Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
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机器人辅助核灾难响应：现场演习的报告和见解
DOI：
10.1109/iros47612.2022.9981881
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
R. Stolkin
中科院分区：
文献类型：
--
作者：
Manolis Chiou;Georgios;Grigoris Nikolaou;Pantelis Pappas;Giannis Petousakis;Stefan Muhl;R. Stolkin
本文报告了机器人研究人员参加了德国卡尔斯鲁厄Kerntechnische Hilfdienst GmbH （KHG）在德国卡尔斯鲁厄进行的为期5天的机器人辅助核灾难应对现场演习的见解。德国核工业建立了KHG，以提供机器人辅助的核事故应急响应能力。我们对所使用的设备进行了系统的描述；机器人操作员培训计划；野外演练和机器人任务；在实验过程中遵循了规程。此外，基于这些观察，我们为推进灾难响应机器人提供了见解和建议。具体来说，性能的下降主要来自于对操作员的认知和注意力要求。此外，机器人平台和模块除了易于使用外，还应力求坚固可靠。最后，由于应急响应利益相关者通常对使用自主系统持怀疑态度，我们建议采用可变自主范式，逐步将自主机器人能力与人在环集成。这种介于远程操作和自主之间的中间立场可以增加最终用户的接受度，同时直接减轻操作员的一些机器人控制负担，并保持人在环的弹性。
This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. We present a systematic description of the equipment used; the robot operators' training program; the field exercise and robot tasks; and the protocols followed during the exercise. Additionally, we provide insights and suggestions for advancing disaster response robotics based on these observations. Specifically, the main degradation in performance comes from the cognitive and attentional demands on the operator. Furthermore, robotic platforms and modules should aim to be robust and reliable in addition to their ease of use. Last, as emergency response stakeholders are often skeptical about using autonomous systems, we suggest adopting a variable autonomy paradigm to integrate autonomous robotic capabilities with the human-in-the-loop gradually. This middle ground between teleoperation and autonomy can increase end-user acceptance while directly alleviating some of the operator's robot control burden and maintaining the resilience of the human-in-the-loop.
用于监控的主动远程呈现辅助：多摄像头远程护理机器人的用户研究
DOI：
10.1109/icra48506.2021.9561361
发表时间：
2021
期刊：
2021 IEEE International Conference on Robotics and Automation (ICRA
影响因子：
--
作者：
Valiton, Alexandra;Baez, Hannah;Harrison, Naomi;Roy, Justine;Li, Zhi
通讯作者：
Li, Zhi
影响因子：
3.7
作者：
Groves, Keir;Hernandez, Emili;Lennox, Barry
通讯作者：
Lennox, Barry
影响因子：
3.6
作者：
Dufek, Jan;Xiao, Xues;Murphy, Robin R.
通讯作者：
Murphy, Robin R.