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Robust and modular on-board architecture for future robotic spacecraft

Jaekel, Steffen and Stelzer, Martin and Herpel, Hans-Juergen (2014) Robust and modular on-board architecture for future robotic spacecraft. In: IEEE Aerospace Conference, pp. 1-11. Aerospace Conference, 2014 IEEE, Big Sky, Montana, USA. doi: 10.1109/AERO.2014.6836357.

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Abstract

This paper presents a novel approach for future robotic spacecraft by utilizing a modular and robust software architecture based on the time and space partitioning (TSP) concept. Classic satellites are characterized by a strict separation between platform and payload subsystems, both in hardware resources as well as in control software. Novel space-robotic applications such as on-orbit servicing (OOS) feature dexterous robotic devices attached onto the satellite that impose a direct physical feedback on their floating base. Through the high degree of interdependencies, the whole satellite turns into a space robot. Hence, the robot becomes an integral part of the spacecraft itself and needs to be integrated into the existing control and operations approach. The developed embedded on-board framework represents a modular and robust control and communication environment that allows both classic satellite as well as real-time and autonomous robotic operations. The framework features an integral fault detection, isolation and recovery (FDIR) concept in order to prevent overall system shutdown upon single-point failure. Single software components reside in separate logical modules, i.e. partitions, in order to avoid resource violations. Upon critical failure, partitions can be restarted without detracting the rest of the system. By applying explicit time scheduling of partitions, system resources can be optimally distributed and deterministic behavior be achieved. Core system functionality has been implemented by ECSS-tested components that are configurable and thus re-usable over multiple missions. As demonstrator, a realistic on-orbit servicing simulation was set up that comprises autonomous target satellite capture and fault management. The presented architecture follows an integrated approach that is required for safely operating future robotic spacecraft. Through re-usability of software components, fewer resources for the implementation and verification process are - equired as only additional, mission-specific components need to be taken care of. Application developers can use the core functionality and communication API and concentrate on their own task at hand.

Item URL in elib:https://elib.dlr.de/91922/
Document Type:Conference or Workshop Item (Speech)
Title:Robust and modular on-board architecture for future robotic spacecraft
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Jaekel, SteffenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Stelzer, MartinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Herpel, Hans-JuergenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:March 2014
Journal or Publication Title:IEEE Aerospace Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/AERO.2014.6836357
Page Range:pp. 1-11
Status:Published
Keywords:application program interfaces;artificial satellites;autonomous aerial vehicles;embedded systems;failure analysis;fault diagnosis;formal verification;mobile robots;robust control;scheduling;software architecture;software reusability;ECSS-tested components;FDIR;OOS;TSP;artificial satellites;autonomous robotic operation;autonomous target satellite capture;communication API;communication environment;control software;core functionality;critical failure;deterministic behavior;embedded on-board framework;explicit time scheduling;fault detection isolation and recovery;fault management;hardware resource;logical module;mission-specific components;modular control;modular on-board architecture;on-orbit servicing;optimal system resource distribution;payload subsystem;realistic on-orbit servicing simulation;resource violation avoidance;robotic spacecraft;robust control;robust software architecture;single point failure;software component reusability;software components;space robot;time and space partitioning;verification process;Aerospace electronics;Computer architecture;Manipulators;Satellites;Software;Space vehicles
Event Title:Aerospace Conference, 2014 IEEE
Event Location:Big Sky, Montana, USA
Event Type:international Conference
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: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Jäkel, Steffen
Deposited On:08 Jan 2015 17:54
Last Modified:21 Jul 2023 11:23

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