{"projectId":10641,"project":{"projectId":10641,"title":"A Framework for telerobotics across the time delays of space","startDate":"2011-08-01","startYear":2011,"startMonth":8,"endDate":"2012-01-01","endYear":2012,"endMonth":1,"programId":160,"program":{"ableToSelect":false,"acronym":"ARC CIF","isActive":true,"description":"Through the Center Innovation Fund, the Space Technology Mission Directorate allocates a small portion of the NASA workforce and procurement budget to internal research and development to feed early stage innovation in technology and exploration. Activities with in the Center Innovation Fund are proposed and led by NASA scientists and engineers.  These activities and creative initiatives pursue emerging technologies that leverage talent and capabilities at the NASA Centers.    ","parentProgram":{"ableToSelect":false,"acronym":"CIF","isActive":true,"description":"<p>Through the Center Innovation Fund, the Space Technology Mission Directorate allocates a small portion of the NASA workforce and procurement budget to internal research and development to feed early stage innovation in technology and exploration.&nbsp;Activities with in the Center Innovation Fund are proposed and led by NASA scientists and engineers. &nbsp;These activities and creative initiatives pursue emerging technologies that leverage talent and capabilities at the NASA Centers.</p><p>&nbsp;</p><p>&nbsp;</p>","parentProgram":{"ableToSelect":false,"isActive":true,"description":"Catalyst is a portfolio of early stage programs that specialize in different innovation constituencies and mechanisms to push the state of the art in aerospace technology development","programId":92327,"responsibleMd":{"canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":""},"title":"Catalyst","manageGaps":false,"acronymOrTitle":"Catalyst"},"parentProgramId":92327,"programId":64,"responsibleMd":{"canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":""},"stockImageFileId":36643,"title":"Center Innovation Fund","manageGaps":false,"acronymOrTitle":"CIF"},"parentProgramId":64,"programId":160,"responsibleMd":{"organizationId":4875,"organizationName":"Space Technology Mission Directorate","acronym":"STMD","organizationType":"NASA_Mission_Directorate","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":"NASA Mission Directorate"},"responsibleMdOffice":4875,"stockImageFileId":36646,"title":"Center Innovation Fund: ARC CIF","manageGaps":false,"acronymOrTitle":"ARC CIF"},"description":"The proposal will develop a novel intelligent time-delay mitigation framework to be used in bilateral space telerobotics. This framework will consist of master (human) and slave (remote site robot) controllers and adaptive predictors developed for operation in the presence of time delay. The end product will lead the way for an \"Avatar\"-like telepresence in space, providing reliable and stable tactile feedback to the human user. Adaptive Posicast Control (APC) is designed for systems with input time delays. In prior work by co-I Yildiz and colleagues (Automatica, IEEE Transactions on Control Systems Technology, Control Engineering Practice) for automotive powertrain controls, APC delivered considerable performance improvements over the current standard non-adaptive, non-delay-compensating controllers. In this proposal APC will be implemented for the first time, as the controller for haptic (i.e., force) feedback regulation in a telerobotic system. This proposal will address the problem of time-delayed force reflection in the system, developed by PI Soloway and co-workers at NASA LaRC. Communication delays, the principal destabilizing factor in teleoperation, will be mitigated by the APC's time-delay compensation capability. Uncertainties such as actuator degradation, parameter changes due to temperature variation and component aging will be handled by the APC's ability to adapt to parametric uncertainties. The power of this intelligent time delay compensation framework will be demonstrated on a simplified bilateral experimental teleoperation testbed, where a virtual slave manipulator will be developed in simulation and a force reflecting joystick will be used as the master. Unlike earlier system identification methods such as extended Kalman Filter approaches, this approach does not need a rich input (persistent excitation) for parameter convergence and unlike passivity based approaches, this approach has explicit time delay compensation which has the potential to provide better performance.","releaseStatus":"Released","status":"Completed","viewCount":1417,"destinationType":[],"trlBegin":2,"trlCurrent":3,"trlEnd":3,"lastUpdated":"02/15/26","favorited":false,"detailedFunding":false,"projectContacts":[{"contactId":125994,"canUserEdit":false,"firstName":"Donald","lastName":"Soloway","fullName":"Donald I Soloway","fullNameInverted":"Soloway, Donald I","middleInitial":"I","email":"donald.i.soloway@nasa.gov","receiveEmail":"Subscribed_User","projectContactRole":"Principal_Investigator","projectContactId":541154,"projectId":10641,"programContactRolePretty":"","projectContactRolePretty":"Principal Investigator"}],"programContacts":[{"contactId":233104,"canUserEdit":false,"firstName":"John","lastName":"Nelson","fullName":"John C Nelson","fullNameInverted":"Nelson, John C","middleInitial":"C","email":"john.c.nelson@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Director","programContactId":228,"programId":160,"programContactRolePretty":"Program Director","projectContactRolePretty":""},{"contactId":159179,"canUserEdit":false,"firstName":"Gary","lastName":"Fleming","fullName":"Gary A Fleming","fullNameInverted":"Fleming, Gary A","middleInitial":"A","email":"gary.a.fleming@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Manager","programContactId":231,"programId":160,"programContactRolePretty":"Program Manager","projectContactRolePretty":""},{"contactId":176367,"canUserEdit":false,"firstName":"Harry","lastName":"Partridge","fullName":"Harry Partridge","fullNameInverted":"Partridge, Harry","email":"harry.partridge@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Manager","programContactId":106,"programId":160,"programContactRolePretty":"Program Manager","projectContactRolePretty":""}],"leadOrganization":{"organizationId":4941,"organizationName":"Ames Research Center","acronym":"ARC","organizationType":"NASA_Center","city":"Moffett Field","stateTerritoryId":59,"stateTerritory":{"abbreviation":"CA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"California","stateTerritoryId":59,"isTerritory":false},"country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"zipCode":"94035","projectId":10641,"projectOrganizationId":568848,"organizationRole":"Lead_Organization","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"Lead Organization","organizationTypePretty":"NASA Center"},"otherOrganizations":[{"organizationId":4941,"organizationName":"Ames Research Center","acronym":"ARC","organizationType":"NASA_Center","city":"Moffett Field","stateTerritoryId":59,"stateTerritory":{"abbreviation":"CA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"California","stateTerritoryId":59,"isTerritory":false},"country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"zipCode":"94035","projectId":10641,"projectOrganizationId":568848,"organizationRole":"Lead_Organization","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"Lead Organization","organizationTypePretty":"NASA Center"}],"primaryTx":{"taxonomyNodeId":11107,"taxonomyRootId":8817,"parentNodeId":11104,"code":"TX04.4.3","title":"Remote Interaction","description":"Remote interaction allows supervisory control of complex remote systems across a space in the presence of varying communication latencies, bandwidths, and dropouts.","exampleTechnologies":"Supervisory control, decision support tools for remote interaction","level":3,"hasChildren":false,"selected":false,"isPrimary":true,"hasInteriorContent":true},"primaryTxTree":[[{"taxonomyNodeId":11086,"taxonomyRootId":8817,"code":"TX04","title":"Robotic Systems","level":1,"hasChildren":true,"selected":false,"hasInteriorContent":true},{"taxonomyNodeId":11104,"taxonomyRootId":8817,"parentNodeId":11086,"code":"TX04.4","title":"Human and Robot Interaction","description":"Human and robot system interaction is crucial for future space exploration and must be effective, efficient, and natural. Space exploration requires human and system interaction across multiple spatial ranges, in the presence of multiple control loops, and over a wide range of time delays. A robot may be remotely operated by an astronaut in close proximity, by an astronaut in-orbit above a planetary surface, or by mission controllers on Earth with progressive reductions in situational awareness and response time. The ultimate efficacy of robotic systems depends greatly on the interfaces that humans use to operate the interfaces.","level":2,"hasChildren":true,"selected":false,"hasInteriorContent":true},{"taxonomyNodeId":11107,"taxonomyRootId":8817,"parentNodeId":11104,"code":"TX04.4.3","title":"Remote Interaction","description":"Remote interaction allows supervisory control of complex remote systems across a space in the presence of varying communication latencies, bandwidths, and dropouts.","exampleTechnologies":"Supervisory control, decision support tools for remote interaction","level":3,"hasChildren":false,"selected":true,"hasInteriorContent":true}]],"technologyOutcomes":[{"technologyOutcomeId":92428,"projectId":10641,"project":{"projectId":10641,"title":"A Framework for telerobotics across the time delays of space","startDate":"2011-08-01","startYear":2011,"startMonth":8,"endDate":"2012-01-01","endYear":2012,"endMonth":1,"programId":160,"program":{"ableToSelect":false,"acronym":"ARC CIF","isActive":true,"description":"Through the Center Innovation Fund, the Space Technology Mission Directorate allocates a small portion of the NASA workforce and procurement budget to internal research and development to feed early stage innovation in technology and exploration. Activities with in the Center Innovation Fund are proposed and led by NASA scientists and engineers.  These activities and creative initiatives pursue emerging technologies that leverage talent and capabilities at the NASA Centers.    ","parentProgram":{"ableToSelect":false,"acronym":"CIF","isActive":true,"description":"<p>Through the Center Innovation Fund, the Space Technology Mission Directorate allocates a small portion of the NASA workforce and procurement budget to internal research and development to feed early stage innovation in technology and exploration.&nbsp;Activities with in the Center Innovation Fund are proposed and led by NASA scientists and engineers. &nbsp;These activities and creative initiatives pursue emerging technologies that leverage talent and capabilities at the NASA Centers.</p><p>&nbsp;</p><p>&nbsp;</p>","parentProgram":{"ableToSelect":false,"isActive":true,"description":"Catalyst is a portfolio of early stage programs that specialize in different innovation constituencies and mechanisms to push the state of the art in aerospace technology development","programId":92327,"responsibleMd":{"canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":""},"title":"Catalyst","manageGaps":false,"acronymOrTitle":"Catalyst"},"parentProgramId":92327,"programId":64,"responsibleMd":{"canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":""},"stockImageFileId":36643,"title":"Center Innovation Fund","manageGaps":false,"acronymOrTitle":"CIF"},"parentProgramId":64,"programId":160,"responsibleMd":{"organizationId":4875,"organizationName":"Space Technology Mission Directorate","acronym":"STMD","organizationType":"NASA_Mission_Directorate","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":"NASA Mission Directorate"},"responsibleMdOffice":4875,"stockImageFileId":36646,"title":"Center Innovation Fund: ARC CIF","manageGaps":false,"acronymOrTitle":"ARC CIF"},"description":"The proposal will develop a novel intelligent time-delay mitigation framework to be used in bilateral space telerobotics. This framework will consist of master (human) and slave (remote site robot) controllers and adaptive predictors developed for operation in the presence of time delay. The end product will lead the way for an \"Avatar\"-like telepresence in space, providing reliable and stable tactile feedback to the human user. Adaptive Posicast Control (APC) is designed for systems with input time delays. In prior work by co-I Yildiz and colleagues (Automatica, IEEE Transactions on Control Systems Technology, Control Engineering Practice) for automotive powertrain controls, APC delivered considerable performance improvements over the current standard non-adaptive, non-delay-compensating controllers. In this proposal APC will be implemented for the first time, as the controller for haptic (i.e., force) feedback regulation in a telerobotic system. This proposal will address the problem of time-delayed force reflection in the system, developed by PI Soloway and co-workers at NASA LaRC. Communication delays, the principal destabilizing factor in teleoperation, will be mitigated by the APC's time-delay compensation capability. Uncertainties such as actuator degradation, parameter changes due to temperature variation and component aging will be handled by the APC's ability to adapt to parametric uncertainties. The power of this intelligent time delay compensation framework will be demonstrated on a simplified bilateral experimental teleoperation testbed, where a virtual slave manipulator will be developed in simulation and a force reflecting joystick will be used as the master. Unlike earlier system identification methods such as extended Kalman Filter approaches, this approach does not need a rich input (persistent excitation) for parameter convergence and unlike passivity based approaches, this approach has explicit time delay compensation which has the potential to provide better performance.","releaseStatus":"Released","status":"Completed","destinationType":[],"trlBegin":2,"trlCurrent":3,"trlEnd":3,"favorited":false,"detailedFunding":false,"programContacts":[{"contactId":176367,"canUserEdit":false,"firstName":"Harry","lastName":"Partridge","fullName":"Harry Partridge","fullNameInverted":"Partridge, Harry","email":"harry.partridge@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Manager","programContactId":106,"programId":160,"programContactRolePretty":"Program Manager","projectContactRolePretty":""},{"contactId":159179,"canUserEdit":false,"firstName":"Gary","lastName":"Fleming","fullName":"Gary A Fleming","fullNameInverted":"Fleming, Gary A","middleInitial":"A","email":"gary.a.fleming@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Manager","programContactId":231,"programId":160,"programContactRolePretty":"Program Manager","projectContactRolePretty":""},{"contactId":233104,"canUserEdit":false,"firstName":"John","lastName":"Nelson","fullName":"John C Nelson","fullNameInverted":"Nelson, John C","middleInitial":"C","email":"john.c.nelson@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Director","programContactId":228,"programId":160,"programContactRolePretty":"Program Director","projectContactRolePretty":""}],"endDateString":"Jan 2012","startDateString":"Aug 2011"},"technologyOutcomeDate":"2012-01-01","technologyOutcomePath":"Closed_Out","infoText":"Closed out","infoTextExtra":"Project closed out","isIndirect":false,"infusionPretty":"","isBiDirectional":false,"technologyOutcomeDateString":"Jan 2012","technologyOutcomeDateFullString":"January 2012","technologyOutcomePartnerPretty":"","technologyOutcomePathPretty":"Closed Out","technologyOutcomeRationalePretty":""}],"libraryItems":[{"files":[],"libraryItemId":354195,"title":"1676 Approval #17536","description":"<p>Ames Approval 11/26/14</p>","libraryItemType":"Story","projectId":10641,"isPrimary":false,"internalOnly":false,"publishedDateString":"","entryDateString":"01/22/25 01:10 AM","libraryItemTypePretty":"Story","modifiedDateString":"05/22/23 02:25 PM"}],"states":[{"abbreviation":"CA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"California","stateTerritoryId":59,"isTerritory":false}],"endDateString":"Jan 2012","startDateString":"Aug 2011"}}