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Lighting for remote viewing systems

Description: Scenes viewed by television do not provide the same channels of information for judgement of distances as scenes viewed directly, since television eliminates or degrades several depth perception cues. However, it may be possible to improve depth perception of televised scenes by enhancing the information available through depth cues that are available from lighting. A literature survey and expert opinions were integrated to design a remote lighting arrangement which could enhance depth percepti… more
Date: January 1, 1984
Creator: Draper, J.V.
Partner: UNT Libraries Government Documents Department
open access

Lighting for remote viewing systems

Description: Scenes viewed by television do not provide the same channels of information for judgment of distances as scenes viewed directly, since television eliminates or degrades several depth perception cues. However, it may be possible to improve depth perception of televised scenes by enhancing the information available through depth cues that are available from lighting. A literature survey and expert opinions were integrated to design a remote lighting arrangement which could enhance depth perceptio… more
Date: January 1, 1984
Creator: Draper, J.V.
Partner: UNT Libraries Government Documents Department
open access

Human-machine interfaces for teleoperators: an overview of research and development at the Oak Ridge National Laboratory. Consolidated Fuel Reprocessing Program

Description: This paper surveys the contributions of human factors to the mission of the Remote Control Engineering (RCE) task over the last six years. These contributions can be divided into two areas, research efforts and design efforts. Some of the topics covered in human factors research are manipulator comparisons, investigation of viewing system characteristics, research into the effects of force reflection, and studies of crew size and task allocation. In the area of component design the human factor… more
Date: January 1, 1985
Creator: Draper, J.V. & Feldman, M.J.
Partner: UNT Libraries Government Documents Department
open access

Human factors activities in teleoperator development at the Oak Ridge National Laboratory

Description: The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory is developing advanced teleoperator systems for maintenance of future nuclear reprocessing facilities. Remote maintenance systems developed by the CFRP emphasize man-in-the-loop teleoperation. Consequently, human factors issues which affect teleoperator performance must be addressed. This papers surveys research and development activities carried out by the human factors group within the Remote Control Engine… more
Date: January 1, 1986
Creator: Draper, J.V. & Herndon, J.N.
Partner: UNT Libraries Government Documents Department
open access

Human factors in telemanipulation: Perspectives from the Oak Ridge National Laboratory experience

Description: Personnel at the Robotics and Process Systems Division (RPSD) of the Oak Ridge National Laboratory (ORNL) have extensive experience designing, building, and operating teleoperators for a variety of settings, including space, battlefields, nuclear fuel reprocessing plants, and hazardous waste retrieval. In the course of the last decade and a half, the RPSD designed, built, and operated 4 telemanipulators (M-2, ASM, LTM, CESAR arm) and operated another half dozen (M-8, Model 50, TOS SM-229, RM-10… more
Date: January 1, 1994
Creator: Draper, J. V.
Partner: UNT Libraries Government Documents Department
open access

Task analysis for the single-shell Tank Waste Retrieval Manipulator System

Description: This document describes a task analysis for the Tank Waste Retrieval Manipulator System. A task analysis is a formal method of examining work that must be done by the operators of human-machine systems. The starting point for a task analysis is the mission that a human-machine system must perform, and the ending point is a list of requirements for human actions and the displays and controls that must be provided to support them. The task analysis approach started with a top-down definition of t… more
Date: March 1, 1993
Creator: Draper, J. V.
Partner: UNT Libraries Government Documents Department
open access

Teleoperator hand controllers: A contextual human factors assessment

Description: This document provides a human factors assessment of controllers for use with remotely controlled manipulators deployed to remove hazardous waste from underground storage tanks. The analysis concentrates on controller technique (i.e., the broad class of hand controller) and not on details of controller ergonomics. Examples of controller techniques include, for example, direct rate control, resolved unilateral position control, and direct bilateral position control. Using an existing concept, th… more
Date: May 1, 1994
Creator: Draper, J. V.
Partner: UNT Libraries Government Documents Department
open access

Remote Maintenance Design Guide for Compact Processing Units

Description: Oak Ridge National Laboratory (ORNL) Robotics and Process Systems (RPSD) personnel have extensive experience working with remotely operated and maintained systems. These systems require expert knowledge in teleoperation, human factors, telerobotics, and other robotic devices so that remote equipment may be manipulated, operated, serviced, surveyed, and moved about in a hazardous environment. The RPSD staff has a wealth of experience in this area, including knowledge in the broad topics of human… more
Date: July 13, 2000
Creator: Draper, J.V.
Partner: UNT Libraries Government Documents Department
open access

Function analysis of the single-shell Tank Waste Retrieval Manipulator System. Environmental Restoration and Waste Management Program

Description: This document lists the functions likely to be performed by each proposed component of the Tank Waste Retrieval Manipulator System (TWRMS) and the user functions that must be performed to operate each component. While the information contained in this document is tentative because the systems are still evolving, it provides a foundation for task analysis and control room design efforts. These efforts will support the design of a test-bed control room in the near future and an operational contro… more
Date: August 1, 1993
Creator: Draper, J. V.
Partner: UNT Libraries Government Documents Department
open access

Joint motion clusters in servomanipulator operation

Description: The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory is developing advanced teleoperator systems for maintenance of future nuclear fuel reprocessing facilities. Remote maintenance systems developed by the CFRP emphasize man-in-the-loop teleoperation. This paper reports the results of a recent experiment which investigated how users interact with a multi-degree-of-freedom servomanipulator. Principal components analysis performed on data collected during completi… more
Date: January 1, 1986
Creator: Draper, J.V.; Sundstrom, E. & Herndon, J.N.
Partner: UNT Libraries Government Documents Department
open access

Human factors in remote control engineering development activities

Description: Human factors engineering, which is an integral part of the advanced remote control development activities at the Oak Ridge National Laboratory, is described. First, work at the Remote Systems Development Facility (RSDF) has shown that operators can perform a wide variety of tasks, some of which were not specifically designed for remote systems, with a dextrous electronic force-reflecting servomanipulator and good television remote viewing capabilities. Second, the data collected during mock-up… more
Date: January 1, 1983
Creator: Clarke, M.M.; Hamel, W.R. & Draper, J.V.
Partner: UNT Libraries Government Documents Department
open access

The implications of force reflection for teleoperation in space

Description: This paper reviews previous research on teleoperator force feedback and reports results of a testing program which assessed the impact of force reflection on teleoperator task performance. Force reflection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force … more
Date: January 1, 1987
Creator: Draper, J.V.; Herndon, J.N. & Moore, W.E.
Partner: UNT Libraries Government Documents Department
open access

Periodic components of hand acceleration/deceleration impulses during telemanipulation

Description: Responsiveness is the ability of a telemanipulator to recreate user trajectories and impedance in time and space. For trajectory production, a key determinant of responsiveness is the ability of the system to accept user inputs, which are forces on the master handle generated by user hand acceleration/deceleration (a/d) impulses, and translate them into slave arm acceleration/deceleration. This paper presents observations of master controller a/d impulses during completion of a simple target ac… more
Date: January 1, 1994
Creator: Draper, J. V. & Handel, S.
Partner: UNT Libraries Government Documents Department
open access

Workload, flow, and telepresence during teleoperation

Description: There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion ex… more
Date: April 1996
Creator: Draper, J. V. & Blair, L. M.
Partner: UNT Libraries Government Documents Department
open access

Simulation analysis of control strategies for a tank waste retrieval manipulator system

Description: A network simulation model was developed for the Tank Waste Retrieval Manipulator System, incorporating two distinct levels of control: teleoperation and supervisory control. The model included six error modes, an attentional resource model, and a battery of timing variables. A survey questionnaire administered to subject matter experts provided data for estimating timing distributions for level of control-critical tasks. Simulation studies were performed to evaluate system behavior as a functi… more
Date: February 1, 1995
Creator: Schryver, J.C. & Draper, J.V.
Partner: UNT Libraries Government Documents Department
open access

Design of a multisystem remote maintenance control room

Description: The Remote Systems Development Section of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL) and Japan's Power Reactor and Nuclear Fuel Development Corporation (PNC) recently collaborated in the development of a control room concept for remote operations. This report describes design methods and the resulting control room concept. The design project included five stages. The first was compilation of a complete function list; functions are tasks performed by o… more
Date: January 1, 1988
Creator: Draper, J. V.; Handel, S. J.; Kring, C. T. & Kawatsuma, S.
Partner: UNT Libraries Government Documents Department
open access

Test bed control center design concept for Tank Waste Retrieval Manipulator Systems

Description: This paper describes the design concept for the control center for the Single Shell Tank Waste Retrieval Manipulator System test bed and the design process behind the concept. The design concept supports all phases of the test bed mission, including technology demonstration, comprehensive system testing, and comparative evaluation for further development and refinement of the TWRMS for field operations.
Date: February 1995
Creator: Sundstrom, E.; Draper, J. V. & Fausz, A.
Partner: UNT Libraries Government Documents Department
open access

High-definition television evaluation for remote handling task performance

Description: This paper describes experiments designed to evaluate the impact of HDTV on the performance of typical remote tasks. The experiments described in this paper compared the performance of four operators using HDTV with their performance while using other television systems. The experiments included four television systems: (1) high-definition color television, (2) high-definition monochromatic television, (3) standard-resolution monochromatic television, and (4) standard-resolution stereoscopic mo… more
Date: January 1, 1986
Creator: Fujita, Y.; Omori, E.; Hayashi, S.; Draper, J.V. & Herndon, J.N.
Partner: UNT Libraries Government Documents Department
open access

Effects of force reflection on servomanipulator task performance

Description: This paper reports results of a testing program that assessed the impact of force reflection on servomanipulator task performance. The testing program compared three force-reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to task components, and variability in forces during completion of represent… more
Date: January 1, 1986
Creator: Draper, J. V.; Moore, W. E.; Herndon, J. N. & Weil, B. S.
Partner: UNT Libraries Government Documents Department
open access

Expert operator preferences in remote manipulator control systems

Description: This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired c… more
Date: June 1, 1995
Creator: Sundstrom, E.; Draper, J.V.; Fausz, A. & Woods, H.
Partner: UNT Libraries Government Documents Department
open access

Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

Description: This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the pote… more
Date: June 1, 1995
Creator: Horschel, D.S.; Gibbons, P.W. & Draper, J.V.
Partner: UNT Libraries Government Documents Department
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Manipulator comparative testing program

Description: The Manipulator Comparative Testing Program examined differences among manipulator systems from the United States and Japan. The manipulator systems included the Meidensha BILARM 83A, the Model M-2 of Central Research Laboratories Division of Sargent Industries (CRL), and the GCA Corporation PaR Systems Model 6000. The site of testing was the Remote Operations Maintenance Demonstration (ROMD) facility, operated by the Fuel Recycle Division in the Consolidated Fuel Reprocessing Program at the Oa… more
Date: January 1, 1986
Creator: Draper, J. V.; Handel, S. J.; Sundstrom, E.; Herndon, J. N.; Fujita, Y. & Maeda, M.
Partner: UNT Libraries Government Documents Department
open access

Dual Arm Work Package performance estimates and telerobot task network simulation

Description: This paper describes the methodology and results of a network simulation study of the Dual Arm Work Package (DAWP), to be employed for dismantling the Argonne National Laboratory CP-5 reactor. The development of the simulation model was based upon the results of a task analysis for the same system. This study was performed by the Oak Ridge National Laboratory (ORNL), in the Robotics and Process Systems Division. Funding was provided the US Department of Energy`s Office of Technology Development… more
Date: February 1, 1997
Creator: Draper, J.V. & Blair, L.M.
Partner: UNT Libraries Government Documents Department
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