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  • MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT  (4)
  • ENGINEERING (GENERAL)  (3)
  • 1
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    Interactive and cooperative sensing and control for advanced teleoperation (1992)
    In:  Other Sources
    Details
    Publication Date: 2011-08-24
    Description: This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decision-making between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. A case study is performed to demonstrate the feasibility of implementing the fundamental theory and system architecture of interactive and cooperative sensing and control, proposed for the new generation of teleoperation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991 (A93-49438 21-63); p. 516-530.
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  • 2
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    Intelligent sensing and control for advanced teleoperation (1993)
    In:  Other Sources
    Details
    Publication Date: 2011-08-24
    Description: A theoretical framework is presented for a 'sensing-knowledge command-fusion' paradigm of interactive and cooperative sensing and control in advanced teleoperators, which takes advantage of both current and projected robotic dexterousness and sensor-based autonomy capabilities. Attention is given to (1) a method for the achievement of a sensing-knowledge-command computational mechanism that implements the intended cooperative/interactive system, and (2) the system architecture and man/machine-interface protocols entailed by this implementation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Control Systems Magazine (ISSN 0272-1708); 13; 3; p. 19-28.
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  • 3
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    Interactive and cooperative sensing and control for advanced teleoperation (1993)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decisionmaking between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. The Sensing-Knowledge-Command (SKC) fusion network is proposed as a fundamental architecture for implementing cooperative and interactive sensing and control. Simulation results are shown.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Lyndon B. Johnson Space Center, The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992); p 104-115
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  • 4
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    Man-machine cooperation in advanced teleoperation (1993)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: 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.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Lyndon B. Johnson Space Center, The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992); p 87-93
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  • 5
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    Backward assembly planning with DFA analysis (1995)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An assembly planning system that operates based on a recursive decomposition of assembly into subassemblies, and analyzes assembly cost in terms of stability, directionality, and manipulability to guide the generation of preferred assembly plans is presented. The planning in this system incorporates the special processes, such as cleaning, testing, labeling, etc. that must occur during the assembly, and handles nonreversible as well as reversible assembly tasks through backward assembly planning. In order to increase the planning efficiency, the system avoids the analysis of decompositions that do not correspond to feasible assembly tasks. This is achieved by grouping and merging those parts that can not be decomposable at the current stage of backward assembly planning due to the requirement of special processes and the constraint of interconnection feasibility. The invention includes methods of evaluating assembly cost in terms of the number of fixtures (or holding devices) and reorientations required for assembly, through the analysis of stability, directionality, and manipulability. All these factors are used in defining cost and heuristic functions for an AO* search for an optimal plan.
    Keywords: ENGINEERING (GENERAL)
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  • 6
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    Assembly planning based on subassembly extraction (1990)
    In:  Other Sources
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    Publication Date: 2019-06-28
    Description: A method is presented for the automatic determination of assembly partial orders from a liaison graph representation of an assembly through the extraction of preferred subassemblies. In particular, the authors show how to select a set of tentative subassemblies by decomposing a liaison graph into a set of subgraphs based on feasibility and difficulty of disassembly, how to evaluate each of the tentative subassemblies in terms of assembly cost using the subassembly selection indices, and how to construct a hierarchical partial order graph (HPOG) as an assembly plan. The method provides an approach to assembly planning by identifying spatial parallelism in assembly as a means of constructing temporal relationships among assembly operations and solves the problem of finding a cost-effective assembly plan in a flexible environment. A case study of the assembly planning of a mechanical assembly is presented.
    Keywords: ENGINEERING (GENERAL)
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  • 7
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    Backward assembly planning with DFA analysis (1992)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An assembly planning system that operates based on a recursive decomposition of assembly into subassemblies is presented. The planning system analyzes assembly cost in terms of stability, directionality, and manipulability to guide the generation of preferred assembly plans. The planning in this system incorporates the special processes, such as cleaning, testing, labeling, etc., that must occur during the assembly. Additionally, the planning handles nonreversible, as well as reversible, assembly tasks through backward assembly planning. In order to decrease the planning efficiency, the system avoids the analysis of decompositions that do not correspond to feasible assembly tasks. This is achieved by grouping and merging those parts that can not be decomposable at the current stage of backward assembly planning due to the requirement of special processes and the constraint of interconnection feasibility. The invention includes methods of evaluating assembly cost in terms of the number of fixtures (or holding devices) and reorientations required for assembly, through the analysis of stability, directionality, and manipulability. All these factors are used in defining cost and heuristic functions for an AO* search for an optimal plan.
    Keywords: ENGINEERING (GENERAL)
    Type: NAS 1.71:NPO-18817-1-CU
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