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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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1979

Earth orbital teleoperator systems evaluation

The mechanical extension of the human operator to remote and specialized environments poses a series of complex operational questions. A technical and scientific team was organized to investigate these questions through conducting specific laboratory and analytical studies. The intent of the studies was to determine the human operator requirements for remotely manned systems and to determine the particular effects that various system parameters have on human operator performance. In so doing, certain design criteria based on empirically derived data concerning the ultimate control system, the human operator, were added to the Teleoperator Development Program.

Shields, N. L., Jr.↗
NASA NTRS1979

Advanced teleoperators

Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.

Bejczy, A. K.↗
NASA NTRS1980

Sensors, controls, and man-machine interface for advanced teleoperation

Some advances are reviewed which have been made in teleoperator (i.e., mechanical activities performed by mechanical devices at a remote site under remote control) technology through introduction of sensors, computers, automation, and new man-machine interface devices and techniques for remote manipulator control. The state of the art is summarized and some basic problems and challenging developments are examined.

Bejczy, A. K.↗
NASA NTRS1980

Microprocessors for real time displays and control of space teleoperators

This paper describes the use of microprocessors for smart displays in a space teleoperator project at the Jet Propulsion Laboratory. The application of microprocessor systems to demonstrate the utility of smart displays for a wrist mounted force/torque sensor and end-effector mounted proximity sensors are discussed as are the laboratory hardware and software configurations. These displays assist the operator in making critical real time decisions. Avenues for future development of these concepts are also presented.

Paine, G.↗
NASA NTRS1981

Research issues in implementing remote presence in teleoperator control

The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

Corker, K.↗
NASA NTRS1982

Teleoperator maneuvering system

The Teleoperator Maneuvering System (TMS) is a Shuttle launched, free-flying, remotely controlled reusable propulsive stage capable of performing spacecraft and payload placement services, retrieval functions, assembly/servicing support for large space systems, dexterous manipulator operations for planned or contingency satellite servicing, satellite viewing, and subsatellite science support. The basic TMS segments, subsystems and performance are described, beginning with the criteria and requirements derived from mission models. Examples of TMS benefits to the STS and user communities are demonstrated. TMS applications such as support and servicing of Space Station, materials processing and subsatellite missions are presented.

Turner, J. R.↗
NASA NTRS1982

Teleoperator maneuvering system

The teleoperator maneuvering system (TMS), consisting of the vehicle, the shuttle orbiter bay cradle with airborne support equipment, and the aft flight deck control station, is described. The vehicle is a reusable remotely controlled free flying vehicle capable of a variety of missions including payload placement, retrieval, servicing, viewing, and large space systems assembly support. The TMS flies preprogrammed trajectories as well as being controlled or reprogrammed from the aft flight deck or the ground. A building block design philosophy is described which permits the evolution of capability as it is needed and delays cost as much as possible. Various mission operations are discussed.

Turner, J. R.↗
NASA NTRS1982

Study of and proposals for the correction of errors in a radar ranging device designed to facilitate docking of a teleoperator maneuvering system

A frequency modulated continuous wave radar system was developed. The system operates in the 35 gigahertz frequency range and provides millimeter accuracy range and range rate measurements. This level of range resolution allows soft docking for the proposed teleoperator maneuvering system (TMS) or other autonomous or robotic space vehicles. Sources of error in the operation of the system which tend to limit its range resolution capabilities are identified. Alternative signal processing techniques are explored with emphasis on determination of the effects of inserting various signal filtering circuits in the system. The identification and elimination of an extraneous low frequency signal component created as a result of zero range immediate reflection of radar energy from the surface of the antenna dish back into the mixer of the system is described.

Mcdonald, M. W.↗
NASA NTRS1982

The application of digital signal processing techniques to a teleoperator radar system

A digital signal processing system was studied for the determination of the spectral frequency distribution of echo signals from a teleoperator radar system. The system consisted of a sample and hold circuit, an analog to digital converter, a digital filter, and a Fast Fourier Transform. The system is interfaced to a 16 bit microprocessor. The microprocessor is programmed to control the complete digital signal processing. The digital filtering and Fast Fourier Transform functions are implemented by a S2815 digital filter/utility peripheral chip and a S2814A Fast Fourier Transform chip. The S2815 initially simulates a low-pass Butterworth filter with later expansion to complete filter circuit (bandpass and highpass) synthesizing.

Pujol, A.↗
NASA NTRS1983

A rate-controlled teleoperator task with simulated transport delays

A teleoperator-system simulation was used to examine the effects of two control modes (joint-by-joint and resolved-rate), a proximity-display method, and time delays (up to 2 sec) on the control of a five-degree-of-freedom manipulator performing a probe-in-hole alignment task. Four subjects used proportional rotational control and discrete (on-off) translation control with computer-generated visual displays. The proximity display enabled subjects to separate rotational errors from displacement (translation) errors; thus, when the proximity display was used with resolved-rate control, the simulated task was trivial. The time required to perform the simulated task increased linearly with time delay, but time delays had no effect on alignment accuracy. Based on the results of this simulation, several future studies are recommended.

Pennington, J. E.↗
NASA NTRS1983

A FMCW Radar Ranging Device for the Teleoperator Maneuvering System

A frequency-modulated continuous wave radar system is under development in the Communications Systems Branch of the Information and Electronic Systems Laboratory at Marshall Space Flight Center. The radar unit is being designed for use on the teleoperator maneuvering system. Its function is to provide millimeter-level accuracy in range and range rate measurements out to a range of thirty meters. This will facilitate soft docking with accuracy. This report is an updating of previous developments reported on this system. An innovation in the system is the utilization of a standard reference signal generated by shunting a portion of the radar energy into a shorted coaxial delay line. The regular radar target return signal is constantly compared with the reference signal to provide internal error compensation. Within a five meter range, a limit imposed by present laboratory dimensions, the radar system exhibits reliable accuracy with range error less than 0.2%.

Mcdonald, M. W.↗
NASA NTRS1984

Teleoperator human factors study

The progress made on the Teleoperator Human Factors Study program is summarized. Technical and programmatic problems that were encountered were discussed along with planned activities. The report contains four sections: Work Performed, Future Work, Problems Encountered, and Cost Information

Source record↗
NASA NTRS1984

Teleoperator human factors study

The progress made on the Teleoperator Human Factors Study program is summarized. Technical and programmatic problems that were encountered are discussed along with planned activity. Work performed, future work, problems encountered, and cost information comprise the topics addressed herein.

Source record↗
NASA NTRS1983

NASA research in teleoperation and robotics

Increased automation is necessary in future NASA missions. Drivers for automation include constrained funding and physical resources as well as mission capabilities not achievable through conventional means. The application of emerging technology in manipulators and machine intelligence will enable the development of robotic devices remotely commanded by human operators to increase man's productivity in space. The Office of Aeronautics and Space Technology (OAST) has established a program for research in teleoperation and robotics. The program's near-term focus is a Remote Orbital Servicing System (ROSS). The longer range goals include: (1) basic research in autonomous operations, (2) human factors research on the man-machine interface to remote systems, and (3) system integration and analysis of advanced concepts. This paper reviews the current NASA research and technology and considers future work needed to meet the OAST goals.

Meintel, A. J., Jr.↗
NASA NTRS1984

Teleoperator Maneuvering System (TMS) mission applications and benefits

Studies conducted by NASA have shown that the operating range of the Shuttle can be substantially increased and cost of payload operation be decreased by making use of the Teleoperator Maneuvering System (TMS). The TMS is remotely controlled, free-flying, orbital mini-tug vehicle capable of performing a wide range of remote satellite services missions. It can operate out of the Shuttle cargo bay, from a space station, or on top of an upper stage like Centaur. For high energy missions up to and including geostationary orbit, the TMS propulsion stage will augment the Transfer Orbit Stage (TOS) recently proposed for commercial development in providing an effective low-cost second-stage system for delivering intermediate sized payloads to geosynchronous orbit (GEO). Attention is given to TMS capabilities for both long duration and short term orbital missions, taking into account also Space Station support operations.

Cramblit, D. C.↗
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.↗