Experimental Study on Practicing Strategy of Visual Interfaces for Remote Handling Tasks
A remote handling strategy for the developed teleoperation system is proposed based on the ecological analysis of the system, and the performance for the practical facility is evaluated using the proposed knowledge. The teleoperation manipulators presented in this study are applied for the remote handling and management of pyroprocessing related facilities of an argon cell located in KAERI (Korea Atomic Energy Research Institute). BDSM (Bridge Transported Servo Manipulator) is based on servo-driven actuators and travels the entire cell area using a bridge transport system. However, despite the dexterous dual-arm manipulators and redundant monitoring systems, many professional operators have trouble operating these kinds of remote handling systems because of the lack of a utilization strategy for the installed camera systems, and a burden of recognizing the gripper pose, which may fall outside of the FOV (Field of vision) of the system from images while performing remote handling tasks. This study introduced various considerations of remote handling tasks performed in the target facility through visual interfaces and analyzed those tasks from the viewpoint of the workload. To explain the successful operation strategy of a remote handling system acquired from numerous field tests, several kinds of ecological analyses are applied, such as an active/passive view of the remote handling system, eye/hand alignment, FOV and etc.
Experimental Study on Practicing Strategy of Visual Interfaces for Remote Handling Tasks
A remote handling strategy for the developed teleoperation system is proposed based on the ecological analysis of the system, and the performance for the practical facility is evaluated using the proposed knowledge. The teleoperation manipulators presented in this study are applied for the remote handling and management of pyroprocessing related facilities of an argon cell located in KAERI (Korea Atomic Energy Research Institute). BDSM (Bridge Transported Servo Manipulator) is based on servo-driven actuators and travels the entire cell area using a bridge transport system. However, despite the dexterous dual-arm manipulators and redundant monitoring systems, many professional operators have trouble operating these kinds of remote handling systems because of the lack of a utilization strategy for the installed camera systems, and a burden of recognizing the gripper pose, which may fall outside of the FOV (Field of vision) of the system from images while performing remote handling tasks. This study introduced various considerations of remote handling tasks performed in the target facility through visual interfaces and analyzed those tasks from the viewpoint of the workload. To explain the successful operation strategy of a remote handling system acquired from numerous field tests, several kinds of ecological analyses are applied, such as an active/passive view of the remote handling system, eye/hand alignment, FOV and etc.