![]() ![]() Flying together Offline#Components of the presented framework are: a novel bilateral master-slave control, a new robotic platform named CERNbot as well as an advanced user-friendly multimodal human-robot interface, also used for the operators’ offline training, allowing technicians not expert in robot operation to perform inspection/maintenance tasks. A new real-time control system was implemented in order to guarantee a fast response to environmental changes and adaptation to different type of scenarios the robot may find in a semi-structured and hazardous environment. The robotic solution proposed in this paper is able to navigate autonomously, inspecting unknown environments in a safe way. The proposed framework covers all aspects of a robotic intervention, from the specification and operator training, the choice of the robot and its material in accordance with possible radiological contamination risks, to the realization of the intervention, including procedures and recovery scenarios. A novel robotic framework for autonomous inspections and supervised teleoperations in harsh environments is presented. In order to increase safety and machine availability, robots can perform repetitive, unplanned and dangerous tasks, which humans either prefer to avoid or are unable to carry out due to hazards, size constraints, or the extreme environments in which they take place. Intelligent robotic systems are becoming essential for industries, nuclear plants and for harsh environments in general, such as the European Organization for Nuclear Research (CERN) particles accelerator complex and experiments. The research aims to contribute through case assessment of the design process to safer, time and cost-efficient development and application design in the field of aerial robotics. ![]() Application of the virtual prototype's simulation environment enables further examination of the proposed system within comparison degree with postfield tests. Furthermore, prepared simulation environment is assessed with multi-agent system, proposed in previous research with autonomous position control of communication relaying system. Flying together software#Simultaneous simulation of the control and application system running with software in the loop (SITL) method is utilized to assess the designed hardware behavior with modular application nodes running in Robot Operating System. In this research, virtual prototype was designed and further simulated in multi-body simulation (MBS) feigning the sensing and actuating equipment behaviors. In this research, two examples of the specific applications are highlighted, harbor structure and facilities inspection with UAV, and development of autonomous positioning of multi-UAVs communication relaying system. Thus, virtual prototyping and simulation-based development can serve in development, assessment and improvement of the aerial robot applications. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. ![]() In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex environments. ![]()
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