Enhanced teleoperation exhibiting tele-autonomy and tele-collaboration.

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This paper presents enhanced remote manipulation of tools for D&D tasks by extending teleoperation with teleautonomy and tele-collaboration. This work builds on a reactive, agent-based control architecture, which is well suited to unstructured and unpredictable environments, and cobot control technology, which implements a virtual fixture that can be used to guide the application of tools with passive force-feedback control. Developed methodologies are tested using simulation, and then planned to be implemented using a structured light sensor and cobot hand controller on a dual-arm system to measure the enhanced performance of key tool operations that are tedious and difficult to perform ... continued below

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Park, Y. S.; Ewing, T. F.; Yule, T. J.; Colgate, E. & Peshkin, M. May 17, 2002.

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Description

This paper presents enhanced remote manipulation of tools for D&D tasks by extending teleoperation with teleautonomy and tele-collaboration. This work builds on a reactive, agent-based control architecture, which is well suited to unstructured and unpredictable environments, and cobot control technology, which implements a virtual fixture that can be used to guide the application of tools with passive force-feedback control. Developed methodologies are tested using simulation, and then planned to be implemented using a structured light sensor and cobot hand controller on a dual-arm system to measure the enhanced performance of key tool operations that are tedious and difficult to perform purely by teleoperation. This work significantly leverages some 2000 hours of operational experience gained during the D&D of the CP-5 reactor at ANL using a dual-arm remote manipulator system, as well as DOE's investment in the dual-arm system itself, which will serve as a test bed for the proposed investigations.

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  • Spectrum 2002: 9th Biennial International Conference on Nuclear and Hazardous Waste Meeting, Reno, NV (US), 08/04/2002--08/08/2002

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  • Report No.: ANL/TD/CP-107730
  • Grant Number: W-31-109-ENG-38
  • Office of Scientific & Technical Information Report Number: 799834
  • Archival Resource Key: ark:/67531/metadc740087

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • May 17, 2002

Added to The UNT Digital Library

  • Oct. 19, 2015, 7:39 p.m.

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  • March 21, 2016, 1:56 p.m.

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Park, Y. S.; Ewing, T. F.; Yule, T. J.; Colgate, E. & Peshkin, M. Enhanced teleoperation exhibiting tele-autonomy and tele-collaboration., article, May 17, 2002; Illinois. (digital.library.unt.edu/ark:/67531/metadc740087/: accessed October 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.