Stoll, Enrico and Letschnik, Jürgen and Walter, Ulrich and Preusche, Carsten and Hirzinger, Gerd (2006) Concept of an Algorithm to Determine the Signal Delay Time for Telepresence Space Applications. In: Proc. of the IEEE Aerospace Conference. IEEE Aerospace Conference, 2006-03-04 - 2006-03-11, Big Sky, Montana (USA).
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Abstract
The vision1 of a space robot as an extended arm of the human operator on ground is a key component for onorbit robotic service missions. This concept of telepresence requires a high-quality sensor feedback from the space environment to the operator including stereo video and force-feedback. For the force feedback channel the knowledge of the signal delay time during operation is an important factor to increase the immersiveness of the system. In case of radio contact to space segments which are not in GEO, the signal delay time varies according to the distance between the spacecraft and the ground station. This paper proposes a method for deriving the required signal delay from the Doppler frequency shift alone which is readily available from the receiver since the actual signal delay is an input value for the control loop in the haptic channel.
Item URL in elib: | https://elib.dlr.de/46749/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||
Title: | Concept of an Algorithm to Determine the Signal Delay Time for Telepresence Space Applications | ||||||||||||||||||
Authors: |
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Date: | March 2006 | ||||||||||||||||||
Journal or Publication Title: | Proc. of the IEEE Aerospace Conference | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | No | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||
Status: | Published | ||||||||||||||||||
Keywords: | Telepresence, Telerobotic, Time-Delay, Space Communication | ||||||||||||||||||
Event Title: | IEEE Aerospace Conference | ||||||||||||||||||
Event Location: | Big Sky, Montana (USA) | ||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||
Event Dates: | 2006-03-04 - 2006-03-11 | ||||||||||||||||||
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 - Vorhaben ROKVISS (old) | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||
Deposited By: | Preusche, Carsten | ||||||||||||||||||
Deposited On: | 17 Jan 2007 | ||||||||||||||||||
Last Modified: | 12 Dec 2013 20:22 |
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