Location

Howard Johnson Plaza-Hotel, Columbia/ Enterprise Rooms

Start Date

25-4-1990 2:00 PM

End Date

25-4-1990 5:00 PM

Description

Future earth orbiting, lunar and planetary missions will require the performance of tasks that are beyond human capability or are in an environment where human entry would be too costly or too hostile. These tasks will be candidates for performance by telerobotic systems whereby an electro-mechanical manipulator device performs the task in the remote hostile environment and the operator controlling or supervising the task remains at a work station in a safe location. Efficient operator participation in a telerobotic task occurs only when operators experience "telepresence", that is they "feel" that they are present at the remote site in making the various decisions to control the task. Telepresence is therefore enhanced by presenting to operators the various inputs, for example visual, tactile, and force/torque information, that they would receive if they were actually present at the remote site.

This paper addresses the problem of enhancing telepresence by displaying telerobotic sensor information to operators at their work stations. The paper is divided into four sections. First, a discussion is presented on some of the problems of displaying data from remote tasks. Second, an effort at Rockwell International to identify requirements for operator friendly display of data from telerobotic sensors, i£ described. Third, work performed at Rockwell "s Robotic Facility is addressed. This work involves the integration of various sensors on a telerobotic device, and the design and implementation of operator friendly data display which adheres to the guidelines described above. Lastly, our future research plans and objectives in this area are discussed.

Comments

Technology Payloads and Robotics

Session Chairman: Jon Pyle, Project Manager, Flight Projects Division, Office of Aeronautics and Space Technology, NASA Headquarters

Session Organizer: Keith Chandler, Boeing Aerospace Operations, FL

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Apr 25th, 2:00 PM Apr 25th, 5:00 PM

Paper Session II-B - Sensor Data Display For Telerobotic Systems

Howard Johnson Plaza-Hotel, Columbia/ Enterprise Rooms

Future earth orbiting, lunar and planetary missions will require the performance of tasks that are beyond human capability or are in an environment where human entry would be too costly or too hostile. These tasks will be candidates for performance by telerobotic systems whereby an electro-mechanical manipulator device performs the task in the remote hostile environment and the operator controlling or supervising the task remains at a work station in a safe location. Efficient operator participation in a telerobotic task occurs only when operators experience "telepresence", that is they "feel" that they are present at the remote site in making the various decisions to control the task. Telepresence is therefore enhanced by presenting to operators the various inputs, for example visual, tactile, and force/torque information, that they would receive if they were actually present at the remote site.

This paper addresses the problem of enhancing telepresence by displaying telerobotic sensor information to operators at their work stations. The paper is divided into four sections. First, a discussion is presented on some of the problems of displaying data from remote tasks. Second, an effort at Rockwell International to identify requirements for operator friendly display of data from telerobotic sensors, i£ described. Third, work performed at Rockwell "s Robotic Facility is addressed. This work involves the integration of various sensors on a telerobotic device, and the design and implementation of operator friendly data display which adheres to the guidelines described above. Lastly, our future research plans and objectives in this area are discussed.

 

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