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Affiliation

BE-CEM-MRO - European Organization for Nuclear Research, Espl. des Particules 1, 1211 Meyrin, Switzerland

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2 Papers

Towards Increasing Robot Autonomy in CHARM Facility: Network Performance, 3D Perception, and Human Robot Interface

Topics: Robot Design, Development and Control; Human-Robots Interfaces; Mobile Robots and Autonomous Systems; Mechatronics Systems

Authors: David Forkel ^{1

;

2} , Pejman Habibiroudkenar ^{1

;

3} , Enric Cervera ² , Raúl Mari´n-Prades ² , Lucas Comte ¹ , Eloise Matheson ¹ , Christopher McGreavy ¹ , Luca Buonocore ¹ , Josep Mari´n-Garcés ¹ and Mario Di Castro ¹

Affiliations: ¹ European Organization for Nuclear Research (CERN), Meyrin, Switzerland , ² Jaume I University, Castellón de la Plana, Spain , ³ Aalto University, Espoo, Finland

Digital Object Identifier: 10.5220/0013020100003822

Proceedings of ICINCO 2024, ISBN: 978-989-758-717-7

Quick Abstract

The CHARMBot robot performs remote inspections in CERN’s CHARM facility, with its operations currently managed through teleoperation. This study investigates the challenges and potential solutions to enhance CHARMBot’s autonomy, focusing on network performance, 3D perception, and the graphical user interface (GUI). The communication network can experience constraints, as demonstrated in Experiment 1, which highlights the latency in transmitting compressed images to the operator at the control station. Under certain conditions, this latency can significantly impact manual control, leading to TCP buffer congestion and displaying images to the user with a delay of up to 10 seconds, depending on the network congestion, requested resolution and compression rate. To improve user interaction and environmental perception, CHARMBot needs to be equipped with advanced sensors such as 3D LiDAR and stereo camera. Enhancing the robot’s autonomy is crucial for safe interventions, allowing the remote operator to interact with the robot via a supervised interface. The experiments characterize the network’s performance in transmitting compressed images and propose a ”lightweight” visualization mode. Preliminary experiments on 3D perception using LiDAR and stereo camera and mesh creation of the environment are discussed. Future work will focus on better integration of these components and conducting a proof-of-concept experiment to demonstrate the system’s safety.

Telerobotic Radiation Protection Tasks in the Super Proton Synchrotron using Mobile Robots

Topics: Robot Design, Development and Control; Telerobotics and Teleoperation; Mobile Robots and Autonomous Systems; Engineering Applications on Robotics and Automation

Authors: David Forkel ^{1

;

2} , Enric Cervera ² , Raúl Marín ² , Eloise Matheson ¹ and Mario Di Castro ¹

Affiliations: ¹ BE-CEM-MRO - European Organization for Nuclear Research, Espl. des Particules 1, 1211 Meyrin, Switzerland , ² Jaume I University, Avinguda de Vicent Sos Baynat, s/n, 12006 Castelló de la Plana, Castelló, Spain

Digital Object Identifier: 10.5220/0011276600003271

Proceedings of ICINCO 2022, ISBN: 978-989-758-585-2

Quick Abstract

In this paper a complete robotic solution is presented, which allows the teleoperation of the radiation survey in the Super Proton Synchrotron (SPS) accelerator at CERN. Firstly, an introduction to radiation protection is given. Subsequently, the execution of the radiation survey in person is described and the potential of robotic solutions for such missions is outlined. After providing a brief state of the art on the subject, the development of the robot base, as well as its component selection and design is shown. Hereafter, the software implementation is explained. The test procedure of this project includes the most important requirements for a correct execution of the survey, as well as the operational steps and data treatment in detail. The results underline the correct execution of the mission, and show the advantages of the teleoperated robotic solution, such as the improved and unified measurement conditions. Thus, this robotic system will allow to significantly reduce the radiation dose of the radiation protection staff. For further development, the automation of this task is planned, which presupposes the gradual autonomization of the robotic system from assisting the user to the self-reliant execution of the survey.