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Assistive VR platform design for Telemanipulation at the Super Fragment Separator Facility
Luleå University of Technology, Department of Civil, Environmental and Natural Resources Engineering, Operation, Maintenance and Acoustics.ORCID iD: 0000-0001-8188-2372
Luleå University of Technology, Department of Civil, Environmental and Natural Resources Engineering, Operation, Maintenance and Acoustics.ORCID iD: 0000-0003-3827-0295
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.ORCID iD: 0000-0001-9895-6796
Gesellschaft für Schwerionenforschung (GSI) Helmholtzzentrum GmbH, Darmstadt, Germany.
2023 (English)In: Human Interaction and Emerging Technologies (IHIET-AI 2023): Artificial Intelligence and Future Applications: Proceedings of the 9th International Conference on Human Interaction and Emerging Technologies: Future Applications (IHIET – AI 2023), April 13-15, 2023, Centre Hospitalier Universitaire Vaudois (CHUV), Lausanne, Switzerland / [ed] Ahram, T., Taiar, R., AHFE International , 2023, p. 186-197Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
AHFE International , 2023. p. 186-197
Series
AHFE International ; 70
Keywords [en]
Assisted Remote Manipulation, Remote Handling, Synthetic Vision, Backpropagation Algorithm
National Category
Signal Processing
Research subject
Operation and Maintenance Engineering; Pervasive Mobile Computing
Identifiers
URN: urn:nbn:se:ltu:diva-96370DOI: 10.54941/ahfe1002943OAI: oai:DiVA.org:ltu-96370DiVA, id: diva2:1749957
Conference
9th International Conference on Human Interaction & Emerging Technologies:Artificial Intelligence & Future Applications, Lausanne, Switzerland, April 13-15, 2023
Note

ISBN för värdpublikation: 978-1-958651-46-9

Available from: 2023-04-12 Created: 2023-04-12 Last updated: 2023-05-17Bibliographically approved

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Compierchio, AngeloTretten, PhillipOyelere, Solomon

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