MASCOT 6: Achieving high dexterity tele-manipulation with a modern architectural design for fusion remote maintenance

Skilton, Robert; Hamilton, Nathan D.; Howell, Robert J.; Lamb, Chris; Rodríguez, Jorge Ropero

doi:10.1016/j.fusengdes.2018.03.026

Cited by 13 publications

(9 citation statements)

References 5 publications

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“…Even in these much-researched areas, there are still innovations, as the current works of (Gancet et al, 2015 ; Attard et al, 2018 ; Skilton et al, 2018 ; Klamt et al, 2019 ; Pervez et al, 2019 ) show. In addition, advances in telemanipulation are made possible by new technologies such as tactile feedback (Kuchenbecker et al, 2010 ; Fishel et al, 2016 ), augmented (Lee and Park, 2018 ), and virtual reality (Sagardia et al, 2015 ).…”

Section: Related Workmentioning

confidence: 99%

Kinesthetic Device vs. Keyboard/Mouse: A Comparison in Home Care Telemanipulation

et al. 2020

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Ensuring care is one of the biggest humanitarian challenges of the future since an acute shortage in nursing staff is expected. At the same time, this offers the opportunity for new technologies in nursing, as the use of robotic systems. One potential use case is outpatient care, which nowadays involves traveling long distances. Here, the use of telerobotics could provide a major relief for the nursing staff, as it could spare them many of those—partially far—journeys. Since autonomous robotic systems are not desired at least in Germany for ethical reasons, this paper evaluates the design of a telemanipulation system consisting of off-the-shelf components for outpatient care. Furthermore, we investigated the suitability of two different input devices for control, a kinesthetic device, and a keyboard plus mouse. We conducted the investigations in a laboratory study. This laboratory represents a realistic environment of an elderly home and a remote care service center. It was carried out with 25 nurses. Tasks common in outpatient care, such as handing out things (manipulation) and examining body parts (set camera view), were used in the study. After a short training period, all nurses were able to control a manipulator with the two input devices and perform the two tasks. It was shown that the Falcon leads to shorter execution times (on average 0:54.82 min, compared to 01:10.92 min with keyboard and mouse), whereby the participants were more successful with the keyboard plus mouse, in terms of task completion. There is no difference in usability and cognitive load. Moreover, we pointed out, that the access to this kind of technology is desirable, which is why we identified further usage scenarios.

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Section: Related Workmentioning

confidence: 99%

Kinesthetic Device vs. Keyboard/Mouse: A Comparison in Home Care Telemanipulation

et al. 2020

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“…All maintenance of the tokamak structure during operation with DT plasmas (and high-performance DD plasmas) will need to be done remotely [41]. Therefore, remote maintenance needs to be designed in from the outset, and it has a major impact on design and architecture choices [42,43]. UKAEA has chosen to put a major focus on remote maintenance since it is so key to the holistic plant design [44].…”

Section: Overview Of Ukaea's Contributions To the Fusion Researchand mentioning

confidence: 99%

UKAEA capabilities to address the challenges on the path to delivering fusion power

Chapman

Morris

2019

Phil. Trans. R. Soc. A.

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Fusion power could be one of very few sustainable options to replace fossil fuels as the world's primary energy source. Fusion offers the potential of predictable, safe power with no carbon emissions and fuel sources lasting for millions of years. However, it is notoriously difficult to achieve in a controlled, steady-state fashion. The most promising path is via magnetic confinement in a device called a tokamak. A magnetic confinement fusion (MCF) power plant requires many different science, technology and engineering challenges to be met simultaneously. This requires an integrated approach from the outset; advances are needed in individual areas but these only bring fusion electricity closer if the other challenges are resolved in harmony. The UK Atomic Energy Authority (UKAEA) has developed a wide range of skills to address many of the challenges and hosts the JET device, presently the only MCF facility capable of operating with both the fusion fuels, deuterium and tritium. Recently, several major new UKAEA facilities have been funded and some have started operation, notably a new spherical tokamak (MAST Upgrade), a major robotics facility (RACE), and a materials research facility (MRF). Most recently, work has started on Hydrogen-3 Advanced Technology (H3AT) for tritium technology and a group of Fusion Technology Facilities.This article is part of a discussion meeting issue ‘Fusion energy using tokamaks: can development be accelerated?’

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“…Application examples exist in the form of sedentary robots for the remote maintenance and inspection of machinery [26], [27] or hazardous environments e.g. nuclear [7], [28] or fusion [29] power plants. Notably, [7] demonstrates how the automation of manipulation subtasks can facilitate the task for an operator.…”

Section: Telemanipulationmentioning

confidence: 99%

“…This design of the visual interface is in essence derived from solutions reported in several remote assistance studies e.g. [1], [5], [17], while the positioning of the cameras and the spacial input is inspired by work about remote manipulation [29]. An overview can be seen in figure 4.…”

Section: F Remote Interfacementioning

confidence: 99%

Reach Out and Help: Assisted Remote Collaboration through a Handheld Robot

Stolzenwald,

Mayol-Cuevas

2019

Preprint

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We explore a remote collaboration setup, which involves three parties: a local worker, a remote helper and a handheld robot carried by the local worker. We propose a system that allows a remote user to assist the local user through diagnosis, guidance and physical interaction as a novel aspect with the handheld robot providing task knowledge and enhanced motion and accuracy capabilities. Through experimental studies, we assess the proposed system in two different configurations: with and without the robot's assistance in terms of object interactions and task knowledge. We show that the handheld robot can mediate the helper's instructions and remote object interactions while the robot's semi-autonomous features improve task performance by 24%, reduce the workload for the remote user and decrease required communication bandwidth between both users. This study is a first attempt to evaluate how this new type of collaborative robot works in a remote assistance scenario, a setup that we believe is important to leverage current robot constraints and existing communication technologies.

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MASCOT 6: Achieving high dexterity tele-manipulation with a modern architectural design for fusion remote maintenance

Cited by 13 publications

References 5 publications

Kinesthetic Device vs. Keyboard/Mouse: A Comparison in Home Care Telemanipulation

Kinesthetic Device vs. Keyboard/Mouse: A Comparison in Home Care Telemanipulation

UKAEA capabilities to address the challenges on the path to delivering fusion power

Reach Out and Help: Assisted Remote Collaboration through a Handheld Robot

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