Organisation Europenne pour la Recherche Nuclaire European Organization

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 — 6 th May 2013

Aim of this presentation § Briefly, presenting the PURESAFE ITN § Presenting some of the PURESAFE outcomes 2013 -05 -06 2

What is it? § Preventing h. Uman intervention for incr. REased SAfety in in. Frastructures Emitting ionizing radiation = § Initial Training Network (ITN) § Training of Early Stage Researchers (ESR) § Funded under the European Commission's § 7 th Framework Programme (FP 7) § Marie Curie Actions Programme 2013 -05 -06 3

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 2013 -05 -06 4

The stakeholders § 15 Research Projects (RP 1 to RP 15) 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. + Sense. Trix Ltd. Finland § Oxford Technologies Ltd. OTL United Kingdom § FRRC Russia 2013 -05 -06 5

15 Research Projects – 3 Work Packages WP 1 Processes & modeling WP 2 Software platforms WP 3 Hardware platforms RP 1 RP 2 RP 3 RP 4 RP 5 TUT CERN Bgator KIT RP 1 RP 1 0 1 2 3 4 5 TUT Sense. Trix UPM TUT OTL RP 6 RP 8 RP 7 RP 9 CERN UPM GSI CERN Cases 2013 -05 -06 CERN Super-FRS Cases 6

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 § WP 1 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 2013 -05 -06 7

An overview of the 9 RPs that are telerobotics software or hardware oriented 2013 -05 -06 8

RP 6 — Energy and communication modules for mobile robot Ramviyas Parasuraman, CERN, Geneva, Switzerland Research focus: q Mobile robot for remote radiation survey and inspection tasks q Energy management in mobile robot q 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 2013 -05 -06 Train Inspection Monorail (TIM) : Case study Experiments in LHC Mockup facility 9

RP 7 — 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 2013 -05 -06 10

RP 8 — 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 2013 -05 -06 11

RP 9 — 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 S 1. § 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 2013 -05 -06 12

RP 10 — Fault-tolerant remote handling control system Mohammad M. Aref, TUT, Tampere, Finland i. Moro Mobile Manipulator Perception • • • Stereo Camera Laser Range Finder (LRF) Time of Flight Camera Inertial Measurement Unit (IMU) Wheel Odometry Current Main Tasks • • 2013 -05 -06 Sensor Fusion Localization Pallet Picking by Fork Lift Visual Servo Control of i. Moro Hybrid Vision/Force Control Kinematic Analysis of Mobile Manipulation Case Studies based on i. Moro, Avant See, Touch, Pick 13

RP 10 — 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 2013 -05 -06 14

RP 12 — 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 2013 -05 -06 15

RP 14 — Assisting autonomous functionalities for safe teleoperation Reza Oftadeh, TUT, Tampere, Finland i. Moro 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 • • • 2013 -05 -06 Focused on Mobile Manipulation Obstacle-Free Path Planning of Mobile Manipulators Path Following and Motion Control of i. Moro Autonomous Mobile Grasping Case Studies based on i. Moro 16

RP 15 — 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 § New needs § Save time § Other manipulation tasks 2013 -05 -06 17

What about WP 1 that is focussed on processes 2013 -05 -06 18

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 FP 7 ITN project PURESAFE, grant agreement no. 264336. It is an editorial project • Some PM and SE related guidelines • Several telerobotics guidelines 2013 -05 -06 19

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 2013 -05 -06 20

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. 2013 -05 -06 21

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 2013 -05 -06 22