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ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY
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  • ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY
  • ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY
저자명
Yu. Seungnam,Lee. Jongkwang,Park. Byungsuk,Kim. Kiho,Cho. Ilje
간행물명
Nuclear engineering and technology : an international journal of the Korean Nuclear Society
권/호정보
2014년|46권 4호|pp.489-500 (12 pages)
발행정보
한국원자력학회
파일정보
정기간행물|ENG|
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이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

In this study, remote handling strategies for a large-scale argon cell facility were considered. The suggested strategies were evaluated by several types of field test. The teleoperation tasks were performed using a developed remote handling system, which enabled traveling over entire cell area using a bridge transport system. Each arm of the system had six DOFs (degrees of freedom), and the bridge transport system had four DOFs. However, despite the dexterous manipulators and redundant monitoring system, many operators, including professionals, experienced difficulties in operating the remote handling system. This was because of the lack of a strategy for handling the installed camera system, and the difficulty in recognizing the gripper pose, which might fall outside the FOV (field of vision) of the system during teleoperation. Hence, in this paper, several considerations for the remote handling tasks performed in the target facility were discussed, and the tasks were analyzed based on ergonomic factors such as the workload. Toward the development of a successful operation strategy, several ergonomic issues, such as active/passive view of the remote handling system, eye/hand alignment, and FOV were considered. Furthermore, using the method for classifying remote handling tasks, several unit tasks were defined and evaluated.