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Simulation-based System Realization for Semiautonomous Tasks in Hazardous Environments

机译：危险环境中半自治任务的基于仿真的系统实现

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The role of robotics and automation across the DOE complex will grow as they prove their ability to augment and/or replace more costly humans for many nuclear surety, manufacturing, surveillance and threat response tasks. However, until there are further advances in machine vision and robotics intelligence, an interim period can be expected where, for some circumstances, robotic systems can take their cues from human operators, while removing the human from the immediacy of a hazardous setting. This man-machine symbiosis can increase the efficiency of the operation by reducing the need for extensive or even complete model building and analysis of a scene, or by eliminating time-consuming teach-pendants, thereby facilitating real-time, quick responses to unstructured scenarios. Presently, there are many situations within DOE sites that can benefit from human augmented, semiautonomous robotic operations, before full-autonomy systems can be seamlessly introduced. Site needs include remote inspection of storage elements to minimize transport of objects to inspection stations, the human identification of a target to which a swarm of robots should converge in a threat-response situation, the accountability of materials in a manufacturing setting, and the safe handling of hazardous materials inside glove boxes.
机译：随着他们证明自己有能力在许多核保，制造，监视和威胁响应任务中增加和/或替换成本更高的人员的能力，整个DOE园区中的机器人技术和自动化的作用将日益增强。但是，直到机器视觉和机器人智能得到进一步发展之前，可以预见一个过渡时期，在某些情况下，机器人系统可以从操作员那里获得提示，同时使人员脱离危险环境的直接影响。这种人机共生可以通过减少对场景的广泛甚至完整的模型构建和分析的需求，或者通过消除耗时的示教器，从而提高对非结构化场景的实时，快速响应的需求，从而提高操作效率。 。当前，在可以无缝引入完全自治系统之前，DOE站点内有许多情况可以受益于人类增强的半自治机器人操作。现场需求包括对存储元件的远程检查，以最大程度地减少将对象运送到检查站的情况；在威胁响应情况下，人工识别一群机器人应集中到的目标；在制造环境中对材料负责；以及安全处理手套箱内的有害物质。

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