Engineering topics

Brooks, T. L.

Publications and source records attributed to Brooks, T. L..

6 records

NASA NTRS1986

Survey of Hand Controllers for Teleoperation

Report surveys handgrip designs, control-input devices, and control strategies. 83-page report presents comprehensive survey of hand-controller technology in three major categories: handgrip design, control-input devices, and control strategies. Approach taken in review to identify and describe existing handgrips, control-input devices and control strategies, and new components and techniques that become elements of advanced hand controllers to satisfy increasing performance requirements for teleoperation in future.

Brooks, T. L.↗

NASA NTRS1985

Hand controllers for teleoperation. A state-of-the-art technology survey and evaluation

Hand controller technology for teleoperation is surveyed in three major catagories: (1) hand grip design, (2) control input devices, and (3) control strategies. In the first category, 14 hand grip designs are reviewed and evaluated in light of human factor considerations. In the second, 12 hand controller input devices are evaluated in terms of task performance, configuration and force feedback, controller/slave correspondence, operating volume, operator workload, human limitations, cross coupling, singularities, anthropomorphic characteristics, physical complexity, control/display interference, accuracy, technological base, cost, and reliability. In the third catagory, control strategies, commonly called control modes, are surveyed and evaluated. The report contains a bibliography with 189 select references on hand controller technology.

Brooks, T. L.↗

NASA NTRS1982

Experimental evaluation of the concept of supevisory manipulation

A computer-controlled teleoperator system which is based on task-referenced sensor-aided control has been developed to study supervisory manipulation. This system, called SUPERMAN, is capable of performing complicated tasks in real-time by utilizing the operator for high-level functions related to the unpredictable portions of a task, while the subordinate machine performs the more well-defined subtasks under human supervison. To determine whether supervisory control schemes such as these offer any advantage over manual control under real-time conditions, a number of experiments involving both simple and complicated tasks were performed. Six representative tasks were chosen for the study: (1) obtaining a tool from a rack, (2) returning the tool to the rack, (3) removing a nut, (4) placing samples in a storage bin, (5) opening and closing a valve, and (6) digging with a shovel. The experiments were performed under simulated conditions using four forms of manual control (i.e., switch rate, joystick rate, master-slave position control, and master-slave with force feedback), as well as supervisory control. Through these experiments the effectiveness and quality of control were evaluated on the basis of the time required to complete each portion of the task and the type and number of errors which occurred.

Brooks, T. L.↗

NASA NTRS1980

Advanced control techniques for teleoperation in earth orbit

Emerging teleoperation tasks in space invite advancements in teleoperator control technology. This paper briefly summarizes the generic issues related to earth orbital applications of teleoperators, and describes teleoperator control technology development work including visual and non-visual sensors and displays, kinesthetic feedback and computer-aided controls. Performance experiments were carried out using sensor and computer aided controls with promising results which are briefly summarized.

Bejczy, A. K.↗

NASA NTRS1980

Supervisory manipulation based on the concepts of absolute vs relative and fixed vs moving tasks

If a machine is to perform a given subtask autonomously, it will require an internal model which, combined with operator and environmental inputs, can be used to generate the manipulator functions necessary to complete the task. This paper will advance a technique based on linear transformations by which short, supervised periods of manipulation can be accomplished. To achieve this end a distinction will be made between tasks which can be completely defined during the training period, and tasks which can be only partially defined prior to the moment of execution. A further distinction will be made between tasks which have a fixed relationship to the manipulator base throughout the execution period, and tasks which have a continuously changing task/base relationship during execution. Finally, through a rudimentary analysis of the methods developed in this paper, some of the practical aspects of implementing a supervisory system will be illustrated

Brooks, T. L.↗

NASA NTRS1978

Human/computer control of undersea teleoperators

The potential of supervisory controlled teleoperators for accomplishment of manipulation and sensory tasks in deep ocean environments is discussed. Teleoperators and supervisory control are defined, the current problems of human divers are reviewed, and some assertions are made about why supervisory control has potential use to replace and extend human diver capabilities. The relative roles of man and computer and the variables involved in man-computer interaction are next discussed. Finally, a detailed description of a supervisory controlled teleoperator system, SUPERMAN, is presented.

Sheridan, T. B.↗