D. Butters E.T. Jonasson V. Pawar
Supervising and controlling remote robot systems currently requires many specialised operators to have knowledge of the internal state of the system in addition to the environment. For applications such as remote maintenance of future nuclear fusion reactors, the number of robots (and hence supervisors) required to maintain or decommission a fac…
Preprint PublishedM. E. Sayed J. O. Roberts K. Donaldson S. T. Mahon F. Iqbal B. Li S. F. Aixela G. Mastorakis E. T. Jonasson M. P. Nemitz S. Bernardini A. A. Stokes
Operations in extreme and hostile environments such as offshore oil and gas, nuclear decommissioning, nuclear facilities maintenance, deep mining, space exploration, and subsea applications require the execution of sophisticated tasks. In nuclear environments, robotic systems have advanced significantly over the past years but still suffer from ta…
Preprint PublishedEmil T. Jonasson Jonathan Beouf Stephen Kyberd Robert Skilton
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…
Preprint PublishedEmil T. Jonasson Luis Ramos Pinto Alberto Vale Robert Skilton
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…
Preprint PublishedEmil Jonasson Jonathan Boeuf Stephen Kyberd Robert Skilton Paul Amayo Guy Burroughes Steve Collins
The containment vessel of the Joint European Torus is a huge, complicated assembly with a myriad of components, all of which are important for plasma operation. As a research device, JET has been operated over many years and has been extensively rebuilt. During each maintenance shutdown, inspections and measurements of the Vacuum Vessel are carri…
Preprint PublishedDaniel Butters Emil T. Jonasson Robert Stuart-Smith Vijay M. Pawar
Remote inspection of a complex environment is a difficult, time consuming task for human operators to perform. The need to manually avoid obstacles whilst considering other performance factors i.e. time taken, joint effort and information gained represents significant challenges to continuous operation. This paper proposes an autonomous robotic so…
Preprint Published