High level integration of remote handling control systems at JET

Murcutt, Paul; Collins, S.; Allan, Peter

doi:10.1016/j.fusengdes.2011.03.072

Cited by 4 publications

(1 citation statement)

References 3 publications

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“…As a result, these use cases require remote robotic systems which can range from fully teleoperated to fully autonomous. Traditional fusion remote maintenance systems such as the one which can be found at JET, the Joint European Torus 1 involves a person-in-the-loop telerobotic manipulator with Haptic feedback, called the MASCOT ( Hamilton et al, 1995 ; Murcutt et al, 2011 ). Whilst capable and adaptable, this type of maintenance system suffers from the fundamental limitation of requiring one person to operate the manipulator and several more people in the supporting team, operating some of the functionality of the MASCOT as well as supporting equipment ( Boessenkool et al, 2014 ).…”

Section: Introductionmentioning

confidence: 99%

Exploring Effects of Information Filtering With a VR Interface for Multi-Robot Supervision

2021

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Supervising and controlling remote robot systems currently requires many specialised operators to have knowledge of the internal state of the system in addition to the environment. For applications such as remote maintenance of future nuclear fusion reactors, the number of robots (and hence supervisors) required to maintain or decommission a facility is too large to be financially feasible. To address this issue, this work explores the idea of intelligently filtering information so that a single user can supervise multiple robots safely. We gathered feedback from participants using five methods for teleoperating a semi-autonomous multi-robot system via Virtual Reality (VR). We present a novel 3D interaction method to filter the displayed information to allow the user to read information from the environment without being overwhelmed. The novelty of the interface design is the link between Semantic and Spatial filtering and the hierarchical information contained within the multi robot system. We conducted a user study including a cohort of expert robot teleoperators comparing these methods; highlighting the significant effects of 3D interface design on the performance and perceived workload of a user teleoperating many robot agents in complex environments. The results from this experiment and subjective user feedback will inform future investigations that build upon this initial work.

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Section: Introductionmentioning

confidence: 99%