Human Factors in Automated and Robotic Space Systems Proceedings of a Symposium (1987) / Chapter Skim
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Telerobotics for the Evolving Space Station: Research Needs and Outstanding Problems
Telerobotics for the Evolving Space Station: Research Needs and Outstanding Problems
Pages 292-319
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From page 292... ...
I tend to use telercbotics as g remote control of robots by a human operator using supervisory and some direct control. Emus, this is an important area for the NASA evolving space station.
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From page 293... ...
Eve ~ space) Need ~ncr=asP~ quality in Strength Fatigue resistance Vigilance Performance Problems with Autonomous Robots Not yet available Design not fixed Feasibility not certain Reliability not tested Therefore: TR is a viable leading edge technology All three directions should be sup ported for evolving space station planning, research, and development.
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From page 294... ...
294 TABLE 2 NOVA should Hypothesize TASKS for Evolving Space Station Hcusekeeping Life support systems Inventory control, access and storage Record keeping Garbage disposal Protection From space garbage Fin meteorites From traffic flow maintenance Satellite Vehicles Space station itself Construction Additional space station structures Manufacturing Crystal growth, biopharmaceuti~als Mobility Automatic piloting Navigation Path planning Scientific Lan~sat type image processing for agriculture Meteorology Astronomy Human factors research Scientific record keeping As I will consider' lakers it is important to distinguish between those tasks unique to the NASA/evolving Space Station and those with "industrial drivers" that will accomplish development of near technologies In hopefully a superior fashion and thtlC ermble consecration of limited NOVA resources.
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From page 295... ...
CABIN 3 Display Problems for the Human Operator Display graphics (raster/vector) Cn-the-screen enhancements On-the-soene enhancements Other senses displayed Inputs to other senses Perspective and Stereo Displays Task performance criteria Helmet Mounts Display Telepresence; space constancy Human Operator (H.O.)
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: Navigation ~ pathways Potential field algorithms HIC (high level control) : Supervisory control MUltiperson cooperative control; RCCL; fuzzy sets Autonomous robotic (AR)
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From page 297... ...
A l~n~idth tan ep hone connection to control two Puma arms at Jet Propulsion Labs in Pasadena is plan net. The s;~1ation will allow prediction of the robots' Notion to provide a preview display to help overcome the communication delays inherent in such a low bandwidth connection, or as In transmissions to manipulators in space.
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From page 298... ...
Head Orientation Sensors A twc-axis magnetic Helmholtz coil arrangement was used as a head orientation sensing device, to detect horizontal and vertical head rotations (Figure 3)
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From page 299... ...
coil mounted on or beneath the helmet and two pairs of field coils fixed with respect to the human operator's con Loll station. me right-left pair of the field coil generates the horizontal magnetic flux of a 50 XHz square wave.
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screen and a converging Tense through which the human operator views the OK screen. The cc mputPr-generat-~ stereo picture pair (stereogram)
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Communication Delay and Preview Communication delay is a significant constraint in human performance in controlling a remote manipulator. It has been shown (Sheridan et al, 1964, Sheridan, 1966; TcmizuXa and Whitney, 1976)
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While tack completion time ~ the delayed condition increased greatly with delay, them was only a small increase in the preview case. This is because the H.O.
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. Trajectories of Joystick and Manipulator Movements An order to exam me why the position control performed better than the rate control, several trajectories of the joystick displacement input and the manipulator hand position carpet during the pick-an5-place operation were observed.
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From page 304... ...
It turned out, however, acceleration control was not adequate to perform Sophie, safe pick-and-place operations. In acceleration control, the manipulator tends to move almost all the time even though the joystick is at the center position.
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From page 305... ...
Both Icier and higher gains relative to the ppti~1 gains caused slight Increase In the nean completion time. A reason of slightly larger mean completion times with rawer gains is House rawer gains demand wider Justin displacements and it tam; lordlier for tile firmer or hand to display the joystick wider.
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From page 306... ...
On fact, all three subjects preferred to use the displacement joystick in this mode, since the force joystick required more force to be applied than the displacement joystick, especially when the manipulator hand is to be positioned far away from the initial center position. Position control also performed better than the rate control regardless of joystick types, and furthermore the position control with the displacement joystick perforrr~l best for our pi~and-place tasks (Figure 9~.
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From page 307... ...
Nate, hover, that rate control can ir~tly praise any higher degree of res;ol~ion by Nate change of control stick gal shout ATOP of indexing. Ha~norphic Controller Mbst of our pi~k-arxI-place and tracking experiments were performed with juries as the input device through which the human Operator
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From page 308... ...
The human operator could control position through a handle on the end of the arm corresponding to the end effector of the simulated manipulator. Potentiometers measured movement in each axis to deters me input r, theta, and z.
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e _ . e _ _ _ This next section deals with the future' and e ~ cially with preindustrial driver sll other than NINA for new technologies which may be required in the evolving Space Station.
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311 - ~ a o o o o N — ~ _ ~ ~ — O O O o o O J1O/UQ — ~0 J Z UI _ Z calf ~/~ — A?
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Fatigue and to Promote H.O. Vigilance Office Automation Forces Air Traffic Control NOF5.C Security Industry Cooperative Control Military - submarme control Helicopter flight control Air traffic controllers Nuclear industry Chemical plant industry
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From page 314... ...
Special Control Modes for H.O. Hcmeomorphic control Bilateral control Time delay and preview control for time delay Compliant control Higher Level Control Languages (such as RCCL; fuzzy control; path planning by potential field construction)
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From page 315... ...
Here we need graphics computers, perhaps ~cyst~cKs, perhaps nigher level supervisory control languages, cameras, image compression techniques and communication schemes. I would guess that cur country needs at least thirty such systems for education and~rainir~.
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From page 316... ...
Fornication Barbels for controlling rate vehicles and Rae manipulators are already set up. Thus we cc=d have prize contestants demDnstratir~ at differing locations on earth at one "g"; next demonstrations using elements capable of cperatlng in space, or even more stringently, of having that minimum mass capable of being lifted into spare; and then we might have true shuttle and space station demonstrations.
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From page 317... ...
Also, our interest in supervisory and other high level controls is beading us away from the direct manual control. me students taking a graduate control course, ME 210 "Biological Control Sybems: Telerobotics," during the fall semester, 1985, in which the helmet mounted display, HMD, is emphasized, were enthusiastic and felt the course stimulated the ~ creativity and provided an opportunity for them to engage in relatively unstructured laboratory work -- a good model for subsequent thesis rem.
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From page 318... ...
1985 The Simulated Anne Maneuvering Unit and Pursuit ~rixnts. Mastery thesis!
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From page 319... ...
E 1976 me human Operator ~ previewer traduce: an ~pe:riment arc its maleling via septic control.
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