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

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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Management of a Single-User Multi-Robot Teleoperated System for Handling Large Valves in Offshore Plants

Proceedings of the 32nd International Symposium on Automation and Robotics in Construction and Mining (ISARC 2015) ◽

10.22260/isarc2015/0091 ◽

2015 ◽

Author(s):

Sunghoon Eom ◽

Seungyeol Lee ◽

Daejin Kim ◽

Jeon Il Moon

Keyword(s):

Single User ◽

Offshore Plants ◽

Multi Robot

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

Applied Sciences ◽

10.3390/app10176144 ◽

2020 ◽

Vol 10 (17) ◽

pp. 6144

Author(s):

Carlos Veiga Almagro ◽

Giacomo Lunghi ◽

Mario Di Castro ◽

Diego Centelles Beltran ◽

Raúl Marín Prades ◽

...

Keyword(s):

Hadron Collider ◽

Nuclear Research ◽

Particle Accelerator ◽

Robotic Systems ◽

Hazardous Environments ◽

Multimodal User Interface ◽

Single Operator ◽

Single User ◽

Inspection And Maintenance ◽

Multi Robot

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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