Accession Number : ADA323367

Title :   A Reliability Study of a Teleoperated Robotic System with Application to the Next Generation Munitions Handling System.

Descriptive Note : Master's thesis,

Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH

Personal Author(s) : Rummer, Matthew J.

PDF Url : ADA323367

Report Date : MAR 1997

Pagination or Media Count : 143

Abstract : The United States Air Force is currently developing an Advanced Technology Demonstrator (ATD) for the Next Generation Munitions Handling System (NGMH). The NGMH/ATD system is being designed at Oak Ridge National Laboratory as a teleoperated robotic manipulator. In this research, a reliability model for a general telerobotic manipulator is developed including: (1) human, (2) software, (3) hardware, and (4) kinematic components. Each of these components contributes towards the reliability of the system, where reliability is defined as the probability of the end-effector of the manipulator being within a certain error bound. The model provides a comparative measure of reliability based on a combination of two underlying models. A semi-Markov model is used for the human, software, and hardware components, while the kinematic reliability estimates are obtained through a separate simulation. The reliability model developed is not intended to be a predictive model, rather to provide a means of comparing different configurations of a telerobotic system.

Descriptors :   *ROBOTICS, *SYSTEMS ENGINEERING, *TELEOPERATORS, KINEMATICS, COMPUTER PROGRAMS, SIMULATION, MEASUREMENT, AIR FORCE RESEARCH, MODELS, DEMONSTRATIONS, THESES, ESTIMATES, RELIABILITY, ERRORS, AMMUNITION, HANDLING, MARKOV PROCESSES.

Subject Categories : Logistics, Military Facilities and Supplies
      Ammunition and Explosives

Distribution Statement : APPROVED FOR PUBLIC RELEASE