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Mixed Reality Human–Robot Interface With Adaptive Communications Congestion Control for the Teleoperation of Mobile Redundant Manipulators in Hazardous Environments / Szczurek, Krzysztof Adam (CERN ; Jaume I U., Castellon) ; Prades, Raul Marin (Jaume I U., Castellon) ; Matheson, Eloise (CERN) ; Rodriguez-Nogueira, Jose (CERN) ; Castro, Mario Di (CERN)
2022 - 35 p. - Published in : IEEE Access 10 (2022) 87182-87216 Fulltext: PDF;

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Multimodal Multi-User Mixed Reality Human–Robot Interface for Remote Operations in Hazardous Environments / Szczurek, Krzysztof Adam (CERN ; Jaume I U., Castellon) ; Prades, Raul Marin (Jaume I U., Castellon) ; Matheson, Eloise (CERN) ; Rodriguez-Nogueira, Jose (CERN) ; Castro, Mario Di (CERN)
In hazardous environments, where conditions present risks for humans, the maintenance and interventions are often done with teleoperated remote systems or mobile robotic manipulators to avoid human exposure to dangers. The increasing need for safe and efficient teleoperation requires advanced environmental awareness and collision avoidance. [...]
2023 - 29 p. - Published in : IEEE Access 11 (2023) 17305-17333 Fulltext: PDF;

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(44)

Enhanced Human–Robot Interface With Operator Physiological Parameters Monitoring and 3D Mixed Reality / Szczurek, Krzysztof Adam (CERN) ; Cittadini, Roberto (CERN) ; Prades, Raul Marin ; Matheson, Eloise (CERN) ; Di Castro, Mario (CERN)
Remote robotic interventions and maintenance tasks are frequently required in hazardous environments. Particularly, missions with a redundant mobile manipulator in the world’s most complex machine, the CERN Large Hadron Collider (LHC), are performed in a sensitive underground environment with radioactive or electromagnetic hazards, bringing further challenges in safety and reliability [...]
2023 - 22 p. - Published in : IEEE Access 11 (2023) 39555-39576 Fulltext: PDF;

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Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios / Almagro, Carlos Veiga (CERN ; Jaume I U., Castellon) ; Lunghi, Giacomo (CERN ; Jaume I U., Castellon) ; Castro, Mario Di (CERN) ; Beltran, Diego Centelles (Jaume I U., Castellon) ; Prades, Raúl Marín (Jaume I U., Castellon) ; Masi, Alessandro (CERN) ; Sanz, Pedro J (Jaume I U., Castellon)
The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans. However, currently available robotic systems lack that level of usability which would allow inexperienced operators to accomplish complex tasks. [...]
2020 - 30 p. - Published in : Appl. Sciences 10 (2020) 6144 Fulltext: PDF;

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(MARGOT) Monocular Camera-Based Robot Grasping Strategy for Metallic Objects / Almagro, Carlos Veiga (CERN ; Jaume I U., Castellon) ; Orrego, Renato Andrés Muñoz (CERN ; Madrid U.) ; González, Álvaro García (CERN) ; Matheson, Eloise (CERN) ; Prades, Raúl Marín (Jaume I U., Castellon) ; Di Castro, Mario (CERN) ; Pérez, Manuel Ferre (Madrid U.)
Robotic handling of objects is not always a trivial assignment, even in teleoperation where, in most cases, this might lead to stressful labor for operators. To reduce the task difficulty, supervised motions could be performed in safe scenarios to reduce the workload in these non-critical steps by using machine learning and computer vision techniques. [...]
2023 - 27 p. - Published in : Sensors 23 (2023) 5344 Fulltext: PDF;

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Mixed Reality Human-Robot Interface for Robotic Operations in Hazardous Environments / Szczurek, Krzysztof Adam
Interventions in high-risk hazardous environments often require teleoperated remote systems or mobile robotic manipulators to prevent human exposure to danger [...]
CERN-THESIS-2023-270 - Castellón de la Plana : Jaume I U., Castellon, 2023-11-07 - 122.

10.6035/14101.2023.836968

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A Multidimensional RSSI Based Framework for Autonomous Relay Robots in Harsh Environments / Di Castro, Mario (CERN) ; Lunghi, Giacomo (CERN) ; Masi, Alessandro (CERN) ; Ferre, Manuel (Madrid, Polytechnic U.) ; Prades, Raul Marin (Jaume I U., Castellon)
Robotic tele-operation is essential for many dangerous applications, like inspection and manipulation in human hazardous environments. Also, the current state of the art in robotic tele-operation shows the necessity to increase distance between the operator and the robot, while maintaining safety of the operation. [...]
2019 - 6 p. - Published in : 10.1109/irc.2019.00035
In : 3rd IEEE International Conference on Robotic Computing (IRC 2019), Naples, Italy, 25 - 27 Feb 2019, pp.183-188

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Multimodal Human-Robot Interface for Accessible Remote Robotic Interventions in Hazardous Environments / Lunghi, Giacomo (CERN ; Jaume I U., Castellon) ; Marin, Raul (Jaume I U., Castellon) ; Di Castro, Mario (CERN) ; Masi, Alessandro (CERN) ; Sanz, Pedro J (Jaume I U., Castellon)
Human-Robot Interfaces have a key role in the design of secure and efficient robotic systems. Great effort has been put during the past decades on the design of advanced interfaces for domestic and industrial robots. [...]
2019 - 30 p. - Published in : IEEE Access 7 (2019) 127290-127319 Fulltext: PDF; External link: Fulltext from publisher

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Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets / Veiga Almagro, Carlos (CERN) ; Di Castro, Mario (CERN ; Madrid, Polytechnic U.) ; Lunghi, Giacomo (CERN ; Jaume I U., Castellon) ; Marín Prades, Raúl (CERN ; Jaume I U., Castellon) ; Sanz Valero, Pedro José (Jaume I U., Castellon) ; Pérez, Manuel Ferre (Madrid, Polytechnic U.) ; Masi, Alessandro (CERN)
Robotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. [...]
2019 - Published in : Sensors 19 (2019) 3220 Fulltext from publisher: PDF;

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Telerobotics at CERN: Mixed-Reality Human-Robot Interface / Szczurek, Krzysztof Adam (speaker) (University Jaume I (ES))
Mixed Reality Human-Robot Interfaces show promise for robotic teleoperators to complete tasks quicker, safer and with less training. However, in hazardous environments, such as CERN underground areas, robotic systems can experience network delays, bandwidth limitation, volatility and communication failures, while the financial value of the scientific equipment, breakdown costs, mission failures are at stake. [...]
2022 - 491. IT Lightning Talks (ITLT); IT Lightning Talks: session #22 External links: Talk details; Event details In : IT Lightning Talks: session #22

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