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UKAEA-RACE-CP(23)092023
When transferring a Deep Reinforcement Learning (DRL) model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of fine-tuning in the real world. This paper proposes a self-supervised vision-based DRL method that al…
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UKAEA-RACE-PR(22)062022
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 …
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UKAEA-RACE-PR(22)032022
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…
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UKAEA-RACE-PR(22)022022
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…
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UKAEA-RACE-PR(22)042022
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…
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UKAEA-RACE-PR(23)022021
Maintenance and inspection systems for future fusion power plants (e.g., STEP and DEMO) are expected to require the integration of hundreds of systems from multiple suppliers, with lifetime expectancies of several decades, where requirements evolve over time and obsolescence management is required. There are significant challenges associated wit…
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UKAEA-RACE-CP(23)022021
Robotic systems that enable the operators to remotely manipulate delicate materials with high dexterity and sufficient force feedback will pave the path for improvements of the safe maintenance and decommissioning processes within the nuclear industry. Training the operators, however, for challenging conditions (e.g., low visibility, restricted …
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UKAEA-RACE-CP(23)012021
Nuclear power, conceived during the second world war as a mass destruction technology, has now become the primer technology aiming at low-carbon emission source of energy. Furthermore, the joining of the once divided West and East has led to a worldwide research ground that involves not only physics or chemistry but many other engineering fields…
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UKAEA-RACE-CP(21)042021
Just like most industrial or scientific installations, future fusion reactors will require more or less frequent maintenance. The expected environmental conditions, as well as the necessity of carrying out many maintenance tasks in parallel in result in remote robotic maintenance becoming a necessity in order to minimize the maintenance shutdown du…
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UKAEA-RACE-CP(21)022021
Sensor technologies will play a key role in the success of Remote Maintenance (RM) systems for future fusion reactors such as ITER and DEMO. Understanding their limitations and suitability for use in a fusion context is crucial to the operation and maintenance of these reactors. In this paper, we evaluate three key types of sensor which are of p…
Showing 11 - 20 of 30 UKAEA Paper Results