Increasing the utilization of the ISS Mobile Servicing System through ground control

Rembala, Richard; Aziz, Sarmad

doi:10.1016/j.actaastro.2006.12.009

Cited by 10 publications

(12 citation statements)

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“…Scarce availability of on-orbit crew time has resulted in engineering support teams having to wait months before even simple trouble-shooting investigations could be scheduled and executed. Relying on the availability of on-orbit crew has been an impractical way of characterizing and maintaining the health of the SS-RMS [3]. The recent implementation of ground-based command and control of the SSRMS has provided an invaluable tool in supporting more efficient and timely engineering trouble-shooting.…”

Section: Reducing Mission Execution Overhead-remote Command and Contrmentioning

confidence: 99%

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Robotic assembly and maintenance of future space stations based on the ISS mission operations experience

Rembala

Ower

2009

Acta Astronautica

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Section: Reducing Mission Execution Overhead-remote Command and Contrmentioning

confidence: 99%

“…Ground control allows for the optimal separation of on-orbit crew and ground functions and saves significant on-orbit crew time [3].…”

Section: Reducing Mission Execution Overhead-remote Command and Contrmentioning

confidence: 99%

Robotic assembly and maintenance of future space stations based on the ISS mission operations experience

Rembala

Ower

2009

Acta Astronautica

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“…Ground control of the SSRMS was first performed in 2005, enabling valuable on-orbit crew time to be reallocated to more critical tasks and activities. Modification of the system architecture and operational concepts were required as well as the implementation of stringent safety requirements prior to allowing shared control of ISS robotic systems (Rembala & Aziz, 2007). The safety of planned ground operations and SSRMS motion trajectories was first analyzed through the use of validated simulators.…”

Section: Space Station Remote Manipulator System (Ssrms)mentioning

confidence: 99%

“…Detailed video surveys of the workspace surrounding the planned SSRMS trajectories were also performed to confirm that the actual environment matched the graphical models used in task simulations. One issue with commanding the SSRMS via ground control, which introduces additional complexity, is variable latency (approximately 3 to 10 s) in command and telemetry processing (Rembala & Aziz, 2007). To compensate for this latency, SSRMS ground control was limited to execution of automatic control sequences in either joint or Cartesian space.…”

Section: Space Station Remote Manipulator System (Ssrms)mentioning

confidence: 99%

Space Telerobotics

Fong¹,

Zumbado²,

Currie³

et al. 2013

Reviews of Human Factors and Ergonomics

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In this chapter, we survey the current state of the art in space telerobots. We begin by defining relevant terms and describing applications. We then examine the design issues for space telerobotics, including common requirements, operational constraints, and design elements. A discussion follows of the reasons space telerobotics presents unique challenges beyond terrestrial systems. We then present case studies of several different space telerobots, examining key aspects of design and human-robot interaction. Next, we describe telerobots and concepts of operations for future space exploration missions. Finally, we discuss the various ways in which space telerobots can be evaluated in order to characterize and improve performance. INTRoDUCTIoN Context and Motivation Future space missions in Earth orbit, to the moon, and to other distant destinations offer many new opportunities for exploration. However, astronaut time is always limited and some work is not feasible or efficient for humans to perform. Robots, however, can complement human explorers, performing work under remote control from Earth, orbit, or nearby habitats. A central challenge, therefore, is to understand how humans and robots can work efficiently and effectively together in order to maximize performance, improve scientific return, and increase mission success. Telerobots can take various forms and do a variety of work to increase the productivity of space exploration. They are well suited to performing tasks (surveys, routine maintenance, etc.) that are tedious, highly repetitive, dangerous or long duration, such as advance scouting, site preparation, and habitat construction that help prepare for future human activity. Telerobots can also assist humans side by side during activities and perform follow-up work, completing tasks started by humans or executing tasks that complement and supplement prior human work.

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“…The availability of Dextre extends the physical reach of the Canadarm2, increases viewing capabilities with the five additional cameras, and provides more options for transferring and pre-positioning hardware for maintenance operations. Once Dextre has been commissioned for operations [1], the MSS will be able to perform end-to-end maintenance on EVR-compatible hardware (without EVA intervention) controlled by the on-orbit crew or groundbased operators [2,3].…”

Section: Introductionmentioning

confidence: 99%