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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-RACE-PR(25)012024
Robotics holds the potential to streamline the execution of repetitive and dangerous tasks, which are difficult or impossible for a human operator. However, in complex scenarios, such as nuclear waste management or disaster response, full automation often proves unfeasible due to the diverse and intricate nature of tasks, coupled with unpredicta…
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UKAEA-RACE-PR(24)042023
Remote handling of breeding blankets poses an unprecedented challenge in future tokamaks like EU-DEMO, where individual blanket segments can weigh upwards of 80 tonnes and extend beyond 10 meters in length. The unparalleled scale of these components, coupled with extremely tight positional tolerances, demands careful consideration of structural …
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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-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-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…
Showing 1 - 10 of 68 UKAEA Paper Results