Quantifying operational constraints of low-latency telerobotics for planetary surface operations
Quantifying operational constraints of low-latency telerobotics for planetary surface operations
复制标题
量化行星表面操作的低延迟遥控机器人的操作限制
DOI：
10.1109/aero.2018.8396673
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
J. Burns
中科院分区：
文献类型：
--
作者：
Benjamin J. Mellinkoff;Matthew M. Spydell;W. Bailey;J. Burns
美国宇航局的太空发射系统（SLS）和猎户座载人飞船将在本世纪20年代初将人类送入月球空间，从而开始太空探索的新时代。美国宇航局计划使用猎户座载人飞船在地球和地月空间之间运送人类，那里将有一个被称为“深空门户”（DSG）的驻扎栖息地。接近月球表面允许DSG和表面资产之间的直接通信，这使得低延迟的远程机器人探索成为可能。虽然这种探索方法很有前途，但在用于空间探索飞行任务之前，必须在地球上充分探索操作限制。本文确定了两个限制空间探索使用低延迟表面遥操作机器人，并试图量化这些限制。与低延迟地面遥控机器人相关的一个限制是轨道指挥站和地面资产之间可用的带宽。可用带宽在运行期间会有所不同。因此，量化有效勘探所需的操作视频条件至关重要。我们设计了一个实验来量化有效探索所需的阈值帧速率。该实验通过低延迟表面遥控机器人在月球模拟环境中使用改进的商用现成（COTS）漫游车模拟地质勘探。该实验的结果表明，人类应该在每秒5帧的阈值帧速率以上操作。在一个单独但类似的实验中，我们在视频系统中引入了2.6秒的延迟。这种延迟重现了从地球指挥站在月球背面操作漫游车时存在的延迟条件。将该时间延迟与DSG（≤ 0.4秒）下远程操作的低延迟条件进行比较。该实验的结果显示，当延迟增加到2.6秒时，探索时间增加了150%。这表明这种延迟显著地使实时探索策略复杂化。
NASA's Space Launch System (SLS) and Orion crew vehicle will launch humans to cislunar space in the early 2020s 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. While this exploration method is promising, the operational constraints must be fully explored on Earth before being utilized on space exploration missions. This paper identifies two constraints on space exploration using low-latency surface telerobotics and attempts to quantify these constraints. One 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 modified commercial-off-the-shelf (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 (≤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.
影响因子：
2.6
作者：
Burns, Jack O.;Kring, David A.;Kasper, Justin
通讯作者：
Kasper, Justin