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 function of control level and error modes. The results provide important insights for development of waste retrieval manipulators.
Date: February 1, 1995
Creator: Schryver, J.C. & Draper, J.V.
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