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Software Architecture and Design of the Kontur-2 Mission

Stelzer, Martin and Birkenkampf, Peter and Brunner, Bernhard and Steinmetz, Bernhard-Michael and Vogel, Jörg and Kühne, Stefan (2016) Software Architecture and Design of the Kontur-2 Mission. In: IEEE Aerospace Conference. Aerospace Conference, 2017 IEEE, 04.-11. März 2017, Big Sky, Montana, USA.

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Abstract

This paper describes the software architecture and design of the space segment, communication and ground segment software of the Kontur-2 project, which contributed to the realization of telepresent planetary exploration. The main research objectives in Kontur-2 were the development and in-flight verification of a space qualified two degree of freedom (DoF) force-feedback joystick (RJo) inside the Zvezda Service Module of the International Space Station (ISS), the implementation of telepresence technologies and the study of human performance when controlling a force feedback joystick in microgravity. The project was conducted from 2012 to 2015 by a consortium consisting of the German Aerospace Center (DLR), the Russian Federal Space Agency (ROSCOSMOS), The Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), S. P. Korolev Rocket and Space Corporation Energia (RSC ”Energia”) and the Yuri A. Gagarin State Scientific Researchand- Testing Cosmonaut Training Center (GCTC). The DLR conducted two sets of experiments in which a cosmonaut on ISS used RJo to perform different tasks with robots located on-ground. The first set was conducted with a two DoF robot equipped with a camera system, a task board and torque sensors that allowed the cosmonaut to perceive forces caused by contacts with the environment. For the second set of experiments we used a humanoid robot to perform a tele-handshake and a cooperative task between the cosmonaut on ISS and colleagues at RTC in St. Petersburg. To realize these experiments, the consortium developed onboard and on-ground software which will be described in this paper. The space segment software consists of the control software for RJo and user interfaces on a laptop to guide the cosmonaut efficiently through the experiments. We designed a state machine for these user interfaces to capture state changes during the experiment execution. This way we provided only relevant contextual information to the cosmonaut. On RJo, we deployed a component framework combining a data-centric architecture with a CCSDS Space Packet interface. Additionally, we designed the communication software for supporting a direct multi-channel connection between ground control and ISS using our own S-band radio equipment. During contact to ISS, the ground operators used the ground segment software at DLR for experiment support, supervision, maintenance and data logging. The visual feedback from the camera system required by the cosmonaut to perform the experiments was provided by a lowlatency video stream through a communication channel with very restricted bandwidth. During 23 experiment sessions in 2015, the Kontur-2 software formed the basis of the successful completion of the experiments. Their results contributed to the fields of telepresence technologies and human factors.

Item URL in elib:https://elib.dlr.de/109949/
Document Type:Conference or Workshop Item (Speech)
Title:Software Architecture and Design of the Kontur-2 Mission
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stelzer, MartinMartin.Stelzer (at) dlr.deUNSPECIFIED
Birkenkampf, PeterPeter.Birkenkampf (at) dlr.deUNSPECIFIED
Brunner, BernhardBernhard.Brunner (at) dlr.deUNSPECIFIED
Steinmetz, Bernhard-MichaelMichael.Steinmetz (at) dlr.deUNSPECIFIED
Vogel, JörgJoerg.Vogel (at) dlr.dehttps://orcid.org/0000-0003-4399-719X
Kühne, StefanStefan.Kuehne (at) dlr.deUNSPECIFIED
Date:21 October 2016
Journal or Publication Title:IEEE Aerospace Conference
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Accepted
Keywords:software architecture, Kontur-2, telepresence, force-feedback, joystick
Event Title:Aerospace Conference, 2017 IEEE
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Dates:04.-11. März 2017
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Stelzer, Martin
Deposited On:23 Dec 2016 10:00
Last Modified:31 Jul 2019 20:07

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