Comparison between the astronaut and standard operators as telemetry monitor for effects of audio feedback system in the operation of the engineering test satellite VII

摘要

It is the most important that we perform safe and reliable teleoperation of space robots in the experiment/operation using real satellite. Therefore we have developed and used Audio Feedback System (AFS) that use some auditory information such as motorized sound and prerecorded voice converted from a part of telemetry information to reduce loads to operators of space robots of the Engineering Test Satellite VII (ETS-VII). We applied AFS to the experiment of Antenna Assembling Mechanism (AAM) which is experiment module of the Communications Research Laboratory (CRL) on the ETS-VII for testing the mechanism of assembling structures in space. Our purpose of this study is to assess effectiveness of AFS by using the Eye Mark Recorder (EMR) which records eye movements for the astronaut and two operators as telemetry monitor who observe telemetry data. In results of macro shape of 0-500 (deg/sec) velocity distribution graph, average fixation time, and average velocity of eye movement, we have got important points as followings: (1) the spectrum patterns of velocity of eye movement of specialist operator of controlling space robots like an astronaut are significantly differed from other two operators, (2) the spectrum patterns of velocity of eye movement of specialist operator and nonexpert operator are not affected of AFS, (3) the spectrum patterns of velocity of eye movement of well-trained expert operator was similar to specialist operator with AFS and similar to nonexpert operators without AFS, (4) average fixation time of specialist operator was not effected by AFS, average fixation time of well-trained expert operator, nonexpert operator became long without AFS support.