空间站机械臂操作绩效评价方法分析研究
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摘要
掌握空间站机械臂操作,对于未来我国空间站建设等载人航天任务具有重大的意义。而科学全面的绩效评价模型有助于提高航天员机械臂操作水平和训练效果。本文通过分析当前国际空间站机械臂任务应用和操作特点,归纳和总结了包括美国航空航天局(National Aeronautics and Space Administration,NASA),麻省理工学院(Massachusetts Institute of Technology,MIT)在内的空间机械臂操作绩效的评价方法,并讨论了空间站机械臂操作绩效评价方法的利弊。机械臂操作绩效可以结合教员主观评价与客观数据,并从生理、认知等多个层面、全面科学地进行评价。
The manipulator is of great importance for the construction of the future Chinese manned space station. A comprehensive performance evaluation model will be helpful to improve the operation skills and training efficacy of astronauts. In this paper,the application and operation features of the space manipulators in the International Space Station were analyzed and the performance evaluation methods on robotic arms in space station by National Aeronautics and Space Administration( NASA) and Massachusetts Institute of Technology( MIT) were summarized. Then the advantages and disadvantages of these methods were discussed. It is proposed that the future research may combine the subjective assessment of the instructors with the objective data and conduct a comprehensive evaluation from the physical and cognitive aspects etc.
The manipulator is of great importance for the construction of the future Chinese manned space station. A comprehensive performance evaluation model will be helpful to improve the operation skills and training efficacy of astronauts. In this paper,the application and operation features of the space manipulators in the International Space Station were analyzed and the performance evaluation methods on robotic arms in space station by National Aeronautics and Space Administration( NASA) and Massachusetts Institute of Technology( MIT) were summarized. Then the advantages and disadvantages of these methods were discussed. It is proposed that the future research may combine the subjective assessment of the instructors with the objective data and conduct a comprehensive evaluation from the physical and cognitive aspects etc.
引文
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[23]Dejong BP,Colgate JE,Peshkin MA.Improving teleoperation:reducing mental rotations and translations[C].IEEE International Conference on Robotics and Automation,New Orleans USA,2004:3708-3714.
[24]Jiang T,Wang C,Tian Z,et al.Study on synthetic evaluation of human performance in manually con-trolled spacecraft rendezvous and docking tasks[C].Digital Human ModelingThird International Conference,Orlando,2011:387-393.
[25]黄伟芬.中国航天员选拔训练回顾与展望[J].航天医学与医学工程,2008,21(3):175-181.Huang WF.Review and outlook of china’s astronaut selection and training[J].Space Medicine&Medical Engineering,2008,21(3):175-181.
[26]张宜静,吴斌,王一,等.航天操作复杂度模型中评价指标权重的确定[J].航天医学与医学工程,2008,21(3):252-256.Zhang YJ,Wu B,Wang Y,et al.Determination of index weights in the operation complexity model of spaceflight[J].Space Medicine&Medical Engineering,2008,21(3):252-256.
[2]Chen JY,Haas EC,Barnes MJ.Human performance issues and user interface design for teleoperated robots[J].Systems,Man,and Cybernetics,Part C:Applications and Reviews,IEEE Transactions on,2007,37(6):1231-1245.
[3]National Aeronautics and Space Administration.ISS Assembly:Canadarm2 and the Mobile Servicing System[EB/OL].http://www.nasa.gov/mission_pages/station/structure/elements/mss.html.
[4]Piedboeuf JC,De Carufel J,Aghili F,et al.Task verification facility for the Canadian special purpose dextrous manipulator[C].IEEE International Conference on Robotics and Automation,Detroit USA,1999:1077-1083.
[5]Nokleby SB.Singularity analysis of the Canadarm 2[J].Mechanism and Machine Theory,2007,42(4):442-454.
[6]Mcgregor R,Oshinowo L.Flight 6A:Deployment and checkout of the space station remote manipulator system(SSRMS)[C].Robotics and Automation in Space,St-Hubert Canada,2001:18-22.
[7]Rochlis JL.Human factors and telerobotics:Tools and approaches for designing remote robotic workstation displays[D].Boston:Massachusetts Institute of Technology,2001.
[8]Forman RE.Objective performance metrics for improved space telerobotics training[D].Boston:Massachusetts Institute of Technology,2011.
[9]Armstrong D,Gosling A,Weinman J,et al.The place of inter-rater reliability in qualitative research:an empirical study[J].Sociology,1997,31(3):597-606.
[10]Menchaca-Brandan M.Influence of spatial orientation and spatial visualization on space teleoperation performance[D].Boston:Massachusetts Institute of Technology,2007.
[11]Tomlinson ZA.Influence of spatial abilities on primary and secondary space telerobotics operator performance[D].Boston:Massachusetts Institute of Technology,2009.
[12]Pontillo TM.Spatial ability and handedness as potential predictors of space teleoperation performance[D].Boston:Massachusetts Institute of Technology,2010.
[13]Zak H,Das H.Towards a training methodology for skilled teleoperation[J].Systems,Man and Cybernetics,IEEE Transactions on,1995,25(2):313-327.
[14]Fry T,Schlegel R,Shehab RK.Developing metrics to evaluate NASA RMS training performance[C].In:Proceedings of the IIE Annual Conference,Gilliland:Institute of Industrial Engineers-Publisher,2003:p1.
[15]Bray TM,Shehab RL,Schlegel RE,et al.Effectiveness of 2-D views for 6-D robotics simulation maneuvers[C].//Proceedings of the Human Factorsa nd Ergonomics Society 47th Annual Meeting(CD-ROM).Santa Monica,CA:Human Factors and Ergonomics Society.2003.
[16]Lumelsky V.On human performance in telerobotics[J].IEEE Transactions on Man and Cybernetics Systems,1991,21(5):971-982.
[17]Lamb P,Owen D.Human performance in space telerobotic manipulation[C].The ACM symposium on Virtual reality software and technology,Monterey,USA:31-37.
[18]Akagi TM,Schlegel RE,Shehab RL,et al.Toward the construction of an efficient set of robot arm operator performance metrics[C].Proceedings of the Human Factors and Ergonomics Society Annual Meeting,2004:1194-1198.
[19]Khatib O,Kumar V,Pappas G.Experimental Robotics:The Eleventh International Symposium[M].Berlin:Springer,2009.
[20]Andersh J,Mettler B,Papanikolopoulos N.Experimental investigation of teleoperation performance for miniature rotorcraft[C].The combined 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference.Shanghai China,2009:6005-6010.
[21]Zhai S,Senders J W.Investigating coordination in multidegree of freedom control I:time-on-target analysis of 6 DOF tracking[C].Proceedings of the Human Factors and Ergonomics Society Annual Meeting,New York USA:SAGE Publications.1997:1249-1253.
[22]Zhai S,Milgram P.Quantifying coordination in multiple DOF movement and its application to evaluating 6 DOF input devices[C].In:Proceedings of the SIGCHI conference on Human factors in computing systems,New Jersey USA:AddisonWesley Publications.1998:320-327.
[23]Dejong BP,Colgate JE,Peshkin MA.Improving teleoperation:reducing mental rotations and translations[C].IEEE International Conference on Robotics and Automation,New Orleans USA,2004:3708-3714.
[24]Jiang T,Wang C,Tian Z,et al.Study on synthetic evaluation of human performance in manually con-trolled spacecraft rendezvous and docking tasks[C].Digital Human ModelingThird International Conference,Orlando,2011:387-393.
[25]黄伟芬.中国航天员选拔训练回顾与展望[J].航天医学与医学工程,2008,21(3):175-181.Huang WF.Review and outlook of china’s astronaut selection and training[J].Space Medicine&Medical Engineering,2008,21(3):175-181.
[26]张宜静,吴斌,王一,等.航天操作复杂度模型中评价指标权重的确定[J].航天医学与医学工程,2008,21(3):252-256.Zhang YJ,Wu B,Wang Y,et al.Determination of index weights in the operation complexity model of spaceflight[J].Space Medicine&Medical Engineering,2008,21(3):252-256.