Plug and Play - Technologies for Robotic Operations

Transcription

1 Plug and Play - Technologies for Robotic Operations Paul Steele 03/04/2015 Issue/Revision: 1.0 Reference: Status: Issued

2 METERON = Multi-Purpose End-To-End Robotic Operations Network Reference scenario International Space Station as test bed planet orbiter orbiter Paul Steele ESOC 03/04/2015 Slide 2 Earth planet (Earth)

3 How to compare technologies Re-use modular reference simulator and control system Ground Systems Test and Validation Infrastructure GSTVi -> METERON Operations Environment MOE Agnostic software hosted on virtual machines Develop APIs Feedback Paul Steele ESOC 03/04/2015 Slide 3

4 Operations and Communications (OPSCOM-2) Paul Steele ESOC 03/04/2015 Slide 4

5 Supervisory Control (SUPVIS-E) Paul Steele ESOC 03/04/2015 Slide 5

6 Enabling technologies and standards Paul Steele ESOC 03/04/2015 Slide 6

7 Relation to CCSDS Standards MO SM&C BB Parameter Service Action Service Aggregation Service Parameter Service Action Service Aggregation Service CCSDS SM&C WG MO COM BB Activity Status Service Archive Service Activity Status Tracking Service Archive Service Broker Service CCSDS Telerobotics WG Envisaged MO Services Envisaged CCSDS Telerobotic Services (Green Book) File Management Service Video Management Service Robotic Motion Control Service Manipulation Service Imaging Service Authorization Service CCSDS Paul Steele ESOC 03/04/2015 Slide 7 ESA Unclassified Releasable to the Public METERON Implementation

8 CCSDS Mission Operations Services The METERON Robotic Services can be grouped as follows: Generic services Utility Services a. Parameter Service b. Action Service c. Activity Status Tracking Service a. Authorisation Service b. File Management Service Telerobotic Operations Specific Services a. Motion Control Services b. Imaging Service c. Manipulation Service d. Localisation Service CCSDS Telerobotics Working Group CCSDS Spacecraft Monitoring and Control Working Group Paul Steele ESOC 03/04/2015 Slide 8

9 CCSDS Delay/Disruption Tolerant Network - Why not use Internet Protocols? Compared to Internet, efficient space protocols need to overcome: A: Asymetric bit data rates B: Bit error rates (high in space from radiation and sun bursts) C: intermittent link Connectivity (not always a line of sight) D: long transmission Delay Time One dataset, repeat attempts source MCC Comm Link 1 OFF ON OFF ON OFF ON ON OFF With IP: User must wait for a continuous end-to-end path. Earth Station Comm Link 2 Relay Comm Link 3 Surface Station OFF OFF ON ON OFF ON ON OFF ON ON OFF ON OFF ON OFF OFF Data are discarded by IP routers if next hop is not available Comm Link 4 OFF ON OFF ON OFF ON OFF ON OFF destination Rover Paul Steele ESOC 03/04/2015 Slide 9 9

10 CCSDS DTN with intermittent connections Store and Forward with Custody Transfer (hop-by-hop): Delegation of retransmission responsibility to an accepting node DTNs overcome the Internet assumptions of intermittent connectivity, long or variable delay, asymmetric data rates - utilising store-and-forward messaging ( ABCD-problems ) Four datasets With DTN: Data are held at DTN routers and continue to destination when next hop is available. source destination MCC Comm Link 1 Earth Station Comm Link 2 Relay Comm Link 3 Surface Station Comm Link 4 Rover OFF ON OFF ON OFF ON ON OFF OFF ON ON OFF ON ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF ON OFF ON OFF ON OFF ON OFF In stressed communications environments: Increased VOLUME of data, delivered FASTER, i.e. higher GOODPUT and lower LATENCY Paul Steele ESOC 03/04/2015 Slide 10

11 b) Custody transfer (1/3) ISS Bundle sent space to ground, custody signal returned to previous node Ground Paul Steele ESOC 03/04/2015 Slide 11

12 b) Custody transfer (2/3)?? ISS Bundle sent space to ground but lost on transfer Custody timeout Packet lifetime Ground Paul Steele ESOC 03/04/2015 Slide 12

13 c) Multipath routing (1/3) ISS Bundle taking alternative route based on: Physical availability of route Estimated transport time on route Contact graph routing Node A Node B Node C Paul Steele ESOC 03/04/2015 Slide 13

14 b) Multipath routing (2/3) ISS TTL=800 Bundle taking alternative route based on: Physical availability of route Estimated transport time on route Contact graph routing Node A OWLT=200 OWLT=1000 Node B Node C OWLT=300 Paul Steele ESOC 03/04/2015 Slide 14

15 c) Multipath routing (3/3) ISS Bundle taking alternative route based on: Physical availability of route Estimated transport time on route Contact graph routing Node A A <-> C available from GMT xxx A <-> B <-> C available from GMT yyy Node B Node C Paul Steele ESOC 03/04/2015 Slide 15

16 Plug and play METERON infrastructure Experiment content definition Scenario definition Robotics systems datapack PI ground segment description Test reports EIP Integrated schedule ISS ground segment Generic experiment Mission control system (ground) Robotic control system (ISS) Voice infrastructure Rover interface (ground) SITH X Communications protocols Software Documents Paul Steele ESOC 03/04/2015 Slide 16 Operations products ELIOS MOE ELIOS MOPS VoCS TS ION 2.3 ION 3.2 DTN2 X CCSDS SIS-DTN, CFDP, SM&C, Telerobotics Working Groups

17 Kuka operations using services Paul Steele ESOC 03/04/2015 Slide 17

18 Key Points 1. Enabling technologies and standards for human/robotic missions a. DTN (various implementations), RAPID, Prox-1, CFDP, ROS b. Services (various implementations but CCSDS based) c. GSTVi customised as METERON Operations Environment System of systems Deployable Reconfigurable Ingest network data, HNS from orbiter/other assets Multiple rovers/landers 2. Goal based commanding, telerobotics, distributed ops, interoperability 3. OPSCOM-1 (2012), OPSCOM-2 (2014), SUPVIS-E (2015) Paul Steele ESOC 03/04/2015 Slide 18

19 Questions? Backup slides: a. DTN stack b. Service adapter c. METERON future experiments Paul Steele ESOC 03/04/2015 Slide 19

20 DTN Stack Paul Steele ESOC 03/04/2015 Slide 20

21 Service adapter Paul Steele ESOC 03/04/2015 Slide 21

22 METERON Experiment Series Short Title of Experiment OPSCOM-1 OPSCOM-2 SUPVIS-E HAPTICS-1 Summary Description Communications set-up and first DTN flight demo (COMPLETED) Validation of communications and operations systems (utilising Eurobot) via DTN, using specific ground infrastructure (COMPLETED) Supervisory control of Eurobot, enhanced network capabilities First-time demonstration of force-reflection to take place within a microgravity experiment. In-orbit calibration of Exo joints, body-grounded tests OPSCOM-3 HAPTICS-2 Use of European DTN / MPCC for sequential Eurobot operation First time demonstration of a closed bilateral control loop with real-time force-reflection between the ISS and a small robotic joint located on Earth by the Astronaut, with real-time video feedback. Demonstration of suitability of the Russian Kontur System (low-latency link) INTERACT SUPVIS-JUSTIN COM4HAP-1 COM4HAP-2 EXO-1 EXO-2 EXO-3 ANALOG-1 Haptics control of arm and rover; development of control strategies and algorithms Supervisory control of Justin Demonstration of ESTRACK + Kontur comms links Demonstration of complete comms chain Exo control of LWR in TRH lab Exo control of Justin (inclu. Supervisory tasks) Exo control of ISS-based Robonaut (TBC) End-to-end exploration scenario with Eurobot The series of experiments will culminate in ANALOG-1 which will consist of the simulation of an end-to-end exploration scenario with Eurobot located at an analogue site, being controlled from the ISS. Paul Steele ESOC 03/04/2015 Slide 22