented as a feasible test-bed for enhanced performance in a 9-dof system.

Towards a Location-based Service for Early Mental Health Interventions in Disaster Response Using Minimalistic Tele-operated Android Robots Technology

NASA Astrophysics Data System (ADS)

Vahidi, H.; Mobasheri, A.; Alimardani, M.; Guan, Q.; Bakillah, M.

2014-04-01

Providing early mental health services during disaster is a great challenge in the disaster response phase. Lack of access to adequate mental-health professionals in the early stages of large-scale disasters dramatically influences the trend of a successful mental health aid. In this paper, a conceptual framework has been suggested for adopting cellphone-type tele-operated android robots in the early stages of disasters for providing the early mental health services for disaster survivors by developing a locationbased and participatory approach. The techniques of enabling GI-services in a Peer-to-Peer (P2P) environment were studied to overcome the limitations of current centralized services. Therefore, the aim of this research study is to add more flexibility and autonomy to GI web services (WMS, WFS, WPS, etc.) and alleviate to some degree the inherent limitations of these centralized systems. A P2P system Architecture is presented for the location-based service using minimalistic tele-operated android robots, and some key techniques of implementing this service using BestPeer were studied for developing this framework.

Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays

PubMed Central

Delgado, Emma; Barreiro, Antonio; Falcón, Pablo; Díaz-Cacho, Miguel

2016-01-01

We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency. PMID:27128914

The Canadian Forces ILDS: a militarily fielded multisensor vehicle-mounted teleoperated landmine detection system

NASA Astrophysics Data System (ADS)

McFee, John E.; Russell, Kevin L.; Chesney, Robert H.; Faust, Anthony A.; Das, Yogadhish

2006-05-01

The Improved Landmine Detection System (ILDS) is intended to meet Canadian military mine clearance requirements in rear area combat situations and peacekeeping on roads and tracks. The system consists of two teleoperated vehicles and a command vehicle. The teleoperated protection vehicle precedes, clearing antipersonnel mines and magnetic and tilt rod-fuzed antitank mines. It consists of an armoured personnel carrier with a forward looking infrared imager, a finger plow or roller and a magnetic signature duplicator. The teleoperated detection vehicle follows to detect antitank mines. The purpose-built vehicle carries forward looking infrared and visible imagers, a 3 m wide, down-looking sensitive electromagnetic induction detector array and a 3 m wide down-looking ground probing radar, which scan the ground in front of the vehicle. Sensor information is combined using navigation sensors and custom navigation, registration, spatial correspondence and data fusion algorithms. Suspicious targets are then confirmed by a thermal neutron activation detector. The prototype, designed and built by Defence R&D Canada, was completed in October 1997. General Dynamics Canada delivered four production units, based on the prototype concept and technologies, to the Canadian Forces (CF) in 2002. ILDS was deployed in Afghanistan in 2003, making the system the first militarily fielded, teleoperated, multi-sensor vehicle-mounted mine detector and the first with a fielded confirmation sensor. Performance of the prototype in Canadian and independent US trials is summarized and recent results from the production version of the confirmation sensor are discussed. CF operations with ILDS in Afghanistan are described.

Simulation and control for telerobots in space medicine

NASA Astrophysics Data System (ADS)

Haidegger, Tamás; Kovács, Levente; Precup, Radu-Emil; Benyó, Balázs; Benyó, Zoltán; Preitl, Stefan

2012-12-01

Human space exploration is continuously advancing despite the current financial difficulties, and the new missions are targeting the Moon and the Mars with more effective human-robot collaborative systems. The continuous development of robotic technology should lead to the advancement of automated technology, including space medicine. Telesurgery has already proved its effectiveness through various telemedicine procedures on Earth, and it has the potential to provide medical assistance in space as well. Aeronautical agencies have already conducted numerous experiments and developed various setups to push the boundaries of teleoperation under extreme conditions. Different control schemes have been proposed and tested to facilitate and enhance telepresence and to ensure transparency, sufficient bandwidth and latency-tolerance. This paper focuses on the modeling of a generic telesurgery setup, supported by a cascade control approach. The minimalistic models were tested with linear and PID-fuzzy control options to provide a simple, universal and scalable solution for the challenges of telesurgery over large distances. In our simulations, the control structures were capable of providing good dynamic performance indices and robustness with respect to the gain in the human operator model. This is a promising result towards the support of future teleoperational missions.

Baseline experiments in teleoperator control

NASA Technical Reports Server (NTRS)

Hankins, W. W., III; Mixon, R. W.

1986-01-01

Studies have been conducted at the NASA Langley Research Center (LaRC) to establish baseline human teleoperator interface data and to assess the influence of some of the interface parameters on human performance in teleoperation. As baseline data, the results will be used to assess future interface improvements resulting from this research in basic teleoperator human factors. In addition, the data have been used to validate LaRC's basic teleoperator hardware setup and to compare initial teleoperator study results. Four subjects controlled a modified industrial manipulator to perform a simple task involving both high and low precision. Two different schemes for controlling the manipulator were studied along with both direct and indirect viewing of the task. Performance of the task was measured as the length of time required to complete the task along with the number of errors made in the process. Analyses of variance were computed to determine the significance of the influences of each of the independent variables. Comparisons were also made between the LaRC data and data taken earlier by Grumman Aerospace Corp. at their facilities.

The Jet Propulsion Laboratory shared control architecture and implementation

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad

1990-01-01

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Teleoperators - Manual/automatic system requirements.

NASA Technical Reports Server (NTRS)

Janow, C.; Malone, T. B.

1973-01-01

The teleoperator is defined as a remotely controlled, cybernetic, man-machine system designed to extend and augment man's sensory, manipulative, and cognitive capabilities. The teleoperator system incorporates the decision making, adaptive intelligence without requiring its presence. The man and the machine work as a team, each contributing unique and significant capabilities, and each depending on the other to achieve a common goal. Some of the more significant requirements associated with the development of teleoperator systems technology for space, industry, and medicine are examined. Emphasis is placed on the requirement to more effectively use the man and the machine in any man-machine system.

Acquisition of Basic Behaviors through Teleoperation using Robonaut

NASA Technical Reports Server (NTRS)

Campbell, Christina

2004-01-01

My area of research is in artificial intelligence and robotics. The major platform of this research is NASA's Robonaut. This humanoid robot is located at the Johnson Space Center. Prior to receiving this grant, I was able to spend two summers in Houston working with the Robonaut team, which is headed by Rob Ambrose. My work centered on teaching Robonaut to grasp a wrench based on data gathered as a human teleoperated the robot. I tried to make the procedure as general as possible so that many different motions could be taught using this method.

Earth orbital teleoperator systems evaluation

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Slaughter, P. H.; Brye, R. G.; Henderson, D. E.

1979-01-01

The mechanical extension of the human operator to remote and specialized environments poses a series of complex operational questions. A technical and scientific team was organized to investigate these questions through conducting specific laboratory and analytical studies. The intent of the studies was to determine the human operator requirements for remotely manned systems and to determine the particular effects that various system parameters have on human operator performance. In so doing, certain design criteria based on empirically derived data concerning the ultimate control system, the human operator, were added to the Teleoperator Development Program.

Integration of advanced teleoperation technologies for control of space robots

NASA Technical Reports Server (NTRS)

Stagnaro, Michael J.

1993-01-01

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

PubMed

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

PubMed

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

PubMed

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-03-14

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team.

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

PubMed Central

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-01-01

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team. PMID:28335431

A Telerobotic System for Transnasal Surgery

PubMed Central

Burgner, Jessica; Rucker, D. Caleb; Gilbert, Hunter B.; Swaney, Philip J.; Russell, Paul T.; Weaver, Kyle D.; Webster, Robert J.

2014-01-01

Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these robots to a variety of real-world clinical scenarios. Endonasal skull base surgery is one such application, where their small diameter and tentacle like dexterity are particularly advantageous. In this paper we provide the medical motivation for an endonasal surgical robot featuring concentric tube manipulators, and describe our model-based design and teleoperation methods, as well as a complete system incorporating image-guidance. Experimental demonstrations using a laparoscopic training task, a cadaver reachability study, and a phantom tumor resection experiment illustrate that both novice and expert users can effectively teleoperate the system, and that skull base surgeons can use the robot to achieve their objectives in a realistic surgical scenario. PMID:25089086

A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

PubMed

Zhai, Di-Hua; Xia, Yuanqing

2018-02-01

This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

Human Machine Interfaces for Teleoperators and Virtual Environments

NASA Technical Reports Server (NTRS)

Durlach, Nathaniel I. (Compiler); Sheridan, Thomas B. (Compiler); Ellis, Stephen R. (Compiler)

1991-01-01

In Mar. 1990, a meeting organized around the general theme of teleoperation research into virtual environment display technology was conducted. This is a collection of conference-related fragments that will give a glimpse of the potential of the following fields and how they interplay: sensorimotor performance; human-machine interfaces; teleoperation; virtual environments; performance measurement and evaluation methods; and design principles and predictive models.

A novel adaptive finite time controller for bilateral teleoperation system

NASA Astrophysics Data System (ADS)

Wang, Ziwei; Chen, Zhang; Liang, Bin; Zhang, Bo

2018-03-01

Most bilateral teleoperation researches focus on the system stability within time-delays. However, practical teleoperation tasks require high performances besides system stability, such as convergence rate and accuracy. This paper investigates bilateral teleoperation controller design with transient performances. To ensure the transient performances and system stability simultaneously, an adaptive non-singular fast terminal mode controller is proposed to achieve practical finite-time stability considering system uncertainties and time delays. In addition, a novel switching scheme is introduced, in which way the singularity problem of conventional terminal sliding manifold is avoided. Finally, numerical simulations demonstrate the effectiveness and validity of the proposed method.

Free-flying teleoperator requirements and conceptual design.

NASA Technical Reports Server (NTRS)

Onega, G. T.; Clingman, J. H.

1973-01-01

A teleoperator, as defined by NASA, is a remotely controlled cybernetic man-machine system designed to augment and extend man's sensory, manipulative, and cognitive capabilities. Teleoperator systems can fulfill an important function in the Space Shuttle program. They can retrieve automated satellites for refurbishment and reuse. Cargo can be transferred over short or large distances and orbital operations can be supported. A requirements analysis is discussed, giving attention to the teleoperator spacecraft, docking and stowage systems, display and controls, propulsion, guidance, navigation, control, the manipulators, the video system, the electrical power, and aspects of communication and data management. Questions of concept definition and evaluation are also examined.

Teleoperator systems for manned space missions

NASA Technical Reports Server (NTRS)

Interian, A.

1972-01-01

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.

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Augmented reality and haptic interfaces for robot-assisted surgery.

PubMed

Yamamoto, Tomonori; Abolhassani, Niki; Jung, Sung; Okamura, Allison M; Judkins, Timothy N

2012-03-01

Current teleoperated robot-assisted minimally invasive surgical systems do not take full advantage of the potential performance enhancements offered by various forms of haptic feedback to the surgeon. Direct and graphical haptic feedback systems can be integrated with vision and robot control systems in order to provide haptic feedback to improve safety and tissue mechanical property identification. An interoperable interface for teleoperated robot-assisted minimally invasive surgery was developed to provide haptic feedback and augmented visual feedback using three-dimensional (3D) graphical overlays. The software framework consists of control and command software, robot plug-ins, image processing plug-ins and 3D surface reconstructions. The feasibility of the interface was demonstrated in two tasks performed with artificial tissue: palpation to detect hard lumps and surface tracing, using vision-based forbidden-region virtual fixtures to prevent the patient-side manipulator from entering unwanted regions of the workspace. The interoperable interface enables fast development and successful implementation of effective haptic feedback methods in teleoperation. Copyright © 2011 John Wiley & Sons, Ltd.

Predictive Interfaces for Long-Distance Tele-Operations

NASA Technical Reports Server (NTRS)

Wheeler, Kevin R.; Martin, Rodney; Allan, Mark B.; Sunspiral, Vytas

2005-01-01

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

PD-like controller for delayed bilateral teleoperation of wheeled robots

NASA Astrophysics Data System (ADS)

Slawiñski, E.; Mut, V.; Santiago, D.

2016-08-01

This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

Human Performance Issues of Lunar-Sited Teleoperations

NASA Technical Reports Server (NTRS)

Kaiser, Mary K.; Null, Cynthia H. (Technical Monitor)

1995-01-01

Teleoperations in terrestrial environments present a number of challenges to system operators and designers. Transmission lags, restricted visual fields, and reduced or distorted tactile/kinesthetic feedback can compromise performance, especially for innerloop control tasks (e.g., vehicle or manipulator control). These problems are likely to be exacerbated in lunar operations, since teleoperation may occur across large distances. Further, the lunar environment will introduce unique concerns. For example, the teleoperated systems will reflect the reduced gravity of the moon. In addition to the novelty of these dynamics, operators will often have to cope with them while physically located in a terrestrial or microgravity environment. Similarly, the optical characteristics of the lunar environment differ from our usual experience (e.g., lack of atmospheric attenuation) in ways that may impact normative depth, distance, and motion perception. These human factors issues are related to the question of humans adapting to a lunar environment. However, teleoperations requires the operator to maintain functionality in both the control station and end-effector environments, defeating more straightforward environmental adaptation strategies.

Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays

NASA Astrophysics Data System (ADS)

Park, Jahng-Hyon; Shin, Wanjae

It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which includes instability and inaccuracy. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to a constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input intervals. That means the entire system has a large control bandwidth. The validity of the proposed method is demonstrated by experiments of teleoperation from USC (University of Southern California in U. S.A.) to HYU (Hanyang Univ. in Korea) through the Internet. The proposed method is also demonstrated by experiments of teleoperation through the wireless internet.

Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Daly, John

2013-05-01

Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

Robust H∞ cost guaranteed integral sliding mode control for the synchronization problem of nonlinear tele-operation system with variable time-delay.

PubMed

Al-Wais, Saba; Khoo, Suiyang; Lee, Tae Hee; Shanmugam, Lakshmanan; Nahavandi, Saeid

2018-01-01

This paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H ∞ design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H ∞ sense. This design scheme combines the strong robustness of the sliding mode control with the H ∞ design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method. Copyright © 2017 ISA. All rights reserved.

Human factors requirements for telerobotic command and control: The European Space Agency experimental programme

NASA Technical Reports Server (NTRS)

Stone, Robert J.

1991-01-01

Space Telerobotics research, performed under contract to the European Space Agency (ESA), concerning the execution of human factors experiments, and ultimately leading to the development of a telerobotics test bed, has been carried out since 1985 by a British Consortium consisting of British Aerospace, the United Kingdom Atomic Energy Authority and, more recently, the UK National Advanced Robotics Research Centre. The principal aim of the first study of the series was to derive preliminary requirements for a teleoperation servicing system, with reference to two mission model scenarios. The first scenario introduced the problem of communications time delays, and their likely effect on the ground-based operator in control of a manipulator system on board an unmanned servicing vehicle in Low Earth Orbit. In the second scenario, the operator was located on the NASA Orbiter aft flight deck, supervising the control of a prototype manipulator in the 'servicing' of an experimental payload in the cargo bay area. Human factors analyses centered on defining the requirements for the teleoperator workstation, such as identifying basic ergonomic requirements for workstation and panel layouts, defining teleoperation strategies, developing alphanumeric and graphic screen formats for the supervision or direct control of the manipulator, and the potential applications of expert system technology. The second study for ESA involved an experimental appraisal of some of the important issues highlighted in the first study, for which relevant human factors data did not exist. Of central importance during the second study was the issue of communications time delays and their effect on the manual control of a teleoperated manipulator from a ground-based command and control station.

Scaled position-force tracking for wireless teleoperation of miniaturized surgical robotic system.

PubMed

Guo, Jing; Liu, Chao; Poignet, Philippe

2014-01-01

Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance and stability of the teleoperation system. We proposed a bilateral wireless teleoperation architecture taking into consideration of the effect of position-force scaling between operator and slave. Optimal position-force tracking performance is obtained and the overall system is shown to be passive with a simple condition on the scaling factors satisfied. Simulation studies verify the efficiency of the proposed scaled wireless teleoperation scheme.

Teleoperated position control of a PUMA robot

NASA Technical Reports Server (NTRS)

Austin, Edmund; Fong, Chung P.

1987-01-01

A laboratory distributed computer control teleoperator system is developed to support NASA's future space telerobotic operation. This teleoperator system uses a universal force-reflecting hand controller in the local iste as the operator's input device. In the remote site, a PUMA controller recieves the Cartesian position commands and implements PID control laws to position the PUMA robot. The local site uses two microprocessors while the remote site uses three. The processors communicate with each other through shared memory. The PUMA robot controller was interfaced through custom made electronics to bypass VAL. The development status of this teleoperator system is reported. The execution time of each processor is analyzed, and the overall system throughput rate is reported. Methods to improve the efficiency and performance are discussed.

Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

NASA Technical Reports Server (NTRS)

Meintel, A. J., Jr.; Will, R. W.

1985-01-01

This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

Teleoperator/robot technology can help solve biomedical problems

NASA Technical Reports Server (NTRS)

Heer, E.; Bejczy, A. K.

1975-01-01

Teleoperator and robot technology appears to offer the possibility to apply these techniques to the benefit for the severely handicapped giving them greater self reliance and independence. Major problem areas in the development of prostheses and remotely controlled devices for the handicapped are briefly discussed, and the parallelism with problems in the development of teleoperator/robots identified. A brief description of specific ongoing and projected developments in the area of remotely controlled devices (wheelchairs and manipulators) is provided.

Usability testing of a mobile robotic system for in-home telerehabilitation.

PubMed

Boissy, Patrick; Brière, Simon; Corriveau, Hélène; Grant, Andrew; Lauria, Michel; Michaud, François

2011-01-01

Mobile robots designed to enhance telepresence in the support of telehealth services are being considered for numerous applications. TELEROBOT is a teleoperated mobile robotic platform equipped with videoconferencingcapabilities and designed to be used in a home environment to. In this study, learnability of the system's teleoperation interface and controls was evaluated with ten rehabilitation professionals during four training sessions in a laboratory environment and in an unknown home environment while performing the execution of a standardized evaluation protocol typically used in home care. Results show that the novice teleoperators' performances on two of the four metrics used (number of command and total time) improved significantly across training sessions (ANOVAS, p<0.05) and that performance in these metrics in the last training session reflected teleoperation abilities seen in the unknown home environment during navigation tasks (r=0,77 and 0,60). With only 4 hours of training, rehabilitation professionals were able learn to teleoperate successfully TELEROBOT. However teleoperation performances remained significantly less efficient then those of an expert. Under the home task condition (navigating the home environment from one point to the other as fast as possible) this translated to completion time between 350 seconds (best performance) and 850 seconds (worse performance). Improvements in other usability aspects of the system will be needed to meet the requirements of in-home telerehabilitation.

Configuration and design study of manipulator systems applicable to the free flying teleoperator. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

Tewell, J. R.

1974-01-01

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.

Utilization of the NASA Robonaut as a Surgical Avatar in Telemedicine

NASA Technical Reports Server (NTRS)

Dean, Marc; Diftler, Myron

2015-01-01

The concept of teleoperated robotic surgery is not new; however, most of the work to date has utilized specialized robots designed for specific set of surgeries. This activity explores the use of a humanoid robot to perform surgical procedures using the same hand held instruments that a human surgeon employs. For this effort, the tele-operated Robonaut (R2) was selected due to its dexterity, its ability to perform a wide range of tasks, and its adaptability to changing environments. To evaluate this concept, a series of challenges was designed with the goal of assessing the feasibility of utilizing Robonaut as a telemedicine based surgical avatar.

Finite Time Control Design for Bilateral Teleoperation System With Position Synchronization Error Constrained.

PubMed

Yang, Yana; Hua, Changchun; Guan, Xinping

2016-03-01

Due to the cognitive limitations of the human operator and lack of complete information about the remote environment, the work performance of such teleoperation systems cannot be guaranteed in most cases. However, some practical tasks conducted by the teleoperation system require high performances, such as tele-surgery needs satisfactory high speed and more precision control results to guarantee patient' health status. To obtain some satisfactory performances, the error constrained control is employed by applying the barrier Lyapunov function (BLF). With the constrained synchronization errors, some high performances, such as, high convergence speed, small overshoot, and an arbitrarily predefined small residual constrained synchronization error can be achieved simultaneously. Nevertheless, like many classical control schemes only the asymptotic/exponential convergence, i.e., the synchronization errors converge to zero as time goes infinity can be achieved with the error constrained control. It is clear that finite time convergence is more desirable. To obtain a finite-time synchronization performance, the terminal sliding mode (TSM)-based finite time control method is developed for teleoperation system with position error constrained in this paper. First, a new nonsingular fast terminal sliding mode (NFTSM) surface with new transformed synchronization errors is proposed. Second, adaptive neural network system is applied for dealing with the system uncertainties and the external disturbances. Third, the BLF is applied to prove the stability and the nonviolation of the synchronization errors constraints. Finally, some comparisons are conducted in simulation and experiment results are also presented to show the effectiveness of the proposed method.

Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jansen, J.F.; Babcock, S.M.

1989-11-01

Several bilateral control techniques and methods for exploiting redundant slaves are investigated as a part of research to develop and analyze bilateral, force-reflecting control methodologies for teleoperator systems with kinematic dissimilar masters and slaves. The study indicates that, with force/torque sensing at the wrist, and an impedance type of controller with the appropriate joint compensation, a significant improvement in performance and controllability of a teleoperator system can be achieved. 32 refs., 6 figs., 2 tabs.

Human and Computer Control of Undersea Teleoperators

DTIC Science & Technology

1978-07-15

j ’Al.• /i•.f IAII•lU•I .p.ra i- . AWL• u~/K ftI&i. . .................... L HUMAN AND COMPUTER CONTROL / OF UNDERSEA TELEOPERATORS, .9 . - - I... UNDERSEA TELEOPERATORS 15 Mar 1977-14 June 1978 6. PERFORMING ORO. REPORT NUMBER,- J ". AUTHOR(e) S. CONTRACT OR GRANT NUMBER(*) Thomas B. Sheridan and...y ad Identify by block >w his is a review of factors p ertaining to man-machine interaction in remote control of undersea vehicles, especially their

Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface

PubMed Central

Micconi, Giorgio; Caselli, Stefano; Benassi, Giacomo; Zambelli, Nicola; Bettelli, Manuele

2017-01-01

A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source. PMID:28961198

Iconic Gestures for Robot Avatars, Recognition and Integration with Speech.

PubMed

Bremner, Paul; Leonards, Ute

2016-01-01

Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realized remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances.

Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface.

PubMed

Aleotti, Jacopo; Micconi, Giorgio; Caselli, Stefano; Benassi, Giacomo; Zambelli, Nicola; Bettelli, Manuele; Zappettini, Andrea

2017-09-29

A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source.

The phantom robot - Predictive displays for teleoperation with time delay

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Kim, Won S.; Venema, Steven C.

1990-01-01

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Teleoperator Human Factors Study

NASA Technical Reports Server (NTRS)

1986-01-01

An investigation of the spectrum of space teleoperation activities likely in the 1985 to 1995 decade focused on the resolution of critical human engineering issues and characterization of the technology effect on performance of remote human operators. The study began with the identification and documentation of a set of representative reference teleoperator tasks. For each task, technology, development, and design options, issues, and alternatives that bear on human operator performance were defined and categorized. A literature survey identified existing studies of man/machine issues. For each teleoperations category, an assessment was made of the state of knowledge on a scale from adequate to void. The tests, experiments, and analyses necessary to provide the missing elements of knowledge were then defined. A limited set of tests were actually performed, including operator selection, baseline task definition, control mode study, lighting study, camera study, and preliminary time delay study.

Distribution of man-machine controls in space teleoperation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1982-01-01

The distribution of control between man and machine is dependent on the tasks, available technology, human performance characteristics and control goals. This dependency has very specific projections on systems designed for teleoperation in space. This paper gives a brief outline of the space-related issues and presents the results of advanced teleoperator research and development at the Jet Propulsion Laboratory (JPL). The research and development work includes smart sensors, flexible computer controls and intelligent man-machine interface devices in the area of visual displays and kinesthetic man-machine coupling in remote control of manipulators. Some of the development results have been tested at the Johnson Space Center (JSC) using the simulated full-scale Shuttle Remote Manipulator System (RMS). The research and development work for advanced space teleoperation is far from complete and poses many interdisciplinary challenges.

Teleoperation with virtual force feedback

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, R.J.

1993-08-01

In this paper we describe an algorithm for generating virtual forces in a bilateral teleoperator system. The virtual forces are generated from a world model and are used to provide real-time obstacle avoidance and guidance capabilities. The algorithm requires that the slaves tool and every object in the environment be decomposed into convex polyhedral Primitives. Intrusion distance and extraction vectors are then derived at every time step by applying Gilbert`s polyhedra distance algorithm, which has been adapted for the task. This information is then used to determine the compression and location of nonlinear virtual spring-dampers whose total force is summedmore » and applied to the manipulator/teleoperator system. Experimental results validate the whole approach, showing that it is possible to compute the algorithm and generate realistic, useful psuedo forces for a bilateral teleoperator system using standard VME bus hardware.« less

Graphics simulation and training aids for advanced teleoperation

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul S.; Bejczy, Antal K.

1993-01-01

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Simulation Based Studies of Low Latency Teleoperations for NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Gernhardt, Michael L.; Crues, Edwin Z.; Bielski, Paul; Dexter, Dan; Litaker, Harry L.; Chappell, Steven P.; Beaton, Kara H.; Bekdash, Omar S.

2017-01-01

Human exploration of Mars will involve both crewed and robotic systems. Many mission concepts involve the deployment and assembly of mission support assets prior to crew arrival on the surface. Some of these deployment and assembly activities will be performed autonomously while others will be performed using teleoperations. However, significant communications latencies between the Earth and Mars make teleoperations challenging. Alternatively, low latency teleoperations are possible from locations in Mars orbit like Mars' moons Phobos and Deimos. To explore these latency opportunities, NASA is conducting a series of studies to investigate the effects of latency on telerobotic deployment and assembly activities. These studies are being conducted in laboratory environments at NASA's Johnson Space Center (JSC), the Human Exploration Research Analog (HERA) at JSC and the NASA Extreme Environment Mission Operations (NEEMO) underwater habitat off the coast of Florida. The studies involve two human-in-the-loop interactive simulations developed by the NASA Exploration Systems Simulations (NExSyS) team at JSC. The first simulation investigates manipulation related activities while the second simulation investigates mobility related activities. The first simulation provides a simple real-time operator interface with displays and controls for a simulated 6 degree of freedom end effector. The initial version of the simulation uses a simple control mode to decouple the robotic kinematic constraints and a communications delay to model latency effects. This provides the basis for early testing with more detailed manipulation simulations planned for the future. Subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. Subject performance is measured and correlated with three distance-to-target zones of interest. Each zone represents a target distance ranging from beyond 10m in Zone 1, through 1 cm to contact in Zone 5 with a step size factor of 10. Collected data consists of both objective simulation data (time, distance, hand controller inputs, velocity) and subjective questionnaire data. The second simulation provides a simple real-time operator interface with displays and control of a simulated surface rover. The rover traverses a synthetic Mars-like terrain and must be maneuvered to avoid obstacles while progressing to its destination. Like the manipulator simulation, subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. The rover is also operated at three different traverse speeds to assess the correlation between latency and speed. Collected data consisted of both objective simulation data (time, distance, hand controller inputs, braking) and subjective questionnaire data. These studies are exploring relationships between task complexity, operating speeds, operator efficiencies, and communications latencies for low latency teleoperations in support of human planetary exploration. This paper presents early results from these studies along with the current observations and conclusions. These and planned future studies will help to inform NASA on the potential for low latency teleoperations to support human exploration of Mars and inform the design of robotic systems and exploration missions.

Earth orbital teleoperator mobility system evaluation program

NASA Technical Reports Server (NTRS)

Brye, R. G.; Shields, N. L., Jr.; Kirkpatrick, M., III

1977-01-01

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.

Wave impedance selection for passivity-based bilateral teleoperation

NASA Astrophysics Data System (ADS)

D'Amore, Nicholas John

When a task must be executed in a remote or dangerous environment, teleoperation systems may be employed to extend the influence of the human operator. In the case of manipulation tasks, haptic feedback of the forces experienced by the remote (slave) system is often highly useful in improving an operator's ability to perform effectively. In many of these cases (especially teleoperation over the internet and ground-to-space teleoperation), substantial communication latency exists in the control loop and has the strong tendency to cause instability of the system. The first viable solution to this problem in the literature was based on a scattering/wave transformation from transmission line theory. This wave transformation requires the designer to select a wave impedance parameter appropriate to the teleoperation system. It is widely recognized that a small value of wave impedance is well suited to free motion and a large value is preferable for contact tasks. Beyond this basic observation, however, very little guidance exists in the literature regarding the selection of an appropriate value. Moreover, prior research on impedance selection generally fails to account for the fact that in any realistic contact task there will simultaneously exist contact considerations (perpendicular to the surface of contact) and quasi-free-motion considerations (parallel to the surface of contact). The primary contribution of the present work is to introduce an approximate linearized optimum for the choice of wave impedance and to apply this quasi-optimal choice to the Cartesian reality of such a contact task, in which it cannot be expected that a given joint will be either perfectly normal to or perfectly parallel to the motion constraint. The proposed scheme selects a wave impedance matrix that is appropriate to the conditions encountered by the manipulator. This choice may be implemented as a static wave impedance value or as a time-varying choice updated according to the instantaneous conditions encountered. A Lyapunov-like analysis is presented demonstrating that time variation in wave impedance will not violate the passivity of the system. Experimental trials, both in simulation and on a haptic feedback device, are presented validating the technique. Consideration is also given to the case of an uncertain environment, in which an a priori impedance choice may not be possible.

Teleoperator technology and system development, volume 1

NASA Technical Reports Server (NTRS)

1972-01-01

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.

Telerobotics: methodology for the development of through-the-Internet robotic teleoperated system

NASA Astrophysics Data System (ADS)

Alvares, Alberto J.; Caribe de Carvalho, Guilherme; Romariz, Luiz S. J.; Alfaro, Sadek C. A.

1999-11-01

This work presents a methodology for the development of Teleoperated Robotic System through Internet. Initially, it is presented a bibliographical review of the telerobotic systems that uses Internet as way of control. The methodology is implemented and tested through the development of two systems. The first is a manipulator with two degrees of freedom commanded remotely through Internet denominated RobWebCam. The second is a system which teleoperates an ABB (Asea Brown Boveri) Industrial Robot of six degrees of freedom denominated RobWebLink.

Integrated long-range UAV/UGV collaborative target tracking

NASA Astrophysics Data System (ADS)

Moseley, Mark B.; Grocholsky, Benjamin P.; Cheung, Carol; Singh, Sanjiv

2009-05-01

Coordinated operations between unmanned air and ground assets allow leveraging of multi-domain sensing and increase opportunities for improving line of sight communications. While numerous military missions would benefit from coordinated UAV-UGV operations, foundational capabilities that integrate stove-piped tactical systems and share available sensor data are required and not yet available. iRobot, AeroVironment, and Carnegie Mellon University are working together, partially SBIR-funded through ARDEC's small unit network lethality initiative, to develop collaborative capabilities for surveillance, targeting, and improved communications based on PackBot UGV and Raven UAV platforms. We integrate newly available technologies into computational, vision, and communications payloads and develop sensing algorithms to support vision-based target tracking. We first simulated and then applied onto real tactical platforms an implementation of Decentralized Data Fusion, a novel technique for fusing track estimates from PackBot and Raven platforms for a moving target in an open environment. In addition, system integration with AeroVironment's Digital Data Link onto both air and ground platforms has extended our capabilities in communications range to operate the PackBot as well as in increased video and data throughput. The system is brought together through a unified Operator Control Unit (OCU) for the PackBot and Raven that provides simultaneous waypoint navigation and traditional teleoperation. We also present several recent capability accomplishments toward PackBot-Raven coordinated operations, including single OCU display design and operation, early target track results, and Digital Data Link integration efforts, as well as our near-term capability goals.

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Hand controllers for teleoperation. A state-of-the-art technology survey and evaluation

NASA Technical Reports Server (NTRS)

Brooks, T. L.; Bejczy, A. K.

1985-01-01

Hand controller technology for teleoperation is surveyed in three major catagories: (1) hand grip design, (2) control input devices, and (3) control strategies. In the first category, 14 hand grip designs are reviewed and evaluated in light of human factor considerations. In the second, 12 hand controller input devices are evaluated in terms of task performance, configuration and force feedback, controller/slave correspondence, operating volume, operator workload, human limitations, cross coupling, singularities, anthropomorphic characteristics, physical complexity, control/display interference, accuracy, technological base, cost, and reliability. In the third catagory, control strategies, commonly called control modes, are surveyed and evaluated. The report contains a bibliography with 189 select references on hand controller technology.

Intelligent Robotic Systems Study (IRSS), phase 4

NASA Technical Reports Server (NTRS)

1991-01-01

Under the Intelligent Robotics Systems Study (IRSS), a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). Based upon the NASREM system design concept, the controller built for the PFMA provides localized position based force control, teleoperation, and advanced path recording and playback capabilities. The PFMA has six computer controllable degrees of freedom (DOF) plus a 7th manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Joints on the PFMA are driven via 7 pulse width modulated amplifiers. Digital control of the PFMA is implemented using a variety of single board computers. There were two major activities under the IRSS phase 4 study: (1) enhancement of the PFMA control system software functionality; and (2) evaluation of operating modes via a teleoperation performance study. These activities are described and results are given.

DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

EPA Science Inventory

This project included modifying an existing teleoperated robot to include autonomous navigation, large object avoidance, and air monitoring and demonstrating that prototype robot system in indoor and outdoor environments. An existing teleoperated "Surveyor" robot developed by ARD...

Robot Behavior Acquisition Superposition and Composting of Behaviors Learned through Teleoperation

NASA Technical Reports Server (NTRS)

Peters, Richard Alan, II

2004-01-01

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.

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

NASA Technical Reports Server (NTRS)

Hirata, Mitsunori; Sato, Yuichi; Nagashima, Fumio; Maruyama, Tsugito

1994-01-01

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.

Bilevel shared control for teleoperators

NASA Technical Reports Server (NTRS)

Hayati, Samad A. (Inventor); Venkataraman, Subramanian T. (Inventor)

1992-01-01

A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space.

High-fidelity bilateral teleoperation systems and the effect of multimodal haptics.

PubMed

Tavakoli, Mahdi; Aziminejad, Arash; Patel, Rajni V; Moallem, Mehrdad

2007-12-01

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.

Conceptual design study for a teleoperator visual system, phase 1

NASA Technical Reports Server (NTRS)

Adams, D.; Grant, C.; Johnson, C.; Meirick, R.; Polhemus, C.; Ray, A.; Rittenhouse, D.; Skidmore, R.

1972-01-01

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.

NASA develops teleoperator retrieval system

NASA Technical Reports Server (NTRS)

1978-01-01

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.

Enhancing Lunar Exploration with a Radioisotope Powered Dual Mode Lunar Rover

NASA Astrophysics Data System (ADS)

Elliott, J. O.; Coste, K.; Schriener, T. M.

2005-12-01

The emerging plans for lunar exploration and establishment of a permanent human presence on the moon will require development of numerous infrastructure elements to facilitate their implementation. One such element, which manifestly demonstrated its worth in the Apollo missions, is the lunar roving vehicle. While the original Apollo lunar rovers were designed for single mission use, the intention of proceeding with a long-term sustained lunar exploration campaign gives new impetus to consideration of a lunar roving vehicle with extended capabilities, including the ability to support multiple sequential human missions as well as teleoperated exploration activities between human visits. This paper presents a preliminary design concept for such a vehicle, powered by radioisotope power systems which would give the rover greatly extended capabilities and the versatility to operate at any latitude over the entire lunar day/night cycle. The rover would be used for human transportation during astronaut sorties, and be reconfigured for teleoperation by earth-based controllers during the times between crewed landings. In teleoperated mode the rover could be equipped with a range of scientific instrument suites for exploration and detailed assessment of the lunar environment on a regional scale. With modular payload attachments, the rover could be modified between missions to carry out a variety of scientific and utilitarian tasks, including regolith reconfiguration in support of establishment of a permanent human base.

A general framework for the manual teleoperation of kinematically redundant space-based manipulators

NASA Astrophysics Data System (ADS)

Dupuis, Erick

This thesis provides a general framework for the manual teleoperation of kinematically redundant space-based manipulators. It is proposed to break down the task of controlling the motion of a redundant manipulator into a sequence of manageable sub-tasks of lower dimension by imposing constraints on the motion of intermediate bodies of the manipulator. This implies that the manipulator then becomes a non-redundant kinematic chain and the operator only controls a reduced number of degrees of freedom at any time. However, by appropriately changing the imposed constraints, the operator can use the full capability of the manipulator throughout the task. Also, by not restricting the point of teleoperation to the end effector but effectively allowing direct control of intermediate bodies of the robot, it is possible to teleoperate a redundant robot of arbitrary kinematic architecture over its entire configuration space in a predictable and natural fashion. It is rigourously proven that this approach will always work for any kinematically redundant serial manipulator regardless of its topology, geometry and of the number of its excess degrees-of-freedom. Furthermore, a methodology is provided for the selection of task and constraint coordinates to ensure the absence of algorithmic rank-deficiencies. Two novel algorithms are provided for the symbolic determination of the rank-deficiency locus of rectangular Jacobian matrices: the Singular Vector Algorithm and the Recursive Sub-Determinant Algorithm. These algorithms are complementary to each other: the former being more computationally efficient and the latter more robust. The application of the methodology to sample cases of varying complexity has demonstrated its power and limitations: It has been shown to be powerful enough to generate complete sets of task/constraint coordinate pairs for realistic examples such as the Space Station Remote Manipulator System and a simplified version of the Special Purpose Dexterous Manipulator.

Fusing human and machine skills for remote robotic operations

NASA Technical Reports Server (NTRS)

Schenker, Paul S.; Kim, Won S.; Venema, Steven C.; Bejczy, Antal K.

1991-01-01

The question of how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions is addressed. Computer graphics techniques which enable the human operator to both visualize and predict detailed 3D trajectories in real-time are reported. Man-machine interactive control procedures for better management of manipulator contact forces and positioning are also described. It is found that collectively, these novel advanced teleoperations techniques both enhance system performance and significantly reduce control problems long associated with teleoperations under time delay. Ongoing robotic simulations of the 1984 space shuttle Solar Maximum EVA Repair Mission are briefly described.

Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs.

PubMed

Zakerimanesh, Amir; Hashemzadeh, Farzad; Ghiasi, Amir Rikhtehgar

2017-05-01

A novel trilateral control architecture for Dual-master/Single-slave teleoperation system with taking account of saturation in actuators, nonlinear dynamics for telemanipulators and bounded varying time delay which affects the transmitted signals in the communication channels, is proposed in this paper. In this research, we will address the stability and desired position coordination problem of trilateral teleoperation system by extension of (nP+D) controller that is used for Single-master/Single-slave teleoperation system. Our proposed controller is weighted summation of nonlinear Proportional plus Damping (nP+D) controller that incorporate gravity compensation and the weights are specified by the dominance factor, which determines the supremacy of each user over the slave robot and over the other user. The asymptotic stability of closed loop dynamics is studied using Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics and the maximum values of varying time delays. It is shown that these controllers satisfy the desired position coordination problem in free motion condition. To show the effectiveness of the proposed method, a number of simulations have been conducted on a varying time delay Dual-master/Single-slave teleoperation system using 3-DOF planar robots for each telemanipulator subjected to actuator saturation. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Iconic Gestures for Robot Avatars, Recognition and Integration with Speech

PubMed Central

Bremner, Paul; Leonards, Ute

2016-01-01

Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realized remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances. PMID:26925010

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

NASA Technical Reports Server (NTRS)

1972-01-01

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.

Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery.

PubMed

Deshpande, Nikhil; Chauhan, Manish; Pacchierotti, Claudio; Prattichizzo, Domenico; Caldwell, Darwin G; Mattos, Leonardo S

2016-08-01

In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic interface which teleoperates the slave device, and provides haptic feedback in its gripper interface. The combination of the device and the surgeon interface replaces the manual, hand-held device providing easy-to-use and ergonomic tissue control, simplifying the surgical tasks. This makes the system suitable to real surgical scenarios in the operating room (OR). The performance of the system was analysed through the evaluation of teleoperation control and characterization of gripping force. The new system offers an overall positioning error of less than 400 μm demonstrating its safety and accuracy. Improved system precision, usability, and ergonomics point to the potential suitability of the device for the OR and its ability to advance haptic-feedback-enhanced transoral laser microsurgeries.

Mapping of unknown industrial plant using ROS-based navigation mobile robot

NASA Astrophysics Data System (ADS)

Priyandoko, G.; Ming, T. Y.; Achmad, M. S. H.

2017-10-01

This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

Telerobot control system

NASA Technical Reports Server (NTRS)

Backes, Paul G. (Inventor); Tso, Kam S. (Inventor)

1993-01-01

This invention relates to an operator interface for controlling a telerobot to perform tasks in a poorly modeled environment and/or within unplanned scenarios. The telerobot control system includes a remote robot manipulator linked to an operator interface. The operator interface includes a setup terminal, simulation terminal, and execution terminal for the control of the graphics simulator and local robot actuator as well as the remote robot actuator. These terminals may be combined in a single terminal. Complex tasks are developed from sequential combinations of parameterized task primitives and recorded teleoperations, and are tested by execution on a graphics simulator and/or local robot actuator, together with adjustable time delays. The novel features of this invention include the shared and supervisory control of the remote robot manipulator via operator interface by pretested complex tasks sequences based on sequences of parameterized task primitives combined with further teleoperation and run-time binding of parameters based on task context.

Association of Individual Characteristics with Teleoperation Performance.

PubMed

Pan, Dan; Zhang, Yijing; Li, Zhizhong; Tian, Zhiqiang

2016-09-01

A number of space activities (e.g., extravehicular astronaut rescue, cooperation in satellite services, space station supplies, and assembly) are implemented directly or assisted by remote robotic arms. Our study aimed to reveal those individual characteristics which could positively influence or even predict teleoperation performance of such a space robotic arm. There were 64 male volunteers without robot operation experience recruited for the study. Their individual characteristics were assessed, including spatial cognitive ability, cognitive style, and personality traits. The experimental tasks were three abstracted teleoperation tasks of a simulated space robotic arm: point aiming, line alignment, and obstacle avoidance. Teleoperation performance was measured from two aspects: task performance (completion time, extra distance moved, operation slips) and safety performance (collisions, joint limitations reached). The Pearson coefficients between individual characteristics and teleoperation performance were examined along with performance prediction models. It was found that the subjects with relatively high mental rotation ability or low neuroticism had both better task and safety performance (|r| = 0.212 ∼ 0.381). Subjects with relatively high perspective taking ability or high agreeableness had better task performance (r = -0.253; r = -0.249). Imagery subjects performed better than verbal subjects regarding both task and safety performance (|r| = 0.236 ∼ 0.290). Compared with analytic subjects, wholist subjects had better safety performance (r = 0.300). Additionally, extraverted subjects had better task performance (r = -0.259), but worse safety performance (r = 0.230). Those with high spatial cognitive ability, imagery and wholist cognitive style, low neuroticism, and high agreeableness were seen to have more advantages in working with the remote robotic arm. These results could be helpful to astronaut selection and training for space station missions. Pan D, Zhang Y, Li Z, Tian Z. Association of individual characteristics with teleoperation performance. Aerosp Med Hum Perform. 2016; 87(9):772-780.

Assistant Personal Robot (APR): Conception and Application of a Tele-Operated Assisted Living Robot.

PubMed

Clotet, Eduard; Martínez, Dani; Moreno, Javier; Tresanchez, Marcel; Palacín, Jordi

2016-04-28

This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short) and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot.

A teleoperation training simulator with visual and kinesthetic force virtual reality

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul

1992-01-01

A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

MIT research in telerobotics

NASA Technical Reports Server (NTRS)

Sheridan, T. B.

1987-01-01

Ongoing MIT research in telerobotics (vehicles capable of some autonomous sensing and manipulating, having some remote supervisory control by people) and teleoperation (vehicles for sensing and manipulating which are fully controlled remotely by people) is discussed. The current efforts mix human and artificial intelligence/control. The idea of adjustable impedance at either end of pure master-slave teleoperation, and simultaneous coordinated control of teleoperator/telerobotic systems which have more than six degrees of freedom (e.g., a combined vehicle and arm, each with five or six DOF) are discussed. A new cable-controlled parallel link arm which offers many advantages over conventional arms for space is briefly described. Predictor displays to compensate for time delay in teleoperator loops, the use of state estimation to help human control decisions in space, and ongoing research in supervisory command language are covered. Finally, efforts to build a human flyable real-time dynamic computer-graphic telerobot simulator are described. These projects represent most, but not all, of the telerobotics research in our laboratory, supported by JPL, NASA Ames and NOAA.

Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

NASA Technical Reports Server (NTRS)

Hale, J. P., II

1992-01-01

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

Issues in the design of high dexterity, force reflective teleoperators

NASA Technical Reports Server (NTRS)

Jacobsen, Stephen C.; Iversen, E. K.; Davis, C. C.; Biggers, K. B.; Backman, D. K.

1991-01-01

The Center for Engineering and Design at the University of Utah is developing an anthropomorphic, hydraulically actuated, teleoperated arm. The system includes a sixteen degree-of-freedom slave manipulator controlled by a kinematically identical, sixteen degree-of-freedom force-reflective, exoskeletal master. The project has focused on four areas: (1) formulating a realistic set of design objectives which balance, against technical realities, the desire for performance, reliability and economy; (2) understanding control issues; (3) designing and fabricating new subsystems necessary for the construction of a successful machine; and (4) integrating subsystems, through a series of prototype stages, into an operational teleoperation system.

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

NASA Technical Reports Server (NTRS)

Malone, T. B.

1972-01-01

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.

Teleoperation from Mars Orbit: A proposal for Human Exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2004-01-01

For a human expedition to Mars, a case can be made that the best strategy for initial exploration is not to actually land the humans on Mars, but to put the humans into Mars orbit and operate on the surface by the technology of teleoperation. This will provide the results of human exploration, but at greatly reduced risk and cost. Teleoperation of Mars surface robots from a Mars-orbital habitat will operation near real time operation with minimum time delay, giving a virtual presence on the surface. By use of teleoperation, it is possible to vastly simplify the surface exploration mission. We now have no need to develop a human-rated Mars Lander and Mars Ascent Vehicle, and we can send geologists & biologists on the mission; not VTOL pilots. It is a cheaper, simpler, and safer way to explore, and hence it will be a faster way to explore. It has the excitement of being there, at a fraction of the price. Tele-exploration from Mars orbit also allows human (virtual) presence at a wide variety of locations. With an orbital base controlling surface telerobotics, human explorers are not stuck with one base location, but can explore all over Mars. They can explore the polar caps and also near-equatorial canyon regions, from the same orbiting base. This frees the mission from landing site constraints. With no need to select a "grab bag" site that contains a large number of geologically diverse features at or near a single location; it is now possible go to all the best sites-- paleolake sites, river beds, volcanic calderas, lava tube sites, layered terrain, canyons, possible shoreline features, the North and South poles. A near-polar inclination 24-hr 39-minute period Mars orbit, for example, will put the orbital station in line-of-sight of a given region for about 8 hours per day-- one teleoperation shift. Since present day life could exist on Mars, planetary protection is also needed to preserve the (possible) fragile Mars biosphere from competition from ferocious Earth life. Isolated biospheres on Earth have been devastated when they have been exposed to alien life forms introduced-accidentally or deliberately-- from another continent. If there is life on Mars, we will wish to protect it from having to compete with introduced Earth biota. Reverse planetary protection-protecting the Earth biosphere from exposure to Mars microorganisms-is also an important consideration. Exploring from orbit will reduce biological risk by keeping humans from exposure to possible Mars microbes. A telerobotic mission will need no quarantine on return to Earth, and avoids the difficult human question of how to isolate Mars mission astronauts infected by Martian microorganisms.

Test Operations Procedure (TOP) 02-2-546 Teleoperated Unmanned Ground Vehicle (UGV) Latency Measurements

DTIC Science & Technology

2017-01-11

discrete system components or measurements of latency in autonomous systems. 15. SUBJECT TERMS Unmanned Ground Vehicles, Basic Video Latency, End-to... discrete system components or measurements of latency in autonomous systems. 1.1 Basic Video Latency. Teleoperation latency, or lag, describes

Design of a terminal pointer hand controller for teleoperator applications

NASA Technical Reports Server (NTRS)

Saenger, E. L.; Woltosz, W. S.

1973-01-01

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.

Operator dynamics for stability condition in haptic and teleoperation system: A survey.

PubMed

Li, Hongbing; Zhang, Lei; Kawashima, Kenji

2018-04-01

Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey. Copyright © 2018 John Wiley & Sons, Ltd.

A rate-controlled teleoperator task with simulated transport delays

NASA Technical Reports Server (NTRS)

Pennington, J. E.

1983-01-01

A teleoperator-system simulation was used to examine the effects of two control modes (joint-by-joint and resolved-rate), a proximity-display method, and time delays (up to 2 sec) on the control of a five-degree-of-freedom manipulator performing a probe-in-hole alignment task. Four subjects used proportional rotational control and discrete (on-off) translation control with computer-generated visual displays. The proximity display enabled subjects to separate rotational errors from displacement (translation) errors; thus, when the proximity display was used with resolved-rate control, the simulated task was trivial. The time required to perform the simulated task increased linearly with time delay, but time delays had no effect on alignment accuracy. Based on the results of this simulation, several future studies are recommended.

The Isothermal Dendritic Growth Experiment

NASA Technical Reports Server (NTRS)

Glicksman, M. E.; Koss, M. B.; Malarik, D. C.

1998-01-01

The growth of dendrites is one of the commonly observed forms of solidification encountered when metals and alloys freeze under low thermal gradients, as occurs in most casting and welding processes. In engineering alloys, the details of the dendritic morphology directly relates to important material responses and properties. Of more generic interest, dendritic growth is also an archetypical problem in morphogenesis, where a complex pattern evolves from simple starting conditions. Thus, the physical understanding and mathematical description of how dendritic patterns emerge during the growth process are of interest to both scientists and engineers. The Isothermal Dendritic Growth Experiment (IDGE) is a basic science experiment designed to measure, for a fundamental test of theory, the kinetics and morphology of dendritic growth without complications induced by gravity-driven convection. The IDGE, a collaboration between Rensselaer Polytechnic Institute, in Troy NY, and NASA's Lewis Research Center (LeRC) was developed over a ten year period from a ground-based research program into a space flight experiment. Important to the success of this flight experiment was provision of in situ near-real-time teleoperations during the spaceflight experiment.

Complete low-cost implementation of a teleoperated control system for a humanoid robot.

PubMed

Cela, Andrés; Yebes, J Javier; Arroyo, Roberto; Bergasa, Luis M; Barea, Rafael; López, Elena

2013-01-24

Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot's back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.

Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

PubMed Central

Cela, Andrés; Yebes, J. Javier; Arroyo, Roberto; Bergasa, Luis M.; Barea, Rafael; López, Elena

2013-01-01

Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot's back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system. PMID:23348029

Graphic overlays in high-precision teleoperation: Current and future work at JPL

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Venema, Steven C.

1989-01-01

In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated.

Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback.

PubMed

Pacchierotti, Claudio; Tirmizi, Asad; Bianchini, Gianni; Prattichizzo, Domenico

2015-01-01

We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this is required to satisfy stability conditions (e.g., passivity) at the expense of transparency. Performance is recovered by providing a suitable amount of cutaneous force through custom wearable cutaneous devices. The viability of the proposed approach is demonstrated through an experiment of perceived stiffness and an experiment of teleoperated needle insertion in soft tissue.

Characterization of good teleoperators - What aptitudes, interests, and experience correlate with measures of teleoperator performance

NASA Technical Reports Server (NTRS)

Yorchak, J. P.; Hartley, C. S.; Hinman, E.

1985-01-01

The use of aptitude tests and questionnaries to evaluate an individuals aptitude for teleoperation is studied. The Raven Progressive Matrices Test and Differential Aptitude Tests, and a 16-item questionnaire for assessing the subject's interests, academic background, and previous experience are described. The Proto-Flight Manipulator Arm, cameras, console, hand controller, and task board utilized by the 17 engineers are examined. The correlation between aptitude scores and questionnaire responses, and operator performance is investigated. Multiple regression data reveal that the eight predictor variables are not individually significant for evaluating operator performance; however, the complete test battery is applicable for predicting 49 percent of subject variance on the criterion task.

Teleoperation, telerobotics, and telepresence in surgery.

PubMed

Satava, R M; Simon, I B

1993-06-01

The concepts of teleoperation, telerobotics, and telepresence are presented and defined. Current surgical systems, some in clinical practice and others in prototype demonstration, are used to illustrate each of these principles. The importance and impact of these technologies and their relation to other advanced technologies are illustrated to project a framework for the future of surgery.

Innovation Talk at TARDEC by Dr. Tulga Ersal

Science.gov Websites

problems of teleoperation and fully autonomous operation of large Unmanned Ground Vehicles (UGVs) at high wide spectrum in their mode of operation ranging from teleoperated, in which the remote human operator implementable solution. High speeds also present a challenge to fully autonomous operation with respect to

Experimental and simulation studies of hard contact in force reflecting teleoperation

NASA Technical Reports Server (NTRS)

Hannaford, Blake; Anderson, Robert

1988-01-01

Experiments and simulations of a single-axis force-reflecting teleoperation system have been conducted to investigate the problem of contacting a hard environment and maintaining a controlled force in teleoperation in which position is fed forward from the hand controller (master) to the manipulator (slave), and force is fed back to the human operator through motors in the master. The simulations, using an electrical circuit model, reproduce the behavior of the real system, including effects of human operator biomechanics. It is shown that human operator properties, which vary as a result of different types of grasp of the handle, affect the stability of the system in the hard-contact task. The effect of a heavier grasp on the handle is equivalent to increased hand-controller velocity damping in terms of the systems stability in the contact task, but control system damping sufficient to guarantee stable contact results in perceptible sluggishness of the control handle's response in free motion. These results suggest that human operator biomechanics must be taken into account to guarantee stable and ergonomic performance of advanced teleoperators.

Experiences in teleoperation of land vehicles

NASA Technical Reports Server (NTRS)

Mcgovern, Douglas E.

1989-01-01

Teleoperation of land vehicles allows the removal of the operator from the vehicle to a remote location. This can greatly increase operator safety and comfort in applications such as security patrol or military combat. The cost includes system complexity and reduced system performance. All feedback on vehicle performance and on environmental conditions must pass through sensors, a communications channel, and displays. In particular, this requires vision to be transmitted by close-circuit television with a consequent degradation of information content. Vehicular teleoperation, as a result, places severe demands on the operator. Teleoperated land vehicles have been built and tested by many organizations, including Sandia National Laboratories (SNL). The SNL fleet presently includes eight vehicles of varying capability. These vehicles have been operated using different types of controls, displays, and visual systems. Experimentation studying the effects of vision system characteristics on off-road, remote driving was performed for conditions of fixed camera versus steering-coupled camera and of color versus black and white video display. Additionally, much experience was gained through system demonstrations and hardware development trials. The preliminary experimental findings and the results of the accumulated operational experience are discussed.

High level intelligent control of telerobotics systems

NASA Technical Reports Server (NTRS)

Mckee, James

1988-01-01

A high level robot command language is proposed for the autonomous mode of an advanced telerobotics system and a predictive display mechanism for the teleoperational model. It is believed that any such system will involve some mixture of these two modes, since, although artificial intelligence can facilitate significant autonomy, a system that can resort to teleoperation will always have the advantage. The high level command language will allow humans to give the robot instructions in a very natural manner. The robot will then analyze these instructions to infer meaning so that is can translate the task into lower level executable primitives. If, however, the robot is unable to perform the task autonomously, it will switch to the teleoperational mode. The time delay between control movement and actual robot movement has always been a problem in teleoperations. The remote operator may not actually see (via a monitor) the results of high actions for several seconds. A computer generated predictive display system is proposed whereby the operator can see a real-time model of the robot's environment and the delayed video picture on the monitor at the same time.

Human Machine Interfaces for Teleoperators and Virtual Environments Conference

NASA Technical Reports Server (NTRS)

1990-01-01

In a teleoperator system the human operator senses, moves within, and operates upon a remote or hazardous environment by means of a slave mechanism (a mechanism often referred to as a teleoperator). In a virtual environment system the interactive human machine interface is retained but the slave mechanism and its environment are replaced by a computer simulation. Video is replaced by computer graphics. The auditory and force sensations imparted to the human operator are similarly computer generated. In contrast to a teleoperator system, where the purpose is to extend the operator's sensorimotor system in a manner that facilitates exploration and manipulation of the physical environment, in a virtual environment system, the purpose is to train, inform, alter, or study the human operator to modify the state of the computer and the information environment. A major application in which the human operator is the target is that of flight simulation. Although flight simulators have been around for more than a decade, they had little impact outside aviation presumably because the application was so specialized and so expensive.

The roles of humans and robots as field geologists on the Moon

NASA Technical Reports Server (NTRS)

Spudis, Paul D.; Taylor, G. Jeffrey

1992-01-01

The geologic exploration of the Moon will be one of the primary scientific functions of any lunar base program. Geologic reconnaissance, the broad-scale characterization of processes and regions, is an ongoing effort that has already started and will continue after base establishment. Such reconnaissance is best done by remote sensing from lunar orbit and simple, automated, sample return missions of the Soviet Luna class. Field study, in contrast, requires intensive work capabilities and the guiding influence of human intelligence. We suggest that the most effective way to accomplish the goals of geologic field study on the Moon is through the use of teleoperated robots, under the direct control of a human geologists who remains at the lunar base, or possibly on Earth. These robots would have a global traverse range, could possess sensory abilities optimized for geologic field work, and would accomplish surface exploration goals without the safety and life support concerns attendance with the use of human geologists on the Moon. By developing the capability to explore any point on the Moon immediately after base establishment, the use of such teleoperated, robotic field geologists makes the single-site lunar base into a 'global' base from the viewpoint of geologic exploration.

Tele-operated search robot for human detection using histogram of oriented objects

NASA Astrophysics Data System (ADS)

Cruz, Febus Reidj G.; Avendaño, Glenn O.; Manlises, Cyrel O.; Avellanosa, James Jason G.; Abina, Jyacinth Camille F.; Masaquel, Albert M.; Siapno, Michael Lance O.; Chung, Wen-Yaw

2017-02-01

Disasters such as typhoons, tornadoes, and earthquakes are inevitable. Aftermaths of these disasters include the missing people. Using robots with human detection capabilities to locate the missing people, can dramatically reduce the harm and risk to those who work in such circumstances. This study aims to: design and build a tele-operated robot; implement in MATLAB an algorithm for the detection of humans; and create a database of human identification based on various positions, angles, light intensity, as well as distances from which humans will be identified. Different light intensities were made by using Photoshop to simulate smoke, dust and water drops conditions. After processing the image, the system can indicate either a human is detected or not detected. Testing with bodies covered was also conducted to test the algorithm's robustness. Based on the results, the algorithm can detect humans with full body shown. For upright and lying positions, detection can happen from 8 feet to 20 feet. For sitting position, detection can happen from 2 feet to 20 feet with slight variances in results because of different lighting conditions. The distances greater than 20 feet, no humans can be processed or false negatives can occur. For bodies covered, the algorithm can detect humans in cases made under given circumstances. On three positions, humans can be detected from 0 degrees to 180 degrees under normal, with smoke, with dust, and with water droplet conditions. This study was able to design and build a tele-operated robot with MATLAB algorithm that can detect humans with an overall precision of 88.30%, from which a database was created for human identification based on various conditions, where humans will be identified.

NASA space station automation: AI-based technology review. Executive summary

NASA Technical Reports Server (NTRS)

Firschein, O.; Georgeff, M. P.; Park, W.; Cheeseman, P. C.; Goldberg, J.; Neumann, P.; Kautz, W. H.; Levitt, K. N.; Rom, R. J.; Poggio, A. A.

1985-01-01

Research and Development projects in automation technology for the Space Station are described. Artificial Intelligence (AI) based technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics.

Remote Learning for the Manipulation and Control of Robotic Cells

ERIC Educational Resources Information Center

Goldstain, Ofir; Ben-Gal, Irad; Bukchin, Yossi

2007-01-01

This work proposes an approach to remote learning of robotic cells based on internet and simulation tools. The proposed approach, which integrates remote-learning and tele-operation into a generic scheme, is designed to enable students and developers to set-up and manipulate a robotic cell remotely. Its implementation is based on a dedicated…

Precursors and adjuncts of a lunar base

NASA Technical Reports Server (NTRS)

Burke, J. D.

1988-01-01

The automated, teleoperated, robotic and human-tended subsystems which will precede and accompany a lunar base program are discussed. The information about lunar conditions that can be provided by such precursors and adjuncts is addressed. The use of precursors and adjuncts for communications and navigation, for safety and survival, for lunar archives, and for entertainment and leisure is examined.

Remotely manned systems: Exploration and operation in space; Proceedings of the First National Conference, California Institute of Technology, Pasadena, Calif., September 13-15, 1972.

NASA Technical Reports Server (NTRS)

Heer, E.

1973-01-01

Free-flying teleoperator systems are discussed, giving attention to earth-orbit mission considerations and Space Tug requirements, free-flying teleoperator requirements and conceptual design, system requirements for a free-flying teleoperator to despin, and the experimental evaluation of remote manipulator systems. Shuttle-Attached Manipulator Systems are considered, together with remote surface vehicle systems, manipulator systems technology, remote sensor and display technology, the man-machine interface, and control and machine intelligence. Nonspace applications are also explored, taking into account implications of nonspace applications, naval applications of remote manipulators, and hand tools and mechanical accessories for a deep submersible. Individual items are announced in this issue.

Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine

PubMed Central

King, H. Hawkeye; Hannaford, Blake; Kwok, Ka-Wai; Yang, Guang-Zhong; Griffiths, Paul; Okamura, Allison; Farkhatdinov, Ildar; Ryu, Jee-Hwan; Sankaranarayanan, Ganesh; Arikatla, Venkata; Tadano, Kotaro; Kawashima, Kenji; Peer, Angelika; Schauß, Thomas; Buss, Martin; Miller, Levi; Glozman, Daniel; Rosen, Jacob; Low, Thomas

2014-01-01

Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators. PMID:24748993

Time domain passivity controller for 4-channel time-delay bilateral teleoperation.

PubMed

Rebelo, Joao; Schiele, Andre

2015-01-01

This paper presents an extension of the time-domain passivity control approach to a four-channel bilateral controller under the effects of time delays. Time-domain passivity control has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; however, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, which provides perfect transparency to the user without time delay. The proposed architecture is based on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a one degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.

Modular telerobot control system for accident response

NASA Astrophysics Data System (ADS)

Anderson, Richard J. M.; Shirey, David L.

1999-08-01

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform.

PubMed

Francis, P; Eastwood, K W; Bodani, V; Looi, T; Drake, J M

2018-05-07

This work explores the feasibility of creating and accurately controlling an instrument for robotic surgery with a 2 mm diameter and a three degree-of-freedom (DoF) wrist which is compatible with the da Vinci platform. The instrument's wrist is composed of a two DoF bending notched-nitinol tube pattern, for which a kinematic model has been developed. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggest that creating and accurately controlling a 2 mm diameter instrument is feasible and the design and modelling proposed in this work provide a basis for future miniature instrument development.

Real-time, interactive, visually updated simulator system for telepresence

NASA Technical Reports Server (NTRS)

Schebor, Frederick S.; Turney, Jerry L.; Marzwell, Neville I.

1991-01-01

Time delays and limited sensory feedback of remote telerobotic systems tend to disorient teleoperators and dramatically decrease the operator's performance. To remove the effects of time delays, key components were designed and developed of a prototype forward simulation subsystem, the Global-Local Environment Telerobotic Simulator (GLETS) that buffers the operator from the remote task. GLETS totally immerses an operator in a real-time, interactive, simulated, visually updated artificial environment of the remote telerobotic site. Using GLETS, the operator will, in effect, enter into a telerobotic virtual reality and can easily form a gestalt of the virtual 'local site' that matches the operator's normal interactions with the remote site. In addition to use in space based telerobotics, GLETS, due to its extendable architecture, can also be used in other teleoperational environments such as toxic material handling, construction, and undersea exploration.

Considerations for human-machine interfaces in tele-operations

NASA Technical Reports Server (NTRS)

Newport, Curt

1991-01-01

Numerous factors impact on the efficiency of tele-operative manipulative work. Generally, these are related to the physical environment of the tele-operator and how he interfaces with robotic control consoles. The capabilities of the operator can be influenced by considerations such as temperature, eye strain, body fatigue, and boredom created by repetitive work tasks. In addition, the successful combination of man and machine will, in part, be determined by the configuration of the visual and physical interfaces available to the teleoperator. The design and operation of system components such as full-scale and mini-master manipulator controllers, servo joysticks, and video monitors will have a direct impact on operational efficiency. As a result, the local environment and the interaction of the operator with the robotic control console have a substantial effect on mission productivity.

Ground vehicle control at NIST: From teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Murphy, Karl N.; Juberts, Maris; Legowik, Steven A.; Nashman, Marilyn; Schneiderman, Henry; Scott, Harry A.; Szabo, Sandor

1994-01-01

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

Soldier Performance in a Moving Command Vehicle Under Manned, Teleoperated, and Teleoperated Cruise Control Modes Under Day and Night Conditions

DTIC Science & Technology

2013-05-01

official Department of the Army position unless so designated by other authorized documents. Citation of manufacturer’s or trade names does not... designed to examine these modes of operation, comparing the subjective workload, stress, and motion sickness as well as course completion time...8  3.5  Design and Analysis ........................................................................................................9

An assigned responsibility system for robotic teleoperation control.

PubMed

Small, Nicolas; Lee, Kevin; Mann, Graham

2018-01-01

This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

A Space Station robot walker and its shared control software

NASA Technical Reports Server (NTRS)

Xu, Yangsheng; Brown, Ben; Aoki, Shigeru; Yoshida, Tetsuji

1994-01-01

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Location-Driven Image Retrieval for Images Collected by a Mobile Robot

NASA Astrophysics Data System (ADS)

Tanaka, Kanji; Hirayama, Mitsuru; Okada, Nobuhiro; Kondo, Eiji

Mobile robot teleoperation is a method for a human user to interact with a mobile robot over time and distance. Successful teleoperation depends on how well images taken by the mobile robot are visualized to the user. To enhance the efficiency and flexibility of the visualization, an image retrieval system on such a robot’s image database would be very useful. The main difference of the robot’s image database from standard image databases is that various relevant images exist due to variety of viewing conditions. The main contribution of this paper is to propose an efficient retrieval approach, named location-driven approach, utilizing correlation between visual features and real world locations of images. Combining the location-driven approach with the conventional feature-driven approach, our goal can be viewed as finding an optimal classifier between relevant and irrelevant feature-location pairs. An active learning technique based on support vector machine is extended for this aim.

Semiautonomous teleoperation system with vision guidance

NASA Astrophysics Data System (ADS)

Yu, Wai; Pretlove, John R. G.

1998-12-01

This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

Brodie, S. B.; Grant, C.; Lazar, J. J.

1975-01-01

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

Modeling and Classifying Six-Dimensional Trajectories for Teleoperation Under a Time Delay

NASA Technical Reports Server (NTRS)

SunSpiral, Vytas; Wheeler, Kevin R.; Allan, Mark B.; Martin, Rodney

2006-01-01

Within the context of teleoperating the JSC Robonaut humanoid robot under 2-10 second time delays, this paper explores the technical problem of modeling and classifying human motions represented as six-dimensional (position and orientation) trajectories. A dual path research agenda is reviewed which explored both deterministic approaches and stochastic approaches using Hidden Markov Models. Finally, recent results are shown from a new model which represents the fusion of these two research paths. Questions are also raised about the possibility of automatically generating autonomous actions by reusing the same predictive models of human behavior to be the source of autonomous control. This approach changes the role of teleoperation from being a stand-in for autonomy into the first data collection step for developing generative models capable of autonomous control of the robot.

The effect of a robot-assisted surgical system on the kinematics of user movements.

PubMed

Nisky, Ilana; Hsieh, Michael H; Okamura, Allison M

2013-01-01

Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.

TOPLEX: Teleoperated Lunar Explorer. Instruments and Operational Concepts for an Unmanned Lunar Rover

NASA Technical Reports Server (NTRS)

Blacic, James D.

1992-01-01

A Teleoperated Lunar Explorer, or TOPLEX, consisting of a lunar lander payload in which a small, instrument-carrying lunar surface rover is robotically landed and teleoperated from Earth to perform extended lunar geoscience and resource evaluation traverses is proposed. The rover vehicle would mass about 100 kg and carry approximately 100 kg of analytic instruments. Four instruments are envisioned: (1) a Laser-Induced Breakdown Spectrometer (LIBS) for geochemical analysis at ranges up to 100 m, capable of operating in three different modes; (2) a combined x-ray fluorescence and x-ray diffraction (XRF/XRD) instrument for elemental and mineralogic analysis of acquired samples; (3) a mass spectrometer system for stepwise heating analysis of gases released from acquired samples; and (4) a geophysical instrument package for subsurface mapping of structures such as lava tubes.

JPRS Report, Science & Technology, Japan, 89 Sairas Symposium

DTIC Science & Technology

1990-08-21

Electric) B2-5 Region Segmentation Process for Visual Data Mikio Fukase, Tsugito Maruyama, Takashi Uchiyama (Fujitsu Labs.) Osamu Okamoto, Isao Yamaguchi (N...Shigeoki Hirai, Tomomasa Sato (ETL) Tadao Hiruma (Meiji Univ.) B2-12 A Teleoperating Assembly System Hajime Morikawa, Nobuaki Takanashi, Norio Tagawa...Processing for Space Robot Teleoperation 230 Eiichi Ogawa, Shigeki Kuzuoka (Mitsubrshi Electric) B32-5 Region Segmentation Process for Visual Data 234 Mikio

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

PubMed Central

Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M.; De Momi, Elena

2017-01-01

Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration. PMID:29018319

Technology assessment of advanced automation for space missions

NASA Technical Reports Server (NTRS)

1982-01-01

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.

Design of a Versatile, Teleoperable, Towable Lifting Machine with Robotic Capabilities for Use in Nasa's Lunar Base Operations

NASA Technical Reports Server (NTRS)

Harris, Elizabeth; Ogle, James; Schoppe, Dean

1989-01-01

The lifting machine will assist in lifting cargo off of landers sent to the Moon and in the construction of a lunar base. Three possible designs were considered for the overall configuration of the lifting machine: the variable angle crane, the tower crane, and the gantry crane. Alternate designs were developed for the major components of the lifting machine. A teleoperable, variable angle crane was chosen as its final design. The design consists of a telescoping boom mounted to a chassis that is supported by two conical wheels for towing and four outriggers for stability. Attached to the end of the boom is a seven degree of freedom robot arm for light, dexterous, lifting operations. A cable and hook suspends from the end of the boom for heavy, gross, lifting operations. Approximate structural sizes were determined for the lifter and its components. However, further analysis is needed to determine the optimum design dimensions. The design team also constructed a model of the design which demonstrates its features and operating principals.

Constraint-based semi-autonomy for unmanned ground vehicles using local sensing

NASA Astrophysics Data System (ADS)

Anderson, Sterling J.; Karumanchi, Sisir B.; Johnson, Bryan; Perlin, Victor; Rohde, Mitchell; Iagnemma, Karl

2012-06-01

Teleoperated vehicles are playing an increasingly important role in a variety of military functions. While advantageous in many respects over their manned counterparts, these vehicles also pose unique challenges when it comes to safely avoiding obstacles. Not only must operators cope with difficulties inherent to the manned driving task, but they must also perform many of the same functions with a restricted field of view, limited depth perception, potentially disorienting camera viewpoints, and significant time delays. In this work, a constraint-based method for enhancing operator performance by seamlessly coordinating human and controller commands is presented. This method uses onboard LIDAR sensing to identify environmental hazards, designs a collision-free path homotopy traversing that environment, and coordinates the control commands of a driver and an onboard controller to ensure that the vehicle trajectory remains within a safe homotopy. This system's performance is demonstrated via off-road teleoperation of a Kawasaki Mule in an open field among obstacles. In these tests, the system safely avoids collisions and maintains vehicle stability even in the presence of "routine" operator error, loss of operator attention, and complete loss of communications.

International testing of a Mars rover prototype

NASA Astrophysics Data System (ADS)

Kemurjian, Alexsandr Leonovich; Linkin, V.; Friedman, L.

1993-03-01

Tests on a prototype engineering model of the Russian Mars 96 Rover were conducted by an international team in and near Death Valley in the United States in late May, 1992. These tests were part of a comprehensive design and testing program initiated by the three Russian groups responsible for the rover development. The specific objectives of the May tests were: (1) evaluate rover performance over different Mars-like terrains; (2) evaluate state-of-the-art teleoperation and autonomy development for Mars rover command, control and navigation; and (3) organize an international team to contribute expertise and capability on the rover development for the flight project. The range and performance that can be planned for the Mars mission is dependent on the degree of autonomy that will be possible to implement on the mission. Current plans are for limited autonomy, with Earth-based teleoperation for the nominal navigation system. Several types of television systems are being investigated for inclusion in the navigation system including panoramic camera, stereo, and framing cameras. The tests used each of these in teleoperation experiments. Experiments were included to consider use of such TV data in autonomy algorithms. Image processing and some aspects of closed-loop control software were also tested. A micro-rover was tested to help consider the value of such a device as a payload supplement to the main rover. The concept is for the micro-rover to serve like a mobile hand, with its own sensors including a television camera.

Shuttle free-flying teleoperator system experiment definition. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

1972-01-01

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.

Evaluation of Human vs. Teleoperated Robotic Performance in Field Geology Tasks at a Mars Analog Site

NASA Technical Reports Server (NTRS)

Glass, B.; Briggs, G.

2003-01-01

Exploration mission designers and planners have costing models used to assess the affordability of given missions - but very little data exists on the relative science return produced by different ways of exploring a given region. Doing cost-benefit analyses for future missions requires a way to compare the relative field science productivity of spacesuited humans vs. virtual presence/teleoperation from a nearby habitat or orbital station, vs. traditional terrestrial-controlled rover operations. The goal of this study was to define science-return metrics for comparing human and robotic fieldwork, and then obtain quantifiable science-return performance comparisons between teleoperated rovers and spacesuited humans. Test runs with a simulated 2015-class rover and with spacesuited geologists were conducted at Haughton Crater in the Canadian Arctic in July 2002. Early results imply that humans will be 1-2 orders of magnitude more productive per unit time in exploration than future terrestrially-controlled robots.

Controller design for a teleoperator system with dissimilar kinematics and force feedback

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jansen, J.F.; Kress, R.L.; Babcock, S.M.

1990-01-01

The purpose of this paper is to develop a controller for dissimilar kinematic teleoperator systems, which include a force/torque sensor mounted on the slave. Due to improved modern microprocessor computing capability and the trend toward redundant slaves, the next generation of teleoperator systems will likely incorporate dissimilar kinematics in their design; consequently, a need exists for a workable control scheme for these systems. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. The master controller and the orientation representation using Euler parameters for the both the master and slavemore » will be the main focus of this paper. The implementation of the master controller on a 6-degrees-of-freedom (DOF) master is also discussed. Only a brief summary of the overall strategy will be presented. 13 refs., 1 fig.« less

Advanced teleoperation: Technology innovations and applications

NASA Technical Reports Server (NTRS)

Schenker, Paul S.; Bejczy, Antal K.; Kim, Won S.

1994-01-01

The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest.

STRIPE: Remote Driving Using Limited Image Data

NASA Technical Reports Server (NTRS)

Kay, Jennifer S.

1997-01-01

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

DOE Office of Scientific and Technical Information (OSTI.GOV)

M.A. Ebadian, Ph.D.

1999-01-01

For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantlymore » enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future.« less

Teleoperation experiments with a Utah/MIT hand and a VPL DataGlove

NASA Technical Reports Server (NTRS)

Clark, D.; Demmel, J.; Hong, J.; Lafferriere, Gerardo; Salkind, L.; Tan, X.

1989-01-01

A teleoperation system capable of controlling a Utah/MIT Dextrous Hand using a VPL DataGlove as a master is presented. Additionally the system is capable of running the dextrous hand in robotic (autonomous) mode as new programs are developed. The software and hardware architecture used is presented and the experiments performed are described. The communication and calibration issues involved are analyzed and applications to the analysis and development of automated dextrous manipulations are investigated.

Neural Network Classifies Teleoperation Data

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Giancaspro, Antonio; Losito, Sergio; Pasquariello, Guido

1994-01-01

Prototype artificial neural network, implemented in software, identifies phases of telemanipulator tasks in real time by analyzing feedback signals from force sensors on manipulator hand. Prototype is early, subsystem-level product of continuing effort to develop automated system that assists in training and supervising human control operator: provides symbolic feedback (e.g., warnings of impending collisions or evaluations of performance) to operator in real time during successive executions of same task. Also simplifies transition between teleoperation and autonomous modes of telerobotic system.

Low-Latency Teleoperations for Human Exploration and Evolvable Mars Campaign

NASA Technical Reports Server (NTRS)

Lupisella, Mark; Wright, Michael; Arney, Dale; Gershman, Bob; Stillwagen, Fred; Bobskill, Marianne; Johnson, James; Shyface, Hilary; Larman, Kevin; Lewis, Ruthan;

A laboratory breadboard system for dual-arm teleoperation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Szakaly, Z.; Kim, W. S.

1990-01-01

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Man-systems requirements for the control of teleoperators in space

NASA Technical Reports Server (NTRS)

Shields, Nicholas L., Jr.

1988-01-01

The microgravity of the space environment has profound effects on humans and, consequently, on the design requirements for subsystems and components with which humans interact. There are changes in the anthropometry, vision, the perception of orientation, posture, and the ways in which we exert energy. The design requirements for proper human engineering must reflect each of the changes that results, and this is especially true in the exercise of control over remote and teleoperated systems where the operator is removed from any direct sense of control. The National Aeronautics and Space Administration has recently completed the first NASA-wide human factors standard for microgravity. The Man-Systems Integration Standard, NASA-STD-3000, contains considerable information on the appropriate design criteria for microgravity, and there is information that is useful in the design for teleoperated systems. There is not, however, a dedicated collection of data which pertains directly to the special cases of remote and robotic operations. The design considerations for human-system interaction in the control of remote systems in space are discussed, with brief details on the information to be found in the NASA-STD-3000, and arguments for a dedicated section within the Standard which deals with robotic, teleoperated and remote systems and the design requirements for effective human control of these systems in the space environment, and from the space environment.

Operator learning effects in teleoperated rendezvous & docking

NASA Astrophysics Data System (ADS)

Wilde, M.; Harder, J.; Purschke, R.

Teleoperation of spacecraft proximity operations and docking requires delicate timing and coordination of spacecraft maneuvers. Experience has shown that human operators show large performance fluctuations in these areas, which are a major factor to be addressed in operator training. In order to allow the quantification of the impact of these human fluctuations on control system performance and the human perception of this performance, a learning curve study was conducted with teleoperated final approach and docking scenarios. Over a period of ten experiment days, three test participants were tasked with repeatedly completing a set of three training scenarios. The scenarios were designed to contain different combinations of the major elements of any final approach and docking situation, and to feature an increasing difficulty level. The individual difficulty levels for the three operators furthermore differed in the level of operator support functions available in their human-machine interfaces. Operator performance in the test scenarios were evaluated in the fields approach success and precision, docking safety, and approach efficiency by a combination of recorded maneuver data and questionnaires. The results show that operator experience and the associated learning curves increase operator performance substantially, regardless of the support system used. The paper also shows that the fluctuations in operator performance and self-perception are substantial between as well as within experiment days, and must be reckoned with in teleoperation system design and mission planning.

Testbed for remote telepresence research

NASA Astrophysics Data System (ADS)

Adnan, Sarmad; Cheatham, John B., Jr.

1992-11-01

Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Performance evaluation of a six-axis generalized force-reflecting teleoperator

NASA Technical Reports Server (NTRS)

Hannaford, B.; Wood, L.; Guggisberg, B.; Mcaffee, D.; Zak, H.

1989-01-01

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Weisbin, C.R.; Pin, F.G.

1989-01-01

This paper reviews ongoing and planned research with mobile autonomous robots at the Oak Ridge National Laboratory (ORNL), Center for Engineering Systems Advanced Research (CESAR). Specifically we report on results obtained with the robot HERMIES-IIB in navigation, intelligent sensing, learning, and on-board parallel computing in support of these functions. We briefly summarize an experiment with HERMIES-IIB that demonstrates the capability of smooth transitions between robot autonomy and tele-operation. This experiment results from collaboration among teams at the Universities of Florida, Michigan, Tennessee, and Texas; and ORNL in a program targeted at robotics for advanced nuclear power stations. We conclude bymore » summarizing ongoing R D with our new mobile robot HERMIES-III which is equipped with a seven degree-of-freedom research manipulator arm. 12 refs., 4 figs.« less

An Effective Division of Labor Between Human and Robotic Agents Performing a Cooperative Assembly Task

NASA Technical Reports Server (NTRS)

Rehnmark, Fredrik; Bluethmann, William; Rochlis, Jennifer; Huber, Eric; Ambrose, Robert

2003-01-01

NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These so-called extra-vehicular activities (EVAs) are risky, expensive and complex. Work is underway to develop a robotic astronaut's assistant that can help reduce human EVA time and workload by delivering human-like dexterous manipulation capabilities to any EVA worksite. An experiment is conducted to evaluate human-robot teaming strategies in the context of a simplified EVA assembly task in which Robonaut, a collaborative effort with the Defense Advanced Research Projects Agency (DARPA), an anthropomorphic robot works side-by-side with a human subject. Team performance is studied in an effort to identify the strengths and weaknesses of each teaming configuration and to recommend an appropriate division of labor. A shared control approach is developed to take advantage of the complementary strengths of the human teleoperator and robot, even in the presence of significant time delay.

Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task.

PubMed

Khurshid, Rebecca P; Fitter, Naomi T; Fedalei, Elizabeth A; Kuchenbecker, Katherine J

2017-01-01

The multifaceted human sense of touch is fundamental to direct manipulation, but technical challenges prevent most teleoperation systems from providing even a single modality of haptic feedback, such as force feedback. This paper postulates that ungrounded grip-force, fingertip-contact-and-pressure, and high-frequency acceleration haptic feedback will improve human performance of a teleoperated pick-and-place task. Thirty subjects used a teleoperation system consisting of a haptic device worn on the subject's right hand, a remote PR2 humanoid robot, and a Vicon motion capture system to move an object to a target location. Each subject completed the pick-and-place task 10 times under each of the eight haptic conditions obtained by turning on and off grip-force feedback, contact feedback, and acceleration feedback. To understand how object stiffness affects the utility of the feedback, half of the subjects completed the task with a flexible plastic cup, and the others used a rigid plastic block. The results indicate that the addition of grip-force feedback with gain switching enables subjects to hold both the flexible and rigid objects more stably, and it also allowed subjects who manipulated the rigid block to hold the object more delicately and to better control the motion of the remote robot's hand. Contact feedback improved the ability of subjects who manipulated the flexible cup to move the robot's arm in space, but it deteriorated this ability for subjects who manipulated the rigid block. Contact feedback also caused subjects to hold the flexible cup less stably, but the rigid block more securely. Finally, adding acceleration feedback slightly improved the subject's performance when setting the object down, as originally hypothesized; interestingly, it also allowed subjects to feel vibrations produced by the robot's motion, causing them to be more careful when completing the task. This study supports the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and motivates further improvements to fingertip-contact-and-pressure feedback.

Force reflecting hand controller for manipulator teleoperation

NASA Technical Reports Server (NTRS)

Bryfogle, Mark D.

1991-01-01

A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

Bilateral control of master-slave manipulators with constant time delay.

PubMed

Forouzantabar, A; Talebi, H A; Sedigh, A K

2012-01-01

This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

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

NASA Technical Reports Server (NTRS)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

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.

Krikalev works with the TORU teleoperated control system in the SM during Expedition 11

NASA Image and Video Library

2005-06-19

ISS011-E-09184 (18 June 2005) --- Cosmonaut Sergei K. Krikalev, Expedition 11 commander representing Russia's Federal Space Agency, practices docking procedures with the TORU teleoperated control system in the Zvezda Service Module of the International Space Station (ISS) in preparation for the docking of the Progress 18 spacecraft. Krikalev, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the Station in the event of a failure of the Kurs automated docking system.

Tyurin works with the TORU teleoperated control system in the SM during Expedition 14

NASA Image and Video Library

2007-01-20

ISS014-E-12482 (19 Jan. 2007) --- Cosmonaut Mikhail Tyurin, Expedition 14 flight engineer representing Russia's Federal Space Agency, practices docking procedures with the TORU teleoperated control system in the Zvezda Service Module of the International Space Station in preparation for the docking of the Progress 24 spacecraft. Tyurin, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the station in the event of a failure of the Kurs automated docking system.

Advanced Technologies for Robotic Exploration Leading to Human Exploration: Results from the SpaceOps 2015 Workshop

NASA Technical Reports Server (NTRS)

Lupisella, Mark L.; Mueller, Thomas

2016-01-01

This paper will provide a summary and analysis of the SpaceOps 2015 Workshop all-day session on "Advanced Technologies for Robotic Exploration, Leading to Human Exploration", held at Fucino Space Center, Italy on June 12th, 2015. The session was primarily intended to explore how robotic missions and robotics technologies more generally can help lead to human exploration missions. The session included a wide range of presentations that were roughly grouped into (1) broader background, conceptual, and high-level operations concepts presentations such as the International Space Exploration Coordination Group Roadmap, followed by (2) more detailed narrower presentations such as rover autonomy and communications. The broader presentations helped to provide context and specific technical hooks, and helped lay a foundation for the narrower presentations on more specific challenges and technologies, as well as for the discussion that followed. The discussion that followed the presentations touched on key questions, themes, actions and potential international collaboration opportunities. Some of the themes that were touched on were (1) multi-agent systems, (2) decentralized command and control, (3) autonomy, (4) low-latency teleoperations, (5) science operations, (6) communications, (7) technology pull vs. technology push, and (8) the roles and challenges of operations in early human architecture and mission concept formulation. A number of potential action items resulted from the workshop session, including: (1) using CCSDS as a further collaboration mechanism for human mission operations, (2) making further contact with subject matter experts, (3) initiating informal collaborative efforts to allow for rapid and efficient implementation, and (4) exploring how SpaceOps can support collaboration and information exchange with human exploration efforts. This paper will summarize the session and provide an overview of the above subjects as they emerged from the SpaceOps 2015 Workshop session.

Performance constraints and compensation for teleoperation with delay

NASA Technical Reports Server (NTRS)

Mclaughlin, J. S.; Staunton, B. D.

1989-01-01

A classical control perspective is used to characterize performance constraints and evaluate compensation techniques for teleoperation with delay. Use of control concepts such as open and closed loop performance, stability, and bandwidth yield insight to the delay problem. Teleoperator performance constraints are viewed as an open loop time delay lag and as a delay-induced closed loop bandwidth constraint. These constraints are illustrated with a simple analytical tracking example which is corroborated by a real time, 'man-in-the-loop' tracking experiment. The experiment also provides insight to those controller characteristics which are unique to a human operator. Predictive displays and feedforward commands are shown to provide open loop compensation for delay lag. Low pass filtering of telemetry or feedback signals is interpreted as closed loop compensation used to maintain a sufficiently low bandwidth for stability. A new closed loop compensation approach is proposed that uses a reactive (or force feedback) hand controller to restrict system bandwidth by impeding operator inputs.

Objective evaluation of situation awareness for dynamic decision makers in teleoperations

NASA Technical Reports Server (NTRS)

Endsley, Mica R.

1991-01-01

Situation awareness, a current mental mode of the environment, is critical to the ability of operators to perform complex and dynamic tasks. This should be particularly true for teleoperators, who are separated from the situation they need to be aware of. The design of the man-machine interface must be guided by the goal of maintaining and enhancing situation awareness. The objective of this work has been to build a foundation upon which research in the area can proceed. A model of dynamic human decision making which is inclusive of situation awareness will be presented, along with a definition of situation awareness. A method for measuring situation awareness will also be presented as a tool for evaluating design concepts. The Situation Awareness Global Assessment Technique (SAGAT) is an objective measure of situation awareness originally developed for the fighter cockpit environment. The results of SAGAT validation efforts will be presented. Implications of this research for teleoperators and other operators of dynamic systems will be discussed.

Experimental setup for evaluating an adaptive user interface for teleoperation control

NASA Astrophysics Data System (ADS)

Wijayasinghe, Indika B.; Peetha, Srikanth; Abubakar, Shamsudeen; Saadatzi, Mohammad Nasser; Cremer, Sven; Popa, Dan O.

2017-05-01

A vital part of human interactions with a machine is the control interface, which single-handedly could define the user satisfaction and the efficiency of performing a task. This paper elaborates the implementation of an experimental setup to study an adaptive algorithm that can help the user better tele-operate the robot. The formulation of the adaptive interface and associate learning algorithms are general enough to apply when the mapping between the user controls and the robot actuators is complex and/or ambiguous. The method uses a genetic algorithm to find the optimal parameters that produce the input-output mapping for teleoperation control. In this paper, we describe the experimental setup and associated results that was used to validate the adaptive interface to a differential drive robot from two different input devices; a joystick, and a Myo gesture control armband. Results show that after the learning phase, the interface converges to an intuitive mapping that can help even inexperienced users drive the system to a goal location.

Sensor-based fine telemanipulation for space robotics

NASA Technical Reports Server (NTRS)

Andrenucci, M.; Bergamasco, M.; Dario, P.

1989-01-01

The control of a multifingered hand slave in order to accurately exert arbitrary forces and impart small movements to a grasped object is, at present, a knotty problem in teleoperation. Although a number of articulated robotic hands have been proposed in the recent past for dexterous manipulation in autonomous robots, the possible use of such hands as slaves in teleoperated manipulation is hindered by the present lack of sensors in those hands, and (even if those sensors were available) by the inherent difficulty of transmitting to the master operator the complex sensations elicited by such sensors at the slave level. An analysis of different problems related to sensor-based telemanipulation is presented. The general sensory systems requirements for dexterous slave manipulators are pointed out and the description of a practical sensory system set-up for the developed robotic system is presented. The problem of feeding back to the human master operator stimuli that can be interpreted by his central nervous system as originated during real dexterous manipulation is then considered. Finally, some preliminary work aimed at developing an instrumented glove designed purposely for commanding the master operation and incorporating Kevlar tendons and tension sensors, is discussed.

Comparison of tablet-based strategies for incision planning in laser microsurgery

NASA Astrophysics Data System (ADS)

Schoob, Andreas; Lekon, Stefan; Kundrat, Dennis; Kahrs, Lüder A.; Mattos, Leonardo S.; Ortmaier, Tobias

2015-03-01

Recent research has revealed that incision planning in laser surgery deploying stylus and tablet outperforms state-of-the-art micro-manipulator-based laser control. Providing more detailed quantitation regarding that approach, a comparative study of six tablet-based strategies for laser path planning is presented. Reference strategy is defined by monoscopic visualization and continuous path drawing on a graphics tablet. Further concepts deploying stereoscopic or a synthesized laser view, point-based path definition, real-time teleoperation or a pen display are compared with the reference scenario. Volunteers were asked to redraw and ablate stamped lines on a sample. Performance is assessed by measuring planning accuracy, completion time and ease of use. Results demonstrate that significant differences exist between proposed concepts. The reference strategy provides more accurate incision planning than the stereo or laser view scenario. Real-time teleoperation performs best with respect to completion time without indicating any significant deviation in accuracy and usability. Point-based planning as well as the pen display provide most accurate planning and increased ease of use compared to the reference strategy. As a result, combining the pen display approach with point-based planning has potential to become a powerful strategy because of benefiting from improved hand-eye-coordination on the one hand and from a simple but accurate technique for path definition on the other hand. These findings as well as the overall usability scale indicating high acceptance and consistence of proposed strategies motivate further advanced tablet-based planning in laser microsurgery.

Task-level robot programming: Integral part of evolution from teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Reynolds, James C.

1987-01-01

An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy.

Efficient Computation Of Manipulator Inertia Matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1991-01-01

Improved method for computation of manipulator inertia matrix developed, based on concept of spatial inertia of composite rigid body. Required for implementation of advanced dynamic-control schemes as well as dynamic simulation of manipulator motion. Motivated by increasing demand for fast algorithms to provide real-time control and simulation capability and, particularly, need for faster-than-real-time simulation capability, required in many anticipated space teleoperation applications.

Utilisation of Wearable Computing for Space Programmes Test Activities Optimasation

NASA Astrophysics Data System (ADS)

Basso, V.; Lazzari, D.; Alemanni, M.

2004-08-01

New technologies are assuming a relevant importance in the Space business domain also in the Assembly Integration and Test (AIT) activities allowing process optimization and capability that were unthinkable only few years ago. This paper has the aim to describe Alenia Spazio (ALS) gained experience on the remote interaction techniques as a results of collaborations established both on European Communities (EC) initiatives, with Alenia Aeronautica (ALA) and Politecnico of Torino (POLITO). The H/W and S/W components performances increase and costs reduction due to the home computing massive utilization (especially demanded by the games business) together with the network technology possibility (offered by the web as well as the hi-speed links and the wireless communications) allow today to re-think the traditional AIT process activities in the light of the multimedia data exchange: graphical, voice video and by sure more in the future. Aerospace business confirm its innovation vocation which in the year '80 represents the cradle of the CAD systems and today is oriented to the 3D data visualization/ interaction technologies and remote visualisation/ interaction in collaborative way on a much more user friendly bases (i.e. not for specialists). Fig. 1 collects AIT extended scenario studied and adopted by ALS in these years. ALS experimented two possibilities of remote visualization/interaction: Portable [e.g. Fig.2 Personal Digital Assistant (PDA), Wearable] and walls (e.g.VR-Lab) screens as both 2D/3D visualisation and interaction devices which could support many types of traditional (mainly based on EGSE and PDM/CAD utilisation/reports) company internal AIT applications: 1. design review support 2. facility management 3. storage management 4. personnel training 5. integration sequences definition 6. assembly and test operations follow up 7. documentation review and external access to AIT activities for remote operations (e.g. tele-testing) EGSE Portable Clean room Walls PDM/CAD Tele-operations Product Control room External World

NASA space station automation: AI-based technology review

NASA Technical Reports Server (NTRS)

Firschein, O.; Georgeff, M. P.; Park, W.; Neumann, P.; Kautz, W. H.; Levitt, K. N.; Rom, R. J.; Poggio, A. A.

1985-01-01

Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures.

U.S. Space Station platform - Configuration technology for customer servicing

NASA Technical Reports Server (NTRS)

Dezio, Joseph A.; Walton, Barbara A.

1987-01-01

Features of the Space Station coorbiting and polar orbiting platforms (COP and POP, respectively) are described that will allow them to be configured optimally to meet mission requirements and to be assembled, serviced, and modified on-orbit. Both of these platforms were designed to permit servicing at the Shuttle using the remote manipulator system with teleoperated end effectors; EVA was planned as a backup and for unplanned payload failure modes. Station-based servicing is discussed as well as expendable launch vehicle-based servicing concepts.

A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation.

PubMed

Ghorbanian, A; Rezaei, S M; Khoogar, A R; Zareinejad, M; Baghestan, K

2013-03-01

A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Teleoperation of Robonaut Using Finger Tracking

NASA Technical Reports Server (NTRS)

Champoux, Rachel G.; Luo, Victor

2012-01-01

With the advent of new finger tracking systems, the idea of a more expressive and intuitive user interface is being explored and implemented. One practical application for this new kind of interface is that of teleoperating a robot. For humanoid robots, a finger tracking interface is required due to the level of complexity in a human-like hand, where a joystick isn't accurate. Moreover, for some tasks, using one's own hands allows the user to communicate their intentions more effectively than other input. The purpose of this project was to develop a natural user interface for someone to teleoperate a robot that is elsewhere. Specifically, this was designed to control Robonaut on the international space station to do tasks too dangerous and/or too trivial for human astronauts. This interface was developed by integrating and modifying 3Gear's software, which includes a library of gestures and the ability to track hands. The end result is an interface in which the user can manipulate objects in real time in the user interface. then, the information is relayed to a simulator, the stand in for Robonaut, at a slight delay.

Exoskeleton master controller with force-reflecting telepresence

NASA Technical Reports Server (NTRS)

Burke, James B.; Bartholet, Stephen J.; Nelson, David K.

1992-01-01

A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes.

PubMed

Bell, Charreau S; Obstein, Keith L; Valdastri, Pietro

2013-11-01

Colorectal cancer is one of the leading causes of cancer-related deaths in the world, although it can be effectively treated if detected early. Teleoperated flexible endoscopes are an emerging technology to ease patient apprehension about the procedure, and subsequently increase compliance. Essential to teleoperation is robust feedback reflecting the change in pose (i.e., position and orientation) of the tip of the endoscope. The goal of this study is to first describe a novel image-based tracking system for teleoperated flexible endoscopes, and subsequently determine its viability in a clinical setting. The proposed approach leverages artificial neural networks (ANNs) to learn the mapping that links the optical flow between two sequential images to the change in the pose of the camera. Secondly, the study investigates for the first time how narrow band illumination (NBI) - today available in commercial gastrointestinal endoscopes - can be applied to enhance feature extraction, and quantify the effect of NBI and white light illumination (WLI), as well as their color information, on the strength of features extracted from the endoscopic camera stream. In order to provide the best features for the neural networks to learn the change in pose based on the image stream, we investigated two different imaging modalities - WLI and NBI - and we applied two different spatial partitions - lumen-centered and grid-based - to create descriptors used as input to the ANNs. An experiment was performed to compare the error of these four variations, measured in root mean square error (RMSE) from ground truth given by a robotic arm, to that of a commercial state-of-the-art magnetic tracker. The viability of this technique for a clinical setting was then tested using the four ANN variations, a magnetic tracker, and a commercial colonoscope. The trial was performed by an expert endoscopist (>2000 lifetime procedures) on a colonoscopy training model with porcine blood, and the RMSE of the ANN output was calculated with respect to the magnetic tracker readings. Using the image stream obtained from the commercial endoscope, the strength of features extracted was evaluated. In the first experiment, the best ANNs resulted from grid-based partitioning under WLI (2.42mm RMSE) for position, and from lumen-centered partitioning under NBI (1.69° RMSE) for rotation. By comparison, the performance of the tracker was 2.49mm RMSE in position and 0.89° RMSE in rotation. The trial with the commercial endoscope indicated that lumen-centered partitioning was the best overall, while NBI outperformed WLI in terms of illumination modality. The performance of lumen-centered partitioning with NBI was 1.03±0.8mm RMSE in positional degrees of freedom (DOF), and 1.26±0.98° RMSE in rotational DOF, while with WLI, the performance was 1.56±1.15mm RMSE in positional DOF and 2.45±1.90° RMSE in rotational DOF. Finally, the features extracted under NBI were found to be twice as strong as those extracted under WLI, but no significance in feature strengths was observed between a grayscale version of the image, and the red, blue, and green color channels. This work demonstrates that both WLI and NBI, combined with feature partitioning based on the anatomy of the colon, provide valid mechanisms for endoscopic camera pose estimation via image stream. Illumination provided by WLI and NBI produce ANNs with similar performance which are comparable to that of a state-of-the-art magnetic tracker. However, NBI produces features that are stronger than WLI, which enables more robust feature tracking, and better performance of the ANN in terms of accuracy. Thus, NBI with lumen-centered partitioning resulted the best approach among the different variations tested for vision-based pose estimation. The proposed approach takes advantage of components already available in commercial gastrointestinal endoscopes to provide accurate feedback about the motion of the tip of the endoscope. This solution may serve as an enabling technology for closed-loop control of teleoperated flexible endoscopes. Copyright © 2013 Elsevier B.V. All rights reserved.

Teleoperated control system for underground room and pillar mining

DOEpatents

Mayercheck, William D.; Kwitowski, August J.; Brautigam, Albert L.; Mueller, Brian K.

1992-01-01

A teleoperated mining system is provided for remotely controlling the various machines involved with thin seam mining. A thin seam continuous miner located at a mining face includes a camera mounted thereon and a slave computer for controlling the miner and the camera. A plurality of sensors for relaying information about the miner and the face to the slave computer. A slave computer controlled ventilation sub-system which removes combustible material from the mining face. A haulage sub-system removes material mined by the continuous miner from the mining face to a collection site and is also controlled by the slave computer. A base station, which controls the supply of power and water to the continuous miner, haulage system, and ventilation systems, includes cable/hose handling module for winding or unwinding cables/hoses connected to the miner, an operator control module, and a hydraulic power and air compressor module for supplying air to the miner. An operator controlled host computer housed in the operator control module is connected to the slave computer via a two wire communications line.

Progress in video immersion using Panospheric imaging

NASA Astrophysics Data System (ADS)

Bogner, Stephen L.; Southwell, David T.; Penzes, Steven G.; Brosinsky, Chris A.; Anderson, Ron; Hanna, Doug M.

1998-09-01

Having demonstrated significant technical and marketplace advantages over other modalities for video immersion, PanosphericTM Imaging (PI) continues to evolve rapidly. This paper reports on progress achieved since AeroSense 97. The first practical field deployment of the technology occurred in June-August 1997 during the NASA-CMU 'Atacama Desert Trek' activity, where the Nomad mobile robot was teleoperated via immersive PanosphericTM imagery from a distance of several thousand kilometers. Research using teleoperated vehicles at DRES has also verified the exceptional utility of the PI technology for achieving high levels of situational awareness, operator confidence, and mission effectiveness. Important performance enhancements have been achieved with the completion of the 4th Generation PI DSP-based array processor system. The system is now able to provide dynamic full video-rate generation of spatial and computational transformations, resulting in a programmable and fully interactive immersive video telepresence. A new multi- CCD camera architecture has been created to exploit the bandwidth of this processor, yielding a well-matched PI system with greatly improved resolution. While the initial commercial application for this technology is expected to be video tele- conferencing, it also appears to have excellent potential for application in the 'Immersive Cockpit' concept. Additional progress is reported in the areas of Long Wave Infrared PI Imaging, Stereo PI concepts, PI based Video-Servoing concepts, PI based Video Navigation concepts, and Foveation concepts (to merge localized high-resolution views with immersive views).

Robust inverse kinematics using damped least squares with dynamic weighting

NASA Technical Reports Server (NTRS)

Schinstock, D. E.; Faddis, T. N.; Greenway, R. B.

1994-01-01

This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

Location and acquisition of objects in unpredictable locations. [a teleoperator system with a computer for manipulator control

NASA Technical Reports Server (NTRS)

Sword, A. J.; Park, W. T.

1975-01-01

A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.

Earth-orbit mission considerations and Space Tug requirements.

NASA Technical Reports Server (NTRS)

Huber, W. G.

1973-01-01

The reusable Space Tug is a major system planned to augment the Space Shuttle's capability to deliver, retrieve, and support automated payloads. The Space Tug will be designed to perform round-trip missions from low earth orbit to geosynchronous orbit. Space Tug goals and requirements are discussed together with the characteristics of the full capability Tug. The Tug is to be operated in an unmanned 'teleoperator' fashion. Details of potential teleoperator applications are considered, giving attention to related systems studies, candidate Tug mission applications, Tug 'end-effector' alternatives, technical issues associated with Tug payload retrieval, and Tug/payload accommodations.

A unified teleoperated-autonomous dual-arm robotic system

NASA Technical Reports Server (NTRS)

Hayati, Samad; Lee, Thomas S.; Tso, Kam Sing; Backes, Paul G.; Lloyd, John

1991-01-01

A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

Imaging System

NASA Technical Reports Server (NTRS)

1995-01-01

The 1100C Virtual Window is based on technology developed under NASA Small Business Innovation (SBIR) contracts to Ames Research Center. For example, under one contract Dimension Technologies, Inc. developed a large autostereoscopic display for scientific visualization applications. The Virtual Window employs an innovative illumination system to deliver the depth and color of true 3D imaging. Its applications include surgery and Magnetic Resonance Imaging scans, viewing for teleoperated robots, training, and in aviation cockpit displays.

Sticky-Finger Manipulation with a Multi-Touch Interface

DTIC Science & Technology

2011-07-01

accessible, which makes them cost -effective potential replacements for traditional teleoperation interfaces. Perhaps the most important benefit that a multi...responses. Their model also took into account cloth thickness. A number of systems attempt to simulate cloth using position-based approaches instead of...can be stuck to the finger. Currently, the system does not take into account the exact shape and area of finger contact on the multi-touch screen and

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

2007-01-01

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

U.S. draws blueprints for first lunar base

NASA Astrophysics Data System (ADS)

Asker, James R.

1992-08-01

NASA's space exploration office has charted a detailed program to return astronauts to the moon to establish a permanent base that would allow humans and machines to perform a wide range of science activities. The base would serve as a test site for the hardware and techniques that would be used by the first explorers on Mars. The primary mission, named the First Lunar Outpost, starts with unmanned precursor missions of small, lunar orbiting spacecraft, followed by robotic and teleoperating missions on the lunar surface, with astronauts then returning to the moon before the end of the decade.

Human factors in space telepresence

NASA Technical Reports Server (NTRS)

Akin, D. L.; Howard, R. D.; Oliveria, J. S.

1983-01-01

The problems of interfacing a human with a teleoperation system, for work in space are discussed. Much of the information presented here is the result of experience gained by the M.I.T. Space Systems Laboratory during the past two years of work on the ARAMIS (Automation, Robotics, and Machine Intelligence Systems) project. Many factors impact the design of the man-machine interface for a teleoperator. The effects of each are described in turn. An annotated bibliography gives the key references that were used. No conclusions are presented as a best design, since much depends on the particular application desired, and the relevant technology is swiftly changing.

Research issues in implementing remote presence in teleoperator control

NASA Technical Reports Server (NTRS)

Corker, K.; Mishkin, A. H.; Lyman, J.

1981-01-01

The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

Impedance hand controllers for increasing efficiency in teleoperations

NASA Technical Reports Server (NTRS)

Carignan, C.; Tarrant, J.

1989-01-01

An impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered.

The visual and radiological inspection of a pipeline using a teleoperated pipe crawler

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fogle, R.F.; Kuelske, K.; Kellner, R.A.

1996-07-01

In the 1950s the Savannah River Site built an open, unlined retention basin for temporary storage of potentially radionuclide-contaminated cooling water form a chemical separations process and storm water drainage from a nearby waste management facility which stored large quantities of nuclear fission by-products in carbon steel tanks. An underground process pipeline lead to the basin. Once the closure of the basin in 1972, further assessment has been required. A visual and radiological inspection of the pipeline was necessary to aid in the decision about further remediation. This article describes the inspection using a teleoperated pipe crawler. 5 figs.

Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

PubMed Central

Miroir, Mathieu; Nguyen, Yann; Szewczyk, Jérôme; Sterkers, Olivier; Bozorg Grayeli, Alexis

2012-01-01

Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens. PMID:22927789

Operator vision aids for space teleoperation assembly and servicing

NASA Technical Reports Server (NTRS)

Brooks, Thurston L.; Ince, Ilhan; Lee, Greg

1992-01-01

This paper investigates concepts for visual operator aids required for effective telerobotic control. Operator visual aids, as defined here, mean any operational enhancement that improves man-machine control through the visual system. These concepts were derived as part of a study of vision issues for space teleoperation. Extensive literature on teleoperation, robotics, and human factors was surveyed to definitively specify appropriate requirements. This paper presents these visual aids in three general categories of camera/lighting functions, display enhancements, and operator cues. In the area of camera/lighting functions concepts are discussed for: (1) automatic end effector or task tracking; (2) novel camera designs; (3) computer-generated virtual camera views; (4) computer assisted camera/lighting placement; and (5) voice control. In the technology area of display aids, concepts are presented for: (1) zone displays, such as imminent collision or indexing limits; (2) predictive displays for temporal and spatial location; (3) stimulus-response reconciliation displays; (4) graphical display of depth cues such as 2-D symbolic depth, virtual views, and perspective depth; and (5) view enhancements through image processing and symbolic representations. Finally, operator visual cues (e.g., targets) that help identify size, distance, shape, orientation and location are discussed.

Telepresence, time delay, and adaptation

NASA Technical Reports Server (NTRS)

Held, Richard; Durlach, Nathaniel

1989-01-01

Displays are now being used extensively throughout the society. More and more time is spent watching television, movies, computer screens, etc. Furthermore, in an increasing number of cases, the observer interacts with the display and plays the role of operator as well as observer. To a large extent, the normal behavior in the normal environment can also be thought of in these same terms. Taking liberties with Shakespeare, it might be said, all the world's a display and all the individuals in it are operators in and on the display. Within this general context of interactive display systems, a discussion is began with a conceptual overview of a particular class of such systems, namely, teleoperator systems. The notion is considered of telepresence and the factors that limit telepresence, including decorrelation between the: (1) motor output of the teleoperator as sensed directly via the kinesthetic/tactual system, and (2) the motor output of the teleoperator as sensed indirectly via feedback from the slave robot, i.e., via a visual display of the motor actions of the slave robot. Finally, the deleterious effect of time delay (a particular decorrelation) on sensory-motor adaptation (an important phenomenon related to telepresence) is examined.

Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks

NASA Astrophysics Data System (ADS)

Fellmann, Carolin; Kashi, Daryoush; Burgner-Kahrs, Jessica

2015-03-01

For those minimally invasive surgery where conventional surgical instruments cannot reach the surgical site due to their straight structure and rigidity, concentric tube continuum robots are a promising technology because of their small size (comparable to a needle) and maneuverability. These flexible, compliant manipulators can easily access hard to reach anatomical structures, e.g. by turning around corners. By teleoperating the robot the surgeon stays in direct control at any time. In this paper, three off-the-shelf input devices are considered for teleoperation of a concentric tube continuum robot: a 3D mouse, a gamepad, and a 3 degrees of freedom haptic input device. Three tasks which mimic relevant surgical maneuvers are performed by 12 subjects using each input device: reaching specific locations, picking and placing objects from one location to another, and approaching the surgical site through a restricted pathway. We present quantitative results (task completion time, accuracy, etc.), a statistical analysis, and empirical results (questionnaires). Overall, the performance of subjects using the 3D mouse was superior to the performance using the other input devices. The subjective ranking of the 3D mouse by the subjects confirms this result.

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.

PubMed

Son, Hyoung Il; Franchi, Antonio; Chuang, Lewis L; Kim, Junsuk; Bulthoff, Heinrich H; Giordano, Paolo Robuffo

2013-04-01

In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.

Performance measures from the explorer platform berthing experiment

NASA Technical Reports Server (NTRS)

Leake, Stephen

1993-01-01

The Explorer Platform is a Modular Mission Spacecraft: it has several subunits that are designed to be replaced on orbit. The Goddard Space Flight Center Robotics Lab undertook an experiment to evaluate various robotic approaches to replacing one of the units; a large (approximately 1 meter by 1 meter by 0.5 meter) power box. The hardware consists of a Robotics Research Corporation K-1607 (RRC) manipulator mounted on a large gantry robot, a Kraft handcontroller for teleoperation of RRC, a Lightweight Servicing Tool (LST) mounted on the RRC, and an Explorer Platform mockup (EP) with a removable box (MMS) that has fixtures that mate with the LST. Sensors include a wrist wrench sensor on the RRC and Capaciflectors mounted on the LST and the MMS. There are also several cameras, but no machine vision is used. The control system for the RRC is entirely written by Goddard; it consists of Ada code on three Multibus I 386/387 CPU boards doing the real-time robot control, and C on a 386 PC processing Capaciflector data. The gantry is not moved during this experiment. The task is the exchange of the MMS; it is removed and replaced. This involves four basic steps: mating the LST to the MMS, demating the MMS from the EP, mating the MMS to the EP, and demating the LST form the MMS. Each of the mating steps must be preceeded by an alignment to bring the mechanical fixtures within their capture range. Two basic approaches to alignment are explored: teleoperation with the operator viewing thru cameras, and Capaciflector based autonomy. To evaluate the two alignment approaches, several runs were run with each approach and the final pose was recorded. Comparing this to the ideal alignment pose gives accuracy and repeatability data. In addition the wrenches exerted during the mating tasks were recorded; this gives information on how the alignment step affects the mating step. There are also two approaches to mating; teleoperation, and impedance based autonomy. The wrench data taken during mating using these two approaches is used to evaluate them. Section 2 describes the alignment results, section 3 describes the mating results, and finally Section 4 gives some conclusions.

The Challenge of Planning and Execution for Spacecraft Mobile Robots

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

Space Station Human Factors: Designing a Human-Robot Interface

NASA Technical Reports Server (NTRS)

Rochlis, Jennifer L.; Clarke, John Paul; Goza, S. Michael

2001-01-01

The experiments described in this paper are part of a larger joint MIT/NASA research effort and focus on the development of a methodology for designing and evaluating integrated interfaces for highly dexterous and multifunctional telerobot. Specifically, a telerobotic workstation is being designed for an Extravehicular Activity (EVA) anthropomorphic space station telerobot called Robonaut. Previous researchers have designed telerobotic workstations based upon performance of discrete subsets of tasks (for example, peg-in-hole, tracking, etc.) without regard for transitions that operators go through between tasks performed sequentially in the context of larger integrated tasks. The experiments presented here took an integrated approach to describing teleoperator performance and assessed how subjects operating a full-immersion telerobot perform during fine position and gross position tasks. In addition, a Robonaut simulation was also developed as part of this research effort, and experimentally tested against Robonaut itself to determine its utility. Results show that subject performance of teleoperated tasks using both Robonaut and the simulation are virtually identical, with no significant difference between the two. These results indicate that the simulation can be utilized as both a Robonaut training tool, and as a powerful design platform for telepresence displays and aids.

Stability control for high speed tracked unmanned vehicles

NASA Astrophysics Data System (ADS)

Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

2005-05-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

The servicing aid tool: A teleoperated robotics system for space applications

NASA Technical Reports Server (NTRS)

Dorman, Keith W.; Pullen, John L.; Keksz, William O.; Eismann, Paul H.; Kowalski, Keith A.; Karlen, James P.

1994-01-01

The Servicing Aid Tool (SAT) is a teleoperated, force-reflecting manipulation system designed for use on the Space Shuttle. The system will assist Extravehicular Activity (EVA) servicing of spacecraft such as the Hubble Space Telescope. The SAT stands out from other robotics development programs in that special attention was given to provide a low-cost, space-qualified design which can easily and inexpensively be reconfigured and/or enhanced through the addition of existing NASA funded technology as that technology matures. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation (RRC), the leading supplier of robotics systems to the NASA and university research community in the United States. Fairchild Space is the prime contractor and provides the control electronics, safety system, system integration, and qualification testing. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the shuttle payload bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm from Schilling Development, Inc. This work is being performed under contract to the Goddard Space Flight Center Code, Code 442, Hubble Space Telescope Flight Systems and Servicing Project.

Experimental Evaluation of Computer-Aided Tele-operation (CATO) and Computer-Aided Robotic Manipulation (CARMAN) Technology

DTIC Science & Technology

2010-08-01

Consent Form 29 Appendix B. Demographics Questionnaire 35 Appendix C. NASA TLX Questionnaire 39 Appendix D. Symptom Questionnaire 41 List of Symbols...Index ( NASA - TLX ) Participants were given the NASA - TLX subjective workload rating at the end of each task (appendix C, Hart and Staveland, 1987).1 The... NASA - TLX is a multi-dimensional rating procedure that derives an overall workload score based on a weighted average of ratings on six subscales

Human safety in the lunar environment

NASA Technical Reports Server (NTRS)

Lewis, Robert H.

1992-01-01

Any attempt to establish a continuously staffed base or permanent settlement on the Moon must safely meet the challenges posed by the Moon's surface environment. This environment is drastically different from the Earth's, and radiation and meteoroids are significant hazards to human safety. These dangers may be mitigated through the use of underground habitats, the piling up of lunar materials as shielding, and the use of teleoperated devices for surface operations. The lunar environment is detailed along with concepts for survival.

Speech-Based Robotic Control for Dismounted Soldiers: Evaluation of Visual Display Options

DTIC Science & Technology

2014-05-01

teleoperation to improve processes such as robot responsiveness and camera video bandwidth (Chen et al., 2007). In addition, further advances in...California. 2 Illinois 1 Ohio 1 North Carolina 2 Georgia 1 New York 1 Florida 1 Canada 1 Peru . 1 Guam 1 34 19. Has anyone ever told you...completely stopped. Time limit suggests speed, but having to stop to accurately choose object would hinder that process . 1 With the course in place, a

The flight robotics laboratory

NASA Technical Reports Server (NTRS)

Tobbe, Patrick A.; Williamson, Marlin J.; Glaese, John R.

1988-01-01

The Flight Robotics Laboratory of the Marshall Space Flight Center is described in detail. This facility, containing an eight degree of freedom manipulator, precision air bearing floor, teleoperated motion base, reconfigurable operator's console, and VAX 11/750 computer system, provides simulation capability to study human/system interactions of remote systems. The facility hardware, software and subsequent integration of these components into a real time man-in-the-loop simulation for the evaluation of spacecraft contact proximity and dynamics are described.

A novel optimal coordinated control strategy for the updated robot system for single port surgery.

PubMed

Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

2017-09-01

Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

Vision-Based Haptic Feedback for Remote Micromanipulation in-SEM Environment

NASA Astrophysics Data System (ADS)

Bolopion, Aude; Dahmen, Christian; Stolle, Christian; Haliyo, Sinan; Régnier, Stéphane; Fatikow, Sergej

2012-07-01

This article presents an intuitive environment for remote micromanipulation composed of both haptic feedback and virtual reconstruction of the scene. To enable nonexpert users to perform complex teleoperated micromanipulation tasks, it is of utmost importance to provide them with information about the 3-D relative positions of the objects and the tools. Haptic feedback is an intuitive way to transmit such information. Since position sensors are not available at this scale, visual feedback is used to derive information about the scene. In this work, three different techniques are implemented, evaluated, and compared to derive the object positions from scanning electron microscope images. The modified correlation matching with generated template algorithm is accurate and provides reliable detection of objects. To track the tool, a marker-based approach is chosen since fast detection is required for stable haptic feedback. Information derived from these algorithms is used to propose an intuitive remote manipulation system that enables users situated in geographically distant sites to benefit from specific equipments, such as SEMs. Stability of the haptic feedback is ensured by the minimization of the delays, the computational efficiency of vision algorithms, and the proper tuning of the haptic coupling. Virtual guides are proposed to avoid any involuntary collisions between the tool and the objects. This approach is validated by a teleoperation involving melamine microspheres with a diameter of less than 2 μ m between Paris, France and Oldenburg, Germany.

Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

NASA Astrophysics Data System (ADS)

Zheng, Li; Yi, Ruan

2009-11-01

Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

Project Review: Teleoperation and Time Delays

NASA Technical Reports Server (NTRS)

Adelstein, Bernard D.; Ellis, Stephen; Yeom, Kiwon; Kaiser, Mary K.

2013-01-01

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.

Design and implementation of a robot control system with traded and shared control capability

NASA Technical Reports Server (NTRS)

Hayati, S.; Venkataraman, S. T.

1989-01-01

Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.

The application of digital signal processing techniques to a teleoperator radar system

NASA Technical Reports Server (NTRS)

Pujol, A.

1982-01-01

A digital signal processing system was studied for the determination of the spectral frequency distribution of echo signals from a teleoperator radar system. The system consisted of a sample and hold circuit, an analog to digital converter, a digital filter, and a Fast Fourier Transform. The system is interfaced to a 16 bit microprocessor. The microprocessor is programmed to control the complete digital signal processing. The digital filtering and Fast Fourier Transform functions are implemented by a S2815 digital filter/utility peripheral chip and a S2814A Fast Fourier Transform chip. The S2815 initially simulates a low-pass Butterworth filter with later expansion to complete filter circuit (bandpass and highpass) synthesizing.

Human-Robot Interaction

NASA Technical Reports Server (NTRS)

Rochlis-Zumbado, Jennifer; Sandor, Aniko; Ezer, Neta

2012-01-01

Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality

PubMed Central

Damholdt, Malene F.; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions, given that robots, unlike computers, are not yet perceived as action targets. Specific personality traits may be indicators of attitude change relating to specific domains of social interaction. Implications and future directions are discussed. PMID:26635646

Effects of robotic manipulators on movements of novices and surgeons.

PubMed

Nisky, Ilana; Okamura, Allison M; Hsieh, Michael H

2014-07-01

Robot-assisted surgery is widely adopted for many procedures but has not realized its full potential to date. Based on human motor control theories, the authors hypothesized that the dynamics of the master manipulators impose challenges on the motor system of the user and may impair performance and slow down learning. Although studies have shown that robotic outcomes are correlated with the case experience of the surgeon, the relative contribution of cognitive versus motor skill is unknown. This study quantified the effects of da Vinci Si master manipulator dynamics on movements of novice users and experienced surgeons and suggests possible implications for training and robot design. In the reported study, six experienced robotic surgeons and ten novice nonmedical users performed movements under two conditions: teleoperation of a da Vinci Si Surgical system and freehand. A linear mixed model was applied to nine kinematic metrics (including endpoint error, movement time, peak speed, initial jerk, and deviation from a straight line) to assess the effects of teleoperation and expertise. To assess learning effects, t tests between the first and last movements of each type were used. All the users moved slower during teleoperation than during freehand movements (F(1,9343) = 345; p < 0.001). The experienced surgeons had smaller errors than the novices (F(1,14) = 36.8; p < 0.001). The straightness of movements depended on their direction (F(7,9343) = 117; p < 0.001). Learning effects were observed in all conditions. Novice users first learned the task and then the dynamics of the manipulator. The findings showed differences between the novices and the experienced surgeons for extremely simple point-to-point movements. The study demonstrated that manipulator dynamics affect user movements, suggesting that these dynamics could be improved in future robot designs. The authors showed the partial adaptation of novice users to the dynamics. Future studies are needed to evaluate whether it will be beneficial to include early training sessions dedicated to learning the dynamics of the manipulator.

Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality.

PubMed

Damholdt, Malene F; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions, given that robots, unlike computers, are not yet perceived as action targets. Specific personality traits may be indicators of attitude change relating to specific domains of social interaction. Implications and future directions are discussed.

Semi-autonomous unmanned ground vehicle control system

NASA Astrophysics Data System (ADS)

Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

2006-05-01

Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

Performance experiments with alternative advanced teleoperator control modes for a simulated solar maximum satellite repair

NASA Technical Reports Server (NTRS)

Das, H.; Zak, H.; Kim, W. S.; Bejczy, A. K.; Schenker, P. S.

1992-01-01

Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.

Comparison of three different techniques for camera and motion control of a teleoperated robot.

PubMed

Doisy, Guillaume; Ronen, Adi; Edan, Yael

2017-01-01

This research aims to evaluate new methods for robot motion control and camera orientation control through the operator's head orientation in robot teleoperation tasks. Specifically, the use of head-tracking in a non-invasive way, without immersive virtual reality devices was combined and compared with classical control modes for robot movements and camera control. Three control conditions were tested: 1) a condition with classical joystick control of both the movements of the robot and the robot camera, 2) a condition where the robot movements were controlled by a joystick and the robot camera was controlled by the user head orientation, and 3) a condition where the movements of the robot were controlled by hand gestures and the robot camera was controlled by the user head orientation. Performance, workload metrics and their evolution as the participants gained experience with the system were evaluated in a series of experiments: for each participant, the metrics were recorded during four successive similar trials. Results shows that the concept of robot camera control by user head orientation has the potential of improving the intuitiveness of robot teleoperation interfaces, specifically for novice users. However, more development is needed to reach a margin of progression comparable to a classical joystick interface. Copyright © 2016 Elsevier Ltd. All rights reserved.

Formulation of coarse integral imaging and its applications

NASA Astrophysics Data System (ADS)

Kakeya, Hideki

2008-02-01

This paper formulates the notion of coarse integral imaging and applies it to practical designs of 3D displays for the purposes of robot teleoperation and automobile HUDs. 3D display technologies are demanded in the applications where real-time and precise depth perception is required, such as teleoperation of robot manipulators and HUDs for automobiles. 3D displays for these applications, however, have not been realized so far. In the conventional 3D display technologies, the eyes are usually induced to focus on the screen, which is not suitable for the above purposes. To overcome this problem the author adopts the coarse integral imaging system, where each component lens is large enough to cover pixels dozens of times more than the number of views. The merit of this system is that it can induce the viewer's focus on the planes of various depths by generating a real image or a virtual image off the screen. This system, however, has major disadvantages in the quality of image, which is caused by aberration of lenses and discontinuity at the joints of component lenses. In this paper the author proposes practical optical designs for 3D monitors for robot teleoperation and 3D HUDs for automobiles by overcoming the problems of aberration and discontinuity of images.

Field testing of tele-operation versus shared and traded control for military assets: an evaluation involving real-time embedded simulation and soldier assessment

NASA Astrophysics Data System (ADS)

Metcalfe, Jason S.; Alban, Jillyn; Cosenzo, Keryl; Johnson, Tony; Capstick, Erin

2010-04-01

Those applying autonomous technologies to military systems strive to enhance human-robot and robot-robot performance. Beyond performance, the military must be concerned with local area security. Characterized as "secure mobility", military systems must enable safe and effective terrain traversal concurrent with maintenance of situational awareness (SA). One approach to interleaving these objectives is supervisory control, with popular options being shared and traded control. Yet, with the scale and expense of military assets, common technical issues such as transition time and safeguarding become critical; especially as they interact with Soldier capabilities. Study is required to enable selection of control methods that optimize Soldier-system performance while safeguarding both individually. The current report describes a study utilizing experimental military vehicles and simulation systems enabling teleoperation and supervisory control. Automated triggering of SA demands was interspersed with a set of challenging driving maneuvers in a 'teleoperation-like' context to examine the influence of supervisory control on Soldier-system performance. Results indicated that direct application of supervisory control, while beneficial under particular demands, requires continued development to be perceived by Soldiers as useful. Future efforts should more tightly couple the information exchanged between the Soldier and system to overcome current challenges not addressed by standard control methods.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

PubMed Central

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

PubMed

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor)

1994-01-01

Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt, and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator's ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator's identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.

TRICCS: A proposed teleoperator/robot integrated command and control system for space applications

NASA Technical Reports Server (NTRS)

Will, R. W.

1985-01-01

Robotic systems will play an increasingly important role in space operations. An integrated command and control system based on the requirements of space-related applications and incorporating features necessary for the evolution of advanced goal-directed robotic systems is described. These features include: interaction with a world model or domain knowledge base, sensor feedback, multiple-arm capability and concurrent operations. The system makes maximum use of manual interaction at all levels for debug, monitoring, and operational reliability. It is shown that the robotic command and control system may most advantageously be implemented as packages and tasks in Ada.

Manipulator Performance Evaluation Using Fitts' Taping Task

DOE Office of Scientific and Technical Information (OSTI.GOV)

Draper, J.V.; Jared, B.C.; Noakes, M.W.

1999-04-25

Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperatedmore » manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped partici- pants control force during testing.« less

Special Purpose Crew Restraints for Teleoperation

NASA Technical Reports Server (NTRS)

Whitmore, Mihriban; Holden, Kritina; Norris, Lena

2004-01-01

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.

A Common Lunar Lander (CLL) for the Space Exploration Initiative

NASA Technical Reports Server (NTRS)

Bailey, Stephen

1991-01-01

Information is given in viewgraph form on the Artemis project, a plan to establish a permanent base on the Moon. Information includes a summary of past and future events, the program rationale, a summary of potential payloads, the physical characteristics of experiments, sketches of equipment, design study objectives, and details of such payloads as the Geophysical Station Network, teleoperated rovers, astronomical telescopes, a Moon-Earth radio interferometer, very low frequency radio antennas, the Lunar Polar Crater Telescope, Lunar Resource Utilization Experiments, and biological experiments.

Autonomous Mechanical Assembly on the Space Shuttle: An Overview

NASA Technical Reports Server (NTRS)

Raibert, M. H.

1979-01-01

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed.

Development of Object-Based Teleoperator Control for Unstructured Applications

DTIC Science & Technology

1996-12-01

4-23 5.1. Module Sampling Rates of Test Set #5 in Appendix C 5-7 A.1. PUMA 560 D-H parameters ....... .................... A-2 A.2. ROBOTICA Input...June, 1996. 33. Schneider, D. L., EENG 540 Class Notes, 1994. 34. Nethery, John, Robotica : User’s guide and reference manual, University of Illnois...case of PUMA robot. First, the overall forward kinematics were computed using the ROBOTICA mathematic software [34], then some of joints are set to be

The Summer Robotic Autonomy Course

NASA Technical Reports Server (NTRS)

Nourbakhsh, Illah R.

2002-01-01

We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the midst of a new community for roboticists. CMU provided undergraduate course credit for this official course, 16-162U, for 13 students, with all other students receiving course credit from National Hispanic University.

Combined virtual and real robotic test-bed for single operator control of multiple robots

NASA Astrophysics Data System (ADS)

Lee, Sam Y.-S.; Hunt, Shawn; Cao, Alex; Pandya, Abhilash

2010-04-01

Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking is able to reduce operator workload.

Cliffbot Maestro

NASA Technical Reports Server (NTRS)

Norris, Jeffrey S.; Powell, Mark W.; Fox, Jason M.; Crockett, Thomas M.; Joswig, Joseph C.

2009-01-01

Cliffbot Maestro permits teleoperation of remote rovers for field testing in extreme environments. The application user interface provides two sets of tools for operations: stereo image browsing and command generation.

Robotic Vehicle

NASA Technical Reports Server (NTRS)

1994-01-01

A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

Natural interaction for unmanned systems

NASA Astrophysics Data System (ADS)

Taylor, Glenn; Purman, Ben; Schermerhorn, Paul; Garcia-Sampedro, Guillermo; Lanting, Matt; Quist, Michael; Kawatsu, Chris

2015-05-01

Military unmanned systems today are typically controlled by two methods: tele-operation or menu-based, search-andclick interfaces. Both approaches require the operator's constant vigilance: tele-operation requires constant input to drive the vehicle inch by inch; a menu-based interface requires eyes on the screen in order to search through alternatives and select the right menu item. In both cases, operators spend most of their time and attention driving and minding the unmanned systems rather than on being a warfighter. With these approaches, the platform and interface become more of a burden than a benefit. The availability of inexpensive sensor systems in products such as Microsoft Kinect™ or Nintendo Wii™ has resulted in new ways of interacting with computing systems, but new sensors alone are not enough. Developing useful and usable human-system interfaces requires understanding users and interaction in context: not just what new sensors afford in terms of interaction, but how users want to interact with these systems, for what purpose, and how sensors might enable those interactions. Additionally, the system needs to reliably make sense of the user's inputs in context, translate that interpretation into commands for the unmanned system, and give feedback to the user. In this paper, we describe an example natural interface for unmanned systems, called the Smart Interaction Device (SID), which enables natural two-way interaction with unmanned systems including the use of speech, sketch, and gestures. We present a few example applications SID to different types of unmanned systems and different kinds of interactions.

Teleoperation support for early human planetary missions.

PubMed

Genta, Giancarlo; Perino, Maria Antonietta

2005-12-01

A renewed interest in human exploration is flourishing among all the major spacefaring nations. In fact, in the complex scene of planned future space activities, the development of a Moon base and the human exploration of Mars might have the potential to renew the enthusiasm in expanding the human presence beyond the boundaries of Earth. Various initiatives have been undertaken to define scenarios and identify the required infrastructures and related technology innovations. The typical proposed approach follows a multistep strategy, starting with a series of precursor robotic missions to acquire further knowledge of the planet and to select the best potential landing sites, and evolving toward more demanding missions for the development of a surface infrastructure necessary to sustain human presence. The technologies involved in such a demanding enterprise range from typical space technologies, like transportation and propulsion, automation and robotics, rendezvous and docking, entry/reentry, aero-braking, navigation, and deep space communications, to human-specific issues like physiology, psychology, behavioral aspects, and nutritional science for long-duration exposure, that go beyond the traditional boundaries of space activities. Among the required elements to support planetary exploration, both for the precursor robotic missions and to sustain human exploration, rovers and trucks play a key role. A robust level of autonomy will need to be secured to perform preplanned operations, particularly for the surface infrastructure development, and a teleoperated support, either from Earth or from a local base, will enhance the in situ field exploration capability.

The 23rd Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1989-01-01

Technological areas covered include space lubrication, bearings, aerodynamic devices, spacecraft latches, deployment, positioning, and pointing. Devices for Space Station docking and manipulator and teleoperator mechanisms are also described.

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.

PubMed

Su, Hao; Shang, Weijian; Li, Gang; Patel, Niravkumar; Fischer, Gregory S

2017-08-01

This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (1-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70 ± 0.35 mm Cartesian space error.

Teleoperation of an experimental mobile vehicle via a free-space optical laser line-of-sight communication link for use in nuclear power plant environments

NASA Astrophysics Data System (ADS)

Girach, Khalid; Bouazza-Marouf, K.; Kerr, David; Hewit, Jim

1994-11-01

The paper describes the investigations carried out to implement a line of sight control and communication link for a mobile robot vehicle for use in structured nuclear semi-hazardous environments. Line of sight free space optical laser communication links for remote teleoperation have important applications in hazardous environments. They have certain advantages over radio/microwave links and umbilical control such as greater protection against generation of and susceptance to electro-magnetic fields. The cable-less environment provides increased integrity and mechanical freedom to the mobile robot. However, to maintain the communication link, continuous point and tracking is required between the base station and the mobile vehicle. This paper presents a novel two ended optical tracking system utilizing the communication laser beams and photodetectors. The mobile robot is a six wheel drive vehicle with a manipulator arm which can operate in a variety of terrain. The operator obtains visual feedback information from cameras placed on the vehicle. From this information, the speed and direction of the vehicle can be controlled from a joystick panel. We describe the investigations carried out for the communication of analogue video and digital data signals over the laser link for speed and direction control.

Kinematics and Dynamics of Motion Control Based on Acceleration Control

NASA Astrophysics Data System (ADS)

Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

PubMed

Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

2014-01-01

Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

A system for intelligent teleoperation research

NASA Technical Reports Server (NTRS)

Orlando, N. E.

1983-01-01

The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned.

Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

PubMed

Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

2016-09-01

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Reduction of User Interaction by Autonomy

NASA Technical Reports Server (NTRS)

Morfopoulos, Arin; McHenry, Michael; Matthies, Larry

2006-01-01

This paper describes experiments that quantify the improvement that autonomous behaviors enable in the amount of user interaction required to navigate a robot in urban environments. Many papers have discussed various ways to measure the absolute level of autonomy of a system; we measured the relative improvement of autonomous behaviors over teleoperation across multiple traverses of the same course. We performed four runs each on an 'easy' course and a 'hard' course, where half the runs were teleoperated and half used more autonomous behaviors. Statistics show 40-70% reductions in the amount of time the user interacts with the control station; however, with the behaviors tested, user attention remained on the control station even when he was not interacting. Reducing the need for attention will require better obstacle detection and avoidance and better absolute position estimation.

A Robust Head Tracking System Based on Monocular Vision and Planar Templates

PubMed Central

Caballero, Fernando; Maza, Iván; Molina, Roberto; Esteban, David; Ollero, Aníbal

2009-01-01

This paper details the implementation of a head tracking system suitable for its use in teleoperation stations or control centers, taking into account the limitations and constraints usually associated to those environments. The paper discusses and justifies the selection of the different methods and sensors to build the head tracking system, detailing also the processing steps of the system in operation. A prototype to validate the proposed approach is also presented along with several tests in a real environment with promising results. PMID:22291546

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

A modular telerobotic task execution system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Tso, Kam S.; Hayati, Samad; Lee, Thomas S.

1990-01-01

A telerobot task execution system is proposed to provide a general parametrizable task execution capability. The system includes communication with the calling system, e.g., a task planning system, and single- and dual-arm sensor-based task execution with monitoring and reflexing. A specific task is described by specifying the parameters to various available task execution modules including trajectory generation, compliance control, teleoperation, monitoring, and sensor fusion. Reflex action is achieved by finding the corresponding reflex action in a reflex table when an execution event has been detected with a monitor.

Applying Space Technology to Enhance Control of an Artificial Arm

NASA Technical Reports Server (NTRS)

Atkins, Diane; Donovan, William H.; Novy, Mara; Abramczyk, Robert

1997-01-01

At the present time, myoelectric prostheses perform only one function of the hand: open and close with the thumb, index and middle finger coming together to grasp various shaped objects. To better understand the limitations of the current single-function prostheses and the needs of the individuals who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (August 1992 - November 1994), surveyed approximately 2500 individuals with upper limb loss. When asked to identify specific features of their current electric prosthesis that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement as well as poor control capability. Simply building a mechanism with individual finger and wrist motion is not enough. Individuals with upper limb loss tend to reject prostheses that require continuous visual monitoring and concentration to control. Robotics researchers at NASA's Johnson Space Center (JSC) and Rice University have made substantial progress in myoelectric teleoperation. A myoelectric teleoperation system translates signals generated by an able-bodied robot operator's muscles during hand motions into commands that drive a robot's hand through identical motions. Farry's early work in myoelectric teleoperation used variations over time in the myoelectric spectrum as inputs to neural networks to discriminate grasp types and thumb motions. The resulting schemes yielded up to 93% correct classification on thumb motions. More recently, Fernandez achieved 100% correct non-realtime classification of thumb abduction, extension, and flexion on the same myoelectric data. Fernandez used genetic programming to develop functions that discriminate between thumb motions using myoelectric signal parameters. Genetic programming (GP) is an evolutionary programming method where the computer can modify the discriminating functions' form to improve its performance, not just adjust numerical coefficients or weights. Although the function development may require much computational time and many training cases, the resulting discrimination functions can run in realtime on modest computers. These results suggest that myoelectric signals might be a feasible teleoperation medium, allowing an operator to use his or her own hand and arm as a master to intuitively control an anthropomorphic robot in a remote location such as outer space.

Developing Web-based Tools for Collaborative Science and Public Outreach

NASA Astrophysics Data System (ADS)

Friedman, A.; Pizarro, O.; Williams, S. B.

2016-02-01

With the advances in high bandwidth communications and the proliferation of social media tools, education & outreach activities have become commonplace on ocean-bound research cruises. In parallel, advances in underwater robotics & other data collecting platforms, have made it possible to collect copious amounts of oceanographic data. This data then typically undergoes laborious, manual processing to transform it into quantitative information, which normally occurs post cruise resulting in significant lags between collecting data and using it for scientific discovery. This presentation discusses how appropriately designed software systems, can be used to fulfill multiple objectives and attempt to leverage public engagement in order to compliment science goals. We will present two software platforms: the first is a web browser based tool that was developed for real-time tracking of multiple underwater robots and ships. It was designed to allow anyone on board to view or control it on any device with a web browser. It opens up the possibility of remote teleoperation & engagement and was easily adapted to enable live streaming over the internet for public outreach. While the tracking system provided context and engaged people in real-time, it also directed interested participants to Squidle, another online system. Developed for scientists, Squidle supports data management, exploration & analysis and enables direct access to survey data reducing the lag in data processing. It provides a user-friendly streamlined interface that integrates advanced data management & online annotation tools. This system was adapted to provide a simplified user interface, tutorial instructions and a gamified ranking system to encourage "citizen science" participation. These examples show that through a flexible design approach, it is possible to leverage the development effort of creating science tools to facilitate outreach goals, opening up the possibility for acquiring large volumes of crowd-sourced data without compromising science objectives.

Miniature Intermittent Contact Switch

NASA Technical Reports Server (NTRS)

Sword, Antony

1972-01-01

This tech brief concerns work to provide a shock-resistant switch capable of being actuated by forces of varying magnitude and direction, primarily for use as a sensor on remote control (tele-operator) and prosthetic devices.

Control strategies for a telerobot

NASA Technical Reports Server (NTRS)

Ohara, John; Stasi, Bill

1989-01-01

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Toward experimental validation of a model for human sensorimotor learning and control in teleoperation

NASA Astrophysics Data System (ADS)

Roth, Eatai; Howell, Darrin; Beckwith, Cydney; Burden, Samuel A.

2017-05-01

Humans, interacting with cyber-physical systems (CPS), formulate beliefs about the system's dynamics. It is natural to expect that human operators, tasked with teleoperation, use these beliefs to control the remote robot. For tracking tasks in the resulting human-cyber-physical system (HCPS), theory suggests that human operators can achieve exponential tracking (in stable systems) without state estimation provided they possess an accurate model of the system's dynamics. This internalized inverse model, however, renders a portion of the system state unobservable to the human operator—the zero dynamics. Prior work shows humans can track through observable linear dynamics, thus we focus on nonlinear dynamics rendered unobservable through tracking control. We propose experiments to assess the human operator's ability to learn and invert such models, and distinguish this behavior from that achieved by pure feedback control.

Can We Talk through a Robot As if Face-to-Face? Long-Term Fieldwork Using Teleoperated Robot for Seniors with Alzheimer's Disease.

PubMed

Kuwamura, Kaiko; Nishio, Shuichi; Sato, Shinichi

2016-01-01

This work presents a case study on fieldwork in a group home for the elderly with dementia using a teleoperated robot called Telenoid. We compared Telenoid-mediated and face-to-face conditions with three residents with Alzheimer's disease (AD). The result indicates that two of the three residents with moderate AD showed a positive reaction to Telenoid. Both became less nervous while communicating with Telenoid from the time they were first introduced to it. Moreover, they started to use more body gestures in the face-to-face condition and more physical interactions in the Telenoid-mediated condition. In this work, we present all the results and discuss the possibilities of using Telenoid as a tool to provide opportunities for seniors to communicate over the long term.

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

NASA Technical Reports Server (NTRS)

Hayati, Samad; Lee, Thomas S.; Tso, Kam; Backes, Paul; Kan, Edwin; Lloyd, J.

1989-01-01

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

Towards a Teleoperated Needle Driver Robot with Haptic Feedback for RFA of Breast Tumors under Continuous MRI1

PubMed Central

Kokes, Rebecca; Lister, Kevin; Gullapalli, Rao; Zhang, Bao; MacMillan, Alan; Richard, Howard; Desai, Jaydev P.

2009-01-01

Objective The purpose of this paper is to explore the feasibility of developing a MRI-compatible needle driver system for radiofrequency ablation (RFA) of breast tumors under continuous MRI imaging while being teleoperated by a haptic feedback device from outside the scanning room. The developed needle driver prototype was designed and tested for both tumor targeting capability as well as RFA. Methods The single degree-of-freedom (DOF) prototype was interfaced with a PHANToM haptic device controlled from outside the scanning room. Experiments were performed to demonstrate MRI-compatibility and position control accuracy with hydraulic actuation, along with an experiment to determine the PHANToM’s ability to guide the RFA tool to a tumor nodule within a phantom breast tissue model while continuously imaging within the MRI and receiving force feedback from the RFA tool. Results Hydraulic actuation is shown to be a feasible actuation technique for operation in an MRI environment. The design is MRI-compatible in all aspects except for force sensing in the directions perpendicular to the direction of motion. Experiments confirm that the user is able to detect healthy vs. cancerous tissue in a phantom model when provided with both visual (imaging) feedback and haptic feedback. Conclusion The teleoperated 1-DOF needle driver system presented in this paper demonstrates the feasibility of implementing a MRI-compatible robot for RFA of breast tumors with haptic feedback capability. PMID:19303805

Project Freebird: An orbital transfer vehicle

NASA Technical Reports Server (NTRS)

Aneses, Carlos A.; Blanchette, Ryan L.; Brann, David M.; Campos, Mario J.; Cohen, Lisa E.; Corcoran, Daniel J., III; Cox, James F.; Curtis, Trevor J.; Douglass, Deborah A.; Downard, Catherine L.

1994-01-01

Freebird is a space-based orbital transfer vehicle designed to repair and deorbit orbital assets. Freebird is based at International Space Station Alpha (ISSA) at an inclination of 51.6 deg and is capable of three types of missions: crewed and teleoperated LEO missions, and extended robotic missions. In a crewed local configuration, the vehicle can visit inclinations between 30.8 deg and 72.4 deg at altitudes close to 390 km. Adding extra fuel tanks extends this range of inclination up to 84.9 deg and down to 18.3 deg. Furthermore, removing the crew module, using the vehicle in a teleoperated manner, and operating with extra fuel tanks allows missions to polar and geosynchronous orbits. To allow for mission flexibility, the vehicle was designed in a semimodular configuration. The major system components include a crew module, a 'smart box' (which contains command, communications, guidance, and navigation equipment), a propulsion pack, extra fuel tanks, and a vehicle storage facility (VSF) for storage purposes. To minimize risk as well as development time and cost, the vehicle was designed using only proven technology or technology which is expected to be flight-qualified in time for the intended launch date of 2002. And, because Freebird carries crew and operates near the space station, it must meet or exceed the NASA reliability standard of 0.994, as well as other standard requirements for such vehicles. The Freebird program was conceived and designed as a way to provide important and currently unavailable satellite repair and replacement services of a value equal to or exceeding operational costs.

Project Freebird: An orbital transfer vehicle

NASA Astrophysics Data System (ADS)

Aneses, Carlos A.; Blanchette, Ryan L.; Brann, David M.; Campos, Mario J.; Cohen, Lisa E.; Corcoran, Daniel J., III; Cox, James F.; Curtis, Trevor J.; Douglass, Deborah A.; Downard, Catherine L.

1994-08-01

Freebird is a space-based orbital transfer vehicle designed to repair and deorbit orbital assets. Freebird is based at International Space Station Alpha (ISSA) at an inclination of 51.6 deg and is capable of three types of missions: crewed and teleoperated LEO missions, and extended robotic missions. In a crewed local configuration, the vehicle can visit inclinations between 30.8 deg and 72.4 deg at altitudes close to 390 km. Adding extra fuel tanks extends this range of inclination up to 84.9 deg and down to 18.3 deg. Furthermore, removing the crew module, using the vehicle in a teleoperated manner, and operating with extra fuel tanks allows missions to polar and geosynchronous orbits. To allow for mission flexibility, the vehicle was designed in a semimodular configuration. The major system components include a crew module, a 'smart box' (which contains command, communications, guidance, and navigation equipment), a propulsion pack, extra fuel tanks, and a vehicle storage facility (VSF) for storage purposes. To minimize risk as well as development time and cost, the vehicle was designed using only proven technology or technology which is expected to be flight-qualified in time for the intended launch date of 2002. And, because Freebird carries crew and operates near the space station, it must meet or exceed the NASA reliability standard of 0.994, as well as other standard requirements for such vehicles. The Freebird program was conceived and designed as a way to provide important and currently unavailable satellite repair and replacement services of a value equal to or exceeding operational costs.

Ground controlled robotic assembly operations for Space Station Freedom

NASA Technical Reports Server (NTRS)

Parrish, Joseph C.

1991-01-01

A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities.

Force-reflective teleoperated system with shared and compliant control capabilities

NASA Technical Reports Server (NTRS)

Szakaly, Z.; Kim, W. S.; Bejczy, A. K.

1989-01-01

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

Immersive visualization for navigation and control of the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Hartman, Frank R.; Cooper, Brian; Maxwell, Scott; Wright, John; Yen, Jeng

2004-01-01

The Rover Sequencing and Visualization Program (RSVP) is a suite of tools for sequencing of planetary rovers, which are subject to significant light time delay and thus are unsuitable for teleoperation.

The 20th Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1986-01-01

Numerous topics related to aerospace mechanisms were discussed. Deployable structures, electromagnetic devices, tribology, hydraulic actuators, positioning mechanisms, electric motors, communication satellite instruments, redundancy, lubricants, bearings, space stations, rotating joints, and teleoperators are among the topics covered.

Ninteenth Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1985-01-01

The proceedings of the 19th Aerospace Mechanisms Symposium are reported. Technological areas covered include space lubrication, bearings, aerodynamic devices, spacecraft/Shuttle latches, deployment, positioning, and pointing. Devices for spacecraft docking and manipulator and teleoperator mechanisms are also described.

Human-Robot Interaction: Status and Challenges.

PubMed

Sheridan, Thomas B

2016-06-01

The current status of human-robot interaction (HRI) is reviewed, and key current research challenges for the human factors community are described. Robots have evolved from continuous human-controlled master-slave servomechanisms for handling nuclear waste to a broad range of robots incorporating artificial intelligence for many applications and under human supervisory control. This mini-review describes HRI developments in four application areas and what are the challenges for human factors research. In addition to a plethora of research papers, evidence of success is manifest in live demonstrations of robot capability under various forms of human control. HRI is a rapidly evolving field. Specialized robots under human teleoperation have proven successful in hazardous environments and medical application, as have specialized telerobots under human supervisory control for space and repetitive industrial tasks. Research in areas of self-driving cars, intimate collaboration with humans in manipulation tasks, human control of humanoid robots for hazardous environments, and social interaction with robots is at initial stages. The efficacy of humanoid general-purpose robots has yet to be proven. HRI is now applied in almost all robot tasks, including manufacturing, space, aviation, undersea, surgery, rehabilitation, agriculture, education, package fetch and delivery, policing, and military operations. © 2016, Human Factors and Ergonomics Society.

Space station needs, attributes, and architectural options study

NASA Technical Reports Server (NTRS)

1983-01-01

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.

Supervisory Control of the Right Arm of the Beam Assembly Teleoperator.

DTIC Science & Technology

1985-05-10

22332 L pQ5)1OLLA, Fg & E AND ADDRESS 12. REPORT DATE ATTN: DAPC-OPA-E 10 May 85 200 Stovall Street 13 NUMBEROF PAGES tf1 Alexandria. V4rqi nia 22332 171...MODUOE MOO FIGURE~ I. RgTArSuste -ll7- DC MOTOR END EFFECTOR FOR ROLLER SMALL POWER MODULE SOLENOID VALVE BOX MAIN POWER FIGURE A.6 Left Arm Subsystem...closed pneumatically. It is controlled by the ICS through the solenoid valve box and the RRT. At the base of the end effector is a roller. This roller

The evolution of automation and robotics in manned spaceflight

NASA Technical Reports Server (NTRS)

Moser, T. L.; Erickson, J. D.

1986-01-01

The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

A Graphical Operator Interface for a Telerobotic Inspection System

NASA Technical Reports Server (NTRS)

Kim, W. S.; Tso, K. S.; Hayati, S.

1993-01-01

Operator interface has recently emerged as an important element for efficient and safe operatorinteractions with the telerobotic system. Recent advances in graphical user interface (GUI) andgraphics/video merging technologies enable development of more efficient, flexible operatorinterfaces. This paper describes an advanced graphical operator interface newly developed for aremote surface inspection system at Jet Propulsion Laboratory. The interface has been designed sothat remote surface inspection can be performed by a single operator with an integrated robot controland image inspection capability. It supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

An operator interface design for a telerobotic inspection system

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tso, Kam S.; Hayati, Samad

1993-01-01

The operator interface has recently emerged as an important element for efficient and safe interactions between human operators and telerobotics. Advances in graphical user interface and graphics technologies enable us to produce very efficient operator interface designs. This paper describes an efficient graphical operator interface design newly developed for remote surface inspection at NASA-JPL. The interface, designed so that remote surface inspection can be performed by a single operator with an integrated robot control and image inspection capability, supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

The 2nd Conference on Remotely Manned Systems (RMS): Technology and Applications

NASA Technical Reports Server (NTRS)

1975-01-01

Control theory and the design of manipulators, teleoperators, and robots are considered. Applications of remotely manned vehicles to space maintenance and orbital assembly, industry and productivity, undersea operations, and rehabilitation systems are emphasized.

Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay.

PubMed

Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

2013-01-01

This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

PubMed Central

Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

2013-01-01

This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs. PMID:23833548

A Mobile Robot for Remote Response to Incidents Involving Hazardous Materials

NASA Technical Reports Server (NTRS)

Welch, Richard V.

1994-01-01

This paper will describe a teleoperated mobile robot system being developed at JPL for use by the JPL Fire Department/HAZMAT Team. The project, which began in October 1990, is focused on prototyping a robotic vehicle which can be quickly deployed and easily operated by HAZMAT Team personnel allowing remote entry and exploration of a hazardous material incident site. The close involvement of JPL Fire Department personnel has been critical in establishing system requirements as well as evaluating the system. The current robot, called HAZBOT III, has been especially designed for operation in environments that may contain combustible gases. Testing of the system with the Fire Department has shown that teleoperated robots can successfully gain access to incident sites allowing hazardous material spills to be remotely located and identified. Work is continuing to enable more complex missions through enhancement of the operator interface and by allowing tetherless operation.

A system-level approach to automation research

NASA Technical Reports Server (NTRS)

Harrison, F. W.; Orlando, N. E.

1984-01-01

Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

Space engineering

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1991-01-01

Human productivity was studied for extravehicular tasks performed in microgravity, particularly including in-space assembly of truss structures and other large objects. Human factors research probed the anthropometric constraints imposed on microgravity task performance and the associated workstation design requirements. Anthropometric experiments included reach envelope tests conducted using the 3-D Acoustic Positioning System (3DAPS), which permitted measuring the range of reach possible for persons using foot restraints in neutral buoyancy, both with and without space suits. Much neutral buoyancy research was conducted using the support of water to simulate the weightlessness environment of space. It became clear over time that the anticipated EVA requirement associated with the Space Station and with in-space construction of interplanetary probes would heavily burden astronauts, and remotely operated robots (teleoperators) were increasingly considered to absorb the workload. Experience in human EVA productivity led naturally to teleoperation research into the remote performance of tasks through human controlled robots.

Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

NASA Technical Reports Server (NTRS)

Goddard, Charles O.

2012-01-01

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.

Study of and proposals for the correction of errors in a radar ranging device designed to facilitate docking of a teleoperator maneuvering system

NASA Technical Reports Server (NTRS)

Mcdonald, M. W.

1982-01-01

A frequency modulated continuous wave radar system was developed. The system operates in the 35 gigahertz frequency range and provides millimeter accuracy range and range rate measurements. This level of range resolution allows soft docking for the proposed teleoperator maneuvering system (TMS) or other autonomous or robotic space vehicles. Sources of error in the operation of the system which tend to limit its range resolution capabilities are identified. Alternative signal processing techniques are explored with emphasis on determination of the effects of inserting various signal filtering circuits in the system. The identification and elimination of an extraneous low frequency signal component created as a result of zero range immediate reflection of radar energy from the surface of the antenna dish back into the mixer of the system is described.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

Enhanced control & sensing for the REMOTEC ANDROS Mk VI robot. Final report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Spelt, P.F.; Harvey, H.W.

1997-08-01

This Cooperative Research and Development Agreement (CRADA) between Lockheed Marietta Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mkmore » VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.« less

Design issues for stereo vision systems used on tele-operated robotic platforms

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, Jim; Pezzaniti, J. Larry; Chenault, David B.; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Pettijohn, Brad

2010-02-01

The use of tele-operated Unmanned Ground Vehicles (UGVs) for military uses has grown significantly in recent years with operations in both Iraq and Afghanistan. In both cases the safety of the Soldier or technician performing the mission is improved by the large standoff distances afforded by the use of the UGV, but the full performance capability of the robotic system is not utilized due to insufficient depth perception provided by the standard two dimensional video system, causing the operator to slow the mission to ensure the safety of the UGV given the uncertainty of the perceived scene using 2D. To address this Polaris Sensor Technologies has developed, in a series of developments funded by the Leonard Wood Institute at Ft. Leonard Wood, MO, a prototype Stereo Vision Upgrade (SVU) Kit for the Foster-Miller TALON IV robot which provides the operator with improved depth perception and situational awareness, allowing for shorter mission times and higher success rates. Because there are multiple 2D cameras being replaced by stereo camera systems in the SVU Kit, and because the needs of the camera systems for each phase of a mission vary, there are a number of tradeoffs and design choices that must be made in developing such a system for robotic tele-operation. Additionally, human factors design criteria drive optical parameters of the camera systems which must be matched to the display system being used. The problem space for such an upgrade kit will be defined, and the choices made in the development of this particular SVU Kit will be discussed.

Evaluation of teleoperated surgical robots in an enclosed undersea environment.

PubMed

Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

2009-05-01

The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

Conceptual design study for a teleoperator visual system, phase 2

NASA Technical Reports Server (NTRS)

Grant, C.; Meirick, R.; Polhemus, C.; Spencer, R.; Swain, D.; Twell, R.

1973-01-01

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.

Issues, concerns, and initial implementation results for space based telerobotic control

NASA Technical Reports Server (NTRS)

Lawrence, D. A.; Chapel, J. D.; Depkovich, T. M.

1987-01-01

Telerobotic control for space based assembly and servicing tasks presents many problems in system design. Traditional force reflection teleoperation schemes are not well suited to this application, and the approaches to compliance control via computer algorithms have yet to see significant testing and comparison. These observations are discussed in detail, as well as the concerns they raise for imminent design and testing of space robotic systems. As an example of the detailed technical work yet to be done before such systems can be specified, a particular approach to providing manipulator compliance is examined experimentally and through modeling and analysis. This yields some initial insight into the limitations and design trade-offs for this class of manipulator control schemes. Implications of this investigation for space based telerobots are discussed in detail.

Telemanipulator design and optimization software

NASA Astrophysics Data System (ADS)

Cote, Jean; Pelletier, Michel

1995-12-01

For many years, industrial robots have been used to execute specific repetitive tasks. In those cases, the optimal configuration and location of the manipulator only has to be found once. The optimal configuration or position where often found empirically according to the tasks to be performed. In telemanipulation, the nature of the tasks to be executed is much wider and can be very demanding in terms of dexterity and workspace. The position/orientation of the robot's base could be required to move during the execution of a task. At present, the choice of the initial position of the teleoperator is usually found empirically which can be sufficient in the case of an easy or repetitive task. In the converse situation, the amount of time wasted to move the teleoperator support platform has to be taken into account during the execution of the task. Automatic optimization of the position/orientation of the platform or a better designed robot configuration could minimize these movements and save time. This paper will present two algorithms. The first algorithm is used to optimize the position and orientation of a given manipulator (or manipulators) with respect to the environment on which a task has to be executed. The second algorithm is used to optimize the position or the kinematic configuration of a robot. For this purpose, the tasks to be executed are digitized using a position/orientation measurement system and a compact representation based on special octrees. Given a digitized task, the optimal position or Denavit-Hartenberg configuration of the manipulator can be obtained numerically. Constraints on the robot design can also be taken into account. A graphical interface has been designed to facilitate the use of the two optimization algorithms.

A multi-mode manipulator display system for controlling remote robotic systems

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Meschler, Michael F.; Rodriguez, Alberto A.

1994-01-01

The objective and contribution of the research presented in this paper is to provide a Multi-Mode Manipulator Display System (MMDS) to assist a human operator with the control of remote manipulator systems. Such systems include space based manipulators such as the space shuttle remote manipulator system (SRMS) and future ground controlled teleoperated and telescience space systems. The MMDS contains a number of display modes and submodes which display position control cues position data in graphical formats, based primarily on manipulator position and joint angle data. Therefore the MMDS is not dependent on visual information for input and can assist the operator especially when visual feedback is inadequate. This paper provides descriptions of the new modes and experiment results to date.

Geoscience and a Lunar Base: A Comprehensive Plan for Lunar Exploration

NASA Technical Reports Server (NTRS)

Taylor, G. Jeffrey (Editor); Spudis, Paul D. (Editor)

1990-01-01

This document represents the proceedings of the Workshop on Geoscience from a Lunar Base. It describes a comprehensive plan for the geologic exploration of the Moon. The document begins by explaining the scientific importance of studying the Moon and outlines the many unsolved problems in lunar science. Subsequent chapters detail different, complementary approaches to geologic studies: global surveys, including orbiting spacecraft such as Lunar Observer and installation of a global geophysical network; reconnaissance sample return mission, by either automated rovers or landers, or by piloted forays; detailed field studies, which involve astronauts and teleoperated robotic field geologists. The document then develops a flexible scenario for exploration and sketches the technological developments needed to carry out the exploration scenario.

An anthropomorphic master-slave manipulator system.

NASA Technical Reports Server (NTRS)

Vykukal, H. C.; King, R. F.; Vallotton, W. C.

1973-01-01

Review of some of the results of a teleoperator systems technology program devoted to the development of an anthropomorphic unilateral master-slave manipulator system. Following a discussion of the mechanical design details and servo design considerations, the developed system's test results are presented.

VR Simulation Testbed: Improving Surface Telerobotics for the Deep Space Gateway

NASA Astrophysics Data System (ADS)

Walker, M. E.; Burns, J. O.; Szafir, D. J.

2018-02-01

Design of a virtual reality simulation testbed for prototyping surface telerobotics. The goal is to create a framework with robust physics and kinematics to allow simulated teleoperation and supervised control of lunar rovers and rapid UI prototyping.

Advanced automation for space missions: Technical summary

NASA Technical Reports Server (NTRS)

1980-01-01

Several representative missions which would require extensive applications of machine intelligence were identified and analyzed. The technologies which must be developed to accomplish these types of missions are discussed. These technologies include man-machine communication, space manufacturing, teleoperators, and robot systems.

Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery.

PubMed

Pacchierotti, Claudio; Prattichizzo, Domenico; Kuchenbecker, Katherine J

2016-02-01

Despite its expected clinical benefits, current teleoperated surgical robots do not provide the surgeon with haptic feedback largely because grounded forces can destabilize the system's closed-loop controller. This paper presents an alternative approach that enables the surgeon to feel fingertip contact deformations and vibrations while guaranteeing the teleoperator's stability. We implemented our cutaneous feedback solution on an Intuitive Surgical da Vinci Standard robot by mounting a SynTouch BioTac tactile sensor to the distal end of a surgical instrument and a custom cutaneous display to the corresponding master controller. As the user probes the remote environment, the contact deformations, dc pressure, and ac pressure (vibrations) sensed by the BioTac are directly mapped to input commands for the cutaneous device's motors using a model-free algorithm based on look-up tables. The cutaneous display continually moves, tilts, and vibrates a flat plate at the operator's fingertip to optimally reproduce the tactile sensations experienced by the BioTac. We tested the proposed approach by having eighteen subjects use the augmented da Vinci robot to palpate a heart model with no haptic feedback, only deformation feedback, and deformation plus vibration feedback. Fingertip deformation feedback significantly improved palpation performance by reducing the task completion time, the pressure exerted on the heart model, and the subject's absolute error in detecting the orientation of the embedded plastic stick. Vibration feedback significantly improved palpation performance only for the seven subjects who dragged the BioTac across the model, rather than pressing straight into it.

Variable force and visual feedback effects on teleoperator man/machine performance

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Sheridan, Thomas B.

1989-01-01

An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several telemanipulation tasks. Experiments were conducted with varying frame rates and subtended visual angles, with and without force feedback.

The indexed time table approach for planning and acting

NASA Technical Reports Server (NTRS)

Ghallab, Malik; Alaoui, Amine Mounir

1989-01-01

A representation is discussed of symbolic temporal relations, called IxTeT, that is both powerful enough at the reasoning level for tasks such as plan generation, refinement and modification, and efficient enough for dealing with real time constraints in action monitoring and reactive planning. Such representation for dealing with time is needed in a teleoperated space robot. After a brief survey of known approaches, the proposed representation shows its computational efficiency for managing a large data base of temporal relations. Reactive planning with IxTeT is described and exemplified through the problem of mission planning and modification for a simple surveying satellite.

Sources Sought for Innovative Scientific Instrumentation for Scientific Lunar Rovers

NASA Technical Reports Server (NTRS)

Meyer, C.

1993-01-01

Lunar rovers should be designed as integrated scientific measurement systems that address scientific goals as their main objective. Scientific goals for lunar rovers are presented. Teleoperated robotic field geologists will allow the science team to make discoveries using a wide range of sensory data collected by electronic 'eyes' and sophisticated scientific instrumentation. rovers need to operate in geologically interesting terrain (rock outcrops) and to identify and closely examine interesting rock samples. Enough flight-ready instruments are available to fly on the first mission, but additional instrument development based on emerging technology is desirable. Various instruments that need to be developed for later missions are described.

Traction-drive, seven-degree-of-freedom telerobot arm: A concept for manipulaton in space

NASA Technical Reports Server (NTRS)

Kuban, D. P.; Williams, D. M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance.

Automation and Robotics for Space-Based Systems, 1991

NASA Technical Reports Server (NTRS)

Williams, Robert L., II (Editor)

1992-01-01

The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Performance improvement in remote manipulation with time delay by means of a learning system.

NASA Technical Reports Server (NTRS)

Freedy, A.; Weltman, G.

1973-01-01

A teleoperating system is presented that involves shared control between a human operator and a general-purpose computer-based learning machine. This setup features a trainable control network termed the autonomous control subsystem (ACS) which is able to observe the operator's control actions, learn the task at hand, and take appropriate control actions. A working ACS system is described that has been put in operation for the purpose of exploring the uses of a remote intelligence of this type. The expansion of the present system into a multifunctional learning machine capable of a greater degree of autonomy is also discussed.

Enhanced control and sensing for the REMOTEC ANDROS Mk VI robot. CRADA final report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Spelt, P.F.; Harvey, H.W.

1998-08-01

This Cooperative Research and Development Agreement (CRADA) between Lockheed Martin Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mkmore » VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.« less

Teleoperation in surgical robotics--network latency effects on surgical performance.

PubMed

Lum, Mitchell J H; Rosen, Jacob; King, Hawkeye; Friedman, Diana C W; Lendvay, Thomas S; Wright, Andrew S; Sinanan, Mika N; Hannaford, Blake

2009-01-01

A teleoperated surgical robotic system allows surgical procedures to be conducted across long distances while utilizing wired and wireless communication with a wide spectrum of performance that may affect the outcome. An open architecture portable surgical robotic system (Raven) was developed for both open and minimally invasive surgery. The system has been the subject of an intensive telesurgical experimental protocol aimed at exploring the boundaries of the system and surgeon performance during a series of field experiments in extreme environments (desert and underwater) teleportation between US, Europe, and Japan as well as lab experiments under synthetic fixed time delay. One standard task (block transfer emulating tissue manipulation) of the Fundamentals of Laparoscopic Surgery (FLS) training kit was used for the experimental protocol. Network characterization indicated a typical time delay in the range of 16-172 ms in field experiments. The results of the lab experiments showed that the completion time of the task as well as the length of the tool tip trajectory significantly increased (alpha< 0.02) as time delay increased in the range of 0-0.5 sec increased. For teleoperation with a time delay of 0.25s and 0.5s the task completion time was lengthened by a factor of 1.45 and 2.04 with respect to no time delay, whereas the length of the tools' trajectory was increased by a factor of 1.28 and 1.53 with respect to no time delay. There were no statistical differences between experienced surgeons and non-surgeons in the number of errors (block drooping) as well as the completion time and the tool tip path length at different time delays.

Sandia National Laboratories proof-of-concept robotic security vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor); Venema, Steven C. (Inventor)

1991-01-01

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Composite video and graphics display for camera viewing systems in robotics and teleoperation

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor); Venema, Steven C. (Inventor)

1993-01-01

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Touch sensors and control.

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Description of the equipment employed and results obtained in experiments with tactile feedback and different levels of automatic control. In the experiments described tactile feedback was investigated by incorporating a touch sensing and touch display system into a teleoperator, while the levels of automatic control were investigated by incorporating supervisory control features in the teleoperator control system. In particular, a hand contact system which senses and reproduces to the operator the contact between the end-effector and the object being touched or manipulated is described, as well as a jaw contact system which senses and reproduces to the operator the shape and location of the object held in the remote jaws, and an arm control system consisting of a control station where the operator controls the motion of the arm by transmitting commands, a remote station that accepts the commands and uses them, and a communications link that limits information flow. In addition, an algorithmic language for remote manipulation is described, and the desired features that an automatic arm controller should possess are reviewed.

Investigation of human-robot interface performance in household environments

NASA Astrophysics Data System (ADS)

Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

2016-05-01

Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

Sensory subtraction in robot-assisted surgery: fingertip skin deformation feedback to ensure safety and improve transparency in bimanual haptic interaction.

PubMed

Meli, Leonardo; Pacchierotti, Claudio; Prattichizzo, Domenico

2014-04-01

This study presents a novel approach to force feedback in robot-assisted surgery. It consists of substituting haptic stimuli, composed of a kinesthetic component and a skin deformation, with cutaneous stimuli only. The force generated can then be thought as a subtraction between the complete haptic interaction, cutaneous, and kinesthetic, and the kinesthetic part of it. For this reason, we refer to this approach as sensory subtraction. Sensory subtraction aims at outperforming other nonkinesthetic feedback techniques in teleoperation (e.g., sensory substitution) while guaranteeing the stability and safety of the system. We tested the proposed approach in a challenging 7-DoF bimanual teleoperation task, similar to the Pegboard experiment of the da Vinci Skills Simulator. Sensory subtraction showed improved performance in terms of completion time, force exerted, and total displacement of the rings with respect to two popular sensory substitution techniques. Moreover, it guaranteed a stable interaction in the presence of a communication delay in the haptic loop.

Usability of stereoscopic view in teleoperation

NASA Astrophysics Data System (ADS)

Boonsuk, Wutthigrai

2015-03-01

Recently, there are tremendous growths in the area of 3D stereoscopic visualization. The 3D stereoscopic visualization technology has been used in a growing number of consumer products such as the 3D televisions and the 3D glasses for gaming systems. This technology refers to the idea that human brain develops depth of perception by retrieving information from the two eyes. Our brain combines the left and right images on the retinas and extracts depth information. Therefore, viewing two video images taken at slightly distance apart as shown in Figure 1 can create illusion of depth [8]. Proponents of this technology argue that the stereo view of 3D visualization increases user immersion and performance as more information is gained through the 3D vision as compare to the 2D view. However, it is still uncertain if additional information gained from the 3D stereoscopic visualization can actually improve user performance in real world situations such as in the case of teleoperation.

Robot-assisted ultrasound imaging: overview and development of a parallel telerobotic system.

PubMed

Monfaredi, Reza; Wilson, Emmanuel; Azizi Koutenaei, Bamshad; Labrecque, Brendan; Leroy, Kristen; Goldie, James; Louis, Eric; Swerdlow, Daniel; Cleary, Kevin

2015-02-01

Ultrasound imaging is frequently used in medicine. The quality of ultrasound images is often dependent on the skill of the sonographer. Several researchers have proposed robotic systems to aid in ultrasound image acquisition. In this paper we first provide a short overview of robot-assisted ultrasound imaging (US). We categorize robot-assisted US imaging systems into three approaches: autonomous US imaging, teleoperated US imaging, and human-robot cooperation. For each approach several systems are introduced and briefly discussed. We then describe a compact six degree of freedom parallel mechanism telerobotic system for ultrasound imaging developed by our research team. The long-term goal of this work is to enable remote ultrasound scanning through teleoperation. This parallel mechanism allows for both translation and rotation of an ultrasound probe mounted on the top plate along with force control. Our experimental results confirmed good mechanical system performance with a positioning error of < 1 mm. Phantom experiments by a radiologist showed promising results with good image quality.

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery.

PubMed

Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

2011-06-01

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

PubMed Central

Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

2013-01-01

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information. PMID:24398557

Participatory telerobotics

NASA Astrophysics Data System (ADS)

Wissner-Gross, Alexander D.; Sullivan, Timothy M.

2013-05-01

We present a novel "participatory telerobotics" system that generalizes the existing concept of participatory sensing to include real-time teleoperation and telepresence by treating humans with mobile devices as ad-hoc telerobots. In our approach, operators or analysts first choose a desired location for remote surveillance or activity from a live geographic map and are then automatically connected via a coordination server to the nearest available trusted human. That human's device is then activated and begins recording and streaming back to the operator a live audiovisual feed for telepresence, while allowing the operator in turn to request complex teleoperative motions or actions from the human. Supported action requests currently include walking, running, leaning, and turning, all with controllable magnitudes and directions. Compliance with requests is automatically measured and scored in real time by fusing information received from the device's onboard sensors, including its accelerometers, gyroscope, magnetometer, GPS receiver, and cameras. Streams of action requests are visually presented by each device to its human in the form of an augmented reality game that rewards prompt physical compliance while remaining tolerant of network latency. Because of its ability to interactively elicit physical knowledge and operations through ad-hoc collaboration, we anticipate that our participatory telerobotics system will have immediate applications in the intelligence, retail, healthcare, security, and travel industries.

The evolution of neuroArm.

PubMed

Sutherland, Garnette R; Wolfsberger, Stefan; Lama, Sanju; Zarei-nia, Kourosh

2013-01-01

Intraoperative imaging disrupts the rhythm of surgery despite providing an excellent opportunity for surgical monitoring and assessment. To allow surgery within real-time images, neuroArm, a teleoperated surgical robotic system, was conceptualized. The objective was to design and manufacture a magnetic resonance-compatible robot with a human-machine interface that could reproduce some of the sight, sound, and touch of surgery at a remote workstation. University of Calgary researchers worked with MacDonald, Dettwiler and Associates engineers to produce a requirements document, preliminary design review, and critical design review, followed by the manufacture, preclinical testing, and clinical integration of neuroArm. During the preliminary design review, the scope of the neuroArm project changed to performing microsurgery outside the magnet and stereotaxy inside the bore. neuroArm was successfully manufactured and installed in an intraoperative magnetic resonance imaging operating room. neuroArm was clinically integrated into 35 cases in a graded fashion. As a result of this experience, neuroArm II is in development, and advances in technology will allow microsurgery within the bore of the magnet. neuroArm represents a successful interdisciplinary collaboration. It has positive implications for the future of robotic technology in neurosurgery in that the precision and accuracy of robots will continue to augment human capability.

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

NASA Astrophysics Data System (ADS)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

Industries in space to benefit mankind: A view over the next 30 years

NASA Technical Reports Server (NTRS)

1977-01-01

New products, services, and energy sources are available to man through the exploitation of the useful attributes of space and space shuttle operations. Benefits include: (1) industrial fuel conservation through the use of electronic teleconferencing, high temperature turbines, and the space processing of materials; (2) improved health care through the use of biotelemetry, teleoperators, and weightless hospitals; (3) more efficient communication systems such as portable telephones, individual warning devices, and direct satellite broadcasting for educational purposes; (4) more abundant crop growth and controlled climate modification by the use of space-based reflectors to direct the light of the sun and moon to specific areas on earth; (5) solar energy utilization; and (6) reduction in radiation hazards through the use of space-based nuclear fusion reactors.

Predictive Displays for High Latency Teleoperation

DTIC Science & Technology

2016-08-04

missions. REFERENCES [1] M. Brudnak, M. Pozolo, V. Paul, S. Mohammad, W. Smith, M. Compere , J. Goodell, D. Holtz, T. Mortsfield and A...Simon, M. Compere , T. Connolly, C. Lors, W. Smith and M. Brudnak, "Hybrid Electric Power and Energy Laboratory Hardware-in-the-Loop and Vehicle

Comparing Human-Human to Human-Computer Tutorial Dialogue

DTIC Science & Technology

2010-01-01

acknowledged what their tutor said and participated in rapport building with chit-chat. This seems to be driven by a need to be polite and courteous to the...An experiment on public speaking anxiety in response to three different types of virtual audiences. Presence: Teleoperators and Virtual

Bilevel Shared Control Of A Remote Robotic Manipulator

NASA Technical Reports Server (NTRS)

Hayati, Samad A.; Venkataraman, Subramanian T.

1992-01-01

Proposed concept blends autonomous and teleoperator control modes, each overcoming deficiencies of the other. Both task-level and execution-level functions performed at local and remote sites. Applicable to systems with long communication delay between local and remote sites or systems intended to function partly autonomously.

Human-Robot Interaction

NASA Technical Reports Server (NTRS)

Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

2015-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.

Conjugate Gradient Algorithms For Manipulator Simulation

NASA Technical Reports Server (NTRS)

Fijany, Amir; Scheid, Robert E.

1991-01-01

Report discusses applicability of conjugate-gradient algorithms to computation of forward dynamics of robotic manipulators. Rapid computation of forward dynamics essential to teleoperation and other advanced robotic applications. Part of continuing effort to find algorithms meeting requirements for increased computational efficiency and speed. Method used for iterative solution of systems of linear equations.

Deep Space Gateway Support of Lunar Surface Ops and Tele-Operational Transfer of Surface Assets to the Next Landing Site

NASA Astrophysics Data System (ADS)

Kring, D. A.

2018-02-01

The Deep Space Gateway can support astronauts on the lunar surface, providing them a departure and returning rendezvous point, a communication relay from the lunar farside to Earth, and a transfer point to Orion for return to Earth.

The 22nd Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1988-01-01

The proceedings of the symposium, which was held at the NASA Langley Research Center, on May 4 to 6, 1988, are reported. Technological areas covered include space lubrication, bearings, aerodynamic devices, spacecraft latches, deployment, positioning, and pointing. Devices for space station docking and manipulator and teleoperator mechanisms are also described.

JPL space station telerobotic engineering prototype development FY 91 status/achievements

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne

1991-01-01

The topics covered are presented in view graph form and include: (1) streamlining intravehicular activity (IVA) teleoperation activities on the Space Station Freedom (SSF); (2) enhancing SSF utilization during the man-tended phase; (3) telerobotic ground remote operations (TGRO); and (4) advanced telerobotics system technology (shared control).

Impacts of telemation on modern society

NASA Technical Reports Server (NTRS)

Alexander, A. D., III

1973-01-01

A survey study of state-of-the-art technology, major civil sector user needs, and recommendations for federal initiatives in the field of teleoperators, robotics, and remote systems is reviewed. Impending developments in the application of telemation to remote emergency medical care and to remote mining operations are speculated upon.

Prototyping of Remote Experiment and Exercise Systems for an Engineering Education based on World Wide Web

NASA Astrophysics Data System (ADS)

Iwatsuki, Masami; Kato, Yoriyuki; Yonekawa, Akira

State-of-the-art Internet technologies allow us to provide advanced and interactive distance education services. However, we could not help but gather students for experiments and exercises in an education for engineering because large-scale equipments and expensive software are required. On the other hand, teleoperation systems with robot manipulator or vehicle via Internet have been developed in the field of robotics. By fusing these two techniques, we can realize remote experiment and exercise systems for the engineering education based on World Wide Web. This paper presents how to construct the remote environment that allows students to take courses on experiment and exercise independently of their locations. By using the proposed system, users can exercise and practice remotely about control of a manipulator and a robot vehicle and programming of image processing.

Small business innovation research. Abstracts of 1988 phase 1 awards

NASA Technical Reports Server (NTRS)

1990-01-01

Non-proprietary proposal abstracts of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA are presented. Projects in the fields of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robots, computer sciences, information systems, data processing, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered.

Cybernetic anthropomorphic machine systems

NASA Technical Reports Server (NTRS)

Gray, W. E.

1974-01-01

Functional descriptions are provided for a number of cybernetic man machine systems that augment the capacity of normal human beings in the areas of strength, reach or physical size, and environmental interaction, and that are also applicable to aiding the neurologically handicapped. Teleoperators, computer control, exoskeletal devices, quadruped vehicles, space maintenance systems, and communications equipment are considered.

Barratt during Soyuz descent training in Service Module

NASA Image and Video Library

2009-07-06

ISS020-E-017368 (6 July 2009) --- NASA astronaut Michael Barratt, Expedition 20 flight engineer, uses a computer at the TORU teleoperated control system in the Zvezda Service Module of the International Space Station while conducting Soyuz descent training to maintain proficiency on systems used for entry and landing in the Soyuz vehicle.

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Kirkpatrick, M., III; Frederick, P. N.; Malone, T. B.

1975-01-01

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.

Regolith Advanced Surface Systems Operations Robot Excavator

NASA Technical Reports Server (NTRS)

Mueller, Robert P.; Smith, Jonathan D.; Ebert, Thomas; Cox, Rachel; Rahmatian, Laila; Wood, James; Schuler, Jason; Nick, Andrew

2013-01-01

The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (<50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.

Diverse applications of advanced man-telerobot interfaces

NASA Technical Reports Server (NTRS)

Mcaffee, Douglas A.

1991-01-01

Advancements in man-machine interfaces and control technologies used in space telerobotics and teleoperators have potential application wherever human operators need to manipulate multi-dimensional spatial relationships. Bilateral six degree-of-freedom position and force cues exchanged between the user and a complex system can broaden and improve the effectiveness of several diverse man-machine interfaces.

Man-machine cooperation in advanced teleoperation

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Das, Hari; Lee, Sukhan

1993-01-01

Teleoperation experiments at JPL have shown that advanced features in a telerobotic system are a necessary condition for good results, but that they are not sufficient to assure consistently good performance by the operators. Two or three operators are normally used during training and experiments to maintain the desired performance. An alternative to this multi-operator control station is a man-machine interface embedding computer programs that can perform some of the operator's functions. In this paper we present our first experiments with these concepts, in which we focused on the areas of real-time task monitoring and interactive path planning. In the first case, when performing a known task, the operator has an automatic aid for setting control parameters and camera views. In the second case, an interactive path planner will rank different path alternatives so that the operator will make the correct control decision. The monitoring function has been implemented with a neural network doing the real-time task segmentation. The interactive path planner was implemented for redundant manipulators to specify arm configurations across the desired path and satisfy geometric, task, and performance constraints.

Stereo depth distortions in teleoperation

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Vonsydow, Marika

1988-01-01

In teleoperation, a typical application of stereo vision is to view a work space located short distances (1 to 3m) in front of the cameras. The work presented here treats converged camera placement and studies the effects of intercamera distance, camera-to-object viewing distance, and focal length of the camera lenses on both stereo depth resolution and stereo depth distortion. While viewing the fronto-parallel plane 1.4 m in front of the cameras, depth errors are measured on the order of 2cm. A geometric analysis was made of the distortion of the fronto-parallel plane of divergence for stereo TV viewing. The results of the analysis were then verified experimentally. The objective was to determine the optimal camera configuration which gave high stereo depth resolution while minimizing stereo depth distortion. It is found that for converged cameras at a fixed camera-to-object viewing distance, larger intercamera distances allow higher depth resolutions, but cause greater depth distortions. Thus with larger intercamera distances, operators will make greater depth errors (because of the greater distortions), but will be more certain that they are not errors (because of the higher resolution).

Microscopic pick-and-place teleoperation

NASA Astrophysics Data System (ADS)

Bhatti, Pamela; Hannaford, Blake; Marbot, Pierre-Henry

1993-03-01

A three degree-of-freedom direct drive mini robot has been developed for biomedical applications. The design approach of the mini robot relies heavily upon electromechanical components from the Winchester disk drive industry. In the current design, the first joint is driven by actuators from a 5.25' drive, and the following joints are driven by actuators typical of 3.5' drives. The system has 5 - 10 micrometers of position repeatability and resolution in all three axes. A mini gripper attachment has been fabricated for the robot to explore manipulation of objects ranging from 50 micrometers to 500 micrometers . Mounted on the robot, the gripper has successfully performed pick and place operations under teleoperated control. The mini robot serves to precisely position the gripper, and a needle-like finger of the gripper deflects so the fingers can grip a target object. The gripper finger capable of motion is fabricated with a piezoelectric bimorph crystal which deflects with an applied DC voltage. The experimental results are promising, and the mini gripper may be modified for future biomedical and micro assembly applications.

Robot Acquisition of Active Maps Through Teleoperation and Vector Space Analysis

NASA Technical Reports Server (NTRS)

Peters, Richard Alan, II

2003-01-01

The work performed under this contract was in the area of intelligent robotics. The problem being studied was the acquisition of intelligent behaviors by a robot. The method was to acquire action maps that describe tasks as sequences of reflexive behaviors. Action maps (a.k.a. topological maps) are graphs whose nodes represent sensorimotor states and whose edges represent the motor actions that cause the robot to proceed from one state to the next. The maps were acquired by the robot after being teleoperated or otherwise guided by a person through a task several times. During a guided task, the robot records all its sensorimotor signals. The signals from several task trials are partitioned into episodes of static behavior. The corresponding episodes from each trial are averaged to produce a task description as a sequence of characteristic episodes. The sensorimotor states that indicate episode boundaries become the nodes, and the static behaviors, the edges. It was demonstrated that if compound maps are constructed from a set of tasks then the robot can perform new tasks in which it was never explicitly trained.

Motion coordination and programmable teleoperation between two industrial robots

NASA Technical Reports Server (NTRS)

Luh, J. Y. S.; Zheng, Y. F.

1987-01-01

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions.

Laboratory testing of candidate robotic applications for space

NASA Technical Reports Server (NTRS)

Purves, R. B.

1987-01-01

Robots have potential for increasing the value of man's presence in space. Some categories with potential benefit are: (1) performing extravehicular tasks like satellite and station servicing, (2) supporting the science mission of the station by manipulating experiment tasks, and (3) performing intravehicular activities which would be boring, tedious, exacting, or otherwise unpleasant for astronauts. An important issue in space robotics is selection of an appropriate level of autonomy. In broad terms three levels of autonomy can be defined: (1) teleoperated - an operator explicitly controls robot movement; (2) telerobotic - an operator controls the robot directly, but by high-level commands, without, for example, detailed control of trajectories; and (3) autonomous - an operator supplies a single high-level command, the robot does all necessary task sequencing and planning to satisfy the command. Researchers chose three projects for their exploration of technology and implementation issues in space robots, one each of the three application areas, each with a different level of autonomy. The projects were: (1) satellite servicing - teleoperated; (2) laboratory assistant - telerobotic; and (3) on-orbit inventory manager - autonomous. These projects are described and some results of testing are summarized.

Towards an SEMG-based tele-operated robot for masticatory rehabilitation.

PubMed

Kalani, Hadi; Moghimi, Sahar; Akbarzadeh, Alireza

2016-08-01

This paper proposes a real-time trajectory generation for a masticatory rehabilitation robot based on surface electromyography (SEMG) signals. We used two Gough-Stewart robots. The first robot was used as a rehabilitation robot while the second robot was developed to model the human jaw system. The legs of the rehabilitation robot were controlled by the SEMG signals of a tele-operator to reproduce the masticatory motion in the human jaw, supposedly mounted on the moving platform, through predicting the location of a reference point. Actual jaw motions and the SEMG signals from the masticatory muscles were recorded and used as output and input, respectively. Three different methods, namely time-delayed neural networks, time delayed fast orthogonal search, and time-delayed Laguerre expansion technique, were employed and compared to predict the kinematic parameters. The optimal model structures as well as the input delays were obtained for each model and each subject through a genetic algorithm. Equations of motion were obtained by the virtual work method. Fuzzy method was employed to develop a fuzzy impedance controller. Moreover, a jaw model was developed to demonstrate the time-varying behavior of the muscle lengths during the rehabilitation process. The three modeling methods were capable of providing reasonably accurate estimations of the kinematic parameters, although the accuracy and training/validation speed of time-delayed fast orthogonal search were higher than those of the other two aforementioned methods. Also, during a simulation study, the fuzzy impedance scheme proved successful in controlling the moving platform for the accurate navigation of the reference point in the desired trajectory. SEMG has been widely used as a control command for prostheses and exoskeleton robots. However, in the current study by employing the proposed rehabilitation robot the complete continuous profile of the clenching motion was reproduced in the sagittal plane. Copyright © 2016. Published by Elsevier Ltd.

Dynamic control modification techniques in teleoperation of a flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Magee, David Patrick

1991-01-01

The objective of this research is to reduce the end-point vibration of a large, teleoperated manipulator while preserving the usefulness of the system motion. A master arm is designed to measure desired joint angles as the user specifies a desired tip motion. The desired joint angles from the master arm are the inputs to an adaptive PD control algorithm that positions the end-point of the manipulator. As the user moves the tip of the master, the robot will vibrate at its natural frequencies which makes it difficult to position the end-point. To eliminate the tip vibration during teleoperated motions, an input shaping method is presented. The input shaping method transforms each sample of the desired input into a new set of impulses that do not excite the system resonances. The method is explained using the equation of motion for a simple, second-order system. The impulse response of such a system is derived and the constraint equations for vibrationless motion are presented. To evaluate the robustness of the method, a different residual vibration equation from Singer's is derived that more accurately represents the input shaping technique. The input shaping method is shown to actually increase the residual vibration in certain situations when the system parameters are not accurately specified. Finally, the implementation of the input shaping method to a system with varying parameters is shown to induce a vibration into the system. To eliminate this vibration, a modified command shaping technique is developed. The ability of the modified command shaping method to reduce vibration at the system resonances is tested by varying input perturbations to trajectories in a range of possible user inputs. By comparing the frequency responses of the transverse acceleration at the end-point of the manipulator, the modified method is compared to the original PD routine. The control scheme that produces the smaller magnitude of resonant vibration at the first natural frequency is considered the more effective control method.

Teleoperated Modular Robots for Lunar Operations

NASA Technical Reports Server (NTRS)

Globus, Al; Hornby, Greg; Larchev, Greg; Hancher, Matt; Cannon, Howard; Lohn, Jason

2004-01-01

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

Suppression of biodynamic interference in head-tracked teleoperation

NASA Technical Reports Server (NTRS)

Lifshitz, S.; Merhav, S. J.; Grunwald, A. J.; Tucker, G. E.; Tischler, M. B.

1991-01-01

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Surgery in space: the future of robotic telesurgery.

PubMed

Haidegger, Tamás; Sándor, József; Benyó, Zoltán

2011-03-01

The origins of telemedicine date back to the early 1970s, and combined with the concept of minimally invasive surgery, the idea of surgical robotics was born in the late 1980s based on the principle of providing active telepresence to surgeons. Many research projects were initiated, creating a set of instruments for endoscopic telesurgery, while visionary surgeons built networks for telesurgical patient care, demonstrated transcontinental surgery, and performed procedures in weightlessness. Long-distance telesurgery became the testbed for new medical support concepts of space missions. This article provides a complete review of the milestone experiments in the field, and describes a feasible concept to extend telemedicine beyond Earth orbit. With a possible foundation of an extraplanetary human outpost either on the Moon or on Mars, space agencies are carefully looking for effective and affordable solutions for life-support and medical care. The major challenges of surgery in weightlessness are also discussed. Teleoperated surgical robots have the potential to shape the future of extreme health care both in space and on Earth. Besides the apparent advantages, there are some serious challenges, primarily the difficulty of latency with teleoperation over long distances. Advanced virtualization and augmented-reality techniques should help human operators to adapt better to the special conditions. To meet safety standards and requirements in space, a three-layered architecture is recommended to provide the highest quality of telepresence technically achievable for provisional exploration missions. Surgical robotic technology is an emerging interdisciplinary field, with a great potential impact on many areas of health care, including telemedicine. With the proposed three-layered concept-relying only on currently available technology-effective support of long-distance telesurgery and human space missions are both feasible.

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

NASA Technical Reports Server (NTRS)

Klarer, P.

1994-01-01

An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

Research on Modeling Technology of Virtual Robot Based on LabVIEW

NASA Astrophysics Data System (ADS)

Wang, Z.; Huo, J. L.; Y Sun, L.; Y Hao, X.

2017-12-01

Because of the dangerous working environment, the underwater operation robot for nuclear power station needs manual teleoperation. In the process of operation, it is necessary to guide the position and orientation of the robot in real time. In this paper, the geometric modeling of the virtual robot and the working environment is accomplished by using SolidWorks software, and the accurate modeling and assembly of the robot are realized. Using LabVIEW software to read the model, and established the manipulator forward kinematics and inverse kinematics model, and realized the hierarchical modeling of virtual robot and computer graphics modeling. Experimental results show that the method studied in this paper can be successfully applied to robot control system.

Compendium of Abstracts. Volume 2

DTIC Science & Technology

2010-08-01

researched for various applications such as self - healing and fluid transport. One method of creating these vascular systems is through a process called...Daniel J. Dexterous robotic manipulators that rely on joystick type interfaces for teleoperation require considerable time and effort to master...and lack an intuitive basis for human- robot interaction. This hampers operator performance, increases cognitive workload, and limits overall

Identification of cognitive factors related to remote work performance using closed circuit TV displays

NASA Technical Reports Server (NTRS)

Clarke, M. M.; Garin, J.

1981-01-01

Operator perceptual cognitive styles as predictors of remote task performance were identified. Remote tasks which require the use of servo controlled master/slave manipulators and closed circuit television for teleoperator repair and maintenance of nuclear fuel recycling systems are examined. A useful procedure for identifying such perceptual styles is described.

Remote control and navigation tests for application to long-range lunar surface exploration

NASA Technical Reports Server (NTRS)

Mastin, W. C.; White, P. R.; Vinz, F. L.

1971-01-01

Tests conducted with a vehicle system built at the Marshall Space Flight Center to investigate some of the unknown factors associated with remote controlled teleoperated vehicles on the lunar surface are described. Test data are summarized and conclusions are drawn from these data which indicate that futher testing will be required.

Manipulator control and mechanization: A telerobot subsystem

NASA Technical Reports Server (NTRS)

Hayati, S.; Wilcox, B.

1987-01-01

The short- and long-term autonomous robot control activities in the Robotics and Teleoperators Research Group at the Jet Propulsion Laboratory (JPL) are described. This group is one of several involved in robotics and is an integral part of a new NASA robotics initiative called Telerobot program. A description of the architecture, hardware and software, and the research direction in manipulator control is given.

Robotics Strategy White Paper

DTIC Science & Technology

2009-03-19

Cargo packaging and pallet assembly. Use of robotics tools to support palletization falls under the supply functional area which tasks the Army to...system. 17 At first glance, remote tele-operated surgery capability appears to already exist in civilian hospitals (i.e., DaVinci Machine: http... tool free maintenance and anticipatory sustainment and improved distribution. The UJTL tasks suggest nominal improvements in the maintenance area

An advanced telerobotic system for shuttle payload changeout room processing applications

NASA Technical Reports Server (NTRS)

Sklar, M.; Wegerif, D.

1989-01-01

To potentially alleviate the inherent difficulties in the ground processing of the Space Shuttle and its associated payloads, a teleoperated, semi-autonomous robotic processing system for the Payload Changeout Room (PCR) is now in the conceptual stages. The complete PCR robotic system as currently conceived is described and critical design issues and the required technologies are discussed.

Small business innovation research. Abstracts of completed 1987 phase 1 projects

NASA Technical Reports Server (NTRS)

1989-01-01

Non-proprietary summaries of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA in the 1987 program year are given. Work in the areas of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robotics, computer sciences, information systems, spacecraft systems, spacecraft power supplies, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered.

Robonaut testing

NASA Image and Video Library

2013-08-05

ISS036-E-029110 (6 Aug. 2013) --- In the International Space Station’s Destiny laboratory, NASA astronaut Chris Cassidy, Expedition 36 flight engineer, wears tele-operation gear consisting of a vest, gloves and visor to telerobotically test Robonaut 2’s maneuvers. Cassidy was able to manipulate R2’s head, neck, arms and fingers telerobotically through his own movements as well as through verbal commands.

Robonaut testing

NASA Image and Video Library

2013-08-05

ISS036-E-029109 (6 Aug. 2013) --- In the International Space Station’s Destiny laboratory, NASA astronaut Chris Cassidy, Expedition 36 flight engineer, wears tele-operation gear consisting of a vest, gloves and visor to telerobotically test Robonaut 2’s maneuvers. Cassidy was able to manipulate R2’s head, neck, arms and fingers telerobotically through his own movements as well as through verbal commands.

Cassidy with Robonaut 2

NASA Image and Video Library

2013-08-28

ISS036-E-038293 (28 Aug. 2013) --- In the International Space Station's Destiny laboratory, NASA astronaut Chris Cassidy, Expedition 36 flight engineer, wears tele-operation gear consisting of a vest, gloves and visor to telerobotically test Robonaut 2's maneuvers. Cassidy was able to manipulate R2's head, neck, arms and fingers telerobotically through his own movements as well as through verbal commands.

Robonaut 2 Teleops

NASA Image and Video Library

2013-07-22

ISS036-E-029140 (6 Aug. 2013) --- In the International Space Station?s Destiny laboratory, NASA astronaut Chris Cassidy, Expedition 36 flight engineer, wears tele-operation gear consisting of a vest, gloves and visor to telerobotically test Robonaut 2?s maneuvers. Cassidy was able to manipulate R2?s head, neck, arms and fingers telerobotically through his own movements as well as through verbal commands.

Robonaut 2 Teleops

NASA Image and Video Library

2013-07-22

ISS036-E-029144 (6 Aug. 2013) --- In the International Space Station?s Destiny laboratory, NASA astronaut Chris Cassidy, Expedition 36 flight engineer, wears tele-operation gear consisting of a vest, gloves and visor to telerobotically test Robonaut 2?s maneuvers. Cassidy was able to manipulate R2?s head, neck, arms and fingers telerobotically through his own movements as well as through verbal commands.

Virtual Teleoperation for Unmanned Aerial Vehicles

DTIC Science & Technology

2012-01-24

Gilbert, S., “Wayfinder: Evaluating Multitouch Interaction in Supervisory Control of Unmanned Vehicles,” Proceedings of ASME 2nd World Conference on... interactive virtual reality environment that fuses available information into a coherent picture that can be viewed from multiple perspectives and scales...for multimodal interaction • Generally abstracted controller hardware and graphical interfaces facilitating deployment on a variety of VR platform

Teletouch Display Development. Phase 1

DTIC Science & Technology

1988-07-01

Final FROM Oct 1987 TO Dec 1987 July 1988 68 16. SUPPLEMENTARY NOTATION 17. COSATI CODES 18. SUBJECT TERMS (.Miummmmya i m* r Nod 1ŕ FIELD GROUP SUB...experimental apparatus ............ 26 6. Imperfect transmission of information ........................ 27 A-1. Technological taxonomy of contact...to the teleoperator, remote systems are difficult to field that possess a high degree of dextrous manipulative and haptic abilities. This report

s98e09732

NASA Image and Video Library

1998-11-01

S98-E-09732 (Nov. 1998) --- Closeup view of part of the antenna system for the Teleoperator Control System (TORU) manual docking system on Zarya. This photograph was taken prior to Zarya's deployment. Recent activities showed an indication of a possible failure to deploy of two small antennae elements in the TORU. Accompanying image shows pre-flight closeout closeup image of the second small element.

Remote operation of the Black Knight unmanned ground combat vehicle

NASA Astrophysics Data System (ADS)

Valois, Jean-Sebastien; Herman, Herman; Bares, John; Rice, David P.

2008-04-01

The Black Knight is a 12-ton, C-130 deployable Unmanned Ground Combat Vehicle (UGCV). It was developed to demonstrate how unmanned vehicles can be integrated into a mechanized military force to increase combat capability while protecting Soldiers in a full spectrum of battlefield scenarios. The Black Knight is used in military operational tests that allow Soldiers to develop the necessary techniques, tactics, and procedures to operate a large unmanned vehicle within a mechanized military force. It can be safely controlled by Soldiers from inside a manned fighting vehicle, such as the Bradley Fighting Vehicle. Black Knight control modes include path tracking, guarded teleoperation, and fully autonomous movement. Its state-of-the-art Autonomous Navigation Module (ANM) includes terrain-mapping sensors for route planning, terrain classification, and obstacle avoidance. In guarded teleoperation mode, the ANM data, together with automotive dials and gages, are used to generate video overlays that assist the operator for both day and night driving performance. Remote operation of various sensors also allows Soldiers to perform effective target location and tracking. This document covers Black Knight's system architecture and includes implementation overviews of the various operation modes. We conclude with lessons learned and development goals for the Black Knight UGCV.

Augmented reality user interface for mobile ground robots with manipulator arms

NASA Astrophysics Data System (ADS)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

Medical telerobotic systems: current status and future trends.

PubMed

Avgousti, Sotiris; Christoforou, Eftychios G; Panayides, Andreas S; Voskarides, Sotos; Novales, Cyril; Nouaille, Laurence; Pattichis, Constantinos S; Vieyres, Pierre

2016-08-12

Teleoperated medical robotic systems allow procedures such as surgeries, treatments, and diagnoses to be conducted across short or long distances while utilizing wired and/or wireless communication networks. This study presents a systematic review of the relevant literature between the years 2004 and 2015, focusing on medical teleoperated robotic systems which have witnessed tremendous growth over the examined period. A thorough insight of telerobotics systems discussing design concepts, enabling technologies (namely robotic manipulation, telecommunications, and vision systems), and potential applications in clinical practice is provided, while existing limitations and future trends are also highlighted. A representative paradigm of the short-distance case is the da Vinci Surgical System which is described in order to highlight relevant issues. The long-distance telerobotics concept is exemplified through a case study on diagnostic ultrasound scanning. Moreover, the present review provides a classification into short- and long-distance telerobotic systems, depending on the distance from which they are operated. Telerobotic systems are further categorized with respect to their application field. For the reviewed systems are also examined their engineering characteristics and the employed robotics technology. The current status of the field, its significance, the potential, as well as the challenges that lie ahead are thoroughly discussed.

Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for themore » use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP.« less

(abstract) A Mobile Robot for Remote Response to Incidents Involving Hazardous Materials

NASA Technical Reports Server (NTRS)

Welch, Richard V.

1994-01-01

This paper will report the status of the Emergency Response Robotics project, a teleoperated mobile robot system being developed at JPL for use by the JPL Fire Department/HAZMAT Team. The project, which began in 1991, has been focused on developing a robotic vehicle which can be quickly deployed by HAZMAT Team personnel for first entry into an incident site. The primary goals of the system are to gain access to the site, locate and identify the hazard, and aid in its mitigation. The involvement of JPL Fire Department/HAZMAT Team personnel has been critical in guiding the design and evaluation of the system. A unique feature of the current robot, called HAZBOT III, is its special design for operation in combustible environments. This includes the use of all solid state electronics, brushless motors, and internal pressurization. Demonstration and testing of the system with HAZMAT Team personnel has shown that teleoperated robots, such as HAZBOT III, can successfully gain access to incident sites locating and identifying hazardous material spills. Work is continuing to enable more complex missions through the addition of appropriate sensor technology and enhancement of the operator interface.

Bilateral control in teleoperation of a rehabilitation robot

NASA Astrophysics Data System (ADS)

Rahman, Tariq; Harwin, William S.

1993-03-01

One applications of teleoperation principles is of a manipulator that might be used to augment function in a disabled person. An individual with a paralyzing injury may have complete loss of motor and sensory function in his or her arms, which limits his or her ability to interact with the environment and perform simple tasks such as feeding or turning pages. One way of enhancing functionality is to employ a telemanipulator that might take the place of a care giver, thus providing the person with increased independence. This paper describes how a high level spinal cord injured individual would use head movement to control a robot. It is felt that the key to successful manipulation is in attaining a sense of force and position proprioception. This natural proprioception exists in cable operated prosthetic arms and simple tools such as mouthsticks or laser beam pointers where the user is physically linked to the device. This sense of proprioception is being emulated using a head controlled master-slave arrangement. The goal is for the disabled individual to operate a manipulator and utilize proprioceptive as well as visual feedback. This would lessen the mental burden on the user and ultimately make the device more acceptable.

Tele-existence and/or cybernetic interface studies in Japan

NASA Technical Reports Server (NTRS)

Tachi, Susumu

1991-01-01

Tele-existence aims at a natural and efficient remote control of robots by providing the operator with a real time sensation of presence. It is an advaced type of teleoperation system which enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in one of the remote anthropomorphic robots in the remote environment, e.g., in a hostile environment such as those of nuclear radiation, high temperature, and deep space. In order to study the use of the tele-existence system in the artificially constructed environment, the visual tele-existence simulator has been designed, a pseudo-real-time binocular solid model robot simulator has been made, and its feasibility has been experimentally evaluated. An anthropomorphic robot mechanism with an arm having seven degrees of freedom has been designed and developed as a slave robot for feasibility experiments of teleoperation using the tele-existence method. An impedance controlled active display mechanism and a head mounted display have also been designed and developed as the display subsystem for the master. The robot's structural dimensions are set very close to those of humans.

The visual and radiological inspection of a pipeline using a teleoperated pipe crawler

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fogle, R.F.; Kuelske, K.; Kellner, R.

1995-01-01

In the 1950s, the Savannah River Site built an open, unlined retention basin to temporarily store potentially radionuclide contaminated cooling water from a chemical separations process and storm water drainage from a nearby waste management facility that stored large quantities of nuclear fission byproducts in carbon steel tanks. The retention basin was retired from service in 1972 when a new, lined basin was completed. In 1978, the old retention basin was excavated, backfilled with uncontaminated dirt, and covered with grass. At the same time, much of the underground process pipeline leading to the basin was abandoned. Since the closure ofmore » the retention basin, new environmental regulations require that the basin undergo further assessment to determine whether additional remediation is required. A visual and radiological inspection of the pipeline was necessary to aid in the remediation decision making process for the retention basin system. A teleoperated pipe crawler inspection system was developed to survey the abandoned sections of underground pipelines leading to the retired retention basin. This paper will describe the background to this project, the scope of the investigation, the equipment requirements, and the results of the pipeline inspection.« less

The inspection of a radiologically contaminated pipeline using a teleoperated pipe crawler

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fogle, R.F.; Kuelske, K.; Kellner, R.A.

1995-08-01

In the 1950s, the Savannah River Site built an open, unlined retention basin to temporarily store potentially radionuclide contaminated cooling water from a chemical separations process and storm water drainage from a nearby waste management facility that stored large quantities of nuclear fission byproducts in carbon steel tanks. The retention basin was retired from service in 1972 when a new, lined basin was completed. In 1978, the old retention basin was excavated, backfilled with uncontaminated dirt, and covered with grass. At the same time, much of the underground process pipeline leading to the basin was abandoned. Since the closure ofmore » the retention basin, new environmental regulations require that the basin undergo further assessment to determine whether additional remediation is required. A visual and radiological inspection of the pipeline was necessary to aid in the remediation decision making process for the retention basin system. A teleoperated pipe crawler inspection system was developed to survey the abandoned sections of underground pipelines leading to the retired retention basin. This paper will describe the background to this project, the scope of the investigation, the equipment requirements, and the results of the pipeline inspection.« less

Tip-over prevention through heuristic reactive behaviors for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Talke, Kurt; Kelley, Leah; Longhini, Patrick; Catron, Garret

2014-06-01

Skid-steer teleoperated robots are commonly used by military and civilian crews to perform high-risk, dangerous and critical tasks such as bomb disposal. Their missions are often performed in unstructured environments with irregular terrain, such as inside collapsed buildings or on rough terrain covered with a variety of media, such as sand, brush, mud, rocks and debris. During such missions, it is often impractical if not impossible to send another robot or a human operator to right a toppled robot. As a consequence, a robot tip-over event usually results in mission failure. To make matters more complicated, such robots are often equipped with heavy payloads that raise their centers of mass and hence increase their instability. Should the robot be equipped with a manipulator arm or flippers, it may have a way to self-right. The majority of manipulator arms are not designed for and are likely to be damaged during self-righting procedures, however, which typically have a low success rate. Furthermore, those robots not equipped with manipulator arms or flippers have no self-righting capabilities. Additionally, due to the on-board camera frame of reference, the video feed may cause the robot to appear to be on at level ground, when it actually may be on a slope nearing tip-over. Finally, robot operators are often so focused on the mission at hand they are oblivious to their surroundings, similar to a kid playing a video game. While this may not be an issue in the living room, it is not a good scenario to experience on the battlefield. Our research seeks to remove tip-over monitoring from the already large list of tasks an operator must perform. An autonomous tip-over prevention behavior for a mobile robot with a static payload has been developed, implemented and experimentally validated on two different teleoperated robotic platforms. Suitable for use with both teleoperated and autonomous robots, the prevention behavior uses the force-angle stability measure, previously experimentally validated, to predict the likelihood of robot tip-over and trigger prevention behaviors. A unique heuristic approach to tip-over avoidance was investigated, wherein a set of evasive maneuvers that an expert teleoperator might take are activated when the tip-over-likelihood estimate passes a critical threshold. This control approach was validated on an iRobot Packbot as well as on a Segway RMP 440. The heuristic laws demonstrated the advantage of alerting operators to a tip-over scenario and gave them more time to correct the situation, as well as the ability to automatically initiate recovery on the y". This research shows promise in preventing dangerous scenarios that could damage a robot and/or compromise its mission, thus saving lives. It further provides a good foundation for follow-on development involving the expansion and integration of the prevention-control algorithms, to include movable payloads, environment manipulation, 2D or 3D look-ahead laser sensing and mapping, and adaptive path planning.

Human-Robot Interaction Directed Research Project

NASA Technical Reports Server (NTRS)

Sandor, Aniko; Cross, Ernest V., II; Chang, Mai Lee

2014-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot.

Concurrent multiscale imaging with magnetic resonance imaging and optical coherence tomography

NASA Astrophysics Data System (ADS)

Liang, Chia-Pin; Yang, Bo; Kim, Il Kyoon; Makris, George; Desai, Jaydev P.; Gullapalli, Rao P.; Chen, Yu

2013-04-01

We develop a novel platform based on a tele-operated robot to perform high-resolution optical coherence tomography (OCT) imaging under continuous large field-of-view magnetic resonance imaging (MRI) guidance. Intra-operative MRI (iMRI) is a promising guidance tool for high-precision surgery, but it may not have sufficient resolution or contrast to visualize certain small targets. To address these limitations, we develop an MRI-compatible OCT needle probe, which is capable of providing microscale tissue architecture in conjunction with macroscale MRI tissue morphology in real time. Coregistered MRI/OCT images on ex vivo chicken breast and human brain tissues demonstrate that the complementary imaging scales and contrast mechanisms have great potential to improve the efficiency and the accuracy of iMRI procedure.

Use of graphics in decision aids for telerobotic control: (Parts 5-8 of an 8-part MIT progress report)

NASA Technical Reports Server (NTRS)

Sheridan, Thomas B.; Roseborough, James B.; Das, Hari; Chin, Kan-Ping; Inoue, Seiichi

1989-01-01

Four separate projects recently completed or in progress at the MIT Man-Machine Systems Laboratory are summarized. They are: a decision aid for retrieving a tumbling satellite in space; kinematic control and graphic display of redundant teleoperators; real time terrain/object generation: a quad-tree approach; and two dimensional control for three dimensional obstacle avoidance.

Challenges for Deploying Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...teleoperation, reconnaissance, surveillance, digital video, JAUGS , MDARS 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18...Architecture (MRHA) and the Joint Architecture for Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It

Robotic tele-existence

NASA Technical Reports Server (NTRS)

Tachi, Susumu; Arai, Hirohiko; Maeda, Taro

1989-01-01

Tele-existence is an advanced type of teleoperation system that enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. The concept of a tele-existence is presented, the principle of the tele-existence display method is explained, some of the prototype systems are described, and its space application is discussed.

Human-Robot Interaction Literature Review

DTIC Science & Technology

2012-03-01

coordination, operation of non-simulated UVs, and mixed UAV and UGV systems . Recommendations THRIL should focus on studies that look at operating non...Security, 2012). UAVs were continued to be developed in operations such as Desert Storm, where the Pioneer UAV system provided intelligence and fire... systems . One of the programs that was part of the initial fielding of UGVs in military operations was the Vehicle Teleoperation Capability (VTC). The

Robots: Fantasy and Reality

DOE Office of Scientific and Technical Information (OSTI.GOV)

Grossman, David

A irreverent non-technical review of the history of surprisingly animate machines, from ancient Egypt to current times. Areas include teleoperators for hazardous environments, assembly systems, medical applications, entertainment, and science fiction. The talk has over 100 slides, covering such varied topics as Memnon son of Dawn, Droz's automata, Vaucanson's duck, cathedral clocks, Von Kempelen's chess player, household robots, Asimov's laws, Disneyland, dinosaurs, and movie droids and cyborgs.

Telerobot operator control station requirements

NASA Technical Reports Server (NTRS)

Kan, Edwin P.

1988-01-01

The operator control station of a telerobot system has unique functional and human factors requirements. It has to satisfy the needs of a truly interactive and user-friendly complex system, a telerobot system being a hybrid between a teleoperated and an autonomous system. These functional, hardware and software requirements are discussed, with explicit reference to the design objectives and constraints of the JPL/NASA Telerobot Demonstrator System.

(abstract) An Ada Language Modular Telerobot Task Execution System

NASA Technical Reports Server (NTRS)

Backes, Paul; Long, Mark; Steele, Robert

1993-01-01

A telerobotic task execution system is described which has been developed for space flight applications. The Modular Telerobot Task Execution System (MOTES) provides the remote site task execution capability in a local-remote telerobotic system. The system provides supervised autonomous control, shared control, and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion.

Sensory Motor Coordination in Robonaut

NASA Technical Reports Server (NTRS)

Peters, Richard Alan, II

2003-01-01

As a participant of the year 2000 NASA Summer Faculty Fellowship Program, I worked with the engineers of the Dexterous Robotics Laboratory at NASA Johnson Space Center on the Robonaut project. The Robonaut is an articulated torso with two dexterous arms, left and right five-fingered hands, and a head with cameras mounted on an articulated neck. This advanced space robot, now driven only teleoperatively using VR gloves, sensors and helmets, is to be upgraded to a thinking system that can find, interact with and assist humans autonomously, allowing the Crew to work with Robonaut as a (junior) member of their team. Thus, the work performed this summer was toward the goal of enabling Robonaut to operate autonomously as an intelligent assistant to astronauts. Our underlying hypothesis is that a robot can develop intelligence if it learns a set of basic behaviors (i.e., reflexes - actions tightly coupled to sensing) and through experience learns how to sequence these to solve problems or to accomplish higher-level tasks. We describe our approach to the automatic acquisition of basic behaviors as learning sensory-motor coordination (SMC). Although research in the ontogenesis of animals development from the time of conception) supports the approach of learning SMC as the foundation for intelligent, autonomous behavior, we do not know whether it will prove viable for the development of autonomy in robots. The first step in testing the hypothesis is to determine if SMC can be learned by the robot. To do this, we have taken advantage of Robonaut's teleoperated control system. When a person teleoperates Robonaut, the person's own SMC causes the robot to act purposefully. If the sensory signals that the robot detects during teleoperation are recorded over several repetitions of the same task, it should be possible through signal analysis to identify the sensory-motor couplings that accompany purposeful motion. In this report, reasons for suspecting SMC as the basis for intelligent behavior will be reviewed. A robot control system for autonomous behavior that uses learned SMC will be proposed. Techniques for the extraction of salient parameters from sensory and motor data will be discussed. Experiments with Robonaut will be discussed and preliminary data presented.

Mobile Lunar Base Concepts

NASA Astrophysics Data System (ADS)

Cohen, Marc M.

2004-02-01

This paper describes three innovative concepts for a mobile lunar base. These concept combine design research for habitat architecture, mobility systems, habitability, radiation protection, human factors, and living and working environments on the lunar surface. The mobile lunar base presents several key advantages over conventional static base notions. These advantages concern landing zone safety, the requirement to move modules over the lunar surface, and the ability to stage mobile reconnaissance with effective systemic redundancy. All of these concerns lead to the consideration of a mobile walking habitat module and base design. The key issues involve landing zone safety, the ability to transport habitat modules across the surface, and providing reliability and redundancy to exploration traverses in pressurized vehicles. With self-ambulating lunar base modules, it will be feasible to have each module separate itself from its retro-rocket thruster unit, and walk five to ten km away from the LZ to a pre-selected site. These mobile modules can operate in an autonomous or teleoperated mode to navigate the lunar surface. At the site of the base, the mobile modules can combine together; make pressure port connections among themselves, to create a multi-module pressurized lunar base.

A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

PubMed

Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

2014-12-01

Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

Soldier Cognitive Processes: Supporting Teleoperated Ground Vehicle Operations

DTIC Science & Technology

2014-12-01

They also examined training materials available to train robotic operators. Materials came from a pilot SUGV Master Trainer Course as well as from the...Allocation of Scarce Mental Resources. It is increasingly difficult to multitask if the similarity of the mental resources used in each task...1984). If separate tasks are not competing as much for the same mental resources, multitasking can be accomplished more effectively. Further, when

Soldier’s Load and the Multifunctional Utility/Logistics and Equipment-Transport

DTIC Science & Technology

2010-06-11

Utility/Logistics Equipment-Countermine and an armed reconnaissance variant called the Armed Robotic Vehicle-Assault (Light). All three Lockheed...mission and requires various levels of human- robot interaction (National Institute of Standards and Technology 2004, 14). Teleoperation. A mode of...use of robots as an act of cowardice, especially in cultures which hold in high esteem the nobility of sacrificing oneself for a higher purpose (Singer

Managing Workload in Human-Robot Interaction: A Review of Empirical Studies

DTIC Science & Technology

2010-01-01

central concern in determining successful teleoperation. Regardless of the sophistication of the technology, a robot is oper- ated – with different levels...by many characteristics, including the type of workload manipulation, the apparatus used, task char- acteristics, and/or type of outcome measures . Due...linguistic patterns. Further- more, this interference may not even be detected if operators do not explicitly measure team communication performance, or re

A Summary of the Naval Postgraduate School Research Programs and Recent Publications.

DTIC Science & Technology

1991-09-01

publication by the ASNE accepted on an international basis as an effective Naval Engineering Journal after final editing, means of reducing ship roll...Teleoperator," SUMMARY: A non-anthropomorphic, force International Journal of Robotics and Autlonomouts reflecting telemanipulator was procured in FY91...and From 22-24 May 1991. Centrifugal Instabilities," International Journal of Heat and Fluid Flow, forthcoming. THESES DIRECTED: Hughes, R.E., LT, USN

Topics in programmable automation. [for materials handling, inspection, and assembly

NASA Technical Reports Server (NTRS)

Rosen, C. A.

1975-01-01

Topics explored in the development of integrated programmable automation systems include: numerically controlled and computer controlled machining; machine intelligence and the emulation of human-like capabilities; large scale semiconductor integration technology applications; and sensor technology for asynchronous local computation without burdening the executive minicomputer which controls the whole system. The role and development of training aids, and the potential application of these aids to augmented teleoperator systems are discussed.

Satellite services system overview

NASA Technical Reports Server (NTRS)

Rysavy, G.

1982-01-01

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.

Evaluation of stereoscopic video cameras synchronized with the movement of an operator's head on the teleoperation of the actual backhoe shovel

NASA Astrophysics Data System (ADS)

Minamoto, Masahiko; Matsunaga, Katsuya

1999-05-01

Operator performance while using a remote controlled backhoe shovel is described for three different stereoscopic viewing conditions: direct view, fixed stereoscopic cameras connected to a helmet mounted display (HMD), and rotating stereo camera connected and slaved to the head orientation of a free moving stereo HMD. Results showed that the head- slaved system provided the best performance.

UGV History 101: A Brief History of Unmanned Ground Vehicle (UGV) Development Efforts

DTIC Science & Technology

1995-01-01

robots). These successful demonstrations led to the formulation of the Teleoperated Mobile Anti-Armor Platform ( TMAP ) program, and prototype systems were...Unfortunately, Congressional direction in December 1987 prohibited the emplacement of weapons systems on robots, and the TMAP was retargeted to the...Technology Demonstration project, a demonstration incorporating both the Army’s TMAPs and the GATERS TOV was held at Camp Pendleton in September 1989

A Dynamic Non Energy Storing Guidance Constraint with Motion Redirection for Robot Assisted Surgery

DTIC Science & Technology

2016-12-01

Abstract— Haptically enabled hands-on or tele-operated surgical robotic systems provide a unique opportunity to integrate pre- and intra... robot -assisted surgical systems aim at improving and extending human capabilities, by exploiting the advantages of robotic systems while keeping the...move during the operation. Robot -assisted beating heart surgery is an example of procedures that can benefit from dynamic constraints. Their

Shaping future Naval warfare with unmanned systems, the impact across the fleet, and joint considerations

NASA Astrophysics Data System (ADS)

Hudson, E. C.; Johnson, Gordon; Summey, Delbert C.; Portmann, Helmut H., Jr.

2004-09-01

This paper discusses a comprehensive vision for unmanned systems that will shape the future of Naval Warfare within a larger Joint Force concept, and examines the broad impact that can be anticipated across the Fleet. The vision has been articulated from a Naval perspective in NAVSEA technical report CSS/TR-01/09, Shaping the Future of Naval Warfare with Unmanned Systems, and from a Joint perspective in USJFCOM Rapid Assessment Process (RAP) Report #03-10 (Unmanned Effects (UFX): Taking the Human Out of the Loop). Here, the authors build on this foundation by reviewing the major findings and laying out the roadmap for achieving the vision and truly transforming how we fight wars. The focus is on broad impact across the Fleet - but the implications reach across all Joint forces. The term "Unmanned System" means different things to different people. Most think of vehicles that are remotely teleoperated that perform tasks under remote human control. Actually, unmanned systems are stand-alone systems that can execute missions and tasks without direct physical manned presence under varying levels of human control - from teleoperation to full autonomy. It is important to note that an unmanned system comprises a lot more than just a vehicle - it includes payloads, command and control, and communications and information processing.

Specification of an integrated information architecture for a mobile teleoperated robot for home telecare.

PubMed

Iannuzzi, David; Grant, Andrew; Corriveau, Hélène; Boissy, Patrick; Michaud, Francois

2016-12-01

The objective of this study was to design effectively integrated information architecture for a mobile teleoperated robot in remote assistance to the delivery of home health care. Three role classes were identified related to the deployment of a telerobot, namely, engineer, technology integrator, and health professional. Patients and natural caregivers were indirectly considered, this being a component of future field studies. Interviewing representatives of each class provided the functions, and information content and flows for each function. Interview transcripts enabled the formulation of UML (Universal Modeling Language) diagrams for feedback from participants. The proposed information architecture was validated with a use-case scenario. The integrated information architecture incorporates progressive design, ergonomic integration, and the home care needs from medical specialist, nursing, physiotherapy, occupational therapy, and social worker care perspectives. The integrated architecture iterative process promoted insight among participants. The use-case scenario evaluation showed the design's robustness. Complex innovation such as a telerobot must coherently mesh with health-care service delivery needs. The deployment of integrated information architecture bridging development, with specialist and home care applications, is necessary for home care technology innovation. It enables continuing evolution of robot and novel health information design in the same integrated architecture, while accounting for patient ecological need.

Visual field information in Nap-of-the-Earth flight by teleoperated Helmet-Mounted displays

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Kohn, S.; Merhav, S. J.

1991-01-01

The human ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays originates from a Forward Looking Infrared Radiation Camera, gimbal-mounted at the front of the aircraft and slaved to the pilot's line-of-sight, to obtain wide-angle visual coverage. Although these displays are proved to be effective in Apache and Cobra helicopter night operations, they demand very high pilot proficiency and work load. Experimental work presented in the paper has shown that part of the difficulties encountered in vehicular control by means of these displays can be attributed to the narrow viewing aperture and head/camera slaving system phase lags. Both these shortcomings will impair visuo-vestibular coordination, when voluntary head rotation is present. This might result in errors in estimating the Control-Oriented Visual Field Information vital in vehicular control, such as the vehicle yaw rate or the anticipated flight path, or might even lead to visuo-vestibular conflicts (motion sickness). Since, under these conditions, the pilot will tend to minimize head rotation, the full wide-angle coverage of the Helmet-Mounted Display, provided by the line-of-sight slaving system, is not always fully utilized.

Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments.

PubMed

King, Chih-Hung; Chen, Tiffany L; Fan, Zhengqin; Glass, Jonathan D; Kemp, Charles C

2012-03-01

People with physical disabilities have ranked object retrieval as a high-priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered being important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 SD = 20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD = 0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p < 0.03, paired t-tests). Fourteen of the 20 participants reported that they would prefer using Dusty over their current methods. [Box: see text].

A hazard control system for robot manipulators

NASA Technical Reports Server (NTRS)

Carter, Ruth Chiang; Rad, Adrian

1991-01-01

A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

Trauma Pod: a semi-automated telerobotic surgical system.

PubMed

Garcia, Pablo; Rosen, Jacob; Kapoor, Chetan; Noakes, Mark; Elbert, Greg; Treat, Michael; Ganous, Tim; Hanson, Matt; Manak, Joe; Hasser, Chris; Rohler, David; Satava, Richard

2009-06-01

The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures, autonomously or in a teleoperative mode, on wounded soldiers in the battlefield who might otherwise die before treatment in a combat hospital could be provided. In the first phase of a project pursuing this vision, a robotic TP system was developed and its capability demonstrated by performing selected surgical procedures on a patient phantom. The system demonstrates the feasibility of performing acute stabilization procedures with the patient being the only human in the surgical cell. The teleoperated surgical robot is supported by autonomous robotic arms and subsystems that carry out scrub-nurse and circulating-nurse functions. Tool change and supply delivery are performed automatically and at least as fast as performed manually by nurses. Tracking and counting of the supplies is performed automatically. The TP system also includes a tomographic X-ray facility for patient diagnosis and two-dimensional (2D) fluoroscopic data to support interventions. The vast amount of clinical protocols generated in the TP system are recorded automatically. Automation and teleoperation capabilities form the basis for a more comprehensive acute diagnostic and management platform that will provide life-saving care in environments where surgical personnel are not present.

Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments

PubMed Central

King, Chih-Hung; Chen, Tiffany L; Fan, Zhengqin; Glass, Jonathan D; Kemp, Charles C

2012-01-01

People with physical disabilities have ranked object retrieval as a high priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object, and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 seconds (SD=20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD=0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p < 0.03, paired t-tests). 14 of the 20 participants reported that they would prefer using Dusty over their current methods. PMID:22013888

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

NASA Technical Reports Server (NTRS)

Farrell, Logan C.; Strawser, Phil; Hambuchen, Kimberly; Baker, Will; Badger, Julia

2017-01-01

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

A shared position/force control methodology for teleoperation

NASA Technical Reports Server (NTRS)

Lee, Jin S.

1987-01-01

A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.

Invited Article: A review of haptic optical tweezers for an interactive microworld exploration

NASA Astrophysics Data System (ADS)

Pacoret, Cécile; Régnier, Stéphane

2013-08-01

This paper is the first review of haptic optical tweezers, a new technique which associates force feedback teleoperation with optical tweezers. This technique allows users to explore the microworld by sensing and exerting picoNewton-scale forces with trapped microspheres. Haptic optical tweezers also allow improved dexterity of micromanipulation and micro-assembly. One of the challenges of this technique is to sense and magnify picoNewton-scale forces by a factor of 1012 to enable human operators to perceive interactions that they have never experienced before, such as adhesion phenomena, extremely low inertia, and high frequency dynamics of extremely small objects. The design of optical tweezers for high quality haptic feedback is challenging, given the requirements for very high sensitivity and dynamic stability. The concept, design process, and specification of optical tweezers reviewed here are focused on those intended for haptic teleoperation. In this paper, two new specific designs as well as the current state-of-the-art are presented. Moreover, the remaining important issues are identified for further developments. The initial results obtained are promising and demonstrate that optical tweezers have a significant potential for haptic exploration of the microworld. Haptic optical tweezers will become an invaluable tool for force feedback micromanipulation of biological samples and nano- and micro-assembly parts.

Immersive viewing engine

NASA Astrophysics Data System (ADS)

Schonlau, William J.

2006-05-01

An immersive viewing engine providing basic telepresence functionality for a variety of application types is presented. Augmented reality, teleoperation and virtual reality applications all benefit from the use of head mounted display devices that present imagery appropriate to the user's head orientation at full frame rates. Our primary application is the viewing of remote environments, as with a camera equipped teleoperated vehicle. The conventional approach where imagery from a narrow field camera onboard the vehicle is presented to the user on a small rectangular screen is contrasted with an immersive viewing system where a cylindrical or spherical format image is received from a panoramic camera on the vehicle, resampled in response to sensed user head orientation and presented via wide field eyewear display, approaching 180 degrees of horizontal field. Of primary interest is the user's enhanced ability to perceive and understand image content, even when image resolution parameters are poor, due to the innate visual integration and 3-D model generation capabilities of the human visual system. A mathematical model for tracking user head position and resampling the panoramic image to attain distortion free viewing of the region appropriate to the user's current head pose is presented and consideration is given to providing the user with stereo viewing generated from depth map information derived using stereo from motion algorithms.

Effect of biased feedback on motor imagery learning in BCI-teleoperation system.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2014-01-01

Feedback design is an important issue in motor imagery BCI systems. Regardless, to date it has not been reported how feedback presentation can optimize co-adaptation between a human brain and such systems. This paper assesses the effect of realistic visual feedback on users' BCI performance and motor imagery skills. We previously developed a tele-operation system for a pair of humanlike robotic hands and showed that BCI control of such hands along with first-person perspective visual feedback of movements can arouse a sense of embodiment in the operators. In the first stage of this study, we found that the intensity of this ownership illusion was associated with feedback presentation and subjects' performance during BCI motion control. In the second stage, we probed the effect of positive and negative feedback bias on subjects' BCI performance and motor imagery skills. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects' online performance, evaluation of brain activity patterns revealed that subjects' self-regulation of motor imagery features improved due to a positive bias of feedback and a possible occurrence of ownership illusion. Our findings suggest that in general training protocols for BCIs, manipulation of feedback can play an important role in the optimization of subjects' motor imagery skills.

A tele-operated mobile ultrasound scanner using a light-weight robot.

PubMed

Delgorge, Cécile; Courrèges, Fabien; Al Bassit, Lama; Novales, Cyril; Rosenberger, Christophe; Smith-Guerin, Natalie; Brù, Concepció; Gilabert, Rosa; Vannoni, Maurizio; Poisson, Gérard; Vieyres, Pierre

2005-03-01

This paper presents a new tele-operated robotic chain for real-time ultrasound image acquisition and medical diagnosis. This system has been developed in the frame of the Mobile Tele-Echography Using an Ultralight Robot European Project. A light-weight six degrees-of-freedom serial robot, with a remote center of motion, has been specially designed for this application. It holds and moves a real probe on a distant patient according to the expert gesture and permits an image acquisition using a standard ultrasound device. The combination of mechanical structure choice for the robot and dedicated control law, particularly nearby the singular configuration allows a good path following and a robotized gesture accuracy. The choice of compression techniques for image transmission enables a compromise between flow and quality. These combined approaches, for robotics and image processing, enable the medical specialist to better control the remote ultrasound probe holder system and to receive stable and good quality ultrasound images to make a diagnosis via any type of communication link from terrestrial to satellite. Clinical tests have been performed since April 2003. They used both satellite or Integrated Services Digital Network lines with a theoretical bandwidth of 384 Kb/s. They showed the tele-echography system helped to identify 66% of lesions and 83% of symptomatic pathologies.

Guidance and control 1992; Proceedings of the 15th Annual AAS Rocky Mountain Conference, Keystone, CO, Feb. 8-12, 1992

NASA Astrophysics Data System (ADS)

Culp, Robert D.; Zietz, Richard P.

The present volume on guidance and control discusses advances in guidance, navigation, and control, guidance and control storyboard displays, space robotic control, spacecraft control and flexible body interaction, and the Mission to Planet Earth. Attention is given to applications of Newton's method to attitude determination, a new family of low-cost momentum/reaction wheels, stellar attitude data handling, and satellite life prediction using propellant quantity measurements. Topics addressed include robust manipulator controller specification and design, implementations and applications of a manipulator control testbed, optimizing transparency in teleoperator architectures, and MIMO system identification using frequency response data. Also discussed are instrument configurations for the restructured Earth Observing System, the HIRIS instrument, clouds and the earth's radiant energy system, and large space-based systems for dealing with global change.

Space station automation study: Automation requirements derived from space manufacturing concepts. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

1984-01-01

The electroepitaxial process and the Very Large Scale Integration (VLSI) circuits (chips) facilities were chosen because each requires a very high degree of automation, and therefore involved extensive use of teleoperators, robotics, process mechanization, and artificial intelligence. Both cover a raw materials process and a sophisticated multi-step process and are therfore highly representative of the kinds of difficult operation, maintenance, and repair challenges which can be expected for any type of space manufacturing facility. Generic areas were identified which will require significant further study. The initial design will be based on terrestrial state-of-the-art hard automation. One hundred candidate missions were evaluated on the basis of automation portential and availability of meaning ful knowldege. The design requirements and unconstrained design concepts developed for the two missions are presented.

Towards Automated Nanomanipulation under Scanning Electron Microscopy

NASA Astrophysics Data System (ADS)

Ye, Xutao

Robotic Nanomaterial Manipulation inside scanning electron microscopes (SEM) is useful for prototyping functional devices and characterizing one-dimensional nanomaterial's properties. Conventionally, manipulation of nanowires has been performed via teleoperation, which is time-consuming and highly skill-dependent. Manual manipulation also has the limitation of low success rates and poor reproducibility. This research focuses on a robotic system capable of automated pick-place of single nanowires. Through SEM visual detection and vision-based motion control, the system transferred individual silicon nanowires from their growth substrate to a microelectromechanical systems (MEMS) device that characterized the nanowires' electromechanical properties. The performances of the nanorobotic pick-up and placement procedures were quantified by experiments. The system demonstrated automated nanowire pick-up and placement with high reliability. A software system for a load-lock-compatible nanomanipulation system is also designed and developed in this research.

Performance capabilities of a JPL dual-arm advanced teleoperation system

NASA Technical Reports Server (NTRS)

Szakaly, Z. F.; Bejczy, A. K.

1991-01-01

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Space Spider - A concept for fabrication of large structures

NASA Technical Reports Server (NTRS)

Britton, W. R.; Johnston, J. D.

1978-01-01

The Space Spider concept for the automated fabrication of large space structures involves a specialized machine which roll-forms thin gauge material such as aluminum and develops continuous spiral structures with radial struts to sizes of 600-1,000 feet in diameter by 15 feet deep. This concept allows the machine and raw material to be integrated using the Orbiter capabilities, then boosting the rigid system to geosynchronous equatorial orbit (GEO) without high sensitivity to acceleration forces. As a teleoperator controlled device having repetitive operations, the fabrication process can be monitored and verified from a ground-based station without astronaut involvement in GEO. The resultant structure will be useful as an intermediate size platform or as a structural element to be used with other elements such as the space-fabricated beams or composite nested tubes.

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

Dual Arm Work Package performance estimates and telerobot task network simulation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Draper, J.V.; Blair, L.M.

1997-02-01

This paper describes the methodology and results of a network simulation study of the Dual Arm Work Package (DAWP), to be employed for dismantling the Argonne National Laboratory CP-5 reactor. The development of the simulation model was based upon the results of a task analysis for the same system. This study was performed by the Oak Ridge National Laboratory (ORNL), in the Robotics and Process Systems Division. Funding was provided the US Department of Energy`s Office of Technology Development, Robotics Technology Development Program (RTDP). The RTDP is developing methods of computer simulation to estimate telerobotic system performance. Data were collectedmore » to provide point estimates to be used in a task network simulation model. Three skilled operators performed six repetitions of a pipe cutting task representative of typical teleoperation cutting operations.« less

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Lunar surface vehicle model competition

NASA Technical Reports Server (NTRS)

1990-01-01

During Fall and Winter quarters, Georgia Tech's School of Mechanical Engineering students designed machines and devices related to Lunar Base construction tasks. These include joint projects with Textile Engineering students. Topics studied included lunar environment simulator via drop tower technology, lunar rated fasteners, lunar habitat shelter, design of a lunar surface trenching machine, lunar support system, lunar worksite illumination (daytime), lunar regolith bagging system, sunlight diffusing tent for lunar worksite, service apparatus for lunar launch vehicles, lunar communication/power cables and teleoperated deployment machine, lunar regolith bag collection and emplacement device, soil stabilization mat for lunar launch/landing site, lunar rated fastening systems for robotic implementation, lunar surface cable/conduit and automated deployment system, lunar regolith bagging system, and lunar rated fasteners and fastening systems. A special topics team of five Spring quarter students designed and constructed a remotely controlled crane implement for the SKITTER model.

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

A qualitative study of in-home robotic telepresence for home care of community-living elderly subjects.

PubMed

Boissy, Patrick; Corriveau, Hélène; Michaud, François; Labonté, Daniel; Royer, Marie-Pier

2007-01-01

We examined the requirements for robots in home telecare using two focus groups. The first comprised six healthcare professionals involved in geriatric care and the second comprised six elderly people with disabilities living in the community. The concept of an in-home telepresence robot was illustrated using a photograph of a mobile robot, and participants were then asked to suggest potential health care applications. Interview data derived from the transcript of each group discussion were analyzed using qualitative induction based on content analysis. The analyses yielded statements that were categorized under three themes: potential applications, usability issues and user requirements. Teleoperated mobile robotic systems in the home were thought to be useful in assisting multidisciplinary patient care through improved communication between patients and healthcare professionals, and offering respite and support to caregivers under certain conditions. The shift from a traditional hospital-centred model of care in geriatrics to a home-based model creates opportunities for using telepresence with mobile robotic systems in home telecare.

Human-Robot Interaction Directed Research Project

NASA Technical Reports Server (NTRS)

Sandor, Aniko; Cross, Ernest V., II; Chang, M. L.

2014-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Rovers as Geological Helpers for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Stoker, Carol; DeVincenzi, Donald (Technical Monitor)

2000-01-01

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Student Collaboration and Standards-Based Music Learning: A Literature Review

ERIC Educational Resources Information Center

Cangro, Richard

2016-01-01

This article is a review of relevant literature on collaborative, standards-based music learning. The review is organized as follows: (a) historical perspective, (b) collaborative music learning, (c) collaboration and creating, (d) collaboration and performing, (e) collaboration and responding, and (f) conclusions. In an effort to bridge the gap…

Evaluation of Intelligent Grouping Based on Learners' Collaboration Competence Level in Online Collaborative Learning Environment

ERIC Educational Resources Information Center

Muuro, Maina Elizaphan; Oboko, Robert; Wagacha, Waiganjo Peter

2016-01-01

In this paper we explore the impact of an intelligent grouping algorithm based on learners' collaborative competency when compared with (a) instructor based Grade Point Average (GPA) method level and (b) random method, on group outcomes and group collaboration problems in an online collaborative learning environment. An intelligent grouping…

Creating Mechanisms for Meaningful Collaboration Between Members of Urban Communities and University-Based HIV Prevention Researchers.

PubMed

McKay, Mary M; Hibbert, Richard; Lawrence, Rita; Miranda, Ana; Paikoff, Roberta; Bell, Carl C; Madison-Boyd, Sybil; Baptiste, Donna; Coleman, Doris; Pinto, Rogério M; Bannon, William M

2007-01-01

This article provides a description of a Community/University Collaborative Board, a formalized partnership between representatives from an inner-city community and university-based researchers. This Collaborative Board oversees a number of research projects focused on designing, delivering and testing family-based HIV prevention and mental health focused programs to elementary and junior high school age youth and their families. The Collaborative Board consists of urban parents, school staff members, representatives from community-based agencies and university-based researchers. One research project, the CHAMP (Collaborative HIV prevention and Adolescent Mental health Project) Family Program Study, an urban, family-based HIV prevention project will be used to illustrate how the Collaborative Board oversees a community-based research study. The process of establishing a Collaborative Board, recruiting members and developing subcommittees is described within this article. Examples of specific issues addressed by the Collaborative Board within its subcommittees, Implementation, Finance, Welcome, Research, Grant writing, Curriculum, and Leadership, are detailed in this article along with lessons learned.

A new scheme of force reflecting control

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme.

A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle Placement

PubMed Central

Shang, Weijian; Su, Hao; Li, Gang; Furlong, Cosme; Fischer, Gregory S.

2014-01-01

Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0–10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation. PMID:25126153

Telepresence control of a dual-arm dexterous robot

NASA Technical Reports Server (NTRS)

Li, Larry; Cox, Brian; Shelton, Susan; Diftler, Myron

1994-01-01

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory-motor skills of an on-orbit crew and effectively transfers them to a slave robot. A dual-arm dexterous robot operating under telepresence control has been developed and is being evaluated. Preliminary evaluation revealed several important observations that suggest the directions of future enhancement.

Immersive Virtual Reality with Applications to Tele-Operation and Training

DTIC Science & Technology

2016-03-07

to design accurate models for the control of a remote agent by retargeting human gestures (or body part movements) on the control structure of the...which is designed to co-operate with human inhabitants will need to posses, on some levels, a theory of mind [20]. This will enable the system to...University of Houston-Victoria, a designated Hispanic Serving Institution of higher education. The requested equipment and instrumentation will be

NASA Office of Aeronautics and Space Technology Summer Workshop. Volume 3: Navigation, guidance and control panel

NASA Technical Reports Server (NTRS)

1975-01-01

User technology requirements are identified in relation to needed technology advancement for future space missions in the areas of navigation, guidance, and control. Emphasis is placed on: reduction of mission support cost by 50% through autonomous operation, a ten-fold increase in mission output through improved pointing and control, and a hundred-fold increase in human productivity in space through large-scale teleoperator applications.

Ecological Interfaces for Improving Mobile Robot Teleoperation

DTIC Science & Technology

2007-10-01

reviewers’ comments. C. W. Nielsen is with the Idaho National Laboratory, Idaho Falls, ID 83415 USA (e-mail: curtis.nielsen@inl.gov). M . A. Goodrich is with...tele- operation. Section III presents the ecological interface paradigm and describes the 3-D interface. Section IV presents the sum- maries from new...in an empty laboratory environment that was filled with cardboard boxes and was more than 700 m from the operator. The display that the test subjects

Human Machine Interfaces for Teleoperators and Virtual Environments: Conference Held in Santa Barbara, California on 4-9 March 1990.

DTIC Science & Technology

1990-03-01

decided to have three kinds of sessions: invited-paper sessions, panel discussions, and poster sessions. The invited papers were divided into papers...soon followed. Applications in medicine, involving exploration and operation within the human body, are now receiving increased attention . Early... attention toward issues that may be important for the design of auditory interfaces. The importance of appropriate auditory inputs to observers with normal

Levels of Autonomy and Autonomous System Performance Assessment for Intelligent Unmanned Systems

DTIC Science & Technology

2014-04-01

LIDAR and camera sensors that is driven entirely by teleoperation would be AL 0. If that same robot used its LIDAR and camera data to generate a...obstacle detection, mapping, path planning 3 CMMAD semi- autonomous counter- mine system (Few 2010) Talon UGV, camera, LIDAR , metal detector...NCAP framework are performed on individual UMS components and do not require mission level evaluations. For example, bench testing of camera, LIDAR

Tip-over Prevention Through Heuristic Reactive Behaviors for Unmanned Ground Vehicles

DTIC Science & Technology

2014-05-01

Systems Center Pacific Unmanned Systems Group 53406 Woodward Road San Diego, CA 92152 ABSTRACT Skid-steer teleoperated robots are commonly used by...Reactive Behaviors Further author information: (Send correspondence to K.T.) K.T.: E-mail: kurt.talke@navy.mil, SPIE Proc. 9084: Unmanned Systems ...5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Space and Naval Warfare Systems Center

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

Frederick, P. N.; Shields, N. L., Jr.; Kirkpatrick, M., III

1977-01-01

Visual system parameters and stereoptic television component geometries were evaluated for optimum viewing. The accuracy of operator range estimation using a Fresnell stereo television system with a three dimensional cursor was examined. An operator's ability to align three dimensional targets using vidicon tube and solid state television cameras as part of a Fresnell stereoptic system was evaluated. An operator's ability to discriminate between varied color samples viewed with a color television system was determined.

Predictive Displays for High Latency Teleoperation

DTIC Science & Technology

2016-08-04

PREDICTIVE DISPLAYS FOR HIGH LATENCY TELEOPERATION” Analysis of existing approach 3 C om m s. C hannel Vehicle OCU D Throttle, Steer, Brake D Video ...presents opportunity mitigate outgoing latency. • Video is not governed by physics, however, video is dependent on the state of the vehicle, which...Commands, estimates UDP: H.264 Video UDP: Vehicle state • C++ implementation • 2 threads • OpenCV for image manipulation • FFMPEG for video decoding

Schools and Neighborhood-Based Collaboration: Structural Resistances and Realities.

ERIC Educational Resources Information Center

Smithmier, Angela

Community-based interagency collaboration among schools and other public service agencies is one reform idea for addressing the complex conditions of children with a high level of needs. This paper presents findings of a study that explored the workings of one community-based collaboration, referred to as the Community-Based Collaboration for…

Human-Robot Interaction Directed Research Project

NASA Technical Reports Server (NTRS)

Rochlis, Jennifer; Ezer, Neta; Sandor, Aniko

2011-01-01

Human-robot interaction (HRI) is about understanding and shaping the interactions between humans and robots (Goodrich & Schultz, 2007). It is important to evaluate how the design of interfaces and command modalities affect the human s ability to perform tasks accurately, efficiently, and effectively (Crandall, Goodrich, Olsen Jr., & Nielsen, 2005) It is also critical to evaluate the effects of human-robot interfaces and command modalities on operator mental workload (Sheridan, 1992) and situation awareness (Endsley, Bolt , & Jones, 2003). By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed that support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for design. Because the factors associated with interfaces and command modalities in HRI are too numerous to address in 3 years of research, the proposed research concentrates on three manageable areas applicable to National Aeronautics and Space Administration (NASA) robot systems. These topic areas emerged from the Fiscal Year (FY) 2011 work that included extensive literature reviews and observations of NASA systems. The three topic areas are: 1) video overlays, 2) camera views, and 3) command modalities. Each area is described in detail below, along with relevance to existing NASA human-robot systems. In addition to studies in these three topic areas, a workshop is proposed for FY12. The workshop will bring together experts in human-robot interaction and robotics to discuss the state of the practice as applicable to research in space robotics. Studies proposed in the area of video overlays consider two factors in the implementation of augmented reality (AR) for operator displays during teleoperation. The first of these factors is the type of navigational guidance provided by AR symbology. In the proposed studies, participants performance during teleoperation of a robot arm will be compared when they are provided with command-guidance symbology (that is, directing the operator what commands to make) or situation-guidance symbology (that is, providing natural cues so that the operator can infer what commands to make). The second factor for AR symbology is the effects of overlays that are either superimposed or integrated into the external view of the world. A study is proposed in which the effects of superimposed and integrated overlays on operator task performance during teleoperated driving tasks are compared

Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study.

PubMed

Swaney, Philip J; Gilbert, Hunter B; Webster, Robert J; Russell, Paul T; Weaver, Kyle D

2015-03-01

Objectives The purpose of this study is to experimentally evaluate the use of concentric tube continuum robots in endonasal skull base tumor removal. This new type of surgical robot offers many advantages over existing straight and rigid surgical tools including added dexterity, the ability to scale movements, and the ability to rotate the end effector while leaving the robot fixed in space. In this study, a concentric tube continuum robot was used to remove simulated pituitary tumors from a skull phantom. Design The robot was teleoperated by experienced skull base surgeons to remove a phantom pituitary tumor within a skull. Percentage resection was measured by weight. Resection duration was timed. Setting Academic research laboratory. Main Outcome Measures Percentage removal of tumor material and procedure duration. Results Average removal percentage of 79.8 ± 5.9% and average time to complete procedure of 12.5 ± 4.1 minutes (n = 20). Conclusions The robotic system presented here for use in endonasal skull base surgery shows promise in improving the dexterity, tool motion, and end effector capabilities currently available with straight and rigid tools while remaining an effective tool for resecting the tumor.

Driving on the surface of Mars with the rover sequencing and visualization program

NASA Technical Reports Server (NTRS)

Wright, J.; Hartman, F.; Cooper, B.; Maxwell, S.; Yen, J.; Morrison, J.

2005-01-01

Operating a rover on Mars is not possible using teleoperations due to the distance involved and the bandwith limitations. To operate these rovers requires sophisticated tools to make operators knowledgeable of the terrain, hazards, features of interest, and rover state and limitations, and to support building command sequences and rehearsing expected operations. This paper discusses how the Rover Sequencing and Visualization program and a small set of associated tools support this requirement.

Telescience - Optimizing aerospace science return through geographically distributed operations

NASA Technical Reports Server (NTRS)

Rasmussen, Daryl N.; Mian, Arshad M.

1990-01-01

The paper examines the objectives and requirements of teleoperations, defined as the means and process for scientists, NASA operations personnel, and astronauts to conduct payload operations as if these were colocated. This process is described in terms of Space Station era platforms. Some of the enabling technologies are discussed, including open architecture workstations, distributed computing, transaction management, expert systems, and high-speed networks. Recent testbedding experiments are surveyed to highlight some of the human factors requirements.

Analyzing Robotic Kinematics Via Computed Simulations

NASA Technical Reports Server (NTRS)

Carnahan, Timothy M.

1992-01-01

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

Effectiveness of Stereoscopic Displays for Indirect-Vision Driving and Robot Teleoperation

DTIC Science & Technology

2010-08-01

7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army Research Laboratory ATTN: RDRL- HRM -AT Aberdeen Proving Ground, MD 21005-5425 8...course of varying negative and positive terrain features (i.e., holes in the ground, drop- offs, and hills; figure 4c ). Participants were instructed...ORGANIZATION COPIES ORGANIZATION 31 1 ARMY RSCH LABORATORY – HRED RDRL HRM A J MARTIN MYER CENTER BLDG 2700 RM 2D311 FORT MONMOUTH NJ 07703

Geostationary platform systems concepts definition study. Volume 2: Technical, book 3

NASA Technical Reports Server (NTRS)

1980-01-01

The supporting research and technology, and space demonstrations required to support the 1990s operational geostationary platforms are identified. Also the requirements on and interfaces with the Space Transportation System hardware elements supporting the geostationary platform program, including the shuttle, orbital transfer vehicles, teleoperator, etc., are investigated to provide integrated support requirements. Finally, a preliminary evaluation of the practicability and capabilities of an experimental platform from the standpoint of technology, schedule, and cost is given.

Personnel occupied woven envelope robot power

NASA Technical Reports Server (NTRS)

1987-01-01

The Human Occupied Space Teleoperator (HOST) system currently under development utilizes a flexible tunnel/Stewart table structure to provide crew access to a pressurized manned work station or POD on the space station without extravehicular activity (EVA). The HOST structure facilitates moving a work station to multiple space station locations. The system has applications to orbiter docking, space station assembly, satellite servicing, space station maintenance, and logistics support. The conceptual systems design behind HOST is described in detail.

Advances in space robotics

NASA Technical Reports Server (NTRS)

Varsi, Giulio

1989-01-01

The problem of the remote control of space operations is addressed by identifying the key technical challenge: the management of contact forces and the principal performance parameters. Three principal classes of devices for remote operation are identified: anthropomorphic exoskeletons, computer aided teleoperators, and supervised telerobots. Their fields of application are described, and areas in which progress has reached the level of system or subsystem laboratory demonstrations are indicated. Key test results, indicating performance at a level useful for design tradeoffs, are reported.

Air Force research in human sensory feedback for telepresence

NASA Technical Reports Server (NTRS)

Julian, Ronald G.

1993-01-01

Telepresence operations require high quality information transfer between the human master and the remotely located slave. Present Air Force research focuses on the human aspects of the information needed to complete the control/feedback loop. Work in three key areas of human sensory feedback for manipulation of objects are described. Specific projects in each key area are outlined, including research tools (hardware), planned research, and test results. Nonmanipulative feedback technologies are mentioned to complete the advanced teleoperation discussions.

Vinogradov at TORU control system in Zvezda

NASA Image and Video Library

2006-06-26

ISS013-E-42209 (26 June 2006) --- Cosmonaut Pavel V. Vinogradov, Expedition 13 commander representing Russia's Federal Space Agency, practices docking procedures with the TORU teleoperated control system in the Zvezda Service Module of the International Space Station in preparation for the docking of the Progress 22 spacecraft. Vinogradov, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the station in the event of a failure of the Kurs automated docking system.

A Lunar L2-Farside Exploration and Science Mission Concept with the ORion Multi-Purpose Crew Vehicle and a Teleoperated Lander/Rover

NASA Technical Reports Server (NTRS)

Burns, Jack O.; Kring, David; Norris, Scott; Hopkins, Josh; Lazio, Joseph; Kasper, Justin

2012-01-01

A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In an L2 halo orbit above the lunar farside, the astronauts would travel 15% farther from Earth than did the Apollo astronauts and spend almost three times longer in deep space. Such missions would validate the Orion MPCV's life support systems, would demonstrate the high-speed re-entry capability needed for return from deep space, and would measure astronauts' radiation dose from cosmic rays and solar flares to verify that Orion would provide sufficient protection, as it is designed to do. On this proposed mission, the astronauts would teleoperate landers and rovers on the unexplored lunar farside, which would obtain samples from the geologically interesting farside and deploy a low radio frequency telescope. Sampling the South Pole-Aitkin basin (one of the oldest impact basins in the solar system) is a key science objective of the 2011 Planetary Science Decadal Survey. Observations of the Universe's first stars/galaxies at low radio frequencies are a priority of the 2010 Astronomy & Astrophysics Decadal Survey. Such telerobotic oversight would also demonstrate capability for human and robotic cooperation on future, more complex deep space missions.

Video compression via log polar mapping

NASA Astrophysics Data System (ADS)

Weiman, Carl F. R.

1990-09-01

A three stage process for compressing real time color imagery by factors in the range of 1600-to-i is proposed for remote driving'. The key is to match the resolution gradient of human vision and preserve only those cues important for driving. Some hardware components have been built and a research prototype is planned. Stage 1 is log polar mapping, which reduces peripheral image sampling resolution to match the peripheral gradient in human visual acuity. This can yield 25-to-i compression. Stage 2 partitions color and contrast into separate channels. This can yield 8-to-i compression. Stage 3 is conventional block data compression such as hybrid DCT/DPCM which can yield 8-to-i compression. The product of all three stages is i600-to-i data compression. The compressed signal can be transmitted over FM bands which do not require line-of-sight, greatly increasing the range of operation and reducing the topographic exposure of teleoperated vehicles. Since the compressed channel data contains the essential constituents of human visual perception, imagery reconstructed by inverting each of the three compression stages is perceived as complete, provided the operator's direction of gaze is at the center of the mapping. This can be achieved by eye-tracker feedback which steers the center of log polar mapping in the remote vehicle to match the teleoperator's direction of gaze.

Dynamic modeling of wheeled planetary rovers: A model based on the pseudo-coordiates approach

NASA Astrophysics Data System (ADS)

Chen, Feng; Genta, Giancarlo

2012-12-01

The paper deals with the dynamic modeling of wheeled planetary rovers operating on rough terrain. The dedicated model here presented, although kept as simple as possible, includes the effect of nonlinearities and models the suspensions in a realistic, albeit simplified, way. It can be interfaced with a model of the control system so that different control strategies can be studied in detail and, in case of teleoperated rovers, it can be used as a simulator for training the operators. Different implementations, with different degrees of complexity, are presented and compared with each other so that the user can simulate the dynamics of the rover making a tradeoff between simulation accuracy and computer time. The model allows to study the effects of the terrain characteristics, of the ground irregularities and the operating speed on the behavior of the rover. Some examples dealing with rovers with different configurations conclude the paper.

Virtual and remote robotic laboratory using EJS, MATLAB and LabVIEW.

PubMed

Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

2013-02-21

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

Telerobotic workstation design aid

NASA Technical Reports Server (NTRS)

Corker, K.; Hudlicka, E.; Young, D.; Cramer, N.

1989-01-01

Telerobot systems are being developed to support a number of space mission applications. In low earth orbit, telerobots and teleoperated manipulators will be used in shuttle operations and space station construction/maintenance. Free flying telerobotic service vehicles will be used at low and geosynchronous orbital operations. Rovers and autonomous vehicles will be equipped with telerobotic devices in planetary exploration. In all of these systems, human operators will interact with the robot system at varied levels during the scheduled operations. The human operators may be in either orbital or ground-based control systems. To assure integrated system development and maximum utility across these systems, designers must be sensitive to the constraints and capabilities that the human brings to system operation and must be assisted in applying these human factors to system development. The simulation and analysis system is intended to serve the needs of system analysis/designers as an integrated workstation in support of telerobotic design.

Virtual and Remote Robotic Laboratory Using EJS, MATLAB and Lab VIEW

PubMed Central

Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

2013-01-01

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented. PMID:23429578

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.