LIBRARYWe offer this reading list for Exploration Telerobotics Symposium participants. These published references present some contemporary, as well as historical thinking on the use of telepresence for space exploration. We encourage you to at least thumb through these. Perhaps good airplane reading.
This is a recent study of the price of latency and the notion of cognitive horizons with regard to space exploration. The idea of on-orbit telerobotics as a general exploration strategy is suggested.
The potential of lunar surface telerobotic control from Earth-Moon Lagrange points is assessed. This kind of work is seen not only as enhancing lunar surface telerobotic operations, but as a near term validation of techologies and operations concepts that are extendable to more distant destinations.
The conceptual design for the Human Exploration using Real-time Robotic Operations (HERRO) strategy is summarized. The HERRO study has been focused on on-orbit telerobotic control of Mars surface robots. This paper summarized the work of an extensive multi-year study on the HERRO concept.
The HERRO strategy is broadened into to planetary mission concepts. One for Mars, and one for Venus; The latter would be impractical for a crewed surface mission.
Basanez, L.and Suarez, R. 2009. Teleoperation.Handbook of Automation. Springer.
This is a good overview of teleoperation, including historical background, general principles, and applications. The chapter is largely focused on *telemanipulation*, but is a good intro.
Sheridan, T. 1993. Space Teleoperation Through Time Delay: Review and
Prognosis. IEEE Transactions on Robotics and Automation 9(5).
Hard to believe this paper is almost 20 years old already. Still considered to be the summary reference on time delay and *telemanipulation*. Does a good job of highlighting the manual control issues.
Fong, T., and Thorpe, C. 2001.Vehicle Teleoperation Interfaces. Autonomous Robots 11(1).
Somewhat dated survey of remote *vehicle* user interfaces. It provides an overview of some approaches for dealing with teleoperation *without* manipulation.
Ma, R., and Kaber, D. 2005. Presence, Workload and Performance Effects of
Synthetic Environment Design Factors. Int. Journal of Human-Computer
An excellent study of the relationship between the sense of "presence";, cognitive workload, and task performance. Evidence indicates that immersiveness (of viewpoint) and auditory cuing significantly influence the sense of subjective presence and perceptions of workload. The study also provided further evidence of signifiant relationship between presence and workload, but no evidence of a correlation of objective presence and performance.
Riley, J., Kaber, D., and Draper, J. 2004. Situation Awareness and Attention Allocation Measures for Quantifying Telepresence Experiences in Teleoperation. Human Factors and Ergonomics in Manufacturing 14(1).
The motivation for this research was to establish an objective measure of telepresence and investigate the relationship between telepresence and teleoperation performance.
Ellis, S. 1996. Presence of Mind... a Reaction to Thomas Sheridan's "Musings on Telepresence", Presence 5(2).
This paper is a good starting point for a discussion on the "value of telepresence". Steve argues two key things: (1) the design of a teleoperation or virtual environment system should generally focus on the efficient; communication of causal interaction; and (2) the sense of presence, that is of actually being at the simulated or remote workplace, is of *secondary* importance.
Sheridan, T. 1994. Further Musings on the Psychophysics of Presence. IEEE Conference on Systems, Man, and Cybernetics.
This is an extension of Sheridan's earlier paper (1993) which considered alternative meanings and significance of "presence", the experience of "being there"", commonly called "telepresence" in the case of remote control or teleoperation, and called "virtual presence" in the case of computer-generated simulation.