Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets

Robotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. This paper describes a novel vision system to track and estimate the depth of metallic targets for robotic interventions. The system has been designed for on-hand monocular cameras, focusing on solving lack of visibility and partial occlusions. This solution has been validated during real interventions at the Centre for Nuclear Research (CERN) accelerator facilities, achieving 95% success in autonomous mode and 100% in a supervised manner. The system increases the safety and efficiency of the robotic operations, reducing the cognitive fatigue of the operator during non-critical mission phases. The integration of such an assistance system is especially important when facing complex (or repetitive) tasks, in order to reduce the work load and accumulated stress of the operator, enhancing the performance and safety of the mission

Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios

The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans. However, currently available robotic systems lack that level of usability which would allow inexperienced operators to accomplish complex tasks. Moreover, the task’s complexity increases drastically when a single operator is required to control multiple remote agents (for example, when picking up and transporting big objects). In this paper, a system allowing an operator to prepare and configure cooperative behaviours for multiple remote agents is presented. The system is part of a human–robot interface that was designed at CERN, the European Center for Nuclear Research, to perform remote interventions in its particle accelerator complex, as part of the CERNTAURO project. In this paper, the modalities of interaction with the remote robots are presented in detail. The multimodal user interface enables the user to activate assisted cooperative behaviours according to a mission plan. The multi-robot interface has been validated at CERN in its Large Hadron Collider (LHC) mockup using a team of two mobile robotic platforms, each one equipped with a robotic manipulator. Moreover, great similarities were identified between the CERNTAURO and the TWINBOT projects, which aim to create usable robotic systems for underwater manipulations. Therefore, the cooperative behaviours were validated within a multi-robot pipe transport scenario in a simulated underwater environment, experimenting more advanced vision techniques. The cooperative teleoperation can be coupled with additional assisted tools such as vision-based tracking and grasping determination of metallic objects, and communication protocols design. The results show that the cooperative behaviours enable a single user to face a robotic intervention with more than one robot in a safer way

Integración de una cámara pan-tilt subacuática para detección de objetos y guiado de un ROV submarino

Resumen] En este documento se expone un sistema adaptativo y semiautónomo, el cual genera una interfaz de alto nivel para facilitar el trabajo de supervisión humana, capaz de detectar un objeto de interés, con la finalidad de trackear su posición y guiar a un Remote Operated Vehicle (ROV) haciendo uso de una cámara pan-tilt submarina, mediante la utilización de herramientas conocidas de visión por computador, y a través del middleware Robot Operating System (ROS). El trabajo se ha llevado a cabo en el contexto del proyecto coordinado MERBOTS (www.irs.uji.es/merbots), para mejorar la realimentación visual en intervenciones reales submarinas.Ministerio de Economía y Competitividad; DPI2014-57746-C3Ministerio de Economía y Competitividad; DPI2017-86372-C3-1-RUniversitat Jaume I; P1-1B2015-68Generalitat Valenciana; PROMETEO/2016/06

MiniCERNBot Educational Platform: Antimatter Factory Mock-up Missions for Problem-Solving STEM Learning

Mechatronics and robotics appeared particularly effective in students’ education, allowing them to create non-traditional solutions in STEM disciplines, which have a direct impact and interaction with the world surrounding them. This paper presents the current state of the MiniCERNBot Educational Robotic platform for high-school and university students. The robot provides a comprehensive educative system with tutorials and tasks tuned for different ages on 3D design, mechanical assembly, control, programming, planning, and operation. The system is inspired to existing robotic systems and typical robotic interventions performed at CERN, and includes an education mock-up that follows the example of a previous real operation performed in CERN’s Antimatter Factory. The paper describes the learning paths where the MiniCERNBot platform can be used by students, at different ages and disciplines. In addition, it describes the software and hardware architecture, presenting results on modularity and network performance during education exercises. In summary, the objective of the study is improving the way STEM educational and dissemination activities at CERN Robotics Lab are performed, as well as their possible synergies with other education institutions, such as High-Schools and Universities, improving the learning collaborative process and inspiring students interested in technical studies. To this end, a new educational robotic platform has been designed, inspired on real scientific operations, which allows the students practice multidisciplinary STEM skills in a collaborative problem-solving way, while increasing their motivation and comprehension of the research activities

Design of a dynamic mock-up bench for testing robotic interventions

[Abstract] When a robotic intervention is required in hazardous facilities (e.g. particle accelerators or nuclear plants), it is commonly not possible to test the operation on-site in advance - a considerable challenge since robotic interventions usually require specific tasks for each location -, precluding the team from demonstrating the feasibility of the operation. It becomes mandatory to develop a particular mock-up for each operation, unsuitable for reusing it in future missions. To solve this problem, a general dynamic mock-up bench was designed, allowing to centre the testing of all remote handled tasks and to choose the best set of robots to perform them

Design development and implementation of an irradiation station at the neutron time-of-flight facility at CERN

A new parasitic, mixed-field, neutron-dominated irradiation station has been recently commissioned at the European Laboratory for Particle Physics (CERN). The station is installed within the neutron time-of-flight (n_TOF) facility, taking advantage of the secondary radiation produced by the neutron spallation target, with neutrons ranging from 0.025 eV to several hundreds of MeV. The new station allows radiation damage studies to be performed in irradiation conditions that are closer to the ones encountered during the operation of particle accelerators; the irradiation tests carried out in the station will be complementary to the standard tests on materials, usually performed with gamma sources. Samples will be exposed to neutron-dominated doses in the MGy range per year, with minimal impact on the n_TOF facility operation. The station has 24 irradiation positions, each hosting up to 100 cm3 of sample material. In view of its proximity to the n_TOF target, inside protective shielding, the irradiation station and its operating procedures have been carefully developed taking into account the safety of personnel and to avoid any unwanted impact on the operation of the n_TOF facility and experiments. Due to the residual radioactivity of the whole area around the n_TOF target and of the irradiated samples, access to the irradiation station is forbidden to human operators even when the n_TOF facility is not in operation. Robots are used for the remote installation and retrieval of the samples, and other optimizations of the handling procedures were developed in compliance with radiation protection regulations and the aim of minimizing doses to personnel. The sample containers were designed to be radiation tolerant, compatible with remote handling, and subject to detailed risk analysis and testing during their development. The whole life cycle of the irradiated materials, including their post-irradiation examinations and final disposal, was considered and optimized

Relevance of gastrointestinal manifestations in a large Spanish cohort of patients with systemic lupus erythematosus: what do we know?

SLE can affect any part of the gastrointestinal (GI) tract. GI symptoms are reported to occur in >50% of SLE patients. To describe the GI manifestations of SLE in the RELESSER (Registry of SLE Patients of the Spanish Society of Rheumatology) cohort and to determine whether these are associated with a more severe disease, damage accrual and a worse prognosis. METHODS: We conducted a nationwide, retrospective, multicentre, cross-sectional cohort study of 3658 SLE patients who fulfil =4 ACR-97 criteria. Data on demographics, disease characteristics, activity (SLEDAI-2K or BILAG), damage (SLICC/ACR/DI) and therapies were collected. Demographic and clinical characteristics were compared between lupus patients with and without GI damage to establish whether GI damage is associated with a more severe disease. RESULTS: From 3654 lupus patients, 3.7% developed GI damage. Patients in this group (group 1) were older, they had longer disease duration, and were more likely to have vasculitis, renal disease and serositis than patients without GI damage (group 2). Hospitalizations and mortality were significantly higher in group 1. Patients in group 1 had higher modified SDI (SLICC Damage Index). The presence of oral ulcers reduced the risk of developing damage in 33% of patients. CONCLUSION: Having GI damage is associated with a worse prognosis. Patients on a high dose of glucocorticoids are at higher risk of developing GI damage which reinforces the strategy of minimizing glucocorticoids. Oral ulcers appear to decrease the risk of GI damage. © The Author(s) 2021. Published by Oxford University Press on behalf of the British Society for Rheumatology

Antibodies against endogenous retroviruses promote lung cancer immunotherapy

B cells are frequently found in the margins of solid tumours as organized follicles in ectopic lymphoid organs called tertiary lymphoid structures (TLS). Although TLS have been found to correlate with improved patient survival and response to immune checkpoint blockade (ICB), the underlying mechanisms of this association remain elusive. Here we investigate lung-resident B cell responses in patients from the TRACERx 421 (Tracking Non-Small-Cell Lung Cancer Evolution Through Therapy) and other lung cancer cohorts, and in a recently established immunogenic mouse model for lung adenocarcinoma. We find that both human and mouse lung adenocarcinomas elicit local germinal centre responses and tumour-binding antibodies, and further identify endogenous retrovirus (ERV) envelope glycoproteins as a dominant anti-tumour antibody target. ERV-targeting B cell responses are amplified by ICB in both humans and mice, and by targeted inhibition of KRAS(G12C) in the mouse model. ERV-reactive antibodies exert anti-tumour activity that extends survival in the mouse model, and ERV expression predicts the outcome of ICB in human lung adenocarcinoma. Finally, we find that effective immunotherapy in the mouse model requires CXCL13-dependent TLS formation. Conversely, therapeutic CXCL13 treatment potentiates anti-tumour immunity and synergizes with ICB. Our findings provide a possible mechanistic basis for the association of TLS with immunotherapy response

Integración de una cámara submarina pan-tilt en el entorno del middleware ROS

Treball Final del Màster Universitari en Sistemes Intel·ligents (Pla de 2013). Codi: SIU043. Curs acadèmic 2014-201

(MARGOT) Monocular Camera-Based Robot Grasping Strategy for Metallic Objects

Robotic handling of objects is not always a trivial assignment, even in teleoperation where, in most cases, this might lead to stressful labor for operators. To reduce the task difficulty, supervised motions could be performed in safe scenarios to reduce the workload in these non-critical steps by using machine learning and computer vision techniques. This paper describes a novel grasping strategy based on a groundbreaking geometrical analysis which extracts diametrically opposite points taking into account surface smoothing (even those target objects that might conform highly complex shapes) to guarantee the uniformity of the grasping. It uses a monocular camera, as we are often facing space restrictions that generate the need to use laparoscopic cameras integrated in the tools, to recognize and isolate targets from the background, estimating their spatial coordinates and providing the best possible stable grasping points for both feature and featureless objects. It copes with reflections and shadows produced by light sources (which require extra effort to extract their geometrical properties) in unstructured facilities such as nuclear power plants or particle accelerators on scientific equipment. Based on the experimental results, utilizing a specialized dataset improved the detection of metallic objects in low-contrast environments, resulting in the successful application of the algorithm with error rates in the scale of millimeters in the majority of repeatability and accuracy tests.Peer reviewe