Dissertation/Thesis Abstract

Human factors evaluation of operator interfaces for teleoperation of a dexterous manipulator
by Davis, Kevin Patrick, M.S., University of Maryland, College Park, 2014, 96; 1560960
Abstract (Summary)

Ground teleoperation of a satellite servicing spacecraft is a challenging task for a human operator, especially when there is significant communications delay between the control station and spacecraft. On-orbit operations are further complicated by a communications time delay between the ground and spacecraft. Operator performance can be improved with the use of a graphical simulation of the robot. By displaying the robot's commanded position, graphical simulation can also mitigate some effects of time delay. This work implemented a visualization tool and commanded display to assist operation of a remote dexterous manipulator. A Fitts' Law experiment was designed to determine the effectiveness of the commanded display in reducing the impact of time delay. The experiment was conducted with a six degree of freedom manipulator over a range of time delays, from 0.0 to 6.0 seconds. The experimental results were analyzed to assess the reduction of task completion time and operator workload.

Indexing (document details)
Advisor: Akin, David L.
Commitee: Carignan, Craig R., Sedwick, Raymond J.
School: University of Maryland, College Park
Department: Aerospace Engineering
School Location: United States -- Maryland
Source: MAI 53/03M(E), Masters Abstracts International
Subjects: Aerospace engineering, Robotics
Keywords: Display, Interface, Manipulator, Robot, Teleoperation, Time delay
Publication Number: 1560960
ISBN: 978-1-321-04998-5
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