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UKAEA-CCFE-PR(26)4352026
This paper presents an operational-space framework for regulating contact forces on geometrically unknown surfaces by integrating online surface-normal estimation with hybrid motion–force control via task-space admittance. Cartesian motion is decomposed into normal and tangential components defined with respect to an estimated local surface frame…
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UKAEA-RACE-PR(26)102026
The European Spallation Source Active Cells Facility is a unique facility for processing highly radioactive waste produced by the experiment. Due to the levels of radiation produced by the waste components combined with the scale of operations, the facility was designed to be operated without windows, using robotic manipulation systems and camer…
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UKAEA-RACE-PR(26)092025
Industrial applications involving hazardous materials often require inspection within confined interiors, posing significant engineering challenges due to restricted access and complex geometries. Long-reach mechatronic systems are essential for these tasks, yet their kinematic design is typically ad hoc. This paper presents a task-driven design sy…
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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…
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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-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…
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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…
Showing 1 - 10 of 25 UKAEA Paper Results