Andre Farinha Salua Hamaza Guy Bouroughes Mirko Kovac
Wireless Sensor Networks (WSN) have been shown to improve data gathering processes over large spacial and temporal scales at a low cost [1], as well as the automation of decision making processes in complex industrial settings [2]. The nuclear sector is no exception to this, being obvious applications structural health monitoring [3] and radiation…
PreprintB. Tabia I. Zoulias G.Burroughes
The debris removal effectiveness is evaluated using visual inspection with three types of dry debris: flour, sand, and metallic swarf. These debris particles are chosen for their property mimicking contaminants found in real conditions. Brushing operational parameters such as the brush angle of attack and the brush penetration have been investig…
PurchaseN. Petkov H. Wu R. Powell
Calibration data for condition monitoring (CM), often originates from equipment running in different environment conditions, and operational settings. Due to the uneven distribution of the data, the performance of traditional machine learning approaches for CM can easily be skewed in favour of operating conditions with larger data distributions.…
PreprintJoshua Blake Guy Burroughes Kaiqiang Zhang
This paper describes a novel automatic solution for toolchanging operations using dexterous teleoperated robots in a nuclear glovebox. This solution can identify and locate tools in the nuclear glovebox by visually tracking augmented reality (AR) tags online at a low computational cost. The solution is designed in a modular manner taking into ac…
PurchaseJ. Davies H. Robinson W. Blyth A. Wagner J. Naish S. Bradnam R. Worral
The Active Cells Facility will be the world’s largest hot cell and will be used to process radioactive waste generated in the operation of the European Spallation Source. Several innovative technologies and approaches have been developed for the ESS Active Cells, drawing on advances made in remote handling techniques and technology from fusion re…
PreprintAlice Cryer Alfie Sargent Fumiaki Abe Paul Dominick Baniqued Ipek Caliskanelli Hasan Kivrak Hanlin Niu Salvador Pacheco-Gutierrez Alexandros Plianos Masaki Sakamoto Tomoki Sakaue Wataru Sato Shu Shirai Yoshimasa Sugawara Harun Tugal Myles Verdon Andika Yudha Robert Skilton
The maturation of Virtual Reality software introduces new avenues of nuclear decommissioning research. Digital Mockups are an emerging technology which provide a virtual representation of the environment, objects or processes, supporting the whole lifecycle of product development and operations. This paper provides a survey on currently available …
PreprintO.Crofts A.Loving M.Torrance S.Budden B.Drumm T.Tremethick D.Chauvin M.Siuko W.Brace V.Milushev M.Mittwollen T.Lehmann F.Rauscher G.Fischer P.Pagani Y.Wang C.Baars A.Vale
During the EU DEMO Pre-Concept Design Phase, the remote maintenance team developed maintenance strategies and systems to meet the evolving plant maintenance requirements. These were constrained by the proposed tokamak architecture and the challenging environments but considered a range of port layouts and handling system designs. The design‑d…
Preprint PublishedLuigi Pangione Guy Burroughes Rob Skilton
For robotic systems involved in challenging environments it is crucial to be able to 2 identify faults as early as possible. In challenging environments it is not always possible to explore 3 all of the fault space, thus anomalous data can act as a broader surrogate, where a anomaly 4 may represent a fault or a predecessor to a fault. This paper…
Preprint PublishedS. Pacheco-Gutierrez H. Niu I. Caliskanelli R. Skilton
In robotic teleoperation, the knowledge of the state of the remote environment in real-time is a paramount. Advances in the development of highly accurate 3D cameras able to provide high quality point clouds appear to be a feasible solution for generating live, up-to-date virtual environments. Unfortunately, the exceptional accuracy and high densit…
Preprint PublishedOzan Tokatli Pragna Das Radhika Nath Luigi Pangione Alessandro Altobelli Guy Burroughes Robert Skilton
The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes which are sealed volumes with controlled access for perfor…
Preprint Published