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Objective The European Proximity Operations Simulator (EPOS) Test and Verification Facility combines and integrates a number of earlier ESA developments to create a complete facility for rendezvous and docking tests at the EPOS facilities at DLR, Oberpfaffenhofen, Germany. The TVF components are:
Context EPOS is a real-time simulation facility for performing Rendezvous and Docking (RVD) simulations in real-size (i.e. 10 by 5 meters), real-motion (i.e. moving masses of several tonnes), real-time, and with real sensors. The EPOS facility allows rendez-vous and docking sensors to be tested in the loop under various realistic lighting conditions.Role of EuroSim In the EPOS TVF setup, a EuroSim simulator containing the Model Software runs on a Silicon Graphics Indigo. The EuroSim Simulator has connected to an Onboard Computer Simulator over a Mil1553 bus, and to the EPOS Motion Control System via dedicated ethernet to drive the EPOS robotic system with position, orientation and velocity vectors of the Automated Transfer Vehicle. The EPOS Motion Control System (MSC) was developed for DLR by Origin under an ESA TRP contract, and initially ran on the real-time multi-processor Unix platform, ENCORE, but in due time has been ported to a PC based VxWorks solution.
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