D. Batty L. Manes A. West M. Patel I. Caliskanelli P. Paoletti
In the nuclear industry, the need for improved reliability in current and future technology hinders the deployment of autonomous robotic systems. The following research aims to develop a method of reliably mapping a large environment and abstracting the map into a sparse node graph to create a more efficient data form. The proposed data form all…
PurchaseB. Devlin-Hill R. Calinescu J. Cámara I. Caliskanelli
Many complex domains would benefit from the services of Large-scale, Safety-verified, Always-on (LSA) robotic systems. However, existing large-scale solutions often forego the complex reasoning required for safety verification and prescient reasoning in favour of scalability. We propose a method of partitioning the task domain to enable scalabil…
PurchaseAlice 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 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 s…
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 …
PreprintS. 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 PublishedIpek Caliskanelli Matthew Goodliffe Craig Whiffin Michail Xymitoulias Edward Whittaker Swapnil Verma Robert Skilton
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…
PreprintHarun Tugal Salvador Pacheco-Gutierrez Myles Verdon Ipek Caliskanelli Alfie Sargent Alice Cryer Ronan Kelly Alexandros Plianos Andika Yudha Qasim Kapasi Robert Skilton
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 …
Preprint PurchaseS. Pacheco-Gutierrez I. Caliskanelli R. Skilton
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…
PublishedSalvador Pacheco-Gutierrez Ipek Caliskanelli Robert Skilton
Remote handling systems are commonly used for decommissioning and maintenance of hazardous environments, specially in the nuclear sector. The necessity for a more realistic and accurate user interaction with the remote environment has led research towards the usage of immersive technologies such as augmented and virtual reality. In order for thi…
Preprint Published