Funding Reference EURATOM/IST Association Contract no. ERB 5004CT97 0088
Dates 1997-01|1998-01
Summary

The projects aims at supporting research on topics related to the teleoperation of robotic devices, notably those applicable to remote handling (RH) systems in demonstration and experimental nuclear fusion reactors, such as DEMO and ITER. Examples of applications are remote in-vessel manipulation and remote operation of transport casks. The topics include sensor fusion, feature-based geometric state description of the local (operation) scene at the remote (operator) site, definition of operator macro-commands with different abstraction levels, operator intervention at different levels resolution, flexible guidance and navigation of increased autonomy.

Research Groups Intelligent Robots and Systems Group (IRSg)
ISR/IST Responsible
Pedro Lima
People
Isabel Ribeiro
[1] Isabel Ribeiro, Pedro Lima, Pedro Aparicio, Renato Ferreira, Conceptual Study on Flexible Guidance and Navigation for ITER Remote Handling Transport Cask, Proceedings of the 17th IEEE/NPSS Symposium on Fusion Engineering, SOFE'97, San Diego, USA, pp. 969-972, 1997 - PDF
[2] Isabel Ribeiro, Pedro Lima, Pedro Aparicio, Renato Ferreira, Active Docking of a Transport Cask Vehicle Subject to 6 Degrees of Freedom Misalignments, Proceedings of the 17th IEEE/NPSS Symposium on Fusion Engineering, SOFE'97, San Diego, USA, pp. 973-976, 1997 - PDF
[3] Isabel Ribeiro, Pedro Lima, Pedro Aparicio, Renato Ferreira, Conceptual Study on Flexible Guidance, Navigation and Docking Systems for the ITER RH Transport Casks, ISR Internal Report RT-401-97, 1997 - PDF