UKAEA Papers

Showing 1 - 10 of 37 UKAEA Paper Results
2022
UKAEA-RACE-PR(22)03

For robotic systems involved in challenging environments it is crucial to be able to 2 identify faults as early as possible. In challenging environments it is not always possible to explore 3 all of the fault space, thus anomalous data can act as a broader surrogate, where a anomaly 4 may represent a fault or a predecessor to a fault. This paper…

Preprint
2022
UKAEA-RACE-PR(22)04

The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes which are sealed volumes with controlled access for perfor…

Preprint Published
2022
UKAEA-RACE-PR(22)02

In robotic teleoperation, the knowledge of the state of the remote environment in real-time is a paramount. Advances in the development of highly accurate 3D cameras able to provide high quality point clouds appear to be a feasible solution for generating live, up-to-date virtual environments. Unfortunately, the exceptional accuracy and high densit…

Preprint Published
2022
UKAEA-RACE-PR(22)01

Supervising and controlling remote robot systems currently requires many specialised operators to have knowledge of the internal state of the system in addition to the environment. For applications such as remote maintenance of future nuclear fusion reactors, the number of robots (and hence supervisors) required to maintain or decommission a fac…

Preprint Published
2021
UKAEA-RACE-PR(21)06

Operations in extreme and hostile environments such as offshore oil and gas, nuclear decommissioning,¬†nuclear facilities maintenance, deep mining, space exploration, and subsea applications require the execution of sophisticated tasks. In nuclear environments, robotic systems have advanced significantly over the past years but still suffer from ta…

Preprint Published
2021
UKAEA-RACE-PR(21)05

The maintenance and decommissioning of nuclear reactors requires the rapid cutting and welding of thick-walled pipework, to which laser processing is highly suited. However, the large size and stand-off of current laser heads precludes their use in space constrained areas and incorporation into in-bore processing tools. To address this, novel minia…

Preprint Published
2021
UKAEA-RACE-CP(21)04

Just like most industrial or scientific installations, future fusion reactors will require more or less frequent maintenance. The expected environmental conditions, as well as the necessity of carrying out many maintenance tasks in parallel in result in remote robotic maintenance becoming a necessity in order to minimize the maintenance shutdown du…

Preprint Purchase
The published version of this paper is currently under embargo and will be available on 25/11/2022
2021
UKAEA-CCFE-PR(21)20

In the worlds of nuclear energy, mining, petrochemical processing, and sub-sea, robots are being used for an increasing number and range of tasks. This is resulting in ever more complex robotics installations being deployed, maintained, and extended over long periods of time. Additionally, the unstructured, experimental, or unknown operational c…

Preprint Published
2021
UKAEA-RACE-CP(21)03

Driving energy consumption plays a major role in mobile robots navigating challenging environments, especially if they are left to operate unattended under limited on-board power. This paper reports on first results of an energy-aware path planner, which can provide estimates of the driving energy consumption and energy recovery of a robot traversi…

Preprint
2021
UKAEA-RACE-CP(21)02

Sensor technologies will play a key role in the success of Remote Maintenance (RM) systems for future fusion reactors such as ITER and DEMO. Understanding their limitations and suitability for use in a fusion context is crucial to the operation and maintenance of these reactors. In this paper, we evaluate three key types of sensor which are of p…

Preprint Published