Issues associated with telerobotic systems in space

Research issues in using telerobotics in space are discussed. Included is a review of previous research in space telerobotics and the results of several telerobotics experiments

Quantifying Operational Constraints of Low-Latency Telerobotics for Planetary Surface Operations

NASA's SLS and Orion crew vehicle will launch humans to cislunar space to begin the new era of space exploration. NASA plans to use the Orion crew vehicle to transport humans between Earth and cislunar space where there will be a stationed habitat known as the Deep Space Gateway (DSG). The proximity to the lunar surface allows for direct communication between the DSG and surface assets, which enables low-latency telerobotic exploration. The operational constraints for telerobotics must be fully explored on Earth before being utilized on space exploration missions. We identified two constraints on space exploration using low-latency surface telerobotics and attempts to quantify these constraints. A constraint associated with low-latency surface telerobotics is the bandwidth available between the orbiting command station and the ground assets. The bandwidth available will vary during operation. As a result, it is critical to quantify the operational video conditions required for effective exploration. We designed an experiment to quantify the threshold frame rate required for effective exploration. The experiment simulated geological exploration via low-latency surface telerobotics using a COTS rover in a lunar analog environment. The results from this experiment indicate that humans should operate above a threshold frame rate of 5 frames per second. In a separate, but similar experiment, we introduced a 2.6 second delay in the video system. This delay recreated the latency conditions present when operating rovers on the lunar farside from an Earth-based command station. This time delay was compared to low-latency conditions for teleoperation at the DSG ($\leq$0.4 seconds). The results from this experiment show a 150% increase in exploration time when the latency is increased to 2.6 seconds. This indicates that such a delay significantly complicates real-time exploration strategies.Comment: 10 pages, 8 figures, Proceedings of the IEEE Aerospace Conference, Big Sky, MT. arXiv admin note: text overlap with arXiv:1706.0375

A web-based teleoperative mobile robotic system : Master of Engineering in Information Engineering at Massey University, Albany, Auckland, New Zealand

With the rapid development of internet technology, it becomes real that human beings can access, modify and control a remote hardware device via internet connection. Such remote operations can replace the human to be present at a dangerous or unreachable place or can make as many as possible users to access the hardware in different places at a low cost. The thesis research was aimed at developing a web based mobile robot control framework for education purpose. It should be composed of a mobile robot. Http server, dynamic user interface and video server. With it users can view and control the real robot via a normal web browser and can choose to run either simulation or the real robot. This is done by setting up operational parameters via a friendly GUI (graphic user interface). Users also can upload and compile their own C code to control the robot and get back the running results. The main objectives of this thesis research are hardware upgrading for Nomadic Super Scout mobile robot and web based php programming. For the first objective, the onboard PC was replaced by a laptop that is remotely placed and connected to the robot control system via Bluetooth wireless. The Nserver for robot simulation was set up in the Linux operating environment. For the second objective, the software programming was focused on building a web control platform which should be user friendly. An Apache server was developed where PHP program was used for the user interface. The main advantage of using PHP is that it does not need to install or download any software or script to get access to the remote robot via a normal web browser on any operation like windows or Linux. The web-based mobile robot system was tested using two different cases. One case demonstrated how the user specifies a set of motion parameters of the robot that is programmed to perform a wall-following behaviour. The other demonstrated how the user uploads a collision avoidance program to run the robot that is placed among obstacles. Both case studies were performed in real environments and the results proved the success of the developed web-based robotic system

Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described

Space robotics: Recent accomplishments and opportunities for future research

The Langley Guidance, Navigation, and Control Technical Committee (GNCTC) was one of six technical committees created in 1991 by the Chief Scientist, Dr. Michael F. Card. During the kickoff meeting Dr. Card charged the chairmen to: (1) establish a cross-Center committee; (2) support at least one workshop in a selected discipline; and (3) prepare a technical paper on recent accomplishments in the discipline and on opportunities for future research. The Guidance, Navigation, and Control Committee was formed and selected for focus on the discipline of Space robotics. This report is a summary of the committee's assessment of recent accomplishments and opportunities for future research. The report is organized as follows. First is an overview of the data sources used by the committee. Next is a description of technical needs identified by the committee followed by recent accomplishments. Opportunities for future research ends the main body of the report. It includes the primary recommendation of the committee that NASA establish a national space facility for the development of space automation and robotics, one element of which is a telerobotic research platform in space. References 1 and 2 are the proceedings of two workshops sponsored by the committee during its June 1991, through May 1992 term. The focus of the committee for the June 1992 - May 1993 term will be to further define to the recommended platform in space and to add an additional discipline which includes aircraft related GN&C issues. To the latter end members performing aircraft related research will be added to the committee. (A preliminary assessment of future opportunities in aircraft-related GN&C research has been included as appendix A.

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Freedom space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the seventh in a series of progress updates and covers the period between April 1, 1988 and September 30, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station Freedom efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station Freedom program and serve as a highly visible stimulator, affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Freedom study contractors. It also describes research in progress, and it makes assessments of the advancement of automation and robotics technology on the Freedom space station

An intelligent, free-flying robot

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base

Real-time graphic simulation for space telerobotics applications

Designing space-based telerobotic systems presents many problems unique to telerobotics and the space environment, but it also shares many common hardware and software design problems with Earth-based industrial robot applications. Such problems include manipulator design and placement, grapple-fixture design, and of course the development of effective and reliable control algorithms. Since first being applied to industrial robotics just a few years ago, interactive graphic simulation has proven to be a powerful tool for anticipating and solving problems in the design of Earth-based robotic systems and processes. Where similar problems are encountered in the design of space-based robotic mechanisms, the same graphic simulation tools may also be of assistance. The capabilities of PLACE, a commercially available interactive graphic system for the design and simulation of robotic systems and processes is described. A space-telerobotics application of the system is presented and discussed. Potential future enhancements are described