-
UKAEA-RACE-PR(26)112024
We consider planning problems where a robot must gather reward by completing tasks at each of a large set of locations while constrained by a time bound. Our focus is problems where the difficulty of each task, and thus its duration, can be predicted, but is not fully known in advance. We model difficulty-aware problems as a Markov decision proc…
-
UKAEA-RACE-CP(26)032024
The primary objective of this work is to research, design, and draft an open standard for nuclear robotics, aiming to standardise the design, development, integration, interoperability, and overall through life capability management of technologies, devices, and platforms for robotic systems used in nuclear fusion and decommissioning operations.…
-
UKAEA-RACE-CP(26)022023
When using mobile robots to perform data collection about the surroundings, the performance might be dissatisfying since the environments could be unknown and challenging. This situation will pose challenges for mobile robot navigation and exploration. To tackle this issue, we propose a consensus-based deep reinforcement learning (DRL) algorithm…
-
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…
-
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…
-
UKAEA-RACE-PR(25)042025
The Vacuum Vessel Pressure Suppression System Remote Handling Equipment (VVPSS RHE) is being developed for remote maintenance of VVPSS components, including the Rupture Disc Assembly (RDA), Bleed Line Valve Assembly (BLVA), Support Trolley and relief lines within the Neutral Beam (NB) cell. It works in conjunction with the Neutral Beam Remote Ha…
-
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…
-
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…
-
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 75 UKAEA Paper Results