{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T01:54:23Z","timestamp":1780365263527,"version":"3.54.1"},"reference-count":63,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,6,4]],"date-time":"2019-06-04T00:00:00Z","timestamp":1559606400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R02572X\/1"],"award-info":[{"award-number":["EP\/R02572X\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.<\/jats:p>","DOI":"10.3390\/robotics8020042","type":"journal-article","created":{"date-parts":[[2019,6,5]],"date-time":"2019-06-05T09:37:58Z","timestamp":1559727478000},"page":"42","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":48,"title":["Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments"],"prefix":"10.3390","volume":"8","author":[{"given":"Manuel","family":"Bandala","sequence":"first","affiliation":[{"name":"Engineering Department, Lancaster University, Gillow Avenue, Lancaster LA1 4YW, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Craig","family":"West","sequence":"additional","affiliation":[{"name":"Engineering Department, Lancaster University, Gillow Avenue, Lancaster LA1 4YW, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stephen","family":"Monk","sequence":"additional","affiliation":[{"name":"Engineering Department, Lancaster University, Gillow Avenue, Lancaster LA1 4YW, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1750-6994","authenticated-orcid":false,"given":"Allahyar","family":"Montazeri","sequence":"additional","affiliation":[{"name":"Engineering Department, Lancaster University, Gillow Avenue, Lancaster LA1 4YW, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5247-5193","authenticated-orcid":false,"given":"C. James","family":"Taylor","sequence":"additional","affiliation":[{"name":"Engineering Department, Lancaster University, Gillow Avenue, Lancaster LA1 4YW, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,6,4]]},"reference":[{"key":"ref_1","first-page":"24","article-title":"Control of a dual\u2013arm robotic manipulator","volume":"55","author":"Taylor","year":"2010","journal-title":"Nucl. Eng. Int."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1716","DOI":"10.1016\/j.conengprac.2013.08.011","article-title":"State\u2013dependent control of a hydraulically\u2013actuated nuclear decommissioning robot","volume":"21","author":"Taylor","year":"2013","journal-title":"Control Eng. 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