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NASA NTRS1990

Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described.

Duffie, Neil A.↗

NASA NTRS1990

Process and representation in graphical displays

How people comprehend graphics is examined. Graphical comprehension involves the cognitive representation of information from a graphic display and the processing strategies that people apply to answer questions about graphics. Research on representation has examined both the features present in a graphic display and the cognitive representation of the graphic. The key features include the physical components of a graph, the relation between the figure and its axes, and the information in the graph. Tests of people's memory for graphs indicate that both the physical and informational aspect of a graph are important in the cognitive representation of a graph. However, the physical (or perceptual) features overshadow the information to a large degree. Processing strategies also involve a perception-information distinction. In order to answer simple questions (e.g., determining the value of a variable, comparing several variables, and determining the mean of a set of variables), people switch between two information processing strategies: (1) an arithmetic, look-up strategy in which they use a graph much like a table, looking up values and performing arithmetic calculations; and (2) a perceptual strategy in which they use the spatial characteristics of the graph to make comparisons and estimations. The user's choice of strategies depends on the task and the characteristics of the graph. A theory of graphic comprehension is presented.

Gillan, Douglas J.↗

NASA NTRS1989

Perceptual telerobotics

A sensory world modeling system, congruent with a human expert's perception, is proposed. The Experiential Knowledge Base (EKB) system can provide a highly intelligible communication interface for telemonitoring and telecontrol of a real time robotic system operating in space. Paradigmatic acquisition of empirical perceptual knowledge, and real time experiential pattern recognition and knowledge integration are reviewed. The cellular architecture and operation of the EKB system are also examined.

Ligomenides, Panos A.↗

NASA NTRS1989

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗

NASA NTRS1989

Response to reflected-force feedback to fingers in teleoperations

Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.

Sutter, P. H.↗

NASA NTRS1989

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

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.

Hayati, Samad↗

NASA NTRS1989

Next generation space robot

The recent research effort on the next generation space robots is presented. The goals of this research are to develop the fundamental technologies and to acquire the design parameters of the next generation space robot. Visual sensing and perception, dexterous manipulation, man machine interface and artificial intelligence techniques such as task planning are identified as the key technologies.

Iwata, Tsutomu↗

NASA NTRS1989

Sensor fusion: Spatial reasoning and scene interpretation; Proceedings of the Meeting, Cambridge, MA, Nov. 7-9, 1988

The present conference discusses topics in the fusion of active and passive sensors, object estimation and verification, three-dimensional representation and knowledge integration, three-dimensional perception from multisensor data, the representation of uncertainty in multisensor fusion, and sensor calibration and registration. Also discussed are the areas of multisensor target detection and classification, multisensor processing architectures, knowledge structures and spatial reasoning, sensory interfaces to telerobotic systems, and navigation with spatial data bases.

Schenker, Paul S.↗

NASA NTRS1989

Planetary Rover local navigation and hazard avoidance

A Planetary Rover will have to be able to navigate through its local environment autonomously, due to communication delays. This implies that the vehicle must be able to sense its environment, plan a course through that environment, and react appropriately to unexpected situations as they appear. All this must be done while guiding the vehicle toward the goals that have been given to it from its operators on the earth. This paper describes research at the Jet Propulsion Laboratory which concentrates on the sensing, perception, planning and execution monitoring that must be carried out by the rover to ensure that a safe and efficient path is found by the rover, and that that path is performed correctly.

Miller, David P.↗

NASA NTRS1989

Initial findings from a telescopic search for small comets near earth

An analysis is provided for the capabilities of the Spacewatch Camera operated at Kitt Peak National Observatory by the University of Arizona for the detection of the large flux of small comets in the vicinity of earth that is proposed by Frank et al. (1986). The characteristics of this telescope are used to determine its optimum operational mode for the detection of these small comets. It is concluded that the Spacewatch Camera can detect these small comets near earth if the proposed large fluxes in prograde orbits are present. It is unlikely that previous optical telescope surveys would have detected these objects. A heretofore undetected, large flux of small objects was detected. The characteristics of these objects appear to be in general agreement with those of the comets proposed by Frank et al. (1986). No other known population of objects or other effects that could provide the observed optical signatures has been identified at this time. Because these initial results are of such great importance to our perception of the solar system, they should be conservatively treated as an initial result until confirmation is made with similar observations from other telescopes.

Yeates, C. M.↗

NASA NTRS1989

Space applications of artificial intelligence; Proceedings of the Annual Goddard Conference, Greenbelt, MD, May 16, 17, 1989

Theoretical and implementation aspects of AI systems for space applications are discussed in reviews and reports. Sections are devoted to planning and scheduling, fault isolation and diagnosis, data management, modeling and simulation, and development tools and methods. Particular attention is given to a situated reasoning architecture for space repair and replace tasks, parallel plan execution with self-processing networks, the electrical diagnostics expert system for Spacelab life-sciences experiments, diagnostic tolerance for missing sensor data, the integration of perception and reasoning in fast neural modules, a connectionist model for dynamic control, and applications of fuzzy sets to the development of rule-based expert systems.

Rash, James L.↗

NASA NTRS1989

Cosmochemical implications of the physical processing of cometary nuclei

Comets are not necessarily pristine nebular and interstellar material, despite a common perception to that effect. Alteration processes may occur during comet formation in the outer planet region, during their dispersal to or residence within the Oort cloud, and after their return to the planetary region. Processes that may have significantly modified cometary nuclei include heating, impacts, and irradiation. Possible consequences include phase changes in ices, hydration reactions in silicates, synthesis of organic compounds, collisional disruption and re-accretion, shock and irradiation effects in minerals and ices, cosmogenic nuclide formation, redistribution or loss of volatiles, and formation of a refractory veneer. A model of cometary nuclei that emerges from these considerations provides a framework for understanding observations of comets and future samples.

Mcsween, Harry Y., Jr.↗

NASA NTRS1989

The effects of control order, feedback, practice, and input device on tracking performance and perceived workload

The present experiment examined the influence of several task-related factors on tracking performance and concomitant workload. The manipulated factors included tracking order, the presence or absence of knowledge of performance, and the control device. Summed root mean square error (rmse) and perceived workload were measured at the termination of each trial. Perceived workload was measured using the NASA Task Load Index (TLX) and the Subjective Workload Assessment Technique (SWAT). Results indicated a large and expected effect for track order on both performance and the perception of load. In general, trackball input was more accurate and judged for lower load than input using a mouse. The presence or absence of knowledge of performance had little effect on either performance or workload. There were a number of interactions between factors shown in performance that were mirrored by perceived workload scores. Results from each workload scale were equivalent in terms of sensitivity to task manipulations. The pattern of results affirm the utility of these workload measures in assessing the imposed load of multiple task-related variables.

Hancock, P. A.↗

NASA NTRS1990

A computer search for stable orbits between Jupiter and Saturn

The present experiment with test particles placed in orbits at uniform intervals between 5.7 and 8.8 AU, with randomly distributed eccentricities between 0.0 and 0.02 and inclinations between 0.0 and 0.063 rad, leads to the perception that no stable niches exist in the Jupiter-Saturn zone other than the Lagrangian points of Jupiter. These points are populated by at least 26 Trojan asteroids. The primary implication of these results for future investigations of the Saturn-Uranus-Neptune zone is that experimental design should be as selective as the dynamics of the planetary system have been shown to be.

Weibel, W. M.↗

NASA NTRS1989

A human factors evaluation of Extravehicular Activity gloves

One of the major problems faced in Extravehicular Activity (EVA) glove development has been the absence of concise and reliable methods to measure the effects of EVA gloves on human-hand capabilities. NASA has sponsored a program to develop a standardized set of tests designed to assess EVA-gloved hand capabilities in six performance domains: Range of Motion, Strength, Tactile Perception, Dexterity, Fatigue, and Comfort. Based upon an assessment of general human-hand functioning and EVA task requirements, several tests within each performance domain were developed to provide a comprehensive evaluation. All tests were designed to be conducted in a glove box with the bare hand, an EVA glove without pressure, an EVA glove at operation pressure. Thus, the differential effect on performance of the glove with and without pressure was tested. Bare hand performance was used to 'calibrate' the effects. Ten subjects participated in the test setup as a repeated-measures experimental design. The paper will report the results of the test program.

O'Hara, John M.↗

NASA NTRS1990

Effects of islands in the Geosat footprint

The presence of land within a radar altimeter's footprint may contaminate its tracking performance and perturb the nadir oceanographic signal. A study has been performed which examines the effects of small mid-ocean islands on the Geosat tracker. The surface return waveforms, as well as the altimeter measurements, have been analyzed. Open-ocean waveforms have been compared with waveforms containing land reflections; they differ perceptibly. Computations could be performed, based on a combination of waveform data, altimeter signal strength, and sea surface heights, to detect contaminated sea-surface height values for subsequent editing.

Brooks, Ronald L.↗

NASA NTRS1989

The effect of pressure suit gloves on hand performance

The effects of pressure gloves on human hand capabilities is a major concern in the performance of extravehicular activity (EVA) for space maintenance and construction missions. The effects of EVA gloves on six hand performance domains was investigated in this NASA sponsored research. They were range of motion, strength, tactile perception, dexterity, fatigue, and comfort. All tests were designed to be performed in a glove box using the barehand as well as the glove at 0 and 4.3 pressure differentials. Ten subjects participated in the test in a repeated measures design. The results of the experiments are summarized in this paper.

O'Hara, John M.↗

NASA NTRS1989

Visually guided control of self motion

A workshop entitled 'Visually Guided Control of Movement' was held at NASA Ames Research Center on June 26 - July 14, 1989. The workshop brought together individuals with diverse backgrounds related to the areas of the visual perception and control of motion. During the workshop, participants designed and conducted experiments using NASA Ames flight simulation research facilities. These studies contrasted participants' alternative theoretical approaches to the visual control of self motion. Panel members, drawn from the workshop's participants, will discuss their approaches to the study of the control of self motion and will present interpretations of the outcomes of the workshop.

Hettinger, Lawrence J.↗