Alice 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 …
PreprintOzan Tokatli Pragna Das Radhika Nath Luigi Pangione Alessandro Altobelli Guy Burroughes Robert Skilton
The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes which are sealed volumes with controlled access for perfor…
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 PurchaseEmil 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 PublishedIpek Caliskanelli Matthew Goodliffe Craig Whiffin Michail Xymitoulias Edward Whittaker Swapnil Verma Craig Hickman Chen Minghao Robert Skilton
In the worlds of nuclear energy, mining, petrochemical processing, and sub-sea, robots are being used for an increasing number and range of tasks. This is resulting in ever more complex robotics installations being deployed, maintained, and extended over long periods of time. Additionally, the unstructured, experimental, or unknown operational c…
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 PublishedAlessandro Altobelli Ozan Tokatli Robert Skilton
In the last decades, several approaches have been presented to accomplish tasks with a robot or autonomous systems in a glovebox, nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered envir…
PreprintSalvador 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 PublishedRobert Skilton Guy Burroughes Matt Goodliffe
Future experimental scientific facilities, energy generation assets, and nuclear decommissioning facilities will require increasing levels of remote maintenance, which must be facilitated by robotic systems. Moreover, these long-lived (30+ years) maintenance systems will, themselves need to maintained and upgraded in order to deal with lifespan …
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