Obiettivo
The aim of "TELEMAN 1 - ARTIST" was to integrate sensors of different spectral sensitives and various functions into a high-precision pan and tilt platform and to represent the recorded data in a clear and comprehensible way for telemanipulation and control tasks. Since the sensors are for use in a nuclear environment, particular attention was to be paid to their radiation tolerance.
Research has been carried out with respect to the integration of sensors of different spectral sensitives and various functions into a high precision pan and tilt platform to represent the recorded data in a clear and comprehensible way for telemanipulation and control tasks.
The radiation tolerant stereoscopic camera with zoom lens provides an excellent, flicker-free 3-dimensional image to support the operator in driving the vehicle and in telemanipulation tasks. The range finder provides highly accurate distance measurements with appropriate calibration and has been demonstrated to be very highly radiation tolerant. The pan and tilt sensor platform was demonstrated to be capable of orienting a sensor package of up to 20 kg with high speed and precision, allowing it to follow every movement of a manipulator arm, even when the vehicle is highly tilted. The control panel and graphical interface provides user friendly control of the necessary functions. The complete system was tested and optimized. The overall integration of all of the sensor packages and the pan and tilt platform under control from 1 computer now enables the operator to perform his tasks without the fatigue associated with less developed independently controlled systems, and therefore greatly improved the effectiveness and quality of the missions which can be undertaken.
Exploitation
IBP Pietzsch will try to market the pan and tilt sensor platform as complete turn-key system, or as separate componennts. Other sensors can also be integrated into the sensor head as the pan and tilt platform can provide enough torque to handle additonal mass and volume. The AEA Technology radiation tolerant steroscopic zoom camera is being further developed for commercialisation and is also being integrated into the TM48 INGRID gantry-mounted tele-manipulator research machine project. The Le Conoscope range finder is being presented initially to users in the French nuclear industry for eventual commercial exploitation and European contacts will be promoted, probably through the VALUE programme. The test facility set up by KHG will be further exploited with external customers and for operator training and can be used in other TELEMAN research machine projects such as TM45 IMPACT and TM50 MESSINA.
Work to be done
The development was to comprise the following components :
- a conoscopic sensor, radiation tolerant, to generate distance data of an object (Le Conoscope);
- a stereoscopic, radiation tolerant camera with zoom lens and low cabling requirements (AEA Harwell);
- a sensor platform drive and work station to present the images and distance data (NCSR, IBP Pietzsch, KHG) The development work of the pan and tilt platform was to concern radiation tolerance of mechanics and electronics as well as the development of an appropriate drive system.
Furthermore, it was very important to specify a suitable mechanical and electrical standard interface for the sensors. Radiation tolerance was also to be a main aspect of development of the conoscopic sensor, which was to use natural light instead of coherent light to illuminate the object.
A zoom lens stereo camera was essential because of user demand and work requirements, and was to be developed within the programme, building on AEA Harwell's earlier work on stereoscopic cameras of high precision and radiation tolerance. The sensor platform drive unit and work station were to be completely configured and developed. The main emphasis was to be put on multi-sensor integration, softkey control, real-time video processing and digital position representation. An efficient man-machine interface using appropriate software was to be developed.
Test strategy
For testing of the complete system, the pan and tilt platform equipped with the sensors were to be integrated into a KHG manipulator vehicle and tested during operation in nuclear facilities.
Campo scientifico (EuroSciVoc)
CORDIS classifica i progetti con EuroSciVoc, una tassonomia multilingue dei campi scientifici, attraverso un processo semi-automatico basato su tecniche NLP. Cfr.: Il Vocabolario Scientifico Europeo.
CORDIS classifica i progetti con EuroSciVoc, una tassonomia multilingue dei campi scientifici, attraverso un processo semi-automatico basato su tecniche NLP. Cfr.: Il Vocabolario Scientifico Europeo.
- scienze naturali informatica e scienze dell'informazione software
- ingegneria e tecnologia ingegneria elettrica, ingegneria elettronica, ingegneria informatica ingegneria elettronica sensori sensori ottici
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Coordinatore
76275 Ettlingen
Germania
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