Organisation Européenne pour la Recherche Nucléaire
European Organization for Nuclear Research
Laboratoire Européen pour la Physique des Particules
European Laboratory for Particle Physics
An overview of
outcomes
Pierre Bonnal and Keith Kershaw
on the behalf of the PURESAFE community
Workshop on Remote Manipulations / Diagnostics in Radioactive Areas
and Handling of Radioactive Material — 6th May 2013
Aim of this presentation
 Briefly, presenting the PURESAFE ITN
 Presenting some of the PURESAFE outcomes
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What is it?

Preventing hUman
intervention for incrREased SAfety in
inFrastructures Emitting ionizing radiation
=
 Initial Training Network (ITN)
 Training of Early Stage Researchers (ESR)
 Funded under the European Commission's
 7th Framework Programme (FP7)
 Marie Curie Actions Programme
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The starting point
 Visits of some CERN’s teleoperated areas
by academics active in the field of telerobotics
 Through discussions with CERN expects:
specificities of teleoperated means suited to
these areas captured
 CERN invited as a beneficiary for a EU funded
project proposal, that was successful
 Project launched in 2011
 Budget = 3.9 M euros over 4 years
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The stakeholders
 15 Research Projects (RP1 to RP15) and 15 ESRs
 8 beneficiaries + 1 associated partner:
 Tampere University of Technology TUT Finland
 Technical University of Madrid UPM Spain
 Karlsruhe Institute of Technology KIT Germany
 CERN Switzerland
 GSI Germany
 Bgator Ltd. + SenseTrix Ltd. Finland
 Oxford Technologies Ltd. OTL United Kingdom
 FRRC Russia
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15 Research Projects – 3 Work Packages
WP1
Processes & modeling
WP2
Software
platforms
WP3
Hardware
platforms
RP1
RP2
RP3
RP4
RP5
TUT
CERN
Bgator
KIT
KIT
RP1 RP1 RP1 RP1 RP1 RP1
0
1
2
3
4
5
TUT
SenseTrix
UPM
TUT
OTL
RP6
RP8
RP7
RP9
CERN
UPM
GSI
GSI
CERN Cases
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CERN
Super-FRS Cases
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The research approach
 A systems engineering based approach:
 RPs start after needs are correctly gathered
 ESRs convert these needs into requirements
 Outcomes are verified then validated
 WP1 also consists of a systems engineering
framework conceived to embed telerobotics
requirements as early as possible in the process
of developing new facilities or systems subject to
ionized radiations
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An overview of the 9 RPs
that are telerobotics software
or hardware oriented
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RP6 — Energy and communication modules for mobile robot
Ramviyas Parasuraman, CERN, Geneva, Switzerland
Research focus:
 Mobile robot for remote radiation survey and inspection tasks
 Energy management in mobile robot
 Wireless communication management
Benefits: Save dose and time during interventions
KUKA Youbot
(omnidirectional)
Motivation: Avoid manual recovery or loss of mobile robots in the event that the robot runs out of energy
or if there is a communication failure (detecting and taking actions before such events occur)
Methodology:
Energy management – Algorithms for power characterization, online State-Of-Charge analysis
Wireless Communication – Algorithms for tethering a robot to establish long-range and robust wireless
communication
Energy Management system architecture
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Train Inspection Monorail (TIM) : Case study
Experiments in LHC Mockup facility
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RP7 — Remote Handling (RH) concept study for the Super-FRS Plug System
Luis Orona, Super-FRS, GSI, Darmstadt, Germany
Due to the importance of integrating RH features into the components
designs during the development of scientific machines, this project focuses in
developing RH-compatibility studies between:
 The Plug System
and the RH System
Use of Virtual Reality tools to conduct
the RH compatibility studies
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RP8 — Providing a modular robot solution
for the maintenance tasks
Prithvi Pagala, CAR UPM-CSIC, Madrid, Spain
Challenges
● Environment, structure & requirements
Modular robots, design and configuration
● Advantages: same components are able
for locomotion and manipulation.
Reconfiguration is required
Simulator
● For training, planning and procedure
evaluation
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RP9 — Study of a logistic concept for Super-FRS RH components
Faraz Amjad, Super-FRS, GSI, Darmstadt, Germany
Shielding Flask
 Develop requirements for the design and development for the Shielding
Flask
 Conduct shielding flask Functional Analysis (FA), Fault Tree Analysis (FTA) and
physical interface analysis to determine the links and logistics tasks
 Task sequence definitions and simulation (if required) for shielding flask.
 Detailed logistics design report for Shielding flask
Mobile Robot System
 Conduct safety analysis for existing FRS robots installed at target and S1.
 Mobile platform feasibility studies for Super-FRS robot concept.
 Comparison between robot mounted on rails and mobile platform (Risk and
maintainability analysis)
 Radiation environmental / civil analysis for robot installation.
 Task sequence definitions and simulation (if required) for mobile robot.
 Detailed logistics design report for mobile robot
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RP10 — Fault-tolerant remote handling control system
Mohammad M. Aref, TUT, Tampere, Finland
iMoro Mobile Manipulator Perception
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Stereo Camera
Laser Range Finder (LRF)
Time of Flight Camera
Inertial Measurement Unit (IMU)
Wheel Odometry
Current
Main Tasks
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Sensor Fusion
Localization
Pallet Picking by Fork Lift
Visual Servo Control of iMoro
Hybrid Vision/Force Control
Kinematic Analysis of Mobile Manipulation
Case Studies based on iMoro, Avant
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RP10 — Augmented reality-based maintenance tool for hazardous places
Héctor Martínez, Sensetrix, Helsinki,
Finland
Goal: Build an Augmented Reality (AR)
system for maintenance.
– The system helps workers to perform
maintenance tasks faster and safer
– The system is oriented to human
intervention and to remote handling
– Development of authoring tool
Use case scenario: Collimator
– Instructions for collimator exchange
– Telerobotics operator is guided
through the process by using AR
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RP12 — Interconnection of multi-robot and multi-user systems for cooperative tasks
Alex Owen-Hill, CAR UPM-CSIC, Madrid, Spain
New methods for complex (multi-user)
maintenance procedures.
 How multiple users can interact on the
same task through telerobotics
 Types of feedback (haptic/visual)
 Fresh uses of haptics to simplify tasks
 Assisted planning/assignment of subtasks
 Categorizing types of
movement/subtask
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RP14 — Assisting autonomous functionalities for safe teleoperation
Reza Oftadeh, TUT, Tampere, Finland
iMoro Mobile Manipulator
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•
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•
Designed and Built in TUT
Four wheel Independently Steering
Eight Actuators (Four Driving/ Four Steering)
Six Degrees of Freedom Manipulator
Six Degrees of Force/Torque
Two Finger Gripper
Main Tasks
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Focused on Mobile Manipulation
Obstacle-Free Path Planning of Mobile Manipulators
Path Following and Motion Control of iMoro
Autonomous Mobile Grasping
Case Studies based on iMoro
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RP15 — Sensorless teleoperation of an industrial robot with a dissimilar master
Enrique del Sol, Oxford Technologies, Abington, UK
Benefits:

Cope with problem occurrences

Avoid human intervention
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New needs

Save time

Other manipulation tasks
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What about WP1
that is focussed on processes
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A systems engineering (SE)
framework suited to scientific
facilities and systems that are subject
to ionizing radiation
The research leading to this framework has received funding from
the European Commission under the FP7 ITN project PURESAFE,
grant agreement no. 264336.
It is an editorial project
• Some PM and SE related guidelines
• Several telerobotics guidelines
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Telerobotics-related guidelines
10 brochures will be dedicated to telerobotics:
Designing for Telerobotics Inspections
Enrique
Designing for Remote Handling
Enrique
Benchmarking Telemanipulators
Alexander
Allocating Tasks for Multi-Operator Remote Handling
Alexander
Designing Mobile Platforms/Robots for Energy Autonomy
Ramviyas
Designing Mobile Platforms/Robots for Communication Autonomy Ramviyas
Designing Mechatronics for Mobile Manipulators
Reza
Designing Mobile Platforms/Robots for Fault Tolerant Perception
Aref
Designing Mobile Manipulators for (Radiation) Inspections
Reza & Aref
Designing Robots for Modularity
Prithvi
Designing for Maintainability
Héctor
Designing for Augmented Reality (incl. systems tagging)
Héctor
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In summary
 Telerobotics solutions off-the-shelves are not
necessarily suited to ionized radiation
environments  RAMS issues
 PURESAFE aims at understanding specific
requirements and proposing solutions
 Remote operations are “transverse problems”
shared by all/most systems installed in facilities;
they shall be considered as from the beginning
of their development phase.
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The PURESAFE Community:
Liisa Aha, Faraz Amjad, Mohammad M. Aref, Mathieu Baudin,
Pierre Bonnal, Enrique del Sol, Thomas Fabry, Manuel Ferre,
Bruno Féral, Reza Ghabcheloo, Antti Heikkila, Jenni Hyppola,
Juho-Pekka Karjalainen, Pietari Kauttu, Keith Kershaw, Douzi Imran Khan,
Seppo Laukkanen, Marja Lintala, Héctor Martínez, Jouni Mattila,
Ramviyas Nattanmai Parasuraman, Masoud Niknam, Reza Oftadeh,
Luis Orona, Jjivka Ovtcharova, Alex Owen-Hill, Prithvi Pagala,
Stefan Roesler, Alan Rolfe, Danai Skournetou, Seppo Virtanen,
Helmut Weick
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