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Ground verification of the feasibility of telepresent on-orbit servicing

Stoll, Enrico and Walter, Ulrich and Artigas, Jordi and Preusche, Carsten and Kremer, Philipp and Hirzinger, Gerd and Letschnik, Jürgen and Pongrac, Helena (2009) Ground verification of the feasibility of telepresent on-orbit servicing. Journal of Field Robotics, 26 (3), pp. 287-307. ISSN 1556-4959.

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Official URL: http://portal.acm.org/citation.cfm?id=1527173

Abstract

In an ideal case telepresence achieves a state in which a human operator can no longer differentiate between an interaction with a real environment and a technical mediated one. This state is called transparent telepresence. The applicability of telepresence to on-orbit servicing (OOS), i.e., an unmanned servicing operation in space, teleoperated from ground in real time, is verified in this paper. For this purpose, a communication test environment was set up on the ground, which involved the Institute of Astronautics (LRT) ground station in Garching, Germany, and the European Space Agency (ESA) ground station in Redu, Belgium. Both were connected via the geostationary ESA data relay satellite ARTEMIS. Utilizing the data relay satellite, a teleoperation was accomplished in which the human operator as well as the (space) teleoperator was located on the ground. The feasibility of telepresent OOS was evaluated, using an OOS test bed at the Institute of Mechatronics and Robotics at the German Aerospace Center (DLR). The manipulation task was representative for OOS and supported real-time feedback from the haptic-visual workspace. The tests showed that complex manipulation tasks can be fulfilled by utilizing geostationary data relay satellites. For verifying the feasibility of telepresent OOS, different evaluation methods were used. The properties of the space link were measured and related to subjective perceptions of participants, who had to fulfill manipulation tasks. An evaluation of the transparency of the system, including the data relay satellite, was accomplished as well.

Document Type:Article
Title:Ground verification of the feasibility of telepresent on-orbit servicing
Authors:
AuthorsInstitution or Email of Authors
Stoll, EnricoInstitute of Astronautics (LRT) Technische Unversität München Garching
Walter, UlrichInstitute of Astronautics (LRT) Technische Unversität München Garching
Artigas, JordiUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Kremer, PhilippUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Letschnik, JürgenLSE Space Engineering & Operations AG Wessling
Pongrac, HelenaHuman Factors Institute University of the Bundeswehr Neubiberg
Date:March 2009
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:26
Page Range:pp. 287-307
Series Name:Special Issue on Space Robotics
ISSN:1556-4959
Status:Published
Keywords:feasibility of telepresent on-orbit servicing
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:15 Jan 2010 08:47
Last Modified:12 Dec 2013 20:51

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