Pierre Bonnal and Keith Kershaw on the behalf of the PURESAFE community

1. An overview of outcomes Pierre Bonnal and Keith Kershawon the behalf of the PURESAFE community Workshop on Remote Manipulations / Diagnostics in Radioactive Areas and Handling of Radioactive Material — 6th May 2013

2. Aim of this presentation • Briefly, presenting the PURESAFE ITN • Presenting some of the PURESAFE outcomes

3. What is it? • = Preventing hUman intervention for incrREasedSAfety in inFrastructuresEmitting ionizing radiation • Initial Training Network (ITN) • Trainingof Early Stage Researchers (ESR) • Funded under the European Commission's • 7th Framework Programme(FP7) • Marie Curie Actions Programme

4. The starting point • Visits of some CERN’s teleoperated areasby 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 beneficiaryfor a EU funded project proposal, that was successful • Project launched in 2011 • Budget = 3.9 M euros over 4 years

5. The stakeholders • 15 Research Projects (RP1 to RP15) and 15 ESRs • 8 beneficiaries + 1 associated partner: • Tampere University of Technology TUTFinland • Technical University of Madrid UPMSpain • Karlsruhe Institute of Technology KITGermany • CERN Switzerland • GSIGermany • Bgator Ltd. + SenseTrix Ltd. Finland • Oxford Technologies Ltd. OTL United Kingdom • FRRC Russia

6. 15 Research Projects – 3 Work Packages WP1Processes & modeling RP1 RP2 RP3 RP4 RP5 TUT CERN Bgator KIT KIT WP2Softwareplatforms RP10 RP11 RP12 RP13 RP14 RP15 TUT SenseTrix UPM CERN TUT OTL WP3Hardwareplatforms RP6 RP8 RP7 RP9 CERN UPM GSI GSI CERN Cases Super-FRS Cases

7. The research approach • A systems engineering based approach: • RPs start after needs arecorrectly 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

8. An overview of the 9 RPsthat are telerobotics software or hardware oriented

9. RP6 — Energy and communication modules for mobile robotRamviyasParasuraman, 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 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 KUKA Youbot(omnidirectional) Experiments in LHC Mockup facility Train Inspection Monorail (TIM) : Case study Energy Management system architecture

10. RP7 — Remote Handling (RH) concept study for the Super-FRS Plug SystemLuis 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

11. RP8 — Providing a modular robot solution for the maintenance tasksPrithviPagala, 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

12. RP9 — Study of a logistic concept for Super-FRS RH componentsFarazAmjad, 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

13. RP10 — Fault-tolerant remote handling control systemMohammad M. Aref, TUT, Tampere, Finland • iMoro Mobile Manipulator Perception • Stereo Camera • Laser Range Finder (LRF) • Time of Flight Camera • Inertial Measurement Unit (IMU) • Wheel Odometry • Current • Main Tasks • 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 See, Touch, Pick

14. RP10 — Augmented reality-based maintenance tool for hazardous places HéctorMartínez, 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 remotehandling • Development of authoringtool Use case scenario: Collimator • Instructions for collimatorexchange • Telerobotics operator is guided through the process by using AR

15. RP12 — Interconnection of multi-robot and multi-user systems for cooperative tasksAlex 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

16. RP14 — Assisting autonomous functionalities for safe teleoperationReza Oftadeh, TUT, Tampere, Finland • iMoro Mobile Manipulator • 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 • 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

17. RP15 — Sensorlessteleoperation of an industrial robot with a dissimilar masterEnrique del Sol, Oxford Technologies, Abington, UK Benefits: • Cope with problem occurrences • Avoid human intervention • New needs • Save time • Other manipulation tasks

18. What about WP1that is focussed on processes

19. A systems engineering (SE) frameworksuited to scientific facilities and systems that are subject to ionizing radiation It is an editorial project • Some PM and SE related guidelines • Several telerobotics guidelines The research leading to this framework has received funding from the European Commission under the FP7 ITN project PURESAFE, grant agreement no. 264336.

20. Telerobotics-related guidelines 10 brochures will be dedicated to telerobotics: Designing for Telerobotics InspectionsEnrique Designing for Remote HandlingEnrique BenchmarkingTelemanipulatorsAlexander Allocating Tasks for Multi-Operator Remote HandlingAlexander Designing Mobile Platforms/Robots for Energy AutonomyRamviyas Designing Mobile Platforms/Robots for Communication AutonomyRamviyas Designing Mechatronics for Mobile ManipulatorsReza Designing Mobile Platforms/Robots for Fault Tolerant PerceptionAref Designing Mobile Manipulators for (Radiation) InspectionsReza& Aref Designing Robots for ModularityPrithvi Designing for MaintainabilityHéctor Designing for Augmented Reality (incl. systems tagging) Héctor

21. 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.

22. The PURESAFE Community: Liisa Aha, FarazAmjad, Mohammad M. Aref, Mathieu Baudin, Pierre Bonnal, Enrique del Sol, Thomas Fabry, Manuel Ferre, Bruno Féral, Reza Ghabcheloo, AnttiHeikkila, JenniHyppola, Juho-PekkaKarjalainen, PietariKauttu, Keith Kershaw, Douzi Imran Khan, SeppoLaukkanen, MarjaLintala, HéctorMartínez, JouniMattila, RamviyasNattanmaiParasuraman, MasoudNiknam, Reza Oftadeh, Luis Orona, JjivkaOvtcharova, Alex Owen-Hill, PrithviPagala, Stefan Roesler, Alan Rolfe, DanaiSkournetou, Seppo Virtanen, Helmut Weick