Robotic telepresence operations between earth and space are of high research value for science as they enable operators on ground to perform physical tasks in space without the need of human presence. Real-Time telepresence with haptic-feedback and stereoscopic imaging, however, poses new requirements to physical parameters of the communication channel like loss, delay and jitter as well as to the protocols spoken between the participants. To meet the new requirements, past robotic missions like ROKVISS chose to use specialized and dedicated communication channels while bypassing the established ground station network infrastructure. However, performing robotic and standard TM/TC operations in parallel was impossible because the Space Link could only be locked by either of the communication chains. For future missions, we present a setup that multiplexes robotic science data and standard TM/TC into one physical channel. Real-time requirements are met because the setup makes use of several FPGAs that forward UDP packets in synchronization with a common master clock. We present test results and test measurements of this technology and compare the proposed setup to a software based solution. Furthermore we present general approaches, tools and techniques for real-time related tasks. Finally we discuss the use of Space Link and Space Link Extension protocols in the communication chain and their impact on the real-time requirements. Operational aspects of the new setup and protocols are discussed as well.
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