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  • Other Sources  (10)
  • MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT  (10)
  • Adsorption
  • Animals
  • Polymer and Materials Science
  • 1985-1989  (10)
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  • 1
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    A university teaching simulation facility (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate, and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the HO can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics; 30 p
    Format: application/pdf
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  • 2
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    The 3D model control of image processing (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Telerobotics studies remote control of distant robots by a human operator using supervisory or direct control. Even if the robot manipulators has vision or other senses, problems arise involving control, communications, and delay. The communication delays that may be expected with telerobots working in space stations while being controlled from an Earth lab have led to a number of experiments attempting to circumvent the problem. This delay in communication is a main motivating factor in moving from well understood instantaneous hands-on manual control to less well understood supervisory control; the ultimate step would be the realization of a fully autonomous robot. The 3-D model control plays a crucial role in resolving many conflicting image processing problems that are inherent in resolving in the bottom-up approach of most current machine vision processes. The 3-D model control approach is also capable of providing the necessary visual feedback information for both the control algorithms and for the human operator.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3; p 213-222
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  • 3
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    Telerobotics - Problems and research needs (1988)
    In:  Other Sources
    Details
    Publication Date: 2011-08-19
    Description: With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of 'telepresence' that may be useful for prolonged tasks. Using top-down three-dimensional model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview mode to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Transactions on Aerospace and Electronic Systems (ISSN 0018-9251); 24; 542-551
    Format: text
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  • 4
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    Visual enhancements in pick-and-place tasks: Human operators controlling a simulated cylindrical manipulator (1989)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A teleoperation simulator was constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Ames Research Center, Spatial Displays and Spatial Instruments; 25 p
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  • 5
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    Cooperative control in telerobotics (1988)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: It is argued that autonomous robotics is not yet feasible, and that instantaneous human control may be difficult because of communication delay and expensive because of labor costs. Therefore, it is argued, human supervisory control with cooperation between man and a partially autonomous distant robot is the most viable engineering solution. Model control of image processing enables efficient visual displays. Cooperative control in paired manipulators required rapid controller signal information to be passed over a cross-filter in a heuristic study.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: 1988 IEEE International Conference on Robotics and Automation; Apr 24, 1988 - Apr 29, 1988; Philadelphia, PA; United States
    Format: text
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  • 6
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    Statistical dependency in visual scanning (1986)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: A method to identify statistical dependencies in the positions of eye fixations is developed and applied to eye movement data from subjects who viewed dynamic displays of air traffic and judged future relative position of aircraft. Analysis of approximately 23,000 fixations on points of interest on the display identified statistical dependencies in scanning that were independent of the physical placement of the points of interest. Identification of these dependencies is inconsistent with random-sampling-based theories used to model visual search and information seeking.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Human Factors (ISSN 0018-7208); 28; 421-438
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  • 7
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    Visual enhancements in pick-and-place tasks - Human operators controlling a simulated cylindrical manipulator (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: A teleoperation simulator has been constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments thus conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Journal of Robotics and Automation (ISSN 0882-4967); RA-3; 418-425
    Format: text
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  • 8
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    Telerobotics - Display, control, and communication problems (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: An experimental telerobotics simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth and elevation were arranged to be near optimal. Quantitative comparisons were made possible, utilizing control performance measures such as root mean square error. There was a distinct preference for controlling the manipulator in end-effector Cartesian space for the primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematis, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. The fact that neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Journal of Robotics and Automation (ISSN 0882-4967); RA-3; 67-75
    Format: text
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  • 9
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    A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: Position and rate control are the two common manual control modes in teleoperations. Human operator performance using the two modes is evaluated and compared. Simulated three-axis pick-and-place operations are used as the primary task for evaluation. First, ideal position and rate control are compared by considering several factors, such as joystick gain, joystick type, display mode, task, and manipulator work space size. Then the effects of the manipulator system dynamics are investigated by varying the natural frequency and speed limit. Experimental results show that ideal position control is superior to ideal rate control, regardless of joystick type or display mode, when the manipulation work space is small or comparable to the human operator's control space. Results also show that when the manipulator system is slow, the superiority of position control disappears. Position control is recommended for small-work-space telemanipulation tasks, while rate control is recommended for slow wide-work-space telemanipulation tasks.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Journal of Robotics and Automation (ISSN 0882-4967); RA-3; 426-436
    Format: text
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  • 10
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    Quantitative evaluation of perspective and stereoscopic displays in three-axis manual tracking tasks (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: Optimal presentation of three-dimensional information on a two-dimensional display screen requires careful design of the projection to the display surface. Monoscopic perspective projection alone is usually not sufficient to represent three-dimensional spatial information. It can, however, be improved by the adjustment of perspective parameters and by geometric visual enhancements such as reference lines and a background grid. Stereoscopic display is another method of providing three-dimensional information to the human operator. Two experiments are performed with three-axis manual tracking tasks. The first experiment investigates the effects of perspective parameters on tracking performance. The second experiment investigates the effects of visual enhancements for both monoscopic and stereoscopic displays. Results indicate that, although stereoscopic displays do generally permit superior tracking performance, monoscopic displays can allow equivalent performance when they are defined with optimal perspective parameters and provided with adequate visual enhancements.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Transactions on Systems, Man, and Cybernetics (ISSN 0018-9472); SMC-17; 61-72
    Format: text
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