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Design and implementation of a Packet Utilization Standard service for asynchronous robot communication

Ben Slimene, Imed Eddine (2023) Design and implementation of a Packet Utilization Standard service for asynchronous robot communication. Master's, University of Carthage.

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In the quest for reliable data exchange during space missions, this project is dedicated to designing and implementing an adaptable and reliable Packet Utilization Standard (PUS) service specifically tailored for On-Orbit Servicing (OOS) robots. The proposed solution aims to address the unique challenges faced in the demanding environment of space, such as varying mission requirements, real-time data processing, and dynamic communication conditions. By doing so, it seeks to optimize the way these robots communicate and interact with spacecraft and the mission control systems. In this project, our main achievement is the design and implementation of space packets compliant with the ECSS PUS standard, encompassing telemetry and telecommand functionalities for efficient data exchange in space missions. First, we designed the packet structures; then, we implemented the software to create the packets, and lastly, we created the service out of the packets. Of course, in addition to rigorous testing, we validated the accuracy and robustness of the implemented packets. Furthermore, the integration of the CANopen communication protocol within the ECSS PUS implementation facilitated real-time access to CANopen devices, significantly improving communication efficiency with external hardware components in the on-orbit servicing robot project. These developments will enable the monitoring and te control of the robots which will position OOS robots as great assets in advancing the capabilities of on-orbit servicing and maintenance, while also addressing the challenges posed by space debris and ensuring the sustainability and longevity of critical space assets.

Item URL in elib:https://elib.dlr.de/197302/
Document Type:Thesis (Master's)
Title:Design and implementation of a Packet Utilization Standard service for asynchronous robot communication
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:robotics, oos, ethercat, canopen, ecss pus
Institution:University of Carthage
Department:National Institute of Applied Sciences and Technology
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 - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Stelzer, Martin
Deposited On:21 Sep 2023 12:58
Last Modified:21 Sep 2023 12:58

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