915 research outputs found
NASA space station automation: AI-based technology review. Executive summary
Research and Development projects in automation technology for the Space Station are described. Artificial Intelligence (AI) based technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics
Teleoperation of passivity-based model reference robust control over the internet
This dissertation offers a survey of a known theoretical approach and novel experimental results in establishing a live communication medium through the internet to host a virtual communication environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a control strategy that passively compensates for position errors that arise during contact tasks and strives to achieve delay-independent stability for controlling of aircrafts or other mobile objects. Furthermore the controller is used for nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance thus maintaining a communication link with an upper bound of constant delay is crucial for robustness and stability of the overall system. For utilizing such framework an elucidation can be formulated by preparing site survey for analyzing not only the geographical distances separating the nodes in which the teleoperation will occur but also the communication parameters that define the virtual topography that the data will travel through. This survey will first define the feasibility of the overall operation since the teleoperation will be used to sustain a delay based controller over the internet thus obtaining a hypothetical upper bound for the delay via site survey is crucial not only for the communication system but also the delay is required for the design of the passivity-based model reference robust control. Following delay calculation and measurement via site survey, bandwidth tests for unidirectional and bidirectional communication is inspected to ensure that the speed is viable to maintain a real-time connection. Furthermore from obtaining the results it becomes crucial to measure the consistency of the delay throughout a sampled period to guarantee that the upper bound is not breached at any point within the communication to jeopardize the robustness of the controller. Following delay analysis a geographical and topological overview of the communication is also briefly examined via a trace-route to understand the underlying nodes and their contribution to the delay and round-trip consistency. To accommodate the communication channel for the controller the input and output data from both nodes need to be encapsulated within a transmission control protocol via a multithreaded design of a robust program within the C language. The program will construct a multithreaded client-server relationship in which the control data is transmitted. For added stability and higher level of security the channel is then encapsulated via an internet protocol security by utilizing a protocol suite for protecting the communication by authentication and encrypting each packet of the session using negotiation of cryptographic keys during each session
Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence
In the field of robotics, robot teleoperation for remote or hazardous
environments has become increasingly vital. A major challenge is the lag
between command and action, negatively affecting operator awareness,
performance, and mental strain. Even with advanced technology, mitigating these
delays, especially in long-distance operations, remains challenging. Current
solutions largely focus on machine-based adjustments. Yet, there's a gap in
using human perceptions to improve the teleoperation experience. This paper
presents a unique method of sensory manipulation to help humans adapt to such
delays. Drawing from motor learning principles, it suggests that modifying
sensory stimuli can lessen the perception of these delays. Instead of
introducing new skills, the approach uses existing motor coordination
knowledge. The aim is to minimize the need for extensive training or complex
automation. A study with 41 participants explored the effects of altered haptic
cues in delayed teleoperations. These cues were sourced from advanced physics
engines and robot sensors. Results highlighted benefits like reduced task time
and improved perceptions of visual delays. Real-time haptic feedback
significantly contributed to reduced mental strain and increased confidence.
This research emphasizes human adaptation as a key element in robot
teleoperation, advocating for improved teleoperation efficiency via swift human
adaptation, rather than solely optimizing robots for delay adjustment.Comment: Submitted to Scientific Report
NASA space station automation: AI-based technology review
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures
GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition
Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms—GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot’s locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments
In-home and remote use of robotic body surrogates by people with profound motor deficits
By controlling robots comparable to the human body, people with profound
motor deficits could potentially perform a variety of physical tasks for
themselves, improving their quality of life. The extent to which this is
achievable has been unclear due to the lack of suitable interfaces by which to
control robotic body surrogates and a dearth of studies involving substantial
numbers of people with profound motor deficits. We developed a novel, web-based
augmented reality interface that enables people with profound motor deficits to
remotely control a PR2 mobile manipulator from Willow Garage, which is a
human-scale, wheeled robot with two arms. We then conducted two studies to
investigate the use of robotic body surrogates. In the first study, 15 novice
users with profound motor deficits from across the United States controlled a
PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a
simulated self-care task. Participants achieved clinically meaningful
improvements on the ARAT and 12 of 15 participants (80%) successfully completed
the simulated self-care task. Participants agreed that the robotic system was
easy to use, was useful, and would provide a meaningful improvement in their
lives. In the second study, one expert user with profound motor deficits had
free use of a PR2 in his home for seven days. He performed a variety of
self-care and household tasks, and also used the robot in novel ways. Taking
both studies together, our results suggest that people with profound motor
deficits can improve their quality of life using robotic body surrogates, and
that they can gain benefit with only low-level robot autonomy and without
invasive interfaces. However, methods to reduce the rate of errors and increase
operational speed merit further investigation.Comment: 43 Pages, 13 Figure
Space robotics: Recent accomplishments and opportunities for future research
The Langley Guidance, Navigation, and Control Technical Committee (GNCTC) was one of six technical committees created in 1991 by the Chief Scientist, Dr. Michael F. Card. During the kickoff meeting Dr. Card charged the chairmen to: (1) establish a cross-Center committee; (2) support at least one workshop in a selected discipline; and (3) prepare a technical paper on recent accomplishments in the discipline and on opportunities for future research. The Guidance, Navigation, and Control Committee was formed and selected for focus on the discipline of Space robotics. This report is a summary of the committee's assessment of recent accomplishments and opportunities for future research. The report is organized as follows. First is an overview of the data sources used by the committee. Next is a description of technical needs identified by the committee followed by recent accomplishments. Opportunities for future research ends the main body of the report. It includes the primary recommendation of the committee that NASA establish a national space facility for the development of space automation and robotics, one element of which is a telerobotic research platform in space. References 1 and 2 are the proceedings of two workshops sponsored by the committee during its June 1991, through May 1992 term. The focus of the committee for the June 1992 - May 1993 term will be to further define to the recommended platform in space and to add an additional discipline which includes aircraft related GN&C issues. To the latter end members performing aircraft related research will be added to the committee. (A preliminary assessment of future opportunities in aircraft-related GN&C research has been included as appendix A.
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