Browse > Article
http://dx.doi.org/10.5516/NET.06.2014.026

ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY  

Yu, Seungnam (Korea Atomic Energy Research Institute)
Lee, Jongkwang (Korea Atomic Energy Research Institute)
Park, Byungsuk (Korea Atomic Energy Research Institute)
Kim, Kiho (Korea Atomic Energy Research Institute)
Cho, Ilje (Korea Atomic Energy Research Institute)
Publication Information
Nuclear Engineering and Technology / v.46, no.4, 2014 , pp. 489-500 More about this Journal
Abstract
In this study, remote handling strategies for a large-scale argon cell facility were considered. The suggested strategies were evaluated by several types of field test. The teleoperation tasks were performed using a developed remote handling system, which enabled traveling over entire cell area using a bridge transport system. Each arm of the system had six DOFs (degrees of freedom), and the bridge transport system had four DOFs. However, despite the dexterous manipulators and redundant monitoring system, many operators, including professionals, experienced difficulties in operating the remote handling system. This was because of the lack of a strategy for handling the installed camera system, and the difficulty in recognizing the gripper pose, which might fall outside the FOV (field of vision) of the system during teleoperation. Hence, in this paper, several considerations for the remote handling tasks performed in the target facility were discussed, and the tasks were analyzed based on ergonomic factors such as the workload. Toward the development of a successful operation strategy, several ergonomic issues, such as active/passive view of the remote handling system, eye/hand alignment, and FOV were considered. Furthermore, using the method for classifying remote handling tasks, several unit tasks were defined and evaluated.
Keywords
Teleoperation; Telemanipulator; Remote Handling System; Ergonomic Analysis; Telepresence; Pyroprocessing;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 J. V. Draper, J. N. Herndon, B. S. Weil and W. E. Moore "Effects of force reflection on servomanipulator performance." Proceedings of the American Nuclear Society International Topical Meeting on Remote Handling and Robotics in Hostile Environments, Pasco, WA, 1987.
2 B. Nelson, N. P. Papanikolopoulos and P. K. Khosla, "Visual Servoing for Robotic Assembly." Visual Servoing - Realtime Control of Robot Manipulators Based on Visual Sensory Feedback. World Scientific Publishing Co. Pte. Ltd. (1993).
3 J. S. Tittle, A. Roesler and D. D. Woods, "The remote perception problem." In Proceedings of the Human Factors and Ergonomics Society Annual Meeting, 2002.
4 J. Y. Chen, E. C. Haas and M. J. Barnes, " Human performance issues and user interface design for teleoperated robots." IEEE Transactions on Systems, Man, and Cybernetics; Part C: Applications and Reviews. vol. 376, pp.1231-1245 (2007).
5 J. Casper and R. R. Murphy, "Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center." IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. vol. 33, pp.367- 385, (2003).   DOI   ScienceOn
6 G. J. F. Smets and K. J. Overbeeke, "Trade-off between resolution and interactivity in spatial task performance." Computer Graphics and Applications, IEEE, vol. 15, pp. 46-51 (1995).   DOI   ScienceOn
7 J. A. Gomer, C. H. Dash, K. S. Moore, C. C. Pagano, "Using radial outflow to provide depth information during teleoperation." Presence: Teleoperators and Virtual Environments, vol. 18, pp. 304-320 (2009).   DOI   ScienceOn
8 H. G. Stassen, G. J. F. Smets, "Telemanipulation and telepresence." Control Engineering Practice, vol. 5, pp.363-374 (1997).   DOI   ScienceOn
9 G. P. Bingham and C. C.Pagano, "The necessity of a perception-action approach to definite distance perception." Journal of Experimental Psychology: Human Perception and Performance, vol. 24, pp.145-168, (1998).   DOI
10 J. J. Gibson, The ecological approach to Visual Perception, Houghton Mifflin, Boston MA (1986).
11 E. F. T. Buiel, and P. Breedveld, "A laboratory evaluation of two graphical displays for space manipulator positioning tasks." Proceedings 14th Annual Conference on Human Decision Making and Manual Control. 1995.
12 Y. S. Park, T. F. Ewing, T. J. Yule and E. Colgate, "Enhanced Teleoperation Exhibiting Tele-Autonomy and Tele-Collaboration." NASA STI/Recon Technical Report N 3 (2002): 03796.
13 D. Rasmussen, "Natural visual interface for precision telerobot control.: In Applications in Optical Science and Engineering." International Society for Optics and Photonics, 1993.
14 R. Warren and A. H. Wertheim, "Perception and the control of self-motion. Resources for Ecological Psycology, Lawrence Erlbaum, Hillsdale, NJ (1990).
15 L. Basanez and R. Suarez, Handbook of Automation, p. 449-469, Springer (2009).
16 M. J. Rennich and T. W. Burgess, "Remote handling in the spallation neutron source target facility." Nuclear News (2006).
17 P. C. Pittman, J. E. Roybal, R. E. Durrer and D. J. Gordon, "Material Handling For the Los Alamos National Laboratory Nuclear Storage Facility." Robotics and Remote System 8th Int. Topical Meeting and exposition, 1999.
18 H. S. Lee, K. I. Park, K. H. Kang, J. M. Hur, J. K. Kim, D. H. Ahn, Y. Z. Cho and E. H. Kim, "Pyroprocessing technology development at KAERI." Nuclear Engineering and Technology, vol. 43, pp.317-328 (2011).   과학기술학회마을   DOI
19 J. K. Lee, H. J. Lee, B. S. Park and K. H. Kim, "Bridgetransported bilateral master-slave servo manipulator system for remote manipulation in spent nuclear fuel processing plant." Journal of Field Robotics, vol. 29, pp.138-160 (2012).   DOI   ScienceOn
20 S. N. Yu and S. H. Kim, "Experimental Study of Remote Handling Performance for Pyroprocessing Facilities." Transaction of Korean Society for Precision Engineering., vol. 29, pp.524-530 (2012).   과학기술학회마을   DOI
21 S. N. Yu, J. K. Lee, S. H. Kim, B. S. Park, K. H. Kim and I. J. Cho, "Ergonomic Analysis of Tele-operation Tasks and Remote Handling Devices for the Pyroprocessing Facility." J. of Ergonomics Society of Korea., vol. 32, pp.17-26 (2013).   과학기술학회마을   DOI   ScienceOn
22 K. H. Kim, J. K. Lee, B. S. Park and I. J. Cho, "PRIDE Remote Handling Systems." 12th Int Conf on Control, Automation and Systems, 2012.
23 S. N. Yu, J. K. Lee, B. S. Park, K. H. Kim and I. J. Cho, "Experimental Study of Tele-operation Devices for the Remote Handling System in a Pyroprocessing Facility." The 30th Int Symposium on Automation and Robotics in Construction and Mining, Montreal, Canada, 2013.
24 B. S. Park, J. K. Lee, H. J. Lee, S. N. Yu and K. H. Kim, "Remote Modular Design for a Bridge Transported Dual Arm Servo-Manipulator Applied in Pyroprocessing Facility." Int. Conf. on Informatics in Control, Automation and Robotics, 2011.
25 K. S. Moore, J. A. Gomer, C. C. Pagano and D. D. Moore, "Perception of Robot Passability With Direct Line of Sight and Teleoperation." Human Factors, vol. 51, pp. 557-570 (2009).   DOI
26 J. V. Draper, B. C. Jared and M. W. Noakes, "Manipulator Performance Evaluation Using Fitts' Taping Task." Oak Ridge National Laboratory (ORNL); Oak Ridge, TN (1999).
27 B. G. Witmer and P. Kline, "Judging perceived and traversed distance in virtual environments." Presence: Teleoperators & Virtual Environment, vol. 7, pp.144-167 (1998).   DOI