Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning
Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning
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传统核电站的机器人退役：远程机器人操作人为因素实验的结果，以及退役挑战和方法的讨论
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
R. Stolkin
中科院分区：
文献类型：
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作者：
M. Talha;E. AmirM.Ghalamzan;C. Takahashi;J. Kuo;W. Ingamells;R. Stolkin
本文探讨了开发机器人系统退役的遗留核基础设施，如目前在英国，美国和其他国家的许多污染手套箱的问题。我们开始讨论这些退役挑战。我们回顾了目前的手动方法退役α污染的工厂，并审查机器人的方法，可能会取代这种直接的人为干预。然后，我们提出了我们的初步实验与人类测试科目，探索人类控制远程机器人执行复杂的操作任务的能力。我们的初步研究结果揭示了一些有趣的教训：传统的远程操作是非常困难的，非常缓慢，没有显着的培训，这种技术的可用性的指标可能是相互矛盾的，难以解释，远程操作的能力显着不同的个人，但这种能力可以通过使用空间意识测试来预测，以选择未来的机器人操作员;此外，随着学习的进展，具有不同初始资质的人的能力似乎有所收敛。本文的另一个贡献是展示如何严格的科学方法，从心理学和人为因素的研究领域，可以用来分析人类使用机器人执行实际任务的性能。
This paper explores the problems of developing robotic systems for decommissioning legacy nuclear infrastructure, such as the many contaminated gloveboxes present in UK, USA and other countries. We begin with a discussion of these decomissioning challenges. We review the current manual methods for decommissioning alpha-contaminated plant, and review robotic approaches which might replace such direct human interventions. We then present our initial experiments with human test-subjects, exploring the ability of humans to control a remote robot to perform complex manipulation tasks. Our preliminary results reveal a number of interesting lessons: conventional tele-manipulation is very difficult and very slow without significant training; metrics for usability of such technology can be conflicting and hard to interpret; aptitude for tele-manipulation varies significantly between individuals; however such aptitude may be predicted by using spatial awareness tests to select prospective robot operators; additionally the abilities of people with different initial aptitudes appear to converge somewhat as learning progresses. An additional contribution of this paper is to show how rigorous scientific methodologies, drawn from the psychology and human-factors research fields, can be used to analyse the performance of humans using robots to perform practical tasks.
与任务相关的抓取选择：规划抓取和操纵运动轨迹的联合解决方案
DOI：
10.1109/iros.2016.7759158
发表时间：
2016
期刊：
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影响因子：
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作者：
Ghalamzan E. A
通讯作者：
Ghalamzan E. A