Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy
Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy
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DOI：
10.1109/raha.2016.7931866
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发表时间：
2016-12
期刊：
影响因子：
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通讯作者：
Naresh Marturi;Alireza Rastegarpanah;C. Takahashi;Maxime Adjigble;R. Stolkin;Sebastian Zurek;Marek Kopicki;M. Talha;J. Kuo;Yasemin Bekiroglu
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文献类型：
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作者：
Naresh Marturi;Alireza Rastegarpanah;C. Takahashi;Maxime Adjigble;R. Stolkin;Sebastian Zurek;Marek Kopicki;M. Talha;J. Kuo;Yasemin Bekiroglu
我们提出了一个新的国际项目的早期试点研究，开发先进的机器人来处理核废料。尽管有巨大的远程处理需求，但核工业对机器人的使用却非常少。部署的少数机器人以基本的方式直接遥控，没有先进的控制方法或自主性。大多数远程处理仍然是由一个高技能的专家老龄化的劳动力，使用20世纪60年代风格的机械主从设备。相比之下，本文探讨了新手操作员如何快速学习控制现代机器人执行基本的操作任务，以及自主机器人技术如何用于操作员辅助，以提高吞吐率，减少错误，提高安全性。我们比较人类直接遥控机器人手臂，对人类监督的半自主控制，利用计算机视觉，视觉伺服和自主抓取算法。我们展示了新手操作员如何通过培训快速提高他们的性能;建议培训需求如何随任务复杂性而扩展;并展示了先进的自主机器人技术如何帮助人类操作员提高他们的整体任务性能。本文的另一个贡献是展示如何严格的实验和分析方法，从人为因素的研究，可以应用到执行原则性的科学评估人类测试对象控制机器人执行实际的操作任务。
We present early pilot-studies of a new international project, developing advanced robotics to handle nuclear waste. Despite enormous remote handling requirements, there has been remarkably little use of robots by the nuclear industry. The few robots deployed have been directly teleoperated in rudimentary ways, with no advanced control methods or autonomy. Most remote handling is still done by an aging workforce of highly skilled experts, using 1960s style mechanical Master-Slave devices. In contrast, this paper explores how novice human operators can rapidly learn to control modern robots to perform basic manipulation tasks; also how autonomous robotics techniques can be used for operator assistance, to increase throughput rates, decrease errors, and enhance safety. We compare humans directly teleoperating a robot arm, against human-supervised semi-autonomous control exploiting computer vision, visual servoing and autonomous grasping algorithms. We show how novice operators rapidly improve their performance with training; suggest how training needs might scale with task complexity; and demonstrate how advanced autonomous robotics techniques can help human operators improve their overall task performance. An additional contribution of this paper is to show how rigorous experimental and analytical methods from human factors research, can be applied to perform principled scientific evaluations of human test-subjects controlling robots to perform practical manipulative tasks.