Angelo Compierchio, Phillip Tretten, S. Oyelere, C. Karagiannis
An assisted remote manipulation (ArM) platform has been defined for the Super FragmentSeparator (Super-FRS) main tunnel and hot cell at the High Energy Physics (HEP) Facilityof Anti-proton and Ion Research (FAIR). The designed platform positioned within a VirtualReality (VR) based framework ensures dynamic collaboration and effective humaninteraction to assist with Remote Handling (RH) operations. To visually stimulate operatorassisted intervention in harsh environments, enhanced interaction based on syntheticvision has been adapted with simultaneous localization and mapping (SLAM) techniquesinterlinked with virtual layers representing a three dimensional manipulation of RHmaintenance tasks. The proposed platform also included a sequence mapping toolevaluated with RH task variables specific to the sequence space analyses of pathplanning, motion check, and collision detection performed in both real and virtual RH taskenvironments. Further assistance was envisaged from multimodal feedback categoriesthrough force feedback, in this case, a backpropagation algorithm was tailored to define aforce limit and to send feedback signals to the operator every time the actual patternexceeded the desired output pattern. Overall, the ArM platform ensures the application ofbest engineering practices to RH needs as a basis to maximize information gathering andsharing driven by continuous improvement initiatives.
{"title":"Assistive VR platform design for Telemanipulation at the Super Fragment Separator\u0000 Facility","authors":"Angelo Compierchio, Phillip Tretten, S. Oyelere, C. Karagiannis","doi":"10.54941/ahfe1002943","DOIUrl":"https://doi.org/10.54941/ahfe1002943","url":null,"abstract":"An assisted remote manipulation (ArM) platform has been defined for the Super\u0000 FragmentSeparator (Super-FRS) main tunnel and hot cell at the High Energy Physics (HEP)\u0000 Facilityof Anti-proton and Ion Research (FAIR). The designed platform positioned within\u0000 a VirtualReality (VR) based framework ensures dynamic collaboration and effective\u0000 humaninteraction to assist with Remote Handling (RH) operations. To visually stimulate\u0000 operatorassisted intervention in harsh environments, enhanced interaction based on\u0000 syntheticvision has been adapted with simultaneous localization and mapping (SLAM)\u0000 techniquesinterlinked with virtual layers representing a three dimensional manipulation\u0000 of RHmaintenance tasks. The proposed platform also included a sequence mapping\u0000 toolevaluated with RH task variables specific to the sequence space analyses of\u0000 pathplanning, motion check, and collision detection performed in both real and virtual\u0000 RH taskenvironments. Further assistance was envisaged from multimodal feedback\u0000 categoriesthrough force feedback, in this case, a backpropagation algorithm was tailored\u0000 to define aforce limit and to send feedback signals to the operator every time the\u0000 actual patternexceeded the desired output pattern. Overall, the ArM platform ensures the\u0000 application ofbest engineering practices to RH needs as a basis to maximize information\u0000 gathering andsharing driven by continuous improvement initiatives.","PeriodicalId":383834,"journal":{"name":"Human Interaction and Emerging Technologies (IHIET-AI 2023): Artificial\n Intelligence and Future Applications","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127157110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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