Zhang, K;
Pawar, VM;
Orr, L;
Rei, RJL;
Sugawara, Y;
Sakaue, T;
Fumiaki, A;
... Skilton, R; + view all
(2024)
Reinforced Safety-Related Condition Awareness in a Motion Planning System for Remote Manipulators in Nuclear Decommissioning.
In:
2024 9th International Conference on Control and Robotics Engineering, ICCRE 2024.
(pp. pp. 196-201).
Institute of Electrical and Electronics Engineers (IEEE)
Preview |
Text
iccre2024_CRE24-3227_Final.pdf - Accepted Version Download (5MB) | Preview |
Abstract
Motion planning of remote manipulators is a challenging task in nuclear decommissioning practice. Operators have to consider different safety-related factors to plan safe motions in such critical applications. Novel motion planning systems assist operators in planning collision-free motions. However, there is no effective way to reinforce the operators' awareness of multiple safety-related conditions, which are beyond the considerations of standard motion planning requirements in other application fields. This paper presents a human-machine interaction approach that monitors safety-related conditions and reinforces operators' awareness, when potential risks likely emerge. Three functions, which reinforce the awareness of manipulator-environment clearance, radiation exposure, and system limits, are implemented to realize the proposed interaction approach and reduce operators' cognitive load. A pilot study was carried out using a motion planning system enhanced with the proposed approach. The effectiveness has been qualitatively verified through the pilot study.
| Type: | Proceedings paper |
|---|---|
| Title: | Reinforced Safety-Related Condition Awareness in a Motion Planning System for Remote Manipulators in Nuclear Decommissioning |
| Event: | The 9th International Conference on Control and Robotics Engineering (ICCRE) 2024 |
| Location: | Osaka, Japan |
| Dates: | 10th-12th May 2024 |
| ISBN-13: | 979-8-3503-7269-4 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICCRE61448.2024.10589853 |
| Publisher version: | http://dx.doi.org/10.1109/iccre61448.2024.10589853 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10196107 |
Archive Staff Only
 |
View Item |
