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The JPL/KSC telerobotic inspection demonstrationAn ASEA IRB90 robotic manipulator with attached inspection cameras was moved through a Space Shuttle Payload Assist Module (PAM) Cradle under computer control. The Operator and Operator Control Station, including graphics simulation, gross-motion spatial planning, and machine vision processing, were located at JPL. The Safety and Support personnel, PAM Cradle, IRB90, and image acquisition system, were stationed at the Kennedy Space Center (KSC). Images captured at KSC were used both for processing by a machine vision system at JPL, and for inspection by the JPL Operator. The system found collision-free paths through the PAM Cradle, demonstrated accurate knowledge of the location of both objects of interest and obstacles, and operated with a communication delay of two seconds. Safe operation of the IRB90 near Shuttle flight hardware was obtained both through the use of a gross-motion spatial planner developed at JPL using artificial intelligence techniques, and infrared beams and pressure sensitive strips mounted to the critical surfaces of the flight hardward at KSC. The Demonstration showed that telerobotics is effective for real tasks, safe for personnel and hardware, and highly productive and reliable for Shuttle payload operations and Space Station external operations.
Document ID
19900012996
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Mittman, David (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Bon, Bruce (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Collins, Carol (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Fleischer, Gerry (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Litwin, Todd (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Morrison, Jack (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Omeara, Jacquie (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Peters, Stephen (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Brogdon, John (NASA John F. Kennedy Space Center Cocoa Beach, FL., United States)
Humeniuk, Bob (NASA John F. Kennedy Space Center Cocoa Beach, FL, United States)
Date Acquired
September 6, 2013
Publication Date
May 1, 1990
Publication Information
Publication: NASA, Goddard Space Flight Center, The 1990 Goddard Conference on Space Applications of Artificial Intelligence
Subject Category
Cybernetics
Accession Number
90N22312
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Related Records

IDRelationTitle19910035677Collected WorksSpace Applications of Artificial Intelligence; 1990 Goddard Conference, Greenbelt, MD, May 1, 2, 1990, Selected Papers
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