Implementation of Augmented Teleautonomy on a Hydraulic Manipulator for Nuclear Facility D and D - 19602
- Argonne National Laboratory (United States)
- Oak Ridge National Laboratory (United States)
Robotic and remote system have been used in nuclear applications to keep the human workers from high radiation environment and enhance task performance. However, applications in the more unstructured nuclear environments present more formidable challenges to robotics and remote systems. In particular, remote operation tasks for nuclear facility D and D (or dismantling) requires dexterous manipulation of heavy objects with simple and rugged robotic equipment. To address such challenge, this paper presents a new teleoperation method of augmented teleautonomy for remote operation of tools for D and D tasks. Rather than imposing complex functionalities on the slave robot, focused innovation is directed to providing effective operator aids in such a way as to draw more performance out of human operators. In this regard, the development entails the implementation of an enhanced telerobotic operation method by incorporating multi-modal augmented reality operator aids and autonomous motion primitives. This paper presents the relevant technology development utilizing a mixed-reality telerobotic test bed, and system integration and demonstration with a rugged, hydraulic slave robot system. (authors)
- Research Organization:
- WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
- OSTI ID:
- 23005448
- Report Number(s):
- INIS-US-21-WM-19602; TRN: US21V1375045782
- Resource Relation:
- Conference: WM2019: 45. Annual Waste Management Conference, Phoenix, AZ (United States), 3-7 Mar 2019; Other Information: Country of input: France; 4 refs.; available online at: https://www.xcdsystem.com/wmsym/2019/index.html
- Country of Publication:
- United States
- Language:
- English
Similar Records
3D Reconstruction, Augmented Reality, and Telerobotic Operation - 18297
Final Technical Report for DOE Grant DE-FG02-02ER83371, Phase II