Low-latency telerobotics can enable more intricate surface tasks on extraterrestrial planetary bodies than has ever been attempted. For humanity to create a sustainable lunar presence, well-developed collaboration between humans and robots is necessary to perform complex tasks. This paper presents a methodology to assess the human factors, situational awareness (SA) and cognitive load (CL), associated with teleoperated assembly tasks. Currently, telerobotic assembly on an extraterrestrial body has never been attempted, and a valid methodology to assess the associated human factors has not been developed. The Telerobotics Laboratory at the University of Colorado-Boulder created the Telerobotic Simulation System (TSS) which enables remote operation of a rover and a robotic arm. The TSS was used in a laboratory experiment designed as an analog to a lunar mission. The operator's task was to assemble a radio interferometer. Each participant completed this task under two conditions, remote teleoperation (limited SA) and local operation (optimal SA). The goal of the experiment was to establish a methodology to accurately measure the operator's SA and CL while performing teleoperated assembly tasks. A successful methodology would yield results showing greater SA and lower CL while operating locally. Performance metrics showed greater SA and lower CL in the local environment, supported by a 27% increase in the mean time to completion of the assembly task when operating remotely. Subjective measurements of SA and CL did not align with the performance metrics. Results from this experiment will guide future work attempting to accurately quantify the human factors associated with telerobotic assembly. Once an accurate methodology has been developed, we will be able to measure how new variables affect an operator's SA and CL to optimize the efficiency and effectiveness of telerobotic assembly tasks.

中文翻译：

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一种评估与月球遥控组装任务相关的人为因素的方法

低延迟遥控机器人可以在外星行星体上实现比以往任何时候都更复杂的表面任务。为了让人类创造一个可持续的月球存在，人类和机器人之间发展良好的合作对于执行复杂的任务是必要的。本文提出了一种评估与遥控装配任务相关的人为因素、态势感知 (SA) 和认知负荷 (CL) 的方法。目前，从未尝试过在外星体上进行遥控机器人组装，并且尚未开发出评估相关人为因素的有效方法。科罗拉多大学博尔德分校的遥控机器人实验室创建了遥控机器人模拟系统 (TSS)，该系统可以远程操作漫游车和机械臂。TSS 用于实验室实验，旨在模拟月球任务。操作员的任务是组装无线电干涉仪。每个参与者在远程遥控（有限SA）和本地操作（最优SA）两种条件下完成了这项任务。该实验的目标是建立一种方法，以在执行遥控装配任务时准确测量操作员的 SA 和 CL。一个成功的方法将产生显示在本地运行时更大的 SA 和更低的 CL 的结果。性能指标显示本地环境中的 SA 更大，CL 更低，远程操作时完成组装任务的平均时间增加了 27%。SA 和 CL 的主观测量与性能指标不一致。该实验的结果将指导未来尝试准确量化与遥控机器人组装相关的人为因素的工作。一旦开发出准确的方法，我们将能够测量新变量如何影响操作员的 SA 和 CL，以优化遥控机器人装配任务的效率和有效性。