Arm Slave Operation
An Arm Slave is operated in a semi-master–slave system. This is an operating method which has the slave arm (machine motion) trace the movements of the master arm (pilot motion). The Arm Slave is not a complete master-slave piloting arrangements, as full motion tracing is impractical within the limited space of the cockpit. This limitation is solved by the Arm Slave amplifying the motion of the pilot. The "semi" designation of the piloting system refers to this machine-assisted motion management.
The simplest and most obvious aspect is the Bilateral Angle, or the BMSA. BMSA is the amplification factor of the master movement by the slave trace. With a BMSA of 3, a pilot motion of 30 degrees is amplified to 90 degrees. Lower BMSA values are used in training, and more accomplished pilots make use of higher values. The usual range is between 1.3 (training) to 2.4 (standard) to 3.5 (high).
While the Second Generation Arm Slaves were limited in joint flexibility and overall anatomy, Third Generation units are mechanically capable of motions difficult or impossible for humans. A full master slave system, perfectly tracing the motion of a pilot would be limited to the same capabilities of the pilot. The semi-master–slave operation, controlled by complex software systems commonly called motion managers are capable of translating pilot motion into maneuvers impossible by the human body.
Skilled pilots spend a significant amount of time in optimization and personalization of the these motion patterns. Arm Slave vetronics including the motion managers form a critical component of arm slave performance characteristics. The M9 AI systems are indispensable in controlling the Arm Slave, allowing the pilot to make use of the full capabilities of the craft.
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