Abstract We present a novel approach for simulating eclipses, incorporating effects of light scattering and refraction in the occluder's atmosphere. Our approach not only simulates the eclipse shadow, but also allows for watching the Sun being eclipsed by the occluder. The latter is a spectacular sight which has never been seen by human eyes: For an observer on the lunar surface, the atmosphere around Earth turns into a glowing red ring as sunlight is refracted around the planet. To simulate this, we add three key contributions: First, we extend the Bruneton atmosphere model to simulate refraction. This allows light rays to be bent into the shadow cone. Refraction also adds realism to the atmosphere as it deforms and displaces the Sun during sunrise and sunset. Second, we show how to precompute the eclipse shadow using this extended atmosphere model. Third, we show how to efficiently visualize the glowing atmosphere ring around the occluder. Our approach produces visually accurate results suited for scientific visualizations, science communication, and video games. It is not limited to the Earth‐Moon system, but can also be used to simulate the shadow of Mars and potentially other bodies. We demonstrate the physical soundness of our approach by comparing the results to reference data. Because no data is available for eclipses beyond the Earth‐Moon system, we predict how an eclipse on a Martian moon will look like. Our implementation is available under the terms of the MIT license.

Abstract Ensuring the correct and safe behavior of a spacecraft is a main objective in space-system design. Since spacecraft consist of highly complex and tightly integrated components developed by large teams of engineers from various different disciplines, this is a challenging task. Increasingly, formal verification methods such as model checking are applied to establish the correctness of safety-critical parts or subsystems. Generally, the often limited scalability of model checking due to the state-space explosion problem hinders the wide-spread adoption of this technique. In this paper, we systematically examine the scalability of model checking for verifying behavioral models that arise within early space-system design phases. For this, we created a representative model for the mode management of a satellite that can be scaled in terms of its size and the complexity of interactions between system components. The model can be transformed into the input languages of various model-checking tools, which enables a comparative study of various model-checking algorithms and also facilitates analyzing the impact of different communication schemes on the scalability. The evaluation shows promising results regarding the applicability of model checking within the spacecraft design process.

Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven effective in providing intuitive navigational support on Earth, the design of novel human-spaceflight solutions typically relies on costly and time-consuming analogue deployments, leaving the potential use of lunar HUDs largely under-explored. This paper explores an alternative approach by simulating navigational HUD concepts in a high-fidelity Virtual Reality (VR) representation of the lunar environment. In evaluating these concepts with astronauts and other aerospace experts (n=25), our mixed methods study demonstrates the efficacy of simulated analogues in facilitating rapid design assessments of early-stage HUD solutions. We illustrate this by elaborating key design challenges and guidelines for future lunar HUDs. In reflecting on the limitations of our approach, we propose directions for future design exploration of human-machine interfaces for the Moon.

Abstract Most real‐time rendering models for atmospheric effects have been designed and optimized for Earth's atmosphere. Some authors have proposed approaches for rendering other atmospheres, but these methods still use approximations that are only valid on Earth. For instance, the iconic blue glow of Martian sunsets can not be represented properly as the complex interference effects of light scattered at dust particles can not be captured by these approximations. In this paper, we present an approach for generalizing an existing model to make it capable of rendering extraterrestrial atmospheres. This is done by replacing the approximations with a physical model based on Mie Theory. We use the particle‐size distribution, the particle‐density distribution as well as the wavelength‐dependent refractive index of atmospheric particles as input. To demonstrate the feasibility of this idea, we extend the model by Bruneton et al. [BN08] and implement it into CosmoScout VR, an open‐source visualization of our Solar System. In a first step, we use Mie Theory to precompute the scattering behaviour of a particle mixture. Then, multi‐scattering is simulated, and finally the precomputation results are used for real‐time rendering. We demonstrate that this not only improves the visualization of the Martian atmosphere, but also creates more realistic results for our own atmosphere.

Abstract In this paper, we present a novel approach for real‐time rendering of soft eclipse shadows cast by spherical, atmosphereless bodies. While this problem may seem simple at first, it is complicated by several factors. First, the extreme scale differences and huge mutual distances of the involved celestial bodies cause rendering artifacts in practice. Second, the surface of the Sun does not emit light evenly in all directions (an effect which is known as limb darkening). This makes it impossible to model the Sun as a uniform spherical light source. Finally, our intended applications include real‐time rendering of solar eclipses in virtual reality, which require very high frame rates. As a solution to these problems, we precompute the amount of shadowing into an eclipse shadow map, which is parametrized so that it is independent of the position and size of the occluder. Hence, a single shadow map can be used for all spherical occluders in the Solar System. We assess the errors introduced by various simplifications and compare multiple approaches in terms of performance and precision. Last but not least, we compare our approaches to the state‐of‐the‐art and to reference images. The implementation has been published under the MIT license.

Abstract In model-based systems engineering projects, engineers from multiple domains collaborate by establishing a common system model. Multi-level modeling is a technique that can be used to model the development from abstract ideas to concrete implementations. However, current multi-level modeling approaches are not adequate for processes with multiple modeling phases that might have to be rearranged later. In this paper, we introduce multi-phase modeling that utilizes concepts of multi-level modeling by considering a description of the expected phase ordering per domain. Constraints aware of this context can express that certain elements are only valid in specific phases without having to determine a concrete phase ordering for a particular model. This enables using multi-phase modeling in flexible workflows, adapting to changing requirements and the definition of access rules in domain notation. We show feasibility of this multi-phase modeling by applying it to multiple real-life systems engineering projects of the aerospace domain.

Redundancy concepts are major design drivers in fault-tolerant space systems. It can be a difficult task to decide when to activate which redundancy, and which component should be replaced. In this paper, we refine a methodology where recovery strategies are synthesized from a model of non-deterministic dynamic fault trees. The synthesis is performed by transforming non-deterministic dynamic fault trees into Markov automata that represent all possible choices between recovery actions. From the corresponding scheduler, optimized for maximum expected long-term reachability of failure states, a recovery strategy, optimal with respect to mean time to failure, can then be derived and represented by a model we call recovery automaton. We discuss techniques for reducing the state space of this recovery automaton, and analyze their soundness and completeness. We show that they do not generally guarantee recovery automata with the minimal number of states and derive a class where this guarantee holds. Implementation details for our approach are given and its effectiveness is verified on the basis of three case studies.

This paper presents the system architecture of a collaborative virtual environment in which distributed multidisciplinary teams involved in space exploration activities come together and explore areas of scientific interest of a planet for future missions. The aim is to reduce the current challenges of distributed scientific and engineering meetings that prevent the exploitation of their collaborative potential, as, at present, expertise, tools and datasets are fragmented. This paper investigates the functional characteristics of a software framework that addresses these challenges following the design science research methodology in the context of the space industry and research. An implementation of the proposed architecture and a validation process with end users, based on the execution of different use cases, are described. These use cases cover relevant aspects of real science analysis and operation, including planetary data visualization, as the system aims at being used in future European missions. This validation suggests that the system has the potential to enhance the way space scientists will conduct space science research in the future.

Emerging applications for space missions require increasing processing performance from the onboard computers. DLR's project "Onboard Computer - Next Generation" (OBC-NG) develops a distributed, reconfigurable computer architecture to provide increased performance while maintaining the high reliability of classical spacecraft computer architectures. Growing system complexity requires an advanced onboard middleware, handling distributed (real-time) applications and error mitigation by reconfiguration. The OBC-NG middleware follows the Component-Based Software Engineering (CBSE) approach. Using composite components, applications and management tasks can easily be distributed and relocated on the processing nodes of the network. Additionally, reuse of components for future missions is facilitated. This paper presents the flexible middleware architecture, the composite component framework, the middleware services and the model-driven Application Programming Interface (API) design of OBC-NG. Tests are conducted to validate the middleware concept and to investigate the reconfiguration efficiency as well as the reliability of the system. A relevant use case shows the advantages of CBSE for the development of distributed reconfigurable onboard software.

An immersive virtual environment is the ideal platform for the planning and training of on-orbit servicing missions, as it provides a flexible and safe environment. In such kind of virtual assembly simulation, grasping virtual objects is one of the most common and natural interactions. However, unlike grasping objects in the real world, it is a non-trivial task in virtual environments, where the primary feedback is visual only. A lot of research investigated ways to provide haptic feedback, such as force, vibrational and electrotactile feedback. Such devices, however, are usually uncomfortable and hard to integrate in projection-based immersive YR systems. In this paper, we present a novel, small and lightweight electro-tactile feedback device, specifically designed for immersive virtual environments. It consists of a small tactor with eight electrodes for each finger and a signal generator attached to the user's hand or arm. Our device can be easily integrated with an existing optical finger tracking system. The study presented in this paper assesses the feasibility and usability of the interaction device. An experiment was conducted in a repeated measures design using the electrotactile feedback modality as independent variable. As benchmark, we chose three typical assembly tasks of a YR simulation for satellite on-orbit servicing missions, including pressing a button, switching a lever switch, and pulling a module from its slot. Results show that electrotactile feedback improved the user's grasping in our virtual on-orbit servicing scenario. The task completion time was significantly lower for all three tasks and the precision of the user's interaction was higher. The workload reported by the participants was significantly lower when using electrotactile feedback. Additionally, users were more confident with their performance while completing the tasks with electrotactile feedback. We describe the device, outline the user study and report the results.

The growth of space debris is becoming a serious problem. There is an urgent need for mitigation measures based on maintenance, repair and de-orbiting technologies. Our video presents a virtual reality framework in which robotic maintenance tasks of satellites can be simulated interactively. The two key components of this framework are a realistic virtual reality simulation and an immersive interaction device. The peculiarity of the virtual reality simulation is the combination of a physics engine based on Bullet with an extremely efficient haptic rendering algorithm inspired by an enhanced version of the Voxmap-Pointshell Algorithm. A central logic module controls all states and objects in the virtual world. To enable the human operator an optimal immersion into the virtual environment, the DLR bimanual haptic device is used as interaction device. Equipped with two light-weight robot arms, this device is able to provide realistic haptic feedback at both human hands, while covering the major part of human operator's workspace. The applicability of this system is enhanced by additional force sensors, active hand interfaces with an additional degree of freedom, smart safety technologies and intuitive robot data augmentation. Our platform can be used for verification or training purposes of robotic systems interacting in space environments.

We present results of a user study in which we compared three interaction methods for manipulating deformable objects in immersive virtual environments. The task was to control a virtual robot hand removing a thin foil cover from a satellite in an on-orbit servicing training simulator. The lack of haptic feedback placed a high challenge on the user when trying to apply the right force for grasping the foil without losing grip or damaging it. We compared the intuitiveness and effectiveness of using a tracked joystick, finger distance measurement, and a novel prototype enabling direct force input through pinching.

Planetary topography is the result of complex interactions between geological processes, of which faulting is a prominent component. Surface-rupturing earthquakes cut and move landforms which develop across active faults, producing characteristic surface displacements across the fault. Geometric models of faults and their associated surface displacements are commonly applied to reconstruct these offsets to enable interpretation of the observed topography. However, current 2D techniques are limited in their capability to convey both the three-dimensional kinematics of faulting and the incremental sequence of events required by a given reconstruction. Here we present a real-time system for interactive retro-deformation of faulted topography to enable reconstruction of fault displacement within a high-resolution (sub 1m/pixel) 3D terrain visualization. We employ geometry shaders on the GPU to intersect the surface mesh with fault-segments interactively specified by the user and transform the resulting surface blocks in realtime according to a kinematic model of fault motion. Our method facilitates a human-in-the-loop approach to reconstruction of fault displacements by providing instant visual feedback while exploring the parameter space. Thus, scientists can evaluate the validity of traditional point-to-point reconstructions by visually examining a smooth interpolation of the displacement in 3D. We show the efficacy of our approach by using it to reconstruct segments of the San Andreas fault, California as well as a graben structure in the Noctis Labyrinthus region on Mars.

This paper outlines the development of a real-time interactive application for the analysis, training and programming of on-orbit servicing tasks within a virtual reality environment. The main challenges put on the system are the real-time simulation of the realistic dynamic and kinematic behavior of satellite components and additionally integrate interaction through a bimanual haptic interface, as well as enable tele-operation of a robot. We give an overview of the application, describe the real-time challenges and outline our approach and proposed system structure.

Extraction of complex data structures like vector field topologies in large-scale, unsteady flow field datasets for the interactive exploration in virtual environments cannot be carried out without parallelization strategies. We present an approach based on Nested OpenMP to find critical points, which are the essential parts of velocity field topologies. We evaluate our parallelization scheme on several multi-block datasets, and present the results for various thread counts and loop schedules on all parallelization levels. Our experience suggests that upcoming massively multi-threaded processor architectures can be very advantageously for large-scale feature extractions.

One recommended strategy for the analysis of CFD-data is the interactive exploration within virtual environments. Common visualization systems are unable to process large data sets while carrying out real-time interaction and visualization at the same time. The obvious idea is to decouple flow feature extraction from visualization. This paper covers the functionality of the parallel CFD post-processing toolkit Viracocha. Two aspects are discussed in more detail. The first approach covers strategies to reduce the loading time. Data caching and prefetching are employed to reduce access time. The second aspect concerns an approach called streaming that minimizes the time a user has to wait for first results. Viracocha already sends coarse intermediate data back to the virtual environment before the final result is available. Different streaming and data handling strategies are described. In order to emphasize the benefit of our implementation efforts, some strategies are applied to multi-block CFD data sets.