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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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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…
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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…
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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…
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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…
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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…
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UKAEA-RACE-PR(25)022024
Finding optimum kinematic designs for non-standard robotic manipulators, such as those used in medical, nuclear, and space applications is challenging due to the need to adapt to complex tasks within constrained environments. This design optimization problem is multi-dimensional and non-convex, with nonlinear constraints. Ensuring reachability, …
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UKAEA-CCFE-PR(24)2342024
There is a rapidly growing demand for robotic RM systems which are able to support future nuclear applications currently in development. This paper covers the testing and verification of radiation hardened electronics via a representative test bench utilising components currently used in irradiated environments relevant to nuclear fission, nucle…
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UKAEA-CCFE-PR(23)1852023
Piping systems that transport coolant and breeding fluid are naturally an essential part of the support system of the nuclear fusion power plants. Following a campaign of operations, the reactor is required to be shut down and maintained entirely. Pipes connected to the reactor components are to be cut, re-welded or re-joined, and inspected non-des…
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UKAEA-RACE-CP(23)122023
Fukushima Daiichi decommissioning is a long-term engineering challenge, of which advanced control techniques are essentially demanded. In the past ten years, the success in various decommissioning operations demonstrates the importance of elaborating state-of-the-art control and automation technologies. However, there are still various control engi…
Showing 1 - 10 of 30 UKAEA Paper Results