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UKAEA-RACE-PR(24)052024
In current telerobotics and telemanipulator applications, operators must perform a wide variety of tasks, often with a high risk associated with failure. A system designed to generate data-based behavioural estimations using observed operator features could be used to reduce risks in industrial teleoperation. This paper describes a non-invasive …
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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…
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UKAEA-RACE-CP(24)012023
In this paper we propose a multi-robot path planning algorithm that integrates a Vector Field Histogram (VFH) algorithm and fuzzy logic controller inspired by International Regulations for Preventing Collisions at Sea (COLREGs) traffic rules with a collision area membership function that identifies suitable traffic procedures for each robot to t…
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UKAEA-RACE-PR(24)032024
The use of robots has exceeded the standard focus of manufacturing and production. Over the last decades, special robotic systems have been developed in various extreme environments, such as in the maintenance, repair or even decommissioning of large-scale, strategic facilities, important to any nation’s infrastructure, including power, space,…
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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-PR(23)042023
The hybrid kinematic mechanism (HKM) as a remote handling subsystem of Demonstration Fusion Power Plant (DEMO) breeding blanket (BB) is undergoing extensive theoretical analysis and feasibility verification. In this paper, the forward and inverse kinematic models of HKM are respectively developed by combining the Newtonian iterative method and the …
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UKAEA-RACE-CP(23)112022
The debris removal effectiveness is evaluated using visual inspection with three types of dry debris: flour, sand, and metallic swarf. These debris particles are chosen for their property mimicking contaminants found in real conditions. Brushing operational parameters such as the brush angle of attack and the brush penetration have been investigate…
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UKAEA-RACE-CP(23)102023
In the nuclear industry, the need for improved reliability in current and future technology hinders the deployment of autonomous robotic systems. The following research aims to develop a method of reliably mapping a large environment and abstracting the map into a sparse node graph to create a more efficient data form. The proposed data form all…
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UKAEA-RACE-PR(23)072023
This paper reports on the analysis of potential rail-based maintenance systems when implemented into a Helical Advanced Stellarator (HELIAS) 5-B device. The main purpose of such a system would be to handle and exchange the internal vessel components, namely the breeding blanket segments, which are expected to be the largest and heaviest componen…
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UKAEA-RACE-CP(23)092023
When transferring a Deep Reinforcement Learning (DRL) model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of fine-tuning in the real world. This paper proposes a self-supervised vision-based DRL method that al…
Showing 11 - 20 of 73 UKAEA Paper Results