Pierre Bonnal and Keith Kershaw on the behalf of the PURESAFE community

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• 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

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Aim of this presentation

• Briefly, presenting the PURESAFE ITN
• Presenting some of the PURESAFE outcomes

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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

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The starting point

• Visits of some CERNs teleoperated areasby
  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

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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

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15 Research Projects 3 Work Packages
WP1Processes modeling
RP1
RP2
RP3
RP4
RP5
TUT
CERN
Bgator
KIT
KIT
WP2Softwareplatforms
RP10
RP12
RP13
RP14
RP15
RP11
TUT
CERN
SenseTrix
UPM
TUT
OTL
WP3Hardwareplatforms
RP8
RP6
RP7
RP9
UPM
CERN
GSI
GSI
CERN Cases
Super-FRS Cases
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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

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An overview of the 9 RPsthat are telerobotics
software or hardware oriented
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RP6 Energy and communication modules for mobile
robotRamviyas Parasuraman, CERN, Geneva,
Switzerland

• Research 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 analysis
• Wireless Communication Algorithms for tethering
  a robot to establish long-range and robust
  wireless communication

KUKA Youbot(omnidirectional)
Energy Management system architecture
Train Inspection Monorail (TIM) Case study
Experiments in LHC Mockup facility
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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
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RP8 Providing a modular robot solution for the
maintenance tasksPrithvi Pagala, CAR UPM-CSIC,
Madrid, Spain

• 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

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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

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RP10  Fault-tolerant remote handling control
systemMohammad M. Aref, TUT, Tampere, Finland

• 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
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RP10  Augmented reality-based maintenance tool
for hazardous places Héctor Martínez, Sensetrix,
Helsinki,
Finland

• 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

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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

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RP14  Assisting autonomous functionalities for
safe teleoperationReza Oftadeh, TUT, Tampere,
Finland

• 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

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RP15 Sensorless teleoperation of an industrial
robot with a dissimilar masterEnrique del Sol,
Oxford Technologies, Abington, UK

• Benefits
• Cope with problem occurrences
• Avoid human intervention
• New needs
• Save time
• Other manipulation tasks

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What about WP1that is focussed on processes
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• 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

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Telerobotics-related guidelines

• 10 brochures will be dedicated to telerobotics
• Designing for Telerobotics Inspections Enrique
• Designing for Remote Handling Enrique
• Benchmarking Telemanipulators Alexander
• Allocating Tasks for Multi-Operator Remote
  Handling Alexander
• Designing Mobile Platforms/Robots for Energy
  Autonomy Ramviyas
• Designing Mobile Platforms/Robots for
  Communication Autonomy Ramviyas
• Designing Mechatronics for Mobile
  Manipulators Reza
• Designing Mobile Platforms/Robots for Fault
  Tolerant Perception Aref
• Designing Mobile Manipulators for (Radiation)
  Inspections Reza Aref
• Designing Robots for Modularity Prithvi
• Designing for Maintainability Héctor
• Designing for Augmented Reality (incl. systems
  tagging) Héctor

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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
  facilitiesthey shall be considered as from the
  beginning of their development phase.

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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
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