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Title: Human machine interface to manually drive rhombic like vehicles in remote handling operations

In the thermonuclear experimental reactor ITER, a vehicle named CTS is designed to transport a container with activated components inside the buildings. In nominal operations, the CTS is autonomously guided under supervision. However, in some unexpected situations, such as in rescue and recovery operations, the autonomous mode must be overridden and the CTS must be remotely guided by an operator. The CTS is a rhombic-like vehicle, with two drivable and steerable wheels along its longitudinal axis, providing omni-directional capabilities. The rhombic kinematics correspond to four control variables, which are difficult to manage in manual mode operation. This paper proposes a Human Machine Interface (HMI) to remotely guide the vehicle in manual mode. The proposed solution is implemented using a HMI with an encoder connected to a micro-controller and an analog 2-axis joystick. Experimental results were obtained comparing the proposed solution with other controller devices in different scenarios and using a software platform that simulates the kinematics and dynamics of the vehicle. (authors)
Authors:
;  [1] ;  [2]
  1. Instituto de Plasmas e Fusao Nuclear, Instituto Superior Tecnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)
  2. Institute for Systems and Robotics, Instituto Superior Tecnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)
Publication Date:
OSTI Identifier:
22531486
Report Number(s):
ANIMMA--2015-IO-x11
TRN: US16V0526102427
Resource Type:
Conference
Resource Relation:
Conference: ANIMMA 2015: 4. International Conference on Advancements in Nuclear Instrumentation Measurement Methods and their Applications, Lisboa (Portugal), 20-24 Apr 2015; Other Information: Country of input: France; 9 Refs.
Research Org:
Institute of Electrical and Electronics Engineers - IEEE, 3 Park Avenue, 17th Floor, New York, N.Y. 10016-5997 (United States)
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 70 PLASMA PHYSICS AND FUSION TECHNOLOGY; COMPARATIVE EVALUATIONS; CONTAINERS; CONTROL; DESIGN; ITER TOKAMAK; MAN-MACHINE SYSTEMS; OPERATION; REMOTE HANDLING; VEHICLES; WHEELS