用太空机器人演示了延迟网络下的远程操控，验证了抗延迟控制策略。
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
- 结合状态预测与轨迹跟踪，应对通信延迟的远程控制
- 韩瑞与斯德哥尔摩间长距离实验，实现稳定对接操作
- 为微重力环境下的航天器遥控测试提供低成本平台
本文展示了一种名为ATMOS（多用途轨道系统自主测试平台）的平面航天器模拟机器人，用于在类微重力条件下对制导与控制策略进行软硬件协同测试。利用ATMOS作为物理实验平台，研究了在往返通信延迟下，远程操作航天器的控制架构设计、分析与性能评估。本文提出并实验验证了一种融合状态预测与轨迹跟踪的控制策略，可应对地面操作员与ATMOS系统之间时变随机通信延迟。演示包含首尔与斯德哥尔摩之间的远程操控实验，引入真实跨洲际延迟与波动性。结果表明，ATMOS具备支持快速、可靠且低成本测试航天器遥操作概念的能力，是验证类微重力轨道操作稳健性的第一步。
原文摘要 · Abstract (English)
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation of guidance and control strategies in microgravity-like conditions. Using ATMOS as the physical test platform, we investigate the design, analysis, and performance evaluation of control architectures for remotely operated spacecraft under round-trip communication delays. In this work, we develop and experimentally validate a control strategy that combines state prediction and trajectory tracking control to perform a docking maneuver, accounting for time-varying random communication latency between ground operators and the ATMOS system. The demonstration includes a long-distance remote control experiment between Seoul and Stockholm, introducing realistic intercontinental delays and variability. The results highlight the capability of ATMOS to support rapid, reliable, and cost-effective testing of spacecraft teleoperation concepts, establishing a first step toward robust validation of on-orbit operations in microgravity-like environments.
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