ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY
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 usin...
Main Authors: | , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
Elsevier
2014-08-01
|
Series: | Nuclear Engineering and Technology |
Subjects: | |
Online Access: | http://www.sciencedirect.com/science/article/pii/S1738573315301170 |
id |
doaj-a36058a9694d4623a37067cfc9ef27cd |
---|---|
record_format |
Article |
spelling |
doaj-a36058a9694d4623a37067cfc9ef27cd2020-11-24T22:51:09ZengElsevierNuclear Engineering and Technology1738-57332014-08-0146448950010.5516/NET.06.2014.026ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITYSEUNGNAM YUJONGKWANG LEEBYUNGSUK PARKKIHO KIMILJE CHOIn 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.http://www.sciencedirect.com/science/article/pii/S1738573315301170TeleoperationTelemanipulatorRemote Handling SystemErgonomic AnalysisTelepresencePyroprocessing |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
SEUNGNAM YU JONGKWANG LEE BYUNGSUK PARK KIHO KIM ILJE CHO |
spellingShingle |
SEUNGNAM YU JONGKWANG LEE BYUNGSUK PARK KIHO KIM ILJE CHO ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY Nuclear Engineering and Technology Teleoperation Telemanipulator Remote Handling System Ergonomic Analysis Telepresence Pyroprocessing |
author_facet |
SEUNGNAM YU JONGKWANG LEE BYUNGSUK PARK KIHO KIM ILJE CHO |
author_sort |
SEUNGNAM YU |
title |
ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY |
title_short |
ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY |
title_full |
ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY |
title_fullStr |
ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY |
title_full_unstemmed |
ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY |
title_sort |
ergonomic analysis of a telemanipulation technique for a pyroprocess demonstration facility |
publisher |
Elsevier |
series |
Nuclear Engineering and Technology |
issn |
1738-5733 |
publishDate |
2014-08-01 |
description |
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. |
topic |
Teleoperation Telemanipulator Remote Handling System Ergonomic Analysis Telepresence Pyroprocessing |
url |
http://www.sciencedirect.com/science/article/pii/S1738573315301170 |
work_keys_str_mv |
AT seungnamyu ergonomicanalysisofatelemanipulationtechniqueforapyroprocessdemonstrationfacility AT jongkwanglee ergonomicanalysisofatelemanipulationtechniqueforapyroprocessdemonstrationfacility AT byungsukpark ergonomicanalysisofatelemanipulationtechniqueforapyroprocessdemonstrationfacility AT kihokim ergonomicanalysisofatelemanipulationtechniqueforapyroprocessdemonstrationfacility AT iljecho ergonomicanalysisofatelemanipulationtechniqueforapyroprocessdemonstrationfacility |
_version_ |
1725671103158812672 |