Human Robot Interaction for Future Remote Manipulations in Industry 4.0

Ghosh, Ayan; Soto, Daniel Alonso Paredes; Veres, Sándor M.; Rossiter, Anthony

doi:10.1016/j.ifacol.2020.12.2752

Cited by 15 publications

(12 citation statements)

References 20 publications

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“…In [11], RDTs are operated in Plant Simulation to evaluate benefits of using collaborative robots, such as KUKA LWR IIWA, in I4.0-based automotive production lines. Insights are provided to operators in [12] to carry out remote processes involving UR 5 arms in I4.0 applications. To this end, RDTs are run in a simulation environment made up of ROS and Unity 3D.…”

Section: State Of the Artmentioning

confidence: 99%

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Kaigom

Rosmann

2021

IEEE Trans. Ind. Inf.

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Although the skills of robot manipulators are becoming technically more complex, the unprecedented costeffective access to recently unveiled intelligent robots has the potential to unleash as yet unimagined automation capabilities. A key technology behind this opportunity for companies to gain a competitive edge through an informed and intelligent robotized automation is the robotic digital twin (RDT). As such, the RDT will be instrumental in mirroring targeted properties of a physical robot to obtain a digital sibling flexibly harnessed in virtual testbeds to understand, predict, and shape the robot performance. However, these objectives remain challenging to well-established simulators. This is because the architectural and functional capabilities they support are not sufficiently in-line with ever-growing and varying demands for agile and cost-efficient manipulations. As a consequence, robot stakeholders can hardly use RDTs to unlock opportunities and meet needs from prospective markets. This paper contributes to addressing this gap. We introduce a novel concept for the development of a RDT that helps create and add value to current and future robotized cyber-physical applications. Hereinafter referred to as the value-driven RDT (vdRDT), it systematically captures the robot dynamics and purposefully farms data, about which its services reason, to facilitate insight and deliver capabilities as well as benefits to stakeholders. Experiment results show that vdRDTs enlarge the scope of, adapt to, and revitalize robotized applications carried out in different fields.

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Section: State Of the Artmentioning

confidence: 99%

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Kaigom

Rosmann

2021

IEEE Trans. Ind. Inf.

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“…More recent research fields explore how to reduce the operator workload with highlevel instructions given to the robot by voice command [2] while the usability of a humanoid robot is explored in order to do bi-manual tasks inside a legacy glovebox [25,26]. In general, all the solutions cited above exploit methods and strategies presented in robotics literature in order to identify reliable grasping poses.…”

Section: Previous Workmentioning

confidence: 99%

“…The extreme conditions encountered in the nuclear industry leads to a conservative attitude towards cutting-edge robotics technology despite the fact that it has a high potential for solving problems that the industry faces [2]. In order to bridge the gap between state-ofthe-art robotics research and the nuclear industry, the Robotics and AI in Nuclear (RAIN) Hub was established where various problems encountered on nuclear sites are being investigated and robotic solutions are being developed [3].…”

Section: Introductionmentioning

confidence: 99%

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

et al. 2021

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The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes that are sealed volumes with controlled access for performing handling. While gloveboxes allow operators to perform complex handling tasks, they put operators at considerable risk from breaking the confinement and, historically, serious examples including punctured gloves leading to lifetime doses have occurred. To date, robotic systems have had relatively little impact on the industry, even though it is clear that they offer major opportunities for improving productivity and significantly reducing risks to human health. This work presents the challenges of robotic and AI solutions for nuclear gloveboxes, and introduces a step forward for bringing cutting-edge technology to gloveboxes. The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling. The proposed approach spans from tele-manipulation to shared autonomy, computer vision solutions for robotic manipulation to machine learning solutions for condition monitoring.

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“…Necessity of increasing the industrial staff safety requires principally of implementing the different robotic systems for handling the radioactive dangerous materials, and due to this, it is one of modern trends in industry, especially in nuclear power [3]- [5]. The most up-to-date applications of the robotic systems for the nuclear power purposes are limited to important but auxiliary operations like inspecting the spent nuclear fuel [4] as well as aerial working [3], [4], [7] at the nuclear power plants including after the serious nuclear disasters like Chernobyl and Fukushima Daiichi [3] because it is possible to do it by using the well-known technologies including the remote control [8]. At the The impact of the moved wheeled platform on the installed board accelerometer will be considered to estimate the possibilities for accurate instrumental measurement and save data on the transport accelerations (Figure 1).…”

Section: Current State Overview the And Problem Formulationmentioning

confidence: 99%

“…The equations of motion ( 5), ( 2), the electromechanics equations ( 6), (7) and the initial conditions (8) represent the developed mathematical model of the robotic wheeled transport platform for horizontal displacements of nuclear fuel. This model demonstrates that the acceleration of horizontal transportation of nuclear fuel is determined by the voltage supplied on the drive electric motors, so the smooth movement can be realized by choosing this voltage.…”

Section: Current State Overview the And Problem Formulationmentioning

confidence: 99%

Safe Transportation of Nuclear Fuel Assemblies by Means of Wheeled Robotic Platforms

Alyokhina

Невлюдов

Romashov

2021

Nucl. and Rad. Safe.

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Certain engineering problems concerning safety of the technological operations of the horizontal transportation of nuclear fuel within the enterprises’ sites were considered. Taking into account current trends in the introduction of robotic systems to reduce the impact of hazardous nuclear materials on personnel, the issue of automated control of the movement of the wheeled robotic platform, which can be used for horizontal transportation of nuclear fuel was studied. The major attention was paid to minimizing the transportation loads on nuclear fuel by means of decreasing the accelerations under its horizontal movement on the robotic wheeled transportation platform, which is a separate issue of the comprehensive safety problem of nuclear materials management. The research of horizontal movement safety of nuclear fuel by means of the robotic wheeled platforms was limited to defining transportation accelerations and was performed by computer simulations using mathematical models of dynamics and electro-mechanics. The mathematical model of the robotic transport wheeled platform loaded with nuclear fuel with the on-board accelerometer ensuring the required measurements necessary for an automated safe movement control system was built in the form of the Lagrange equations of the second kind and the electro-mechanics equations of the direct current electric motors. The issue of ensuring smooth running during the displacement of a wheeled platform loaded with nuclear fuel was investigated, since especially in this mode the maximum accelerations are observed, which can lead to nuclear fuel damage. Computer simulation was performed using free Scilab software with open program code. It was demonstrated that due to the proper choice of the time algorithm of the voltage of electric motors, it is possible to ensure a small acceleration during the displacement of a robotic wheeled transport platform loaded with nuclear fuel. The obtained result substantiated the possibility of safe horizontal transportation of nuclear fuel on robotic wheeled platforms within the territories of enterprises, which will significantly reduce the harmful impact of hazardous nuclear materials on industrial personnel.

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Human Robot Interaction for Future Remote Manipulations in Industry 4.0

Cited by 15 publications

References 20 publications

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

Safe Transportation of Nuclear Fuel Assemblies by Means of Wheeled Robotic Platforms

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