Organisation Européenne pour la Recherche NucléaireEuropean Organization for Nuclear Research
Laboratoire Européen pour la Physique des ParticulesEuropean Laboratory for Particle Physics
Pierre Bonnal and Keith Kershawon the behalf of the PURESAFE community
Workshop on Remote Manipulations / Diagnostics in Radioactive Areas and Handling of Radioactive Material — 6th May 2013
An overview ofoutcomes
2
Aim of this presentation Briefly, presenting the PURESAFE ITN Presenting some of the PURESAFE outcomes
2013-05-06
3
What is it? = Preventing hUman
intervention for incrREased SAfety in inFrastructures Emitting ionizing radiation
Initial Training Network (ITN) Training of Early Stage Researchers (ESR) Funded under the European Commission's
7th Framework Programme (FP7) Marie Curie Actions Programme
2013-05-06
4
The starting point Visits of some CERN’s teleoperated areas
by academics active in the field of telerobotics Through discussions with CERN expects:
specificities of teleoperated means suited to these areas captured
CERN invited as a beneficiary for a EU funded project proposal, that was successful
Project launched in 2011 Budget = 3.9 M euros over 4 years
2013-05-06
5
The stakeholders 15 Research Projects (RP1 to RP15) and 15 ESRs 8 beneficiaries + 1 associated partner:
Tampere University of Technology TUT Finland Technical University of Madrid UPM Spain Karlsruhe Institute of Technology KIT Germany CERN Switzerland GSI Germany Bgator Ltd. + SenseTrix Ltd. Finland Oxford Technologies Ltd. OTL United Kingdom FRRC Russia
2013-05-06
6
15 Research Projects – 3 Work Packages
RP1 RP2 RP3 RP4 RP5WP1Processes & modeling
RP10
RP12
RP13
RP14
RP15
WP2Softwareplatforms
RP8RP6 RP7 RP9WP3Hardwareplatforms
RP11
CERN Cases Super-FRS Cases
TUT CERN Bgator KIT KIT
UPMCERN GSI GSI
TUT CERNSenseTrix UPM TUT OTL
2013-05-06
7
The research approach A systems engineering based approach:
RPs start after needs are correctly gathered ESRs convert these needs into requirements Outcomes are verified then validated
WP1 also consists of a systems engineering framework conceived to embed telerobotics requirements as early as possible in the process of developing new facilities or systems subject to ionized radiations
2013-05-06
8
An overview of the 9 RPsthat are telerobotics software
or hardware oriented
2013-05-06
9
RP6 — Energy and communication modules for mobile robotRamviyas Parasuraman, CERN, Geneva, SwitzerlandResearch focus: Mobile robot for remote radiation survey and inspection tasks Energy management in mobile robot Wireless communication management
Benefits: Save dose and time during interventions
Motivation: Avoid manual recovery or loss of mobile robots in the event that the robot runs out of energy or if there is a communication failure (detecting and taking actions before such events occur)
Methodology: Energy management – Algorithms for power characterization, online State-Of-Charge analysisWireless Communication – Algorithms for tethering a robot to establish long-range and robust wireless communication
Energy Management system architecture Train Inspection Monorail (TIM) : Case study Experiments in LHC Mockup facility
KUKA Youbot(omnidirectional)
2013-05-06
10
RP7 — Remote Handling (RH) concept study for the Super-FRS Plug SystemLuis Orona, Super-FRS, GSI, Darmstadt, Germany
Due to the importance of integrating RH features into the components designs during the development of scientific machines, this project focuses in developing RH-compatibility studies between: The Plug System
and the RH System
Use of Virtual Reality tools to conduct the RH compatibility studies
2013-05-06
11
Challenges● Environment, structure & requirements
Modular robots, design and configuration● Advantages: same components are able
for locomotion and manipulation.Reconfiguration is required
Simulator ● For training, planning and procedure evaluation
RP8 — Providing a modular robot solution for the maintenance tasksPrithvi Pagala, CAR UPM-CSIC, Madrid, Spain
2013-05-06
12
RP9 — Study of a logistic concept for Super-FRS RH componentsFaraz Amjad, Super-FRS, GSI, Darmstadt, Germany
Shielding Flask Develop requirements for the design and development for the Shielding Flask Conduct shielding flask Functional Analysis (FA), Fault Tree Analysis (FTA) and
physical interface analysis to determine the links and logistics tasks Task sequence definitions and simulation (if required) for shielding flask. Detailed logistics design report for Shielding flask
Mobile Robot System Conduct safety analysis for existing FRS robots installed at target and S1. Mobile platform feasibility studies for Super-FRS robot concept. Comparison between robot mounted on rails and mobile platform (Risk and
maintainability analysis) Radiation environmental / civil analysis for robot installation. Task sequence definitions and simulation (if required) for mobile robot. Detailed logistics design report for mobile robot
2013-05-06
13
iMoro Mobile Manipulator Perception• Stereo Camera• Laser Range Finder (LRF)• Time of Flight Camera• Inertial Measurement Unit (IMU)• Wheel Odometry• Current
Main Tasks• Sensor Fusion• Localization• Pallet Picking by Fork Lift• Visual Servo Control of iMoro• Hybrid Vision/Force Control• Kinematic Analysis of Mobile Manipulation• Case Studies based on iMoro, Avant
See, Touch, Pick
RP10 — Fault-tolerant remote handling control systemMohammad M. Aref, TUT, Tampere, Finland
2013-05-06
142013-05-06
Goal: Build an Augmented Reality (AR) system for maintenance.– The system helps workers to perform
maintenance tasks faster and safer– The system is oriented to human
intervention and to remote handling– Development of authoring tool
Use case scenario: Collimator– Instructions for collimator exchange– Telerobotics operator is guided
through the process by using AR
RP10 — Augmented reality-based maintenance tool for hazardous placesHéctor Martínez, Sensetrix, Helsinki, Finland
15
RP12 — Interconnection of multi-robot and multi-user systems for cooperative tasksAlex Owen-Hill, CAR UPM-CSIC, Madrid, Spain
New methods for complex (multi-user) maintenance procedures. How multiple users can interact on the
same task through telerobotics Types of feedback (haptic/visual) Fresh uses of haptics to simplify tasks Assisted planning/assignment of subtasks Categorizing types of
movement/subtask
2013-05-06
16
iMoro Mobile Manipulator• Designed and Built in TUT• Four wheel Independently Steering• Eight Actuators (Four Driving/ Four Steering)• Six Degrees of Freedom Manipulator• Six Degrees of Force/Torque • Two Finger Gripper
Main Tasks• Focused on Mobile Manipulation• Obstacle-Free Path Planning of Mobile Manipulators• Path Following and Motion Control of iMoro• Autonomous Mobile Grasping• Case Studies based on iMoro
RP14 — Assisting autonomous functionalities for safe teleoperationReza Oftadeh, TUT, Tampere, Finland
2013-05-06
17
Benefits: Cope with problem occurrences Avoid human intervention New needs Save time Other manipulation tasks
RP15 — Sensorless teleoperation of an industrial robot with a dissimilar masterEnrique del Sol, Oxford Technologies, Abington, UK
2013-05-06
18
What about WP1that is focussed on processes
2013-05-06
19
A systems engineering (SE) framework suited to scientific facilities and systems that are subject to ionizing radiation
It is an editorial project• Some PM and SE related guidelines• Several telerobotics guidelines
The research leading to this framework has received funding fromthe European Commission under the FP7 ITN project PURESAFE,
grant agreement no. 264336.
2013-05-06
20
Telerobotics-related guidelines10 brochures will be dedicated to telerobotics:Designing for Telerobotics Inspections EnriqueDesigning for Remote Handling EnriqueBenchmarking Telemanipulators AlexanderAllocating Tasks for Multi-Operator Remote Handling AlexanderDesigning Mobile Platforms/Robots for Energy Autonomy RamviyasDesigning Mobile Platforms/Robots for Communication Autonomy RamviyasDesigning Mechatronics for Mobile Manipulators RezaDesigning Mobile Platforms/Robots for Fault Tolerant Perception ArefDesigning Mobile Manipulators for (Radiation) Inspections Reza & ArefDesigning Robots for Modularity PrithviDesigning for Maintainability HéctorDesigning for Augmented Reality (incl. systems tagging) Héctor
2013-05-06
21
In summary Telerobotics solutions off-the-shelves are not
necessarily suited to ionized radiation environments RAMS issues
PURESAFE aims at understanding specific requirements and proposing solutions
Remote operations are “transverse problems” shared by all/most systems installed in facilities;they shall be considered as from the beginning of their development phase.
2013-05-06
22
The PURESAFE Community:Liisa Aha, Faraz Amjad, Mohammad M. Aref, Mathieu Baudin, Pierre Bonnal, Enrique del Sol, Thomas Fabry, Manuel Ferre, Bruno Féral, Reza Ghabcheloo, Antti Heikkila, Jenni Hyppola,
Juho-Pekka Karjalainen, Pietari Kauttu, Keith Kershaw, Douzi Imran Khan, Seppo Laukkanen, Marja Lintala, Héctor Martínez, Jouni Mattila,
Ramviyas Nattanmai Parasuraman, Masoud Niknam, Reza Oftadeh, Luis Orona, Jjivka Ovtcharova, Alex Owen-Hill, Prithvi Pagala, Stefan Roesler, Alan Rolfe, Danai Skournetou, Seppo Virtanen,
Helmut Weick
2013-05-06
Top Related