Fault Detection, Isolation and Recovery in the MMX Rover Locomotion Subsystem

In any mechatronic system, faults can occur. Likewise also in the MMX rover, which is a wheeled rover mutually developed by CNES (Centre national d'études spatiales) and DLR (German Aerospace Center), intended to land on Phobos. An essential part of the MMX rover is the locomotion subsystem which includes several sensors and eight motors actuating the four legs and the four wheels. In each of these components and their interfaces, there is a possibility that faults arise and lead to subsystem failures, which would mean that the rover cannot move anymore. To reduce this risk, the possible faults of the MMX locomotion subsystem were identified in a FMECA study and their criticality was classified, which is presented in here. During this examination, the criticality was graded depending on different mission phases. With the help of this study, the hardware, firmware and software design were enhanced. Fur- ther, certain fault detection, isolation and recovery strategies were implemented in the locomotion firmware and software as well as in the full rover software

Integrating clinical decision support systems for pharmacogenomic testing into clinical routine - a scoping review of designs of user-system interactions in recent system development

Background: Pharmacogenomic clinical decision support systems (CDSS) have the potential to help overcome some of the barriers for translating pharmacogenomic knowledge into clinical routine. Before developing a prototype it is crucial for developers to know which pharmacogenomic CDSS features and user-system interactions have yet been developed, implemented and tested in previous pharmacogenomic CDSS efforts and if they have been successfully applied. We address this issue by providing an overview of the designs of user-system interactions of recently developed pharmacogenomic CDSS. Methods: We searched PubMed for pharmacogenomic CDSS published between January 1, 2012 and November 15, 2016. Thirty-two out of 118 identified articles were summarized and included in the final analysis. We then compared the designs of user-system interactions of the 20 pharmacogenomic CDSS we had identified. Results: Alerts are the most widespread tools for physician-system interactions, but need to be implemented carefully to prevent alert fatigue and avoid liabilities. Pharmacogenomic test results and override reasons stored in the local EHR might help communicate pharmacogenomic information to other internal care providers. Integrating patients into user-system interactions through patient letters and online portals might be crucial for transferring pharmacogenomic data to external health care providers. Inbox messages inform physicians about new pharmacogenomic test results and enable them to request pharmacogenomic consultations. Search engines enable physicians to compare medical treatment options based on a patient’s genotype. Conclusions: Within the last 5 years, several pharmacogenomic CDSS have been developed. However, most of the included articles are solely describing prototypes of pharmacogenomic CDSS rather than evaluating them. To support the development of prototypes further evaluation efforts will be necessary. In the future, pharmacogenomic CDSS will likely include prediction models to identify patients who are suitable for preemptive genotyping

Driving in Milli-G: The Flight Model of the MMX Rover Locomotion Subsystem and its Integration & Testing in the Rover

IDEFIX is a 25 kg four-wheeled rover that will explore the surface of the Martian Moon Phobos in 2027. The rover is jointly developed by the German Aerospace Center (DLR) and the Centre National d'Etudes Spatiales (CNES) and will be brought to Phobos within the Japan Aerospace Exploration Agency's (JAXA) Martian Moon eXploration (MMX) mission. Being the world's first wheeled system to drive in milli-gravity, IDEFIX's locomotion deserves special attention. This paper gives an overview of the locomotion subsystem (LSS) of the rover, which is entirely developed and built by the Robotics and Mechatronics Center of DLR (DLR-RMC). A representative LSS, mounted on an IDEFIX prototype, is shown in Figure 1. The LSS is tailored to the needs for the IDEFIX rover and the most important, sizing challenges and functional requirements are summarized. It is then shown how the final flight model (FM) design answers to these requirements. The assembly, integration and testing (AIT) with respect to the LSS consists of several steps of integration and testing at different facilities as well as a comprehensive test sequence once the rover is mostly integrated. Since the LSS is an important, interconnected and the functionally most complex subsystem of the rover, some functionalities could only be tested once the LSS was integrated into IDEFIX. These AIT aspects are therefore summarized in this paper as well

Development and Evaluation of a Web-Based Paediatric Drug Information System for Germany

Background: Off-label use is frequent in paediatrics but that does not necessarily mean that the risk-benefit ratio is negative. Nevertheless, evidence-based data is essential for safe drug therapy. In Germany, there is no publicly available compendium providing transparent, evidence-based information for paediatric pharmacotherapy to date. This work describes the development of a web-based paediatric drug information system (PDIS) for Germany and its evaluation by health care professionals (HCP). Methods: Since 2012, a PDIS is being developed by the authors and is supported by the Federal Ministry of Health since 2016. Dosing recommendations were established based on systematic literature reviews and subsequent evaluation by clinical experts. The prototype was evaluated by HCP. Based on the results, the further development was concluded. Results: 92% of HCP believed that the PDIS could improve the quality of prescribing, as currently available information is deficient. Besides the license and formulations, dosing recommendations were the most relevant modules. A dosage calculator was the most wanted improvement. To facilitate sustainability of future development, a collaboration with the Dutch Kinderformularium was established. As of 2021, the database will be available to German HCP. Conclusion: The fundamentals for a German PDIS were established, and vital steps were taken towards successful continuation

Characterization of the MMX Rover Locomotion Flight Model for Check-Out and Parameterization

IDEFIX is a four-wheeled 25kg rover that is jointly developed and built by the French Centre National d'Etudes Spatiales (CNES) and the German Aerospace Center (DLR). It will be brought to the Martian Moon Phobos by the Japan Aerospace Exploration Agency (JAXA) as part of the Martian Moons eXploration (MMX) mission in 2027. IDEFIX's objectives are to scout the surface, demonstrate driving in milligravity and perform scientific measurements. To upright after landing on the surface, drive and align the rover to the sun, each wheel is mounted on a leg, which can be rotated full 360° in its respective shoulder joint. In previous publications, the development, flight design and qualification of the locomotion subsystem were presented. During the cruise phase there will be several health checks and - once landed on Phobos - the locomotion will be checkedout. To be able to analyze the health state quantitatively and parameterize the system properly, a good characterization of the system is important. The foundation of this characterization are tests and health-checks on the flight model (FM), as well as performance test results on the qualification model (QM). A selection of the post-processing and analysis of this measured data, that was done for the characterization of the Loco FM, is presented in this paper

MMX - development of a rover locomotion system for Phobos

The MMX mission (Martian Moons eXploration) is a robotic sample return mission of the JAXA (Japan Aerospace Exploration Agency), CNES (Centre National d'Etudes Spatiales ) and DLR (German Aerospace Center) for launch in 2024. The mission aims to answer the question on the origin of Phobos and Deimos which will also help to understand the material transport in the earliest period of our solar system and the most important question how was the water brought on Earth. Besides the MMX mothership (JAXA) which is responsible for sampling and sample return to Earth a small rover which is built by CNES and DLR shall land on Phobos for in-situ measurements similar to MASCOT (Mobile Asteroid Surface Scout) on Ryugu. The MMX rover is a four wheel driven autonomous system with a size of 41 cm x 37 cm x 30 cm and a weight of approx. 25 kg. Multiple science instruments and cameras are integrated in the rover body. The rover body is basically a rectangular box, attached at the sides are four legs with one wheel per leg. When the rover is detached from the mothership, the legs are folded together at the side of the rover body. When the rover has landed passively (no parachute, braking rockets) on Phobos, the legs are autonomously controlled to bring the rover in an upright orientation. One Phobos day lasts 7 earth hours, which gives for the total mission time of 3 earth months, the number of about 300 extreme temperature cycles. These cycles and the wide span of surface temperature between day and night are main design drivers for the rover. This paper gives a short overview on the MMX mission, the MMX rover and a detailed view on the development of the MMX rover locomotion subsystem