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Remotely Inanned Systems ( Ms) • 8e~oa :-d conference on remotely Inanned systems ( ms) • applicatio~s, ~~ ,. 9·11, 1975 17-29750 THBU Propulsion Lab.) 77-29787 CSCL 05a Unclas G3/54 0125 ,~=-."~ r Sponsored By ational Aeronautic and Space Admini tration California Institute of Technology !Jniversity of outhern California United tates Council for the Theory of Machine and Mechanisms Human Factors Society / remotely m ed technolo y an .. P RPO E 0 OP The main purpo e of the 'ECO 'f) CO 'ERE. CE 0 REMOTE MAN. 'D S TEM - Ii clmolo and pplications i to continue and expand t chni I interr.han and communication in a field that 110 experi nc d rapid ro th durin the last few years. Remotely Mann d yst ms extend man' n$Ory, manipulativ and cognitive capabiliti s to remote places and ar concem ed with the man-machine int rfa es and communications, manipulators and nd e ector , sen ors and data handlin , and " mote control and automation. Th scope of thi conferenc cover r c nt developm nts clo ely related to th ar as includin ne t chniqu s and d velopment , new concepts of system de ign and implementation, and developm nts in de i n analysis and evaluation. sy ( ms) applicntion • MMI r. Stanley Deutsch , Office of Life Sciences PROGR : Dr. Ewald Heer Jet Propulsion Laboratory OORDI : Dr. linton J. nc er. Jr. University of Suuthern California Dr. ntal Bejczy Dr. Bernard Roth Jet Propul ion Laboratory Stanford niver~ity Mr. Edward J. Brazill r. lvin SadoffY' Office of Manned Ames Research Center Space Flight Dr. Bernard hem r. Richard ale National Science United States Army Foundation Dr. F. R. ros ley Dr. Arnold Small Univer ity of Univer ity of Massachusetts Southern California Mr. illiam B. Graham r. ilbur Thornton ./ Rand Corporation Marshall Space Flight Center Dr. alter Haeussermann Dr. arlin . Tolcott Marshall Space Office of Naval Re earch light Center r. Jeffrey T. Hamilton r. eir einstein Office of Technology California In , titute of tilization Techmllogy Dr. Vernon ickel r. dward \ itsett Rancho Los migo United States If l-orce r. Jerome D. Rosenberg Office of Technology pplication 1 I PREFACE '/ During the FIRST CONFERENCE ON REMOTELY MANNED SYSTEMS (RMS). - Explora­ tim' .J,nd Operation in Space, many valid questions arose concerning technology availability ahd broad potential applications in areas other than space. For example: What kinds of RMS should be developed, and what are their optimum character­ istics to satisfy the requirements? What is the trend of manipulator sys­ tems technology? What.is the sensor and display technology? What are the =an-machine interface implications and requirements? How can modern control developments be utilized in Remotely Manned Systems? What are the commonalities of RMS for space systems and for earth-based systems? What areas other than space are in need of RMS applications and what are the benefits? ..... .t' .. These questions are as valid today as they have been in 1972. The SECOND CONFERENCE ON REMOTEL Y MANNED SYSTEMS has therefore the subtitle "Technology and Applicationsll with the intent to cover as much as possible recent tech­ nological developments and associated applica­ tions in major areas of need. The first two Ses­ sions are devoted to generally applicable tech­ niques and developments, while the following four sessions treat applications and associated develop­ rn.ents (fr-equently also generally applicable) related to space, undersea, industry and produc­ tivity, and rehabilitation. Ewald Heer June 9, 1975 " v CONTENTS I Page OPENING SESSION "KEYNOTE ADDRESS: A MAN'S REACH SHOULD EXCEED HIS GRASP.". xi Dr. Stanley Deutsch SESSION I - THEORIES AND TEqENIQUES "CURRENT THEORIES OF MAN-MACHINE SYSTEM." Thomas B. Sheridan "STOCHASTIC MODELLING OF REMOTELY MANNED SYSTEMS." 3 Clinton J. Anker, J:r,o. tiTHE HUMAN CONTROLLER IN CAR FOLLOWING. " ••••• , •• 5 G. O. Burham and G. A. Bekey "AN INVESTIGATION OF SUPERVISORY CONTROL OF MANIPULATION." 7 Douglas E. McGovern "EFFECT OFHA.ND-BASED SENSORS ON MANIPULATOR CONTROL PERFORMANCE." 9 Antal K. Bl)jczy IILOCATION AND ACQUISITION OF OBJECTS IN UNPREDICTABLE LOCATIONS. II • 11 A. J. Sword and W. T. Park SESSION II - ADVANCED TECHNOLOGY "TV REQUIREMENTS FOR MANIPULATION IN SPACE." •••••• , •••••••• 15 Larry A. Freedman, William H. Crooks, and Paul P. Coan "GRAY-LEVEL TRANSFORMATIONS FOR INTERACTIVE IMAGE ENHANCEMENT. II 17 R. C. Gonzales and B. A. Fittes "INTERACTIVE HANDLING OF TV AND RANGE DATA FOR REMOTELY CONTROLLED SYSTEMS. If •••••••••••• '••••••••••••••••••• III •••• _. .21 Yoran Yakimovsky "PROXIMITY SENSOR TECHNOLOGY :E'OR MANIPULATOR END EFFECTORS." Alan R. Johnston "DESIGN FOR A THREE-FINGERED HAND." •••••• 25 F. R. Erskine Crossley and Franklyn G. Umholtz "THE LEMMA CONCEPT: A NEW MANIPULA TOR. " •• 27 Dr. Leendert Kersten IIMANIPULATOR SYSTEM PERFORMANCE MEASUREMENT. II • • • • • • • .29 M. Kirkpatrick, N. L. Shields, Jr., T. B. Malone, R. G. Brye, and P. N. Frederick SESSION III -. REMOTELY MANNED AEROSPACE SYSTEMS "REMOTELY SERVICING OF FREE-FLYING SPACECRAFT." • 33 F. J. Cepollina and J.M. Mansfield "ON-ORBIT SERVICEABLE SATELLITE DESIGN." ••••••• 35 A. Fiul "ORBITAL SERVICING AND REMOTELY MANNED SYSTEMS. I! 37 George W. Smith and Wilfred L. DeRocher, Jr. "SPACE TUG SPACECRAFT/MODULE EXCHANGER (ON-ORBIT SERVICER)." 39 Fritz G. Runge vii CONTENTS (coot'd) I Page IIA USER ASSESSMENT OF SERVICING AT GEOSTATiONARY ORBIT. " 41. Gary D. Gordon "THE ASSEMBLY OF LARGE STRUCTURES IN SPACE." 43 George W. Smith and Shepard B. Brodie "CONTROL AND STABILITY PROBLEMS OF REMOTE ORBITAL CAPTURE. II 45 M. II. Kaplan and A. A. Nadkarni "REMOTELY PILOTED AIRCRAFT IN THE CIVIL ENVIRONMENT. " 47 Thomas J. Gregory, Walter p. Nelms, and Jay Karmarkar SESSION IV - REMOTELY MANNED UNDERSEA SYSTEMS IIAN OVERVIEW OF UNDERWATER REMOTELY MANNED SYSTEMS AND SUB-SYSTEMS. II 49 Andreas B. Rechnitzer IIAN UNDERWATER WORK SYSTEMS PACKAGE. II ••••••••••••••• 51 Norman B. Estabrook IICABLE CONTROLLED DEED SUBMERGENCE TELEOPERATOR SYSTEM. " 53 Jean Vertut and Joel Charles "USE OF MANIPULATORS FROM MANNED SUBMERSIBLES IN A DEEP-SEA MAPPING OPERATION. II ••••••• , ••••••••••••••••••••••••••••• 55 Dr. Robert D. Ballard "FORCE FEEDBACK SYSTEMS IN UNDERSEA MANIPULATOR APPLICATIONS." 57 Alan J. Pesch, William R. Bertsche, and Clifford Winget IICONTROL AUTOMATION IN UNDERSEA MANIPULATION SYSTEMS." • 59 Amos Freedy and Gershon Weltman II ADVANCED TECHNOLOGIES FOR UNMANNED UNDERSEA SYSTEMS. Jl 61 G. L. Bane and W. J. Quinlan SESSION V - INDUSTRIAL APPLICATION SYSTEMS "INDUSTRIAL ROBOTS IN EUROPE-MARKET, APPLICATIONS AND DEVELOPMENT. " • 63 Dipl. Ing., R. D. Schraft "DESIGNING ROBOTS FOR INDUSTRIAL ENVIRONMENTS. " 65 J. F. Eng1eberger "TOPICS IN PROGRAMMABLE AUTOMATION." ••••••••••••••••••••••• 67 C. A. Rosen IIINFORMATION AND .cONTROL ISSUES OF ADAPTABLE-PROGRAMMABLE ASSEMBLY SYSTEMS FOR MANUFACTUlUNG AND TELEOPERATOR APPLICATIONS." .•••••• 69 J. L. Nevins andD. E. Whitney "PROFILES OF MECHANIZATION IN LONGWALL MINING.". 71 Larry N .. Pearce "SOME OPPORTUNITIES FOR TELEOPERATED MINING. ff 73 E. R. Palowitch and P. H. Broussard, Jr. "BILATERAL SERVOMANIPULATOR IN DIRECT MODE AND VIA OPTIMIZED COMPUTER CONTROL." .••••.•••••••••••.•••••••..••.•.••••••.• 75 J. Verl:ut and P. Coilfet "AN EVALUATION OF CONTROL MODES IN HIGH GAIN MANIPULATOR SYSTEMS." 77 D. R. Wilt, D. L. Pieper,A. S. Frank, and G. G. Glenn SESSION VI - REHABIliTATION SYSTEMS "ARTIFICIAL SOFTNESS SENSING - AN AUTOMATIC APPARATUS FOR MEASUlUNG VISCOELASTICITY. II • • • • • • • • • • • • • • • • • • • .• • • • • • •.• • • • • • • • • 79 I. Kato, Y. Kudo, and K. Echimaru viii CONTENTS (cont'd) '/ Page "SYSTEM INTEGRATION OF PATTERN RECOGNITION, ADAPTIVE AIDED, UPPER LIMB PROSTHESIS. 1.1 ••••••••••••••••••••••••••••••••••• 81 JOM Lyman, Amos Freedy, Moche Solomonow I'APPLICATION OF A POSTULATE BASED CONTROL THEORY FOR AN ARTIFrGIAL ARM. II • 83 S. C. JacobsenandR. B. Jerard IIVOICE CONTROLLED ADAPTIVE MANIPULATOR AND MOBILITY SYSTEMS FOR THE SEVERELY HANDICAPPED. II •••••••••.•••••••••.••••.•••••••••.•• 85 Ewald Heer, Gordon A. Wiker, and Andy Kar.chak IIDESIGN AND CONTROL OF A MANIPULATOR FOR TETRAPLEGILS." 87 V. Paeslack and H. Roesler IlMANlPULATOR FOR REHABILITATION. II 89 Dr. E. Piezerand J. R. Allen IILUNAR ROVER VEHICLE - AN IMPLICATION FOR REHABILITATION. II 91 Samuel R. McFarland and Gary R. Primeaux . "NEW CONTROL CONCEPT OF ANTHROPOMORPHIC. MANIPULATORS. II 93 M. Vukobratovic', D. Stoldc, and D. Hri.stic' AUTHOR INDEX. • • • • • • • • ••••••••••••••••••••••• 95 ..;; " ;:, ix •.;f(";f' "~~lNG PAU~ BLANIt Nd.l(~';'. / KEYNOTE ADDRESS A MAN'S REACH SHOULD EXCEED HIS GRASP Dr. Stanley Deutsch NASA Office of Life Sciences, Washington, D. C. Welcome to the Second Conference on These two different but related aspects of Remotely Manned SYlltemll. The firllt conference concern, the hardware and the man, serve to dis­ in thill Ileries was held in September 1972 at the tingUish the technologies. These technologies CalifOl'nia Institute of Technology in Pasadena. At include: the man-machine interface at the control that titne, the theme wall the exploration and oper­ end of the system and the manipulators, end ation in space. One session was devoted to non­ effectors, mobility devices, with the appropriate space applications. The participants were pri­ sensors at the working end, The technologies marily Americans. also involve techniques and systems which support those specified above, including control systems At this second conference, we can see· a and communication systems. broadening of coverage to other arenas of activity,
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