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

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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 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

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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

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

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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, 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)

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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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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

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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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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

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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

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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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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

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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

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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

The research leading to this framework has received funding fromthe European Commission under the FP7 ITN project PURESAFE,

grant agreement no. 264336.

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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

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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 facilities;they 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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