Quasi-Wireless Capacitive Power Transfer with Secure Data Acquisition for Robotic Systems in Space Infrastructure

Space exploration is dependent on robotic systems
that utilize end-effectors to collect samples, probe surfaces, and
manipulate objects. These systems can rarely be designed to
do all three, forcing engineers to make tradeoffs based on the
mission parameters - i.e. should the robotic appendage have a
claw, drill, or shovel, and which would be best suited for the
mission? Additionally, as more industrial and government entities
partake in space exploration, data protection is needed in transit
and at rest. To address these challenges, we present a first-of-its-
kind robotic linkage that has no wiring between the joints.
Instead, quasi-wireless capacitive (QWiC) power transfer is used
to send energy over the robot’s chassis without a return wire.
This enables the system to be completely modular through the
use of single-contact permanent magnet connections, allowing
rapid alterations in joint kinematics and/or the changing of end-effectors.
For collecting sensor data from the robotic arm and to send
remote commands to it, we use a Supervisory Control and Data
Acquisition (SCADA) system. Data transmission relies on MQTT
and OPC UA communication protocols with encryption. The
SCADA server logs and archives sensor data and provides the
functionality for authorized users to send remote commands
from SCADA client(s) to motors. A SCADA client can be any
of the web browsers that connects to a server via a secure
communication channel using SSL protocol. Furthermore, as an
extra data protection mechanism, we inject noise to the sensor
data traffic, which obfuscates the timing of sensor data packets
and adds confusion about which data packet represents which
motor.