The Operational Control Interface (OCI) was designed for the operators to use during nominal control of Ranger TSX. It provides easy access to the more important functions required for task completion. Although a minimal amout of system monitoring and contigency analysis is included, any involved system monitoring should be done with the Engineering Control Interface (ECI).
The OCI is based of the system status tree located in the center of the screen. Five boxes represent the major systems on Ranger TSX: Video Manipulator (VID), Left Dexterous Manipulator (DXL), Bus Systems (BUS), Right Dexterous Manipulator (DXR), and the Positioning Leg (PXL). Each panel consists similar information. The BUS system differs slightly and the border panel buttons alon the periphery of each system panel are different. A screenshot of the entire tree and the DXR system status panel is given below.
Note: The Bus system summary differs from the other panels. No control power is used, a safety power replaces the arm power, and the border panel buttons are distributed. Those button are pressed to open the specified panel towards the closest corner .The corner then lights up showing that the displayed panel belongs to the DMU. In the figure to the left, the lower right shows that the IO panel will be displayed in the lower right corner of the OCI, and that the IO panel belongs to the BUS system
|Figure 2: System Status Tree Panels||
Border Panel buttons
These small buttons allow the operator to click on them to bring auxiliary panels to the screen. The panel will open next to the button pressed.
AC Arm Control Mode panel
CP Cartesian Position panel
JT Joint Angles panel
ER Error Handler panel
EE End Effector Task panel
FT Force Torque Sensor panel
GS Graphical Summary panel
BM Boundary Management panel
IO Input Device panel
DM DMS Control panel
The title on the newly opened panel will be the same as the names above but with the system code prepended. Therefore clicking on the JT button in the DXR system will open a panel named 'DXR Joint Angles'.
System Status Border
The frame around each system indicates what its current status is. This is independent of who has command authority. If a manipulator is active, it does not mean that the operator can control it; some other control station may have command authority over it.
Green Active, the manipulator can be commanded to move.
Blue Pending, the manipulator is not fully active and cannot be commanded to move yet.
Grey Inactive, the manipulator is currently powered down.
Red Error, an error has occurred and the arm cannot be commanded until that condition has been addressed.
Yellow/Green flashing Warning, although the manipulator can be commanded to move an condition has occurred that the control station suggests the operator may wish to investigate
Arm Control Indicator
This will light up when a command requesting that arm to move has occurred.
The Arm Control option menu has the following choices
FCS The removes the current holder of command authority and forcibly gives authority to the fight control station authority.
FCS HC This allows the arm to be controlled by the FCS with the hand controllers. The hand controllers can control only one arm at time. Any arm previously using this mode will be updated to FCS only, allowing the FCS to retain command authority.
Track This option is only allowed if the FCS already has command authority of the arm. Another menu allows the operator to designate an arm that the controlled manipulator will match. The manipulator will match relative position movement of another manipulator (i.e. the VID could track the DXR, and as the DXR moves forward the VID will move forward the same amount). Although the position of the manipulator tracks another, an input device can still control rotation of a tracking manipulator.
Empty This removes the current holder of command authority, freeing the system for another control station to take over.
Blocked This removes the current holder of command authority and prevents any other control station from gain authority of that system.
GCS_124 This is an example of additional entries, which identify a ground control station with its id. This option removes the current holder of command authority and forcibly gives authority to the specified control station.
Other GCS options can be available.
This text field indicates if any boundary management violation has occurred.
Active The arm is free to move, no boundary management violation has occurred.
Position The arm has passed through one of the boundary management no fly zones. The positioning leg will need to be used to pull the system back until the violating point has reentry free space.
Velocity The manipulator was traveling to fast and tripped a velocity violation.
Torque The end effector as provided more torque than what is permissible.
Open Gripper The systems has detected the gripper opening while not in an allowable task zone.
To startup and control a manipulator the following steps must be done in sequential order:
Control Power Button and indicator
This button is used to toggle the control power relay of the arm. The indicator reports the current status of that relay.
Safe Radio Button
When the control power is turn on a series of computer self tests occur, if they succeed the manipulator is placed in safe mode. During operations, the operator can activate this button to return the manipulator into safe mode.
Ops Radio Button
When in safe mode, the operator can hit this button to place the vehicle in operations mode. The Safe and Ops buttons are radio buttons; only one can be on at a time. Therefore the manipulator can't be both in safe and operations mode.
Enable Button and indicator
Once the arm is in operations mode, the operator can toggle this button to enable/disable the arm. The indicator reports the current status of the arm.
Arm Power Button and indicator
Finally, power to the actuators of the manipulator can be toggled using this button. The indicator reports whether the manipulator is currently powered or not.
This button will instantly send a command that places all Ranger TSX systems in safe mode. This button can be used on any control station, although not monitoring stations, and does not require command authority.
Change Controller to include a None Radio Button.
|Figure 5: Arm Control Modes Corner Panel||
Controller radio buttons
These radio buttons designate which on board arm controller is currently commanding the specified manipulator.
None- This option indicates that no controller is being used, the arm will not move without a controller.
Joint This will allow the operator to directly or indirectly control each joint on the manipulator.
Cartesian This option activates inverse kinematic control of the end point of the manipulator.
Admittance This option uses force torque sensor readings to modify the inverse kinematic control of the arm, useful for contact operations. The option menu below the admittance radio button sets which admittance mode is currently being used.
Control Mode radio buttons
These radio buttons designate how the specified arm will be controlled. The available options are dependent on with Controller mode the operator is using.
Manual The operator controls the manipulator directly using an input device or the Joint Angles area. The toggle button to the right yield two options
RR Resolved Rate, the input device controls the end of the manipulator by commanding velocity of the tip.
CP Cartesian Position, the input device controls the end of the manipulator by providing updates to the desired position and orientation of the tip.
Auto The operator controls the manipulator indirectly by running a preprogrammed trajectory or requesting a smooth motion to a single waypoint. The toggle button to the right has two options
CS Control Station, the control station sends a message to run a preplanned trajectory.
WayPt Waypoint, the operator can use the Joint Angles area or the Cartesian Position area to send the manipulator to a single designated position.
Track The manipulator will match relative position movement of another manipulator( i.e. the VID could track the DXR, and as the DXR moves forward the VID will move forward the same amount). Although the position of the manipulator tracks another, an input device can still control rotation of a tracking manipulator.
Frame radio buttons
These radio buttons designates the Cartesian frame of reference of the tool tip of the specified arm.
Base This frame is relative to the base of the manipulator module of TSX.
Tool This frame is the local end effector frame.
Shuttle This frame matches the Orbiter coordinate system.
Panel This frame is relative to the task panel
Camera This frame is aligned with the view of the video camera on the VID.
This group of objects is used to monitor and control the position of the tool tip of the specified manipulator.
After changes have been made to the Cartesian Position Components, this button will cause the arm to move the new desired position.
The operator specifies the number of seconds the manipulator will take to arrive to the new desired position.
Time Passed Pie Chart
The round object below the time input displays the percent time complete for the currently running trajectory. The pie filles the entire circle when the trajectory is complete.
Cartesian Position Components "Fwd","Right", ...
The right most fields specifies the actual Cartesian position of the tool tip in the frame designated in the Frame radio buttons. The light gray field allows the operator in input the desired location of the tool tip in reference to the appropriate Frame. The increment and decrement buttons update the desired field depending on which mouse button clicked the button (left mouse = 1 m/10 deg, middle mouse = 0.1 m/ 1 deg, right mouse = 0.01 m/0.1 deg). Note updating the input field directly or by using the increment/decrement buttons causes no change the manipulator until the Trigger button is pressed.
This group of objects is used to monitor and control the individual joints on the specified manipulator.
This button activates the current trajectory.
Traj # Input
The operator can type in this field to indicate an appropriate preplanned trajectory.
Trajectory Menu "No Trajectory"
This menu allows the operator to select from a list of preplanned trajectories. This chosen trajectory 's id will be updated to the Traj # Input.
Individual Joint Angles "0","1",...
The right most input field shows actual joint angle telemetry. The light gray input field indicates the desired joint angle. When Controller is in "Joint" mode the operator can type the desired joint angle and hit return to directly control the joint. The increment and decrement buttons move the desired joint by a set amount depending on which mouse button was used to click the button (left mouse = 10 degrees, middle mouse = 1 degree, and right mouse = 0.1 degree).
This panel lists the errors, warnings, and other information coming from the data management system. The operator can use the different title buttons to filter and sort through this information.
The indicators on the far left of the browser shows the Error Type in a color code for quick identification
Time Filter Menu
This menu allows the operator to choose specific time to investigate as well as sort the messages according to the time they arrived.
Error Type Filter Menu
This menu allows the operator to filter out the severity of the messages or sort by them.
Error Code Filter Menu
This menu allows the operator to filter and locate a specific error or sort by error ids.
Where Filter Menu
This menu allows the operator to filter which computer sent the message or sort by computers.
Module Filter Menu
This menu allows the operator to filter out which software module sent the message or sort by them.
This is the detailed info about the message sent.
This buttons will clear all current messages within the browser.
This group of objects is used to monitor and control the end effector on the specified manipulator. For the different actions of the end effector to become active, such as opening a gripper, the end effector must be in the appropriate area. The Task Boundary Zones help the operator to move to the areas where these actions are allowed.
End Effector menu "SPAR"
This menu is used to choose the appropriate end effector. This menu is only used internally to the control station. This does not affect Ranger TSX in any way, i.e. this does not physically change out end effector.
These indicators lights up when that end effector action is allowed.
These buttons actuate each degree of freedom on the end effector by opening, closing or turning the tool drive.
DOF Torque Value Slider
This gives an idea of the amount of torque driven through that tool drive.
Task Boundary Zones
One of the task elements is graphically portrayed showing the different boundary management bubbles allowing certain actions. Each bubble can be clicked on to determine how far the current end effector is from the specified bubble.
This group of objects is used to monitor the force torque sensor within the wrist of one of the dexterous manipulators.
Loop Active button
This button is used to activate the admittance loop on board the vehicle.
Null Forces button
This button is used to null the forces and torques on the arm.
These value sliders show the current forces and torques registered on the sensor.
This TBD panel will by used to convey overall position information of the manipulators.
This TBD panel will indicate how each object tracked by boundary management is near the no fly zones. This can be used to keep a manipulator from entering the no fly zone, as well as assist in backing out when the no fly zone has been violated.
This area allows the user to monitor the commands generated from using an input device. The six value sliders show the Cartesian commands being sent to the vehicle. Either resolve rates (using non-dimensional velocity rates from 1 to 1) or absolute Cartesian position ( in meters and degrees) will be displayed.
Arm menu 'None'
This menu indicates which manipulator the input device is being used to control. This menu can be used to select a different manipulator to control, as long as the FCS has command authority of that arm.
This button will zero out the hand controllers, this can be used to remove a displacement bias over time.
This button can be used to cycle the hand controller, thus restarting that input device.
Hand Controller buttons
This group of indicators show which hand controller buttons are being activated. They can also be used directly to simulate a button press. Note: The functions labeled on the buttons are given as a placeholder only.
This panel allows the operator to monitor and control different aspects of the data management system.
DMS Reset button
This button allows the operator to cycle the DMS.
Three heartbeats can be monitored. The DMS Main and Monitor CPU along with the Flight Communications Hub (FCH) indicators will light up when their heartbeat is present.
Power Relays buttons and indicators
Four different relays can be toggled on this panel powering the safety bus, the lights, the video, and other bus systems. The indicator next to the buttons shows the current state of the power relays.
Induced Time Delay input
This input box allows the operator to input a time delay into the control station. All non-safety commands are held into a buffer before sent through the communications.