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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…
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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.…
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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…
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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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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…
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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…
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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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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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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 …
Showing 1 - 10 of 73 UKAEA Paper Results