Stedman, Harvey;
Kocer, Basaran Bahadir;
Van Zalk, Nejra;
Kovac, Mirko;
Pawar, Vijay M;
(2023)
Evaluating Immersive Teleoperation Interfaces: Coordinating Robot Radiation Monitoring Tasks in Nuclear Facilities.
In:
2023 IEEE International Conference on Robotics and Automation (ICRA).
(pp. pp. 11972-11978).
IEEE: London, UK.
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Abstract
We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows.
| Type: | Proceedings paper |
|---|---|
| Title: | Evaluating Immersive Teleoperation Interfaces: Coordinating Robot Radiation Monitoring Tasks in Nuclear Facilities |
| Event: | IEEE International Conference on Robotics and Automation (ICRA) |
| Dates: | 29 May 2023 - 2 Jun 2023 |
| ISBN-13: | 979-8-3503-2365-8 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICRA48891.2023.10161011 |
| Publisher version: | https://doi.org/10.1109/ICRA48891.2023.10161011 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. - The paper acknowledges the funding of EPSRC (award no. EP/R009953/1, EP/L016230/1, EP/R026173/1 and EP/S031464/1), NERC (award no. NE/R012229/1) and the EU H2020 AeroTwin project (grant ID 810321). For the purpose of open access, the author(s) has applied a Creative Commons Attribution (CC BY) license to any Accepted Manuscript version arising. |
| Keywords: | Visualization; Radiation monitoring; Three-dimensional displays; Service robots; Robot kinematics; Pipelines; Virtual reality |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10177392 |
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