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  • 1
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    Fusing human and machine skills for remote robotic operations (1991)
    In:  Other Sources
    Details
    Publication Date: 2011-08-24
    Description: 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.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Sensor fusion III: 3-D perception and recognition; Proceedings of the Meeting, Boston, MA, Nov. 5-8, 1990 (A93-24993 08-63); p. 202-223.
    Format: text
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    NASA TECHNICAL REPORTS
  • 2
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    Three-dimensional tracking with misalignment between display and control axes (1991)
    In:  Other Sources
    Details
    Publication Date: 2019-06-28
    Description: Consideration is given to experiments for examining 3D pursuit tracking when operators of teleoperation simulations are faced with misalignment between the display and control frames of reference. It is concluded that manual 3D pursuit tracking errors produced by display-control rotational misalignments have two linearly separable components: a purely visual component and a visual-motor component. Both components may independently influence the tracking performance. Human subjects can simultaneously adapt to a variety of display-control misalignments if position control during pursuit tracking is used with a simulation update rate of at least 30 Hz. This capability will enable trained operators to quickly adapt to changes in the position and orientation of viewing cameras during teleoperation and telemanipulation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: SAE PAPER 911390
    Format: text
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    NASA TECHNICAL REPORTS
  • 3
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    Role of computer graphics in space telerobotics - Preview and predictive displays (1991)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: The application of computer graphics in space telerobotics research and development work is briefly reviewed and illustrated by specific examples implemented in real time operation. The applications are discussed under the following four major categories: preview displays, predictive displays, sensor data displays, and control system status displays.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Cooperative Intelligent Robotics in Space; Nov 06, 1990 - Nov 07, 1990; Boston, MA; United States
    Format: text
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    NASA TECHNICAL REPORTS
  • 4
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    Implementation and control of a 3 degree-of-freedom force-reflecting manual controller (1991)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: An implementation of a manual controller system is described in which a parallel 3-DOF spherical structure (for compactness and reduced weight) is combined with high-gear-ratio reducers using a force control algorithm to produce a 'power steering' effect for enhanced smoothness and transparency. The force control algorithm has the further benefit of minimizing the effect of the system friction and nonlinear inertia forces. The required analyses for a universal force-reflecting manual controller application are presented, as are test results for a prototype system.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Cooperative Intelligent Robotics in Space; Nov 06, 1990 - Nov 07, 1990; Boston, MA; United States
    Format: text
    Location Call Number Expected Availability
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    NASA TECHNICAL REPORTS
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