Human-Robot Interfaces have a key role in the design of secure and efficient robotic systems. Great effort has been put during the past decades on the design of advanced interfaces for domestic and industrial robots. However, robots for intervention in unplanned and hazardous scenarios still need further research, especially when the mission requires the use of multiple robotic systems, to obtain an acceptable level of usability and safety. This paper describes the design and the software engineering process behind the development of a modular and multimodal Human-Robot Interface for intervention with a cooperative team of robots, as well as its validation and commissioning, as it is being used in real operations at CERN's accelerators complex. The proposed Human-Robot Interface allows the control of a heterogeneous set of robots homogeneously, providing the operator, among other features, with live scripting functionalities which can be programmed and adapted in run-time, for example, to increase operator's multi-tasking in a multi-agent scenario. The operator is given the capability to enter in the control loop between the HRI and the robot and customize the control commands according to the operation. To provide such functionalities, well-defined software development approaches have been adopted, for guaranteeing the modularity and the safety of the system during its continuous development. The paper describes the modules offered by the HRI, such as the multimodality, multi-robot control, safety, operators training, and communications architecture, among others. The HRI and the CERN Robotic Framework where it belongs are designed in a modular manner, in order to be able to adapt both, software and hardware architecture in a short time, to the next planned mission. Results present the experience gained with the system, demonstrating a high level of usability, learnability and safety when operated by both, non-experts and qualified robotic operators. The multimodal user interface has demonstrated to be very accurate and secure, providing a unique system to control, in a teleoperated or supervised manner, both single and multiple heterogeneous mobile manipulators. At the moment of writing, the user interface has been successfully used in 100 real interventions in radioactive industrial environments. The presented HRI is a novel research contribution in terms of multimodality, adaptability and modularity for mobile manipulator robotic teams in radioactive environments, especially for its software architecture, as part of the CERN Robotic Framework.
Robotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. This paper describes a novel vision system to track and estimate the depth of metallic targets for robotic interventions. The system has been designed for on-hand monocular cameras, focusing on solving lack of visibility and partial occlusions. This solution has been validated during real interventions at the Centre for Nuclear Research (CERN) accelerator facilities, achieving 95% success in autonomous mode and 100% in a supervised manner. The system increases the safety and efficiency of the robotic operations, reducing the cognitive fatigue of the operator during non-critical mission phases. The integration of such an assistance system is especially important when facing complex (or repetitive) tasks, in order to reduce the work load and accumulated stress of the operator, enhancing the performance and safety of the mission.
The CERN-MEDICIS (MEDical Isotopes Collected from ISolde) facility has delivered its first radioactive ion beam at CERN (Switzerland) in December 2017 to support the research and development in nuclear medicine using non-conventional radionuclides. Since then, fourteen institutes, including CERN, have joined the collaboration to drive the scientific program of this unique installation and evaluate the needs of the community to improve the research in imaging, diagnostics, radiation therapy and personalized medicine. The facility has been built as an extension of the ISOLDE (Isotope Separator On Line DEvice) facility at CERN. Handling of open radioisotope sources is made possible thanks to its Radiological Controlled Area and laboratory. Targets are being irradiated by the 1.4 GeV proton beam delivered by the CERN Proton Synchrotron Booster (PSB) on a station placed between the High Resolution Separator (HRS) ISOLDE target station and its beam dump. Irradiated target materials are also received from external institutes to undergo mass separation at CERN-MEDICIS. All targets are handled via a remote handling system and exploited on a dedicated isotope separator beamline. To allow for the release and collection of a specific radionuclide of medical interest, each target is heated to temperatures of up to 2,300°C. The created ions are extracted and accelerated to an energy up to 60 kV, and the beam steered through an off-line sector field magnet mass separator. This is followed by the extraction of the radionuclide of interest through mass separation and its subsequent implantation into a collection foil. In addition, the MELISSA (MEDICIS Laser Ion Source Setup At CERN) laser laboratory, in service since April 2019, helps to increase the separation efficiency and the selectivity. After collection, the implanted radionuclides are dispatched to the biomedical research centers, participating in the CERN-MEDICIS collaboration, for Research & Development in imaging or treatment. Since its commissioning, the CERN-MEDICIS facility has provided its partner institutes with non-conventional medical radionuclides such as Tb-149, Tb-152, Tb-155, Sm-153, Tm-165, Tm-167, Er-169, Yb-175, and Ac-225 with a high specific activity. This article provides a review of the achievements and milestones of CERN-MEDICIS since it has produced its first radioactive isotope in December 2017, with a special focus on its most recent operation in 2020.
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