EnvironmentPerceptionsensors" \isensorsTestbeds, such as camera and lidar, are important technologies for increasing automation in space robotics applications, but they also provide a significant difficulty in terms of system verificationVerification, validationValidation \b and optimization. Often, required system tests in dynamic operational environments are either less realistic (e.g. downscaled mock-ups in laboratory environments) or enabled too late (i.e. during the real mission in space). To allow for early and continuous system tests during development, we propose the use of Digital Twins and Hybrid Testbeds (HTBs), which enable a seamless transition from a first digital prototype to the final real system. To this end, real and simulated components are combined based on availability or necessity to allow for simulation-based testing throughout the development process. In this article, we introduce the overall concept of HTBs as well as selected functionalities and applications of HTBs. This includes essentials of physical sensor simulation using ray tracing and decomposition of simulation tasks based on data parallelism. As a result, not only reliable but also real-time-capable HTBs are realized, which are applied for open-loop as well as closed-loop testing of real software and hardware components. We present the benefits of HTBs applied for the development, testing and optimization of a lidar sensor that is used for automation of Rendezvous- and Docking (RvD) emphasizing the importance of HTBs for already completed as well as currently planned missions, such as MarsMars" \i Sample ReturnSample Return" \i.


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    Titel :

    Hybrid Testbeds with a Focus on Sensors in Space Robotics Applications


    Beteiligte:
    Yan, Xiu Tian (Herausgeber:in) / Visentin, Gianfranco (Herausgeber:in) / Thieling, Jörn (Autor:in) / Roßmann, Jürgen (Autor:in)

    Erschienen in:

    Space Robotics ; Kapitel : 14 ; 305-330


    Erscheinungsdatum :

    12.12.2024


    Format / Umfang :

    26 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch