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  • 1
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    The NASA/OAST telerobot testbed architecture (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Proceedings of the NASA Conference on Space Telerobotics, Volume 1; p 185-195
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Man-machine tradeoff study (1985)
    In:  CASI
    Details
    Publication Date: 2016-06-07
    Description: An automation assessment was conducted to determine which components of the space station should be selected for automation. The exercise took the form of a man-machine tradeoff study.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Ames Research Center Proc. of the Seminar on Space Station Human Productivity; 10 p
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    NASA TECHNICAL REPORTS
  • 3
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    Telerobot local-remote control architecture for space flight program applications (1993)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: (ISSN 0065-3438); sic Space Science; U
    Format: text
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    NASA TECHNICAL REPORTS
  • 4
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    Telerobot control mode performance assessment (1992)
    In:  Other Sources
    Details
    Publication Date: 2019-06-28
    Description: With the maturation of various developing robot control schemes, it is becoming extremely important that the technical community evaluate the performance of these various control technologies against an established baseline to determine which technology provides the most reliable robust, and safe on-orbit robot control. The Supervisory Telerobotics Laboratory (STELER) at JPL has developed a unique robot control capability which has been evaluated by the NASA technical community and found useful for augmenting both the operator interface and control of intended robotic systems on-board the Space Station. As part of the technology development and prototyping effort, the STELER team has been evaluating the performance of different control modes; namely, teleoperation under position, or rate, control, teleoperation with force reflection and shared control. Nine trained subjects were employed in the performance evaluation involving several high fidelity servicing tasks. Four types of operator performance data were collected; task completion time, average force, peak force, and number of operator successes and errors. This paper summarizes the results of this performance evaluation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: AAS PAPER 92-053 , In: Guidance and control 1992; Proceedings of the 15th Annual AAS Rocky Mountain Conference, Keystone, CO, Feb. 8-12, 1992 (A93-50576 21-18); p. 305-318.
    Format: text
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  • 5
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    Human support issues and systems for the space exploration initiative: Results from Project Outreach (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The analyses and evaluations of the Human Support panel are discussed. The Human Support panel is one of eight panels created by RAND to screen and analyze submissions to the Space Exploration Initiative (SEI) Outreach Program. Submissions to the Human Support panel were in the following areas: radiation protection; microgravity; life support systems; medical care; and human factors (behavior and performance).
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA-CR-190320 , NAS 1.26:190320 , RAND-N-3287-AF/NASA , AD-A256890
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 6
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    Evaluation of the HARDMAN comparability methodology for manpower, personnel and training (1984)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The methodology evaluation and recommendation are part of an effort to improve Hardware versus Manpower (HARDMAN) methodology for projecting manpower, personnel, and training (MPT) to support new acquisition. Several different validity tests are employed to evaluate the methodology. The methodology conforms fairly well with both the MPT user needs and other accepted manpower modeling techniques. Audits of three completed HARDMAN applications reveal only a small number of potential problem areas compared to the total number of issues investigated. The reliability study results conform well with the problem areas uncovered through the audits. The results of the accuracy studies suggest that the manpower life-cycle cost component is only marginally sensitive to changes in other related cost variables. Even with some minor problems, the methodology seem sound and has good near term utility to the Army. Recommendations are provided to firm up the problem areas revealed through the evaluation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA-CR-173733 , JPL-PUBL-84-10 , NAS 1.26:173733 , ARI-13AR119 , ARI-13AR183-35
    Format: application/pdf
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  • 7
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    A methodology for automation and robotics evaluation applied to the space station telerobotic servicer (1988)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.
    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 471-479
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 8
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    The space station assembly phase: System design trade-offs for the flight telerobotic servicer (1988)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The effects of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems often involves a substitution of automation capabilities for human EVA or IVA activities. A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effects of operational constaints. Changes in the region of cost-effectiveness are examined under a variety of system design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: as a research-oriented test bed to learn more about space usage of telerobotics; as a research based test bed having an experimental demonstration orientation with limited assembly and servicing applications; or as an operational system to augment EVA and to aid construction of the Space Station and to reduce the program (schedule) risk by increasing the flexibility of mission operations.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Goddard Space Flight Center, The 1988 Goddard Conference on Space Applications of Artificial Intelligence; p 381-396
    Format: text
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  • 9
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    Telerobotics design issues for space construction (1988)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: The use of a Flight Telerobotic Servicer (FTS) in the construction of the Space Station is examined. A methodology is presented for evaluating possible construction tasks, telerobotic performance capabilities, development costs, and operational constraints. The use of telerobotics as a substitute for human EVA activities and the construction tasks which an FTS could perform in the next 8-10 years are considered. The cost-effectiveness of construction using the FTS is compared with that of construction using the STS. The trade-offs associated with using the FTS are discussed in detail.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: Space 88 Conference on Engineering, Construction, and Operations in Space; Aug 29, 1988 - Aug 31, 1988; Albuquerque, NM; United States
    Format: text
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    NASA TECHNICAL REPORTS
  • 10
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    Telerobotic control issues related to real task applications in the space environment (1990)
    In:  Other Sources
    Details
    Publication Date: 2019-08-28
    Description: Recent findings concerning the definition of the expected control environment associated with the Space Station are examined. The range of expected near-term and far-term task applications for robotic systems is provided, and the essential control issues related to the application environment are derived. In addition, an approximate control envelope for teleoperated and autonomous robotic systems is established.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: AAS PAPER 90-054 , Annual Rocky Mountain Guidance and Control Conference; Feb 03, 1990 - Feb 07, 1990; Keystone, CO; United States
    Format: text
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