88 research outputs found

    Impact of end effector technology on telemanipulation performance

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    Generic requirements for end effector design are briefly summarized as derived from generic functional and operational requirements. Included is a brief summary of terms and definitions related to end effector technology. The second part contains a brief overview of end effector technology work as JPL during the past ten years, with emphasis on the evolution of new mechanical, sensing and control capabilities of end effectors. The third and major part is devoted to the description of current end effector technology. The ongoing work addresses mechanical, sensing and control details with emphasis on mechanical ruggedness, increased resolution in sensing, and close electronic and control integration with overall telemanipulator control system

    Study of the urban evolution of Brasilia with the use of LANDSAT data

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    The urban growth of Brasilia within the last ten years is analyzed with special emphasis on the utilization of remote sensing orbital data and automatic image processing. The urban spatial structure and the monitoring of its temporal changes were focused in a whole and dynamic way by the utilization of MSS-LANDSAT images for June 1973, 1978 and 1983. In order to aid data interpretation, a registration algorithm implemented at the Interactive Multispectral Image Analysis System (IMAGE-100) was utilized aiming at the overlap of multitemporal images. The utilization of suitable digital filters, combined with the images overlap, allowed a rapid identification of areas of possible urban growth and oriented the field work. The results obtained permitted an evaluation of the urban growth of Brasilia, taking as reference the proposed stated for the construction of the city

    The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992)

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    This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992 and held at the JSC Gilruth Recreation Center. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotic and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. The symposium's proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry

    Human factors and telerobotics : tools and approaches for designing remote robotic workstation displays

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    Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, February 2002.Includes bibliographical references (v. 2, leaves 297-300).A methodology is created for designing and testing an intuitive synthesized telerobotic workstation display configuration for controlling a high degree of freedom dexterous manipulator for use on the International Space Station. With the construction and maintenance of the International Space Station, the number of Extravehicular Activity (EVA) hours is expected to increase by a factor of four over the current Space Shuttle missions, resulting in higher demands on the EVA crewmembers and EVA crew systems. One approach to utilizing EVA resources more effectively while increasing crew safety and efficiency is to perform routine and high-risk EVA tasks telerobotically. NASA's Johnson Space Center is developing the state-of-the-art dexterous robotic manipulator. An anthropomorphic telerobot called Robonaut is being constructed that is capable of performing all of the tasks required of an EVA suited crewmember. Robonaut is comparable in size to a suited crewmember and consists of two 7 DOF arms, two 12 DOF hands, a 6+ DOF "stinger tail", and a 2+ DOF stereo camera platform. Current robotic workstations are insufficient for controlling highly dexterous manipulators, which require full immersion operator telepresence. The Robonaut workstation must be designed to allow an operator to intuitively control numerous degrees of freedom simultaneously, in varying levels of supervisory control and for all types of EVA tasks. This effort critically reviewed previous research into areas including telerobotic interfaces, human-machine interactions, microgravity physiology, supervisory control, force feedback, virtual reality, and manual control.(cont.) A methodology is developed for designing and evaluating integrated interfaces for highly dexterous and multi-functional telerobots. In addition a classification of telerobotic tasks is proposed. Experiments were conducted with subjects performing EVA tasks with Space Station hardware using Robonaut and a Robonaut simulation (also under development). Results indicate that Robonaut simulation subject performance matches Robonaut performance. The simulation can be used for training operators for full-immersion teleoperation and for developing and evaluating future telerobotic workstations. A baseline amount of Situation Awareness time was determined and reduced using the display design iteration.by Jennifer Lisa Rochlis.Ph.D

    Proceedings of the NASA Conference on Space Telerobotics, volume 3

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    The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research

    Technology 2003: The Fourth National Technology Transfer Conference and Exposition, volume 2

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    Proceedings from symposia of the Technology 2003 Conference and Exposition, Dec. 7-9, 1993, Anaheim, CA, are presented. Volume 2 features papers on artificial intelligence, CAD&E, computer hardware, computer software, information management, photonics, robotics, test and measurement, video and imaging, and virtual reality/simulation

    A white paper: NASA virtual environment research, applications, and technology

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    Research support for Virtual Environment technology development has been a part of NASA's human factors research program since 1985. Under the auspices of the Office of Aeronautics and Space Technology (OAST), initial funding was provided to the Aerospace Human Factors Research Division, Ames Research Center, which resulted in the origination of this technology. Since 1985, other Centers have begun using and developing this technology. At each research and space flight center, NASA missions have been major drivers of the technology. This White Paper was the joint effort of all the Centers which have been involved in the development of technology and its applications to their unique missions. Appendix A is the list of those who have worked to prepare the document, directed by Dr. Cynthia H. Null, Ames Research Center, and Dr. James P. Jenkins, NASA Headquarters. This White Paper describes the technology and its applications in NASA Centers (Chapters 1, 2 and 3), the potential roles it can take in NASA (Chapters 4 and 5), and a roadmap of the next 5 years (FY 1994-1998). The audience for this White Paper consists of managers, engineers, scientists and the general public with an interest in Virtual Environment technology. Those who read the paper will determine whether this roadmap, or others, are to be followed

    Proceedings of the NASA Conference on Space Telerobotics, volume 5

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    Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotics technology to the space systems planned for the 1990's and beyond. Volume 5 contains papers related to the following subject areas: robot arm modeling and control, special topics in telerobotics, telerobotic space operations, manipulator control, flight experiment concepts, manipulator coordination, issues in artificial intelligence systems, and research activities at the Johnson Space Center

    Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 3: ARAMIS overview

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    An overview of automation, robotics, and machine intelligence systems (ARAMIS) is provided. Man machine interfaces, classification, and capabilities are considered
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