Evaluation of Augmented Reality and Robot-assistance in Spacecraft AIV

Abstract

The prototype nature combined with the necessary high requirements towards quality make spacecraft Assembly, Integration and Verification (AIV) operations highly complex tasks that impart high workloads onto the operators. Implementing assistance systems like head-mounted Augmented Reality (AR) devices and industrial robots into the workflow could result in significant decreases in workload. Opening up the third dimension for information transport can lead to a more meaningful display of information. This can enable the operator to re-allocate cognitive capacities towards the task rather than understanding subpar presented information. Handling a spacecraft in six degrees of freedom within the work area is one of the major improvements that an industrial robot brings to the AIV environment. Current jigs and Mechanical Ground Support Equipment (MGSE) lack in flexibility and the individual adaption to the operator. Workload reduction and improved ergonomics could be the result of using the robot. This thesis aims to evaluate the impact of these two assistance systems with regards to workload and ergonomics. The current AIV environment was analyzed and test cases determined. Subsequently tools and test procedures were developed to evaluate the usage of AR and robot. The result was a test setup that analyzed the subjective workload using NASAs TLX questionnaire and the body posture with the help of an AI-based video analysis. Furthermore the time for task completion and the mistakes made are tracked and assessed. First test showed promising results. Body posture with regards to the torso angle showed an improvement after the robot was introduced. Mistakes made while using the traditional paper instructions were reduced significantly once the head-mounted AR device was used. A limited data set of six subjects however does not allow to produce statistically valid results. Once the digital clean room laboratory in the DLR Institute of Space Systems is operational this can however be remedied.