Hot-cell installation is a extremely shielded tight shell in which extremely radioactive substances are remotely handled by operators detecting the procedures through lead-glass Windowss. The chief intent of this shielding is to supply protection from high radiation of the radioactive stuffs located inside the cell, ensuing in no jeopardy to forces. These screening are designed to be flexible and let the insides to be revamped, when necessary, so work can be performed rapidly and at the lowest possible cost. The Hot-cells are now a twenty-four hours ‘s country of involvement for the industrial automatons which can supply assembly undertakings and simulations utilizing tele-operations.
Virtual world ( VR ) is deriving popularity as an technology design tool because of intuitive interaction with computer-generated theoretical accounts. The immersive facets of practical world offer more intuitive methods to interact with 3D informations than the conventional 2D mouse and keyboard input devices ( Peng et al. , 2009 ) . In add-on, Digital Mock-Up ( DMU ) is going an indispensible tool in streamlining the design to execution procedure.
Engineers are making “ Virtual ” mills, true three-dimensional environments that allow visual image of the assembly procedure in much earlier phase ( Deidra L. Donald, 1998 ) . In contrast with the physical use, practical use with many intuitive characteristics are now a yearss at glimpse in academic research. For DMU systems with VR engineerings, a ship simulator is presented and modeled in practical world technique ( Xiufeng Z. et al. , 2004 ) . The ship steering simulator uses computing machine practical world technique and creates the 3D practical environment. Berta J.
( 1999 ) discussed the functionality required to enable immersive visual image and hands-on interactivity for car DMU utilizing a commercial CAD application ( CATIA ) .
Additionally, research workers are seeking to cut down the cost of use utilizing practical environment and leting a better control to the operators with force and torque feedback. A practical world system for maintainability simulation in astronauticss with tactile force feedback is introduced in ( Diego et al. , 2004 ) , in which a tactile device is used to track manus motions and to return force feedback for supplying the esthesis of working with a physical mock-up. Similarly Jayaram ( Jayaram et al. , 1999 ) have developed a good known VR assembly application called Virtual Assembly Design Environment ( VADE ) at Washington State University. One or ambidextrous assembly operations are performed utilizing place trailing and Cyber Glove. The VADE theoretical accounts portion behaviours by importing restraints and theoretical account informations from the CAD bundles. Similar research by Wan ( Wan et al. , 2004 ) has been conducted at Zhejiang University in making MIVAS ( A Multi-Modal Immersive Virtual Assembly System ) and Grasp designation and multi-finger tactile feedback for practical collection ( Zhu et al. , 2004 ) . Until phases, nevertheless, most of DMU systems do non include complex robotic operators inside practical environments with tactile interface support and most of robotic simulators ( Miller and Allen, 2004 ; Klingstam and Gullander, 1999 ) do non let online analyses with existent -time practical world engineerings. . Earlier surveies besides show that developing operations experience more unafraid and can associate better to the existent universe procedure when trained on a simulator with tactile feedback than those trained on a simulator with non tactile feedback ( A. BaLijepalli and T. Kesavadas, 2004 ) .
Figure 1 Hot-cell Facility design of a rectangular shielded zone with operators and processors
In this research the thought of practical hot-cell simulator using DMU engineering for remote assembly processs is presented. The simulator is farther made-up with the complex robotic uses and enhanced tactile feedback interface which consequences in a preparation simulator that is existent clip, tactile guided and has intuitive interface for operator counsel. This simulator is used as a design tool for measuring Hot-cell operations utilizing practical paradigms. The simulation was designed for five major utilizations: visual image, basic construct development of equipment, design confirmation of operators, development and probe of optimal operation sequence by trajectory recording of the use performed. Furthermore, complex robotic uses were performed by implementing existent clip simulation algorithms. To transport out simulations all the practical theoretical accounts must follow the same design form and features as followed in the existent environment design sheets as shown in fig.1. The construct of replacing the physical environment with practical environments consequences in important cost economy for the overall procedure ( Savall et al. , 2002 ) . For assembly tasks the over caput Crane and master-slave operators ( MSM ) are widely used as distant managing devices in hot-cells ( J. K. Lee et al. , 2006 ) . Optimum assembly involves many single operations which are manipulated with aid of MSM and over caput Cranes.
The primary end was to plan desktop based application with flexible architecture back uping both the complex robotic gestures and digital mock-up support. To command characteristics of this digital mock-up, the theoretical accounts xml based assembly hierarchy is suggested. Prior to simulations the mechanism files from VRML ( practical ) theoretical accounts are generated and installation files from the mechanism files are passed to the application to setup the whole environment. For complex robotic uses and assembly processs ; existent clip algorithms are implemented mapping the tactile device interface with the operators. The application interface of the Hot-cell simulator is shown in Fig.2 to hive away the analysis informations of these processs, trajectory recording of installation use during the existent clip simulation is designed so that it can be exported to register formats which can be subsequently used as pre-process counsel. In add-on, characteristics of digital mock-up applications like doing parts transparent to see it through or taking the parts that obstruct another portion were included for better visibleness.
Figure 2 Desktop based Haptic rendered Virtual simulator interface.
The Hot-cell simulator is a desktop based application and the informations used to pull strings is generated through a tactile interface of practical environment. This attack offers a figure of advantages compared to other methods. The information ( consist of speeds, angles, places, forces and torsion ) can be extracted and recorded straight, simplifying the data-collection procedure. In practical Hot-cell operations the hazard of dislocation and breakage of the system is really low ; unsafe and dearly-won environments can be analyzed virtually without hazards associated with environment.
When choosing the package tools, factors such as cost, easiness of scheduling, and hardiness were all taken into consideration. Fig. 3 shows the application constellation architecture of the Hot-cell simulator. The package libraries used to make the application were: Object oriented C++ as the scheduling linguistic communication and Microsoft Visual Studio 2005 as the development environment. Object oriented programming constructs were used to unite the functionality of each library. Open Inventor, a library for making practical environments, provides the application platform for this research. The Open Inventor API hides many of the lower- degree programming inside informations required to develop, trial, and debug VR applications Unlike OpenGL. OpenHaptics SDK toolkit ( one of the newest coevals API ) and device drivers from Sensable were used to drive the PHANTOM tactile device ( Sensable, 2009 ) . The toolkit allows both lower- degree and higher-level scheduling entree to the PHANTOM. A 3D mouse interface was used to command the secondary operators such as BDSM ( Dual transport operator ) and over caput Cranes in Hot-cell for interfacing 3D mouse the Connexion 3D mouse API provided by the maker coded in C++ was used in this application.
Figure 3 package constellation architecture of Hot-cell simulator
Largely VRML geometry theoretical accounts are used to setup the practical environment. These complex geometry files hold the information of the form and features of the theoretical account designed. Complexity additions when all the geometry theoretical accounts along with the practical environment information which comprises of many theoretical accounts assembled together. To cut down these complex calculations a scheme is rendered to counterbalance the loss of topological information during the interlingual rendition procedure of theoretical accounts from CAD to VR systems, the mock-up theoretical accounts are translated as MEC ( mechanism ) and FAC ( installation ) files. The MEC and FAC files are written in the XML format. The installation file provides the initial information to the application for constructing the practical environment. It includes the information about the place and orientation of the theoretical accounts to be placed in environment and the mechanism files of each theoretical account. Fig. 4 shows the sample FAC file for practical environment.
Figure 4 Facility file of the practical environment apparatus with MEC theoretical accounts
Mechanism files are separately built for each theoretical account with extra information about the Joints constellation and co-ordinate frames of the theoretical accounts. The Mechanism file provides the package information about the joint constellations at lading degree which are used in ciphering the kinematic values in existent clip simulation of operators. Tags in XML are named as frames that follow a hierarchal construction whereby stand foring the needed information efficaciously. Fig.5 shows the VRML theoretical account and MEC file generated from it that holds following values:
Attribute map such as the type, name and ID.
Physical information such as weight and stuff.
Display attributes such as theoretical account colour.
Texture for riping and visual image.
Position and Rotation elements.
Figure 5 Mechanism file for VRML theoretical account Generated by the simulator with angle and articulations information
When stand foring informations utilizing XML, foremost a papers type definition ( DTD ) has to be specified. This would regulate the information construction contained by the XML file. Tags are in XML and follow a hierarchal construction. The MEC file contains information like the name and ID of the component for visual image and besides about articulations and the type of articulation in the nodes. Besides, the information about the theoretical account such as type, dimension, and other parametric quantities, i.e. the comparative place and orientation of the characteristic in the component ‘s local co-ordinate system are besides contained in the MEC file.
Haptic-rendering procedure consists of utilizing information received from the practical environment, measuring the force and torsion to be generated at a given place, speed, etc. at the operational articulation of a tactile interface. The operational articulation can be defined as the location on the tactile interface where place, speed, acceleration, and sometimes forces and torsions, are measured.
In order to map a practical environment with Haptics, the undermentioned jobs must be addressed ( Pearce et al. , 1999 ) :
Finding the point of contact: This is the job of CD ( hit sensing ) , which becomes more complex and computationally expensive as the practical environment becomes more complex.
Coevals of contact forces and torsions: This creates the “ feel ” of the object. Contact forces can stand for the stiffness of the object, muffling, clash, surface texture, etc.
Dynamicss of the practical environment: Objects manipulated in a practical environment can execute complex moves and may clash with each other.
Computational rate: Computational rate must be high, around 1 kilohertz or higher, and the latency must be low. Inappropriate values of both of these variables can do difficult surfaces in the practical environment to experience soft every bit good as doing system unstable.
Many practical world systems have enabled feedback by adding the sense of “ Haptic ” as one of the interaction methods and this country of research is widely deriving popularity in academe. The ultimate end is to heighten the pragmatism of environment as shown by assorted research workers that adding tactile feedback to the practical environment additions task efficiency ( Burdea 1999, Volkov and Vane 2001 ) .
To execute the haptic aided use, function of tactile device with the practical operator was necessary. Fig. 6 shows the transmutation procedure used for mapping tactile device co-ordinates with the fake practical operator co-ordinates.
Figure 6 Desktop based Haptic rendered Virtual simulator interface
After lading all the VRML theoretical accounts utilizing MEC and FAC files the application is so launched into two separate togss of Haptics and artworks. The Open HapticsTM toolkit launches a separate high precedence and high frequence ( ~1000 Hz ) tactile yarn, which is responsible for pass oning with the tactile device. Synchronous recalls are used to take thread safe snapshots of the tactile informations for utilizing it in the 2nd yarn. The tactile informations provides the in writing cringle with articulations place and orientation information used to expose ocular feedback and the tactile cringle with a force vector used to render force feedback.
Open discoverer is used for establishing the artworks thread ; depending on the public presentation of the desktop system it can render the full artworks scene. Each clip through the tactile cringle, hit sensing is performed in Open discoverer utilizing it ‘s built in detector node capablenesss to observe intersection of the tactile based operator theoretical account with other practical objects. If the detector intersects an object colour of the operator terminal effecter is changed and a beef sound is produced to advise the user.
The master-slave operators ( MSM ) are widely used as a distant handling device in Hot-cell. The slave operator shown in fig.7 is attached on the interior wall of the hot cell to keep and mend the procedure equipment it is used to manage and reassign the stuffs ( Sung-Hyun Kim et al. , 2008 ) . The maestro operator is attached to the outer wall of the hot cell in existent environment ; whereas, in practical simulator the tactile device is mapped as maestro operator. The force contemplation enables the operator a sense of executing the undertaking by managing a slave operator. Furthermore, utilizing this engineering complicated operations can be carried out without the hazard of damaging or destroying tools or objects. Table 1 shows the on the job scope and the joint information of the MSM used in this simulation.
Figure 7 Comparison of MSM existent and Virtual theoretical account used in the Simulator
Table 1 Shows the MSM range
Beside MSM, to cover the country out of the working scope of the MSM, a Bridge transported Dual arm Servo-Manipulator ( BDSM ) is used which is unambiguously designed operator to cover the unapproachable infinite of MSM ( JK Lee et al. , 2006 ) . Fig. 8 shows the on the job scope and D-H parametric quantities of the BDSM. The BDSM theoretical account consists of four constituents: a transporter with a telescoping tubing set, a slave operator and a distant control system. The operator has 6 grade of freedom plus a parallel jaw gesture and a handle gesture. A telescoping tubing set which moves the BDSM in a perpendicular way sustains the BDSM. The tubing set is attached to the trolley-girder system which provides the travel and traverse gestures of the BDSM. In this manner the BDSM can be located anyplace inside the hot cell. Furthermore, three practical cameras are mounted at the header for supervising the operation of the BDSM ( HJ Lee st al. , 2009 ) . Fig. 9 shows the comparing of the Real and the practical BDSM theoretical account. The size and form of the practical theoretical accounts for all drawings are matched with the existent 1s of the physical MSM and BDSM.
The BDSM slave operator is operated by 3d mouse. The 3d mouse is capable of bring forthing interlingual rendition and rotary motion vector at the same time as user pushes, pulls, or rotates the grip designed to command the mouse motion. The interlingual rendition vector represents the force the user applies to travel the grip. The interlingual rendition vector is reasonably easy to construe. The three constituents ( X, Y, and Z ) of the interlingual rendition vector can be applied in the same mode as similar informations from the keyboard or mouse is applied to the sing transform. The rotary motions returned from the device represent the vector about which the user is using a torsion.
Figure 8 Head mounted practical theoretical account of BDSM and D-H parametric quantities for BDSM.
Figure 9 Design of existent and practical theoretical account of the BDSM
Real clip simulation algorithm is built for complex robotic use in the digital mock-up system. The undermentioned algorithm for the simulator is developed for practical assembly undertaking with tactile feedback. Fig. 10 shows the simulation positions of the simulator.
Input = Read Haptic device
Output = Updated Virtual Scene
Initiate Task
Render the Scene.
Draw bounding boxes for all the practical theoretical accounts.
Initiate the Haptic interface if 1st clip and get down reading tactile input.
Detect Collision on Operated Joints of MSM utilizing jumping box information.
( Collision Algorithm ) If hit occurs skip measure vitamin D.
Calculate Inverse Kinematics, Dynamics and pull strings the operator.
Provide feedback to the tactile interface.
Update the scene artworks.
If recording is enabled, store active joint information in file.
Until ( simulation ends are non achieved )
Figure 10 Simulation positions of the simulator processing different uses
To look into the hit the conventional bounding box attack is followed to tag the boundaries of the theoretical accounts. The algorithm for the bounding boxes coevals as shown in Fig. 11 calculates the bounding boxes. The Joint nodes are defined in MEC files for every theoretical account with its joint constellation and these constellations are used in ciphering bounding boxes. Since lone articulations are actuated in the simulations the bounding boxes are merely built for joint nodes cut downing the hit sensing complex computations.
Input = Model Node
Output = Model Node with jumping Box
Get all the Node list of theoretical account
If the node type is joint
Build rectangle on the node theoretical account
Mark node as “ can clash ” .
Last Node ends in the list
Figure 11 The bounding Boxes generated by the algorithm
The algorithm for the hit sensing in the simulation is built utilizing the bounding box information calculated for each theoretical account during application burden phase. The jumping box of a theoretical account when obstruct with the jumping boxes of another theoretical account the application generates a hit signal. This hit signal is send to the tactile interface that calculates the way and force required for provender backup. Fig. 12 shows the MSM gripping the bolt and supplying the feedback to the operator through tactile interface and diagrammatically altering the colour with a sound qui vive. The algorithm for hit sensing is continues thread running during simulation as follows:
Input = jumping boxes of operator and the targeted theoretical account
Output = hit Beep, Change colour
Get pointers jumping boxes ( the operated theoretical account like MSM, BDSM ) .
Find from start to stop of the mark theoretical account jumping box
If bounding boxes of operator overlapped targeted bounding boxes
Beep sound hit and alter the colour of the portion clashing
Feedback tactile with the hit force
Simulation terminals
Figure 12 MSM operator observing the hit and experiencing the Grip phenomena
The use undertaking is ab initio performed by the homo operator through the tactile interface. Since, the feedback forces are kinematically matched with the slave operator the operator is able to experience a reflecting force from servo operator. The simulator accepts the kinematic theoretical accounts as shown in Fig. 13 hence the user is able to prove and analyse typical automaton operator controls.
Furthermore, the scenario entering architecture embedded in the Hot-cell simulator has been implemented as shown in Fig.14. During simulation the user has an advantage of entering the flights being tracked by the operator in the scenario. The simulation combines the complex robotic gestures performed in a digital mock-up based practical environment with the tactile based information mapped to imitate the practical operator and its working environment. This system involves existent clip simulation algorithms and user defined kinematic computations. The scenario recorded is stored in signifier of informations files. These files can be reused in the practical environment to help the trainees or new users to the system ; to boot the application provides characteristics to play back, intermission and analyse the stored flights by whizzing into the artworks.
Figure 13 System flow for the use of the MSM and BDSM operators
Figure 14 The system architecture of the practical environment haptic based use.
In practical environment the MSM theoretical account with place and orientation of the operators end effecter was analyzed. The voloxidizer comprising: a reaction part in which spent atomic fuel is being injected and oxidized was placed in the Hot-cell Scenario of accessing all the articulations of voloxidizer was performed and the articulations outside the range of operators were identified as shown in Fig. 15. The consequences of the scenario responded that even the voloxidizer is the range of operator there may be a instance in which some parts of it can non be reached due to the workspace restrictions of the operator. For this resettlement of the equipment was required and a demand to deploy BDSM was indentified ; the optimum place for BDSM was to be placed in the center of the installation with its alone design ( subdivision 2.5 ) . After deployment of BDSM all the countries of the Hot-cell installation were easy accessible.
Figure 15 The MSM workspace Analysis and voloxidizer resettlement.
To do certain the high handiness of MSM utilizing digital mock-up practical environment the workspace of MSM in the Hot-cell was analyzed and optimum layout for the procedure equipment inside the Hot-cell was obtained. Adapting virtualization in the hot-cell assorted analyses can be performed to cover the unapproachable scope of the equipments by puting them or operator at optimum location. This practical information for the re-location of the operator and equipments can be efficaciously used in physical Hot-cell operations heightening dependability and safety.
To verify the feasibleness of care and operations of assembly procedure a robotic use based graphical simulation was performed. The undertaking for the simulation was to alter the motor A ( Red ) of the voloxidizer with a trim motor B ( Blue ) already present in the hot-cell. Since the Hot-cell is a shielded installation it was really of import to execute these operations with operators inside the cell. After executing workspace analysis with motor A in range of MSM that was to be replaced by Motor B placed at a 2meter distance on the floor. Over caput Cranes are most widely deployed in the Hot-cell because of their capacity to transport heavy warheads and 4 grades of freedom to travel inside the cell ( J. K. Lee et al. , 2006 ) . The over caput Cranes can transport any theoretical account from one topographic point to another. To unbolt the voloxidizer safety locks MSM operator is operated by tactile interface that provides 6 grades of freedom input to the application. To raise the motor an overhead Crane is used that is operated by 3D mouse interface that provides 4 grade of freedom input from the user to the application. Motor A was lifted and placed on Ground ab initio and so Motor B was lifted and placed in Voloxidizer and safety locks were fastened to locked place as shown in Fig. 16 finishing the undertaking successfully.
Figure 16. Motor Assembling Scenario in Hot-cell Simulator.
The consequences of proposed Layout of equipments along with workspace analysis in care procedure were used which satisfied the undertakings in scenario and hence can be efficaciously used in a physical Hot-cell operations. The designed simulator can be efficaciously used for distant operations, user preparation and for analysing assorted Hot-cell operations heightening the dependability and safety issues of environment.
This research investigates the feasibleness of a practical Hot-cell environment for measuring Hot-cell distant tele-operations. A practical design of Hot-cell was carried out. Enhanced Haptics interface was implemented for tele-operations. Furthermore, Workspace analysis for the equipments and assembly undertaking by the operators were performed and the demand for BDSM was identified with a alone design to cover unapproachable infinite. The application combines characteristics of existent clip simulation algorithms, and many package bundles including Open Inventor, Open HapticsTM, Visual C++ , and tactile force feedback.
After utilizing the application, some decisions can be drawn: The practical Hot-cell was designed to help operators supplying more information and counsel during existent clip tele-operations. Different undertaking scenarios can be simulated and investigated like workspace analysis of operators, kinematics faculties, tactile feedback, motor replacement, assembly of Voloxidizer and trajectory storing in informations files. As expected, this practical system can be efficaciously used for existent clip preparation and executing robotic use in a Hot-cell. It further provides the benefits of optimising preprocess assembly design. These distant operations and feasibleness analysis performed in practical simulator efficaciously saved the cost and provided operators a pre procedure information and usher.
This work was supported by the Nuclear Research & A ; Development Program of the National Research Foundation of Korea ( NRF ) funded by the Ministry of Education, Science & A ; Technology ( MEST ) ( Grant codification: 2009-0062309 ) .
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