A novel robotic framework for safe inspection and telemanipulation in hazardous and unstructured environments

Abstract

First of all, I would like to express my deep gratitude to my research university supervisor, Professor Manuel Ferre Pérez, for his patient guidance, enthusiastic encouragement and useful critiques of this thesis. An immense thankfulness goes to my research CERN supervisor, Doctor Alessandro Masi, who has believed in my potential and who has always supported me during the last years, being my mentor and my inspiration. Thanks to the unconditional support of Roberto Losito for the direction of the Engineering Department at CERN, that provides extraordinary opportunities and individual development to its scientists. I would like to express my great appreciation and deep respect to Professor Raúl Marín Prades for the support for writing of the thesis, help and profound discussions on teleoperation and robotic controls. Also, I would like to offer my special thanks to my colleagues of the Mechatronics, Robotics and Operation Section within the Survey, Mechatronics and Measurement Group at CERN for their inestimable help in the building-up of this work.

Mixed Reality Human–Robot Interface With Adaptive Communications Congestion Control for the Teleoperation of Mobile Redundant Manipulators in Hazardous Environments

“…the software architecture. The CERN CERNTAURO robotic framework [30] and [31] provides multiple autonomous and supervised teleoperation techniques. It has been tested during the last 8 years in more than 150 real interventions, 500 performed tasks and 500 hours of operation, that required multimodality [32] and flexibility.…”