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A modular architecture for an interactive real-time simulation and training environment for satellite on-orbit servicing

Wolff, Robin and Preusche, Carsten and Gerndt, Andreas (2014) A modular architecture for an interactive real-time simulation and training environment for satellite on-orbit servicing. Journal of Simulation, 8 (1), pp. 50-63. Palgrave Macmillan. doi: 10.1057/jos.2013.10. ISSN 1747-7778.


Official URL: http://www.palgrave-journals.com/jos/journal/v8/n1/abs/jos201310a.html


Maintaining or repairing satellites in orbit is a delicate task that requires expert skills. The planning, training and analysis of on-orbit servicing (OOS) missions performed by astronauts or through remote operation using a robot is often time consuming and costly. Virtual Reality (VR) enables simulation and training in a flexible and safe environment. This paper describes an interactive real-time environment that supports a number of OOS tasks within an immersive VR environment. The system simulates the dynamic and kinematic behaviour of satellite components and provides photo-realistic visualization of satellite parts and the space environment. It integrates user interaction with haptic force feedback through a bi-manual haptic human machine interface, as well as simulates and interfaces to a humanoid robot for tele-operation.In order to provide a realistic experience at interactive frame rates, we propose a distributed system architecture, where the load of computing the physics simulation, haptic feedback and visualization of the complex scene is transferred to dedicated machines. The modular architecture is designed to allow the inclusion of further simulation processes. Several mechanisms for reducing the communication traffic have been implemented. This paper gives an overview of the system architecture, outlines the software implementation and documents an evaluation of the real-time performance of our system in detail. We describe how system performance was measured in terms of simulation timings and distribution load, as well as report on latencies at several stages. Results show that our distributed system is capable of providing visual and haptic feedback at high frame rates required for user interaction with end-to-end latencies of less than 8ms and 3 ms, respectively.

Item URL in elib:https://elib.dlr.de/84557/
Document Type:Article
Title:A modular architecture for an interactive real-time simulation and training environment for satellite on-orbit servicing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Gerndt, AndreasUNSPECIFIEDhttps://orcid.org/0000-0002-0409-8573UNSPECIFIED
Journal or Publication Title:Journal of Simulation
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 50-63
Publisher:Palgrave Macmillan
Keywords:man-machine systems; training; distribution; virtual reality, simulation, on-orbit servicing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Braunschweig
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Wolff, Dr Robin
Deposited On:11 Dec 2013 15:50
Last Modified:06 Nov 2023 15:07

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