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Manipulation Tasks in Hazardous Environments Using a Teleoperated Robot: A Case Study at CERN
/ Gentile, Cosimo (Campus BioMedico U., Rome) ; Lunghi, Giacomo (CERN) ; Buonocore, Luca Rosario (CERN) ; Cordella, Francesca (Campus BioMedico U., Rome) ; Di Castro, Mario (CERN) ; Masi, Alessandro (CERN) ; Zollo, Loredana (Campus BioMedico U., Rome)
Remote robotic systems are employed in the CERN accelerator complex to perform different tasks, such as the safe handling of cables and their connectors. Without dedicated control, these kinds of actions are difficult and require the operators’ intervention, which is subjected to dangerous external agents. [...]
2023 - 15 p.
- Published in : Sensors 23 (2023) 1979
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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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3.
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CERN-MEDICIS: A Review Since Commissioning in 2017
/ MEDICIS Collaboration
The CERN-MEDICIS (MEDical Isotopes Collected from ISolde) facility has delivered its first radioactive ion beam at CERN (Switzerland) in December 2017 to support the research and development in nuclear medicine using non-conventional radionuclides. Since then, fourteen institutes, including CERN, have joined the collaboration to drive the scientific program of this unique installation and evaluate the needs of the community to improve the research in imaging, diagnostics, radiation therapy and personalized medicine. [...]
2021 - 11 p.
- Published in : Frontiers in Medicine 8 (2021) 693682
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CERN-MEDICIS: A Unique Facility for the Production of Non-Conventional Radionuclides for the Medical Research
/ Duchemin, Charlotte (CERN) ; Barbero-Soto, Esther (CERN) ; Bernardes, Ana (CERN) ; Catherall, Richard (CERN) ; Chevallay, Eric (CERN) ; Cocolios, Thomas (Leuven U.) ; Dorsival, Alexandre (CERN) ; Fedosseev, Valentin (CERN) ; Fernier, Pascal (CERN) ; Gilardoni, Simone (CERN) et al.
The MEDICIS facility is a unique facility located at CERN dedicated to the production of non-conventional radionuclides for research and development in imaging, diagnostics and radiation therapy. It exploits in a Class A work sector, a dedicated isotope separator beam line, a target irradiation station at the 1.4 GeV Proton Synchroton Booster (PSB) and receives activated targets from external institutes during CERN Long Shut-Downs. [...]
CERN-ACC-2021-010.-
2021 - 5 p.
- Published in : JACoW IPAC 2020 (2020) THVIR13
Fulltext: PDF;
In : 11th International Particle Accelerator Conference, Caen, France, 10 - 15 May 2020, pp.THVIR13
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5.
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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
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MiniCERNBot Educational Platform: Antimatter Factory Mock-up Missions for Problem-Solving STEM Learning
/ Garcés, Josep Marín (CERN) ; Veiga Almagro, Carlos (CERN ; Jaume I U., Castellon) ; Lunghi, Giacomo (Jaume I U., Castellon) ; Di Castro, Mario (CERN) ; Buonocore, Luca Rosario (CERN) ; Prades, Raúl Marín (Jaume I U., Castellon) ; Masi, Alessandro (CERN)
Mechatronics and robotics appeared particularly effective in students’ education, allowing them to create non-traditional solutions in STEM disciplines, which have a direct impact and interaction with the world surrounding them. This paper presents the current state of the MiniCERNBot Educational Robotic platform for high-school and university students. [...]
2021 - 12 p.
- Published in : Sensors 21 (2021) 1398
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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
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9.
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A dual arms robotic platform control for navigation, inspection and telemanipulation
/ Di Castro, Mario (CERN ; CSIC, Madrid) ; Buonocore, Luca Rosario (CERN) ; Ferre, Manuel (CSIC, Madrid) ; Gilardoni, Simone (CERN) ; Losito, Roberto (CERN) ; Lunghi, Giacomo (CERN) ; Masi, Alessandro (CERN)
High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. [...]
2018 - 5 p.
- Published in : 10.18429/JACoW-ICALEPCS2017-TUPHA127
Fulltext: PDF;
In : International Conference on Accelerator and Large Experimental Physics Control Systems, Barcelona, Spain, 8 - 13 Oct 2017, pp.TUPHA127
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10.
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LHC train control system for autonomous inspections and measurements
/ Di Castro, Mario (CERN) ; Baiguera Tambutti, Maria Laura (CERN) ; Gilardoni, Simone (CERN) ; Losito, Roberto (CERN) ; Lunghi, Giacomo (CERN) ; Masi, Alessandro (CERN)
Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. [...]
2018 - 5 p.
- Published in : 10.18429/JACoW-ICALEPCS2017-THPHA061
Fulltext: PDF;
In : International Conference on Accelerator and Large Experimental Physics Control Systems, Barcelona, Spain, 8 - 13 Oct 2017, pp.THPHA061
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