Shared Teleoperation for Nuclear Plant Robotics Using Interactive Virtual Guidance Generation and Shared Autonomy Approaches

Pruks, Vitalii; Lee, Kwang-Hyun; Ryu, Jee-Hwan

doi:10.1109/urai.2018.8441814

Cited by 9 publications

(4 citation statements)

References 11 publications

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“…When designing the teleoperated system for the maintenance of the experimental fusion plant ITER, an extensive study has analyzed and optimized all the procedures so to save as much time as possible and reduce the delays caused by low telepresence of the teleoperated systems [67]. Moreover, following a trend already explored in teleoperated surgery, enabling shared control for trajectory optimization and obstacle avoidance [68] adding multimodal feedback such as haptic and visual [69] significantly improves performance and operation time. Note that the implemented haptic feedback is kinaesthetic and not tactile, assuming a point-like contact between the follower and the remote environment.…”

Section: External Fieldsmentioning

confidence: 99%

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

Costi,

Iida

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Teleoperated robots have been widely accepted in several fields of medical practice, enhancing human abilities and allowing remote operation. However, such technology has not been able yet to permeate areas such as primary care and physical examination. Such applications strongly rely on the quality of the interaction between doctor and patient, and on its multimodal nature. In order to achieve remote physical examination is thus mandatory to have a good doctor-robot interface, but what does good mean? Ultimately, the goal is for the user to achieve task embodiment, making the remote task feel like the in-person one. Several research groups have proposed a wide variety of interfaces, showcasing largely different methods of control and feedback, because of the absence of design guidelines. In this work, we argue that the ideal interface for a remote task should resemble as close as possible the experience provided by the in-person equivalent, keeping in consideration the nature of the target users. To support our claims, we analyze many remote interfaces and compare them with the respective in-person task. This analysis is not limited to the medical sector, with examples such as remote abdominal surgery, but it expands to all forms of teleoperation, up to nuclear waste handling and avionics.

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Section: External Fieldsmentioning

confidence: 99%

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

Costi,

Iida

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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“…A robotic system that is partially operated/supervised from a remote safe location by an expert operator of the field is a solution that facilitates the adoption of the robots, as well as exploiting the operators' knowledge of the field to deal with difficult situations. Teleoperating a remote robot has been widely explored for nuclear robots [2], space robots [3], and even humanoid robots for disaster response and telepresence [4].…”

Section: Amentioning

confidence: 99%

Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study

Ivaldi,

Ghini

2023

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)

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Construction robots may one day replace workers in dangerous operations such as the removal of asbestos cement tiles on roofs, an operation that exposes workers to several risks to their health. We argue that such robots will be teleoperated, to enable expert workers to supervise or directly control the operations, leveraging their knowledge of the field and facilitating the adoption of robots. We developed a prototype of the teleoperation and control interface of a prototype robot for roof tiles removal operations, combining a graphical interface, joysticks and a digital twin. We report on the rationale behind our choices, as well as the lessons learned after a pilot study.

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“…VR and simulations are often used to compensate for the lack of information when operating robots in extreme environments such as space robotics (Yoon et al, 2004) and nuclear power plant maintenance (Pruks et al, 2018), as delays and communication breakdowns are expected to occur. In this case, it is necessary to predict and visualize the future via simulations (Clarke et al, 2007).…”

Section: Base For Teleoperation Systemsmentioning

confidence: 99%

SIGVerse: A Cloud-Based VR Platform for Research on Multimodal Human-Robot Interaction

Inamura

Mizuchi

2021

Front. Robot. AI

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Research on Human-Robot Interaction (HRI) requires the substantial consideration of an experimental design, as well as a significant amount of time to practice the subject experiment. Recent technology in virtual reality (VR) can potentially address these time and effort challenges. The significant advantages of VR systems for HRI are: 1) cost reduction, as experimental facilities are not required in a real environment; 2) provision of the same environmental and embodied interaction conditions to test subjects; 3) visualization of arbitrary information and situations that cannot occur in reality, such as playback of past experiences, and 4) ease of access to an immersive and natural interface for robot/avatar teleoperations. Although VR tools with their features have been applied and developed in previous HRI research, all-encompassing tools or frameworks remain unavailable. In particular, the benefits of integration with cloud computing have not been comprehensively considered. Hence, the purpose of this study is to propose a research platform that can comprehensively provide the elements required for HRI research by integrating VR and cloud technologies. To realize a flexible and reusable system, we developed a real-time bridging mechanism between the robot operating system (ROS) and Unity. To confirm the feasibility of the system in a practical HRI scenario, we applied the proposed system to three case studies, including a robot competition named RoboCup@Home. via these case studies, we validated the system’s usefulness and its potential for the development and evaluation of social intelligence via multimodal HRI.

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Shared Teleoperation for Nuclear Plant Robotics Using Interactive Virtual Guidance Generation and Shared Autonomy Approaches

Cited by 9 publications

References 11 publications

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study

SIGVerse: A Cloud-Based VR Platform for Research on Multimodal Human-Robot Interaction

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