Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Standard

Towards advanced robotic manipulation for nuclear decommissioning : A pilot study on tele-operation and autonomy. / Marturi, Naresh; Rastegarpanah, Alireza; Takahashi, Chie; Adjigble, Maxime; Stolkin, Rustam; Zurek, Sebastian; Kopicki, Marek; Talha, Mohammed; Kuo, Jeffrey A.; Bekiroglu, Yasemin.

2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA). Institute of Electrical and Electronics Engineers (IEEE), 2017. 7931866.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

Marturi, N, Rastegarpanah, A, Takahashi, C, Adjigble, M, Stolkin, R, Zurek, S, Kopicki, M, Talha, M, Kuo, JA & Bekiroglu, Y 2017, Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy. in 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)., 7931866, Institute of Electrical and Electronics Engineers (IEEE), 1st International Conference on Robotics and Automation for Humanitarian Applications, RAHA 2016, Kerala, India, 18/12/16. https://doi.org/10.1109/RAHA.2016.7931866

APA

Marturi, N., Rastegarpanah, A., Takahashi, C., Adjigble, M., Stolkin, R., Zurek, S., Kopicki, M., Talha, M., Kuo, J. A., & Bekiroglu, Y. (2017). Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy. In 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA) [7931866] Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/RAHA.2016.7931866

Vancouver

Marturi N, Rastegarpanah A, Takahashi C, Adjigble M, Stolkin R, Zurek S et al. Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy. In 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA). Institute of Electrical and Electronics Engineers (IEEE). 2017. 7931866 https://doi.org/10.1109/RAHA.2016.7931866

Author

Marturi, Naresh ; Rastegarpanah, Alireza ; Takahashi, Chie ; Adjigble, Maxime ; Stolkin, Rustam ; Zurek, Sebastian ; Kopicki, Marek ; Talha, Mohammed ; Kuo, Jeffrey A. ; Bekiroglu, Yasemin. / Towards advanced robotic manipulation for nuclear decommissioning : A pilot study on tele-operation and autonomy. 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA). Institute of Electrical and Electronics Engineers (IEEE), 2017.

Bibtex

@inproceedings{5cefd2fd918449a797a5b94d3ad8881b,
title = "Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy",
abstract = "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.",
keywords = "Service robots, Grippers, Robot kinematics, Radioactive pollution, Grasping, Stacking",
author = "Naresh Marturi and Alireza Rastegarpanah and Chie Takahashi and Maxime Adjigble and Rustam Stolkin and Sebastian Zurek and Marek Kopicki and Mohammed Talha and Kuo, {Jeffrey A.} and Yasemin Bekiroglu",
year = "2017",
month = may,
day = "23",
doi = "10.1109/RAHA.2016.7931866",
language = "English",
isbn = "978-1-5090-5204-2 (PoD)",
booktitle = "2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
note = "1st International Conference on Robotics and Automation for Humanitarian Applications, RAHA 2016 ; Conference date: 18-12-2016 Through 20-12-2016",

}

RIS

TY - GEN

T1 - Towards advanced robotic manipulation for nuclear decommissioning

T2 - 1st International Conference on Robotics and Automation for Humanitarian Applications, RAHA 2016

AU - Marturi, Naresh

AU - Rastegarpanah, Alireza

AU - Takahashi, Chie

AU - Adjigble, Maxime

AU - Stolkin, Rustam

AU - Zurek, Sebastian

AU - Kopicki, Marek

AU - Talha, Mohammed

AU - Kuo, Jeffrey A.

AU - Bekiroglu, Yasemin

PY - 2017/5/23

Y1 - 2017/5/23

N2 - 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.

AB - 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.

KW - Service robots

KW - Grippers

KW - Robot kinematics

KW - Radioactive pollution

KW - Grasping

KW - Stacking

UR - http://www.scopus.com/inward/record.url?scp=85009766099&partnerID=8YFLogxK

U2 - 10.1109/RAHA.2016.7931866

DO - 10.1109/RAHA.2016.7931866

M3 - Conference contribution

AN - SCOPUS:85009766099

SN - 978-1-5090-5204-2 (PoD)

BT - 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)

PB - Institute of Electrical and Electronics Engineers (IEEE)

Y2 - 18 December 2016 through 20 December 2016

ER -