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→ LASER GUIDANCE Embedded lazer tool support To visually support the astronaut when performing the mechanical alignment during the peg-in-hole assembly task, a laser has been embedded within the tool. When hovering over the hole, the laser will be invisible indicating that the connection can be attempted. The Laser creates an artificial depth impression by a dedicated depth-cue. This allows executing such complex 3D tasks without requiring a dedicated stereo 3D video system, which would consume excessive data bandwidth. * *
→ SPACE TO GROUND Satellite communications Tracking and Data Relay Satellite System (TDRSS) As a complicating factor, the signals between the astronaut and the robot must travel via a dedicated and highly complex network of satellites in geo-synchronous orbit. The signals will travel from the International Space Station via NASA’s TDRSS to ground facilities in the U.S. From there, they cross the Atlantic Ocean to the ESA facilities in Noordwijk, the Netherlands. Forces between the robot and its environment, as well as video and status data, travels back to the graphical user interface and the haptic joystick. In this round-trip, all signals cover a distance of nearly 90.000 km. The resulting round trip time delay approaches one second in length. ESA developed a model-mediated control approach that allows to perform forcefeedback between distributed systems up to multiple seconds of time delay, without a noticeable reduction of performance, compared with directly coupled systems. Despite the fact that this smart software and control methods enable the astronaut to perform such tasks on Earth, research suggests that humans can only handle signal transmission time delays of up to about three seconds for control tasks that require hand-eye coordination. In theory this would allow haptic control from Earth to robotic systems on as far away as the surface of our Moon. International Space Station (ISS) ESTEC Noordwijk, Netherlands NASA Ground Terminals New Mexico, USA 90.000 km
Page 1 and 2: → INTERACT SPACE EXPERIMENT Onlin
Page 3 and 4: → THE ASTRONAUT Astronaut Andreas
Page 5 and 6: → TECHNICAL FEATURES
Page 7: → AUGMENTED REALITY Virtual model
Page 11: telerobotics and haptics laboratory

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