An Advanced, Adaptive and Multimodal Graphical User Interface for Human-robot Teleoperation in Radioactive Scenarios

Giacomo Lunghi, Raul Marin Prades, Mario Di Castro

2016

Abstract

In this paper we present the user interface of a tele-robotic system, which allows CERN users to perform visual inspections and tele-manipulation tasks inside the CERN accelerator complex. This graphical user interface has been designed to be simple to use, in order to provide the operator with a comfortable system. Moreover, the user interface is robot independent and it adapts itself to the robot configuration, in order to provide a general way for controlling any kind of robot used at CERN. Furthermore it allows the operator to choose between different kinds of input (e.g. keyboard, joypad, haptic device, etc), in order to provide the most easy human-robot interaction interface, which is a fundamental requirement for safe operations.

References

  1. C¸avus¸o g?lu, M. C., Sherman, A., and Tendick, F. (2002). Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments. Robotics and Automation, IEEE Transactions on, 18(4):641-647.
  2. Cohen, P. R., Johnston, M., McGee, D., Oviatt, S. L., Clow, J., and Smith, I. A. (1998). The efficiency of multimodal interaction: a case study. In ICSLP.
  3. Desbats, P., Garrec, P., Perrot, Y., Measson, Y., Geffard, F., David, O., Gargiulo, L., Idasiak, J.-M., and Piolain, G. (2008). Overview of robotic technologies for nuclear hazardous environments. In Proceedings of ANS Joint topical meeting. Emergency Management & Robotics for Hazardous Environments, March, pages 9-12.
  4. Ferre, M. (1997). Interfaz Disen˜o de interfaces para robots teleoperados. Desarrollo de un entorno de teleoperación con características multimedia . PhD thesis, Tesis Doctoral. Universidad Politécnica de Madrid. 1997. Madrid.
  5. Keller, D., Perrot, Y., Gargiulo, L., Friconneau, J., Bruno, V., Le, R., Soler, B., Tchah, M., Ponsort, D., Chambaud, P., et al. (2008). Demonstration of an iter relevant remote handling equipment for tokamak close inspection. In Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, pages 1495-1500. IEEE.
  6. Kershaw, K., Feral, B., Grenard, J.-L., Feniet, T., De Man, S., Hazelaar-Bal, C., Bertone, C., and Ingo, R. (2013). Remote inspection, measurement and handling for maintenance and operation at cern. International Journal of Advanced Robotic Systems, 10.
  7. Marín, R., Sanchez, J., and Sanz, P. J. (2002). Object recognition and incremental learning algorithms for a webbased telerobotic system. In Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, volume 3, pages 2719-2724. IEEE.
  8. Marín, R., Sanz, P. J., Nebot, P., and Wirz, R. (2005). A multimodal interface to control a robot arm via the web: a case study on remote programming. Industrial Electronics, IEEE Transactions on, 52(6):1506-1520.
  9. Rolfe, A. (2007). A perspective on fusion relevant remote handling techniques. Fusion Engineering and Design, 82(15):1917-1923.
  10. Rolfe, A., Brown, P., Carter, P., Cusack, R., Gaberscik, A., Galbiati, L., Haist, B., Horn, R., Irving, M., Locke, D., et al. (1999). A report on the first remote handling operations at jet. Fusion engineering and design, 46(2):299-306.
  11. Tian, G.-S., Tian, Y.-C., and Fidge, C. (2008). Highprecision relative clock synchronization using time stamp counters. In Engineering of Complex Computer Systems, 2008. ICECCS 2008. 13th IEEE International Conference on, pages 69-78. IEEE.
Download


Paper Citation


in Harvard Style

Lunghi G., Prades R. and Castro M. (2016). An Advanced, Adaptive and Multimodal Graphical User Interface for Human-robot Teleoperation in Radioactive Scenarios . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 224-231. DOI: 10.5220/0005971402240231


in Bibtex Style

@conference{icinco16,
author={Giacomo Lunghi and Raul Marin Prades and Mario Di Castro},
title={An Advanced, Adaptive and Multimodal Graphical User Interface for Human-robot Teleoperation in Radioactive Scenarios},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={224-231},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005971402240231},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Advanced, Adaptive and Multimodal Graphical User Interface for Human-robot Teleoperation in Radioactive Scenarios
SN - 978-989-758-198-4
AU - Lunghi G.
AU - Prades R.
AU - Castro M.
PY - 2016
SP - 224
EP - 231
DO - 10.5220/0005971402240231