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首页> 外文会议>55th International Astronautical Congress 2004 vol.11 >CONCEPT OF OPERATION FOR GROUND CONTROL OF CANADA'S MOBILE SERVICING SYSTEM (MSS)
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CONCEPT OF OPERATION FOR GROUND CONTROL OF CANADA'S MOBILE SERVICING SYSTEM (MSS)

机译：用于加拿大移动服务系统（MSS）地面控制的操作概念

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The Mobile Servicing System (MSS) is Canada's contribution to the International Space Station (ISS). The MSS is used to perform ISS assembly operations as well as routine maintenance and video inspection tasks. The design of the MSS, which was based on the operational history of the shuttle's robotic arm, required commands that initiate motion to be issued via physical switches and hand-controllers on the Robotics Workstation (RWS) inside the US Laboratory module of the ISS. This limited commanding ability of the flight control team on the ground to non-motion commands; such as power-up and power-down, video system setup, and non-motion troubleshooting / diagnostic operations. With the increased demand for crew time, and the complexity and long durations of robotics operations anticipated with the launch of the Special Purpose Dexterous Manipulator (SPDM), ground control of ISS robotics was proposed to reduce the crew workload. The purpose of ground control is to permit the flight control team to perform routine maneuvers, surveys, and checkout tasks from the ground thereby freeing the crew to perform higher priority scientific and research experiments. This paper will present the concept of operations developed to address the system design and safety issues associated with MSS ground control. The challenges of operating the MSS from the ground stem from lack of continuous communication between the Mission Control Center (MCC) and the ISS as well as the latencies associated with commands and telemetry processing. The concept of operations presented in this paper is based on removing the ground operator from the closed control loop of the MSS and limiting all ground control maneuvers to pre-planned automatic trajectories. This represents a departure from the current MSS operational practices and requires the development of new techniques to perform free space maneuvers and contact operations while maintaining operator situational awareness. The paper will describe the on-orbit demonstration performed to test and validate the new techniques developed for ground control of the MSS. The results of the demonstration are discussed along with the lessons learned from the exercise.
机译：移动服务系统（MSS）是加拿大对国际空间站（ISS）的贡献。 MSS用于执行ISS组装操作以及日常维护和视频检查任务。 MSS的设计基于航天飞机机械臂的操作历史，它要求通过ISS的美国实验室模块内部的机器人工作站（RWS）上的物理开关和手动控制器发出启动运动的命令。飞行控制团队在地面上对非运动命令的指挥能力有限；例如加电和断电，视频系统设置以及非运动故障排除/诊断操作。随着对乘员时间的需求增加，并且随着专用敏捷机器人（SPDM）的推出，机器人操作的复杂性和持续时间也不断增加，因此建议采用ISS机器人的地面控制来减少乘员的工作量。地面控制的目的是允许飞行控制团队从地面执行例行演习，勘测和检验任务，从而使机组人员腾出时间来执行更高优先级的科学研究实验。本文将介绍为解决与MSS地面控制相关的系统设计和安全问题而开发的操作概念。从地面操作MSS的挑战源于任务控制中心（MCC）与ISS之间缺乏持续的通信以及与命令和遥测处理相关的延迟。本文提出的作战概念是基于从MSS的闭合控制回路中删除地面操作员，并将所有地面控制操作限制为预先计划的自动轨迹。这是对当前MSS操作实践的一种偏离，需要开发新技术以执行自由空间操纵和联系操作，同时保持操作员的态势感知。本文将描述在轨演示，以测试和验证为MSS地面控制开发的新技术。讨论的结果以及从练习中获得的经验教训都得到了讨论。

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