A cross-country teleprogramming experiment

The teleprogramming system is a supervisory control approach to time delayed teleoperation that incorporates predictive graphics and reactive skills to accomplish dexterous manipulation tasks in the presence of significant time delay. This paper presents an experimental effort to validate the teleprogramming system using the GRASP Laboratory of the University of Pennsylvania as the operator station and the TROPICS Laboratory of the Jet Propulsion Laboratory as the remote site. The teleprogramming experiment involved operator supervisory control of a robot performing puncture and slice operations on the thermal blanket securing tape of a satellite repair mission sub-task This experiment was successfully performed in August, 1994 using the Internet as the sole medium of communication. During experimentation, messages experienced time-varying time delay between three and fifteen seconds with an average delay of approximately six seconds.