Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head

Goertz, R.

Lindberg, J.

Mingesz, D.

Potts, C.

English

NASA Technical Reports Server

September 1967	 Brief 67-10317 
IY C
AEC-NASA TECH BRIEF 
US
AEC-NASA Tech Briefs describe innovations resulting from the research and development program 
of the U.S. AEC or from AEC-NASA interagency efforts. They are issued to encourage commercial 
application. Tech Briefs are published by NASA and may be purchased, at 15 cents each, from 
the Clearinghouse for Federal Scientific and Technical Information, Springfield, Virginia 22151. 
Improved Head-Controlled TV System Produces High-Quality 
Remote Image 
The problem: 
To provide a manipulator operator with an efficient 
system for viewing the remote handling and processing 
of reactive, flammable, explosive, or contaminated 
materials. A fast response system, allowing frequent 
changes of view, operation between far removed 
points, and close work capabilities with uninterrupted 
manipulator operation, is desired. Prior techniques, 
often used in "hot laboratories," require operator
viewing with periscopes and telescopes through 
shielding windows. These conventional optical 
methods limit the viewing angles and distances, and 
introduce complications in maintaining a clear sight 
path. Conventional closed circuit television systems 
have been used, but they lack the resolution and direc-
tion angle mobility required to permit fast, efficient 
work. Servoed TV remote positioning systems, 
including head controlled designs, are subjected to 
(continued overleul) 
This document was prepared under the sponsorship of the Atomic 	 liability resulting from the use of the information contained in this 
Energy Commission and/or the National Aeronautics and Space document, or warrants that the use of any information, apparatus, 
Administration. Neither the United States Government nor any per-	 method, or process disclosed in this document may not infringe pri-
son acting on behalf of the United States Government assumes any vately owned rights.
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unwanted movement and blurring due to quick, inad-
vertent movements by the operator. Servoed systems 
that use a small monitor mounted directly on the 
operator's headpiece restrict the operator's view of his 
surroundings, and add to a sense of disorientation 
associated with these devices. 
The solution: 
An improved resolution TV camera/monitor posi-
tioning system in which the pan and tilt motions of 
the camera and monitor are slaved to follow the cor-
responding motions of the operator's head. The sys-
tem provides the operator with a constant, close range 
view of his work, requires no line-of-sight viewing 
paths, and provides the operator with a hands-off 
viewing capability for uninterrupted remote manipula-
tion. Small, annoying movements of the camera and 
mcnitor are substantially eliminated by providing a 
7° to 120 dead zone in which inadvertent operator 
movements do not affect the system. 
How it's done: 
The improved resolution of this system is accom-
plished by using narrow camera angle of view. Since 
the number of elements per inch of image in a given 
direction increases in inverse proportion fo the angle 
of view in the same direction, the clarity of the object 
image is improved as the angle of view is decreased. 
If the angle of view is made too small, however, the 
efficiency of the operator is hampered. In testing 
several angles of view, 300 was found to provide a 
good compromise between resolution and viewing 
angle. Although this angle is relatively small, the 
operator can readily shift the view to see throughout 
a much larger volume. 
The remote viewing system consists of a 675-line-
per-frame, 30-frame-per-second TV camera, a 14-inch 
monitor, an operator headpiece, and a servo 
coupling system. The 14-inch slaved monitor posi-
tioned about 23 inches from the operator's eyes pro-
vides a 30° angle of view to him. This results in a 1:1 
correspondence between the viewing angles, reduces 
operator disorientation, and permits easy location of 
items within the working volume. 
Small synchros coupled to a low inertia, easily 
donned headpiece provide command signals for the 
pan and tilt motions of the monitor. The voltages gen-
erated by the headpiece synchros are fed through the
demodulator, dead zone, and modulator circuits. They 
are subtracted from similar voltages generated by the 
synchros on the monitor drive gear boxes. The resul-
tant voltages ultimately control the position of the 
monitor. The camera is similarly controlled by 
comparing the monitor and camera position signals. 
A near 1:1 positional correspondence is maintained 
between the motions of the operator's head, the 
camera and the monitor. 
Notes: 
1. One of the features of the head-controlled TV posi-
tioning system is that the operator ëan establish 
and maintain his viewing orientation relative to a 
remote worksite. After surveying the worksite area, 
an operator gains a sense of presence in the remote 
area which permits him to relocate objects and 
perform work efficiently. Conventional television 
positioning systems do not have this characteristic 
and consequently operators have no way of know-
ing in which direction the camera is aimed until 
they somehow relate the position of the camera 
with the scene being viewed. 
2. Additional details are contained in Remote 
Systems Technology Division, American Nuclear 
Society (RSTD-ANS) Proceedings, 1965, p. 57-60 
and RSTD-ANS Proceedings, 1966, p. 124-128. 
3. Inquiries concerning-this innovation may be di-
rected to:
Office of Industrial Cooperation 
Argonne National Laboratory 
9700 South Cass Avenue 
Argonne, Illinois 60439 
Reference: B67-10317 
Source: R. Goertz, C. Potts, 
D. Mingesz, and J. Lindberg
Remote Control Division
(ARG-128) 
Patent status: 
Inquiries about obtained rights for commercial use 
of this innovation may be made to: 
Mr. George H. Lee, Chief 
Chicago Patent Group 
U.S. Atomic Energy Commission 
Chicago Operations Office 
9800 South Cass Avenue 
Argonne, Illinois 60439 
Brief 67-10317	 Category 01


Improved head-controlled TV system produces high-quality remote image

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