Telerobotic Decontamination and Decommissioning with Qrobot, a PC-BASED Robot Control System

Robotic systems are well suited for decontamination and decommissioning (D&D) tasks in hazardous environments. Advanced semi-autonomous telerobotic solutions for D&D tasks go beyond simple video-based interaction and include virtual reality (VR) interfaces and flexible sensor integration. Th...

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Vydané v:International journal of computers & applications Ročník 24; číslo 3; s. 112 - 121
Hlavní autori: Loffler, M.S., Costescu, N.P., Zergeroglu, E., Dawson, D.M.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Anaheim, CA Taylor & Francis 01.01.2002
Calgary, AB Acta Press
Zürich
Predmet:
Applied sciences
Computer control systems
Computer science; control theory; systems
Control theory. Systems
Cost effectiveness
Decommissioning (nuclear reactors)
Decontamination
disassembly
Exact sciences and technology
Graphical user interfaces
Hazards
Personal computers
Real time systems
Real-time
Robotics
Virtual reality
Personal computer
Decommissioning
Decontamination
User interface
Control system
Virtual reality
Desassembly
Real time system
Robotics
Remote control
ISSN:1206-212X, 1925-7074
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Popis
Shrnutí:Robotic systems are well suited for decontamination and decommissioning (D&D) tasks in hazardous environments. Advanced semi-autonomous telerobotic solutions for D&D tasks go beyond simple video-based interaction and include virtual reality (VR) interfaces and flexible sensor integration. The capability of those systems range from real-time control tasks to graphical user interface components utilizing video and VR. This article describes QRobot, a PC-based system for telerobotic D&D operations. The system integrates hardware interfacing, real-time joint level control, sensors, tool control, networking, and task-level programming as well as video- and VR-based operator interfaces. The system demonstrates that the personal computer, a cost effective and widely used computing plat-form, is well suited to the integration of real-time control tasks and advanced user interfaces. An experimental section demonstrates the system's functionality by using an example workpiece as the subject of a D&D operation.
Bibliografia:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1206-212X
1925-7074
DOI:10.1080/1206212X.2002.11441670