-
UKAEA-RACE-PR(26)082025
In scenarios involving radiation such as decommissioning of nuclear disasters and operating nuclear power plants, it is necessary to perform tasks including maintenance, demolition, and inspection using robots in order to protect human workers from harm. LIDAR (LIght Detection And Ranging) sensors are used for many demanding real-time tasks in robo…
-
UKAEA-RACE-CP(26)012025
This paper presents the development of a multi-degree-of-freedom (DOF) additive manufacturing system for automated in-situ repair of plasma-facing components within tokamak reactors. The system integrates a 3-DOF delta robot and two 6-DOF collaborative robotic arms to address the challenges of maintaining complex in-vessel components. Two case stud…
-
UKAEA-CCFE-CP(25)232025
The feasibility of laser-induced breakdown spectroscopy (LIBS) for measuring fuel retention was demonstrated for the first time in a tokamak operating with tritium using a remotely controlled in situ application in JET. In JET and future fusion reactors such as ITER and DEMO, thick co-deposited layers will be formed at the inner wall during exte…
-
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…
-
2025
This paper presents a comprehensive user study aimed as assessing and differentiating operator expertise within bilateral teleoperation systems. The primary objective is to identify key performance metrics that effectively distinguish novice from expert users. Unlike prior approaches that focus primarily on psychological evaluations, this study emp…
-
2025
Nuclear environments demand exceptional precision, reliability, and safety, given the high stakes involved in handling radioactive materials and maintaining reactor systems. Object-oriented assembly and disassembly operations in nuclear applications represent a cutting-edge approach to managing complex, high-stakes operations with enhanced precisio…
-
UKAEA-RACE-CP(25)012024
It is challenging to find optimum kinematic designs for non-standard robotic manipulators, e.g., medical, nuclear, and space manipulators, which are demanded to adapt to arbitrary complex tasks in constraints. Such design optimization can be modelled as a multi-dimensional non-convex optimization problem with nonlinear constrained conditions. Howev…
-
UKAEA-CCFE-PR(25)3172024
Polymers offer a number of properties of interest in robotics design, from the well established such as low weight, electrical and thermal insulation, to the more novel, where their visco-elasticity is of great benefit in designing vine robots and flexible sensors. The more dangerous the environment, for example in cases where high radiation is pre…
-
2024
This paper presents a detailed user study aimed at experimentally comparing the experience levels within bilateral teleoperation. The primary objective is to elucidate the key performance metrics that can effectively evaluate the competency level of human operators. Existing methodologies typically focus on the quantitative psychological evaluatio…
-
UKAEA-RACE-PR(25)032024
When using deep reinforcement learning (DRL) to perform multi-robot exploration in unknown environments, the training model may produce actions that lead to unpredictable system behaviours due to the complexity and unpredictability of the surroundings. Therefore, ensuring safe exploration with DRL becomes critical. To tackle this issue, we propo…
Showing 1 - 10 of 34 UKAEA Paper Results