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ANALOG-1 ISS - The first part of an analogue mission to guide ESA's robotic moon exploration efforts

Wormnes, Kjetil and Carey, William and Krueger, Thomas and Cencetti, Leonardo and den Exter, Emiel and Ennis, Stephen and Ferreira, Edmundo and Fortunato, Antonio and Gerdes, Levin and Hann, Lukas and Lombardi, Chiara and Luzzi, Erica and Martin, Sebastian and Massironi, Matteo and Payler, Samuel and Pereira, Aaron and Rossi, Angelo Pio and Pozzobon, Riccardo and Sauro, Francesco and Schoonejans, Philippe and van der Hulst, Frank P. J and Grenouilleau, Jessica (2021) ANALOG-1 ISS - The first part of an analogue mission to guide ESA's robotic moon exploration efforts. In: Global Space Exploration Conference (GLEX 2021). Global Space Exploration Conference (GLEX 2021), St Petersburg, Russia.

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Abstract

The METERON project is a European initiative to prepare for future human-robotic exploration missions to the Moon, Mars and other celestial bodies. The project aims to implement infrastructure and tools to test and evaluate communications, operations and robotic control strategies in the context of future exploration missions. It is in collaboration between three directorates of the European Space Agency (ESA); Human and Robotic Exploration (HRE), Technology, Engineering and Quality (TEC), Operations (OPS). This paper presents the first part of the on-going ANALOG-1 experiment which is the culmination of the METERON project, implementing the knowledge gained in the 12 distinct METERON experiments between 2011 and 2020. These all address aspects of teleoperating a robotic asset from an orbital platform, i.e. technical implementation, user interfaces, autonomy and operations. The ANALOG-1 technology demonstration and operations concept experiment is based upon the surface mission scenario segment of the notional EL3 sample return mission. This segment focuses on the control of a lunar surface robotic asset from the Earth and from the Lunar Gateway. In November 2019, the first part of this experiment was successfully completed from the ISS. It assessed the effectiveness of a state-of-the-art robotic control interface to control a complex mobile robot from orbit, as well as evaluating the scientific interactions, during robotic-assisted geology exploration, between crew in orbit and scientists on the ground. Luca Parmitano drove this robot in a lunar analogue site in the Netherlands, and controlled its arms, while he was on the ISS. For this experiment, a complex control station had been installed on the ISS, including a sigma.7 haptic device. This device allowed the astronaut to feel forces felt by the robotic arm. The experiment demonstrated the advantage of having an immersive control station and high level of robotic dexterity, with Luca finishing all his assigned and secondary geology targets ahead of time. The second part of Analog-1 extends the ISS experiment with a full ground-based analogue, in which further technical experiments and a full mission scenario will be played out. The analogue is in cooperation with the DLR ARCHES space demo mission, and includes a rover operations centre based at ESOC as well as an outdoor lunar analogue site on Mount Etna. The astronaut, in this case, is on ground. We expect to further demonstrate the advantages of a state-of-the art interface for both fully teleoperated and semi-autonomous rover and robotic arm control for lunar missions, in order to guide ESA's Moon exploration efforts.

Item URL in elib:https://elib.dlr.de/148192/
Document Type:Conference or Workshop Item (Speech)
Title:ANALOG-1 ISS - The first part of an analogue mission to guide ESA's robotic moon exploration efforts
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wormnes, KjetilUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Carey, WilliamUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Krueger, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Cencetti, LeonardoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
den Exter, EmielUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ennis, StephenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ferreira, EdmundoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Fortunato, AntonioUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gerdes, LevinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hann, LukasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lombardi, ChiaraUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Luzzi, EricaJacobs University Bremen, GermanyUNSPECIFIEDUNSPECIFIED
Martin, SebastianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Massironi, MatteoDipartimento di Geoscienze, Università di Padova, Padua, ItalyUNSPECIFIEDUNSPECIFIED
Payler, SamuelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pereira, AaronUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Rossi, Angelo PioJacobs University, BremenUNSPECIFIEDUNSPECIFIED
Pozzobon, RiccardoUniversità degli Studi di Padova, ItalyUNSPECIFIEDUNSPECIFIED
Sauro, FrancescoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schoonejans, PhilippeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
van der Hulst, Frank P. JUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Grenouilleau, JessicaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:June 2021
Journal or Publication Title:Global Space Exploration Conference (GLEX 2021)
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:robotics, teleoperation, haptics, geology, lunar, moon
Event Title:Global Space Exploration Conference (GLEX 2021)
Event Location:St Petersburg, Russia
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lii, Neal Yi-Sheng
Deposited On:11 Jan 2022 15:49
Last Modified:11 Jan 2022 15:49

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