343 research outputs found
Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics
Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed
Aerospace medicine and biology: A continuing bibliography with indexes (supplement 359)
This bibliography lists 164 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during Jan. 1992. Subject coverage includes: aerospace medicine and physiology, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance
Toward Wheeled Mobility on Vertically Challenging Terrain: Platforms, Datasets, and Algorithms
Most conventional wheeled robots can only move in flat environments and
simply divide their planar workspaces into free spaces and obstacles. Deeming
obstacles as non-traversable significantly limits wheeled robots' mobility in
real-world, extremely rugged, off-road environments, where part of the terrain
(e.g., irregular boulders and fallen trees) will be treated as non-traversable
obstacles. To improve wheeled mobility in those environments with vertically
challenging terrain, we present two wheeled platforms with little hardware
modification compared to conventional wheeled robots; we collect datasets of
our wheeled robots crawling over previously non-traversable, vertically
challenging terrain to facilitate data-driven mobility; we also present
algorithms and their experimental results to show that conventional wheeled
robots have previously unrealized potential of moving through vertically
challenging terrain. We make our platforms, datasets, and algorithms publicly
available to facilitate future research on wheeled mobility.Comment: https://www.youtube.com/watch?v=uk62ITBGoTI
https://cs.gmu.edu/~xiao/Research/Verti-Wheelers
Aerospace medicine and biology: A continuing bibliography with indexes (supplement 361)
This bibliography lists 141 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during Mar. 1992. Subject coverage includes: aerospace medicine and physiology, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance
A Comprehensive Survey of the Tactile Internet: State of the art and Research Directions
The Internet has made several giant leaps over the years, from a fixed to a
mobile Internet, then to the Internet of Things, and now to a Tactile Internet.
The Tactile Internet goes far beyond data, audio and video delivery over fixed
and mobile networks, and even beyond allowing communication and collaboration
among things. It is expected to enable haptic communication and allow skill set
delivery over networks. Some examples of potential applications are
tele-surgery, vehicle fleets, augmented reality and industrial process
automation. Several papers already cover many of the Tactile Internet-related
concepts and technologies, such as haptic codecs, applications, and supporting
technologies. However, none of them offers a comprehensive survey of the
Tactile Internet, including its architectures and algorithms. Furthermore, none
of them provides a systematic and critical review of the existing solutions. To
address these lacunae, we provide a comprehensive survey of the architectures
and algorithms proposed to date for the Tactile Internet. In addition, we
critically review them using a well-defined set of requirements and discuss
some of the lessons learned as well as the most promising research directions
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
This article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual arms and multidirectional thrusters—developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M). Our report deals with the control systems, including the control of the interaction forces and the compliance the teleoperation, which uses passivity to tackle the tradeoff between stability and performance the perception methods for localization, mapping, and inspection the planning methods, including a new control-aware approach for aerial manipulation.
Finally, we describe a novel industrial platform with multidirectional thrusters and a new arm design to increase the robustness in industrial contact inspections. In addition, the lessons learned in applying the platform to outdoor aerial manipulation for I&M are pointed out
Space Station Freedom automation and robotics: An assessment of the potential for increased productivity
This report presents the results of a study performed in support of the Space Station Freedom Advanced Development Program, under the sponsorship of the Space Station Engineering (Code MT), Office of Space Flight. The study consisted of the collection, compilation, and analysis of lessons learned, crew time requirements, and other factors influencing the application of advanced automation and robotics, with emphasis on potential improvements in productivity. The lessons learned data collected were based primarily on Skylab, Spacelab, and other Space Shuttle experiences, consisting principally of interviews with current and former crew members and other NASA personnel with relevant experience. The objectives of this report are to present a summary of this data and its analysis, and to present conclusions regarding promising areas for the application of advanced automation and robotics technology to the Space Station Freedom and the potential benefits in terms of increased productivity. In this study, primary emphasis was placed on advanced automation technology because of its fairly extensive utilization within private industry including the aerospace sector. In contrast, other than the Remote Manipulator System (RMS), there has been relatively limited experience with advanced robotics technology applicable to the Space Station. This report should be used as a guide and is not intended to be used as a substitute for official Astronaut Office crew positions on specific issues
Kinesthetic Haptics Sensing and Discovery with Bilateral Teleoperation Systems
In the mechanical engineering field of robotics, bilateral teleoperation is a classic but still increasing research topic. In bilateral teleoperation, a human operator moves the master manipulator, and a slave manipulator is controlled to follow the motion of the master in a remote, potentially hostile environment. This dissertation focuses on kinesthetic perception analysis in teleoperation systems. Design of the controllers of the systems is studied as the influential factor of this issue. The controllers that can provide different force tracking capability are compared using the same experimental protocol. A 6 DOF teleoperation system is configured as the system testbed. An innovative master manipulator is developed and a 7 DOF redundant manipulator is used as the slave robot. A singularity avoidance inverse kinematics algorithm is developed to resolve the redundancy of the slave manipulator. An experimental protocol is addressed and three dynamics attributes related to kineshtetic feedback are investigated: weight, center of gravity and inertia. The results support our hypothesis: the controller that can bring a better force feedback can improve the performance in the experiments
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