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Title: HUMAN MACHINE COOPERATIVE TELEROBOTICS

Abstract

The remediation and deactivation and decommissioning (D&D) of nuclear waste storage tanks using telerobotics is one of the most challenging tasks faced in environmental cleanup. Since a number of tanks have reached the end of their design life and some of them have leaks, the unstructured, uncertain and radioactive environment makes the work inefficient and expensive. However, the execution time of teleoperation consumes ten to hundred times that of direct contact with an associated loss in quality. Thus, a considerable effort has been expended to improve the quality and efficiency of telerobotics by incorporating into teleoperation and robotic control functions such as planning, trajectory generation, vision, and 3-D modeling. One example is the Robot Task Space Analyzer (RTSA), which has been developed at the Robotics and Electromechanical Systems Laboratory (REMSL) at the University of Tennessee in support of the D&D robotic work at the Oak Ridge National Laboratory and the National Energy Technology Laboratory. This system builds 3-D models of the area of interest in task space through automatic image processing and/or human interactive manual modeling. The RTSA generates a task plan file, which describes the execution of a task including manipulator and tooling motions. The high level controller ofmore » the manipulator interprets the task plan file and executes the task automatically. Thus, if the environment is not highly unstructured, a tooling task, which interacts with environment, will be executed in the autonomous mode. Therefore, the RTSA not only increases the system efficiency, but also improves the system reliability because the operator will act as backstop for safe operation after the 3-D models and task plan files are generated. However, unstructured conditions of environment and tasks necessitate that the telerobot operates in the teleoperation mode for successful execution of task. The inefficiency in the teleoperation mode led to the research described as Human Machine Cooperative Telerobotics (HMCTR). The HMCTR combines the telerobot with robotic control techniques to improve the system efficiency and reliability in teleoperation mode. In this topical report, the control strategy, configuration and experimental results of Human Machines Cooperative Telerobotics (HMCTR), which modifies and limits the commands of human operator to follow the predefined constraints in the teleoperation mode, is described. The current implementation is a laboratory-scale system that will be incorporated into an engineering-scale system at the Oak Ridge National Laboratory in the future.« less

Authors:
; ; ; ; ; ; ; ;
Publication Date:
Research Org.:
Univ. of Tennessee, Knoxville, TN (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
894296
DOE Contract Number:  
AR26-97FT34315
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
12 MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; CONFIGURATION; DEACTIVATION; DECOMMISSIONING; DESIGN; EFFICIENCY; IMAGE PROCESSING; IMPLEMENTATION; MANIPULATORS; PLANNING; RADIOACTIVE WASTES; RELIABILITY; ROBOTS; SIMULATION; STORAGE; TANKS; VISION

Citation Formats

William R. Hamel, Spivey Douglass, Sewoong Kim, Pamela Murray, Yang Shou, Sriram Sridharan, Ge Zhang, Scott Thayer, and Rajiv V. Dubey. HUMAN MACHINE COOPERATIVE TELEROBOTICS. United States: N. p., 2003. Web. doi:10.2172/894296.
William R. Hamel, Spivey Douglass, Sewoong Kim, Pamela Murray, Yang Shou, Sriram Sridharan, Ge Zhang, Scott Thayer, & Rajiv V. Dubey. HUMAN MACHINE COOPERATIVE TELEROBOTICS. United States. doi:10.2172/894296.
William R. Hamel, Spivey Douglass, Sewoong Kim, Pamela Murray, Yang Shou, Sriram Sridharan, Ge Zhang, Scott Thayer, and Rajiv V. Dubey. Mon . "HUMAN MACHINE COOPERATIVE TELEROBOTICS". United States. doi:10.2172/894296. https://www.osti.gov/servlets/purl/894296.
@article{osti_894296,
title = {HUMAN MACHINE COOPERATIVE TELEROBOTICS},
author = {William R. Hamel and Spivey Douglass and Sewoong Kim and Pamela Murray and Yang Shou and Sriram Sridharan and Ge Zhang and Scott Thayer and Rajiv V. Dubey},
abstractNote = {The remediation and deactivation and decommissioning (D&D) of nuclear waste storage tanks using telerobotics is one of the most challenging tasks faced in environmental cleanup. Since a number of tanks have reached the end of their design life and some of them have leaks, the unstructured, uncertain and radioactive environment makes the work inefficient and expensive. However, the execution time of teleoperation consumes ten to hundred times that of direct contact with an associated loss in quality. Thus, a considerable effort has been expended to improve the quality and efficiency of telerobotics by incorporating into teleoperation and robotic control functions such as planning, trajectory generation, vision, and 3-D modeling. One example is the Robot Task Space Analyzer (RTSA), which has been developed at the Robotics and Electromechanical Systems Laboratory (REMSL) at the University of Tennessee in support of the D&D robotic work at the Oak Ridge National Laboratory and the National Energy Technology Laboratory. This system builds 3-D models of the area of interest in task space through automatic image processing and/or human interactive manual modeling. The RTSA generates a task plan file, which describes the execution of a task including manipulator and tooling motions. The high level controller of the manipulator interprets the task plan file and executes the task automatically. Thus, if the environment is not highly unstructured, a tooling task, which interacts with environment, will be executed in the autonomous mode. Therefore, the RTSA not only increases the system efficiency, but also improves the system reliability because the operator will act as backstop for safe operation after the 3-D models and task plan files are generated. However, unstructured conditions of environment and tasks necessitate that the telerobot operates in the teleoperation mode for successful execution of task. The inefficiency in the teleoperation mode led to the research described as Human Machine Cooperative Telerobotics (HMCTR). The HMCTR combines the telerobot with robotic control techniques to improve the system efficiency and reliability in teleoperation mode. In this topical report, the control strategy, configuration and experimental results of Human Machines Cooperative Telerobotics (HMCTR), which modifies and limits the commands of human operator to follow the predefined constraints in the teleoperation mode, is described. The current implementation is a laboratory-scale system that will be incorporated into an engineering-scale system at the Oak Ridge National Laboratory in the future.},
doi = {10.2172/894296},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Jun 30 00:00:00 EDT 2003},
month = {Mon Jun 30 00:00:00 EDT 2003}
}

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