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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2014

A Space Data System Standard for Telerobotic Operations

The Telerobotics Working Group of the Mission Operations and Information Management Services Area of the Consultative Committee for Space Data Systems is drafting a document that will help bound the scope of an eventual international standard for telerobotic operations services. This paper will present the work in progress and provide background for how the international community is beginning to define standards in telerobotic operations that will help ensure the success of complex missions to explore beyond Earth orbit.

Mittman, David S.↗
NASA NTRS1994

NASA Rover and Telerobotics Technology Program

This paper summarizes salient activities within the NASA Telerobotics Program, emphasizing complete telerobotic system prototypes which have been built and tested in realistic scenarios relevant to prospective users. This paper also describes complementary developments in innovative component technologies.

telerobotic systems telerobotics rover↗
NASA NTRS1996

Challenges of Human-Robot Communication in Telerobotics

Some general considerations are presented on bilateral human-telerobot control and information communication issues. Advances are reviewed related to the more conventional human-telerobot communication techniques, and some unconventional but promising communication methods are briefly discussed. Future needs and emerging application domains are briefly indicated.

robot telerobot communication↗
NASA NTRS1995

Sensor Fusion in Telerobotic Task Controls

Model-based telerobotic task control and automation is typically limited to motion control of robot arms in free space, and contact events under predictable conditions. A display and control method- ology is described for combining different multidimensional sensor data to guide the performance of telerobotic contact or near-contact tasks successfully in manual or supervised automatic modes of control.

telerobotics robotic task controllers sensor fusio↗
NASA NTRS1994

Lessons Learned in Building a Telerobotic System

The Supervisory Telerobotics Laboratory (STELER) at the Jet Propulsion Laboratory (JPL) developed a unique local and remote telerobotic system that has been described in earlier articles.

telerobotics MOTES↗
NASA NTRS1995

Space Telerobotics and Rover Research at JPL

The goal of our program is to develop, integrate and demonstrate the science and technology of remote telerobotics leading to increases in operational capability, safety, cost effectiveness and probability of success of NASA missions. To that end, the program fosters the development of innovative system concepts for on-orbit servicing and planetary surface missions which use telerobotic systems as an important central component. These concepts are carried forward into develoments which are used to evaluate and demonstrate technology in realistic flight and ground experiments.

telepresence rover technology robotic assisted mic↗
NASA NTRS1994

NASA Telerobotics Technology Highlights

This paper summarizes salient activities within the NASA Telerobotics Program, emphasizing complete telerobotic system prototypes which have been built and tested in realistic scenarios relevant to prospective users. The paper also describes complementary developments in innovative component technologies.

telerobotics prototypes space missions on-orbit se↗
NASA NTRS2013

Telerobotics for Human Exploration: Enhancing Crew Capabilities in Deep Space

Future space missions in Earth orbit, to the Moon, and to other distant destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible or efficient for humans to perform manually. Telerobots, however, can complement human explorers, performing work under remote control from Earth, orbit or nearby habitats. A central challenge, therefore, is to understand how humans and remotely operated robots can be jointly employed to maximize mission performance and success. This presentation provides an overview of the key issues with using telerobots for human exploration.

telerobotics↗
NASA NTRS1993

An Advanced Operator Interface Design with Preview/Predictive Displays for Ground-Controlled Space Telerobotic Servicing

Recent advances in real-time 3-D graphics and graphical user interface (GUI) technologies enable development of advanced operator interfaces for telerobotic systems. In particular, we have employed preview/predictive displays with calibrated graphics overlay and X/Motif-based GUI's for efficient and reliable ground-controlled space telerobotic servicing under communication time delay.

Telerobotic↗
NASA NTRS1994

Virtual Window Telepresence System for Telerobotics Inspection

Telerobotic inspection can be used in environments that are too hazardous, removed or expensive for direct human inspection. Telerobotic inspection is a complex task requiring an operator to control and coordinate a robot and sensors, while monitoring and interpreting sensor data to detect flaws. A virtual window telepresence system has been developed to aid the operator in performing these inspections.

telepresnece↗
NASA NTRS1986

Design for a goal-oriented telerobotic system

Robotic systems will play an increasingly important role in space operations. This paper describes the objective and design of a proposed goal-oriented telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface, and the distribution and general structure of the knowledge bases, the displays, and the task sequencing. The objective of the design effort is to provide an evolutionary structure for a telerobotic system, i.e., one that can progress from strictly teleoperated through phases of serving as an assistant, a colleague, and an expert, to eventually serve as a truly autonomous unit, requiring only minimal supervision. A preliminary design for such a system involving 'mixed initiative', or the flexible shared control between the human operator and the software system, is complete and described in this paper.

Will, R. W.↗
NASA NTRS1986

Telerobotic assembly of space station truss structure

Discussed are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRNS); (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, Grahme↗
NASA NTRS1987

Monovision techniques for telerobots

The primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. This paper describes the functional structure of the telerobotic vision system used in the Langley Research Center's (LaRC) Intelligent Systems Research Laboratory (ISRL) and discusses two monovision techniques for accomplishing the vision subtasks.

Goode, Plesent W.↗
NASA NTRS1987

System integration of a Telerobotic Demonstration System (TDS) testbed

The concept for and status of a telerobotic demonstration system testbed that integrates teleoperation and robotics is described. The components of the telerobotic system are described and the ongoing projects are discussed. The system can be divided into two sections: the autonomous subsystems, and the additional interface and support subsystems including teleoperations. The workings of each subsystem by itself and how the subsystems integrate into a complete system is discussed.

Myers, John K.↗
NASA NTRS1987

Telerobotic research at NASA Langley Research Center

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Sliwa, Nancy E.↗
NASA NTRS1987

Telerobotic truss assembly

The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.

Sheridan, Philip L.↗