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  • 1
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    Flight telerobot mechanism design: Problems and challenges (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Problems and challenges of designing flight telerobot mechanisms are discussed. Specific experiences are drawn from the following system developments: (1) the Force Reflecting Hand Controller, (2) the Smart End Effector, (3) the force-torque sensor, and a generic multi-degrees-of-freedom manipulator.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 223-239
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    The JPL telerobot operator control station. Part 1: Hardware (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The hardware design, system architecture, and its integration and interface with the rest of the Telerobot Demonstrator System are discussed.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Proceedings of the NASA Conference on Space Telerobotics, Volume 2; p 51-62
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    NASA TECHNICAL REPORTS
  • 3
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    Telerobot operator control station requirements (1988)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: 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.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Lyndon B. Johnson Space Center, 2nd Annual Workshop on Space Operations Automation and Robotics (SOAR 1988); p 437-443
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  • 4
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    Mission operations data analysis tools for Mars Observer guidance and control (1994)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Mission operations for the Mars Observer (MO) Project at the Jet Propulsion Laboratory were supported by a variety of ground data processing software and analysis tools. Some of these tools were generic to multimission spacecraft mission operations, some were specific to the MO spacecraft, and others were custom tailored to the operation and control of the Attitude and Articulation Control Subsystem (AACS). The focus of this paper is on the data analysis tools for the AACS. Four different categories of analysis tools are presented; with details offered for specific tools. Valuable experience was gained from the use of these tools and through their development. These tools formed the backbone and enhanced the efficiency of the AACS Unit in the Mission Operations Spacecraft Team. These same tools, and extensions thereof, have been adopted by the Galileo mission operations, and are being designed into Cassini and other future spacecraft mission operations.
    Keywords: SYSTEMS ANALYSIS
    Type: NASA. Goddard Space Flight Center, Third International Symposium on Space Mission Operations and Ground Data Systems, Part 1; p 569-576
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  • 5
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    Process and methodology of developing Cassini G and C Telemetry Dictionary (1994)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: While the Cassini spacecraft telemetry design had taken on the new approach of 'packetized telemetry', the AACS (Attitude and Articulation Subsystem) had further extended into the design of 'mini-packets' in its telemetry system. Such telemetry packet and mini-packet design produced the AACS Telemetry Dictionary; iterations of the latter in turn provided changes to the former. The ultimate goals were to achieve maximum telemetry packing density, optimize the 'freshness' of more time-critical data, and to effect flexibility, i.e., multiple AACS data collection schemes, without needing to change the overall spacecraft telemetry mode. This paper describes such a systematic process and methodology, evidenced by various design products related to, or as part of, the AACS Telemetry Dictionary.
    Keywords: SPACE COMMUNICATIONS, SPACECRAFT COMMUNICATIONS, COMMAND AND TRACKING
    Type: NASA. Goddard Space Flight Center, Third International Symposium on Space Mission Operations and Ground Data Systems, Part 1; p 225-232
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  • 6
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    A space servicing telerobotics technology demonstration (1991)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Supervised telerobotic controls provide the key to successful remote servicing, as demonstrated in the telerobot testbed of the jet propulsion laboratory. Such advanced techniques and systems are specially applicable to ground-remote operations for servicing tasks, which are to be performed remotely in space and to be operated under human supervision from the ground. Laboratory demonstrations have successfully proven the utility of such techniques and systems. Instrumental to the success of supervised robotic operations are the techniques called object designate and relative target. In addition, a technique called universal camera calibration was also applied in the telerobot testbed. Generalized compliant control techniques were used in the robotic removal and insertion operations. These techniques were proven successful in task situations where preprogrammed automation cannot be adequately exercised due to errors, changes, or omission in the worksite data base.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lyndon B. Johnson Space Center, Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90); p 143-150
    Format: application/pdf
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  • 7
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    The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: 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.
    Keywords: MECHANICAL ENGINEERING
    Type: Proceedings of the NASA Conference on Space Telerobotics, Volume 5; p 173-182
    Format: application/pdf
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  • 8
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    The JPL telerobot operator control station. Part 2: Software (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The software design of the operator control system is discussed.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Proceedings of the NASA Conference on Space Telerobotics, Volume 2; p 63-73
    Format: application/pdf
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  • 9
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    The JPL telerobot operator control station: Operational experiences (1990)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Operator Control Station of the JPL/NASA Telerobot Demonstration System provides an efficient man-machine interface for the performance of telerobot tasks. Its hardware and software have been designed with high flexibility. It provides a feedback-rich interactive environment in which the Operator performs teleoperation tasks, robotic tasks, and telerobotic tasks with ease. The to-date operational experiences of this system, particularly related to the Object Designate Process and the Voice Input/Output Process are discussed.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Lyndon B. Johnson Space Center, Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989); p 567-575
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  • 10
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    Galileo Probe Release and ODM Attitude Determination: Theory, Development, & Near-Real-Time Missions Operations (1996)
    In:  Other Sources
    Details
    Publication Date: 2018-06-08
    Format: text
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