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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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6 records

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NASA NTRS1991

Performance Capabilities of a JPL Dual-Arm Advanced Teleoperation System

The system comprises a) two PUMA 560 robot arms, each equipped with the latest JPL-developed smart hands which contain 3D force/moment and grasp force sensors, b) two general-purpose force-reflecting hand controllers, c) a NS32016 microprocessors based distributed computing system together with JPL-developed universal motor controllers, d) graphics display of sensor information, e) capabilities for time-delay experiments, and f) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. This paper describes some of the control modes and the related feedback control techniques, and reports on the achievable control performance for tracking position and force trajectories. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task-space error feedback technique.

Z F Szakaly↗

NASA NTRS1990

A Laboratory Breadboard System for Dual-Arm Teleoperation

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

A K Bejczy↗

NASA NTRS1990

Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)

Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon 8. Johnson Space Center at Houston, Texas, on July 25-27, 1989, are documented herein. During the three days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA AI Overview and Expert System Verification and Validation. Tutorial sessions included Neural Networks; Theory and Application of Back Propagation; Verification and Validation of Expert Systems/ Evaluation of Expert System Tools; and Technical Environment for Modular Architectures for Robotics in Space; and are not documented herein. Technical topics addressed included intelligent systems, robotics, human factors, and environment.

Knowledge representation↗

NASA NTRS1990

The JPL Telerobot Operator Control Station: Operational Experiences

The Operator Control Station of the JPL/NASA Telerobot Demonstration System provides an efficient man-machine interface for the performance of telerobot tasks. Its hardware and software have been designed with high flexibility. It provides a feedback-rich interactive environment in which the Operator performs teleoperation tasks, robotic tasks, and telerobotic tasks with ease. The to-date operational experiences of this system, particularly related to the Object Designate Process and the Voice Input/Output Process are discussed.

Edwin P Kan↗

NASA NTRS1990

The Telerobot Testbed: an Architecture for Remote Servicing

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups.

J R Matijevic↗

DOE OSTI2026

Toward Fully Soft and Multifunctional Shape Sensing via Optical Waveguide Arrays

For soft bodies, surface deformation and pressure provide proprioceptive and exteroceptive information, including body configuration, body compliance, and external forces. We develop a sheet sensor with a fully soft sensing surface that provides surface shape reconstruction using optical waveguide arrays. The waveguides are fabricated to achieve a tunable linear response to bi‐directional bending curvature, and the waveguide arrays are configured to differentiate between ambiguous shapes. We characterize the waveguide performance, relating curvature sensitivity to the core's surface roughness. Synergy of waveguide responses reduces the number of sensing elements required and achieves damage resilience. Using waveguide sensitivity to pressure, we also demonstrate feasibility for exteroception. We demonstrate the multifunctional sensing capability by wrapping the sheet around an upper arm, showcasing joint motion and external force sensing. Integrated into or applied onto surfaces of robotic or living systems, this design can be implemented in applications such as virtual reality, teleoperation, physical therapy, and soft robotics.

Yu, Qifan [Department of Mechanical Engineering Ma↗