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UKAEA-RACE-PR(25)052025
This paper presents a technical overview of AutoInspect, a ROS-based software system for robust and extensible mission-level autonomy. Over the past three years we have deployed AutoInspect on multiple platforms in a variety of environments, from forests to fusion reactors, for durations ranging from hours to weeks. The AutoInspect system combin…
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UKAEA-RACE-CP(23)072023
We consider planning problems where a robot must visit a large set of locations to complete a task at each one. Our focus is problems where the difficulty of each task, and thus its duration, can be predicted, but not fully known in advance. We propose a general Markov decision process (MDP) model for difficulty-aware problems, and propose varia…
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CCFE-PR(15)1092015
Start-up technique reported here relies on a double mode conversion (MC) for electron Bernstein wave (EBW) excitation. It consists of MC of the ordinary (0) mode, entering the plasma from the low field side of the tokamak, into the extraordinary (X) mode at a mirror-polarizer located at the high field side. The X mode propagates back to the plasma,…
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