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Park, Young Soo

Publications and source records attributed to Park, Young Soo.

9 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Performance Evaluation of Augmented Teleoperation of Contact Manipulation Tasks

At Argonne National Laboratory, an enhanced telerobotic concept has been suggested by providing augmented virtual fixtures for precise and dexterous manipulation. The proposed technology incorporated a human-robot interface that can assist personnel on the processes of Deactivation and Decommissioning in sites of high radiation. It has been implemented on a dual-arm robot system, known as Baxter, by integrating the Robotic Operating System (ROS) with 3D sensors and visual-haptic operator interface. However, what remained before its practical utilization is the capability for precisely placing the virtual fixtures. To this end, the objectives involved camera calibration, which required hardware fabrication and setup, as well as modification and implementation of ROS. The goal of this Research and Development is to develop an augmented-reality- based operator interface for human-inclusive, intelligent, and autonomous robotic system for the Deactivation and Decommissioning (D and D) of radioactive sites. The objectives are to develop: Collaborative Robot; Multi-modal Mixed-Reality Human-Robot Interface; Intelligent and Autonomous Behaviors. In order to achieve this, Baxter's Head-Kinect camera and Left-Hand camera need to be calibrated to overlap the real environment with the simulated environment. Camera calibration, which is crucial for precisely placing the virtual fixtures, was successful after running the simulations. The real and simulated environments overlapped, permitting the utilization of augmented teleoperation and the dexterous manipulation of Baxter for D and D applications in nuclear sites. Future steps: Performance evaluation of augmented teleoperation of contact manipulation tasks: Multiple-Camera 3D Reconstruction and Automation. Oculus Interface: Augmented reality and machine learning for enhanced telerobotic operation (Augmented Tele-autonomy): Machine-learning techniques for complex and flexible autonomous robotic behaviors. Interactive remote operation of robotic systems. Mesh cutting with simulation and real robot.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Panel Session 94: Nuclear and Industrial Robotics, Remote Systems and Emerging Technologies

This panel focused on the use and benefits of robotics in different nuclear environments. Examples of robotics deployed in nuclear environments that come from industry, academia, and the government were presented. It is through these varying perspectives that the panel participants will show the breath of nuclear robotics used across the world. Presentations proposed include: 1 - Robotics and Emerging Technologies at Assystem (Fanny Fouin, Assystem Energy and Infrastructure (United Kingdom)); 2 - An Undergraduate Perspective (Michael DiBono, Applied Research Center - FIU (USA)); 3 - US-ROK International Collaboration on Robotics and Remote Systems for D and D of NPPs (Young Soo Park, Argonne National Laboratory (USA)); 4 - EM's Historical Engagement with Robotics and Universities (Genia McKinley, US DOE (USA)); 5 - Robotic Systems for Environmental Remediation Applications (Leonel Lagos, Applied Research Center - FIU (USA)); 6 - Remote and Nuclear Challenges and Solutions at the Savannah River Site - SRS (Jean Plummer, Savannah River National Laboratory (USA)); 7 - Nuclear and Industrial Robotics, Remote Systems and Emerging Technologies Challenges, Opportunities and Prognostications (Kim 'KD' Auclair, KD Auclair and Associates LLC (USA))

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Virtual Simulation of Spent Nuclear Fuel Repackaging Facility Design Concepts - 19479

This paper presents recent implementation of virtual simulation of SNF repackaging facility operation. The development was based on recent wet and dry facility design concepts. The development involved creating equipment and facility models and implementation of discrete event simulation of large-scale facility-level operation. Lastly, it presented how a hardware-in-the-loop simulation is possible and that a good amount of accuracy was retained from virtual simulation to hardware simulation for the tested configuration. It is expected that this type of simulation will act as a proof of concept for system engineers and help them make more informed decisions when considering potential solutions for SNF handling and disposal. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Implementation of Augmented Teleautonomy on a Hydraulic Manipulator for Nuclear Facility D and D - 19602

Robotic and remote system have been used in nuclear applications to keep the human workers from high radiation environment and enhance task performance. However, applications in the more unstructured nuclear environments present more formidable challenges to robotics and remote systems. In particular, remote operation tasks for nuclear facility D and D (or dismantling) requires dexterous manipulation of heavy objects with simple and rugged robotic equipment. To address such challenge, this paper presents a new teleoperation method of augmented teleautonomy for remote operation of tools for D and D tasks. Rather than imposing complex functionalities on the slave robot, focused innovation is directed to providing effective operator aids in such a way as to draw more performance out of human operators. In this regard, the development entails the implementation of an enhanced telerobotic operation method by incorporating multi-modal augmented reality operator aids and autonomous motion primitives. This paper presents the relevant technology development utilizing a mixed-reality telerobotic test bed, and system integration and demonstration with a rugged, hydraulic slave robot system. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Conceptual Design of a Pilot-Scale Pyroprocessing Facility

Argonne National Laboratory and Merrick & Company introduced the conceptual design of a pilot-scale (100 T/year) pyroprocessing facility for the treatment of used fuel generated by commercial light water reactors and subsequent treatment of waste streams generated during the process. The primary purpose of this study was to perform sufficient engineering for the pilot facility conceptual design so that credible capital and operating cost estimates could be developed. Initial safety, safeguards, and security assessments were also completed to provide a detailed evaluation in these areas that can significantly affect both capital and operating costs. Electrorefining-based pyroprocessing resulted in a compact hot-cell facility with few process equipment systems. The process equipment and support systems were estimated to cost $93 million and the facility $305 million for a project total cost of $398 million. The annual operating cost was estimated at $53 million/year Scaling up to a commercial-scale (400 T/year) was also assessed and the capital cost was estimated at $911 million with annual operating cost of $90 million/year.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2018

3D Reconstruction, Augmented Reality, and Telerobotic Operation - 18297

For nuclear facility decommissioning and waste cleanup, it is necessary to deploy simple and robust robots in remote sites performing precise and dexterous manipulation under teleoperation. To meet the challenge, this paper presents a new remote operation method based on augmented reality for intuitive and efficient teleoperation. The enhanced teleoperation system incorporates three technology components - 3D sensing and reconstruction, augmented reality, and teleoperation. The 3D reconstruction technology utilizes 3D cameras and constructs a 3D geometric model of the environment. Compared to the state-of-the- art technology, the presented 3D reconstruction has greater spatial precision and dynamic object tracking capability, which enhances the precision of manipulation tasks in a dynamic environment. The augmented reality technology entails generation of virtual surfaces of various geometries and dynamic characteristics, as well as consistent perceptual overlay in camera, robot and operator hand control spaces. Teleoperation is demonstrated with a dual-arm robot system operated under Robot Operating System (ROS). (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

Augmented reality system for remote operation - 200

This paper presents a new approach to applications of augmented reality techniques for performing telerobotic operations in uncertain and hazardous environments. Particular application examples include remote or partially-automated operation of robotic manipulators in nuclear waste facilities, decommissioning sites, or as a part of incident remediation. Recently advances in virtual reality (VR) and augmented reality (AR) technology presents opportunity for enhancing the performance of such remote operations. VR can provide immersive artificial environment for the operator to interact with. As an advanced concept, AR adds to it the blending or artificial contents with real world - users are able to interact with virtual contents in the real world. This work addresses key technological innovations necessary for adopting the VR/AR technologies for the remote operation of hardware robotic systems in real world tasks. To this end, this work focuses on implementation of 'virtual fixtures', which allows intuitive and precise guidance of remote operation, as well as key enhancements in 3D sensing/reconstruction technology. In addition, the implementation details of the integration of the multi-modal augmented reality system to the telerobotic control system are presented. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2017

Implementation of new PRODIAG algorithm and simulation-based acceptance test - 219

This paper presents the improvement of an automated-reasoning computer program for nuclear power plant diagnosis, namely PRODIAG. PRODIAG, first developed at the Argonne National Laboratory, uses confluence-based reasoning to perform fault diagnosis in engineering systems that can be described by the conservation laws for mass, energy, and momentum. Therefore, unlike other plant configuration-dependent rule-based diagnosis algorithms, the code is generally applicable to a wide variety of plant configurations by simply replacing the plant instrumentation diagram (PID) database. The need for improvement was raised when the original PRODIAG failed to provide the requisite degree of extensibility and maintainability for new applications. These shortcomings have been addressed through a new code architecture that uses an objected-oriented logic-programming language in place of the original Prolog language and uses an open-source automated reasoning engine in place of the original hardwired rule-evaluation sequence. This paper presents the architecture and implementation details of the code transition. Verification and validation studies were performed for the new PRODIAG, which involved re-running the distinct fault cases defined at the time the code was originally developed. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗