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15th European robotics Forum

作者： Caliskanelli, Ipek Charchalakis, Periklis Goodliffe, Matthew Sakue, Tomoki Abe, Fumiaki Stipidis, Elias Skilton, Robert UK Atom Energy Author Remote Applicat Challenging Environm Abingdon Oxon England Vetrno Res Ctr Brighton E Sussex England Tokyo Elect Power Co TEPCO Tokyo Japan

ISBN: (纸本)9783031764264;9783031764240;9783031764233

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. In this paper, we summarise some of the key considerations and features of the proposed standard.

关键词： nuclear robotics standards through life capability management

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Bayesian optimization with embedded stochastic functionality for enhanced robotic obstacle avoidance

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CONTROL ENGINEERING PRACTICE 2025年 154卷

作者： Teodorescu, Catalin Stefan West, Andrew Lennox, Barry Univ Manchester Dept Elect & Elect Engn Oxford Rd Manchester M13 9PL England

Designing an obstacle avoidance algorithm that incorporates the stochastic nature of human-robot-environment interactions is challenging. In high risk activities, such as those found in nuclear environments, a comprehensive approach towards handling uncertainty is essential. In this article, in the context of safe teleoperation of robots, an automated iterative sampling procedure based on Bayesian optimization is proposed, where the robot is trained to predict the behaviour of a human operator. Specifically, a Gaussian process regression model is used to learn an effective representation of a safe stop manoeuvre, required for implementing an obstacle avoidance shared control algorithm. This model is then used to predict the future time duration to execute a safe stop manoeuvre, given the current real-world circumstances. The control algorithm expects this value to be reasonably high;if not, it will gradually reduce the human operator's authority. A distinctive attribute of the proposed method is the use of statistical confidence metrics as tuning parameters, intended to provide a statistical indication of whether or not an obstacle will be avoided. The proof-of-concept experiments were carried out using three robotic platforms suited for use in nuclear robotics, an amphibious SuperDroid HD2 robot equipped with a Velodyne VLP16 (a 3D lidar), an AgileX Scout Mini R&D Pro land robot fitted with a Realsense D435 depth camera, and a Husarion ROSBot 2.0 Pro supplied with an RPLIDAR A3 (a 2D lidar). The test results show that the proposed Bayesian optimization method uses 8 times less data compared to an exhaustive grid approach, and that it provides a robot-agnostic, robust obstacle avoidance.

关键词： Bayesian optimization Gaussian process regression Shared control Obstacle avoidance Teleoperation Semi-autonomy nuclear robotics ROS

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Localizing multiple radiation sources actively with a particle filter

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nuclear ENGINEERING AND TECHNOLOGY 2025年第2期57卷 1-7页

作者： Lazna, Tomas Zalud, Ludek Brno Univ Technol Cent European Inst Technol Purkynova 123 Brno 79601 Czech Republic

We discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest populated with static obstacles. The measurement trajectory is information-driven rather than pre-planned, and the localization exploits a regularized particle filter estimating the sources' parameters continuously. Regarding the dynamic robot control, this switches between two modes, one attempting to minimize the Shannon entropy and the other aiming to reduce the variance of expected measurements in unexplored parts of the target area;both of the modes maintain safe clearance from the obstacles. The performance of the algorithms was tested in a simulation study based on real-world data acquired previously from three radiation sources exhibiting various activities. Our approach reduces the time necessary to explore the region and to find the sources by approximately 40 %;at present, however, the method is unable to reliably localize sources that have a relatively low intensity. In this context, additional research has been planned to increase the credibility and robustness of the procedure and to improve the robotic platform autonomy.

关键词： Radiological source search nuclear robotics Gamma radiation Bayesian estimation Sensor-based planning

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COMPARATIVE ANALYSIS AND FUTURE TRENDS OF robotics IN nuclear POWER PLANTS

COMPARATIVE ANALYSIS AND FUTURE TRENDS OF ROBOTICS IN NUCLEA...

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International Conference on Intelligent Sustainable Systems (ICISS)

作者： Bendale, Tejashree Kharat, Vilas SNDT Womens Univ Usha Mittal Inst Technol Bombay Maharashtra India

ISBN: (纸本)9781538619599

robotics is the study of robots that are automated machines dedicated to perform certain arduous or perilous tasks to ease human activities and efforts. It is a branch of engineering concerned with the construction, operation and usage of skilful robots. One such skilful operation of robotics is required in the nuclear power plants, reactors particularly as these areas are hazardous for human beings to work and also sometimes when the work places are out of human reach. This paper aims at surveying the various forms of robots used as per their applications in nuclear power plants and also illustrating the development of robotics in this field. Along with the survey and review, a comparative analysis has also been done amongst the various types of robots used in nuclear Power plant.

关键词： automated machines artificial intelligence nuclear robotics nuclear waste handling

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A review of ground-based robotic systems for the characterization of nuclear environments

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PROGRESS IN nuclear ENERGY 2019年 111卷 109-124页

作者： Tsitsimpelis, Ioannis Taylor, C. James Lennox, Barry Joyce, Malcolm J. Univ Lancaster Engn Dept Lancaster LA1 4YW England Univ Manchester Sch Elect & Elect Engn Manchester M13 9PL Lancs England

The use of ground-based robotic systems for the characterisation of nuclear environments is reviewed. Almost since the dawn of the nuclear energy industry, man has somewhat inadvertently created environments in which access has been constrained primarily due to the risk posed by extreme levels of radiation exposure but also due to space constraints, and because of toxic and combustible atmospheres. Robotic systems pose an ideal solution to some of these difficulties, removing the need for humans to access such places and frequently providing data on the state of such places that would not otherwise be available. However, each of these requirements is often very different in terms of the specification of a given robot, and the detailed characteristics of a given harsh environment can pose significant challenges even for the most robust of platforms. Furthermore, such developments can be expensive in terms of cost and development time. These issues notwithstanding, robotic solutions to nuclear challenges are reaching a level of maturity where their use is destined to add significant value. This paper considers the salient developments in ground-based solutions from the era preceding the Three Mile Island accident, through Chemobyl and on to the present day and, in particular, the needs of Fukushima Daiichi as attentions turn to this complex robotic suite of challenges.

关键词： nuclear robotics nuclear environments characterisation

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Analysis of Existing and Proposed Maintenance Deployment Systems Toward DEMO MPD Development

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IEEE TRANSACTIONS ON PLASMA SCIENCE 2022年第11期50卷 4485-4490页

作者： McGarrigle, Dean Flynn, Ethan Kennedy, Cameron Loving, Antony Budden, Stuart UK Atom Energy Author Culham Sci Ctr Abingdon OX14 3DB Oxon England

This article reports on a study of previously existing or proposed maintenance deployment systems with similar functions and structure to that of the proposed multipurpose deployer (MPD) for demonstration (DEMO fusion power plant project). The current MPD design iteration consists of a boom deployment system that is similar to 30 m long and can support a payload of similar to 1000 kg, while still being able to access the DEMO vacuum vessel through a 2.78 m high by 1.08 m wide port. The purpose of this work is to benefit from previous experience by comparing the mechanical attributes and performance of systems as well as their advantages and disadvantages and any issues encountered to bring design input to MPD design development. The following systems were investigated: Joint European Torus (JET) in-vessel remote handling booms, telescopic articulated remote mast ("FARM), Next European Torus (NET) experimental device for in-torus handling (EDITH), Tokamak Fusion Test Reactor (TFTR) Maintenance Manipulator, and Snake-like Robot Arms in nuclear Environments. Systems that are currently in development for ITER and Chinese Fusion Engineering Test Reactor (CFETR) were also investigated according to their latest available design iterations. This article concludes that these systems, comprising of articulating links to form long-reach slender structures, give rise to challenges with their payload, stiffness, and control. The straight boom style system would be the most suitable design 14 the current tasks that a DEMO MPD is expected to perform. However, there is no particularly strong candidate without first fully defining the requirements and constraints that a DEMO MPD must adhere to.

关键词： Fusion power generation fusion reactor maintenance high payload robotics nuclear fusion nuclear robotics remote handling remote maintenance tokamaks

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Position sensing in nuclear remote operation

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Measurement: Journal of the International Measurement Confederation 1995年第1期15卷 43-43页

作者： Decreton, M. CEN/SCK Nuclear Research Centre 200 Boeretang B-2400 Mol Belgium

The state-of-the-art in radiation-tolerant position sensing systems is reviewed. Linear/angular encoders, as well as non-contact sensors are first considered, followed by more complex sensors, such as 3D cameras and laser systems. Finally, tactile/force perception is briefly presented. For each type, particular constraints are discussed and availability of hardened solutions presented. The discussion involves also specific sensing set-ups developed at SCK/CEN-Mol suitable for nuclear applications.

关键词： nuclear robotics Position sensors Radiation hardening

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Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System

Dynamics-Based Trajectory Planning for Vibration Suppression...

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2024 International Conference on Intelligent Robots and Systems

作者： Chen, Anthony Siming Pulgarin, Erwin Jose Lopez Herrmann, Guido Lanzon, Alexander Carrasco, Joaquin Lennox, Barry Camera-Knowles, Benji Brotherhood, John Sakaue, Tomoki Zhang, Kaiqiang Univ Manchester Dept Elect & Elect Engn Control Syst & Robot CSR Grp Manchester M13 9PL Lancs England Jacobs 601 Faraday St Warrington WA3 6GN Cheshire England Tokyo Elect Power Co TEPCO Holdings Fukushima Japan United Kingdom Atom Energy Author UKAEA Culham Campus Abingdon OX14 3DB Oxon England

ISBN: (纸本)9798350377712;9798350377705

We address the unique challenge of vibration suppression for a flexible long-reach robotic manipulator system, namely, the through-wall deployment (TWD) system that is used in nuclear environments. This paper proposes a novel dynamics-based trajectory optimization approach, which minimizes both the acceleration and the jerk at the manipulator's joints, as well as the vibrations of the flexible long-reach boom where the manipulator's base is mounted. Firstly, we create an integrated model for the system dynamics based on the knowledge of the robotic manipulator and the acceleration data from the vibration tests. We then develop an original procedure for generating the high-order polynomial trajectory that guarantees the zero-boundary condition for a flexible number of optimization parameters and waypoints. Following the simulation of a multi-objective optimization scheme, the optimized trajectory is experimentally validated on the practical TWD system with around 28% vibration reduction on average compared to the benchmark. Importantly, this reduction is achieved without compromising on the average speed of motion. The methodology is transferable to a wider range of flexible robotic manipulator systems with similar characteristics.

关键词： Flexible robotics trajectory planning optimization vibration suppression nuclear robotics

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Analysis of implementing a rail-based maintenance system into a HELIAS 5-B device

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FUSION ENGINEERING AND DESIGN 2023年 193卷

作者： McGarrigle, Dean Warmer, F. Lilburne, J. Torrence, M. UK Atom Energy Author Culham Ctr Fus Energy Abingdon OX14 3DB Oxon England Max Planck Inst Plasma Phys Wendelsteinstr 1 D-17491 Greifswald Germany

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 components within the vessel. Other rail-based maintenance systems for tokamak devices, particularly the ITER Blanket Remote Handling System (BRHS), were studied, and their suitability when introduced to the differing constraints of a HELIAS device was determined. Rail-based systems envisaged for DEMO and CFETR devices were also studied. An ITER-like handling system was shown to be unsuitable for a HELIAS device of this scale. This is due to significantly higher blanket masses with an in-vessel operating space no larger than that of ITER, but with the additional complication of longer toroidal lengths and non-uniform vessel geometry. Move-ment of large components on rails like those found in DEMO and CFETR was shown to be more applicable to the HELIAS device. The main obstacle to the implementation of such rails would be the non-uniform geometry which complicates the selection of a rail path that avoids collisions with other in-vessel components, remote handling equipment, or the vessel structure itself.

关键词： Fusion power generation Fusion reactor maintenance High payload robotics nuclear fusion nuclear robotics Remote handling Remote maintenance Tokamaks Stellarators HELIAS

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Localizing unknown radiation sources by unscented particle filtering based on divide-and-conquer sampling

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JOURNAL OF nuclear SCIENCE AND TECHNOLOGY 2022年第9期59卷 1149-1161页

作者： Liu, Yizhou Xuan, Yike Zhang, De Zou, Shuliang Univ South China Sch Resource Environm & Safety Engn Hunan Prov Key Lab Emergency Safety Technol & Equ Hengyang Peoples R China Hebei Univ Technol Sch Econ & Management Tianjin Peoples R China

Predictive estimation of radioactive sources using Bayesian theory is of great importance in nuclear emergency response. To this aim, we put forward an unscented particle filtering algorithm based on divide-and-conquer sampling. Our method exploits the information acquired by mobile detection robots to search for radioactive sources at unknown locations. Firstly, we assume a circular and extremely thin NaI (TI) scintillator detector, then analyze the geometric relationship between the detector cross-sectional area and the square of the radiation source distance, and finally establish a radiation source search model in accordance with Bayesian method. We also introduce a divide-and-conquer strategy to solve the problems of particle dilution and particle degradation, so as to achieve higher search accuracy and speed. Through simulation experiments, compared with standard particle filter and unscented particle filter, the algorithm can effectively improve particle diversity and successfully search radioactive sources in a shorter time.

关键词： Radiation source search unscented particle filter divide-and-conquer sampling nuclear robotics

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