Telepresence is achieved if the human operator can no longer differentiate whether the feedback to a teleoperation originates from technical means or from direct interaction with the environment. The goal of the thesis is the verification of the applicability of telepresence to on-orbit servicing (OOS), i.e. an unmanned servicing operation in space, teleoperated from ground in (near) real time. For that purpose, a test environment has been set up on ground, which involved the LRT ground station in Garching, Germany and the ESA ground station in Redu, Belgium. Both were connected via the geostationary ESA data relay satellite ARTEMIS. Utilizing the data relay satellite, a teleoperation was accomplished, in which the human operator as well as the (space) teleoperator was located on ground. The feasibility of telepresent OOS was evaluated, using different teleoperation test setups. Besides a virtual scenario, a robotic application was part of the setups and controlled by a human operator via the data relay satellite. The respective manipulation task was representative for OOS and supported (near) real time feedback from the haptic-visual workspace. The tests showed that complex manipulation tasks, necessary for OOS operations, can be fulfilled by utilizing geostationary data relay satellites. For verifying the applicability of telepresence to OOS, different evaluation methods were used. The properties of the space link were measured and related to subjective perceptions of human test subjects. The test subjects had to fulfill manipulation tasks, instructed by a psychologist. Their subjective feeling of immersion into the test environment has been evaluated and related to the quality of the link over time. The general feasibility of the OOS manipulation tasks under the influence of high round trip delays was evaluated. It could be shown that the concept of telepresence control is applicable to OOS operations. The human operator is in general capable of adapting to the delayed manipulation of the remote environment. The comparably high round trip delays, caused by the use of a data relay satellite, are influencing the performance of the teleoperation. However, it has been shown that it is possible to accomplish complex (near) real time OOS operations in virtual reality as well as by means of robotic components by using a geostationary satellite for data relay.
Ground verification of telepresence for on-orbit servicing
Bodenstation-Verifikation der Telepräsenz für On-Orbit-Dienste
2009
159 Seiten, Bilder, Tabellen, 128 Quellen
Hochschulschrift
Englisch
Dissertation , Bodenstation , Erdumlaufbahn , Operator (Bedienperson) , Rückkopplung , Verifikation , Echtzeitkommunikation , Echtzeitsteuerung und -regelung , Fernüberwachung , Telearbeit , unbemannte Station , geostationärer Satellit , Machbarkeitsstudie , Robotersteuerung , virtuelle Realität , Fernhandhabung , Manipulator
Ground verification of telepresence for on-orbit servicing
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