Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios

The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans. However, currently available robotic systems lack that level of usability which would allow inexperienced operators to accomplish complex tasks. Moreover, the task’s complexity increases drastically when a single operator is required to control multiple remote agents (for example, when picking up and transporting big objects). In this paper, a system allowing an operator to prepare and configure cooperative behaviours for multiple remote agents is presented. The system is part of a human–robot interface that was designed at CERN, the European Center for Nuclear Research, to perform remote interventions in its particle accelerator complex, as part of the CERNTAURO project. In this paper, the modalities of interaction with the remote robots are presented in detail. The multimodal user interface enables the user to activate assisted cooperative behaviours according to a mission plan. The multi-robot interface has been validated at CERN in its Large Hadron Collider (LHC) mockup using a team of two mobile robotic platforms, each one equipped with a robotic manipulator. Moreover, great similarities were identified between the CERNTAURO and the TWINBOT projects, which aim to create usable robotic systems for underwater manipulations. Therefore, the cooperative behaviours were validated within a multi-robot pipe transport scenario in a simulated underwater environment, experimenting more advanced vision techniques. The cooperative teleoperation can be coupled with additional assisted tools such as vision-based tracking and grasping determination of metallic objects, and communication protocols design. The results show that the cooperative behaviours enable a single user to face a robotic intervention with more than one robot in a safer way.

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Omnidirectional Robotic Platform for Surveillance of Particle Accelerator Environments with Limited Space Areas

Applied Sciences ◽

10.3390/app11146631 ◽

2021 ◽

Vol 11 (14) ◽

pp. 6631

Author(s):

Carlos Prados Sesmero ◽

Luca Rosario Buonocore ◽

Mario Di Castro

Keyword(s):

Dynamic Control ◽

Nuclear Research ◽

Particle Accelerator ◽

Robotic Systems ◽

Harsh Environments ◽

Proton Synchrotron ◽

Robotic Platform ◽

Super Proton Synchrotron ◽

European Organization ◽

Tunnel Inspection

Intelligent robotic systems are becoming essential for inspections and measurements in harsh environments. This article presents the design of an omnidirectional robotic platform for tunnel inspection with spatial limitations. This robot was born from the need to automate the surveillance process of the Super Proton Synchrotron (SPS) accelerator of the European Organization for Nuclear Research (CERN), where there is remaining radiation. The accelerator is located within a tunnel that is divided by small doors of 400 × 200 mm dimensions, through which the robot has to cross. The designed robot brings a robotic arm, and the needed devices to carry out the inspection. Thanks to this design, the robot application may vary by replacing certain devices and tools. In addition, this paper presents the kinematic and dynamic control models for the robotic platform.

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Big science and innovation: gestation lag from procurement to patents for CERN suppliers

The Journal of Technology Transfer ◽

10.1007/s10961-021-09854-5 ◽

2021 ◽

Author(s):

Andrea Bastianin ◽

Paolo Castelnovo ◽

Massimo Florio ◽

Anna Giunta

Keyword(s):

Particle Physics ◽

Hadron Collider ◽

Time Lag ◽

Nuclear Research ◽

Time Span ◽

Particle Accelerator ◽

Filing Date ◽

Count Data Models ◽

European Organization ◽

Long Time

AbstractCERN, the European Organization for Nuclear Research, is the most important laboratory for particle physics in the world. It requires cutting edge technologies to deliver scientific discoveries. This paper investigates the time span needed for technology suppliers of CERN to absorb the knowledge acquired during the procurement relation and develop it into a patent. We estimate count data models relying on a sample of CERN suppliers for the Large Hadron Collider (LHC), a particle accelerator. Firms in our sample received their first LHC-related order over a long-time span (1995–2008). This fact is exploited to estimate the time lag that separates the beginning of the procurement relationship and the filing date of patents. Becoming a supplier of CERN is associated with a statistically significant increase in the number of patent applications by firms. Moreover, such an effect requires a relatively long gestation lag in the range of five to eight years.

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Large Hadron Collider as a Legal Phenomenon

Lex Russica ◽

10.17803/1729-5920.2019.150.5.161-173 ◽

2019 ◽

pp. 161-173 ◽

Cited By ~ 2

Author(s):

A. O. Chetverikov

Keyword(s):

Large Hadron Collider ◽

Legal Status ◽

Hadron Collider ◽

Nuclear Research ◽

European Organization ◽

History Of Development ◽

Scientific Organizations ◽

Legal Nature ◽

History Of ◽

Scientific Collaborations

Сontinued. See: LEX RUSSICA. 2019. № 4. Pp. 151—169This paper is the first in Russia comprehensive theoretical and practical study of one of the world’s largest international scientific installations of the «megasience» class — the Large Hadron Collider (LHC) — from the standpoint of legal science.The author focuses on the unique legal status and legal nature of international scientific collaborations, with the help ofwhichscientistsfromdozensofcountries, including Russia, carry outresearchandmakescientificdiscoveries on the LHC. The paper considers and analyzed the following: the history of development, general principles of the LHC and the European organization for nuclear research (CERN), under the auspices of which its construction was carried out; the principles of the structure and functioning of international scientific collaborations around the LHC; the legal nature of their constituent documents as acts of soft law; the ratio of soft and hard law mechanisms in the regulation of international scientific collaborations around the LHC.The final section presents data and proposals on the use of the legal mechanisms studied in other countries and international organizations, including for the purpose of the construction of scientific installations of the «megasience» class under the auspices of the national scientific organizations of Russia and the Joint Institute for Nuclear Research in Dubna (Moscow region).

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Distributed Coordination Architecture for Cooperative Task Planning and Execution of Intelligent Multi-Robot Systems

Handbook of Research on Advanced Intelligent Control Engineering and Automation - Advances in Computational Intelligence and Robotics ◽

10.4018/978-1-4666-7248-2.ch015 ◽

2015 ◽

pp. 407-426 ◽

Cited By ~ 4

Author(s):

Gen'ichi Yasuda

Keyword(s):

Large Scale ◽

Discrete Event ◽

Robotic Systems ◽

Task Planning ◽

Distributed Coordination ◽

Robot Systems ◽

Concurrent Processes ◽

Manufacturing Applications ◽

Robot Cooperation ◽

Multi Robot

This chapter provides a practical and intuitive way of cooperative task planning and execution for complex robotic systems using multiple robots in automated manufacturing applications. In large-scale complex robotic systems, because individual robots can autonomously execute their tasks, robotic activities are viewed as discrete event-driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, place/transition Petri nets can be properly used as specification tools on different levels of control abstraction. Net models representing inter-robot cooperation with synchronized interaction are presented to achieve distributed autonomous coordinated activities. An implementation of control software on hierarchical and distributed architecture is presented in an example multi-robot cell, where the higher level controller executes an activity-based global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the associated robots are synchronized without the coordinator through the transmission of requests and the reception of status.

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Quantum Approximation for Josephson's Tunneling in Thx DUO2 Nano Material for 535 Tesla at Muon Cyclotron

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.789.157 ◽

2013 ◽

Vol 789 ◽

pp. 157-160

Author(s):

Moh. Hardiyanto

Keyword(s):

Magnetic Field ◽

Hadron Collider ◽

Mathematical Formulation ◽

Nuclear Research ◽

Josephson Tunneling ◽

Nuclear Research Reactor ◽

Covariant Equation ◽

High Degree ◽

Quantum Condition ◽

Experimental Effort

The convergence quantum states of free covariant equation in Einsteins space with quantum condition is studied using the ABR (Abrikosov-Balseiro-Russell) formulation in convergence approximation for Josephson tunneling is important role for determine of neutrino particle existing, especially after Cerenkovs effect for 517 tesla super magnetic at Large Hadron Collider (LHC) Cyclotron in CERN, Lyon, France based on ThxDUO2nanomaterial. This approaching will be solved the problem for determine the value of interstellar Electrical Conductivity (EC) on DUO2chain reaction, then the post condition of muon has been known exactly. In this research shown the value of EC is 4.32 μeV at 378 tesla magnetic field for 2.1 x 104ci/mm fast thermal neutron floating in 45.7 megawatts adjusted power of CERNs Cyclotron. The resulted by special Electron-Scanning-Nuclear-Absorbtion (ESNA) shown any possibilities of Josephsons tunneling must be boundary by muon particles without neutrino particle existing for 350 456 tesla magnetic field on UO2more enrichment nuclear fuel at CERN, whereas this research has purpose for provide the mathematical formulation to boundary of muons moving at nuclear research reactor to a high degree of accuracy and with Catch-Nuc, one of nuclear beam equipment has a few important value of experimental effort.

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Management of a Single-User Multi-Robot Teleoperated System for Maintenance in Offshore Plants

Multi-agent Systems ◽

10.5772/intechopen.69351 ◽

2017 ◽

Author(s):

Seungyeol Lee ◽

Jeon-Il Moon

Keyword(s):

Single User ◽

Offshore Plants ◽

Multi Robot

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Scientists and Students from Hong Kong Join a Top Particle Physics Experiment

Asia Pacific Physics Newsletter ◽

10.1142/s2251158x14000289 ◽

2014 ◽

Vol 03 (02) ◽

pp. 23-24

Author(s):

Keyword(s):

Hong Kong ◽

Higgs Boson ◽

Particle Physics ◽

Hadron Collider ◽

New Physics ◽

Particle Accelerator ◽

Atlas Collaboration ◽

Particle Detectors ◽

The World ◽

Physics Experiment

A team of physicists from Hong Kong has now formally joined one of the most prestigious physics experiments in the world. Following a unanimous vote of approval today by its Collaboration Board, ATLAS has admitted the Hong Kong team as a member. The ATLAS Collaboration operates one of the largest particle detectors in the world, located at the Large Hadron Collider (LHC), the world's highest energy particle accelerator at CERN, Switzerland. In 2012, the ATLAS team — along with the CMS Collaboration — co-discovered the Higgs boson, or so-called 'God Particle'. The gigantic but sensitive and precise ATLAS detector, together with the unprecedentedly high collision energy and luminosity of the LHC, make it possible to search for fundamentally new physics, such as dark matter, hidden extra dimensions, and supersymmetry — a proposed symmetry among elementary particles. The LHC is currently undergoing an upgrade, targeting a substantial increase in beam energy and intensity in a year's time. It is widely expected that the discovery of the Higgs boson is only the beginning of an era of new breakthroughs in fundamental physics. All these exciting opportunities are now opened up to scientists and students from Hong Kong.

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Cooperative Control of a Single-User Multi-Robot Teleoperated System for Maintenance in Offshore Plants

Proceedings of the 31st International Symposium on Automation and Robotics in Construction and Mining (ISARC) ◽

10.22260/isarc2014/0107 ◽

2014 ◽

Author(s):

Sunghoon Eom ◽

Seungyeol Lee ◽

Daejin Kim ◽

Dongbin Shin ◽

Jeon Il Moon

Keyword(s):

Cooperative Control ◽

Single User ◽

Offshore Plants ◽

Multi Robot

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Luminosity Measurements at the LHC at CERN Using Medipix, Timepix and Timepix3 Devices

Physics ◽

10.3390/physics3030037 ◽

2021 ◽

Vol 3 (3) ◽

pp. 579-654

Author(s):

André Sopczak

Keyword(s):

Hadron Collider ◽

Precise Determination ◽

Particle Accelerator ◽

Proton Proton ◽

Performance Improvements ◽

Long Term Stability ◽

Pixel Detectors ◽

Relative Luminosity ◽

Radiation Induced

The precise determination of the luminosity is essential for many analyses in physics based on the data from the particle accelerator Large Hadron Collider (LHC) at CERN. There are different types of detectors used for the luminosity measurements. The focus of this review is on luminosity measurements with hybrid-pixel detectors and the progress made over the past decade. The first generations of detectors of the Medipix and Timepix families had frame-based readout, while Timepix3 has a quasi-continuous readout. The applications of the detectors are manifold, and in particular, the detectors have been operated in the harsh environment of the LHC. The excellent performance in detecting high fluxes of elementary particles made these detectors ideal tools to measure the delivered luminosity resulting from proton–proton collisions. Important aspects of this review are the performance improvements in relative luminosity measurements from one detector generation to another, the long-term stability of the measurements, absolute luminosity measurements, material activation (radiation-induced) corrections, and the measurement of luminosity from neutron counting. Rather than bunch-average luminosity provided by previous detector generations, owing to the excellent time-resolution, Timepix3 measured the luminosity of individual proton bunches that are 25 ns apart. This review demonstrates the large progress in the precision of luminosity measurements during LHC Run-1 and Run-2 operations using hybrid-pixel detectors, and thus their importance for luminosity measurements in the future of LHC operations.

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