Assessing tele-manipulation systems using task performance for glovebox operations
Tele-manipulation is indispensable for the nuclear industry since teleoperated robots cancel the radiation hazard problem for the operator. The majority of the teleoperated solutions used in the nuclear industry rely on bilateral teleoperation, utilizing a variation of the 4-channel architecture, wh...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.932538/full |
| _version_ | 1828184160016007168 |
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| author | Erwin Jose Lopez Pulgarin Ozan Tokatli Guy Burroughes Guido Herrmann |
| author_facet | Erwin Jose Lopez Pulgarin Ozan Tokatli Guy Burroughes Guido Herrmann |
| author_sort | Erwin Jose Lopez Pulgarin |
| collection | DOAJ |
| description | Tele-manipulation is indispensable for the nuclear industry since teleoperated robots cancel the radiation hazard problem for the operator. The majority of the teleoperated solutions used in the nuclear industry rely on bilateral teleoperation, utilizing a variation of the 4-channel architecture, where the motion and force signals of the local and remote robots are exchanged in the communication channel. However, the performance limitation of teleoperated robots for nuclear decommissioning tasks is not clearly answered in the literature. In this study, we assess the task performance in bilateral tele-manipulation for radiation surveying in gloveboxes and compare it to radiation surveying of a glovebox operator. To analyze the performance, an experimental setup suitable for human operation (manual operation) and tele-manipulation is designed. Our results showed that a current commercial off-the-shelf (COTS) teleoperated robotic manipulation solution is flexible, yet insufficient, as its task performance is significantly lower when compared to manual operation and potentially hazardous for the equipment inside the glovebox. Finally, we propose a set of potential solutions, derived from both our observations and expert interviews, that could improve the performance of teleoperation systems in glovebox environments in future work. |
| first_indexed | 2024-04-12T06:44:18Z |
| format | Article |
| id | doaj.art-f18cbe405fea409eadf3ced38ca5ed14 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-12T06:44:18Z |
| publishDate | 2022-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-f18cbe405fea409eadf3ced38ca5ed142022-12-22T03:43:39ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-11-01910.3389/frobt.2022.932538932538Assessing tele-manipulation systems using task performance for glovebox operationsErwin Jose Lopez Pulgarin0Ozan Tokatli1Guy Burroughes2Guido Herrmann3Department of Electrical and Electronics Engineering, The University of Manchester, Manchester, United KingdomRemote Applications in Challenging Environments, United Kingdom Atomic Energy Authority, Abingdon, Oxfordshire, United KingdomRemote Applications in Challenging Environments, United Kingdom Atomic Energy Authority, Abingdon, Oxfordshire, United KingdomDepartment of Electrical and Electronics Engineering, The University of Manchester, Manchester, United KingdomTele-manipulation is indispensable for the nuclear industry since teleoperated robots cancel the radiation hazard problem for the operator. The majority of the teleoperated solutions used in the nuclear industry rely on bilateral teleoperation, utilizing a variation of the 4-channel architecture, where the motion and force signals of the local and remote robots are exchanged in the communication channel. However, the performance limitation of teleoperated robots for nuclear decommissioning tasks is not clearly answered in the literature. In this study, we assess the task performance in bilateral tele-manipulation for radiation surveying in gloveboxes and compare it to radiation surveying of a glovebox operator. To analyze the performance, an experimental setup suitable for human operation (manual operation) and tele-manipulation is designed. Our results showed that a current commercial off-the-shelf (COTS) teleoperated robotic manipulation solution is flexible, yet insufficient, as its task performance is significantly lower when compared to manual operation and potentially hazardous for the equipment inside the glovebox. Finally, we propose a set of potential solutions, derived from both our observations and expert interviews, that could improve the performance of teleoperation systems in glovebox environments in future work.https://www.frontiersin.org/articles/10.3389/frobt.2022.932538/fulltask performancebilateral teleoperationrobotic gloveboxroboticsexperimental validationnuclear robotics |
| spellingShingle | Erwin Jose Lopez Pulgarin Ozan Tokatli Guy Burroughes Guido Herrmann Assessing tele-manipulation systems using task performance for glovebox operations Frontiers in Robotics and AI task performance bilateral teleoperation robotic glovebox robotics experimental validation nuclear robotics |
| title | Assessing tele-manipulation systems using task performance for glovebox operations |
| title_full | Assessing tele-manipulation systems using task performance for glovebox operations |
| title_fullStr | Assessing tele-manipulation systems using task performance for glovebox operations |
| title_full_unstemmed | Assessing tele-manipulation systems using task performance for glovebox operations |
| title_short | Assessing tele-manipulation systems using task performance for glovebox operations |
| title_sort | assessing tele manipulation systems using task performance for glovebox operations |
| topic | task performance bilateral teleoperation robotic glovebox robotics experimental validation nuclear robotics |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2022.932538/full |
| work_keys_str_mv | AT erwinjoselopezpulgarin assessingtelemanipulationsystemsusingtaskperformanceforgloveboxoperations AT ozantokatli assessingtelemanipulationsystemsusingtaskperformanceforgloveboxoperations AT guyburroughes assessingtelemanipulationsystemsusingtaskperformanceforgloveboxoperations AT guidoherrmann assessingtelemanipulationsystemsusingtaskperformanceforgloveboxoperations |