8,594 research outputs found
The development of the Canadian Mobile Servicing System Kinematic Simulation Facility
Canada will develop a Mobile Servicing System (MSS) as its contribution to the U.S./International Space Station Freedom. Components of the MSS will include a remote manipulator (SSRMS), a Special Purpose Dexterous Manipulator (SPDM), and a mobile base (MRS). In order to support requirements analysis and the evaluation of operational concepts related to the use of the MSS, a graphics based kinematic simulation/human-computer interface facility has been created. The facility consists of the following elements: (1) A two-dimensional graphics editor allowing the rapid development of virtual control stations; (2) Kinematic simulations of the space station remote manipulators (SSRMS and SPDM), and mobile base; and (3) A three-dimensional graphics model of the space station, MSS, orbiter, and payloads. These software elements combined with state of the art computer graphics hardware provide the capability to prototype MSS workstations, evaluate MSS operational capabilities, and investigate the human-computer interface in an interactive simulation environment. The graphics technology involved in the development and use of this facility is described
Towards Advanced Robotic Manipulations for Nuclear Decommissioning
Despite enormous remote handling requirements, remarkably very few robots are being used by the nuclear industry. Most of the remote handling tasks are still performed manually, using conventional mechanical masterāslave devices. The few robotic manipulators deployed are directly teleāoperated in rudimentary ways, with almost no autonomy or even a preāprogrammed motion. In addition, majority of these robots are underāsensored (i.e. with no proprioception), which prevents them to use for automatic tasks. In this context, primarily this chapter discusses the human operator performance in accomplishing heavyāduty remote handling tasks in hazardous environments such as nuclear decommissioning. Multiple factors are evaluated to analyse the human operatorsā performance and workload. Also, direct human teleāoperation is compared against humanāsupervised semiāautonomous control exploiting computer vision. Secondarily, a visionāguided solution towards enabling advanced control and automating the underāsensored robots is presented. Maintaining the coherence with real nuclear scenario, the experiments are conducted in the lab environment and results are discussed
Experimental results with a six-degree-of-freedom force-reflecting hand controller
Control experiments performed using an isotonic joystick connected to a six degree-of-freedom manipulator equipped with a six dimensional force-torque sensor at the base of the manipulator end effector are described. The preliminary control experiments were aimed at the investigation of the human operators' ability to command and control forces in different directions by varying the information conditions and the values of the feedforward and feedback command gains in the bilateral control loop. The main conclusions are: (1) a quantified graphic display of force-torque information can considerably enhance the operator's ability to perform a quantitatively sharp force-torque control, and (2) there seems to be a task dependent optimal combination of the feedforward and feedback command gain values which provide a dynamically smooth and stable bilateral control performance
Space spider crane
A space spider crane for the movement, placement, and or assembly of various components on or in the vicinity of a space structure is described. As permanent space structures are utilized by the space program, a means will be required to transport cargo and perform various repair tasks. A space spider crane comprising a small central body with attached manipulators and legs fulfills this requirement. The manipulators may be equipped with constant pressure gripping end effectors or tools to accomplish various repair tasks. The legs are also equipped with constant pressure gripping end effectors to grip the space structure. Control of the space spider crane may be achieved either by computer software or a remotely situated human operator, who maintains visual contact via television cameras mounted on the space spider crane. One possible walking program consists of a parallel motion walking program whereby the small central body alternatively leans forward and backward relative to end effectors
Diverse applications of advanced man-telerobot interfaces
Advancements in man-machine interfaces and control technologies used in space telerobotics and teleoperators have potential application wherever human operators need to manipulate multi-dimensional spatial relationships. Bilateral six degree-of-freedom position and force cues exchanged between the user and a complex system can broaden and improve the effectiveness of several diverse man-machine interfaces
Robot Autonomy for Surgery
Autonomous surgery involves having surgical tasks performed by a robot
operating under its own will, with partial or no human involvement. There are
several important advantages of automation in surgery, which include increasing
precision of care due to sub-millimeter robot control, real-time utilization of
biosignals for interventional care, improvements to surgical efficiency and
execution, and computer-aided guidance under various medical imaging and
sensing modalities. While these methods may displace some tasks of surgical
teams and individual surgeons, they also present new capabilities in
interventions that are too difficult or go beyond the skills of a human. In
this chapter, we provide an overview of robot autonomy in commercial use and in
research, and present some of the challenges faced in developing autonomous
surgical robots
Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS), phase 2. Volume 1: Telepresence technology base development
The field of telepresence is defined, and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA's plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included. Several space projects are examined in detail to determine what capabilities are required of a telepresence system in order to accomplish various tasks, such as servicing and assembly. The key operational and technological areas are identified, conclusions and recommendations are made for further research, and an example developmental program is presented, leading to an operational telepresence servicer
Human-Machine Interface for Remote Training of Robot Tasks
Regardless of their industrial or research application, the streamlining of
robot operations is limited by the proximity of experienced users to the actual
hardware. Be it massive open online robotics courses, crowd-sourcing of robot
task training, or remote research on massive robot farms for machine learning,
the need to create an apt remote Human-Machine Interface is quite prevalent.
The paper at hand proposes a novel solution to the programming/training of
remote robots employing an intuitive and accurate user-interface which offers
all the benefits of working with real robots without imposing delays and
inefficiency. The system includes: a vision-based 3D hand detection and gesture
recognition subsystem, a simulated digital twin of a robot as visual feedback,
and the "remote" robot learning/executing trajectories using dynamic motion
primitives. Our results indicate that the system is a promising solution to the
problem of remote training of robot tasks.Comment: Accepted in IEEE International Conference on Imaging Systems and
Techniques - IST201
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
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