Human factors in space telepresence

The problems of interfacing a human with a teleoperation system, for work in space are discussed. Much of the information presented here is the result of experience gained by the M.I.T. Space Systems Laboratory during the past two years of work on the ARAMIS (Automation, Robotics, and Machine Intelligence Systems) project. Many factors impact the design of the man-machine interface for a teleoperator. The effects of each are described in turn. An annotated bibliography gives the key references that were used. No conclusions are presented as a best design, since much depends on the particular application desired, and the relevant technology is swiftly changing

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 212

A bibliography listing 146 reports, articles, and other documents introduced into the NASA scientific and technical information system is presented. The subject coverage concentrates on the biological, psychological, and environmental factors involved in atmospheric and interplanetary flight. Related topics such as sanitary problems, pharmacology, toxicology, safety and survival, life support systems, and exobiology are also given attention

Study of extravehicular protection and operations

Extravehicular protection and operation

An Artificial Immune System Strategy for Robust Chemical Spectra Classification via Distributed Heterogeneous Sensors

The timely detection and classification of chemical and biological agents in a wartime environment is a critical component of force protection in hostile areas. Moreover, the possibility of toxic agent use in heavily populated civilian areas has risen dramatically in recent months. This thesis effort proposes a strategy for identifying such agents vis distributed sensors in an Artificial Immune System (AIS) network. The system may be used to complement electronic nose ( E-nose ) research being conducted in part by the Air Force Research Laboratory Sensors Directorate. In addition, the proposed strategy may facilitate fulfillment of a recent mandate by the President of the United States to the Office of Homeland Defense for the provision of a system that protects civilian populations from chemical and biological agents. The proposed system is composed of networked sensors and nodes, communicating via wireless or wired connections. Measurements are continually taken via dispersed, redundant, and heterogeneous sensors strategically placed in high threat areas. These sensors continually measure and classify air or liquid samples, alerting personnel when toxic agents are detected. Detection is based upon the Biological Immune System (BIS) model of antigens and antibodies, and alerts are generated when a measured sample is determined to be a valid toxic agent (antigen). Agent signatures (antibodies) are continually distributed throughout the system to adapt to changes in the environment or to new antigens. Antibody features are determined via data mining techniques in order to improve system performance and classification capabilities. Genetic algorithms (GAs) are critical part of the process, namely in antibody generation and feature subset selection calculations. Demonstrated results validate the utility of the proposed distributed AIS model for robust chemical spectra recognition

A parallel and distributed genetic-based learning classifier system with application in human electroencephalographic signal classification

University of Technology, Sydney. Faculty of Engineering.Genetic-based Learning Classifier Systems have been proposed as a competent technology for the classification of medical data sets. What is not known about this class of system is twofold. Firstly, how does a Learning Classifier System (LCS) perform when applied to the single-step classification of multiple-channel, noisy, artefact-inclusive human EEG signals acquired from many participants? Secondly and more importantly, is how the learning classifier system performs when incorporated with migration strategies, inspired by multi- deme, coarse-grained Parallel Genetic Algorithms (PGA) to provide parallel and distributed classifier migration? This research investigates these open questions and concludes, subject to the considerations herein, that these technological approaches can provide competitive classification performance for such applications. We performed a preliminary examination and implementation of a parallel genetic algorithm and hybrid local search PGA using experimental methods. The parallelisation and incorporation of classical local search methods into a genetic algorithm are well known methods for increasing performance and we examine this. Furthermore, inspired by the significant improvements in convergence velocity and solution quality provided by the multi- deme, coarse-grained Parallel Genetic Algorithm, we incorporate the method into a learning classifier system with the aim of providing parallel and distributed classifier migration. As a result, a unique learning classifier system (pXCS) is proposed that improves classification accuracy, achieves increased learning rates and significantly reduces the classifier population during learning. It is compared to the extended learning Classifier System (XCS) and several state of the art non-evolutionary classifiers in the single-step classification of noisy, artefact- inclusive human EEG signals, derived from mental task experiments conducted using ten human participants. We also conclude that establishing an appropriate migration strategy is an important cause of pXCS learning and classification performance. However, an inappropriate migration rate, frequency or selection:replacement scheme can reduce performance and we document the factors associated with this. Furthermore, we conclude that both EEG segment size and representation both have a significant influence on classification performance. In effect, determining an appropriate representation of the raw EEG signal is tantamount to the classification method itself. This research allows us to further explore and incorporate pXCS evolved classifiers derived from multi-channel human EEG signals as an interface in the control of a device such as a powered wheelchair or brain-computer interface (BCI) applications

Six degree of freedom manual controls study report

The feasibility of using degree of freedom manual controls in space in an on orbit environment was determined. Several six degree of freedom controls were tested in a laboratory environment, and replica controls were used to control robot arms. The selection of six degrees of freedom as a design goal was based on the fact that six degrees are sufficient to define the location and orientation of a rigid body in space

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Unlimited-wokspace teleoperation

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2012Includes bibliographical references (leaves: 100-105)Text in English; Abstract: Turkish and Englishxiv, 109 leavesTeleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope

A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation

The use of telerobotic systems is essential for remote handling (RH) operations in radioactive areas of scientific facilities that generate high doses of radiation. Recent developments in remote handling technology has seen a great deal of effort being directed towards the design of modular remote handling control rooms equipped with a standard master arm which will be used to separately control a range of different slave devices. This application thus requires a kinematically dissimilar master-slave control scheme. In order to avoid drag and other effects such as friction or other non-linear and unmodelled slave arm effects of the common position-position architecture in nonbackdrivable slaves, this research has implemented a force-position control scheme. End-effector force is derived from motor torque values which, to avoid the use of radiation intolerant and costly sensing devices, are inferred from motor current measurement. This has been demonstrated on a 1-DOF test-rig with a permanent magnet synchronous motor teleoperated by a Sensable Phantom Omni® haptic master. This has been shown to allow accurate control while realistically conveying dynamic force information back to the operator

Mathematical methods of factorization and a feedback approach for biological systems

The first part of the thesis is devoted to factorizations of linear and nonlinear differential equations leading to solutions of the kink type. The second part contains a study of the synchronization of the chaotic dynamics of two Hodgkin-Huxley neurons by means of the mathematical tools belonging to the geometrical control theory.Comment: Ph. D. Thesis at IPICyT, San Luis Potosi, Mexico, 102 pp, 40 figs. Supervisors: Dr. H.C. Rosu and Dr. R. Fema